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Dual mechanisms of Bcl-2 regulation in IP_(3)-receptor-mediated Ca^(2+)release:A computational study

Chinese Physics B 2021年第10期30卷 689-697页

作者： Hong Qi Zhi-Qiang Shi Zhi-Chao Li Chang-Jun Sun Shi-Miao Wang Xiang Li Jian-Wei Shuai Complex Systems Research Center Shanxi UniversityTaiyuan 030006China Shanxi Key Laboratory of Mathematical Techniques and Big Data Analysis on Disease Control and Prevention Shanxi UniversityTaiyuan 030006China School of Mathematical Sciences Shanxi UniversityTaiyuan 030006China Department of Physics and Fujian Provincial Key Laboratory for Soft Functional Materials Research Xiamen UniversityXiamen 361005China State Key Laboratory of Cellular Stress Biology Innovation Center for Cell Signaling Networkand National Institute for Data Science in Health and MedicineXiamen UniversityXiamen 361005China

Inositol 1,4,5-trisphosphate receptors(IP_(3)R)-mediated calcium ion(Ca^(2+))release plays a central role in the regulation of cell survival and ***-2 limits the Ca^(2+)release function of the IP3R through a direct or indirect ***,the two mechanisms are overwhelmingly complex and not completely ***,we convert the mechanisms into a set of ordinary differential *** firstly simulate the time evolution of Ca^(2+)concentration under two different levels of Bcl-2 for the direct and indirect mechanism models and compare them with experimental results available in the ***,we employ one-and two-parameter bifurcation analysis to demonstrate that Bcl-2 can suppress Ca^(2+)signal from a global point of view both in the direct and indirect mechanism *** then use mathematical analysis to clarify that the indirect mechanism is more efficient than the direct mechanism in repressing Ca^(2+)***,we predict that the two mechanisms restrict Ca^(2+)signal ***,our study provides theoretical insights into Bcl-2 regulation in IP_(3)R-mediated Ca^(2+)release,which may be instrumental for the successful development of therapies to target Bcl-2 for cancer treatment.

关键词： Ca^(2+) Bcl-2 bifurcation analysis oscillations

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Scenario Engineering for Autonomous Transportation: A New Stage in Open-Pit Mines

arXiv

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arXiv 2024年

作者： Teng, Siyu Li, Xuan Li, Yuchen Li, Lingxi Xuanyuan, Zhe Ai, Yunfeng Chen, Long Hong Kong Baptist University Kowloon999077 Hong Kong BNU-HKBU UIC Zhuhai China The Department of Mathematics and Theories Peng Cheng Laboratory Shenzhen518000 China Indianapolis United States Guangdong Provincial Key Laboratory IRADS BNU-HKBU UIC Zhuhai519087 China The University of Chinese Academy of Sciences Beijing100049 China The State Key Laboratory of Multimodal Artificial Intelligence Systems The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing100190 China WAYTOUS Inc. Beijing100083 China Shenzhen518107 China

In recent years, open-pit mining has seen significant advancement, the cooperative operation of various specialized machinery substantially enhancing the efficiency of mineral extraction. However, the harsh environment and complex conditions in open-pit mines present substantial challenges for the implementation of autonomous transportation systems. This research introduces a novel paradigm that integrates Scenario Engineering (SE) with autonomous transportation systems to significantly improve the trustworthiness, robustness, and efficiency in open-pit mines by incorporating the four key components of SE, including Scenario Feature Extractor, Intelligence and Index, Calibration and Certification, and Verification and Validation. This paradigm has been validated in two famous open-pit mines, the experiment results demonstrate marked improvements in robustness, trustworthiness, and efficiency. By enhancing the capacity, scalability, and diversity of autonomous transportation, this paradigm fosters the integration of SE and parallel driving and finally propels the achievement of the '6S' objectives. Copyright © 2024, The Authors. All rights reserved.

关键词： Efficiency

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Development of a 3-RRS Micromanipulator Based on Origami-Inspired Spherical Joint

Development of a 3-RRS Micromanipulator Based on Origami-Ins...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Haoqi Han Xiaoming Liu Yan Chen Hao Pang Xiaoqing Tang Dan Liu Qiang Huang Tatsuo Arai Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Department of Micro-Nano Electronics Shanghai Jiao Tong University China Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In recent years, micromanipulation technology has achieved extensive applications in industry and life science. Improving the precision and bandwidth of the micromanipulator and simultaneously reducing size, weight, and cost pose significant challenges to the existing micromanipulator design and fabrication methods. Here, we propose a 3-RRS micromanipulator with an origami-inspired spherical joint based on the PC-MEMS process, aiming for miniaturization and cost-effectiveness. The spherical joint allows rotations of 140° around the x-axis approximately, 140° around the y-axis approximately, and 20° around the z-axis approximately. The micromanipulator has weights of 0.8 g, dimensions of 16 mm × 16 mm × 22 mm, and workspace of 0.7 mm 3 . The end platform of the micromanipulator can be equipped with various effectors to accomplish different kinds of tasks. Experimental results validated its high precision and bandwidth, exhibiting its potential to perform intricate micromanipulation tasks.

关键词： Industries Fabrication Costs Micromanipulators Design methodology Bandwidth Life sciences

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Learning to Manipulate Tools Using Deep Reinforcement Learning and Anchor Information

Learning to Manipulate Tools Using Deep Reinforcement Learni...

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2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： Wei, Junhang Cui, Shaowei Hao, Peng Wang, Shuo The School of Future Technology University of Chinese Academy of Sciences Beijing100049 China The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The University of Chinese Academy of Sciences Beijing100049 China The Center for Excellence in Brain Science and Intelligence Technology Chinese Academy of Sciences Shanghai200031 China

ISBN: (纸本)9781665481090

Endowing robots with tool manipulation skills helps them accomplish challenging tasks. While robots manipulate tools to achieve goals, the alignment of tools and targets is a noise-sensitive and contact-rich task. However, it is difficult to access the accurate pose of the tool and the target. When there is unknown noise in the observations, reinforcement learning can't be sure to perform well. In this paper, we define the easier-to-obtain accurate task-related information as anchor information and introduce a tool manipulation method based on reinforcement learning and anchor information, which can perform well when the observations include unknown noise. To evaluate the method, we build a simulated environment ToolGym, which includes four different kinds of tools and different noise sampling functions for each tool. Finally, we compare our method with baseline methods to show the effectiveness of the proposed method. © 2022 IEEE.

关键词： Reinforcement learning

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Visual Grasping with Spectral Clustering and Heuristic Searching for Robot in Cluttered Environments

Visual Grasping with Spectral Clustering and Heuristic Searc...

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IEEE International Conference on Robotics and Biomimetics

作者： Wenjie Geng Zhiqiang Cao Yingbo Tang Shuo Wang Fengshui Jing The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781665481106

Grasping the target object is an essential requirement for the robot to provide better services. It becomes complicated especially in cluttered environments, which still remains challenging. This paper proposes a grasping chain generation solution that enables the robot to grasp the target after other obstruction objects are moved in a good order. SSD is firstly adopted to acquire the information of detectable objects and then Euclidean clustering is employed to obtain the untrained objects. After that, the minimum bounding box of each object is obtained, which is then projected on the plane and represented by a smooth differentiable minimum ellipse. On this basis, an information density kernel function is designed to express the interaction between objects. By abstracting each ellipse as a node of the graph whose edge weight is calculated by this kernel function, the whole scene is described in a form of graph. To simplify the complexity of the scene graph, we use spectral clustering algorithm to classify the objects, and the task-oriented objects graph is constructed according to the objects closely related to the target one. As a result, the searching space is reduced. With space division of task-oriented objects graph, each candidate grasping chain is iteratively extended by using the heuristic searching and the best chain with the shortest length is determined. The proposed method can deal with secondary obstruction and its effectiveness is testified by experiments.

关键词： Visualization Clustering algorithms Grasping Search problems complexity theory Classification algorithms Iterative methods

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Cascade Network with Boundary-Adaptive Filter for Surgical Gesture Recognition

Cascade Network with Boundary-Adaptive Filter for Surgical G...

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2021 International Joint Conference on Neural Networks, IJCNN 2021

作者： Chen H.-B. Ni Z.-L. Li Z. Bian G.-B. Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing 100190 China University of Chinese Academy of Sciences Beijing 100049 China

ISBN: (纸本)9780738133669

Automatically recognizing surgical gestures plays a key role in computer-assisted surgery and automatic skill assessment. Solutions to this task that only rely on video without additional sensor hardware have attracted great attention since they are economical and feasible. However, it is still a challenging problem due to the variable gesture durations and the oversegmentation problem that occurred in a long gesture duration. To address the above problems, we propose a cascade network with boundary-adaptive filter to dynamically capture the long-range temporal dependencies and reduce the over-segmentation errors obviously. A cascade module is designed to enhance the temporal modeling abilities in different timescales, in which multiple similar temporal convolution networks are divided into cascade stages and a fusion stage. Every cascade stage with different temporal receptive fields has a frame-specific weight to adjust the distribution of each stage and they will be aggregated into the fusion stage to refine the predictions. The frame-specific model architecture may incur a more serious over-segmentation problem. A boundary-adaptive filter is designed to leverage gesture boundary information to smooth the prediction results adaptively, which maintains consistency within a gesture duration while keeping the gesture-crossing discrepancy. We evaluate our model on the JHU-ISI Gesture and Skill Assessment Working Set (JIGSAWS). The proposed method reaches the state-of-the-art frame-wise accuracy (83.79%) and comparable segment-level performance (83.35% F1@50). © 2021 IEEE.

关键词： action segmentation surgical gesture recognition temporal convolutional network video understanding

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Fault Detection and Isolation for Multi-agent systems Under Event-Triggered Communication: A Zonotopic Joint Estimation Method

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IEEE Internet of Things Journal 2025年

作者： Tian, Mingliang Guo, Zhihua Wang, Xing Niu, Ben Wang, Xinjun Wang, Ding Wang, Huanqing Shandong Normal University School of Information Science and Engineering Jinan250014 China Beijing University of Technology Faculty of Information Technology Beijing100124 China Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Institute of Automation Beijing100190 China Bohai University Department of Mathematical Science AndAutomatization Institute Jinzhou121000 China

This paper investigates the fault detection and isolation problem of a class of leader-follower multi-agent systems subject to unknown-but-bounded disturbances under an event-triggered communication mechanism (ETCM). Firstly, an adaptive ETCM is proposed to avoid the continuous acquisition of outputs from neighboring agents, thereby reducing the communication burden. Secondly, a joint state and fault observer is designed, and H∞ analysis is utilized to improve the robustness of the observer against external disturbances and event-triggered errors. Next, zonotopic reachability analysis is utilized to derive the estimated intervals of the system state and fault signal, based on which a fault detection and isolation method is developed to determine both when the system is faulty and which agent is at fault. Finally, a fighter formation model is employed to verify the effectiveness of the proposed approach. © 2014 IEEE.

关键词： Multi agent systems

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Visuotactile Feedback Parallel Gripper for Robotic Adaptive Grasping

Visuotactile Feedback Parallel Gripper for Robotic Adaptive ...

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2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： Zhang, Boyue Cui, Shaowei Zhang, Chaofan Hu, Jingyi Wang, Shuo School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China Institute of Automation Chinese Academy of Sciences Beijing100190 China Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing100190 China Center for Excellence in Brain Science and Intelligence Technology Chinese Academy of Sciences Shanghai200031 China

ISBN: (纸本)9781665481090

In robot grasp and dexterous manipulation tasks, tactile sensing is important for the control adjustment of the manipulator. In this paper, we present a novel low-cost parallel gripper with high-resolution tactile sensing, named the GelStereo Gripper. Furthermore, an adaptive grasp strategy is proposed to endow the gripper with tactile-feedback grasp stability-maintaining ability. We install the gripper on our robot platform and conduct various grasp experiments by utilizing proposed control methods. Experimental results verify the reliability of the GelStereo gripper and also prove the effectiveness of the proposed strategy for experimental objects with different features. © 2022 IEEE.

关键词： Grippers

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A Novel Visual Perception Framework for Unmanned Aerial Vehicles: Challenges and Approaches

A Novel Visual Perception Framework for Unmanned Aerial Vehi...

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2021 China Automation Congress, CAC 2021

作者： Li, Xuan Duan, Haibin Mo, Hong Wang, Fei-Yue Department of Mathematics and Theories Peng Cheng Laboratory Shenzhen518055 China The State Key Laboratory of Virtual Reality Technology and Systems School of Automation Science and Electrical Engineering Beihang University Beijing100083 China The School of Electrical and Information Engineering Changsha University of Science and Technology Changsha410114 China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

ISBN: (纸本)9781665426473

Change detection (CD) is an important preprocessing process in visual perception. Due to the difficulties of collection and labeling images in water scnens, the design and validation of the change detection algorithm is more difficult than expected. In this paper, we present a novel visual perception framework based on parallel vision for unmanned aerial vehicle (UAV). The visual perception framework consists of artificial scenes, computational experiments and parallel execution. In artificial scenes, we construct a water scene and automatically generated pixel-level image annotation. Next, computational experiments are carried out on different domain dataset. The experiment results show that: 1) mixed images effectively improve the performance of change detection model;2) domain shift problems still greatly affect the algorithm performance. © 2021 IEEE

关键词： Change detection

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Zero-Sum Differential Game-Based Fault-Tolerant Tracking control for Nonlinear systems With Multiplicative Failures

Zero-Sum Differential Game-Based Fault-Tolerant Tracking Con...

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Chinese Automation Congress (CAC)

作者： Cong Tan Mingduo Lin Hongbing Xia Bo Zhao Yancai Xu School of Systems Science Beijing Normal University Beijing China Key Laboratory of Industrial Internet of Things & Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

A novel fault-tolerant tracking control (FTTC) approach for affine nonlinear systems is developed from the perspective of zero-sum differential games (ZSDG) to deal with unknown multiplicative actuator failures in this paper. By regarding the control input and the multiplicative actuator failure as two players of a zero-sum game, a performance index function reflecting the trajectory tracking error, the control policy and the unknown failure is established. To handle the tracking Hamilton-Jacobi-Isaacs (HJI) equation associated with the established performance index function, a critic neural network is utilized. Then, the Nash equilibrium solution can be obtained, and the FTTC is achieved. The stability of the faulty nonlinear system is examined through Lyapunov-based approach. Finally, simulation results of a spring system is provided to ensure the utility and the realizability of the ZSDG-based FTTC approach.

关键词： Actuators Fault tolerance Trajectory tracking Simulation Fault tolerant systems Stability criteria Mathematical models

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