A real-time vision module for interactive perceptual agents

Abstract. Interactive robotics demands real-time visual information about the environment. Real-time vision processing, however, places a heavy load on the robot's limited resources, which must accommodate multiple other processes running simultaneously. This paper describes a vision module capable of providing real-time information from ten or more operators while maintaining at least a 20-Hz frame rate and leaving sufficient processor time for a robot's other capabilities. The vision module uses a probabilistic scheduling algorithm to ensure both timely information flow and a fast frame capture. In addition, it tightly integrates the vision operators with control of a pan-tilt-zoom camera. The vision module makes its information available to other modules in the robot architecture through a shared memory structure. The information provided by the vision module includes the operator information along with a time stamp indicating information relevance. Because of this design, our robots are able to react in a timely manner to a wide variety of visual events.     

Bufalin Inhibits Tumorigenesis,Stemness, and Epithelial–Mesenchymal Transition in Colorectal Cancer through a C-Kit/Slug Signaling Axis

Colorectal cancer (CRC) is a major source of morbidity and mortality, characterized by intratumoral heterogeneity and the presence of cancer stem cells (CSCs). Bufalin has potent activity against many tumors, but studies of its effect on CRC stemness are limited. We explored bufalin’s function and mechanism using CRC patient-derived organoids (PDOs) and cell lines. In CRC cells, bufalin prevented nuclear translocation of β-catenin and down-regulated CSC markers (CD44, CD133, LGR5), pluripotency factors, and epithelial–mesenchymal transition (EMT) markers (N-Cadherin, Slug, ZEB1). Functionally, bufalin inhibited CRC spheroid formation, aldehyde dehydrogenase activity, migration, and invasion. Network analysis identified a C-Kit/Slug signaling axis accounting for bufalin’s anti-stemness activity. Bufalin treatment significantly downregulated C-Kit, as predicted. Furthermore, overexpression of C-Kit induced Slug expression, spheroid formation, and bufalin resistance. Similarly, overexpression of Slug resulted in increased expression of C-Kit and identical functional effects, demonstrating a pro-stemness feedback loop. For further study, we established PDOs from diagnostic colonoscopy. Bufalin differentially inhibited PDO growth and proliferation, induced apoptosis, restored E-cadherin, and downregulated CSC markers CD133 and C-Myc, dependent on C-Kit/Slug. These findings suggest that the C-Kit/Slug axis plays a pivotal role in regulating CRC stemness, and reveal that targeting this axis can inhibit CRC growth and progression.     

Interval analysis of mode shapes to identify damage in beam structures

Various damage detection methods have been proposed by several researchers in the past few decades. Amongst them, the efficiency of mode shapes in detecting damage has been demonstrated by many researchers when further processed. In most cases, the processing involves expansion or reduction of the mode shape data. However, vital information that are damage-prints are often lost during processing of the mode shape data. In addition, most of these processes involve long and complex computation, thus, leading to inaccurate damage identification. In this study, a simple and fast damage identification technique is proposed to identify damage in beam structures. Interval analysis is applied to the mode shapes of a beam structure in the damaged and undamaged states. The interval situations of each of the beam's segment via mode shape are derived to obtain the upper and lower bounds and the derived bounds are compared. To establish a relationship for identify the damaged point, a possibility of damage existence is defined for each segment of the beam structure. The mode shape increment is defined as the increase in the mode shape value. Furthermore, a damage measure index that provide enhance damage information is obtained as the product of the possibility of damage existence and mode shape increment. A numerical model of a simply supported steel beam is applied to demonstrate this method by imposing damage through thickness reduction of elements in segments. In addition, a parametric analysis is carried out to evaluate noise effect by considering varying damage severities and different noise levels. The results showed that this method is simple and provides considerable accurate results.     

Temperature and pump power dependent photoluminescence characterization of MBE grown GaAsBi on GaAs

Bulk and quantum well GaAs_1?xBi_x/GaAs layers with Bi mole fractions from 0.02 to 0.10 are grown by molecular-beam epitaxy at temperatures ranging from 280 to 320?°C. The samples are characterized using temperature and pump-power dependent photoluminescence measurements covering 8–300?K and 1–250?mW (7–1,800?W/cm²), respectively. The results indicate that there is strong reduction in bandgap energy with the incorporation of small amounts of Bi and that GaAsBi most likely forms a weak type-I band alignment with GaAs.     

Accuracy,Speed and Robustness of Policy Function Iteration

Policy function iteration methods for solving and analyzing dynamic stochastic general equilibrium models are powerful from a theoretical and computational perspective. Despite obvious theoretical appeal, significant startup costs and a reliance on grid-based methods have limited the use of policy function iteration as a solution algorithm. We reduce these costs by providing a user-friendly suite of MATLAB functions that introduce multi-core processing and Fortran via MATLAB’s executable function. Within the class of policy function iteration methods, we advocate using time iteration with linear interpolation. We examine a canonical real business cycle model and a new Keynesian model that features regime switching in policy parameters, Epstein–Zin preferences, and monetary policy that occasionally hits the zero-lower bound on the nominal interest rate to highlight the attractiveness of our methodology. We compare our advocated approach to other familiar iteration and approximation methods, highlighting the tradeoffs between accuracy, speed and robustness.     

Taming the energy use of gaming computers

One billion people around the world engage in some form of digital gaming. Gaming is the most energy-intensive use of personal computers, and the high-performance “racecar” systems built expressly for gaming are the fastest growing type of gaming platform. Large performance-normalized variations in nameplate power ratings for gaming computer components available on today’s market indicate significant potential for energy savings: central processing units vary by 4.3-fold, graphics processing units 5.8-fold, power supply units 1.3-fold, motherboards 5.0-fold, and random access memory (RAM) 139.2-fold. Measured performance of displays varies by 11.5-fold. However, underlying the importance of empirical data, we find that measured peak power requirements are considerably lower than nameplate for most components tested, and by about 50 % for complete systems. Based on actual measurements of five gaming PCs with progressively more efficient component configurations, we estimate the typical gaming computer (including display) to use approximately 1400 kWh/year, which is equivalent to the energy use of ten game consoles, six standard PCs, or three refrigerators. The more intensive user segments could easily consume double this central estimate. While gaming PCs represent only 2.5 % of the global installed PC equipment base, our initial scoping estimate suggests that gaming PCs consumed 75 TWh/year ($10 billion) of electricity globally in 2012 or approximately 20 % of total PC, notebook, and console energy usage. Based on projected changes in the installed base, we estimate that consumption will more than double by the year 2020 if the current rate of equipment sales is unabated and efficiencies are not improved. Although they will represent only 10 % of the installed base of gaming platforms in 2020, relatively high unit energy consumption and high hours of use will result in gaming computers being responsible for 40 % of gaming energy use. Savings of more than 75 % can be achieved via premium efficiency components applied at the time of manufacture or via retrofit, while improving reliability and performance (nearly a doubling of performance per unit of energy). This corresponds to a potential savings of approximately 120 TWh/year or $18 billion/year globally by 2020. A consumer decision-making environment largely devoid of energy information and incentives suggests a need for targeted energy efficiency programs and policies in capturing these benefits.