Internet-based Real-time obstacle avoidance of a mobile robot

In this research, a remote control system has been developed and implemented, which combines autonomous obstacle avoidance in real-time with force-reflective tele-operation. A teleoperated mobile robot is controlled by a local two-degrees-of-freedom force-reflective joystick that a human operator holds while he is monitoring the screen. In the system, the force-reflective joystick transforms the relation between a mobile robot and the environment to the operator as a virtual force which is generated in the form of a new collision vector and reflected to the operator. This reflected force makes the tele-operation of a mobile robot safe from collision in an uncertain and obstacle-cluttered remote environment. A mobile robot controlled by a local operator usually takes pictures of remote environments and sends the images back to the operator over the Internet. Because of limitations of communication bandwidth and the narrow viewangles of the camera, the operator cannot observe shadow regions and curved spaces frequently. To overcome this problem, a new form of virtual force is generated along the collision vector according to both distance and approaching velocity between an obstacle and the mobile robot, which is obtained from ultrasonic sensors. This virtual force is transferred back to the two-degrees-of-freedom master joystick over the Internet to enable a human operator to feel the geometrical relation between the mobile robot and the obstacle. It is demonstrated by experiments that this haptic reflection improves the performance of a tele-operated mobile robot significantly.     

Protective Effect of Resveratrol in an Experimental Model of Salicylate-Induced Tinnitus

To date, the effect of resveratrol on tinnitus has not been reported. The attenuative effects of resveratrol (RSV) on a salicylate-induced tinnitus model were evaluated by in vitro and in vivo experiments. The gene expression of the activity-regulated cytoskeleton-associated protein (ARC), tumor necrosis factor-alpha (TNFα), and NMDA receptor subunit 2B (NR2B) in SH-SY5Y cells was examined using qPCR. Phosphorylated cAMP response element-binding protein (p-CREB), apoptosis markers, and reactive oxygen species (ROS) were evaluated by in vitro experiments. The in vivo experiment evaluated the gap-prepulse inhibition of the acoustic startle reflex (GPIAS) and auditory brainstem response (ABR) level. The NR2B expression in the auditory cortex (AC) was determined by immunohistochemistry. RSV significantly reduced the salicylate-induced expression of NR2B, ARC, and TNFα in neuronal cells; the GPIAS and ABR thresholds altered by salicylate in rats were recovered close to their normal range. RSV also reduced the salicylate-induced NR2B overexpression of the AC. These results confirmed that resveratrol exerted an attenuative effect on salicylate-induced tinnitus and may have a therapeutic potential.     

Read Count Patterns and Detection of Cancerous Copy Number Alterations in Plasma Cell-Free DNA Whole Exome Sequencing Data for Advanced Non-Small Cell Lung Cancer

Plasma cell-free DNA (cfDNA) sequencing data have been widely studied for early diagnosis and treatment response or recurrence monitoring of cancers because of the non-invasive benefits. In cancer studies, whole exome sequencing (WES) is mostly used for discovering single nucleotide variants (SNVs), but it also has the potential to detect copy number alterations (CNAs) that are mostly discovered by whole genome sequencing or microarray. In clinical settings where the quantity of the acquired blood from the patients is limited and where various sequencing experiments are not possible, providing various types of mutation information such as CNAs and SNVs using only WES will be helpful in the treatment decision. Here, we questioned whether the plasma cfDNA WES data for patients with advanced non-small cell lung cancer (NSCLC) could be exploited for CNA detection. When the read count (RC) signals of the WES data were investigated, a similar fluctuation pattern was observed among the signals of different samples, and it can be a major challenge hindering CNA detection. When these RC patterns among cfDNA were suppressed by the method we proposed, the cancerous CNAs were more distinguishable in some samples with higher cfDNA quantity. Although the potential to detect CNAs using the plasma cfDNA WES data for NSCLC patients was studied here, further studies with other cancer types, with more samples, and with more sophisticated techniques for bias correction are required to confirm our observation. In conclusion, the detection performance for cancerous CNAs can be improved by controlling RC bias, but it depends on the quantity of cfDNA in plasma.     

Pleiotropic Effects of APOB Variants on Lipid Profiles,Metabolic Syndrome,and the Risk of Diabetes Mellitus

Apolipoprotein B (ApoB) plays a crucial role in lipid and lipoprotein metabolism. The effects of APOB locus variants on lipid profiles, metabolic syndrome, and the risk of diabetes mellitus (DM) in Asian populations are unclear. We included 1478 Taiwan Biobank participants with whole-genome sequence (WGS) data and 115,088 TWB participants with Axiom genome-wide CHB array data and subjected them to genotype–phenotype analyses using APOB locus variants. Five APOB nonsynonymous mutations, including Asian-specific rs144467873 and rs13306194 variants, were selected from participants with the WGS data. Using a combination of regional association studies, a linkage disequilibrium map, and multivariate analysis, we revealed that the APOB locus variants rs144467873, rs13306194, and rs1367117 were independently associated with total, low-density lipoprotein (LDL), and non-high-density lipoprotein (non-HDL) cholesterol levels; rs1318006 was associated with HDL cholesterol levels; rs13306194 and rs35131127 were associated with serum triglyceride levels; rs144467873, rs13306194, rs56213756, and rs679899 were associated with remnant cholesterol levels; and rs144467873 and rs4665709 were associated with metabolic syndrome. Mendelian randomization (MR) analyses conducted using weighted genetic risk scores from three or two LDL-cholesterol-level-associated APOB variants revealed significant association with prevalent DM (p = 0.0029 and 8.2 × 10⁻⁵, respectively), which became insignificant after adjustment for LDL-C levels. In conclusion, these results indicate that common and rare APOB variants are independently associated with various lipid levels and metabolic syndrome in Taiwanese individuals. MR analyses supported APOB variants associated with the risk of DM through their associations with LDL cholesterol levels.     

Compound C Inhibits Renca Renal Epithelial Carcinoma Growth in Syngeneic Mouse Models by Blocking Cell Cycle Progression,Adhesion and Invasion

Compound C (CompC), an inhibitor of AMP-activated protein kinase, reduces the viability of various renal carcinoma cells. The molecular mechanism underlying anti-proliferative effect was investigated by flow cytometry and western blot analysis in Renca cells. Its effect on the growth of Renca xenografts was also examined in a syngeneic BALB/c mouse model. Subsequent results demonstrated that CompC reduced platelet-derived growth factor receptor signaling pathways and increased ERK1/2 activation as well as reactive oxygen species (ROS) production. CompC also increased the level of active Wee1 tyrosine kinase (P-Ser⁶⁴²-Wee1) and the inactive form of Cdk1 (P-Tyr¹⁵-Cdk1) while reducing the level of active histone H3 (P-Ser¹⁰-H3). ROS-dependent ERK1/2 activation and sequential alterations in Wee1, Cdk1, and histone H3 might be responsible for the CompC-induced G2/M cell cycle arrest and cell viability reduction. In addition, CompC reduced the adhesion, migration, and invasion of Renca cells in the in vitro cell systems, and growth of Renca xenografts in the BALB/c mouse model. Taken together, the inhibition of in vivo tumor growth by CompC may be attributed to the blockage of cell cycle progression, adhesion, migration, and invasion of tumor cells. These findings suggest the therapeutic potential of CompC against tumor development and progression.     

The Role of IL-7 and IL-7R in Cancer Pathophysiology and Immunotherapy

Interleukin-7 (IL-7) is a multipotent cytokine that maintains the homeostasis of the immune system. IL-7 plays a vital role in T-cell development, proliferation, and differentiation, as well as in B cell maturation through the activation of the IL-7 receptor (IL-7R). IL-7 is closely associated with tumor development and has been used in cancer clinical research and therapy. In this review, we first summarize the roles of IL-7 and IL-7Rα and their downstream signaling pathways in immunity and cancer. Furthermore, we summarize and discuss the recent advances in the use of IL-7 and IL-7Rα as cancer immunotherapy tools and highlight their potential for therapeutic applications. This review will help in the development of cancer immunotherapy regimens based on IL-7 and IL-7Rα, and will also advance their exploitation as more effective and safe immunotherapy tools.     

Context retrieval and context change in free recall: Recalling from long-term memory drives list isolation.

Three experiments used the "list-before-the-last" free recall paradigm (Shiffrin, 1970) to investigate retrieval for context and the manner in which context changes. This paradigm manipulates target and intervening list lengths to measure the interference from each list, providing a measure of list isolation. Correct target list recall was only affected by the target list length when participants engaged in recall between the lists, whereas there were effects of both list lengths with other activities. This suggests that the act of recalling drives context change, thus isolating the target list from interference. Correspondingly, incorrect recall of intervening list items was affected only by the length of the intervening list when recall occurred between the lists, but was otherwise affected by both list lengths. Concurrent with these changes in context similarity, there were apparent changes in context retrieval, as indicated by the overall levels of target retrieval versus intervening recall. A multinomial model of sampling and recovery was implemented to assess the adequacy of this account and to quantify context similarity and context retrieval. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Pressure distributions of gaseous slip flow in straight and uniform rectangular microchannels

This paper presents analytical derivations of the pressure distribution in straight and uniform rectangular microchannels in the slip flow regime and new experimental data in those channels. The flow is to be steady state, two-dimensional, isothermal, and to have negligible transverse velocities with a first order slip boundary condition. The measured pressure distributions of airflows are compared with newly derived analytical results. There is close agreement between the measurements and calculation by the slip flow formula. The dimensionless location of the maximum deviation from the linear pressure distribution is found analytically and compared with the measurements. This dimensionless location of the maximum deviation increases with the increasing pressure ratios in the slip flow regime. The effect of several parameters such as the channel aspect ratio and the Knudsen number on the locations of maximum deviation from linearity are investigated. The nonlinearity of the pressure distribution is also discussed.