784 research outputs found

    Vision-Based Reactive Planning and Control of Quadruped Robots in Unstructured Dynamic Environments

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    Quadruped robots have received increasing attention for the past few years. However, existing works primarily focus on static environments or assume the robot has full observations of the environment. This limits their practical applications since real-world environments are often dynamic and partially observable. To tackle these issues, vision-based reactive planning and control (V-RPC) is developed in this work. The V-RPC comprises two modules: offline pre-planning and online reactive planning. The pre-planning phase generates a reference trajectory over continuous workspace via sampling-based methods using prior environmental knowledge, given an LTL specification. The online reactive module dynamically adjusts the reference trajectory and control based on the robot's real-time visual perception to adapt to environmental changes

    Variations in the East Asian summer monsoon over the past 1 millennium and their links to the Tropic Pacific and North 2 Atlantic oceans

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    Variations of East Asian summer monsoon (EASM) during the last millennium could help enlighten the monsoonal response to future global warming. Here we present a precisely dated and highly resolved stalagmite δ18O record from the Yongxing Cave, central China. Our new record, combined with a previously published one from the same cave, indicates that the EASM has changed dramatically in association with the global temperature rising. In particular, our record shows that the EASM has intensified during the Medieval Climate Anomaly (MCA) and the Current Warm Period (CWP) but weakened during the Little Ice Age (LIA). We find that the EASM intensity is similar during the MCA and CWP periods in both northern and central China, but relatively stronger during the CWP in southern China. This discrepancy indicates a complicated regional response of the EASM to the anthropogenic forcing. The intensified and weakened EASM during the MCA and LIA matches well with the warm and cold phases of Northern Hemisphere surface air temperature, respectively. This EASM pattern also corresponds well with the rainfall over the tropical Indo-Pacific warm pool. Surprisingly, our record shows a strong association with the North Atlantic climate as well. The intensified (weakened) EASM correlates well with positive (negative) phases of North Atlantic Oscillation. In addition, our record links well with the strong (weak) Atlantic meridional overturning circulation during the MCA (LIA) period. All above-mentioned correlations indicate that the EASM tightly couples with oceanic processes in the tropical Pacific and North Atlantic oceans during the MCA and LIA

    A Highly Efficient Dual Rotating Disks Photocatalytic Fuel Cell with Wedged Surface TiO2 Nanopore Anode and Hemoglobin Film Cathode

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    In this study, a dual rotating-disk photocatalytic fuel cell using TiO2 on Ti plate with a wedged surface as the anode and hemoglobin (Hb) on graphite as the cathode was investigated and found to show excellent performance of simultaneous organic pollutant degradation and electricity generation. This study is based on a well-developed photocatalytic fuel cell equipped with dual rotating disks for wastewater treatment that we developed previously, and the innovation of this new device is using a hemoglobin on graphite cathode for in situ hydrogen peroxide (H2O2) generation. The result proved with confidence that H2O2 was generated in situ on a cathode surface with the exited electron transferred from organic oxidation in a photoanodic half cell, and the organic pollutants were removed by the reaction with H2O2 and OH in a cathodic half cell. This design uses the invalid excited electron from the photoanode and enhances the overall performance of Rhodamine B degradation compared with the cells using the cathode without Hb. Compared with traditional photocatalytic reactors, the photocatalytic fuel cell developed above shows much better utilization efficiency of incident light and a higher degradation performance of organic pollutants and a larger photocurrent

    Biclustering reveals breast cancer tumour subgroups with common clinical features and improves prediction of disease recurrence

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    BACKGROUND: Many studies have revealed correlations between breast tumour phenotypes, variations in gene expression, and patient survival outcomes. The molecular heterogeneity between breast tumours revealed by these studies has allowed prediction of prognosis and has underpinned stratified therapy, where groups of patients with particular tumour types receive specific treatments. The molecular tests used to predict prognosis and stratify treatment usually utilise fixed sets of genomic biomarkers, with the same biomarker sets being used to test all patients. In this paper we suggest that instead of fixed sets of genomic biomarkers, it may be more effective to use a stratified biomarker approach, where optimal biomarker sets are automatically chosen for particular patient groups, analogous to the choice of optimal treatments for groups of similar patients in stratified therapy. We illustrate the effectiveness of a biclustering approach to select optimal gene sets for determining the prognosis of specific strata of patients, based on potentially overlapping, non-discrete molecular characteristics of tumours. RESULTS: Biclustering identified tightly co-expressed gene sets in the tumours of restricted subgroups of breast cancer patients. The co-expressed genes in these biclusters were significantly enriched for particular biological annotations and gene regulatory modules associated with breast cancer biology. Tumours identified within the same bicluster were more likely to present with similar clinical features. Bicluster membership combined with clinical information could predict patient prognosis in conditional inference tree and ridge regression class prediction models. CONCLUSIONS: The increasing clinical use of genomic profiling demands identification of more effective methods to segregate patients into prognostic and treatment groups. We have shown that biclustering can be used to select optimal gene sets for determining the prognosis of specific strata of patients

    External Application of Traditional Chinese Medicine for Venous Ulcers: A Systematic Review and Meta-Analysis

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    Objective. To evaluate the effectiveness of external application of traditional Chinese medicine (EA-TCM) on venous ulcers. Methods. Seven databases were searched until April 2015 for randomized controlled trials (RCTs) of EA-TCM for venous ulcers. Risk of bias was assessed using Cochrane Handbook guidelines. Study outcomes were presented as risk ratios (RRs) for dichotomous data or mean differences (MDs) for continuous data. Results. Sixteen of 193 potentially relevant trials met the inclusion criteria; however, their methodological qualities were low. Comparison of the same intervention strategies revealed significant differences in total effectiveness rates between EA-TCM and conventional therapy groups (RR = 1.22, 95% confidence interval [CI] = 1.16–1.29, and P<0.00001). Compared to conventional therapy, EA-TCM combined with conventional therapy had a superior total effectiveness rate (RR = 1.11, 95% CI = 1.04–1.19, and P=0.003). There were no significant differences in recurrence rates during followup and final pain measurements between the experimental and those in the control groups (RR = 0.86, 95% CI = 0.31–2.39, and P=0.85; MD −0.75, 95% CI = −2.15–0.65, and P=0.29). Conclusion. The evidence that EA-TCM is an effective treatment for venous ulcers is encouraging, but not conclusive due to the low methodological quality of the RCTs. Therefore, more high-quality RCTs with larger sample sizes are required

    G-quadruplex formation in human telomeric (TTAGGG)4 sequence with complementary strand in close vicinity under molecularly crowded condition

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    Chromosomes in vertebrates are protected at both ends by telomere DNA composed of tandem (TTAGGG)n repeats. DNA replication produces a blunt-ended leading strand telomere and a lagging strand telomere carrying a single-stranded G-rich overhang at its end. The G-rich strand can form G-quadruplex structure in the presence of K+ or Na+. At present, it is not clear whether quadruplex can form in the double-stranded telomere region where the two complementary strands are constrained in close vicinity and quadruplex formation, if possible, has to compete with the formation of the conventional Watson–Crick duplex. In this work, we studied quadruplex formation in oligonucleotides and double-stranded DNA containing both the G- and C-rich sequences to better mimic the in vivo situation. Under such competitive condition only duplex was observed in dilute solution containing physiological concentration of K+. However, quadruplex could preferentially form and dominate over duplex structure under molecular crowding condition created by PEG as a result of significant quadruplex stabilization and duplex destabilization. This observation suggests quadruplex may potentially form or be induced at the blunt end of a telomere, which may present a possible alternative form of structures at telomere ends
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