Research on dynamic performance and motion control of robot manipulator

Amongst the robotics and autonomous systems, robot manipulators have proven themselves to be of increasing importance and are widely adopted to substitute for human in repetitive and/or hazardous tasks. In this paper, the purpose is to research on dynamic performance and motion control of robot manipulator for the more precise, crucial and critical tasks in industry. Firstly, the forward and inverse kinematics was accurately described by obtaining the link transformation matrices from each joint in robot manipulator. To find admissible solutions along the path, the workspace of the manipulator was determined by joint limit condition and validated by actual measurement. And then, the dynamic performance of robot manipulator is researched by using the forming flexible multi-body system. Furthermore, the frequency response curves are obtained by exciting vibration simulation based on vibration model, which the predicted method was validated by comparing simulation and experimental results. Finally, the control system architecture was given and the grasping process was conducted by gripper based on motion trajectory control in the workspace

CH-ILKBP regulates cell survival by facilitating the membrane translocation of protein kinase B/Akt

Cell survival depends on proper propagation of protective signals through intracellular signaling intermediates. We report here that calponin homology domain–containing integrin-linked kinase (ILK)–binding protein (CH-ILKBP), a widely expressed adaptor protein localized at plasma membrane-actin junctions, is essential for transmission of survival signals. Cells that are depleted of CH-ILKBP undergo extensive apoptosis despite the presence of cell–extracellular matrix contacts and soluble growth factors. The activating phosphorylation of protein kinase B (PKB/Akt), a key regulator of apoptosis, is impaired in the absence of CH-ILKBP. Importantly, loss of CH-ILKBP prevents the membrane translocation of PKB/Akt. Furthermore, forced membrane targeting of PKB/Akt bypasses the requirement of CH-ILKBP for the activating phosphorylation of PKB/Akt, suggesting that CH-ILKBP is required for the membrane translocation but not the subsequent phosphorylation of PKB/Akt. Finally, we show that loss of CH-ILKBP is also required for the full activation of extracellular signal–regulated kinase (ERK)1/2. However, restoration of the PKB/Akt activation is sufficient for protection of cells from apoptosis induced by the depletion of CH-ILKBP despite the persistent suppression of the ERK1/2 activation. Thus, CH-ILKBP is an important component of the prosurvival signaling pathway functioning primarily by facilitating the membrane translocation of PKB/Akt and consequently the activation of PKB/Akt in response to extracellular survival signals

CharFormer: A Glyph Fusion based Attentive Framework for High-precision Character Image Denoising

Degraded images commonly exist in the general sources of character images, leading to unsatisfactory character recognition results. Existing methods have dedicated efforts to restoring degraded character images. However, the denoising results obtained by these methods do not appear to improve character recognition performance. This is mainly because current methods only focus on pixel-level information and ignore critical features of a character, such as its glyph, resulting in character-glyph damage during the denoising process. In this paper, we introduce a novel generic framework based on glyph fusion and attention mechanisms, i.e., CharFormer, for precisely recovering character images without changing their inherent glyphs. Unlike existing frameworks, CharFormer introduces a parallel target task for capturing additional information and injecting it into the image denoising backbone, which will maintain the consistency of character glyphs during character image denoising. Moreover, we utilize attention-based networks for global-local feature interaction, which will help to deal with blind denoising and enhance denoising performance. We compare CharFormer with state-of-the-art methods on multiple datasets. The experimental results show the superiority of CharFormer quantitatively and qualitatively.Comment: Accepted by ACM MM 202

Prediction of protein structural class with Rough Sets

BACKGROUND: A new method for the prediction of protein structural classes is constructed based on Rough Sets algorithm, which is a rule-based data mining method. Amino acid compositions and 8 physicochemical properties data are used as conditional attributes for the construction of decision system. After reducing the decision system, decision rules are generated, which can be used to classify new objects. RESULTS: In this study, self-consistency and jackknife tests on the datasets constructed by G.P. Zhou (Journal of Protein Chemistry, 1998, 17: 729–738) are used to verify the performance of this method, and are compared with some of prior works. The results showed that the rough sets approach is very promising and may play a complementary role to the existing powerful approaches, such as the component-coupled, neural network, SVM, and LogitBoost approaches. CONCLUSION: The results with high success rates indicate that the rough sets approach as proposed in this paper might hold a high potential to become a useful tool in bioinformatics

The size effect on forming quality of Ti–6Al–4V solid struts fabricated via laser powder bed fusion

Laser powder bed fusion (LPBF) is useful for manufacturing complex structures; however, factors affecting the forming quality have not been clearly researched. This study aimed to clarify the influence of geometric characteristic size on the forming quality of solid struts. Ti–6Al–4V struts with a square section on the side length (0.4 to 1.4 mm) were fabricated with different scan speeds. Micro-computed tomography was used to detect the struts’ profile error and defect distribution. Scanning electron microscopy and light microscopy were used to characterize the samples’ microstructure. Nanoindentation tests were conducted to evaluate the mechanical properties. The experimental results illustrated that geometric characteristic size influenced the struts’ physical characteristics by affecting the cooling condition. This size effect became obvious when the geometric characteristic size and the scan speed were both relatively small. The solid struts with smaller geometric characteristic size had more obvious size error. When the geometric characteristic size was smaller than 1 mm, the nanohardness and elastic modulus increased with the increase in scan speed, and decreased with the decline of the geometric characteristic size. Therefore, a relatively high scan speed should be selected for LPBF—the manufacturing of a porous structure, whose struts have small geometric characteristic size

Molecular mechanism for bidirectional regulation of CD44 for lipid raft affiliation by palmitoylations and PIP2

The co-localization of Cluster-of-Differentiation-44 protein (CD44) and cytoplasmic adaptors in specific membrane environments is crucial for cell adhesion and migration. The process is controlled by two different pathways: On the one hand palmitoylation keeps CD44 in lipid raft domains and disables the linking to the cytoplasmic adaptor, whereas on the other hand, the presence of phosphatidylinositol-4,5-biphosphate (PIP2) lipids accelerates the formation of the CD44-adaptor complex. The molecular mechanism explaining how CD44 is migrating into and out of the lipid raft domains and its dependence on both palmitoylations and the presence of PIP2 remains, however, elusive. In this study, we performed extensive molecular dynamics simulations to study the raft affinity and translocation of CD44 in phase separated model membranes as well as more realistic plasma membrane environments. We observe a delicate balance between the influence of the palmitoylations and the presence of PIP2 lipids: whereas the palmitoylations of CD44 increases the affinity for raft domains, PIP2 lipids have the opposite effect. Additionally, we studied the association between CD44 and the membrane adaptor FERM in dependence of these factors. We find that the presence of PIP2 lipids allows CD44 and FERM to associate in an experimentally observed binding mode whereas the highly palmitoylated species shows no binding affinity. Together, our results shed light on the sophisticated mechanism on how membrane translocation and peripheral protein association can be controlled by both protein modifications and membrane composition

Comparative Genomic Analysis and Characterization of Two Salmonella enterica Serovar Enteritidis Isolates From Poultry With Notably Different Survival Abilities in Egg Whites

Salmonellaenterica serovar Enteritidis (Salmonella Enteritidis) is a globally important foodborne pathogen, and the contaminated chicken eggs are the major source of salmonellosis in humans. Salmonella Enteritidis strains are differentially susceptible to the hostile environment of egg whites. Strains with superior survival ability in egg whites are more likely to contaminate eggs and consequently infect humans. However, the genetic basis for this phenotype is unclear. We characterized two Salmonella Enteritidis strains isolated from chicken meat that had similar genetic backgrounds but large differences in survival ability in egg whites. Although genome comparisons indicated that the gene content and genomic synteny were highly conserved, variations including six insertions or deletions (INDELs) and 70 single nucleotide polymorphisms (SNPs) were observed between the two genomes. Of these, 38 variations including four INDELs and 34 non-synonymous SNPs (nsSNP) were annotated to result in amino acid substitutions or INDELs in coding proteins. These variations were located in 38 genes involved in lysozyme inhibition, vitamin biosynthesis, cell division and DNA damage response, osmotic and oxidative protection, iron-related functions, cell envelope maintenance, amino acid and carbohydrate metabolism, antimicrobial resistance, and type III secretion system. We carried out allelic replacements for two nsSNPs in bioC (biotin synthesis) and pliC (lysozyme inhibition), and two INDELs in ftsK and yqiJ (DNA damage response) by homologous recombination, and these replacements did not alter the bacterial survival ability in egg whites. However, the bacterial survival ability in egg whites was reduced when deletion mutation of the genes bioC and pliC occurred. This study provides initial correlations between observed genotypes and phenotypes and serves as an important caveat for further functional studies

Endothelial dysfunction and vascular disease

The endothelium can evoke relaxations (dilatations) of the underlying vascular smooth muscle, by releasing vasodilator substances. The best characterized endothelium-derived relaxing factor (EDRF) is nitric oxide (NO). The endothelial cells also evoke hyperpolarization of the cell membrane of vascular smooth muscle (endothelium-dependent hyperpolarizations, EDHF-mediated responses). Endothelium-dependent relaxations involve both pertussis toxin-sensitive G i (e.g. responses to serotonin and thrombin) and pertussis toxin-insensitive G q (e.g. adenosine diphosphate and bradykinin) coupling proteins. The release of NO by the endothelial cell can be up-regulated (e.g. by oestrogens, exercise and dietary factors) and down-regulated (e.g. oxidative stress, smoking and oxidized low-density lipoproteins). It is reduced in the course of vascular disease (e.g. diabetes and hypertension). Arteries covered with regenerated endothelium (e.g. following angioplasty) selectively loose the pertussis toxin-sensitive pathway for NO release which favours vasospasm, thrombosis, penetration of macrophages, cellular growth and the inflammatory reaction leading to atherosclerosis. In addition to the release of NO (and causing endothelium-dependent hyperpolarizations), endothelial cells also can evoke contraction (constriction) of the underlying vascular smooth muscle cells by releasing endothelium-derived contracting factor (EDCF). Most endothelium-dependent acute increases in contractile force are due to the formation of vasoconstrictor prostanoids (endoperoxides and prostacyclin) which activate TP receptors of the vascular smooth muscle cells. EDCF-mediated responses are exacerbated when the production of NO is impaired (e.g. by oxidative stress, ageing, spontaneous hypertension and diabetes). They contribute to the blunting of endothelium-dependent vasodilatations in aged subjects and essential hypertensive patients. © 2008 Scandinavian Physiological Society.postprin

Fabrication and properties of zirconia/hydroxyapatite composite scaffold based on digital light processing

Zirconia and hydroxyapatite(HA) are two typical implant materials, which have the advantages of excellent mechanical strength and good biological activity respectively. It was found that composite material had good biocompatibility and mechanical strength compared to the single material. In this paper, the porous scaffolds of ZrO2/HA composite were formed by digital light processing (DLP) technology and their performance were evaluated. Cell experiments showed that the addition of HA had a positive effect on cell proliferation and differentiation. Mechanical tests showed that the composite scaffold with 10 wt% HA had the best compressive capacity due to the pinning and bridging effect of a small amount of HA grains. When scaffolds were immersed in the simulated body fluid (SBF), the compressive strengths of the composite scaffolds decreased within the first 14 days and gradually increased after 14 days. The reason for this phenomenon was the degradation of calcium phosphate components and the deposition of apatite. By the 28th day, the compressive strengths of all the composite scaffolds increased to over 20 MPa, close to that of the zirconia scaffolds during the same period (25 MPa). The compressive strengths of all scaffolds met the requirement of cancellous bone during the entire soaking period, and the composite scaffolds have potential application value in bone repair

Reconstruction and simulation of neocortical microcircuitry

We present a first-draft digital reconstruction of the microcircuitry of somatosensory cortex of juvenile rat. The reconstruction uses cellular and synaptic organizing principles to algorithmically reconstruct detailed anatomy and physiology from sparse experimental data. An objective anatomical method defines a neocortical volume of 0.29 ± 0.01 mm3 containing ∼31,000 neurons, and patch-clamp studies identify 55 layer-specific morphological and 207 morpho-electrical neuron subtypes. When digitally reconstructed neurons are positioned in the volume and synapse formation is restricted to biological bouton densities and numbers of synapses per connection, their overlapping arbors form ∼8 million connections with ∼37 million synapses. Simulations reproduce an array of in vitro and in vivo experiments without parameter tuning. Additionally, we find a spectrum of network states with a sharp transition from synchronous to asynchronous activity, modulated by physiological mechanisms. The spectrum of network states, dynamically reconfigured around this transition, supports diverse information processing strategies