Kinematics, workspace and singularity analysis of a multi-mode parallel robot

A family of reconfigurable parallel robots can change motion modes by passing through constraint singularities by locking and releasing some passive joints of the robot. This paper is about the kinematics, the workspace and singularity analysis of a 3-PRPiR parallel robot involving lockable Pi and R (revolute) joints. Here a Pi joint may act as a 1-DOF planar parallelogram if its lock-able P (prismatic) joint is locked or a 2-DOF RR serial chain if its lockable P joint is released. The operation modes of the robot include a 3T operation modes to three 2T1R operation modes with two different directions of the rotation axis of the moving platform. The inverse kinematics and forward kinematics of the robot in each operation modes are dealt with in detail. The workspace analysis of the robot allow us to know the regions of the workspace that the robot can reach in each operation mode. A prototype built at Heriot-Watt University is used to illustrate the results of this work.Comment: International Design Engineering Technical Conferences \& Computers and Information in Engineering Conference, Aug 2017, Cleveland, United States. 201

Single chamber permanent epicardial pacing for children with congenital heart disease after surgical repair

BACKGROUND: To analyze the 10-year experience of single chamber permanent epicardial pacemaker placement for children with congenital heart diseases (CHD) after surgical repair. METHODS: Between 2002 and 2014, a total of 35 patients with CHD (age: 26.9 ± 23.2 months, weight: 9.7 ± 5.6 kg) received permanent epicardial pacemaker placement following corrective surgery. Echocardiography and programming information of the pacemaker, as well as major adverse cardiac events (MACE) as heart failure or sudden death, were recorded during follow-up (46.8 ± 33.8 months). RESULTS: Acute ventricular stimulation threshold was 1.34 ± 0.72 V and no significant increase was observed at the last follow-up as 1.37 ± 0.81 V (p = 0.93). Compared with initial pacemaker implantation, the last follow-up didn’t show significant increases in impedance (p = 0.327) or R wave (p = 0.635). Four patients received pacemaker replacement because of battery depletion. 7/35 (20 %) of patients experienced MACE. Although the age and body weight were similar between patients with and without MACE, the patients with MACE were with complex CHD (100 % vs.55.6 %, p = 0.04). CONCLUSION: High-degree iatrogenic atrioventricular block was the primary reason for placement of epicardial pacemaker for patients with CHD after surgical repair. Pacemaker placement with the steroid-eluting leads results in acceptable outcomes, however, the pacemaker type should be optimized for the children with complex CHD

Characterization of severe fever with thrombocytopenia syndrome in rural regions of Zhejiang, China.

Severe fever with thrombocytopenia syndrome virus (SFTSV) infections have recently been found in rural regions of Zhejiang. A severe fever with thrombocytopenia syndrome (SFTS) surveillance and sero-epidemiological investigation was conducted in the districts with outbreaks. During the study period of 2011-2014, a total of 51 SFTSV infection cases were identified and the case fatality rate was 12% (6/51). Ninety two percent of the patients (47/51) were over 50 years of age, and 63% (32/51) of laboratory confirmed cases occurred from May to July. Nine percent (11/120) of the serum samples from local healthy people without symptoms were found to be positive for antibodies to the SFTS virus. SFTSV strains were isolated by culture using Vero, and the whole genomic sequences of two SFTSV strains (01 and Zhao) were sequenced and submitted to the GenBank. Homology analysis showed that the similarity of the target nucleocapsid gene from the SFTSV strains from different geographic areas was 94.2-100%. From the constructed phylogenetic tree, it was found that all the SFTSV strains diverged into two main clusters. Only the SFTSV strains from the Zhejiang (Daishan) region of China and the Yamaguchi, Miyazakj regions of Japan, were clustered into lineage II, consistent with both of these regions being isolated areas with similar geographic features. Two out of eight predicted linear B cell epitopes from the nucleocapsid protein showed mutations between the SFTSV strains of different clusters, but did not contribute to the binding ability of the specific SFTSV antibodies. This study confirmed that SFTSV has been circulating naturally and can cause a seasonal prevalence in Daishan, China. The results also suggest that the molecular characteristics of SFTSV are associated with the geographic region and all SFTSV strains can be divided into two genotypes

Pulmonary alveolar type I cell population consists of two distinct subtypes that differ in cell fate.

Pulmonary alveolar type I (AT1) cells cover more than 95% of alveolar surface and are essential for the air-blood barrier function of lungs. AT1 cells have been shown to retain developmental plasticity during alveolar regeneration. However, the development and heterogeneity of AT1 cells remain largely unknown. Here, we conducted a single-cell RNA-seq analysis to characterize postnatal AT1 cell development and identified insulin-like growth factor-binding protein 2 (Igfbp2) as a genetic marker specifically expressed in postnatal AT1 cells. The portion of AT1 cells expressing Igfbp2 increases during alveologenesis and in post pneumonectomy (PNX) newly formed alveoli. We found that the adult AT1 cell population contains both Hopx+Igfbp2+ and Hopx+Igfbp2- AT1 cells, which have distinct cell fates during alveolar regeneration. Using an Igfbp2-CreER mouse model, we demonstrate that Hopx+Igfbp2+ AT1 cells represent terminally differentiated AT1 cells that are not able to transdifferentiate into AT2 cells during post-PNX alveolar regeneration. Our study provides tools and insights that will guide future investigations into the molecular and cellular mechanism or mechanisms underlying AT1 cell fate during lung development and regeneration

Selenium nanoparticles decorated with Ulva lactuca polysaccharide potentially attenuate colitis by inhibiting NF-κB mediated hyper inflammation

Additional file 1. Supplemental information of ULP-SeNPs concerns their stability in physiological solutions, uptake by BMDMs and effect on NF-κB activation

Phase-resolved NuSTAR and Swift-XRT Observations of Magnetar 4U 0142+61

We present temporal and spectral analysis of simultaneous 0.5-79 keV Swift-XRT and NuSTAR observations of the magnetar 4U 0142+61. The pulse profile changes significantly with photon energy between 3 and 35 keV. The pulse fraction increases with energy, reaching a value of ~20%, similar to that observed in 1E 1841-045 and much lower than the ~80% pulse fraction observed in 1E 2259+586. We do not detect the 55-ks phase modulation reported in previous Suzaku-HXD observations. The phase-averaged spectrum of 4U 0142+61 above 20 keV is dominated by a hard power law with a photon index, $\Gamma$ ~ 0.65, and the spectrum below 20 keV can be described by two blackbodies, a blackbody plus a soft power law, or by a Comptonized blackbody model. We study the full phase-resolved spectra using the electron-positron outflow model of Beloborodov (2013). Our results are consistent with the parameters of the active j-bundle derived from INTEGRAL data by Hascoet et al. (2014). We find that a significant degeneracy appears in the inferred parameters if the footprint of the j-bundle is allowed to be a thin ring instead of a polar cap. The degeneracy is reduced when the footprint is required to be the hot spot inferred from the soft X-ray data.Comment: 14 pages, 8 figures, 4 tables. Accepted for publication in Ap

Adaptive Intra-Class Variation Contrastive Learning for Unsupervised Person Re-Identification

The memory dictionary-based contrastive learning method has achieved remarkable results in the field of unsupervised person Re-ID. However, The method of updating memory based on all samples does not fully utilize the hardest sample to improve the generalization ability of the model, and the method based on hardest sample mining will inevitably introduce false-positive samples that are incorrectly clustered in the early stages of the model. Clustering-based methods usually discard a significant number of outliers, leading to the loss of valuable information. In order to address the issues mentioned before, we propose an adaptive intra-class variation contrastive learning algorithm for unsupervised Re-ID, called AdaInCV. And the algorithm quantitatively evaluates the learning ability of the model for each class by considering the intra-class variations after clustering, which helps in selecting appropriate samples during the training process of the model. To be more specific, two new strategies are proposed: Adaptive Sample Mining (AdaSaM) and Adaptive Outlier Filter (AdaOF). The first one gradually creates more reliable clusters to dynamically refine the memory, while the second can identify and filter out valuable outliers as negative samples

A Focused Study on Sequence Length for Dialogue Summarization

Output length is critical to dialogue summarization systems. The dialogue summary length is determined by multiple factors, including dialogue complexity, summary objective, and personal preferences. In this work, we approach dialogue summary length from three perspectives. First, we analyze the length differences between existing models' outputs and the corresponding human references and find that summarization models tend to produce more verbose summaries due to their pretraining objectives. Second, we identify salient features for summary length prediction by comparing different model settings. Third, we experiment with a length-aware summarizer and show notable improvement on existing models if summary length can be well incorporated. Analysis and experiments are conducted on popular DialogSum and SAMSum datasets to validate our findings.Comment: Preprint version - ICASSP submissio