Deep Reinforcement Learning for Flipper Control of Tracked Robots

The autonomous control of flippers plays an important role in enhancing the intelligent operation of tracked robots within complex environments. While existing methods mainly rely on hand-crafted control models, in this paper, we introduce a novel approach that leverages deep reinforcement learning (DRL) techniques for autonomous flipper control in complex terrains. Specifically, we propose a new DRL network named AT-D3QN, which ensures safe and smooth flipper control for tracked robots. It comprises two modules, a feature extraction and fusion module for extracting and integrating robot and environment state features, and a deep Q-Learning control generation module for incorporating expert knowledge to obtain a smooth and efficient control strategy. To train the network, a novel reward function is proposed, considering both learning efficiency and passing smoothness. A simulation environment is constructed using the Pymunk physics engine for training. We then directly apply the trained model to a more realistic Gazebo simulation for quantitative analysis. The consistently high performance of the proposed approach validates its superiority over manual teleoperation

Functional consequence of the MET-T1010I polymorphism in breast cancer.

Major breast cancer predisposition genes, only account for approximately 30% of high-risk breast cancer families and only explain 15% of breast cancer familial relative risk. The HGF growth factor receptor MET is potentially functionally altered due to an uncommon germline single nucleotide polymorphism (SNP), MET-T1010I, in many cancer lineages including breast cancer where the MET-T1010I SNP is present in 2% of patients with metastatic breast cancer. Expression of MET-T1010I in the context of mammary epithelium increases colony formation, cell migration and invasion in-vitro and tumor growth and invasion in-vivo. A selective effect of MET-T1010I as compared to wild type MET on cell invasion both in-vitro and in-vivo suggests that the MET-T1010I SNP may alter tumor pathophysiology and should be considered as a potential biomarker when implementing MET targeted clinical trials

Investigating the Temporal and Spatial Variability of Total Ozone Column in the Yangtze River Delta Using Satellite Data: 1978–2013

The objective of this work is to analyze the temporal and spatial variability of the total ozone column (TOC) trends over the Yangtze River Delta, the most populated region in China, during the last 35 years (1978–2013) using remote sensing-derived TOC data. Due to the lack of continuous and well-covered ground-based TOC measurements, little is known about the Yangtze River Delta. TOC data derived from the Total Ozone Mapping Spectrometer (TOMS) for the period 1978–2005 and Ozone Monitoring Instrument (OMI) for the period 2004–2013 were used in this study. The spatial, long-term, seasonal, and short-term variations of TOC in this region were analyzed. For the spatial variability, the latitudinal variability has a large range between 3% and 13%, and also represents an annual cycle with maximum in February and minimum in August. In contrast, the longitudinal variability is not significant and just varies between 2% and 4%. The long-term variability represented a notable decline for the period 1978–2013. The ozone depletion was observed significantly during 1978–1999, with linear trend from (−3.2 ± 0.7) DU/decade to (−10.5 ± 0.9) DU/decade. As for seasonal variability, the trend of TOC shows a distinct seasonal pattern, with maximum in April or May and minimum in October or November. The short-term analysis demonstrates the day-to-day changes as well as the six-week system persistence of the TOC. The results can provide comprehensive descriptions of the TOC variations in the Yangtze River Delta and benefit climate change research in this region

Motion-Corrected, Super-Resolution Reconstruction for High-Resolution 3D Cardiac Cine MRI

International audienceCardiac cine MRI with 3D isotropic resolution is challenging as it requires efficient data acquisition and motion management. It is proposed to use a 2D balanced SSFP (steady-state free precession) sequence rather than its 3D version as it provides better contrast between blood and tissue. In order to obtain 3D isotropic images, 2D multi-slice datasets are acquired in different orientations (short axis, horizontal long axis and vertical long axis) while the patient is breathing freely. Image reconstruction is performed in two steps: (i) a motion-compensated reconstruction of each image stack corrects for nonrigid cardiac and respiratory motion; (ii) a super-resolution (SR) algorithm combines the three motion-corrected volumes (with low resolution in the slice direction) into a single volume with isotropic resolution. The SR reconstruction was implemented with two regularization schemes including a conventional one (Tikhonov) and a feature-preserving one (Beltrami). The method was validated in 8 volunteers and 10 patients with breathing difficulties. Image sharpness, as assessed by intensity profiles and by objective metrics based on the structure tensor, was improved with both SR techniques. The Beltrami constraint provided efficient denoising without altering the effective resolution

A guide for effective anatomical vascularization studies: usefulex vivomethods for both CT and MRI imaging before dissection

International audienceThe objective of this study was to develop a simple and useful injection protocol for imaging cadaveric vascularization and dissection. Mixtures of contrast agent and cast product should provide adequate contrast for two types of ex vivo imaging (MRI and CT) and should harden to allow gross dissection of the injected structures. We tested the most popular contrast agents and cast products, and selected the optimal mixture composition based on their availability and ease of use. All mixtures were first tested in vitro to adjust dilution parameters of each contrast agent and to fine-tune MR imaging acquisition sequences. Mixtures were then injected in 24 pig livers and one human pancreas for MR and computed tomography (CT) imaging before anatomical dissection. Colorized latex, gadobutrol and barite mixture met the above objective. Mixtures composed of copper sulfate (CuSO 4) gadoxetic acid (for MRI) and iodine (for CT) gave an inhomogeneous signal or extravasation of the contrast agent. Agar did not harden sufficiently for gross dissection but appears useful for CT and magnetic resonance imaging (MRI) studies without dissection. Silicone was very hard to inject but achieved the goals of the study. Resin is particularly difficult to use but could replace latex as an alternative for corrosion instead of dissection. This injection protocol allows CT and MRI images to be obtained of cadaveric vascularization and anatomical casts in the same anatomic specimen. Post-imaging processing software allow easy 3D reconstruction of complex anatomical structures using this technique. Applications are numerous, e.g. surgical training, teaching methods, postmortem anatomic studies, pathologic studies, and forensic diagnoses

The Prevalence and Correlated Factors of Occupational Stress, Cumulative Fatigue, and Musculoskeletal Disorders among Information Technology Workers: A Cross-Sectional Study in Chongqing, China

Occupational stress, cumulative fatigue, and work-related musculoskeletal disorders (WMSDs) are major concerns in the field of occupational health. Previous studies on occupational health focused on key industries, such as medical care, while there were few related studies on Information Technology (IT) industry. Our study explored the factors influencing occupational stress, cumulative fatigue, and musculoskeletal disorders in the IT industry. We collected 1363 IT workers’ valid questionnaires, of which 73.1% of participants were technicians in Chongqing, 2021. The core occupational stress scale (COSS), self-diagnosis checklist for the assessment of workers’ accumulated fatigue and Chinese musculoskeletal disorders questionnaire were used to measure the occupational stress, cumulative fatigue, and musculoskeletal disorders of the respondents. Logistic regressions were used to explore the correlated factors affecting these indicators. The results showed that the prevalence of occupational stress, cumulative fatigue, and musculoskeletal disorders was 50.4%, 47%, and 72.3%, respectively. Working in the current position for 3–10 years was a common increased risk for all three indicators. Insomnia was associated with an increased risk of cumulative fatigue (Odds Ratio, OR = 2.156, p p p < 0.001). According to our findings, occupational factors, such as long working years, overtime work, and personal lifestyle, are highly related to the occurrence of occupational stress, cumulative fatigue, and musculoskeletal disorders for IT industry workers. More attention should be paid to women and those with long working hours in the IT industry

Vérification de la qualité des IRM cardiaques pour tétralogie de Fallot : analyse physiologique combinant des mesures standard pour détecter les examens non fiables

International audienceBACKGROUND: Cardiac magnetic resonance imaging (MRI) is the key examination for patients with tetralogy of Fallot, but it remains challenging. The MRI report should at least mention left (L) and right (R) ventricle end-diastole volumes (V), ejection fraction (EF) and pulmonary regurgitation (PR). These variables are linked by basic physiology rules and (V × EF)L=(V × EF)R(1-PR).AIMS: To investigate this formula as a quality control of Fallot MRI.METHODS: A total of 98 consecutive Fallot MRI were included retrospectively. Examinations that failed the formula (with a 10% tolerance) constituted the invalid group and were compared with a control group of the same size. MRIs of both groups were randomly submitted to a senior observer for blinded reassessment. The initial and new reports were compared. The inter-observer limits of agreement were calculated for the different variables within both groups.RESULTS: Twelve examinations failed to pass the validation formula. From the 24 reanalysed examinations (12 invalid+12 controls), four failed to pass the formula (all from the invalid group). Two examinations had significant artefacts in the aorta or pulmonary trunk due to sternal wires. The quality check detected two other patients with atypical anatomy (persistent septal defects), which were not known by the MRI physician and were not detected during the examination. The inter-observer disagreements within the invalid group concerned essentially VR (P<0.02).CONCLUSION: The quality control detected questionable MRI examinations, in which 83% corresponded to unreliable right ventricle volumes due to questionable manual contours or unreliable output flow due to artefacts.Contexte: L’imagerie par résonance magnétique (IRM) cardiaque est devenue l’examen clé des patients avec tétralogie de Fallot mais elle demeure complexe à réaliser. Le compte rendu d’examen devrait mentionner au moins les volumes télé-diastoliques (V) et fractions d’éjection (EF) droite (R) et gauche (L) ainsi que la fraction de régurgitation pulmonaire (PR). Ces variables sont reliées par des règles physiologiques de base : (V × EF)L = (V × EF)R(1 − PR).Objectifs: Investiguer l’intérêt de cette formule comme contrôle qualité des examens IRM de Fallot.Méthodes: Un total de 98 IRM cardiaques consécutives pour tétralogies de Fallot ont été rétrospectivement incluses. Le groupe « invalides » a été constitué des examens ne vérifiant pas la formule (avec une tolérance de 10 %) et comparé à un groupe témoin du même effectif. Les examens des deux groupes ont été relus en aveugle par un observateur senior. Les comptes rendus initiaux et finaux ont été comparés. Les limites de concordance inter-observateurs dans les deux groupes ont été calculées pour les différentes variables.Résultats: Douze examens ne vérifiaient pas la formule initialement. Parmi les 24 examens (12 invalides + 12 témoins) réanalysés, seulement quatre (tous du groupe invalide) ne vérifiaient toujours pas la formule. Deux d’entre eux correspondaient à des artéfacts importants sur les voies d’éjection droite ou gauche dus à des fils sternaux. La formule d’assurance qualité a permis de détecter deux situations anatomiques atypiques (défauts septaux) qui n’étaient pas connues du radiologue ni détectées au cours de l’examen. Les discordances inter-observateurs concernaient essentiellement VR (p < 0,02).Conclusion: Le contrôle qualité a permis la détection d’examen IRM douteux, 83 % desquels correspondaient à un volume télé-diastolique discutable du ventricule droit (erreur de contour manuel) ou à une mauvaise évaluation des débits artériels (artéfact de fil sternaux)