Learning to Model and Plan for Wheeled Mobility on Vertically Challenging Terrain

Most autonomous navigation systems assume wheeled robots are rigid bodies and their 2D planar workspaces can be divided into free spaces and obstacles. However, recent wheeled mobility research, showing that wheeled platforms have the potential of moving over vertically challenging terrain (e.g., rocky outcroppings, rugged boulders, and fallen tree trunks), invalidate both assumptions. Navigating off-road vehicle chassis with long suspension travel and low tire pressure in places where the boundary between obstacles and free spaces is blurry requires precise 3D modeling of the interaction between the chassis and the terrain, which is complicated by suspension and tire deformation, varying tire-terrain friction, vehicle weight distribution and momentum, etc. In this paper, we present a learning approach to model wheeled mobility, i.e., in terms of vehicle-terrain forward dynamics, and plan feasible, stable, and efficient motion to drive over vertically challenging terrain without rolling over or getting stuck. We present physical experiments on two wheeled robots and show that planning using our learned model can achieve up to 60% improvement in navigation success rate and 46% reduction in unstable chassis roll and pitch angles.Comment: https://www.youtube.com/watch?v=VzpRoEZeyWk https://cs.gmu.edu/~xiao/Research/Verti-Wheelers

Toward Wheeled Mobility on Vertically Challenging Terrain: Platforms, Datasets, and Algorithms

Most conventional wheeled robots can only move in flat environments and simply divide their planar workspaces into free spaces and obstacles. Deeming obstacles as non-traversable significantly limits wheeled robots' mobility in real-world, extremely rugged, off-road environments, where part of the terrain (e.g., irregular boulders and fallen trees) will be treated as non-traversable obstacles. To improve wheeled mobility in those environments with vertically challenging terrain, we present two wheeled platforms with little hardware modification compared to conventional wheeled robots; we collect datasets of our wheeled robots crawling over previously non-traversable, vertically challenging terrain to facilitate data-driven mobility; we also present algorithms and their experimental results to show that conventional wheeled robots have previously unrealized potential of moving through vertically challenging terrain. We make our platforms, datasets, and algorithms publicly available to facilitate future research on wheeled mobility.Comment: https://www.youtube.com/watch?v=uk62ITBGoTI https://cs.gmu.edu/~xiao/Research/Verti-Wheelers

Coastal upwelling and redox variations in the northwestern Tarim Basin (northwest China) during the Middle-Late Ordovician: implication for paleo-depositional conditions of the organic matter enrichment in the Saergan Formation

The black shales of the Saergan Formation, which represent one of the main hydrocarbon source rocks in the Tarim Basin, witnessed a time span of organic matter enrichment by profound changes in the Earth System. A multi-proxy geochemistry study was carried out on the samples of the Saergan Formation to reconstruct the depositional environment and to explore the mechanism of organic matter enrichment of the unit at the Yingshanbeipo section, Keping area, northwest Tarim. Elemental and TOC data are suggestive of an upwelling setting, with a less pronounced oxygen minimum zone (OMZ) compared to the highly productive Peru and Namibian margins. Ferruginous anoxic bottom water conditions prevailed during most time of the deposition, with suboxic conditions dominating the basal and the top parts of the studied unit. As a whole, primary productivity seems to be the dominating factor that controlled the micronutrients and OM accumulations in the Saergan Formation whereas the role of benthic redox conditions may have been subordinate. The variations in primary productivity and bottom water redox conditions were resulted by the multiple, interacting environmental factors including nutrient supply regulated by oceanic circulation and climate changes, and relative sea-level fluctuations

CRAFTS for Fast Radio Bursts : extending the dispersion-fluence relation with new FRBs detected by FAST

We report three new FRBs discovered by the Five-hundred-meter Aperture Spherical radio Telescope (FAST), namely FRB 181017.J0036+11, FRB 181118, and FRB 181130, through the Commensal Radio Astronomy FAST Survey (CRAFTS). Together with FRB 181123, which was reported earlier, all four FAST-discovered FRBs share the same characteristics of low fluence (1000 pc cm(-3)), consistent with the anticorrelation between DM and fluence of the entire FRB population. FRB 181118 and FRB 181130 exhibit band-limited features. FRB 181130 is prominently scattered (tau(s) 8 ms) at 1.25 GHz. FRB 181017.J0036+11 has full-bandwidth emission with a fluence of 0.042 Jy ms, which is one of the faintest FRB sources detected so far. CRAFTS has started to build a new sample of FRBs that fills the region for more distant and fainter FRBs in the fluence-DME diagram, previously out of reach of other surveys. The implied all-sky event rate of FRBs is 1.24(-0.90)(+1.94) x 5 sky(-1) day(-1) at the 95% confidence interval above 0.0146 Jy ms. We also demonstrate here that the probability density function of CRAFTS FRB detections is sensitive to the assumed intrinsic FRB luminosity function and cosmological evolution, which may be further constrained with more discoveries

A Fast Radio Burst Discovered in FAST Drift Scan Survey

We report the discovery of a highly dispersed fast radio burst (FRB), FRB 181123, from an analysis of ~1500 hr of drift scan survey data taken using the Five-hundred-meter Aperture Spherical radio Telescope (FAST). The pulse has three distinct emission components, which vary with frequency across our 1.0–1.5 GHz observing band. We measure the peak flux density to be... (See full abstract in article)

Mineral metabolism and ferroptosis in non-alcoholic fatty liver diseases

Nonalcoholic fatty liver disease (NAFLD) has become the most prevalent chronic liver disease worldwide. Minerals including iron, copper, zinc, and selenium, fulfil an essential role in various biochemical processes. Moreover, the identification of ferroptosis and cuproptosis further underscores the importance of intracellular mineral homeostasis. However, perturbation of minerals has been frequently reported in patients with NAFLD and related diseases. Interestingly, studies have attempted to establish an association between mineral disorders and NAFLD pathological features, including oxidative stress, mitochondrial dysfunction, inflammatory response, and fibrogenesis. In this review, we aim to provide an overview of the current understanding of mineral metabolism (i.e., absorption, utilization, and transport) and mineral interactions in the pathogenesis of NAFLD. More importantly, this review highlights potential therapeutic strategies, challenges, future directions for targeting mineral metabolism in the treatment of NAFLD

Electrochemical Redox In-Situ Welding of Silver Nanowire Films with High Transparency and Conductivity

Silver nanowire (AgNW) networks with high transparency and conductivity are crucial to developing transparent conductive films (TCFs) for flexible optoelectronic devices. However, AgNW-based TCFs still suffer from the high contact resistance of AgNW junctions with both the in-plane and out-of-plane charge transport barrier. Herein, we report a rapid and green electrochemical redox strategy to in-situ weld AgNW networks for the enhanced conductivity and mechanical durability of TCFs with constant transparency. The welded TCFs show a marked decrease of the sheet resistance (reduced to 45.5% of initial values on average) with high transmittance of 97.02% at 550 nm (deducting the background of substrates). The electrochemical welding treatment enables the removal of the residual polyvinylpyrrolidone layer and the in-situ formation of Ag solder in the oxidation and reduction processes, respectively. Furthermore, local conductivity studies confirm the improvement of both the in-plane and the out-of-plane charge transport by conductive atomic force microscopy. This proposed electrochemical redox method provides new insights on the welding of AgNW-based TCFs with high transparency and low resistance for the development of next-generation flexible optoelectronic devices. Furthermore, such conductive films based on the interconnected AgNW networks can be acted as an ideal supporter to construct heterogeneous structures with other functional materials for wide applications in photocatalysis and electrocatalysis