ArtiGrasp: Physically Plausible Synthesis of Bi-Manual Dexterous Grasping and Articulation

We present ArtiGrasp, a novel method to synthesize bi-manual hand-object interactions that include grasping and articulation. This task is challenging due to the diversity of the global wrist motions and the precise finger control that are necessary to articulate objects. ArtiGrasp leverages reinforcement learning and physics simulations to train a policy that controls the global and local hand pose. Our framework unifies grasping and articulation within a single policy guided by a single hand pose reference. Moreover, to facilitate the training of the precise finger control required for articulation, we present a learning curriculum with increasing difficulty. It starts with single-hand manipulation of stationary objects and continues with multi-agent training including both hands and non-stationary objects. To evaluate our method, we introduce Dynamic Object Grasping and Articulation, a task that involves bringing an object into a target articulated pose. This task requires grasping, relocation, and articulation. We show our method's efficacy towards this task. We further demonstrate that our method can generate motions with noisy hand-object pose estimates from an off-the-shelf image-based regressor.Comment: 3DV-2024 camera ready. Project page: https://eth-ait.github.io/artigrasp

Improved ferroelectric properties of CMOS back-end-of-line compatible Hf0.5Zr0.5O2 thin films by introducing dielectric layers

Hf0.5Zr0.5O2 (HZO) ferroelectric thin films have gained significant attention for the development of next-generation ferroelectric memories by complementary-metal-oxide semiconductor (CMOS) back-end-of-line (BEOL) processing, due to their relatively low crystallization temperature. However, it remains challenging to achieve excellent ferroelectric properties with post deposition annealing (PDA) process at a BEOL compatible temperature. Along these lines, in this work, it is demonstrated that the ferroelectricity of 15 nm thick HZO thin film prepared by PDA process at 400 °C can be improved to varying degrees, via depositing 2 nm thick dielectric layers of Al2O3, HfO2, or ZrO2 at either the bottom or the top of the film. Notably, the HZO thin film with the top-Al2O3 layer exhibits remarkable ferroelectric properties, which are independent of the thickness of HZO. The 6 nm thick HZO thin film shows a total remanent polarization (2Pr) of 31 μC/cm2 under an operating voltage of 2.5 V. These results represent a significant advancement in the fabrication of high-performance, BEOL compatible ferroelectric memories, as compared to previously reported state-of-the-art works

Highly stable and antifungal properties on the oilseed rape of Cu3(MoO4)2(OH)2 nanoflakes prepared by simple aqueous precipitation

Abstract In the last few decades, nanoparticles have been a prominent topic in various fields, particularly in agriculture, due to their unique physicochemical properties. Herein, molybdenum copper lindgrenite Cu3(MoO4)2(OH)2 (CM) nanoflakes (NFs) are synthesized by a one-step reaction involving α-MoO3 and CuCO3⋅Cu(OH)2⋅xH2O solution at low temperature for large scale industrial production and developed as an effective antifungal agent for the oilseed rape. This synthetic method demonstrates great potential for industrial applications. Infrared spectroscopy and X-ray diffraction (XRD) results reveal that CM samples exhibit a pure monoclinic structure. TG and DSC results show the thermal stable properties. It can undergo a phase transition form copper molybdate (Cu3Mo2O9) at about 300 °C. Then Cu3Mo2O9 nanoparticles decompose into at CuO and MoO3 at 791 °C. The morphology of CM powder is mainly composed of uniformly distributed parallelogram-shaped nanoflakes with an average thickness of about 30 nm. Moreover, the binding energy of CM NFs is measured to be 2.8 eV. To assess the antifungal properties of these materials, both laboratory and outdoor experiments are conducted. In the pour plate test, the minimum inhibitory concentration (MIC) of CM NFs against Sclerotinia sclerotiorum (S. sclerotiorum) is determined to be 100 ppm, and the zone of inhibiting S. sclerotiorum is 14 mm. When the concentration is above 100 nm, the change rate of the hyphae circle slows down a little and begins to decrease until to 200 ppm. According to the aforementioned findings, the antifungal effects of a nano CM NFs solution are assessed at different concentrations (0 ppm (clear water), 40 ppm, and 80 ppm) on the growth of oilseed rape in an outdoor setting. The results indicate that the application of CM NFs led to significant inhibition of S. sclerotiorum. Specifically, when the nano CM solution was sprayed once at the initial flowering stage at a concentration of 80 ppm, S. sclerotiorum growth was inhibited by approximately 34%. Similarly, when the solution was sprayed once at the initial flowering stage and once at the rape pod stage, using a concentration of 40 ppm, a similar level of inhibition was achieved. These outcomes show that CM NFs possess the ability to bind with more metal ions due to their larger specific surface area. Additionally, their semiconductor physical properties enable the generation of reactive oxygen species (ROS). Therefore, CM NFs hold great potential for widespread application in antifungal products

The role of bradykinin in lung ischemia-reperfusion injury in a rat lung transplantation model

ABSTRACT PURPOSE: To investigate the role of bradykinin in a rat lung transplantation (LTx) model and preliminarily discuss the relationship between bradykinin and CD26/DPP-4. METHODS: Rats were randomly divided into four groups: Control (CON), Sham, low potassium dextranglucose (LPD), and AB192 (n=15/group). Orthotopic single LTx was performed in the LPD and AB192 groups. The donor lungs were flush-perfused and preserved with low potassium dextranglucose (LPD) or LPD+CD26/DPP-4 catalytic inhibitor (AB192). LTx was performed after 18 h cold ischemia time and harvested two days post-LTx. Blood gas analysis (PO2), wet/dry weight ratio (W/D), myeloperoxidase activity (MPO), and lipid peroxidation (MDA) were analyzed at 48 hr after transplantation. Immunohistochemical (IHC) analysis was performed in the same sample and validated by Western-Blot. RESULTS: Compared to the LPD group, the AB192 group showed higher PO2, lower W/D ratio, and decreased MPO and MDA. IHC studies showed strong bradykinin β2 receptor (B2R) staining in the LPD group, especially in inflammatory cells, alveolar macrophages, and respiratory epithelial cells. Expression of B2R by Western-Blot was significantly different between the AB192 and LPD groups. CONCLUSION: Bradykinin may be a competitive substrate of DPP-4, and decreased bradykinin levels may enhance protective effects against ischemia/reperfusion injury during LTx

MOESM1 of Heart regeneration in adult Xenopus tropicalis after apical resection

Additional file 1: Figure S1. Cardiac troponin T+ and Cardiac troponin T+/PH3+ cells exist in the regenerated area between 8 to 60 daar. A1: Longitudinal section of the apical area from a sham control. High magnification of the square region is shown (A2). Longitudinal sections of an amputated heart at 0 daar (B1–2), 1 daar (C1–2), 2 daar (D1–2), 4 daar (E1–2), 8 daar (F1–2), 16 daar (G1–2), 30 daar (H1–2; perfect regeneration), 30 daar (I1–2; nearly perfect regeneration), and 60 daar (J1; perfect regeneration). Cardiac troponin T+ and Cardiac troponin T+/PH3+ cells existed in the regenerated area between 8 to 60 daar. The amputated apex was regenerated by mature cardiomyocytes as indicated cardiac troponin T positive within approximately 30 days after amputation. cTnT: Cardiac troponin T; PH3: Phospho-histone H3; DAPI: 4′,6-Diamidino-2-phenylindole. White arrow: PH3+ nucleus. White dotted line, outer surface of the epicardium. Area between the red dotted line and white dotted line, regenerated area after amputation. 30-daar-n: Amputated heart with nearly perfect regeneration at 30 daar. Bar in A1 to J1 = 30 μm. Bar in A2 to J2 = 10 μm