Sequential Neural Barriers for Scalable Dynamic Obstacle Avoidance

There are two major challenges for scaling up robot navigation around dynamic obstacles: the complex interaction dynamics of the obstacles can be hard to model analytically, and the complexity of planning and control grows exponentially in the number of obstacles. Data-driven and learning-based methods are thus particularly valuable in this context. However, data-driven methods are sensitive to distribution drift, making it hard to train and generalize learned models across different obstacle densities. We propose a novel method for compositional learning of Sequential Neural Control Barrier models (SNCBFs) to achieve scalability. Our approach exploits an important observation: the spatial interaction patterns of multiple dynamic obstacles can be decomposed and predicted through temporal sequences of states for each obstacle. Through decomposition, we can generalize control policies trained only with a small number of obstacles, to environments where the obstacle density can be 100x higher. We demonstrate the benefits of the proposed methods in improving dynamic collision avoidance in comparison with existing methods including potential fields, end-to-end reinforcement learning, and model-predictive control. We also perform hardware experiments and show the practical effectiveness of the approach in the supplementary video.Comment: To be published in IROS 202

Incidence and influencing factors of fertility concerns in breast cancer in young women: a systematic review and meta-analysis

ObjectiveThis systematic review and meta-analysis aimed to evaluate the prevalence and influencing factors of fertility concerns in breast cancer in young women.MethodsA literature search on PubMed, Embase, Web of Science, and Cochrane Library databases was conducted up to February 2023 and was analyzed (Revman 5.4 software) in this study. The papers were chosen based on inclusion standards, and two researchers independently extracted the data. The included studies’ quality was evaluated using criteria set out by the Agency for Healthcare Research and Quality. To identify significant variations among the risk factors, odds ratios (ORs) and the corresponding 95% confidence intervals (CIs) were utilized.ResultsA total of 7 studies that included 1579 breast cancer in young women were enrolled in the study. The results showed that for breast cancer in young women, the incidence of fertility concerns 53%(95%CI [0.45,0.58]). The results showed that education (2.65, 95% CI 1.65–5.63), full-time work (0.12, 95% CI 1.03–1.93), fertility intentions (7.84, 95% CI 1.50–37.4), depression level (1.25, 95% CI 1.03–1.5), and endocrine therapy (1.32, 95% CI 1.08–1.62) were risk factors for fertility concerns in young women with BC. Having a partner (0.41, 95% CI 0.33–0.5), ≥1 child (0.3, 95% CI 0.22–0.4) were identified as protective factors against fertility concerns in young women with BC.ConclusionsThe incidence of fertility concerns in breast cancer in young women is at a moderately high level. We should pay more attention to the risk factors of fertility concerns to help breast cancer in young women cope with their fertility concerns and promote their psychological well-being

The InterPro protein families database: the classification resource after 15 years

The InterPro database (http://www.ebi.ac.uk/interpro/) is a freely available resource that can be used to classify sequences into protein families and to predict the presence of important domains and sites. Central to the InterPro database are predictive models, known as signatures, from a range of different protein family databases that have different biological focuses and use different methodological approaches to classify protein families and domains. InterPro integrates these signatures, capitalizing on the respective strengths of the individual databases, to produce a powerful protein classification resource. Here, we report on the status of InterPro as it enters its 15th year of operation, and give an overview of new developments with the database and its associated Web interfaces and software. In particular, the new domain architecture search tool is described and the process of mapping of Gene Ontology terms to InterPro is outlined. We also discuss the challenges faced by the resource given the explosive growth in sequence data in recent years. InterPro (version 48.0) contains 36 766 member database signatures integrated into 26 238 InterPro entries, an increase of over 3993 entries (5081 signatures), since 201

InterPro in 2017-beyond protein family and domain annotations

InterPro (http://www.ebi.ac.uk/interpro/) is a freely available database used to classify protein sequences into families and to predict the presence of important domains and sites. InterProScan is the underlying software that allows both protein and nucleic acid sequences to be searched against InterPro's predictive models, which are provided by its member databases. Here, we report recent developments with InterPro and its associated software, including the addition of two new databases (SFLD and CDD), and the functionality to include residue-level annotation and prediction of intrinsic disorder. These developments enrich the annotations provided by InterPro, increase the overall number of residues annotated and allow more specific functional inferences

InterPro in 2019: improving coverage, classification and access to protein sequence annotations

The InterPro database (http://www.ebi.ac.uk/interpro/) classifies protein sequences into families and predicts the presence of functionally important domains and sites. Here, we report recent developments with InterPro (version 70.0) and its associated software, including an 18% growth in the size of the database in terms on new InterPro entries, updates to content, the inclusion of an additional entry type, refined modelling of discontinuous domains, and the development of a new programmatic interface and website. These developments extend and enrich the information provided by InterPro, and provide greater flexibility in terms of data access. We also show that InterPro's sequence coverage has kept pace with the growth of UniProtKB, and discuss how our evaluation of residue coverage may help guide future curation activities

The InterPro protein families database: the classification resource after 15 years

The InterPro database (http://www.ebi.ac.uk/interpro/) is a freely available resource that can be used to classify sequences into protein families and to predict the presence of important domains and sites. Central to the InterPro database are predictive models, known as signatures, from a range of different protein family databases that have different biological focuses and use different methodological approaches to classify protein families and domains. InterPro integrates these signatures, capitalizing on the respective strengths of the individual databases, to produce a powerful protein classification resource. Here, we report on the status of InterPro as it enters its 15th year of operation, and give an overview of new developments with the database and its associated Web interfaces and software. In particular, the new domain architecture search tool is described and the process of mapping of Gene Ontology terms to InterPro is outlined. We also discuss the challenges faced by the resource given the explosive growth in sequence data in recent years. InterPro (version 48.0) contains 36,766 member database signatures integrated into 26,238 InterPro entries, an increase of over 3993 entries (5081 signatures), since 2012

Outdoor Space Elements in Urban Residential Areas in Shenzhen, China: Optimization Based on Health-Promoting Behaviours of Older People

Given the ageing global population, it is important to promote “healthy ageing”. One of the most effective ways to achieve this is by prolonging the health of older people. Both the physical and mental well-being of older people are closely related to their living environment. Providing daily outdoor activities and enhancing the quality of public spaces and amenities in residential areas can encourage the adoption of healthy behaviours among older people. This study selected eight typical residential areas in Shenzhen, China, and analysed 40 outdoor public spaces. Video content obtained from fixed-point behavioural observation was entered into the Mangold INTERACT behavioural analysis system to extract the health behaviour data of older people. Regression analysis was then performed on the health behaviour data and the index data of the sample space elements. The results showed that several factors affect the outdoor health behaviours of older people. These factors include the scale of the outdoor space, the size of the hard ground area, the quality of the grey space, the green-looking rate, the accessibility of the site, the number of fitness facilities, and the richness of site functions. This study focused on a host of health-related behaviours such as rest, leisure, communication, and exercise. It confirmed the corresponding spatial needs of the elderly when engaging in the aforesaid activities. In this way, the quantitative research has supplemented previous studies by studying and evaluating the behaviour and activities of the elderly in specific settings. Through the analyses, a configuration model of outdoor space in residential areas was constructed with the aim of health promotion. Based on this model, a flexible and multilevel configuration list revealing seven specific types under three priorities is being proposed. The findings provide a scientific and effective strategy for optimising the quality of outdoor environments in residential areas. More specifically, the deployment of the Mangold INTERACT system to extract and quantify behavioural data enabled this study to overcome the limitations of traditional approaches to behavioural observation and recording. This provides a prelude for other quantitative research on the environment and behaviour

Risk factors of incontinence-associated dermatitis in older adults: a protocol for systematic review and meta-analysis

Introduction Due to their ageing skin, older adults are more likely to develop incontinence-associated dermatitis (IAD). Although previous attempts to look at the risk factors for IAD in older adults were done, methodological barriers hindered an in-depth understanding. By investigating risk factors for IAD in the ageing population, the development of precise clinical interventions and guidance could be facilitated, which in turn would enhance patient care standards for incontinence management in this target group. To address this knowledge gap, this systematic review with meta-analysis aims to explore the major risk elements linked to IAD among older adults.Methods and analysis The Preferred Reporting Items for Systematic Reviews and Meta-Analyses Protocols are adhered to in this systematic review and meta-analysis. To achieve its objectives, a comprehensive search strategy PubMed, Embase, Web of Science, Cochrane Library, Cumulative Index to Nursing and Allied Health Literature, Medline, Chinese Scientific Journal Database (VIP database), WanFang Data Knowledge Service Platform, China National Knowledge Infrastructure, Chinese Biomedical Literature Database, along with other relevant sources published until 18 July 2023 in both English and Chinese languages will be performed. The screening of articles, data abstraction and risk of bias evaluation will be done by two impartial reviewers. RevMan V.5.3 software will be used for data synthesis. The quality of the included study will be assessed using the Newcastle-Ottawa Quality Assessment tool and the Agency for Healthcare Research and Quality. The I2 test will identify the heterogeneity.Ethics and dissemination There is no need for ethical approval. Individual patient information or the rights of participants will not be compromised by this protocol. The findings will either be published in a peer-reviewed journal.PROSPERO registration number CRD42023442585

Blue-shifted dispersive wave generation by the diffraction-arrested solitons for coherent anti-Stokes Raman scattering microscopy in a photonic crystal fiber

The broadband blue-shifted dispersive waves (DWs) are efficiently generated by the diffraction-arrested solitons in a photonic crystal fiber (PCF) designed and fabricated in our laboratory. By optimizing the pump parameters and the fiber length, the DWs can be used as the pump pulses for the high resolution coherent anti-Stokes Raman scattering (CARS) microscopy. The CARS microscopy based on the broadband DWs can be an attractive tool for simultaneously measuring the vibrational dephasing times of multiple Raman modes of the biological and chemical samples with the C–H and O–H stretch vibration resonances of 2700–3000 cm−1 and 3000–3750 cm−1

Coherent anti-stokes Ramen scattering microscopy by dispersive wave generations in a polarization maintaining photonic crystal fiber

The polarization maintaining photonic crystal fiber (PM-PCF) with two zero dispersion wavelengths is designed and fabricated by the improved stack-and-draw technology in our laboratory. The broadband blue-shifted and red-shifted dispersive waves (DWs) are efficiently generated from soliton self-frequency shift (SSFS) along the slow axis of PM-PCF. By optimizing the pump parameters and the fiber length, the polarized DWs centered in the normal dispersion region can be used as the pump and Stokes pulses for the high resolution coherent anti-Stokes Raman scattering (CARS) microscopy. Moreover, it is demonstrated that the widely tunable relevant CARS wavelengths can be obtained by adjusting the pump wavelength. The CARS microscopy based on DWs can find important applications in detecting the biological and chemical samples with the C=N, S-H, C-H, and O-H stretch vibration resonances of 2100 to 2400 cm-1, 2500 to 2650 cm-1, 2700 to 3000 cm-1, and 3000 to 3750 cm-1