Dynamical Modelling and a Decentralized Adaptive Controller for a 12-Tetrahedral Rolling Robot

The 12-tetrahedral robot is an addressable reconfigurable technology (ART)-based variable geometry truss mechanism with twenty-six extensible struts and nine nodes arranged in a tetrahedral mesh. The robot has the capability of reconfiguring shape and dimension for environment sensing requirements, which makes it suitable for space exploration and environmental perception. In this paper, we have derived a dynamics model and presented a decentralized adaptive controller for a 12-tetrahedral robot. First, the robot is divided into the node and the strut subsystems, and the kinetic and the potential energy are calculated for the two subsystems. Then, the dynamics model is achieved by applying the Lagrangian formalism on the total energy of the robot. Since the dynamics is too complicated for implementing model-based controllers, a two-layer controller is presented to control the robot, in which the planning layer determines gait and trajectory of the robot, and the executive layer adopts the decentralized adaptive control strategy and consists of twenty-six strut controllers. Each strut controller regulates the movement of the corresponding strut without information exchange with other struts. Co-simulations based on ADAMS and Matlab have been conducted to verify the feasibility and effectiveness of the proposed controller

The glycosyltransferase GnT-III activates Notch signaling and drives stem cell expansion to promote the growth and invasion of ovarian cancer

Glycosylation changes associated with cellular transformation can facilitate the growth and progression of tumors. Previously we discovered that the gene Mgat3 encoding the glycosyltransferase GnT-III is elevated in epithelial ovarian carcinomas (EOCs) and leads to the production of abnormal truncated N-linked glycan structures instead of the typical bisected forms. In this study, we are interested in discovering how these abnormal glycans impact the growth and progression of ovarian cancer. We have discovered using stable shRNA gene suppression that GnT-III expression controls the expansion of side-population cells, also known as cancer stem cells. More specifically, we found that GnT-III expression regulates the levels and activation of the heavily glycosylated Notch receptor involved in normal and malignant development. Suppression of GnT-III in EOC cell lines and primary tumor-derived cells resulted in an inhibition of Notch signaling that was more potent than phar-macologic blockage of Notch activation via γ-secretase inhibition. The inhibition resulted from the redirection of the Notch receptor to the lysosome, a novel mechanism. These findings demonstrate a new role for bisecting glycosylation in the control of Notch transport and demonstrate the therapeutic potential of inhibiting GnT-III as a treatment for controlling EOC growth and recurrence

Exploring the Naturalness of AI-Generated Images

The proliferation of Artificial Intelligence-Generated Images (AGIs) has greatly expanded the Image Naturalness Assessment (INA) problem. Different from early definitions that mainly focus on tone-mapped images with limited distortions (e.g., exposure, contrast, and color reproduction), INA on AI-generated images is especially challenging as it has more diverse contents and could be affected by factors from multiple perspectives, including low-level technical distortions and high-level rationality distortions. In this paper, we take the first step to benchmark and assess the visual naturalness of AI-generated images. First, we construct the AI-Generated Image Naturalness (AGIN) database by conducting a large-scale subjective study to collect human opinions on the overall naturalness as well as perceptions from technical and rationality perspectives. AGIN verifies that naturalness is universally and disparately affected by technical and rationality distortions. Second, we propose the Joint Objective Image Naturalness evaluaTor (JOINT), to automatically predict the naturalness of AGIs that aligns human ratings. Specifically, JOINT imitates human reasoning in naturalness evaluation by jointly learning both technical and rationality features. We demonstrate that JOINT significantly outperforms baselines for providing more subjectively consistent results on naturalness assessment.Comment: 33 page

The Late Paleocene–Eocene Extension and Differential Denudation in the Eastern Daqingshan Mountains Around the Northeastern Margin of the Ordos Block, Western North China Craton, Constrained by Apatite (U-Th)/He Thermochronology

The initial timing of extension during the Cenozoic around the northeastern margin of the Ordos Block, western North China Craton (NCC), is still poorly constrained. Apatite (U-Th)/He low-temperature thermochronology was thus applied on eight pre-Cenozoic granitic and gneissic samples transecting the eastern Daqingshan Mountains, northeastern margin of the Ordos Block, to investigate the denudation and cooling event related to the onset of extension therein. Four mean corrected AHe ages in the southern part are overlapped within the standard deviations of 50.0 ± 0.4 to 45.0 ± 8.0 Ma. However, three mean corrected AHe ages in the northern part are prominently older of 99.2 ± 11.0 to 86.6 ± 17.1 Ma, with the rest one of 56.1 ± 8.6 Ma. Altogether, they show a younger-older-younger-older pattern along the transect correlated with the normal faults. AHe thermal history modeling results further demonstrate extensive cooling during the Late Cretaceous but differential cooling during the Late Paleocene–Eocene. The Late Cretaceous extensive cooling in the eastern Daqingshan Mountains, as well as the contemporaneous deposition hiatus in both the eastern Daqingshan Mountains and the Hohhot Depression, together indicates overall denudation in the northeastern margin of the Ordos Block at that time. The Late Paleocene–Eocene differential cooling is probably induced by the tilting of the eastern Daqingshan Mountains as a result of the extension suggested by the distribution of AHe ages. It corresponds to the syn-tectonic subsidence in the Hohhot Depression, indicating a basin-mountain coupling. Regional comparative analysis manifests similar extension around the Ordos Block and more widely across the NCC during the Late Paleocene–Eocene. Temporally, kinematically, and dynamically coupled with this regional extension event, the subduction of the Izanagi-Pacific plate probably plays a major role. However, the contribution of the India-Asia collision could not be ignored

Preparation of Equine Immunoglobulin F(ab′) 2 against Smallpox and Evaluation of its Immunoprotective Effect

Smallpox, a severe infectious disease caused by the smallpox virus, causes a death rate as high as 30% within 15-20 days after infection. Therefore, development of anti-Smallpox product as a strategic reserve is urgently needed. We prepared and tested pepsin-digested F(ab′) 2 fragments of serum IgG from horses. Transmission electron microscopy indicated that the purified virus showed morphology consistent with VVTT. The titer was above 1.0 × 10 7 PFU/mL. The purity of the antigen exceeded 90%, according to HPLC. After purification and cleavage, the yield of the purified product F(ab′) 2 was approximately 1.3%, its purity exceeded 90%, and the neutralizing antibody titer exceeded 1:3200. F(ab′) 2 fragments had good preventive and therapeutic effects in mice at antibody doses of 5.2 mg/mL and 2.6 mg/mL. The viral loads of the drug-treated mice were suppressed to varying degrees, and the higher dose groups (5.2 and 2.6 mg/mL) showed a 2-3 fold lower viral load than that in the control group. A process for producing equine immunoglobulin F(ab′) 2 against VVTT was established. The prepared horse anti-smallpox immunoglobulin product had good neutralizing antibody effects on VVTT. The highly purified preparation may serve as a potential candidate for smallpox treatment

Multiple-Clade H5N1 Influenza Split Vaccine Elicits Broad Cross Protection against Lethal Influenza Virus Challenge in Mice by Intranasal Vaccination

Background: The increase in recent outbreaks and unpredictable changes of highly pathogenic avian influenza (HPAI) H5N1 in birds and humans highlights the urgent need to develop a cross-protective H5N1 vaccine. We here report our development of a multiple-clade H5N1 influenza vaccine tested for immunogenicity and efficacy to confer cross-protection in an animal model. Methodology/Principal Findings: Mice received two doses of influenza split vaccine with oil-in-water emulsion adjuvant SP01 by intranasal administration separated by two weeks. Single vaccines (3 mg HA per dose) included rg-A/Vietnam/1203/ 2004(Clade 1), rg-A/Indonesia/05/2005(Clade 2.1), and rg-A/Anhui/1/2005(Clade 2.3.4). The trivalent vaccine contained 1 mg HA per dose of each single vaccine. Importantly, complete cross-protection was observed in mice immunized using trivalent vaccine with oil-in-water emulsion adjuvant SP01 that was subsequently challenged with the lethal A/OT/SZ/097/03 influenza strain (Clade 0), whereas only the survival rate was up to 60 % in single A/Anhui/1/2005 vaccine group. Conclusion/Significance: Our findings demonstrated that the multiple-clade H5N1 influenza vaccine was able to elicit a cross-protective immune response to heterologous HPAI H5N1 virus, thus giving rise to a broadly cross-reactive vaccine to potential prevention use ahead of the strain-specific pandemic influenza vaccine in the event of an HPAI H5N1 influenza outbreak. Also, the multiple-clade adjuvanted vaccine could be useful in allowing timely initiation of vaccination agains

A Dominant X-Linked QTL Regulating Pubertal Timing in Mice Found by Whole Genome Scanning and Modified Interval-Specific Congenic Strain Analysis

BACKGROUND: Pubertal timing in mammals is triggered by reactivation of the hypothalamic-pituitary-gonadal (HPG) axis and modulated by both genetic and environmental factors. Strain-dependent differences in vaginal opening among inbred mouse strains suggest that genetic background contribute significantly to the puberty timing, although the exact mechanism remains unknown. METHODOLOGY/PRINCIPAL FINDINGS: We performed a genome-wide scanning for linkage in reciprocal crosses between two strains, C3H/HeJ (C3H) and C57BL6/J (B6), which differed significantly in the pubertal timing. Vaginal opening (VO) was used to characterize pubertal timing in female mice, and the age at VO of all female mice (two parental strains, F1 and F2 progeny) was recorded. A genome-wide search was performed in 260 phenotypically extreme F2 mice out of 464 female progeny of the F1 intercrosses to identify quantitative trait loci (QTLs) controlling this trait. A QTL significantly associated was mapped to the DXMit166 marker (15.5 cM, LOD = 3.86, p<0.01) in the reciprocal cross population (C3HB6F2). This QTL contributed 2.1 days to the timing of VO, which accounted for 32.31% of the difference between the original strains. Further study showed that the QTL was B6-dominant and explained 10.5% of variation to this trait with a power of 99.4% at an alpha level of 0.05.The location of the significant ChrX QTL found by genome scanning was then fine-mapped to a region of approximately 2.5 cM between marker DXMit68 and rs29053133 by generating and phenotyping a panel of 10 modified interval-specific congenic strains (mISCSs). CONCLUSIONS/SIGNIFICANCE: Such findings in our study lay a foundation for positional cloning of genes regulating the timing of puberty, and also reveal the fact that chromosome X (the sex chromosome) does carry gene(s) which take part in the regulative pathway of the pubertal timing in mice

Analysis of the Generalization Ability of Defogging Algorithms on RICE Remote Sensing Images

This paper explores the generalization ability of defogging algorithms on RICE (A Remote Sensing Image Dataset for Cloud Removal) remotely sensed images. RICE is a dataset of remotely sensed images used for removing clouds, allowing the researcher to better evaluate the performance of defogging algorithms for cloud removal from remotely sensed images. In this paper, four classical defogging algorithms, including AOD-Net, FFA-Net, dark channel prior, and DehazeFormer, are selected and applied to the task of de-cloud in RICE remote sensing images. The performance of these algorithms on the RICE dataset is analyzed by comparing the experimental results, and their differences, advantages, and disadvantages in dealing with de-clouded remote sensing images are explored. The experimental results show that the four defogging algorithms are capable of performing well on uniform thin cloud images, but there is a color distortion and the performance is weak when it comes to inhomogeneous clouds as well as thick clouds. So, the generalization ability of the algorithms is weak when the defogging algorithms are applied to the problem of cloud removal. Finally, this paper proposes improvement ideas for the de-cloud problem of RICE remote sensing images and looks forward to possible future research directions

Sandstone petrology, heavy mineral, and zircon U-Pb and trace element data of the Xueshan Formation

This dataset includes sandstone petrology (S1), heavy mineral (S2), detrital zircon U-Pb and trace element data (S3), related with article 'Thickened continental crust in central Tibet during the Late Jurassic: Implications from the Xueshan Formation in the Qiangtang Basin' by Zhang J et al.</p