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It is widely known that porous structure design is an important way to reduce the weight of matrix materials. However, there is still a lack of systematic understanding of how factors such as the shape, size, and concentration of pores affect the dynamic response of materials. This study investigated the elastic–plastic behavior and failure characteristics of nanoporous Al from a molecular dynamics perspective, taking into account columnar voids with a diameter of 2–18 nm and two types of arrangement configurations. The results show that all samples undergo elastic deformation for a strain range of ∼−4% to 5%. In this range, the amplitude of temperature and stress changes with strain decreases sequentially as the sample density decreases. The corresponding yield stress of the void sample under compression and tension is calculated according to the virial theorem. During the compression process, local plastic deformation and collapse mechanisms of voids can occur in low porosity samples, while strain localization and slip thickening mechanisms can occur in the transverse ligaments between large voids. During the stretching process, local plastic deformation and lateral expansion mechanisms of voids can occur in low porosity samples, while strain localization and necking fracture mechanisms can occur in the transverse ligaments between large voids. Finally, the transformation law of deformation mechanism with porosity was given based on the amount of plastic deformation.

Abstract Background Pancreatic cancer is a fatal tumor, and the status of perineural invasion (PNI) of pancreatic cancer was positively related to poor prognosis including overall survival and recurrence-free survival. This study aims to develop and validate a predictive model based on serum biomarkers to accurately predict the perineural invasion. Materials and methods The patients from No.924 Hospital of PLA Joint Logistic Support Force were included. The predictive model was developed in the training cohort using logistic regression analysis, and then tested in the validation cohort. The area under curve (AUC), calibration curves and decision curve analysis were used to validate the predictive accuracy and clinical benefits of nomogram. Results A nomogram was developed using preoperative total bilirubin, preoperative blood glucose, preoperative CA19-9. It achieved good AUC values of 0.753 and 0.737 in predicting PNI in training and validation cohorts, respectively. Calibration curves showed nomogram had good uniformity of the practical probability of PNI. Decision curve analyses revealed that the nomogram provided higher diagnostic accuracy and superior net benefit compared to single indicators. Conclusion The present study constructed and validate a novel nomogram predicted the PNI of resectable PHAC patients with high stability and accuracy. Besides, it could better screen high-risk probability of PNI in these patients, and optimize treatment decision-making.

Abstract The rs2736100 (A > C) polymorphism of the second intron of Telomerase reverse transcriptase (TERT) has been confirmed to be closely associated with the risk of Lung cancer (LC), but there is still no unified conclusion on the results of its association with LC. This study included Genome-wide association studies (GWAS) and case–control studies reported so far on this association between TERT rs2736100 polymorphism and LC to clarify such a correlation with LC and the differences in it between different ethnicities and different types of LC. Relevant literatures published before May 7, 2022 on ‘TERT rs2736100 polymorphism and LC susceptibility’ in PubMed, EMbase, CENTRAL, MEDLINE databases were searched through the Internet, and data were extracted. Statistical analysis of data was performed in Revman5.3 software, including drawing forest diagrams, drawing funnel diagrams and so on. Sensitivity and publication bias analysis were performed in Stata 12.0 software. The C allele of TERT rs2736100 was associated with the risk of LC (Overall population: [OR] = 1.21, 95%CI [1.17, 1.25]; Caucasians: [OR] = 1.11, 95%CI [1.06, 1.17]; Asians: [OR] = 1.26, 95%CI [1.21, 1.30]), and Asians had a higher risk of LC than Caucasians (C vs. A: Caucasians: [OR] = 1.11 /Asians: [OR]) = 1.26). The other gene models also showed similar results. The results of stratified analysis of LC patients showed that the C allele was associated with the risk of Non-small-cell lung carcinoma (NSCLC) and Lung adenocarcinoma (LUAD), and the risk of NSCLC and LUAD in Asians was higher than that in Caucasians. The C allele was associated with the risk of Lung squamous cell carcinoma (LUSC) and Small cell lung carcinoma(SCLC) in Asians but not in Caucasians. NSCLC patients ([OR] = 1.27) had a stronger correlation than SCLC patients ([OR] = 1.03), and LUAD patients ([OR] = 1.32) had a stronger correlation than LUSC patients ([OR] = 1.09).In addition, the C allele of TERT rs2736100 was associated with the risk of LC, NSCLC and LUAD in both smoking groups and non-smoking groups, and the risk of LC in non-smokers of different ethnic groups was higher than that in smokers. In the Asians, non-smoking women were more at risk of developing LUAD. The C allele of TERT rs2736100 is a risk factor for LC, NSCLC, and LUAD in different ethnic groups, and the Asian population is at a more common risk. The C allele is a risk factor for LUSC and SCLC in Asians but not in Caucasians. And smoking is not the most critical factor that causes variation in TERT rs2736100 to increase the risk of most LC (NSCLC, LUAD). Therefore, LC is a multi-etiological disease caused by a combination of genetic, environmental and lifestyle factors.

Deep learning based semi-supervised learning (SSL) algorithms have led to promising results in recent years. However, they tend to introduce multiple tunable hyper-parameters, making them less practical in real SSL scenarios where the labeled data is scarce for extensive hyper-parameter search. In this paper, we propose a novel meta-learning based SSL algorithm (Meta-Semi) that requires tuning only one additional hyper-parameter, compared with a standard supervised deep learning algorithm, to achieve competitive performance under various conditions of SSL. We start by defining a meta optimization problem that minimizes the loss on labeled data through dynamically reweighting the loss on unlabeled samples, which are associated with soft pseudo labels during training. As the meta problem is computationally intensive to solve directly, we propose an efficient algorithm to dynamically obtain the approximate solutions. We show theoretically that Meta-Semi converges to the stationary point of the loss function on labeled data under mild conditions. Empirically, Meta-Semi outperforms state-of-the-art SSL algorithms significantly on the challenging semi-supervised CIFAR-100 and STL-10 tasks, and achieves competitive performance on CIFAR-10 and SVHN.

Abstract Background Accumulating articles demonstrate that circular RNAs play pivotal functions in tumorigenesis. However, the working mechanism of circ_0136666 in osteosarcoma (OS) progression remains to be further clarified. Methods Real time-quantitative polymerase chain reaction and western blot assay were applied to determine RNA and protein expression, respectively. Cell proliferation was assessed by 5-Ethynyl-2′-deoxyuridine assay and colony formation assay. Transwell assays were carried out to assess cell migration and invasion abilities. Flow cytometry was performed to analyze cell apoptosis. Cell glycolysis was evaluated by analyzing the uptake of glucose and the production of lactate using the corresponding kits. Dual-luciferase reporter assay and biotinylated RNA-pull down assay were performed to confirm the target interaction between microRNA-1244 (miR-1244) and circ_0136666 or centrosomal protein 55 (CEP55). Xenograft tumor model was utilized to explore the role of circ_0136666 in tumor growth in vivo. Results Circ_0136666 expression was prominently elevated in OS tissues and cell lines. Circ_0136666 absence restrained the proliferation, migration, invasion and glycolytic metabolism and promoted the apoptosis of OS cells. Circ_0136666 negatively regulated miR-1244 expression by binding to it in OS cells. MiR-1244 overexpression suppressed the malignant behaviors of OS cells. CEP55 was a target of miR-1244 in OS cells. Circ_0136666 positively regulated CEP55 expression partly by sequestering miR-1244 in OS cells. CEP55 overexpression largely reversed circ_0136666 silencing-mediated influences in OS cells. Circ_0136666 silencing significantly suppressed tumor growth in vivo. Conclusion Circ_0136666 silencing inhibited OS progression partly by targeting miR-1244/CEP55 signaling. Silencing circ_0136666 and CEP55 or restoring miR-1244 level might be a potential therapeutic strategy for OS.

A rapid, green synthesis strategy assisted by a self-exothermic reaction was designed to prepare highly luminescent carbon dots (CDs) from Ganpu tea infusion (G-CDs) within 5 min using H2O2 and diethylenetriamine (DETA) as the exothermic reactants. G-CDs were successfully obtained through a self-exothermic reaction The prepared G-CDs exhibited clear excitation-dependent characteristics and displayed a strong ultraviolet fluorescence emission (385 nm) at the excitation wavelength of 320 nm. The fluorescence of G-CDs was quantitatively quenched by para-nitrophenol (p-NP) with a concentration range of 0.05–50 µM through inner filter effect (IFE). Since p-NP is one of the hydrolysates of the substrate pNPG under the action of Beta-glucosidase (β-Glu), a new fluorescence assay was developed for the indirect determination of β-Glu activity. The detection limits of G-CDs based fluorescence assays are 14.6 nM for p-NP and 0.074 U·L-1 for β-Glu activity, respectively. The developed fluorescence assays were successfully applied to the detection of p-NP in water and human urine samples and β-Glu activity in fruit samples with satisfactory results.

IntroductionMalignant pancreatic cancer has poor long-term survival. Increasing evidence shows that FAM83A (family with sequence similarity 83 member A) plays a vital role in tumorigenesis and malignant progression in some human cancer types. The present study explored the potential mechanism of FAM83A in improving the prognosis of pancreatic cancer patients.MethodsTranscriptomic and clinical data from patients were obtained from The Cancer Genome Atlas while FAM83A expression was measured in tumorous pancreatic tissue compared with normal controls by quantitative real-time PCR and immunohistochemistry.ResultsFAM83A is a vital prognostic indicator and potential oncogene in pancreatic cancer via pan-cancer analysis. In silico analysis revealed that AL049555.1/hsa-miR-129-5p axis was the pivotal upstream ncRNA- mediated pathway of FAM83A in pancreatic cancer. Furthermore, FAM83A expression was related to immune cell infiltration through vital immune-related genes including programmed cell death 1 (PDCD1), and tumorigenesis through common mutation genes including KRAS protooncogene GTPase (KRAS), and SMAD family member 4 (SMAD4). In summary, ncRNA-mediated upregulation of FAM83A is associated with poor long-term survival and immune cell infiltration in pancreatic cancer.DiscussionFAM83A may be used as a novel survival-related and immune-related biomarker. This information suggests that FAM83A may be a novel therapeutic target for combined or individual treatment for patients with pancreatic cancer.

Abstract Stochastic gradient descent algorithm is a classical and useful method for stochastic optimisation. While stochastic gradient descent has been theoretically investigated for decades and successfully applied in machine learning such as training of deep neural networks, it essentially relies on obtaining the unbiased estimates of gradients/subgradients of the objective functions. In this paper, by constructing the randomised differences of the objective function, a gradient‐free algorithm, named the stochastic randomised‐difference descent algorithm, is proposed for stochastic convex optimisation. Under the strongly convex assumption of the objective function, it is proved that the estimates generated from stochastic randomised‐difference descent converge to the optimal value with probability one, and the convergence rates of both the mean square error of estimates and the regret functions are established. Finally, some numerical examples are prsented.

Abstract The pandemic of Coronavirus Disease 2019 (COVID-19) is causing enormous loss of life globally. Prompt case identification is critical. The reference method is the real-time reverse transcription PCR (RT-PCR) assay, whose limitations may curb its prompt large-scale application. COVID-19 manifests with chest computed tomography (CT) abnormalities, some even before the onset of symptoms. We tested the hypothesis that the application of deep learning (DL) to 3D CT images could help identify COVID-19 infections. Using data from 920 COVID-19 and 1,073 non-COVID-19 pneumonia patients, we developed a modified DenseNet-264 model, COVIDNet, to classify CT images to either class. When tested on an independent set of 233 COVID-19 and 289 non-COVID-19 pneumonia patients, COVIDNet achieved an accuracy rate of 94.3% and an area under the curve of 0.98. As of March 23, 2020, the COVIDNet system had been used 11,966 times with a sensitivity of 91.12% and a specificity of 88.50% in six hospitals with PCR confirmation. Application of DL to CT images may improve both efficiency and capacity of case detection and long-term surveillance.

Biped robots swing their legs alternately to achieve highly dynamic walking, which is the basic ability required for them to perform tasks. However, swinging of the swinging leg in the air will disturb the interaction between the supporting leg and the ground and affect the upper body’s balance during dynamic walking. To allow the robot to use its own intrinsic motion characteristics to maintain stable movement like a human when its lower limbs are affected by unknown disturbances during dynamic walking, the ability to use its arms to resist disturbances is essential. This article presents a hybrid momentum compensation control method for torque-controlled biped robots to adapt to unknown disturbances during dynamic walking. First, a hybrid angular momentum and linear momentum regulator is designed to compensate for the disturbance caused by the swinging leg. Second, based on real-time dynamic state changes of the legs, a mixed-momentum quadratic programming controller is designed to realize stable dynamic walking. The proposed method allows the force-controlled robot to maintain its balance while walking down an unknown platform, and it maintains good straightness in the forward direction of dynamic motion. The proposed method’s effectiveness is verified experimentally on the BHR-B2 force-controlled biped robot platform.

Robotic systems frequently need to plan consecutive similar manipulation in some scenarios (e.g., pick-and-place tasks), leading to similar motion plans. Moreover, the workspace of a robot changes with the difference in operation actions, which affects subsequent tasks. Therefore, it is significant to reuse information from previous solutions for new motion planning instances to adapt to workplace changes. This paper proposes the Lazy Demonstration Graph (LDG) planner, a novel motion planner that exploits successful and high-quality planning cases as prior knowledge. In addition, a Gaussian Mixture Model (GMM) is established by learning the distribution of samples in the planning cases. Through the trained GMM, more samples are placed in a promising location related to the planning tasks for achieving the purpose of adaptive sampling. This adaptive sampling strategy is combined with the Lazy Probabilistic Roadmap (LazyPRM) algorithm; in the subsequent planning tasks, this paper uses the multi-query property of a road map to solve motion planning problems without planning from scratch. The lazy collision detection of the LazyPRM algorithm helps overcome changes in the workplace by searching candidate paths. Our method also improves the quality and success rate of the path planning of LazyPRM. Compared with other state-of-the-art motion planning algorithms, our method achieved better performance in the planning time and path quality. In the repetitive motion planning experiment of the manipulator for pick-and-place tasks, we designed two different experimental scenarios in the simulation environment. The physical experiments are also carried out in AUBO−i5 robot arm. Accordingly, the experimental results verified our method’s validity and robustness.

To face the challenge of adapting to complex terrains and environments, we develop a novel wheel-legged robot that can switch motion modes to adapt to different environments. The robot can perform efficient and stable upright balanced locomotion on flat roads and flexible crawling in low and narrow passages. For passing through low and narrow passages, we propose a crawling motion control strategy and methods for transitioning between locomotion modes of wheel-legged robots. In practical applications, the smooth transition between the two motion modes is challenging. By optimizing the gravity work of the body, the optimal trajectory of the center of mass (CoM) for the transition from standing to crawling is obtained. By constructing and solving an optimization problem regarding the posture and motion trajectories of the underactuated model, the robot achieves a smooth transition from crawling to standing. In experiments, the wheel-legged robot successfully transitioned between the crawling mode and the upright balanced moving mode and flexibly passed a low and narrow passage. Consequently, the effectiveness of the control strategies and algorithms proposed in this paper are verified by experiments.

Although considerable success has been achieved in change detection on optical remote sensing images, accurate detection of specific changes is still challenging. Due to the diversity and complexity of the ground surface changes and the increasing demand for detecting changes that require high-level semantics, we have to resort to deep learning techniques to extract the intrinsic representations of changed areas. However, one key problem for developing deep learning metho for detecting specific change areas is the limitation of annotated data. In this paper, we collect a change detection dataset with 862 labeled image pairs, where the urban construction-related changes are labeled. Further, we propose a supervised change detection method based on a deep siamese semantic segmentation network to handle the proposed data effectively. The novelty of the method is that the proposed siamese network treats the change detection problem as a binary semantic segmentation task and learns to extract features from the image pairs directly. The siamese architecture as well as the elaborately designed semantic segmentation networks significantly improve the performance on change detection tasks. Experimental results demonstrate the promising performance of the proposed network compared to existing approaches.

This study addresses the task of supervised cross-domain image generation, which aims to translate an image from the source domain to the target domain, guided by a reference image from the latter. The key difference between the authors setting and the recently proposed domain guided photogeneration is that their image generation is bidirectional, i.e. images are generated in both domains. Thus, they call it bidirectional cross-domain image generation. This novel task poses new challenges as it requires the model learning to decouple personalised and shared semantics of the two domains. For this purpose, they propose a framework to learn a feature space, which breaks into three parts, namely, two personalised semantic subspaces, which encode patterns that are unique for each domain, and a shared semantic subspace that captures the common patterns. The three subspaces are automatically decoupled through end-to-end training. Extensive experiments on the modified shoe and handbag datasets show that their framework can generate high-quality images in both domains.

This article presents a design of novel wheelchair with a leg exoskeleton for locomotion that can be powered by user legs through a cycling action. In addition, the control system is designed with leg-motion assistance for lower limb muscles to perform exercise during wheelchair motion, targeting elderly persons and users with partial hemiplegia. The simulation results characterize the dynamic operation in three possible modes, fully active, fully passive, and user passive–active action.

The muscles of the lower limbs directly influence leg motion, therefore, lower limb muscle exercise is important for persons living with lower limb disabilities. This paper presents a medical assistive robot with leg exoskeletons for locomotion and leg muscle exercises. It also presents a novel pedal-cycling actuation method with a crank-rocker mechanism. The mechanism is driven by a single motor with a mechanical structure that ensures user safety. A control system is designed based on a master-slave control with sensor fusion method. Here, the intended motion of the user is detected by pedal-based force sensors and is then used in combination with joystick movements as control signals for leg-exoskeleton and wheelchair motions. Experimental data is presented and then analyzed to determine robotic motion characteristics as well as the assistance efficiency with attached electromyogram (EMG) sensors. A typical muscle EMG signal analysis shows that the exercise efficiency for EMG activated amplitudes of the gluteus medius muscles approximates a walking at speed of 3 m/s when cycling at different speeds (i.e., from 16 to 80 r/min) in a wheelchair. As such, the present wheelchair robot is a good candidate for enabling effective gluteus medius muscle exercises for persons living with gluteus medius muscle disabilities.