Grasp Stability Assessment Through Attention-Guided Cross-Modality Fusion and Transfer Learning

Extensive research has been conducted on assessing grasp stability, a crucial prerequisite for achieving optimal grasping strategies, including the minimum force grasping policy. However, existing works employ basic feature-level fusion techniques to combine visual and tactile modalities, resulting in the inadequate utilization of complementary information and the inability to model interactions between unimodal features. This work proposes an attention-guided cross-modality fusion architecture to comprehensively integrate visual and tactile features. This model mainly comprises convolutional neural networks (CNNs), self-attention, and cross-attention mechanisms. In addition, most existing methods collect datasets from real-world systems, which is time-consuming and high-cost, and the datasets collected are comparatively limited in size. This work establishes a robotic grasping system through physics simulation to collect a multimodal dataset. To address the sim-to-real transfer gap, we propose a migration strategy encompassing domain randomization and domain adaptation techniques. The experimental results demonstrate that the proposed fusion framework achieves markedly enhanced prediction performance (approximately 10%) compared to other baselines. Moreover, our findings suggest that the trained model can be reliably transferred to real robotic systems, indicating its potential to address real-world challenges.Comment: Accepted by IROS 202

A PCA and ELM Based Adaptive Method for Channel Equalization in MFL Inspection

Magnetic flux leakage (MFL) as an efficient method for pipeline flaw detection plays important role in pipeline safety. This nondestructive test technique assesses the health of the buried pipeline. The signal is gathered by an array of hall-effect sensors disposed at the magnetic neutral plane of a pair of permanent magnet in the pipeline inspection gauge (PIG) clinging to the inner surface of the pipe wall. The magnetic flux measured by the sensors reflects the health condition of the pipe. The signal is influenced by not only the condition of the pipe, but also by the lift-off value of the sensors and various properties of electronic component. The consistency of the position of the sensors is almost never satisfied and each sensor measures differently. In this paper, a new scheme of channel equalization is proposed for MFL signal in order to correct sensor misalignments, which eventually improves accuracy of defect characterization. The algorithm proposed in this paper is adaptive to the effects of error on the disposition of the sensor due to manufacturing imperfections and movements of the sensors. The algorithm is tested by data acquired from an experimental pipeline. The results show the effectiveness of the proposed algorithm

Prevention of injury by resveratrol in a rat model of adenine-induced chronic kidney disease

Purpose: To investigate the preventive effect of resveratrol against renal pathological changes in a rat model of chronic kidney disease (CKD).Methods: CKD was induced by daily intragastric administration of adenine (200 mg/kg) for 1 month. The effect of 10, 15, and 20 mg/kg doses of resveratrol on the levels of parathyroid hormone, phosphorous, and fibroblast growth factor-23 (FGF-23) in rat urine samples after 2 months of adenine administration were analyzed using an auto-analyzer.Results: Resveratrol treatment significantly inhibited the adenine-mediated increase in serum parathyroid hormone, phosphorous and FGF-23 levels (p < 0.002). In rats treated with 10, 15 and 20 mg/kg doses of resveratrol after adenine, urine protein/creatinine ratio was reduced to 5, 675.6 ± 2453.7, 4, 789.8 ± 1,534.9, and 1, 965 ± 576.8 mg/g, respectively. In the untreated and normal control groups, the respective values were 7, 004 ± 1, 653.3 and 1, 627.5 ± 568.7 mg/g. Treatment with resveratrol after administration of adenine inhibited increases in creatinine, blood urea nitrogen, and uric acid levels in a dose-dependent manner (p < 0.002). Resveratrol treatment also inhibited adeninemediated increases in monocytes and inflammatory cells. Furthermore, resveratrol prevented renal tubule swelling and expansion induced by adenine administration.Conclusion: Resveratrol treatment prevent the renal pathological changes induced by adenine administration in a rat model of CKD by inhibiting FGF-23, parathyroid hormone, and phosphate. Thus, resveratrol may be of therapeutic importance for the treatment of CKD.Keyword: Parathyroid hormone, Phosphate, Creatinine, Monocytes, Chronic kidney disease, Fibroblast growth factor-2

World Models for Autonomous Driving: An Initial Survey

In the rapidly evolving landscape of autonomous driving, the capability to accurately predict future events and assess their implications is paramount for both safety and efficiency, critically aiding the decision-making process. World models have emerged as a transformative approach, enabling autonomous driving systems to synthesize and interpret vast amounts of sensor data, thereby predicting potential future scenarios and compensating for information gaps. This paper provides an initial review of the current state and prospective advancements of world models in autonomous driving, spanning their theoretical underpinnings, practical applications, and the ongoing research efforts aimed at overcoming existing limitations. Highlighting the significant role of world models in advancing autonomous driving technologies, this survey aspires to serve as a foundational reference for the research community, facilitating swift access to and comprehension of this burgeoning field, and inspiring continued innovation and exploration

The effect of surface conductance on lateral gated quantum devices in Si/SiGe heterostructures

Quantum dots in Si/SiGe heterostructures are expected to have relatively long electron spin decoherence times, because of the low density of nuclear spins and the weak coupling between nuclear and electron spins. We provide experimental evidence suggesting that electron motion in a conductive layer parallel to the two-dimensional electron gas, possibly resulting from the donors used to dope the Si quantum well, is responsible for the well-known difficulty in achieving well-controlled dots in this system. Charge motion in the conductive layer can cause depletion on large length scales, making electron confinement in the dot impossible, and can give rise to noise that can overwhelm the single-electron charging signal. Results of capacitance versus gate bias measurements to characterize this conductive layer are presented.National Science Foundation (U.S.) ((PHY-0117795)National Science Foundation (U.S.) (DMR-0701386

Association between gut microbiota and diabetic microvascular complications: a two-sample Mendelian randomization study

BackgroundGut microbiota (GM) homeostasis in the human body is closely associated with health, which can be used as a regulator for preventing the onset and progression of disease. Diabetic microvascular complications bring about not only a huge economic burden to society, but also miserable mental and physical pain. Thus, alteration of the GM may be a method to delay diabetic microvascular complications.ObjectiveA two-sample Mendelian randomization (MR) analysis was conducted to reveal the causal inference between GM and three core diabetic microvascular complications, namely, diabetic kidney disease (DKD), diabetic retinopathy (DR), and diabetic neuropathy (DNP).MethodsFirst, genome-wide association study (GWAS) summary statistics for GM from the MiBioGen consortium and three main diabetic microvascular complications acquired from the FinnGen research project were assessed. Second, a forward MR analysis was conducted to assess the causality of GM on the risk of DKD, DR, and DNP. Third, a series of sensitivity studies, such as heterogeneity tests, pleiotropy evaluations, and leave-one-out analyses, were further conducted to assess the accuracy of MR analysis. Finally, Steiger tests and reverse MR analyses were performed to appraise the possibility of reverse causation.ResultsA total of 2,092 single-nucleotide polymorphisms related to 196 bacterial traits were selected as instrumental variables. This two-sample MR analysis provided strongly reasonable evidence that 28 genetically predicted abundance of specific GM that played non-negligible roles in the occurrence of DKD, DR, and DNP complications were causally associated with 23 GM, the odds ratio of which generally ranged from 0.9 to 1.1. Further sensitivity analysis indicated low heterogeneity, low pleiotropy, and high reliability of the causal estimates.ConclusionThe study raised the possibility that GM may be a potential target to prevent and delay the progression of diabetic microvascular complications. Further experiments of GM therapy on diabetic microvascular complications are warranted to clarify their effects and specific mechanisms

Different water and nitrogen level effects on soil microbial properties of spinach

Understanding the interactions of plant soil environment and rhizosphere microbial changes are necessary to develop new strategies for the sustainable agriculture. A field experiment with combination of three water levels and three nitrogen rates was conducted to investigate the effect of water and nitrogen management on the changes of soil microbial properties in non-rhizosphere and rhizosphere soils of spinach. Non-Rhizosphere and rhizosphere microbial diversities were affected by water and nitrogen applications. Evenness index in the no-nitrogen treatment was more than that of 85 and 170 kg ha–1 nitrogen treatments in the non-rhizosphere or rhizosphere soil. Microbial biomass carbon in non-rhizosphere soil or rhizosphere soil decreased with the increase of nitrogen application, but showed the highest value in 16.5% of soil water content, followed by 12.5% and 20.5% of soil water content. Soil microbial biomass phosphorus content of 85 kg ha–1 nitrogen treatment in the non-rhizosphere soil or rhizosphere soil was significantly different for 0 and 170 kg ha–1 nitrogen treatments. Nitrification rate increased with the increase of soil water content in 0 and 170 kg ha–1 treatments. Our results demonstrated that water and nitrogen could impact the soil fertility and microbial activity of spinach

Extracting Rural Crash Injury and Fatality Patterns Due to Changing Climates in RITI Communities Based on Enhanced Data Analysis and Visualization Tools (Phase I)

Traffic crashes cause considerable incapacitating injuries and losses in Rural, Isolated, Tribal, or Indigenous (RITI) communities. Compared to urban traffic crashes, those rural crashes, especially for those occurred in RITI communities, are heavily associated with factors such as speeding, low safety devices application (for instance, seatbelt), adverse weather conditions and lacking maintenance and repairers for road conditions, inferior lighting conditions, and so on. Therefore, there exists an urgent need to investigate the unique attributes associated with the RITI traffic crashes based on numerous approaches, such as statistical methods, and data-driven approaches. This project focused on extracting rural crash injury and fatality patterns due to changing climates in RITI communities based on enhanced data analysis and visualization tools. Three new interactive graphic tools were added to the Rural Crash Visualization Tool System (RCVTS), to enhance the visualization approach. A Bayesian vector auto-regression based data analysis approach was proposed to enable irregularly-spaced mixture-frequency traffic collision data interpretation with missing values. Moreover, a finite mixture random parameters model was formulated to explore driver injury severity patterns and causes in low visibility related single-vehicle crashes. The research findings are helpful for transportation agencies to develop cost-effective countermeasures to mitigate rural crash severities under extreme climate and weather conditions and minimize the rural crash risks and severities in the States of Alaska, Washington, Idaho, and Hawaii