A Geometric Modeling and Computing Method for Direct Kinematic Analysis of 6-4 Stewart Platforms

A geometric modeling and solution procedure for direct kinematic analysis of 6-4 Stewart platforms with any link parameters is proposed based on conformal geometric algebra (CGA). Firstly, the positions of the two single spherical joints on the moving platform are formulated by the intersection, dissection, and dual of the basic entities under the frame of CGA. Secondly, a coordinate-invariant equation is derived via CGA operation in the positions of the other two pairwise spherical joints. Thirdly, the other five equations are formulated in terms of geometric constraints. Fourthly, a 32-degree univariate polynomial equation is reduced from a constructed 7 by 7 matrix which is relatively small in size by using a Gröbner-Sylvester hybrid method. Finally, a numerical example is employed to verify the solution procedure. The novelty of the paper lies in that (1) the formulation is concise and coordinate-invariant and has intrinsic geometric intuition due to the use of CGA and (2) the size of the resultant matrix is smaller than those existed

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

More than just free music : file sharing and the use of peer-to-peer networks.

Despite the decade-long battle over illegal music file sharing, surprisingly few attempts have been made to empirically examine the views of the millions of file sharers at the center of this controversy. With an aim toward generating law and policy recommendations, this study’s purpose, therefore, is to explore reported motivations for file sharing, and any ethical beliefs and practices that guide file sharers’ behaviors. Using Giesler and Pohlmann’s theoretical framework of “gifting motivations” and Lessig’s classification of purposes of use to guide the study, 40 in-depth interviews were conducted using a standard protocol, then analyzed using content analyses of the transcripts. File sharers reported a variety of motivations, including purposeful exposure to content outside their comfort zones. There was also strong evidence to suggest an informal sharing ethic. File sharing is perceived as an alternative through which users satisfy desires that existing markets are unable to meet in a timely fashion, if at all. Law and policy implications are discussed.Bachelor of Communication Studie

BOLD signal change and contrast reversing frequency: an event-related fMRI study in human primary visual cortex.

It is believed that human primary visual cortex (V1) increases activity with increasing temporal frequency of a visual stimulus. Two kinds of visual stimulus were used in the previous studies, one is patterned-flash stimulus with a fixed onset period and an increasing average luminance with the increase of temporal frequency, the other is contrast reversing flickering checkerboard or grating with a constant average luminance across different temporal frequencies. That hemodynamic responses change as a function of reversal frequency of contrast reversing checkerboard is at odds with neurophysiological studies in animals and neuroimaging studies in humans. In the present study, we addressed the relationship between reversal frequency of contrast reversing checkerboard and hemodynamic response in human V1 using an event-related experimental paradigm and found that the transient characteristics of blood oxygenation level dependent response in human V1 depended very little on the reversal frequency of a contrast reversing checkerboard

Tiamulin inhibits breast cancer growth and pulmonary metastasis by decreasing the activity of CD73

Abstract Background Metastasis is the leading cause of death in breast cancer patients. CD73, also known as ecto-5′-nucleotidase, plays a critical role in cancer development including metastasis. The existing researches indicate that overexpression of CD73 promotes growth and metastasis of breast cancer. Therefore, CD73 inhibitor can offer a promising treatment for breast cancer. Here, we determined whether tiamulin, which was found to inhibit CD73, was able to suppress breast cancer development and explored the related mechanisms. Methods We firstly measured the effect of tiamulin hydrogen fumarate (THF) on CD73 using high performance liquid chromatography (HPLC). Then, we investigated cell proliferation, migration and invasion in MDA-MB-231 human breast cancer cell line and 4 T1 mouse breast cancer cell line treated with THF by migration assay, invasion assay and activity assay. Besides, we examined the effect of THF on syngeneic mammary tumors of mice by immunohistochemistry. Results Our data demonstrated that THF inhibited CD73 by decreasing the activity instead of the expression of CD73. In vitro, THF inhibited the proliferation, migration and invasion of MDA-MB-231 and 4 T1 cells by suppressing CD73 activity. In vivo, animal experiments showed that THF treatment resulted in significant reduction in syngeneic tumor growth, microvascular density and lung metastasis rate. Conclusions Our results indicate that THF inhibits growth and metastasis of breast cancer by blocking the activity of CD73, which may offer a promising treatment for breast cancer therapy

Association of Glutathione s-transferase M1 and T1 gene polymorphisms with the susceptibility to acquired sensorineural hearing loss: a systematic review and meta-analysis

Abstract Acquired sensorineural hearing loss (SNHL), including age-related hearing loss (ARHL), noise-induced hearing loss (NIHL), drug-induced hearing loss (DIHL) and sudden sensorineural hearing loss (SSHL), is one of the most common sensory deficits in humans. Several studies have reported that antioxidant gene glutathione s-transferase M1 and T1 (GST M1 and T1) polymorphisms have a close relationship with the susceptibility to acquired SNHL, but other articles have reported opposite results. This meta-analysis aims to identify whether an association exists between GST M1 and T1 polymorphisms and the susceptibility to acquired SNHL. Seventeen independent studies containing 1749 cases and 2018 controls were included. According to the I2 value of the heterogeneity test, random-effects model was selected to calculate the pooled odds ratios (ORs) with their 95% confidence intervals (95% CIs) and p values. The pooled ORs (95% CI, p-value) of GST M1 and T1 were 1.186(0.955–1.473, p = 0.122) and 1.107(0.841–1.458, p = 1.467), respectively. In addition, subgroup analyses according to the type of SNHL and ethnicity showed no relationship between GST M1 and T1 polymorphisms and the susceptibility to acquired SNHL. Our results suggest that no significant relationship was found between GST M1 and T1 polymorphisms and the susceptibility to acquired SNHL

Hemodynamic responses to six reversal frequencies examined in an event-related experiment.

<p>The symbols and error bars in each panel (mean ± SEM) show the average of original time course obtained from eight subjects. The solid curve in each panel shows the estimated hemodynamic response averaged from eight subjects (for clarity, error bars of estimated hemodynamic response are not shown). To quantify hemodynamic responses to different reversal frequencies, four parameters were extracted and are given in <a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0099547#pone-0099547-t001" target="_blank">Table 1</a>.</p