Adaptive Shape Servoing of Elastic Rods using Parameterized Regression Features and Auto-Tuning Motion Controls

In this paper, we present a new vision-based method to control the shape of elastic rods with robot manipulators. Our new method computes parameterized regression features from online sensor measurements that enable to automatically quantify the object's configuration and establish an explicit shape servo-loop. To automatically deform the rod into a desired shape, our adaptive controller iteratively estimates the differential transformation between the robot's motion and the relative shape changes; This valuable capability allows to effectively manipulate objects with unknown mechanical models. An auto-tuning algorithm is introduced to adjust the robot's shaping motion in real-time based on optimal performance criteria. To validate the proposed theory, we present a detailed numerical and experimental study with vision-guided robotic manipulators.Comment: 13 pages, 22 figures, 2 table

Dual-Quaternion-Based Fault-Tolerant Control for Spacecraft Tracking With Finite-Time Convergence

Results are presented for a study of dual-quaternion-based fault-tolerant control for spacecraft tracking. First, a six-degrees-of-freedom dynamic model under a dual-quaternion-based description is employed to describe the relative coupled motion of a target-pursuer spacecraft tracking system. Then, a novel fault-tolerant control method is proposed to enable the pursuer to track the attitude and the position of the target even though its actuators have multiple faults. Furthermore, based on a novel time-varying sliding manifold, finite-time stability of the closed-loop system is theoretically guaranteed, and the convergence time of the system can be given explicitly. Multiple-task capability of the proposed control law is further demonstrated in the presence of disturbances and parametric uncertainties. Finally, numerical simulations are presented to demonstrate the effectiveness and advantages of the proposed control method

Architecture and key technologies of coalmine underground vision computing

It has always been a common demand to stay away from the harsh environment with narrow space, numerous devices, complex operation process, and hidden hazards, and realize intelligent unmanned mining in the coal industry. To achieve this goal, it is very necessary for us to develop an effective theory of vision computing for underground coalmine applications. Its main task is to build effective models or frameworks for perceiving, describing, recognizing and understanding the environment of underground coalmine, and let intelligent equipment get 3D environment information in coalmine from images or videos. To effectively develop this theory and make it better for intelligent development of coalmine, this paper first analyzed the similarities and differences about computer vision and visual computing in coalmine, and proposed its composition architecture. And then, this paper introduced in detail the key technologies involved in visual computing in coalmine including visual perception and light field computing, feature extraction and feature description, semantic learning and vision understanding, 3D vision reconstruction, and sense computing integration and edge intelligence, which is followed by typical application cases of visual computing in coalmines. Finally, the development trend and prospect of underground visual computing in coalmine was given. In this section, this paper focused on concluding the key challenges and introducing two valuable applications including coalmine Augmented Reality/Mixed Reality and parallel intelligent mining. With the breakthrough of underground vision computing, it will play a more and more important role in the intelligent development of coal mines

Allelopathic interactions of linoleic acid and nitric oxide increase the competitive ability of Microcystis aeruginosa

The frequency and intensity of cyanobacterial blooms are increasing worldwide with major societal and economic costs. Interactions between toxic cyanobacteria and eukaryotic algal competitors can affect toxic bloom formation, but the exact mechanisms of interspecies interactions remain unknown. Using metabolomic and proteomic profiling of co-cultures of the toxic cyanobacterium Microcystis aeruginosa with a green alga as well as of microorganisms collected in a Microcystis spp. bloom in Lake Taihu (China), we disentangle novel interspecies allelopathic interactions. We describe an interspecies molecular network in which M. aeruginosa inhibits growth of Chlorella vulgaris, a model green algal competitor, via the release of linoleic acid. In addition, we demonstrate how M. aeruginosa takes advantage of the cell signaling compound nitric oxide produced by C. vulgaris, which stimulates a positive feedback mechanism of linoleic acid release by M. aeruginosa and its toxicity. Our high-throughput system-biology approach highlights the importance of previously unrecognized allelopathic interactions between a broadly distributed toxic cyanobacterial bloom former and one of its algal competitors

Identification of miRs-143 and -145 that Is Associated with Bone Metastasis of Prostate Cancer and Involved in the Regulation of EMT

The principal problem arising from prostate cancer (PCa) is its propensity to metastasize to bone. MicroRNAs (miRNAs) play a crucial role in many tumor metastases. The importance of miRNAs in bone metastasis of PCa has not been elucidated to date. We investigated whether the expression of certain miRNAs was associated with bone metastasis of PCa. We examined the miRNA expression profiles of 6 primary and 7 bone metastatic PCa samples by miRNA microarray analysis. The expression of 5 miRNAs significantly decreased in bone metastasis compared with primary PCa, including miRs-508-5p, -145, -143, -33a and -100. We further examined other samples of 16 primary PCa and 13 bone metastases using real-time PCR analysis. The expressions of miRs-143 and -145 were verified to down-regulate significantly in metastasis samples. By investigating relationship of the levels of miRs-143 and -145 with clinicopathological features of PCa patients, we found down-regulations of miRs-143 and -145 were negatively correlated to bone metastasis, the Gleason score and level of free PSA in primary PCa. Over-expression miR-143 and -145 by retrovirus transfection reduced the ability of migration and invasion in vitro, and tumor development and bone invasion in vivo of PC-3 cells, a human PCa cell line originated from a bone metastatic PCa specimen. Their upregulation also increased E-cadherin expression and reduced fibronectin expression of PC-3 cells which revealed a less invasive morphologic phenotype. These findings indicate that miRs-143 and -145 are associated with bone metastasis of PCa and suggest that they may play important roles in the bone metastasis and be involved in the regulation of EMT Both of them may also be clinically used as novel biomarkers in discriminating different stages of human PCa and predicting bone metastasis

Sequence variations in DNA repair gene XPC is associated with lung cancer risk in a Chinese population: a case-control study

<p>Abstract</p> <p>Background</p> <p>The nucleotide excision repair (NER) protein, xeroderma pigmentosum C (XPC), participates in recognizing DNA lesions and initiating DNA repair in response to DNA damage. Because mutations in <it>XPC </it>cause a high risk of cancer in XP patients, we hypothesized that inherited sequence variations in <it>XPC </it>may alter DNA repair and thus susceptibility to cancer.</p> <p>Methods</p> <p>In this hospital-based case-control study, we investigated five <it>XPC </it>tagging, common single nucleotide polymorphisms (tagging SNPs) in 1,010 patients with newly diagnosed lung cancer and 1,011 matched cancer free controls in a Chinese population.</p> <p>Results</p> <p>In individual tagging SNP analysis, we found that rs3731055<it>AG+AA </it>variant genotypes were associated with a significantly decreased risk of lung adenocarcinoma [adjusted odds ratio (OR), 0.71; 95% confidence interval (CI), 0.56–0.90] but an increased risk of small cell carcinomas [adjusted OR, 1.79; 95% CI, 1.05–3.07]. Furthermore, we found that haplotype <it>ACCCA </it>was associated with a decreased risk of lung adenocarcinoma [OR, 0.78; 95% CI, 0.62–0.97] but an increased risk of small cell carcinomas [OR, 1.68; 95% CI, 1.04–2.71], which reflected the presence of rs3731055<it>A </it>allele in this haplotype. Further stratified analysis revealed that the protective effect of rs3731055<it>AG+AA </it>on risk of lung adenocarcinoma was more evident among young subjects (age ≤ 60) and never smokers.</p> <p>Conclusion</p> <p>These results suggest that inherited sequence variations in <it>XPC </it>may modulate risk of lung cancer, especially lung adenocarcinoma, in Chinese populations. However, these findings need to be verified in larger confirmatory studies with more comprehensively selected tagging SNPs.</p

Smoking and Genetic Risk Variation Across Populations of E uropean, A sian, and A frican A merican Ancestry—A Meta‐Analysis of Chromosome 15q25

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/91126/1/gepi21627.pd

The 5p15.33 Locus Is Associated with Risk of Lung Adenocarcinoma in Never-Smoking Females in Asia

Genome-wide association studies of lung cancer reported in populations of European background have identified three regions on chromosomes 5p15.33, 6p21.33, and 15q25 that have achieved genome-wide significance with p-values of 10−7 or lower. These studies have been performed primarily in cigarette smokers, raising the possibility that the observed associations could be related to tobacco use, lung carcinogenesis, or both. Since most women in Asia do not smoke, we conducted a genome-wide association study of lung adenocarcinoma in never-smoking females (584 cases, 585 controls) among Han Chinese in Taiwan and found that the most significant association was for rs2736100 on chromosome 5p15.33 (p = 1.30×10−11). This finding was independently replicated in seven studies from East Asia totaling 1,164 lung adenocarcinomas and 1,736 controls (p = 5.38×10−11). A pooled analysis achieved genome-wide significance for rs2736100. This SNP marker localizes to the CLPTM1L-TERT locus on chromosome 5p15.33 (p = 2.60×10−20, allelic risk = 1.54, 95% Confidence Interval (CI) 1.41–1.68). Risks for heterozygote and homozygote carriers of the minor allele were 1.62 (95% CI; 1.40–1.87), and 2.35 (95% CI: 1.95–2.83), respectively. In summary, our results show that genetic variation in the CLPTM1L-TERT locus of chromosome 5p15.33 is directly associated with the risk of lung cancer, most notably adenocarcinoma