Mobile Robot Oriented Large-Scale Indoor Dataset for Dynamic Scene Understanding

Most existing robotic datasets capture static scene data and thus are limited in evaluating robots' dynamic performance. To address this, we present a mobile robot oriented large-scale indoor dataset, denoted as THUD (Tsinghua University Dynamic) robotic dataset, for training and evaluating their dynamic scene understanding algorithms. Specifically, the THUD dataset construction is first detailed, including organization, acquisition, and annotation methods. It comprises both real-world and synthetic data, collected with a real robot platform and a physical simulation platform, respectively. Our current dataset includes 13 larges-scale dynamic scenarios, 90K image frames, 20M 2D/3D bounding boxes of static and dynamic objects, camera poses, and IMU. The dataset is still continuously expanding. Then, the performance of mainstream indoor scene understanding tasks, e.g. 3D object detection, semantic segmentation, and robot relocalization, is evaluated on our THUD dataset. These experiments reveal serious challenges for some robot scene understanding tasks in dynamic scenes. By sharing this dataset, we aim to foster and iterate new mobile robot algorithms quickly for robot actual working dynamic environment, i.e. complex crowded dynamic scenes.Comment: This version has been accepted by ICRA2024 and the dataset has been published, where the link can be found in the pape

Magnetoelectric interaction and transport behaviours in magnetic nanocomposite thermoelectric materials

How to suppress the performance deterioration of thermoelectric materials in the intrinsic excitation region remains a key challenge. The magnetic transition of permanent magnet nanoparticles from ferromagnetism to paramagnetism provides an effective approach to finding the solution to this challenge. Here, we have designed and prepared magnetic nanocomposite thermoelectric materials consisting of BaFe12O19 nanoparticles and Ba0.3In0.3Co4Sb12 matrix. It was found that the electrical transport behaviours of the nanocomposites are controlled by the magnetic transition of BaFe12O19 nanoparticles from ferromagnetism to paramagnetism. BaFe12O19 nanoparticles trap electrons below the Curie temperature (TC) and release the trapped electrons above the TC, playing an ‘electron repository’ role in maintaining high figure of merit ZT. BaFe12O19 nanoparticles produce two types of magnetoelectric effect—electron spiral motion and magnon-drag thermopower—as well as enhancing phonon scattering. Our work demonstrates that the performance deterioration of thermoelectric materials in the intrinsic excitation region can be suppressed through the magnetic transition of permanent magnet nanoparticles

A compound heterozygous ADAMTS13 mutation causes congenital thrombotic thrombocytopenic purpura: a case report

Congenital thrombotic thrombocytopenic purpura (cTTP) is a thrombotic microangiopathy (TMA) characterized by severe hereditary ADAMTS13 (a disintegrin and metalloproteinase with thrombospondin type 1 motifs 13) deficiency caused by ADAMTS13 mutations. This rare autosomal recessive genetic disorder is often misdiagnosed as immune thrombocytopenia (ITP) or hemolytic uremic syndrome (HUS). Here, we report a 21-year-old male cTTP patient with a compound heterozygous ADAMTS13 mutation. The patient was admitted for acute thrombocytopenia, with a 5-year history of chronic thrombocytopenia and 1 month of renal dysfunction. Initially diagnosed with ITP, he was treated with immunosuppressive therapy, including glucocorticoids and intravenous immunoglobulin, which provided temporary relief but failed to prevent recurrent thrombocytopenia. Ultimately, cTTP was confirmed by the low ADAMTS13 0% activity and two heterozygous variants (c.1335del and c.1045C > T) in the ADAMTS13 gene, and the patient received prophylactic fresh-frozen plasma (FFP) infusions every 2–3 weeks regularly. Interestingly, the patient also exhibited elevated sC5b-9 levels during the acute phase, necessitating differentiation from HUS. This report highlights a cTTP caused by a compound heterozygous ADAMTS13 mutation, although its pathogenesis requires further investigation. Given the atypical clinical manifestations of cTTP, it is necessary to conduct ADAMTS13 activity and even genetic testing in patients with recurrent thrombocytopenia and end-organ damage

The formaldehyde stress on photosynthetic efficiency and oxidative stress response of moss Racomitrium japonicum L.

IntroductionFormaldehyde is a common gaseous pollutant emitted by buildings and decorative materials. In recent years, growing concerns have been raised regarding its harmful effects on health in indoor air. Therefore, this study aims to investigate the physiological and photosynthetic response mechanisms of Racomitrium japonicum under formaldehyde stress.MethodsR. japonicum was exposed to dynamic fumigation with formaldehyde for 7 days, with each day comprising an 8-h exposure period within a sealed container. The effects on plant structure, pigment content, photosynthetic efficiency, and reactive oxygen species (ROS) generation were assessed.Results and discussionOur findings revealed that formaldehyde stress caused structural damage, reduced pigment content, decreased photosynthetic efficiency, and increased ROS production in R. japonicum. Significantly, distinct stress-response pathways were observed at different formaldehyde concentrations. In response to low and moderate formaldehyde concentrations, R. japonicum activated its antioxidant enzyme system to mitigate ROS accumulation. In contrast, the high-concentration treatment group demonstrated suppressed antioxidant enzyme activity. In response, R. japonicum used nonphotochemical quenching and activated cyclic electron flow to mitigate severe cellular damage. This study provides an in-depth understanding of the physiological changes in R. japonicum under formaldehyde stress, elucidating its response mechanisms. The findings offer valuable insights for developing effective indoor formaldehyde monitoring and purification methods

Bidirectional association between polycystic ovary syndrome and periodontal diseases

Polycystic ovary syndrome (PCOS) and periodontal disease (PDD) share common risk factors. The bidirectional interaction between PCOS and PDD has been reported, but until now, the underlying molecular mechanisms remain unclear. Endocrine disorders including hyperandrogenism (HA) and insulin resistance (IR) in PCOS disturb the oral microbial composition and increase the abundance of periodontal pathogens. Additionally, PCOS has a detrimental effect on the periodontal supportive tissues, including gingiva, periodontal ligament, and alveolar bone. Systemic low-grade inflammation status, especially obesity, persistent immune imbalance, and oxidative stress induced by PCOS exacerbate the progression of PDD. Simultaneously, PDD might increase the risk of PCOS through disturbing the gut microbiota composition and inducing low-grade inflammation and oxidative stress. In addition, genetic or epigenetic predisposition and lower socioeconomic status are the common risk factors for both diseases. In this review, we will present the latest evidence of the bidirectional association between PCOS and PDD from epidemiological, mechanistic, and interventional studies. A deep understanding on their bidirectional association will be beneficial to provide novel strategies for the treatment of PCOS and PDD

Self-passivated freestanding superconducting oxide film for flexible electronics

The integration of high-temperature superconducting YBa2Cu3O6+x (YBCO) into flexible electronic devices has the potential to revolutionize the technology industry. The effective preparation of high-quality flexible YBCO films therefore plays a key role in this development. We present a novel approach for transferring water-sensitive YBCO films onto flexible substrates without any buffer layer. Freestanding YBCO film on a polydimethylsiloxane substrate is extracted by etching the Sr3Al2O6 sacrificial layer from the LaAlO3 substrate. In addition to the obtained freestanding YBCO thin film having a Tc of 89.1 K, the freestanding YBCO thin films under inward and outward bending conditions have Tc of 89.6 K and 88.9 K, respectively. A comprehensive characterization involving multiple experimental techniques including high-resolution transmission electron microscopy, scanning electron microscopy, Raman and X-ray Absorption Spectroscopy is conducted to investigate the morphology, structural and electronic properties of the YBCO film before and after the extraction process where it shows the preservation of the structural and superconductive properties of the freestanding YBCO virtually in its pristine state. Further investigation reveals the formation of a YBCO passivated layer serves as a protective layer which effectively preserves the inner section of the freestanding YBCO during the etching process. This work plays a key role in actualizing the fabrication of flexible oxide thin films and opens up new possibilities for a diverse range of device applications involving thin-films and low-dimensional materials.Comment: 22 pages,4 figures,references adde

Altered cortical thickness-based structural covariance networks in type 2 diabetes mellitus

Cognitive impairment is a common complication of type 2 diabetes mellitus (T2DM), and early cognitive dysfunction may be associated with abnormal changes in the cerebral cortex. This retrospective study aimed to investigate the cortical thickness-based structural topological network changes in T2DM patients without mild cognitive impairment (MCI). Fifty-six T2DM patients and 59 healthy controls underwent neuropsychological assessments and sagittal 3-dimensional T1-weighted structural magnetic resonance imaging. Then, we combined cortical thickness-based assessments with graph theoretical analysis to explore the abnormalities in structural covariance networks in T2DM patients. Correlation analyses were performed to investigate the relationship between the altered topological parameters and cognitive/clinical variables. T2DM patients exhibited significantly lower clustering coefficient (C) and local efficiency (Elocal) values and showed nodal property disorders in the occipital cortical, inferior temporal, and inferior frontal regions, the precuneus, and the precentral and insular gyri. Moreover, the structural topological network changes in multiple nodes were correlated with the findings of neuropsychological tests in T2DM patients. Thus, while T2DM patients without MCI showed a relatively normal global network, the local topological organization of the structural network was disordered. Moreover, the impaired ventral visual pathway may be involved in the neural mechanism of visual cognitive impairment in T2DM patients. This study enriched the characteristics of gray matter structure changes in early cognitive dysfunction in T2DM patients

Multi-dimensional epidemiology and informatics data on COVID-19 wave at the end of zero COVID policy in China

BackgroundChina exited strict Zero-COVID policy with a surge in Omicron variant infections in December 2022. Given China’s pandemic policy and population immunity, employing Baidu Index (BDI) to analyze the evolving disease landscape and estimate the nationwide pneumonia hospitalizations in the post Zero COVID period, validated by hospital data, holds informative potential for future outbreaks.MethodsRetrospective observational analyses were conducted at the conclusion of the Zero-COVID policy, integrating internet search data alongside offline records. Methodologies employed were multidimensional, encompassing lagged Spearman correlation analysis, growth rate assessments, independent sample T-tests, Granger causality examinations, and Bayesian structural time series (BSTS) models for comprehensive data scrutiny.ResultsVarious diseases exhibited a notable upsurge in the BDI after the policy change, consistent with the broader trajectory of the COVID-19 pandemic. Robust connections emerged between COVID-19 and diverse health conditions, predominantly impacting the respiratory, circulatory, ophthalmological, and neurological domains. Notably, 34 diseases displayed a relatively high correlation (r > 0.5) with COVID-19. Among these, 12 exhibited a growth rate exceeding 50% post-policy transition, with myocarditis escalating by 1,708% and pneumonia by 1,332%. In these 34 diseases, causal relationships have been confirmed for 23 of them, while 28 garnered validation from hospital-based evidence. Notably, 19 diseases obtained concurrent validation from both Granger causality and hospital-based data. Finally, the BSTS models approximated approximately 4,332,655 inpatients diagnosed with pneumonia nationwide during the 2 months subsequent to the policy relaxation.ConclusionThis investigation elucidated substantial associations between COVID-19 and respiratory, circulatory, ophthalmological, and neurological disorders. The outcomes from comprehensive multi-dimensional cross-over studies notably augmented the robustness of our comprehension of COVID-19’s disease spectrum, advocating for the prospective utility of internet-derived data. Our research highlights the potential of Internet behavior in predicting pandemic-related syndromes, emphasizing its importance for public health strategies, resource allocation, and preparedness for future outbreaks