EMA-VIO: Deep Visual-Inertial Odometry with External Memory Attention

Accurate and robust localization is a fundamental need for mobile agents. Visual-inertial odometry (VIO) algorithms exploit the information from camera and inertial sensors to estimate position and translation. Recent deep learning based VIO models attract attentions as they provide pose information in a data-driven way, without the need of designing hand-crafted algorithms. Existing learning based VIO models rely on recurrent models to fuse multimodal data and process sensor signal, which are hard to train and not efficient enough. We propose a novel learning based VIO framework with external memory attention that effectively and efficiently combines visual and inertial features for states estimation. Our proposed model is able to estimate pose accurately and robustly, even in challenging scenarios, e.g., on overcast days and water-filled ground , which are difficult for traditional VIO algorithms to extract visual features. Experiments validate that it outperforms both traditional and learning based VIO baselines in different scenes.Comment: Accepted by IEEE Sensors Journa

Case report: Sintilimab combined with anlotinib as neoadjuvant chemotherapy for metastatic bone tumor resection in patients with PSC

BackgroundPulmonary sarcomatoid carcinoma (PSC) is a rare subtype of non-small-cell lung cancer (NSCLC), which is resistant to chemotherapy and radiotherapy with a poor prognosis. PSC is highly malignant and is prone to recurrence even after surgery. The programmed death-ligand 1 (PD-L1) tumor cell proportion score (TPS) 5%, TERT and TP53 gene mutations were detected in this patient accompanied by multiple metastatic sites. The anlotinib is a novel multitarget tyrosine kinase inhibitor (TKI) that could be effective for advanced NSCLC and some sarcoma patients. Limited clinical trials and case reports have shown that PSC patients with gene mutations and PD-L1 expression have good responses to multitarget antiangiogenic drug and immune checkpoint inhibitors (ICIs). In this article, we reported a case with metastatic PSC diagnosed by Computed Tomography (CT)-guided needle biopsy treated with immunotherapy combined with antiangiogenic drugs as a neoadjuvant chemotherapy (NACT). PSC is controlled and the patient achieves successfully limb salvage treatment by surgical resection. Therefore, targeted therapy and immunotherapy can provide sufficient surgical opportunities for limb salvage in the treatment of metastatic PSC patients.Case summaryA 69-year-old male diagnosed with malignant bone tumor in the proximal femur was admitted to our hospital in June 2022 with recurrent fever as well as swelling and pain in the left thigh for twenty days. The initial computed tomography (CT) scan of the chest showed a pulmonary cavity (20 mm × 30 mm) and scattered lung masses. Subsequently, he underwent a CT-guided needle biopsy to distinguish the essence of osteolytic bone destruction and soft tissue mass in the left proximal femur which showed metastatic sarcomatoid carcinoma histology. Genetic testing revealed TERT c.-124C mutation (abundance 8.81%), TP53 p.R342 mutation (abundance 11.35%), tumor mutational burden (TMB) 7.09 muts/Mb, microsatellite stability (MSS), and PD-L1 (SP263) TPS 5% were also detected. The patient was tentatively treated with a combination of antiangiogenic drug and PD-1 inhibitor. After one course, the tumor volume significantly reduced in magnetic resonance imaging (MRI) and pathological fracture occurred in the femur after combined treatment. The patient received proximal femoral tumor resection and prosthesis replacement after defervescence. Sequentially sintilimab with anlotinib were administered for over 1 year. Finally, the local tumor was well controlled, and no obvious drug-related adverse reactions were observed. The lesions in the lung remained in partial response (PR) for more than 16 months and complete response (CR) of metastatic tumor in the proximal femur was observed through imaging examinations.ConclusionThis is the first reported case of a metastatic PSC in femur showing a favorable response to the treatment consisting of anlotinib combined with sintilimab. This case suggests that antiangiogenic therapy combined with immunotherapy may benefit patients with metastatic PSC in the preoperative adjuvant therapy for limb salvage

Energy-Economical Heuristically Based Control of Compass Gait Walking on Stochastically Varying Terrain

Investigation uses simulation to explore the inherent tradeoffs ofcontrolling high-speed and highly robust walking robots while minimizing energy consumption. Using a novel controller which optimizes robustness, energy economy, and speed of a simulated robot on rough terrain, the user can adjust their priorities between these three outcome measures and systematically generate a performance curveassessing the tradeoffs associated with these metrics

Pax transactivation domain-interacting protein is required for preserving hematopoietic stem cell quiescence via regulating lysosomal activity

Hematopoietic stem cells (HSC) maintain lifetime whole blood hematopoiesis through self-renewal and differentiation. In order to sustain HSC stemness, most HSC reside in a quiescence state, which is affected by diverse cellular stress and intracellular signal transduction. How HSC accommodate those challenges to preserve lifetime capacity remains elusive. Here we show that Pax transactivation domain-interacting protein (PTIP) is required for preserving HSC quiescence via regulating lysosomal activity. Using a genetic knockout mouse model to specifically delete Ptip in HSC, we find that loss of Ptip promotes HSC exiting quiescence, and results in functional exhaustion of HSC. Mechanistically, Ptip loss increases lysosomal degradative activity of HSC. Restraining lysosomal activity restores the quiescence and repopulation potency of Ptip-/- HSC. Additionally, PTIP interacts with SMAD2/3 and mediates transforming growth factor-β signaling-induced HSC quiescence. Overall, our work uncovers a key role of PTIP in sustaining HSC quiescence via regulating lysosomal activity

Adsorption study of selenium ions from aqueous solutions using MgO nanosheets synthesized by ultrasonic method

MgO nanosheets with thickness ranges of 3-10 molecule layers and high specific area (166.44 m(2) g(-1)) were successfully fabricated by an ultrasound-assisted exfoliation method and used as adsorbent for the removal of both selenite (Se(IV)) and selenate (Se(VI)) from aqueous solutions. The resulting MgO nanosheets displayed high maximum adsorption capacities of 103.52 and 10.28 mg g(-1) for Se(IV) and Se(VI), respectively. ATR-FTIR and XPS spectroscopic results suggested that both Se(IV) and Se(VI) formed inner-sphere surface complexes on MgO nanosheets under the present experimental conditions. Furthermore, high adsorption capacity for Se(IV/VI) in the presence of coexistent anions (SO42-, PO43-, Cl-, and F-) and efficient regeneratability of adsorbent by NaOH solution were observed in the competitive adsorption and regeneration steps. The simple one-step synthesis process of MgO nanosheets and high adsorption capacities offer a promising method for Se(IV/VI) removal in water treatment. (C) 2017 Elsevier B.V. All rights reserved.</p

Vegetation Degradation of Guanshan Grassland Suppresses the Microbial Biomass and Activity of Soil

Changes in vegetation influence the function of grassland ecosystems. A degradation of the vegetation type has been found from high to low altitudes in Guanshan grassland in the order of forest grassland (FG) &lt; shrub grassland (SG) &lt; herb grassland (HG). However, there is poor information regarding the effect of vegetation degradation on soil microbes in Guanshan grassland. Therefore, our study evaluated the impact of vegetation degradation on the microbial parameters of soil, as well as the mechanisms responsible for these variations. Soils were sampled from 0 to 30 cm under the FG, SG, and HG in Guanshan grassland for determining the microbial biomass, enzymatic activities, basal respiration (BR), and metabolic quotient (qCO2) in April and July 2017. The results showed that vegetation types are important factors that obviously influence the above-mentioned soil microbial properties. The FG and SG had significantly higher soil microbial biomass, enzymatic activities, and BR than those of the HG, but markedly lower qCO2 (p &lt; 0.05). Soil pH, available nitrogen (AN), organic carbon (SOC), total phosphorus (TP), available P (AP), and total N (TN) were key factors in the decline in the soil microbial biomass and microbial activities of the degraded vegetation. Moreover, slope aspects also affected the soil microbial properties, with the east slope having higher soil microbial biomass, enzymatic activities, and BR and lower qCO2 than the west slope. Conclusively, vegetation degradation has led to a decline in the soil microbial biomass and microbial activities, indicating the degradation of the Guanshan grassland ecosystem

Superior lithium adsorption and required magnetic separation behavior of iron-doped lithium ion-sieves

The recent research on adsorption-based lithium recovery from lithium-containing solutions has been centred on adsorption capacity and separation of lithium ion-sieves powder from solutions. Herein, an effective iron-doped lithium titanium oxide (Fe-doped Li2TiO3) was synthesized by Fe-doping via solid state reactions followed by acid treatment to form iron-doped lithium ion-sieves (Fe/Ti-x(H)). The resulting solid powder displays both superior adsorption capacity of lithium and high separation efficiency of the adsorbent from the solutions. SEM imaging and BET surface area measurement results showed that at Fe doping levels x &lt;= 0.15, Fe-doping led to grain shrinkage as compared to Li2TiO3 and at the same time the BET surface area increased. The Fe/Ti-0.15(H) exhibited saturated magnetization values of 13.76 emu g(-1), allowing effective separation of the material from solid suspensions through the use of a magnet. Consecutive magnetic separation results suggested that the Fe/Ti-0.15(H) powders could be applied at large-scale and continuously removed from LiOH solutions with separation efficiency of 96% or better. Lithium adsorption studies indicated that the equilibrium adsorption capacity of Fe/Ti-0.15(H) in LiOH solutions (1.8 g L-1 Li, pH 12) reached 53.3 mg g(-1) within 24 h, which was higher than that of pristine Li2TiO3 (50.5 mg g(-1)) without Fe doping. Competitive adsorption and regeneration results indicated that the Fe/Ti-0.15(H) possessed a high selectivity for Li with facile regeneration. Therefore, it could be expected that the iron-doped lithium ion-sieves have practical applicability potential for large scale lithium extraction and recovery from lithium-bearing solutions.</p

Nrf2 affects hydroquinone-induces cell cycle arrest through the p16/pRb signaling pathway and antioxidant enzymes

Hydroquinone (HQ), a well-known carcinogenic agent, induces oxidative stress, cell cycle arrest, apoptosis, and malignant transformation. As an antioxidant actor, the nuclear factor erythroid 2-related factor 2 (Nrf2) drives adaptive cellular protection in response to oxidative stress. The human lymphoblastoid cell line (TK6 cells) is widely used as a model for leukemia researches. In the present study, we focused on exploring whether Nrf2 regulatory cell cycle in TK6 cells upon HQ treatment and the underlying mechanisms. The results showed that the cell cycle arrest in TK6 cells induced by hydroquinone was accompanied by activation of the Nrf2 signaling pathway. We further clarified that Nrf2 loss accelerated cell cycle progression from G0/G1 to S and G2/M phases and promoted ROS production by downregulating the expression of SOD and GSH. Western blotting analysis indicated that Nrf2 regulated cell cycle progression via p16/pRb signaling pathways. Therefore, we conclude that Nrf2 is engaged in HQ-induced cell cycle arrest as well through p16/pRb and antioxidant enzymes

Simulation Analysis and Experimental Study on the Fluid–Solid–Thermal Coupling of Traction Motor Bearings

The traction motor is a crucial component of high-speed electric multiple units, and its operational reliability is directly impacted by the temperature increase in the bearings. To accurately predict and simulate the temperature change process of traction motor bearings during operation, a fluid–solid–thermal simulation analysis model of grease-lubricated deep groove ball bearings was constructed. This model aimed to simulate the temperature rise of the bearing and the grease flow process, which was validated through experiments. The results from the simulation analysis and tests indicate that the temperature in the contact zone between the bearing rolling element and the raceway, as well as the ring temperature, initially increases to a peak and then gradually decreases, eventually stabilizing once the bearing’s heat generation power and heat transfer power reach equilibrium. Furthermore, the established fluid–solid–thermal coupling simulation analysis model can accurately predict the amount of grease required for effective lubrication in the bearing cavity, which stabilizes along with the bearing temperature. The findings of this research can serve as a theoretical foundation and technical support for monitoring the health status of high-speed EMU traction motor bearings