Development and evaluation of mixed reality-enhanced robotic systems for intuitive tele-manipulation and telemanufacturing tasks in hazardous conditions

In recent years, with the rapid development of space exploration, deep-sea discovery, nuclear rehabilitation and management, and robotic-assisted medical devices, there is an urgent need for humans to interactively control robotic systems to perform increasingly precise remote operations. The value of medical telerobotic applications during the recent coronavirus pandemic has also been demonstrated and will grow in the future. This thesis investigates novel approaches to the development and evaluation of a mixed reality-enhanced telerobotic platform for intuitive remote teleoperation applications in dangerous and difficult working conditions, such as contaminated sites and undersea or extreme welding scenarios. This research aims to remove human workers from the harmful working environments by equipping complex robotic systems with human intelligence and command/control via intuitive and natural human-robot- interaction, including the implementation of MR techniques to improve the user's situational awareness, depth perception, and spatial cognition, which are fundamental to effective and efficient teleoperation. The proposed robotic mobile manipulation platform consists of a UR5 industrial manipulator, 3D-printed parallel gripper, and customized mobile base, which is envisaged to be controlled by non-skilled operators who are physically separated from the robot working space through an MR-based vision/motion mapping approach. The platform development process involved CAD/CAE/CAM and rapid prototyping techniques, such as 3D printing and laser cutting. Robot Operating System (ROS) and Unity 3D are employed in the developing process to enable the embedded system to intuitively control the robotic system and ensure the implementation of immersive and natural human-robot interactive teleoperation. This research presents an integrated motion/vision retargeting scheme based on a mixed reality subspace approach for intuitive and immersive telemanipulation. An imitation-based velocity- centric motion mapping is implemented via the MR subspace to accurately track operator hand movements for robot motion control, and enables spatial velocity-based control of the robot tool center point (TCP). The proposed system allows precise manipulation of end-effector position and orientation to readily adjust the corresponding velocity of maneuvering. A mixed reality-based multi-view merging framework for immersive and intuitive telemanipulation of a complex mobile manipulator with integrated 3D/2D vision is presented. The proposed 3D immersive telerobotic schemes provide the users with depth perception through the merging of multiple 3D/2D views of the remote environment via MR subspace. The mobile manipulator platform can be effectively controlled by non-skilled operators who are physically separated from the robot working space through a velocity-based imitative motion mapping approach. Finally, this thesis presents an integrated mixed reality and haptic feedback scheme for intuitive and immersive teleoperation of robotic welding systems. By incorporating MR technology, the user is fully immersed in a virtual operating space augmented by real-time visual feedback from the robot working space. The proposed mixed reality virtual fixture integration approach implements hybrid haptic constraints to guide the operator’s hand movements following the conical guidance to effectively align the welding torch for welding and constrain the welding operation within a collision-free area. Overall, this thesis presents a complete tele-robotic application space technology using mixed reality and immersive elements to effectively translate the operator into the robot’s space in an intuitive and natural manner. The results are thus a step forward in cost-effective and computationally effective human-robot interaction research and technologies. The system presented is readily extensible to a range of potential applications beyond the robotic tele- welding and tele-manipulation tasks used to demonstrate, optimise, and prove the concepts

Is informational inefficiency priced in stock markets? A comparison between the U.S. and Chinese cases

Using a sample of U.S. and Chinese stocks between July 1999 and June 2016, we investigate the pricing role of informational inefficiency in stock markets. We find that the relations between returns and the informational inefficiency factor statistically change from significantly positive, to insignificant, and further to significantly negative as informational efficiency increases. This finding provides new insights into the common belief that emerging markets are less efficient than developed markets. We propose new factor models for less efficient markets. Our conclusions are robust to alternative ways of sorting portfolios, to various subsample analyses, and to alternative factor models

Resonance Analysis between Deck and Cables in Cable-Stayed Bridges with Coupling Effect of Adjacent Cables Considered

The nonlinear dynamic model of a shallow arch with multiple cables is developed to model a long-span cable-stayed bridge. Based on the veering phenomenon of cable-stayed bridges, the in-plane modal internal resonance between the first mode of the shallow arch and the first mode of the cable is investigated under both primary resonance and subharmonic resonance. Modulation equations of the dynamic system are obtained by Galerkin discretization and the multiple scales method, in which the equilibrium solution of modulation equations is obtained by the Newton–Raphson method. Meanwhile, the Runge–Kutta method is applied to directly solve the ordinary differential equations to verify the accuracy of the perturbation analysis. Numerical analysis shows that the internal resonance occurs in adjacent cables; the energy transfer mechanism and the dynamic behavior of system become more complex

“Be a Pattern for the World”: The Development of a Dark Patterns Detection Tool to Prevent Online User Loss

Dark Patterns are designed to trick users into sharing more information or spending more money than they had intended to do, by configuring online interactions to confuse or add pressure to the users. They are highly varied in their form, and are therefore difficult to classify and detect. Therefore, this research is designed to develop a framework for the automated detection of potential instances of web-based dark patterns, and from there to develop a software tool that will provide a highly useful defensive tool that helps detect and highlight these patterns

circFBXW7 attenuates malignant progression in lung adenocarcinoma by sponging miR-942-5p

Background: As a type of non-coding RNA, circular RNAs (circRNAs) are considered to be functional molecules associated with human cancers. An increasing number of circRNAs have been verified in malignant progression in a number of cancers. The circRNA, circFBXW7, has been proven to play an important role in tumor proliferation and metastasis. However, whether circFBXW7 influences progression in lung adenocarcinoma (LUAD) remains unclear. Methods: Quantitative real-time reverse transcriptase PCR (qRT-PCR) was used to verify circFBXW7 in LUAD cell lines and LUAD tissues. Kaplan-Meier analysis was then used to compare the disease-free survival (DFS) and overall survival (OS) of these LUAD patients. The biological function of circFBXW7 was examined by overexpression and knockdown of circFBXW7 using MTT assay, EdU assay, wound-healing assay, and Transwell in vitro assays. To explore the mechanism of the circFBXW7, RNA pull-down assay, dual luciferase reporter assay, and RNA immunoprecipitation (RIP) assay were employed to examine the interaction between circFBXW7 and miR-942-5p. Western blot was used to study the fundamental proteins associated with the epithelial-mesenchymal transition (EMT) pathway. In vivo studies with BALB/c nude mice subcutaneously injected with cells stably overexpressing circFBXW7 were performed to further validate the in vitro results. Results: circFBXW7 was downregulated in LUAD cell lines and tissues, and LUAD patients with lower levels had shorter DFS and OS. The in vitro study showed that circFBXW7 overexpression inhibited proliferation and migration of A549 and HCC2279 cell lines. These results were confirmed by circFBXW7 knockdown, which showed the reverse effect. The in vivo model showed that the circRNA levels influenced the tumor growth. Finally, we determined that circFBXW7 target miRNA-942-5p which regulates the EMT gene BARX2. The modulation of circFBXW7 levels produced significant changes in EMT genes in vitro and in vivo. Conclusions: Our findings showed that circFBXW7 inhibits proliferation and migration by controlling the miR-942-5p/BARX2 axis in LUAD cell lines and its levels correlates with patient survival suggesting that regulating circFBXW7 could have therapeutic value in treating LUAD patients

Global patterns of species richness of the holarctic alpine herb Saxifraga: The role of temperature and habitat heterogeneity

Postponed access: the file will be available after 2022-08-03The effects of contemporary climate, habitat heterogeneity and long-term climate change on species richness are well studied for woody plants in forest ecosystems, but poorly understood for herbaceous plants, especially in alpine–arctic ecosystems. Here, we aim to test if the previously proposed hypothesis based on the richness–environment relationship could explain the variation in richness patterns of the typical alpine–arctic herbaceous genus Saxifraga. Using a newly compiled distribution database of 437 Saxifraga species, we estimated the species richness patterns for all species, narrow- and wide-ranged species. We used generalized linear models and simultaneous autoregressive models to evaluate the effects of contemporary climate, habitat heterogeneity and historical climate on species richness patterns. Partial regressions were used to determine the independent and shared effects of different variables. Four widely used models were tested to identify their predictive power in explaining patterns of species richness. We found that temperature was negatively correlated with the richness patterns of all and wide-ranged species, and that was the most important environmental factor, indicating a strong conservatism of its ancestral temperate niche. Habitat heterogeneity and long-term climate change were the best predictors of the spatial variation of narrow-ranged species richness. Overall, the combined model containing five predictors can explain ca. 40%–50% of the variation in species richness. We further argued that additional evolutionary and biogeographical processes might have also played an essential role in shaping the Saxifraga diversity patterns and should be considered in future studies.acceptedVersio

Global distribution and evolutionary transitions of angiosperm sexual systems

Angiosperm sexual systems are fundamental to the evolution and distribution of plant diversity, yet spatiotemporal patterns in angiosperm sexual systems and their drivers remain poorly known. Using data on sexual systems and distributions of 68453 angiosperm species, we present the first global maps of sexual system frequencies and evaluate sexual system evolution during the Cenozoic. Frequencies of dioecy and monoecy increase with latitude, while hermaphrodites are more frequent in warm and arid regions. Transitions to dioecy from other states were higher than to hermaphroditism, but transitions away from dioecy increased since the Cenozoic, suggesting that dioecy is not an evolutionary end point. Transitions between hermaphroditism and dioecy increased, while transitions to monoecy decreased with paleo-temperature when paleo-temperature >0℃. Our study demonstrates the biogeography of angiosperm sexual systems from a macroecological perspective, and enhances our understanding of plant diversity patterns and their response to climate change.acceptedVersio

Zinc Finger-Homeodomain Transcriptional Factors (ZHDs) in Upland Cotton (Gossypium hirsutum): Genome-Wide Identification and Expression Analysis in Fiber Development

Zinc finger-homeodomain (ZHD) genes encode a family of plant-specific transcription factors that not only participate in the regulation of plant growth and development but also play an important role in the response to abiotic stress. The ZHD gene family has been studied in several model plants, including Solanum lycopersicum, Zea mays, Oryza sativa, and Arabidopsis thaliana. However, a comprehensive study of the genes of the ZHD family and their roles in fiber development and pigmentation in upland cotton has not been completed. To address this gap, we selected a brown fiber cultivar for our study; brown color in cotton is one of the most desired colors in the textile industry. The natural colored fibers require less processing and little dying, thereby eliminating dye costs and chemical residues. Using bioinformatics approaches, we identified 37 GhZHD genes from Gossypium hirsutum and then divided these genes into seven groups based on their phylogeny. The GhZHD genes were mostly conserved in each subfamily with minor variations in motif distribution and gene structure. These genes were largely distributed on 19 of the 26 upland cotton chromosomes. Among the Gossypium genomes, the paralogs and orthologs of the GhZHD genes were identified and further characterized. Furthermore, among the paralogs, we observed that the ZHD family duplications in Gossypium genomes (G. hirsutum, G. arboreum, and G. raimondii) were probably derived from segmental duplication or genome-wide duplication (GWD) events. Through a combination of qRT-PCR and proanthocyanidins (PA) accumulation analyses in brown cotton fibers, we concluded that the candidate genes involved in early fiber development and fiber pigment synthesis include the following: GhZHD29, GhZHD35, GhZHD30, GhZHD31, GhZHD11, GhZHD27, GhZHD18, GhZHD15, GhZHD16, GhZHD22, GhZHD6, GhZHD33, GhZHD13, GhZHD5, and GhZHD23. This study delivers insights into the evolution of the GhZHD genes in brown cotton, serves as a valuable resource for further studies, and identifies the conditions necessary for improving the quality of brown cotton fiber

Origin and Characteristics of the Crude Oils and Condensates in the Callovian-Oxfordian Carbonate Reservoirs of the Amu Darya Right Bank Block, Turkmenistan

AbstractThe Amu Darya Right Bank Block is located northeast of the Amu Darya basin, a large petroliferous sedimentary basin, with abundant natural gas resources in carbonate rocks under the ultra-thick gypsum-salt layer. Oil fields producing crude oils have recently been found around large gas fields. Unraveling the origins of the crude oils is crucial for effective petroleum exploration and exploitation. The origin of gas condensates and crude oils was unraveled through the use of comprehensively analytical and interpretative geochemical approaches. Based on oil-source correlation, the reservoir forming process has been restored. The bulk geochemical parameters of the local source rocks of the ADRBB indicated that the local sources have hydrocarbon generation and accumulation potential. The middle-lower Jurassic coal-bearing mudstone is gas prone, while the mudstone of the Callovian-Oxfordian gap layer is oil prone, and the organic matter type of Callovian-Oxfordian carbonate rocks is the mixed type between the two previous source rocks. The interpretation schemes for compositions of n-alkanes, pristane and phytane, C27–C28–C29 sterane distributions, C19+C20–C21–C23 tricyclic terpane distributions, extended tricyclic terpane ratio, and δ13C indicated that crude oil is likely from marine organic matter, while condensates mainly originate from terrestrial organic matter. However, from the perspective of the 18α-trisnorneohopane/17α-trisnorhopane and isomerization ratio of C29 sterane, condensates are too mature to have originated in the local source rocks of the ADRBB, whose maturity is well comparable with that of crude oils. The geochemical, geologic, and tectonic evolutions collectively indicate that the crude oils were most likely generated and migrated from the relatively shallow, lowly mature gap layer and Callovian-Oxfordian carbonate rocks of the ADRBB, while the condensates mostly originated from the relatively deep and highly mature middle-lower coal-bearing mudstone and Callovian-Oxfordian carbonate rocks in the Murgab depression in the southeast of the basin. Basement faults are the key factors affecting the types of oil and gas reservoirs. During the periods of oil and gas migration, traps with basement faults mainly captured natural gas and condensates and traps without basement faults were enriched with crude oils generated from local source rocks