Stairs-climbing Capacity of a W-Shaped Track Robot

Stairs-climbing capacity is an important index for obstacle-overcoming performance for coal mine rescue robot. For studying on stairs-climbing capacity of the coal mine rescue robot with W-shaped track suspensions, theoretical analysis, kinematics simulations and tests on real stairs have been carried out. According to sizes of normal stairs in reality, there are two climbing situations: (1) the first track section and the third track section climb the nosings of the two adjacent steps or two septal steps successively, (2) the front and rear tracks climb two nosings simultaneously. There are two critical states: (1) the first and third track section just touch the nosing of two interval steps, (2) the first and third track section barely touches the nosings of the adjacent steps. According to the two states, equation sets which describe the relationship between tread depth and riser height are deduced. According to the physical dimensions of the robot, the relation curves are drawn corresponding to the equation sets. Conditions of the two climbing situations are obtained. The stairs-climbing are simulated on RecurDyn, and tests on a simulated staircase test platform in laboratory and on real stairs in and outside the building are carried out. The simulation and tests results are in accordance with the theoretical analysis. Research in this paper is conducive to optimizing the shape and size of the W-shaped track suspension according to the parameters of the stairs, and also contributes to guiding the application of the robot with a W-shaped track moving mechanisms

Flexible-Position MIMO for Wireless Communications: Fundamentals, Challenges, and Future Directions

The flexible-position multiple-input multiple-output (FLP-MIMO), such as fluid antennas and movable antennas, is a promising technology for future wireless communications. This is due to the fact that the positions of antennas at the transceiver and reflector can be dynamically optimized to achieve better channel conditions and, as such, can provide high spectral efficiency (SE) and energy efficiency (EE) gains with fewer antennas. In this article, we introduce the fundamentals of FLP-MIMO systems, including hardware design, structure design, and potential applications. We shall demonstrate that FLP-MIMO, using fewer flexible antennas, can match the channel hardening achieved by a large number of fixed antennas. We will then analyze the SE-EE relationship for FLP-MIMO and fixed-position MIMO. Furthermore, we will design the optimal trajectory of flexible antennas to maximize system sum SE or total EE at a fixed travel distance of each antenna. Finally, several important research directions regarding FLP-MIMO communications are presented to facilitate further investigation.Comment: 10 pages, 5 figures, 1 tables, accepted by IEEE Wireless Communications Magazin

Adapting to Dynamic LEO-B5G Systems: Meta-Critic Learning Based Efficient Resource Scheduling

Low earth orbit (LEO) satellite-assisted communications have been considered as one of the key elements in beyond 5G systems to provide wide coverage and cost-efficient data services. Such dynamic space-terrestrial topologies impose an exponential increase in the degrees of freedom in network management. In this paper, we address two practical issues for an over-loaded LEO-terrestrial system. The first challenge is how to efficiently schedule resources to serve a massive number of connected users, such that more data and users can be delivered/served. The second challenge is how to make the algorithmic solution more resilient in adapting to dynamic wireless environments. We first propose an iterative suboptimal algorithm to provide an offline benchmark. To adapt to unforeseen variations, we propose an enhanced meta-critic learning algorithm (EMCL), where a hybrid neural network for parameterization and the Wolpertinger policy for action mapping are designed in EMCL. The results demonstrate EMCL’s effectiveness and fast-response capabilities in over-loaded systems and in adapting to dynamic environments compare to previous actor-critic and meta-learning methods

The Exocyst Component Sec3 Controls Egg Chamber Development Through Notch During Drosophila Oogenesis

The exocyst complex plays multiple roles via tethering secretory or recycling vesicles to the plasma membrane. Previous studies have demonstrated that the exocyst contains eight components, which possibly have some redundant but distinct functions. It is therefore interesting to investigate the biological function of each component. Here, we found that Sec3, one component of exocyst complex, is involved in Drosophila egg chamber development. Loss of sec3 results in egg chamber fusion through the abolishment of cell differentiation. In addition, loss of sec3 increases cell numbers but decreases cell size. These defects phenocopy Notch pathway inactivation. In line with this, loss of sec3 indeed leads to Notch protein accumulation, suggesting that the loss of Sec3 inhibits the delivery of Notch onto the plasma membrane and accumulates inactive Notch in the cytoplasm. Loss of sec3 also leads to the ectopic expression of two Notch pathway target genes, Cut and FasciclinIII, which should normally be downregulated by Notch. Altogether, our study revealed that Sec3 governs egg chamber development through the regulation of Notch, and provides fresh insights into the regulation of oogenesis

Toward URLLC: A Full Duplex Relay System with Self-Interference Utilization or Cancellation

Ultra-reliable low-latency communication (URLLC) is one of the key use cases of 5G wireless communications to facilitate specific application scenarios with stringent latency and reliability demands, such as industrial automation and Tactile Internet. A full duplex (FD) relay with simultaneous transmission and reception in the same frequency band is an effective approach to enhance the reliability of cell-edge user terminals by significantly suppressing self-interference (SI). However, the signal processing latency at FD relay due to SI cancellation, referred to as relaying latency, takes a significant part in the end-to-end latency, and therefore should be minimized, while guaranteeing high reliability. In this article, we first present an up-to-date overview of the end-to-end latency for an FD relay system, addressing physical layer challenges. We investigate the possible solutions in the literature to achieve the goal of URLLC. The efficient solution is to allow a simple amplify-and-forward FD relay mode with low-complexity SI radio frequency and analog cancellations, and process the residual SI alongside the desired signal at the base station in an adaptive manner, rather than being cancelled at relay in the digital domain. Also, the residual SI can be utilized at the base station to enhance the reliability and degree of freedom in signal processing, not necessarily being cancelled as much as possible. The FD relay assisted system with adaptive SI utilization or cancellation enables extended network coverage, enhanced reliability, and reduced latency compared to the existing overview work

Grafted human-induced pluripotent stem cells-derived oligodendrocyte progenitor cells combined with human umbilical vein endothelial cells contribute to functional recovery following spinal cord injury

Background: Spinal cord injury (SCI) is a devastating disease that causes extensive damage to oligodendrocytes and neurons leading to demyelination and axonal degeneration. In this study, we co-transplanted cell grafts containing oligodendrocyte progenitor cells (OPCs) derived from human-induced pluripotent stem cells (iPSCs) combined with human umbilical vein endothelial cells (HUVECs), which were reported to promote OPCs survival and migration, into rat contusion models to promote functional recovery after SCI. Methods: OPCs were derived from iPSCs and identified by immunofluorescence at different time points. Functional assays in vitro were performed to evaluate the effect of HUVECs on the proliferation, migration, and survival of OPCs by co-culture and migration assay, as well as on the neuronal axonal growth. A combination of OPCs and HUVECs was transplanted into the rat contusive model. Upon 8 weeks, immunofluorescence staining was performed to test the safety of transplanted cells and to observe the neuronal repairment, myelination, and neural circuit reconstruction at the injured area; also, the functional recovery was assessed by Basso, Beattie, and Bresnahan open-field scale, Ladder climb, SEP, and MEP. Furthermore, the effect of HUVECs on grafts was also determined in vivo. Results: Data showed that HUVECs promote the proliferation, migration, and survival of OPCs both in vitro and in vivo. Furthermore, 8 weeks upon engraftment, the rats with OPCs and HUVECs co-transplantation noticeably facilitated remyelination, enhanced functional connection between the grafts and the host and promoted functional recovery. In addition, compared with the OPCs-alone transplantation, the co-transplantation generated more sensory neurons at the lesion border and significantly improved the sensory functional recovery. Conclusions: Our study demonstrates that transplantation of OPCs combined with HUVECs significantly enhances both motor and sensory functional recovery after SCI. No significance was observed between OPCs combined with HUVECs group and OPCs-alone group in motor function recovery, while the sensory function recovery was significantly promoted in OPCs combined with HUVECs groups compared with the other two groups. These findings provide novel insights into the field of SCI research

Microbial diversity and community composition of fecal microbiota in dual-purpose and egg type ducks

IntroductionDucks are important agricultural animals, which can be divided into egg and dual-purpose type ducks according to economic use. The gut microbiota of ducks plays an important role in their metabolism, immune regulation, and health maintenance.MethodsHere, we use 16S rDNA V4 hypervariable amplicon sequencing to investigate the compositions and community structures of fecal microbiota between egg (five breeds, 96 individuals) and dual-purpose type ducks (four breeds, 73 individuals) that were reared under the same conditions.ResultsThe alpha diversity of fecal microflora in egg type ducks was significantly higher than that in dual-type ducks. In contrast, there is no significant difference in the fecal microbial community richness between the two groups. MetaStat analysis showed that the abundance of Peptostreptococcaceae, Streptococcaceae, Lactobacillus, Romboutsia, and Campylobacter were significantly different between the two groups. The biomarkers associated with the egg and dual-purpose type ducks were identified using LEfSe analysis and IndVal index. Function prediction of the gut microbiota indicated significant differences between the two groups. The functions of environmental information processing, carbohydrate metabolism, lipid metabolism, xenobiotic biodegradation and metabolism, and metabolism of terpenoids and polyketides were more abundant in egg type ducks. Conversely, the genetic information processing, nucleotide metabolism, biosynthesis of amino acids and secondary metabolites, glycan biosynthesis and metabolism, fatty acid elongation, and insulin resistance were significantly enriched in dual-purpose type ducks.DiscussionThis study explored the structure and diversity of the gut microbiota of ducks from different economic-use groups, and provides a reference for improving duck performance by using related probiotics in production

Spin Logic Devices via Electric Field Controlled Magnetization Reversal by Spin-Orbit Torque

We describe a spin logic device with controllable magnetization switching of perpendicularly magnetized ferromagnet/heavy metal structures on a ferroelectric (1-x)[Pb(Mg 1/3 Nb 2/3 )O 3 ]-x[PbTiO 3 ] (PMN-PT) substrate using current-induced spin-orbit torque. The devices were operated without an external magnetic field and controlled by voltages as low as 10 V applied across the PMN-PT substrate, which is much lower compared with the previous reports (500 V). The deterministic switching with smaller voltage was realized from the virgin state of the PMN-PT. The ferroelectric simulation shows the unsaturated minor loop exhibits obvious asymmetries in the polarizations. Larger polarization can be induced from the initial ferroelectric state, while it is difficult for opposite polarization. The XNOR, AND, NAND and NOT logic functions were demonstrated by the deterministic magnetization switching from the interaction between the spin-orbit torque and electric field at the PMN-PT/Pt interface. The nonvolatile spin logic scheme in this letter is simple, scalable and programmable, which are favorable in the logic-in-memory design with low energy consumption

Electric field control of deterministic current-induced magnetization switching in a hybrid ferromagnetic/ferroelectric structure

All-electrical and programmable manipulations of ferromagnetic bits are highly pursued for the aim of high integration and low energy consumption in modern information technology1, 2, 3. Methods based on the spin–orbit torque switching4, 5, 6 in heavy metal/ferromagnet structures have been proposed with magnetic field7, 8, 9, 10, 11, 12, 13, 14, 15, and are heading toward deterministic switching without external magnetic field16, 17. Here we demonstrate that an in-plane effective magnetic field can be induced by an electric field without breaking the symmetry of the structure of the thin film, and realize the deterministic magnetization switching in a hybrid ferromagnetic/ferroelectric structure with Pt/Co/Ni/Co/Pt layers on PMN-PT substrate. The effective magnetic field can be reversed by changing the direction of the applied electric field on the PMN-PT substrate, which fully replaces the controllability function of the external magnetic field. The electric field is found to generate an additional spin–orbit torque on the CoNiCo magnets, which is confirmed by macrospin calculations and micromagnetic simulations