Bootstrapping Robotic Skill Learning With Intuitive Teleoperation: Initial Feasibility Study

Robotic skill learning has been increasingly studied but the demonstration collections are more challenging compared to collecting images/videos in computer vision and texts in natural language processing. This paper presents a skill learning paradigm by using intuitive teleoperation devices to generate high-quality human demonstrations efficiently for robotic skill learning in a data-driven manner. By using a reliable teleoperation interface, the da Vinci Research Kit (dVRK) master, a system called dVRK-Simulator-for-Demonstration (dS4D) is proposed in this paper. Various manipulation tasks show the system's effectiveness and advantages in efficiency compared to other interfaces. Using the collected data for policy learning has been investigated, which verifies the initial feasibility. We believe the proposed paradigm can facilitate robot learning driven by high-quality demonstrations and efficiency while generating them.Comment: 10 pages, 4 figures, accepted by ISER202

Towards Safe Landing of Falling Quadruped Robots Using a 3-DoF Morphable Inertial Tail

Falling cat problem is well-known where cats show their super aerial reorientation capability and can land safely. For their robotic counterparts, a similar falling quadruped robot problem, has not been fully addressed, although achieving safe landing as the cats has been increasingly investigated. Unlike imposing the burden on landing control, we approach to safe landing of falling quadruped robots by effective flight phase control. Different from existing work like swinging legs and attaching reaction wheels or simple tails, we propose to deploy a 3-DoF morphable inertial tail on a medium-size quadruped robot. In the flight phase, the tail with its maximum length can self-right the body orientation in 3D effectively; before touch-down, the tail length can be retracted to about 1/4 of its maximum for impressing the tail's side-effect on landing. To enable aerial reorientation for safe landing in the quadruped robots, we design a control architecture, which has been verified in a high-fidelity physics simulation environment with different initial conditions. Experimental results on a customized flight-phase test platform with comparable inertial properties are provided and show the tail's effectiveness on 3D body reorientation and its fast retractability before touch-down. An initial falling quadruped robot experiment is shown, where the robot Unitree A1 with the 3-DoF tail can land safely subject to non-negligible initial body angles.Comment: 7 pages, 8 figures, submit to ICRA202

Operational Space Control for Planar PAN–1 Underactuated Manipulators Using Orthogonal Projection and Quadratic Programming

In this paper, we propose an operational space control formulation for a planar N-link underactuated manipulator (PA N–1 ) 1 with a passive first joint subject to actuator constraints (N ⩾ 3), covering both stabilization and tracking tasks. Such underactuated manipulators have an inherent first-order nonholonomic constraint, allowing us to project their dynamics to a space consistent with the nonholonomic constraint. Based on the constrained dynamics, we can design operational space controllers with respect to tasks assuming that all joints of the manipulator are active. Due to underactuation, we design a Quadratic Programming (QP) based controller to minimize the error between the desired torque commands and available motor torques in the null space of the constraint, as well as involve the constraint of motor outputs. The proposed control framework was demonstrated by stabilization and tracking tasks in simulations with both planar PA 2 and PA 3 manipulators. Furthermore, we verified the controller experimentally using a planar PA 2 robot

Exploration of the Potential Targets and Molecular Mechanism of Carthamus tinctorius L. for Liver Fibrosis Based on Network Pharmacology and Molecular Docking Strategy

Carthamus tinctorius L. (Honghua, HH) is an herbal medicine and functional food widely used to treat chronic liver diseases, including liver fibrosis. By using network pharmacology and molecular docking experiments, the present study aims to determine the bioactive components, potential targets, and molecular mechanisms of HH for treating liver fibrosis. The components of HH were screened from the Traditional Chinese Medicine Systems Pharmacology Database and Analysis Platform and literature, and the SwissTargetPrediction database was used to predict the treatment targets of HH. Genecards and DisGeNET databases contained targets for liver fibrosis, and the STRING database provided networks of protein–protein interactions. Gene ontology and Kyoto Encyclopedia of Genes and Genomes pathway enrichment analyses were performed using the Database of Annotation, Visualization and Integrated Discovery. The protein–protein interactive network and drug–component–major target–pathway interactive network were visualized and analyzed by Cytoscape software. Finally, Autodock Vina and Discovery Studio software were used for molecular docking Validation. A total of 23 candidate bioactive compounds with 187 treatment targets of HH were acquired from the databases and literature. A total of 121 overlapping targets between HH and liver fibrosis were found to provide the molecular basis for HH on liver fibrosis. Quercetin, beta carotene, and lignan were identified as key components with targeting to ESR1, PIK3CA, and MTOR. HH is engaged in the intervention of various signaling cascades associated with liver fibrosis, such as PI3K/AKT/mTOR pathway, MAPK pathway, and PPAR pathway. In conclusion, HH treats liver fibrosis through multi-component, multi-target, and multi-pathway mechanisms

Lower Expression of SPRY4 Predicts a Poor Prognosis and Regulates Cell Proliferation in Colorectal Cancer

Background/Aims: Colorectal cancer (CRC) is the third most common type of cancer worldwide. Sprouty proteins are modulators of mitogeninduced signal transduction processes and therefore can influence the process of cancerogenesis. The encoded protein of Sprouty homolog 4 (SPRY4) is associated with various human cancers. However, its biological role and clinical significance in CRC development and progression are unknown. Methods: The aim of this study was to evaluate the expression and biological role of SPRY4 in colorectal cancer. qRT-PCR was performed to investigate the expression of SPRY4 in tumor tissues and corresponding non tumor colorectal tissues from 70 patients. The effect of SPRY4 on proliferation was evaluated by MTT and colony formation assays. CRC cells transfected with SPRY4 were injected into nude mice to study the effect of SPRY4 on tumorigenesis in vivo. Results: The lower expression of SPRY4 was remarkably correlated with deep tumor invasion and advanced TNM stage. Multivariate analyses revealed that SPRY4 expression served as an independent predictor for overall survival. Using 5-aza treatment, we also observed that SPRY4 expression can be affected by DNA methylation. Further experiments revealed that overexpressed SPRY4 significantly inhibited CRC cell proliferation both in vitro and in vivo. Conclusion: Our study demonstrated that SPRY4 is involved in the development and progression of colorectal cancer by regulating cell proliferation and shows that SPRY4 may be a potential diagnostic and prognostic target in patients with colorectal cancer