Trajectory Servoing: Image-Based Trajectory Tracking Using SLAM

This paper describes an image based visual servoing (IBVS) system for a nonholonomic robot to achieve good trajectory following without real-time robot pose information and without a known visual map of the environment. We call it trajectory servoing. The critical component is a feature-based, indirect SLAM method to provide a pool of available features with estimated depth, so that they may be propagated forward in time to generate image feature trajectories for visual servoing. Short and long distance experiments show the benefits of trajectory servoing for navigating unknown areas without absolute positioning. Trajectory servoing is shown to be more accurate than pose-based feedback when both rely on the same underlying SLAM system

Application and Exploration of FLUENT Software in the Teaching of Engineering Thermophysics

Engineering thermophysics is a basic discipline for energy majors, but this course emphasizes the theoretical level and is difficult to understand. Students\u27 enthusiasm and participation in the learning process are low, and it is difficult to understand the course. Accordingly, the research team attempts to introduce Fluent software into the course teaching exploration. Specifically, Fluent software is adopted to provide a reliable physics teaching model, and to change the traditional teaching mode, so as to improve students\u27 daily learning ability and practical ability, and ultimately enable students to learn and practice

Multi-omic analysis of glycolytic signatures: exploring the predictive significance of heterogeneity and stemness in immunotherapy response and outcomes in hepatocellular carcinoma

Background: Hepatocellular carcinoma (HCC) is a global health challenge with complex pathophysiology, characterized by high mortality rates and poor early detection due to significant tumor heterogeneity. Stemness significantly contributes to the heterogeneity of HCC tumors, and glycolysis is crucial for maintaining stemness. However, the predictive significance of glycolysis-related metabolic genes (GMGs) in HCC remains unknown. Therefore, this study aimed to identify critical GMGs and establish a reliable model for HCC prognosis.Methods: GMGs associated with prognosis were identified by evaluating genes with notable expression changes between HCC and normal tissues retrieved from the MsigDB database. Prognostic gene characteristics were established using univariate and multivariate Cox regression studies for prognosis prediction and risk stratification. The “CIBERSORT” and “pRRophetic” R packages were respectively used to evaluate the immunological environment and predict treatment response in HCC subtypes. The HCC stemness score was obtained using the OCLR technique. The precision of drug sensitivity prediction was evaluated using CCK-8 experiments performed on HCC cells. The miagration and invasion ability of HCC cell lines with different riskscores were assessed using Transwell and wound healing assays.Results: The risk model based on 10 gene characteristics showed high prediction accuracy as indicated by the receiver operating characteristic (ROC) curves. Moreover, the two GMG-related subgroups showed considerable variation in the risk of HCC with respect to tumor stemness, immune landscape, and prognostic stratification. The in vitro validation of the model’s ability to predict medication response further demonstrated its reliability.Conclusion: Our study highlights the importance of stemness variability and inter-individual variation in determining the HCC risk landscape. The risk model we developed provides HCC patients with a novel method for precision medicine that enables clinical doctors to customize treatment plans based on unique patient characteristics. Our findings have significant implications for tailored immunotherapy and chemotherapy methods, and may pave the way for more personalized and effective treatment strategies for HCC

Modeling and model calibration for model predictive occupants comfort control in buildings

Mathematical models are essential in Model-Predictive Control (MPC) for building automation and control (BAC) application, which must be precise and computationally efficient for realtime optimization and control. However, building models are of high complexity because of the nonlinearities of heat and mass transfer processes in buildings and their air-conditioning and mechanical ventilation (ACMV) systems. This paper proposes a method to develop an integrated linear model for indoor air temperature, humidity and Predicted Mean Vote (PMV) index suitable for fast real-time multiple objectives optimization. A linear dynamic model is developed using SIMSCAPE language based on the BCA SkyLab test bed facility in Singapore as a case study. Experimental data is used to calibrate the model using trust-region-reflective least squares optimization method. The results show that the mean absolute percentage errors (MAPE) of predicted room temperature and humidity ratio are 1.25% and 4.98%, compared to measurement, respectively

LEASGD: an Efficient and Privacy-Preserving Decentralized Algorithm for Distributed Learning

Distributed learning systems have enabled training large-scale models over large amount of data in significantly shorter time. In this paper, we focus on decentralized distributed deep learning systems and aim to achieve differential privacy with good convergence rate and low communication cost. To achieve this goal, we propose a new learning algorithm LEASGD (Leader-Follower Elastic Averaging Stochastic Gradient Descent), which is driven by a novel Leader-Follower topology and a differential privacy model.We provide a theoretical analysis of the convergence rate and the trade-off between the performance and privacy in the private setting.The experimental results show that LEASGD outperforms state-of-the-art decentralized learning algorithm DPSGD by achieving steadily lower loss within the same iterations and by reducing the communication cost by 30%. In addition, LEASGD spends less differential privacy budget and has higher final accuracy result than DPSGD under private setting