Trajectory planning of jumping over an obstacle for one-legged jumping robot

For one-legged passive jumping robot, a trajectory planning strategy is developed to jump over an obstacle integrating three various dynamics among jumping process. Manipulability ellipsoids are effective tools to perform task space analysis and motion optimization of redundant manipulators. Jumping robot can be considered as a redundant manipulator with a load held at the end-effector. The concept of inertia matching ellipsoid and directional manipulability is extended to optimize the take-off posture of jumping robot, and the optimized results have been used to plan jumping trajectory. Aimed at the sensitivity of a trajectory to constraint conditions on point-to-point motion planning, the 6th order polynomial function is proposed to plan jumping motion having a better robustness to the parameters change of constraint conditions than traditional 5th order polynomial function. In order to lift the foot over the obstacle, correction functions are constructed under unchanged boundary constraint conditions. Furthermore, the body posture is controlled based on internal motion dynamics and steady-state consecutive jumping motion principle. A prototype model is designed, and the effectiveness of the proposed method is confirmed via simulations performed on parameters of designed prototype

Effect of Vitamin D Receptor Knockout on Cornea Epithelium Wound Healing and Tight Junctions

PURPOSE. Our laboratory previously determined that vitamin D3, the vitamin D receptor (VDR), and 1a hydroxylase are present and active in the eye. In this study, we examined the effects of VDR knockout on wound healing, the tight junction-associated proteins occludin and ZO-1, and tight junction numbers in mouse corneas. METHODS. Epithelial wounds (2-mm) were made with an agar brush on 4-week-old and 10-week-old wild-type, heterozygous, and VDR knockout mouse corneas. Mice were on a normal or high lactose, Ca 2þ , and PO 4 À diet. Wound-healing area was measured over time. Real-time PCR was used to quantify occludin and ZO-1 message expression. Western blot was used for protein expression. Transmission electron microscopy was used to examine corneal epithelium and endothelium tight junctions. Immunofluorescence was used to examine epithelial ZO-1 distribution. RESULTS. Results showed a decreased healing rate in 10-week-old VDR knockout mice compared with wild-types. Vitamin D receptor knockout mice on the special diet had no difference in healing rate compared with wild-types. Real-time PCR showed decreased expression of occludin and ZO-1 in 10-week-old VDR knockout mice compared with wild-types. Western blot of 10-week-old knockout mouse corneas showed decreased occludin expression compared with wild-types. Transmission electron microscopy showed a significant difference in tight junction numbers in VDR knockouts versus wild-types. Immunofluorescence showed a change in ZO-1 distribution among genotypes. CONCLUSIONS. Vitamin D receptor knockout affects mouse corneal epithelium wound healing and tight junction integrity

Regulation of MUTYH, a DNA Repair Enzyme, in Renal Proximal Tubular Epithelial Cells

MUTYH is a DNA repair enzyme that initiates a base excision repair (BER) by recognizing and removing 8-Oxoguanine (8-oxoG) and its paired adenine. We demonstrated that both TGF-β1 and H2O2 treatment led to an increased 8-oxoG in cultured human proximal tubule epithelial (HK-2) cells, while the former induced epithelial-mesenchymal transition and the latter caused cell apoptosis. Without stimulation, HK-2 cells showed MUTYH expression in mitochondria. TGF-β1 triggered a transient upregulation of mitochondrial MUTYH and induced the expression of nuclear isoforms, while H2O2 showed no role on MUTYH expression. Ureteral obstruction (UUO) mice exhibited high 8-oxoG reactivity with tubulointerstitial lesions. After obstruction, the MUTYH expression was increased only in tubules at day 3 and decreased with obvious tubular atrophy at day 10. Particularly, MUTYH was primarily located in normal tubular cytoplasm with a dominant mitochondrial form. A few cells with nuclear MUTYH expression were observed in the fibrotic interstitium. We confirmed that increased MUTYH expression was upregulated and positively correlated with the severity of kidney fibrosis. Thus, renal fibrosis caused a cell-type-specific and time-dependent response of oxidative DNA repairs, even within the same tissues. It suggests that intervention of MUTYH might be effective for therapies

Retrospective evaluation of whole exome and genome mutation calls in 746 cancer samples

Funder: NCI U24CA211006Abstract: The Cancer Genome Atlas (TCGA) and International Cancer Genome Consortium (ICGC) curated consensus somatic mutation calls using whole exome sequencing (WES) and whole genome sequencing (WGS), respectively. Here, as part of the ICGC/TCGA Pan-Cancer Analysis of Whole Genomes (PCAWG) Consortium, which aggregated whole genome sequencing data from 2,658 cancers across 38 tumour types, we compare WES and WGS side-by-side from 746 TCGA samples, finding that ~80% of mutations overlap in covered exonic regions. We estimate that low variant allele fraction (VAF < 15%) and clonal heterogeneity contribute up to 68% of private WGS mutations and 71% of private WES mutations. We observe that ~30% of private WGS mutations trace to mutations identified by a single variant caller in WES consensus efforts. WGS captures both ~50% more variation in exonic regions and un-observed mutations in loci with variable GC-content. Together, our analysis highlights technological divergences between two reproducible somatic variant detection efforts

Enantioselective Preparation of Arenes with β‐Stereogenic Centers: Confronting the 1,1‐Disubstituted Olefin Problem Using CuH/Pd Cooperative Catalysis

National Institutes of Health (R35GM122483)NIH (GM058160-17S1

Inertia Matching Manipulability and Load Matching Optimization for Humanoid Jumping Robot

Human jumping motion includes stance phase, flight phase and landing impact phase. Jumping robot belongs to a variable constraints system because every phase has different constraint conditions. An unified dynamics equation during stance phase and flight phase is established based on floated-basis space. Inertia matching is used to analyze actuator/gear systems and select the optimum gear ratio based on the transmission performance between the torque produced at the actuator and the torque applied to the load. Load matching is an important index which affects jumping performance and reflects the capability of supporting a weight or mass. It also affects the distributing of the center of gravity (COG). Regarding jumping robot as a redundant manipulator with a load at end-effector, inertia matching can be applied to optimize load matching for jumping robot. Inertia matching manipulability and directional manipulability are easy to analyze and optimize the load matching parameters. A 5th order polynomial function is defined to plan COG trajectory of jumping motion, taking into account the constraint conditions of both velocity and acceleration. Finally, the numerical simulation of vertical jumping and experimental results show inertia matching is in direct proportion to jumping height, and inertia matching manipulability is a valid method to load matching optimization and conceptual design of robot

A Study on the Sloshing Problem of Vertical Storage Tanks under the Action of Near-Fault Earthquakes

In this study, through a vibration table test, finite element simulation, and research on the rationality of the wave-height fortification of national storage tank specifications, the sloshing response of vertical storage tanks under the action of near-fault ground motion was analyzed. The test results showed that the sloshing wave height of a vertical storage tank was larger under near-fault or long-period ground motions, and the relationship between the sloshing wave height and the peak acceleration of input ground motions was approximately linear. The numerical simulations of the model tank showed that the simulation wave height and the test wave-height data were well fitted. Therefore, it was feasible to simulate the sloshing of large vertical storage tanks using ADINA software. In addition, a large number of sloshing simulations of near-fault ground motions on 10,000 m3 vertical storage tanks were performed. The simulated wave height had a high correlation with the predominant period or pulse period of near-fault ground motions. Under the calculation with similar parameters, the wave height of the tank standard in several countries had a lower fortification of the near-fault excitation wave height. Through the root mean-square method using a small sample size, a wave-height correction under a near-fault effect was applied to the wave-height formula for the Chinese tank seismic specification. Finally, the problem of a double-damping correction was addressed by adjusting China’s GB50341 wave-height formula. This work provides a reference value for practical engineering applications

Anomaly Detection in EEG Signals: A Case Study on Similarity Measure

Motivation. Anomaly EEG detection is a long-standing problem in analysis of EEG signals. The basic premise of this problem is consideration of the similarity between two nonstationary EEG recordings. A well-established scheme is based on sequence matching, typically including three steps: feature extraction, similarity measure, and decision-making. Current approaches mainly focus on EEG feature extraction and decision-making, and few of them involve the similarity measure/quantification. Generally, to design an appropriate similarity metric, that is compatible with the considered problem/data, is also an important issue in the design of such detection systems. It is however impossible to directly apply those existing metrics to anomaly EEG detection without any consideration of domain specificity. Methodology. The main objective of this work is to investigate the impacts of different similarity metrics on anomaly EEG detection. A few metrics that are potentially available for the EEG analysis have been collected from other areas by a careful review of related works. The so-called power spectrum is extracted as features of EEG signals, and a null hypothesis testing is employed to make the final decision. Two indicators have been used to evaluate the detection performance. One is to reflect the level of measured similarity between two compared EEG signals, and the other is to quantify the detection accuracy. Results. Experiments were conducted on two data sets, respectively. The results demonstrate the positive impacts of different similarity metrics on anomaly EEG detection. The Hellinger distance (HD) and Bhattacharyya distance (BD) metrics show excellent performances: an accuracy of 0.9167 for our data set and an accuracy of 0.9667 for the Bern-Barcelona EEG data set. Both of HD and BD metrics are constructed based on the Bhattacharyya coefficient, implying the priority of the Bhattacharyya coefficient when dealing with the highly noisy EEG signals. In future work, we will exploit an integrated metric that combines HD and BD for the similarity measure of EEG signals