Learning Agile Bipedal Motions on a Quadrupedal Robot

Can a quadrupedal robot perform bipedal motions like humans? Although developing human-like behaviors is more often studied on costly bipedal robot platforms, we present a solution over a lightweight quadrupedal robot that unlocks the agility of the quadruped in an upright standing pose and is capable of a variety of human-like motions. Our framework is with a bi-level structure. At the low level is a motion-conditioned control policy that allows the quadrupedal robot to track desired base and front limb movements while balancing on two hind feet. The policy is commanded by a high-level motion generator that gives trajectories of parameterized human-like motions to the robot from multiple modalities of human input. We for the first time demonstrate various bipedal motions on a quadrupedal robot, and showcase interesting human-robot interaction modes including mimicking human videos, following natural language instructions, and physical interaction

Ion‐Specific Oil Repellency of Polyelectrolyte Multilayers in Water: Molecular Insights into the Hydrophilicity of Charged Surfaces

Surface wetting on polyelectrolyte multilayers (PEMs), prepared by alternating deposition of polydiallyldimethylammonium chloride (PDDA) and poly(styrene sulfonate) (PSS), was investigated mainly in water‐solid‐oil systems. The surface‐wetting behavior of as‐prepared PEMs was well correlated to the molecular structures of the uncompensated ionic groups on the PEMs as revealed by sum frequency generation vibrational and X‐ray photoelectron spectroscopies. The orientation change of the benzenesulfonate groups on the PSS‐capped surfaces causes poor water wetting in oil or air and negligible oil wetting in water, while the orientation change of the quaternized pyrrolidine rings on the PDDA‐capped surfaces hardly affects their wetting behavior. The underwater oil repellency of PSS‐capped PEMs was successfully harnessed to manufacture highly efficient filters for oil‐water separation at high flux.Wet surfaces: Liquid wetting on charged surfaces is well correlated with the molecular nature of surface ionic groups. The orientation change of surface ionic groups either hardly affects water wetting if their configuration is isotropic, or markedly transforms poor water wetting in oil to poor water de‐wetting in water if their configuration is anisotropic, thus leading to excellent underwater oil repellency.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/111271/1/anie_201411992_sm_miscellaneous_information.pdfhttp://deepblue.lib.umich.edu/bitstream/2027.42/111271/2/4851_ftp.pd

Current situation, bottlenecks, and path options for the development of capital flows and integration in the Yangtze River Delta region

IntroductionCapital plays a crucial role in the development of regional economies, especially in low-income regions where it acts as a primary driver of economic growth. Efficient capital flow is essential for optimizing resource allocation and facilitating the development of integrated capital markets. This passage introduces the topic of capital, capital flow, and capital market integration and highlights their significance in regional development.MethodsTo gain a comprehensive understanding of capital flow and integration in the Yangtze River Delta region, the researchers conducted a connotative analysis. They constructed indicators from various aspects, including social fixed asset investment, bank capital flow, government transfer payments, social financing structure, and foreign direct investment. By utilizing these indicators, the researchers aimed to assess the current situation and identify bottlenecks related to capital flow and integration. Additionally, they drew on experiences from foreign capital flow and integration development to enrich their analysis.ResultsThe analysis revealed several primary bottlenecks affecting capital flow and integration in the Yangtze River Delta region. These bottlenecks include an unsound banking management system, the presence of government competition and administrative barriers, and shortcomings within listed companies. The results highlight the specific challenges that hinder the smooth functioning and integration of capital in the region.DiscussionTo promote the development of capital flows and integration in the Yangtze River Delta region, the researchers propose various recommendations. These suggestions include promoting the development of listed companies, establishing a robust banking management model, improving relevant government policies, and optimizing the investment environment. These recommendations serve as important guidelines for policymakers to enhance capital flow and integration in the Yangtze River Delta city cluster. Furthermore, they emphasize the need to strengthen financial supervision and improve institutional mechanisms within the three provinces and one city comprising the region

Understanding the Lateral Drifting of an Erupting Filament with a Data-constrained Magnetohydrodynamic Simulation

Solar filaments often exhibit rotation and deflection during eruptions, which would significantly affect the geoeffectiveness of the corresponding coronal mass ejections (CMEs). Therefore, understanding the mechanisms that lead to such rotation and lateral displacement of filaments is a great concern to space weather forecasting. In this paper, we examine an intriguing filament eruption event observed by the Chinese H{\alpha} Solar Explorer (CHASE) and the Solar Dynamics Observatory (SDO). The filament, which eventually evolves into a CME, exhibits significant lateral drifting during its rising. Moreover, the orientation of the CME flux rope axis deviates from that of the pre-eruptive filament observed in the source region. To investigate the physical processes behind these observations, we perform a data-constrained magnetohydrodynamic (MHD) simulation. Many prominent observational features in the eruption are reproduced by our numerical model, including the morphology of the eruptive filament, eruption path, and flare ribbons. The simulation results reveal that the magnetic reconnection between the flux-rope leg and neighboring low-lying sheared arcades may be the primary mechanism responsible for the lateral drifting of the filament material. Such a reconnection geometry leads to flux-rope footpoint migration and a reconfiguration of its morphology. As a consequence, the filament material hosted in the flux rope drifts laterally, and the CME flux rope deviates from the pre-eruptive filament. This finding underscores the importance of external magnetic reconnection in influencing the orientation of a flux rope axis during eruption.Comment: 25 pages, 14 figures, Accepted for publication in Ap

Multiparametric MRI combined with liver volume for quantitative evaluation of liver function in patients with cirrhosis

PURPOSEWe aimed to establish a liver function evaluation model by combining multiparametric magnetic resonance imaging (MRI) with liver volume (LV) and further verify the effectiveness of the model to evaluate liver function.METHODSThis retrospective study included 101 consecutive cirrhosis patients (69 cases for modeling group and 32 cases for validation group) who underwent gadoxetic acid-enhanced MRI. Five signal intensity parameters were obtained by measuring the signal intensities of the liver, spleen, and erector spinae before and 20 minutes after gadoxetic acid disodium enhancement. The diffusion coefficient (D), pseudo-diffusion coefficient (D*), and perfusion fraction (f) were obtained from intravoxel incoherent motion diffusion-weighted imaging. The LV parameters (Vliver, Vspleen, and Vliver/Vspleen) were obtained using 3-dimensional image generation software. The most effective parameter was selected from each of the 3 methods, and a multivariate regression model for liver function evaluation was established and validated.RESULTSIn the modeling group, relative enhancement (RE), D*, and Vliver/Vspleen showed significant differences among the different liver function groups (P < .001). Receiver operating characteristic analysis showed that these parameters had the highest area under the curve (AUC) values for distinguishing Child-Pugh A from Child-Pugh B and C groups (0.917, 0.929, and 0.885, respectively). The following liver function model was obtained by multivariate regression analysis: F(x)=3.96 − 1.243 (RE) − 0.034 (D*) − 0.080 (Vliver/Vspleen) (R2=0.811, P < .001). In the patients with cirrhosis, the F(x) of Child-Pugh A, B, and C were 1.16 ± 0.44, 1.95 ± 0.29, and 2.79 ± 0.38, respectively. In the validation group, the AUC for F(x) to distinguish Child-Pugh A from Child-Pugh B and C was 0.973.CONCLUSIONCombining multiparametric MRI with LV effectively distinguished patients with different ChildPugh grades. This model could hence be useful as a novel radiological marker to estimate the liver function

Irisin Is Controlled by Farnesoid X Receptor and Regulates Cholesterol Homeostasis

ObjectiveThe aim of this study was to investigate whether the nuclear receptor farnesoid X receptor (FXR) could regulate FNDC5/Irisin expression and the role of Irisin in hyperlipidemia and atherosclerosis in ApoE-/- mice.Methods and ResultsWe treated primary human hepatocytes, HepG2 cells, and Rhesus macaques with FXR agonist (CDCA, GW4064, and ivermectin). FNDC5 expression was highly induced by CDCA and GW4064 in hepatocytes, HepG2 cells, and the circulating level of Irisin increased in Rhesus macaques. Luciferase reporter and CHIP assays were used to determine whether FXR could regulate FNDC5 promoter activity. Irisin-ApoE-/- and ApoE-/- mice were used to study the metabolic function of Irisin in dyslipidemia and atherosclerosis. Irisin-ApoE-/- mice showed improved hyperlipidemia and alleviated atherosclerosis as compared with ApoE-/- mice. Irisin upregulated the expression of Abcg5/Abcg8 in liver and intestine, which increased the transport of biliary cholesterol and fecal cholesterol output.ConclusionActivation of FXR induces FNDC5 mRNA expression in human and increased the circulating level of Irisin in Rhesus macaques. FNDC5/Irisin is a direct transcriptional target of FXR. Irisin may be a novel therapeutic strategy for dyslipidemia and atherosclerosis

Dyslipidemia in diffuse large B-cell lymphoma based on the genetic subtypes: a single-center study of 259 Chinese patients

BackgroundDiffuse large B-cell lymphoma (DLBCL) is a kind of highly heterogeneous non-Hodgkin lymphoma, both in clinical and genetic terms. DLBCL is admittedly categorized into six subtypes by genetics, which contain MCD, BN2, EZB, N1, ST2, and A53. Dyslipidemia is relevant to a multitude of solid tumors and has recently been reported to be associated with hematologic malignancies. We aim to present a retrospective study investigating dyslipidemia in DLBCL based on the molecular subtypes.ResultsThis study concluded that 259 patients with newly diagnosed DLBCL and their biopsy specimens were available for molecular typing. Results show that the incidence of dyslipidemia (87.0%, p &lt;0.001) is higher in the EZB subtype than in others, especially hypertriglyceridemia (78.3%, p = 0.001) in the EZB subtype. Based on the pathological gene-sequencing, patients with BCL2 gene fusion mutation are significantly correlative with hyperlipidemia (76.5%, p = 0.006) and hypertriglyceridemia (88.2%, p = 0.002). Nevertheless, the occurrence of dyslipidemia has no remarkable influence on prognosis.ConclusionIn summary, dyslipidemia correlates with genetic heterogeneity in DLBCL without having a significant influence on survival. This research first connects lipids and genetic subtypes in DLBCL

DeepSearch: A Simple and Effective Blackbox Attack for Deep Neural Networks

Although deep neural networks have been very successful in image-classification tasks, they are prone to adversarial attacks. To generate adversarial inputs, there has emerged a wide variety of techniques, such as black- and whitebox attacks for neural networks. In this paper, we present DeepSearch, a novel fuzzing-based, query-efficient, blackbox attack for image classifiers. Despite its simplicity, DeepSearch is shown to be more effective in finding adversarial inputs than state-of-the-art blackbox approaches. DeepSearch is additionally able to generate the most subtle adversarial inputs in comparison to these approaches

A prognostic index model for assessing the prognosis of ccRCC patients by using the mRNA expression profiles of AIF1L, SERPINC1 and CES1

Background: Kidney carcinoma is a major cause of carcinoma-related death, with the prognosis for advanced or metastatic renal cell carcinoma still very poor. The aim of this study was to investigate feasible prognostic biomarkers that can be used to construct a prognostic index model for clear cell renal cell carcinoma (ccRCC) patients. Methods: The mRNA expression profiles of ccRCC samples were downloaded from the The Cancer Genome Atlas (TCGA) dataset and the correlation of AIF1L with malignancy, tumor stage and prognosis were evaluated. Differentially expressed genes (DEGs) between AIF1L-low and AIF1L-high expression groups were selected. Those with prognostic value as determined by univariate and multivariate Cox regression analysis were then used to construct a prognostic index model capable of predicting the outcome of ccRCC patients. Results: The expression level of AIF1L was lower in ccRCC samples than in normal kidney samples. AIF1L expression showed an inverse correlation with tumor stage and a positive association with better prognosis. ccRCC samples were divided into high- and low-expression groups according to the median value of AIF1L expression. In the AIF1L-high expression group, 165 up-regulated DEGs and 601 down-regulated DEGs were identified. Three genes (AIF1L, SERPINC1 and CES1) were selected following univariate and multivariate Cox regression analysis. The hazard ratio (HR) and 95% confidence intervals (CI) for these genes were: AIF1L (HR = 0.83, 95% CI: 0.76–0.91), SERPINC1 (HR = 1.33, 95% CI: 1.12–1.58), and CES1 (HR = 0.87, 95% CI: 0.78–0.97). A prognostic index model based on the expression level of the three genes showed good performance in predicting ccRCC patient outcome, with an area under the ROC curve (AUC) of 0.671. Conclusion: This research provides a better understanding of the correlation between AIF1L expression and ccRCC. We propose a novel prognostic index model comprising AIF1L, SERPINC1 and CES1 expression that may assist physicians in determining the prognosis of ccRCC patients

Robust estimation of bacterial cell count from optical density

Optical density (OD) is widely used to estimate the density of cells in liquid culture, but cannot be compared between instruments without a standardized calibration protocol and is challenging to relate to actual cell count. We address this with an interlaboratory study comparing three simple, low-cost, and highly accessible OD calibration protocols across 244 laboratories, applied to eight strains of constitutive GFP-expressing E. coli. Based on our results, we recommend calibrating OD to estimated cell count using serial dilution of silica microspheres, which produces highly precise calibration (95.5% of residuals &lt;1.2-fold), is easily assessed for quality control, also assesses instrument effective linear range, and can be combined with fluorescence calibration to obtain units of Molecules of Equivalent Fluorescein (MEFL) per cell, allowing direct comparison and data fusion with flow cytometry measurements: in our study, fluorescence per cell measurements showed only a 1.07-fold mean difference between plate reader and flow cytometry data