This paper addresses distributed coordination and cooperation control for networked mobile manipulators over a jointly connected topology with time delays. First, tracking control is proposed to ...guarantee the position and velocity synchronization of the networked mobile manipulators, while keeping a formation. For cooperation control, the decoupled dynamics is considered so that the task and null space of the mobile manipulators can be designed to achieve different missions. For end-effector motion, synchronization control works in combination with force controls to ensure that the network of mobile manipulators achieves cooperative manipulation and transportation. The motion of the mobile bases is controlled in the null space, which can be designed to track a trajectory, avoid colliding with obstacles, and achieve velocity consensus without influencing the main task. Numerical examples are addressed to demonstrate the performance of the proposed networked robotic system.
Relationships among objects play a crucial role in image understanding. Despite the great success of deep learning techniques in recognizing individual objects, reasoning about the relationships ...among objects remains a challenging task. Previous methods often treat this as a classification problem, considering each type of relationship (e.g. ride) or each distinct visual phrase (e.g. person-ride-horse) as a category. Such approaches are faced with significant difficulties caused by the high diversity of visual appearance for each kind of relationships or the large number of distinct visual phrases. We propose an integrated framework to tackle this problem. At the heart of this framework is the Deep Relational Network, a novel formulation designed specifically for exploiting the statistical dependencies between objects and their relationships. On two large data sets, the proposed method achieves substantial improvement over state-of-the-art.
Despite the substantial progress in recent years, the image captioning techniques are still far from being perfect. Sentences produced by existing methods, e.g. those based on RNNs, are often overly ...rigid and lacking in variability. This issue is related to a learning principle widely used in practice, that is, to maximize the likelihood of training samples. This principle encourages high resemblance to the "ground-truth" captions, while suppressing other reasonable descriptions. Conventional evaluation metrics, e.g. BLEU and METEOR, also favor such restrictive methods. In this paper, we explore an alternative approach, with the aim to improve the naturalness and diversity - two essential properties of human expression. Specifically, we propose a new framework based on Conditional Generative Adversarial Networks (CGAN), which jointly learns a generator to produce descriptions conditioned on images and an evaluator to assess how well a description fits the visual content. It is noteworthy that training a sequence generator is nontrivial. We overcome the difficulty by Policy Gradient, a strategy stemming from Reinforcement Learning, which allows the generator to receive early feedback along the way. We tested our method on two large datasets, where it performed competitively against real people in our user study and outperformed other methods on various tasks.
On public benchmarks, current action recognition techniques have achieved great success. However, when used in real-world applications, e.g. sport analysis, which requires the capability of parsing ...an activity into phases and differentiating between subtly different actions, their performances remain far from being satisfactory. To take action recognition to a new level, we develop FineGym, a new dataset built on top of gymnasium videos. Compared to existing action recognition datasets, FineGym is distinguished in richness, quality, and diversity. In particular, it provides temporal annotations at both action and sub-action levels with a three-level semantic hierarchy. For example, a "balance beam" activity will be annotated as a sequence of elementary sub-actions derived from five sets: "leap-jump-hop", "beam-turns", "flight-salto", "flight-handspring", and "dismount", where the sub-action in each set will be further annotated with finely defined class labels. This new level of granularity presents significant challenges for action recognition, e.g. how to parse the temporal structures from a coherent action, and how to distinguish between subtly different action classes. We systematically investigates different methods on this dataset and obtains a number of interesting findings. We hope this dataset could advance research towards action understanding.
Hepatocellular carcinoma (HCC) remains a global challenge due to its high morbidity and mortality rates as well as poor response to treatment. The communication between tumor-derived elements and ...stroma plays a critical role in facilitating cancer progression of HCC. Exosomes are small extracellular vesicles (EVs) that are released from the cells upon fusion of multivesicular bodies with the plasma membrane. There is emerging evidence indicating that exosomes play a central role in cell-to-cell communication. Much attention has been paid to exosomes since they are found to transport bioactive proteins, messenger RNA (mRNAs) and microRNA (miRNAs) that can be transferred in active form to adjacent cells or to distant organs. However, the mechanisms underlying such cancer progression remain largely unexplored.
Exosomes were isolated by differential ultracentrifugation from conditioned medium of HCC cells and identified by electron microscopy and Western blotting analysis. Hepatic stellate cells (HSCs) were treated with different concentrations of exosomes, and the activation of HSCs was analyzed by Western blotting analysis, wound healing, migration assay, Edu assay, CCK-8 assay and flow cytometry. Moreover, the different miRNA levels of exosomes were tested by real-time quantitative PCR (RT-PCR). The angiogenic ability of activated HSCs was analyzed by qRT-PCR, CCK-8 assay and tube formation assay. In addition, the abnormal lipid metabolism of activated HSCs was analyzed by Western blotting analysis and Oil Red staining. Finally, the relationship between serum exosomal miRNA-21 and prognosis of HCC patients was evaluated.
We showed that HCC cells exhibited a great capacity to convert normal HSCs to cancer-associated fibroblasts (CAFs). Moreover, our data revealed that HCC cells secreted exosomal miRNA-21 that directly targeted PTEN, leading to activation of PDK1/AKT signaling in HSCs. Activated CAFs further promoted cancer progression by secreting angiogenic cytokines, including VEGF, MMP2, MMP9, bFGF and TGF-β. Clinical data indicated that high level of serum exosomal miRNA-21 was correlated with greater activation of CAFs and higher vessel density in HCC patients.
Intercellular crosstalk between tumor cells and HSCs was mediated by tumor-derived exosomes that controlled progression of HCC. Our findings provided potential targets for prevention and treatment of live cancer.
Heterologous biomimetic synthesis of the active ingredients of traditional Chinese medicine(TCM) is a new mode of resource acquisition and has shown great potential in the protection and development ...of TCM resources. According to synthetic biology and by constructing biomimetic microbial cells and imitating the synthesis of active ingredients in medicinal plants and animals, the key enzymes obtained from medicinal plants and animals are scientifically designed and systematically reconstructed and optimized to realize the heterologous synthesis of the active ingredients in microorganisms. This method ensures an efficient and green acquisition of target products, and also achieves large-scale industrial production, which is conducive to the production of scarce TCM resources. Additiona-lly, the method playes a role in agricultural industrialization, and provides a new option for promoting the green and sustainable deve-lopment of TCM resources. This review systematically summarized the important progress in the
ABSTRACT
Endoreduplication is prevalent during plant growth and development, and is often correlated with large cell and organ size. Despite its prevalence, the transcriptional regulatory mechanisms ...underlying the transition from mitotic cell division to endoreduplication remain elusive. Here, we characterize ETHYLENE‐RESPONSIVE ELEMENT BINDING FACTOR 4 (ERF4) as a positive regulator of endoreduplication through its function as a transcriptional repressor. ERF4 was specifically expressed in mature tissues in which the cells were undergoing expansion, but was rarely expressed in young organs. Plants overexpressing ERF4 exhibited much larger cells and organs, while plants that lacked functional ERF4 displayed smaller organs than the wild‐type. ERF4 was further shown to regulate cell size by controlling the endopolyploidy level in the nuclei. Moreover, ERF4 physically associates with the class I TEOSINTE BRANCHED 1/CYCLOIDEA/PCF (TCP) protein TCP15, a transcription factor that inhibits endoreduplication by activating the expression of a key cell‐cycle gene, CYCLIN A2;3 (CYCA2;3). A molecular and genetic analysis revealed that ERF4 promotes endoreduplication by directly suppressing the expression of CYCA2;3. Together, this study demonstrates that ERF4 and TCP15 function as a module to antagonistically regulate each other's activity in regulating downstream genes, thereby controlling the switch from the mitotic cell cycle to endoreduplication during leaf development. These findings expand our understanding of how the control of the cell cycle is fine‐tuned by an ERF4–TCP15 transcriptional complex.
The ETHYLENE‐RESPONSIVE ELEMENT BINDING FACTOR 4 and TEOSINTE BRANCHED 1/CYCLOIDEA/PCF15 transcription factors interact and antagonistically regulate the expression of the key cell‐cycle gene CYCA2;3, hence controlling cell cycle progression during leaf development in Arabidopsis.
The substantial harmful effects of tobacco smoking on fertility and reproduction have become apparent but are not generally appreciated. Tobacco smoke contains more than 4000 kinds of constituents, ...including nicotine, tar, carbonic monoxide, polycyclic aromatic hydrocarbons, and heavy metals. Because of the complexity of tobacco smoke components, the toxicological mechanism is notably complicated. Most studies have reported reduced semen quality, reproductive hormone system dysfunction and impaired spermatogenesis, sperm maturation, and spermatozoa function in smokers compared with nonsmokers. Underlying these effects, elevated oxidative stress, DNA damage, and cell apoptosis may play important roles collaboratively in the overall effect of tobacco smoking on male fertility. In this review, we strive to focus on both the phenotype of and the molecular mechanism underlying these harmful effects, although current studies regarding the mechanism remain insufficient.
Whole-mount histopathology (WMH) has been a powerful tool to investigate the characteristics of prostate cancer. However, the latest advancement of WMH was yet under summarization. In this review, we ...offer a comprehensive exposition of current research utilizing WMH in diagnosing and treating prostate cancer (PCa), and summarize the clinical advantages of WMH and outlines potential on future prospects.
An extensive PubMed search was conducted until February 26, 2023, with the search term "prostate", "whole-mount", "large format histology", which was limited to the last 4 years. Publications included were restricted to those in English. Other papers were also cited to contribute a better understanding.
WMH exhibits an enhanced legibility for pathologists, which improved the efficacy of pathologic examination and provide educational value. It simplifies the histopathological registration with medical images, which serves as a convincing reference standard for imaging indicator investigation and medical image-based artificial intelligence (AI). Additionally, WMH provides comprehensive histopathological information for tumor volume estimation, post-treatment evaluation, and provides direct pathological data for AI readers. It also offers complete spatial context for the location estimation of both intraprostatic and extraprostatic cancerous region.
WMH provides unique benefits in several aspects of clinical diagnosis and treatment of PCa. The utilization of WMH technique facilitates the development and refinement of various clinical technologies. We believe that WMH will play an important role in future clinical applications.
Acral melanoma (AM), as a peculiar subgroup of melanoma, is rare in Caucasians but has higher incidence in Asians. Large series of study on AM with clinicopathological features and prognostic factors ...is still limited, especially in Asian population. We retrospectively collected clinical, pathological and follow-up data of 142 AM cases. All patients were Chinese, with the age ranging from 24 to 87 years (mean 62.0; median 62.0). The Breslow thickness of primary lesions ranged from 0.6 to 16.3 mm (mean 4.9; median 3.7). 85.9% of the patients had acral lentiginous histologic subtype. Plantar was the most frequently involved site, followed by heels. Statistically, duration of the lesion before diagnosis (≤2.5 years), Breslow thickness >4.0 mm (T4), high mitotic index (>15 mm(-2)), presence of vascular invasion, regional lymph node metastasis at diagnosis and pathologic stage (II/III/IV) were found to be independent prognostic factors in both univariate and multivariate analyses. The prognosis of AM in Chinese is extremely poor. Our 5- and 10-year disease-specific survival (DSS) rates were 53.3% and 27.4%, respectively. Therefore, AM in Asians represents a more biologically aggressive melanoma subtype and is thought to carry a worse prognosis when compared with other races or cutaneous melanomas in other anatomic sites.
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