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Gene expression imputation across multiple brain regions provides insights into schizophrenia risk (vol 51, pg 659, 2019)

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NATURE GENETICS 2019年第6期51卷 1068-1068页

作者： Huckins, Laura M. Dobbyn, Amanda Ruderfer, Douglas M. Hoffman, Gabriel Wang, Weiqing Pardinas, Antonio F. Rajagopal, Veera M. Als, Thomas D. Nguyen, Hoang T. Girdhar, Kiran Boocock, James Roussos, Panos Fromer, Menachem Kramer, Robin Domenici, Enrico Gamazon, Eric R. Purcell, Shaun Demontis, Ditte Borglum, Anders D. Walters, James T. R. O'Donovan, Michael C. Sullivan, Patrick Owen, Michael J. Devlin, Bernie Sieberts, Solveig K. Cox, Nancy J. Im, Hae Kyung Sklar, Pamela Stahl, Eli A. Pamela Sklar Division of Psychiatric Genomics Icahn School of Medicine at Mount Sinai New York NY USA Department of Genetics and Genomics Icahn School of Medicine at Mount Sinai New York NY USA Department of Psychiatry Icahn School of Medicine at Mount Sinai New York NY USA Icahn Institute for Genomics and Multiscale Biology Icahn School of Medicine at Mount Sinai New York NY USA Vanderbilt University Medical Center Nashville TN USA MRC Centre for Neuropsychiatric Genetics and Genomics Cardiff University Cardiff UK Department of Biomedicine Aarhus University Aarhus Denmark The Lundbeck Foundation Initiative for Integrative Psychiatric Research iPSYCH Denmark Center for Integrative Sequencing Aarhus University Aarhus Denmark Department of Human Genetics David Geffen School of Medicine University of California Los Angeles Los Angeles CA USA Human Brain Collection Core National Institute of Mental Health Bethesda MD USA Laboratory of Neurogenomic Biomarkers Centre for Integrative Biology (CIBIO) University of Trento Trento Italy Clare Hall University of Cambridge Cambridge UK University of North Carolina at Chapel Hill Chapel Hill NC USA Karolinska Institutet Stockholm Sweden Department of Psychiatry University of Pittsburgh Pittsburgh PA USA Systems Biology Sage Bionetworks Seattle WA USA Section of Genetic Medicine Department of Medicine University of Chicago Chicago IL USA Integrated Technology Research Laboratories Pharmaceutical Research Division Takeda Pharmaceutical Company Limited Fujisawa Japan Neuropsychiatry Section Department of Psychiatry Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Neuropsychiatric Signaling Program Department of Psychiatry Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Psychiatry JJ Peters Virginia Medical Center Bronx NY USA Department of Neuroscience Icahn School of Medicine at Mount Sinai New York New York NY USA Friedman Brain Institute

Transcriptomic imputation approaches combine eQTL reference panels with large-scale genotype data in order to test associations between disease and gene expression. These genic associations could elucidate signals in complex genome-wide association study (GWAS) loci and may disentangle the role of different tissues in disease development. We used the largest eQTL reference panel for the dorso-lateral prefrontal cortex (DLPFC) to create a set of gene expression predictors and demonstrate their utility. We applied DLPFC and 12 GTEx-brain predictors to 40,299 schizophrenia cases and 65,264 matched controls for a large transcriptomic imputation study of schizophrenia. We identified 413 genic associations across 13 brain regions. Stepwise conditioning identified 67 non-MHC genes, of which 14 did not fall within previous GWAS loci. We identified 36 significantly enriched pathways, including hexosaminidase-A deficiency, and multiple porphyric disorder pathways. We investigated developmental expression patterns among the 67 non-MHC genes and identified specific groups of pre- and postnatal expression.

关键词： Gene expression Genome-wide association studies Schizophrenia Transcriptomics

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Foreword

Foreword

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Annual IEEE Conference on Applied Power Electronics Conference and Exposition (APEC)

作者： Alireza Khaligh Research School of Engineering Australian National University Canberra Australia State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China College of Mechanical & Engineer Jiamusi University Jiamusi China

It is my utmost pleasure to welcome you to the 2016 IEEE Applied Power Electronics Conference and Exposition (APEC 2016), at the Long Beach Convention Center, in Long Beach, California.

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Design and control of a tracked robot for search and rescue in nuclear power plant

Design and control of a tracked robot for search and rescue ...

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International Conference on Advanced robotics and mechatronics (ICARM)

作者： Pengfei Dong Xuezhu Wang Hongjun Xing Yiqun Liu Meiling Zhang China Nuclear Power Technology Research Institute Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Automotive Engineering Harbin Institute of Technology Weihai China

Environment in some special areas of nuclear power plant is very bad, and is even worse and inaccessible after a nuclear accident. Therefore, a robot developed for special occasions of nuclear plant operation is urgently needed. Different from ordinary robots, nuclear industry robots face even worse environments, such as high radiation, high temperature, high pressure, narrow space, slopes, stairs, and complicated pipeline. This paper designs a tracked mobile robot for search and rescue in nuclear plant. Stair climbing performance of the robot is analyzed. Hardware and software of the control system are designed, and the human-computer interaction interface is developed. Dynamic model of the robot is established, and the trajectory tracking control algorithm of the robot is presented. Finally, simulation experiments using Octave software are finished. Simulation results show that the proposed control algorithm could enable the tracked robot to achieve excellent trajectory tracking of linear and cambered path, and the effectiveness of the proposed method is verified.

关键词： Tracking Service robots Mobile robots Control systems Robot sensing systems Software

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Development of a dynamics model for the Baxter robot

Development of a dynamics model for the Baxter robot

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IEEE International Conference on mechatronics and Automation

作者： Alex Smith Chenguang Yang Chunxu Li Hongbin Ma Lijun Zhao Centre for Robotics and Neural Systems Plymouth University Ply-mouth UK Zienkiewicz Centre for Computational Engineering Swansea University UK School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781509023974

The dynamics model of a robot is important to find the relation between the joint actuator torques and the resulting motion. There are two common methods to do this: The Lagrange formulation, which gives a closed form of the dynamics equations, and the Newton-Euler method, which uses a recursive form. Presented in this paper is a formulation of the Lagrange-Euler (L-E) equations representing the dynamics of the Baxter manipulator. These equations are then verified against torque trajectories recorded from the Baxter robot. Experimental studies show that torques generated using the L-E method closely match recorded actuator torques. All of Baxter's kinematic and dynamics parameters are presented here for easy future reference, and the full symbolic dynamics are made available online for closed loop analysis by the community.

关键词： Manipulator dynamics Dynamics Gravity Trajectory Mathematical model

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Detection of privacy-sensitive situations for social robots in smart homes

Detection of privacy-sensitive situations for social robots ...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Francisco Erivaldo Fernandes Guanci Yang Ha Manh Do Weihua Sheng Oklahoma State University System Stillwater OK US Key Laboratory of Advanced Manufacturing Technology of Ministry of Education Guizhou University Guiyang China School of Electrical and Computer Engineering Shenzhen Academy of Robotics Stillwater Shenzhen OK USA

ISBN: (纸本)9781509024100

The ubiquitous use of cameras in a home environment raises privacy concerns, which is one of the major barriers to the deployment of smart home systems for elderly and disabled care. Social robots are equipped with cameras that can witness embarrassing situations of their owners, such as nakedness during a morning bath. In this paper, our proposed solution is to let the robot detect such privacy-sensitive moments and then turn away to avoid observing the person. We proposed a method based on the Convolutional Neural Networks (CNN) to detect nakedness in a daily living scenario. In this method, two CNNs are used: one detects whether a person is present or not in the current scene, and the other detects privacy-sensitive situations. We implemented the method on the ASCC home service robot developed in our lab. The CNNs were trained with a database composed of more than 2900 pictures collected from the Internet and from our ASCC Smart Home. In our experiments, we considered three human poses: sitting, standing, and lying. If the robot detects a privacy-sensitive situation, it will turn around and verbally announce its intention, which ensures the person that he or she is not being watched. Our experiments validate the proposed privacy preserving method. We also conducted a user study and find that people prefer that the robot takes some actions to avoid directly watching them in privacy-sensitive situations.

关键词： Privacy Cameras Robot vision systems Service robots Smart homes Security

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Analyzing of Discharge Wave Oscillation Mechanism in Electrical Discharge Machining

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Procedia CIRP 2016年 42卷 23-27页

作者： Dongbo Wei Shichun Di Yukui Wang Zhenglong Wang State Key Laboratory of Mechanical System and Vibration in Shanghai Jiao Tong University Shanghai 200240 P.R. China School of Mechatronics Engineering Harbin Institute of Technology 92 West Dazhi Street Nan Gang District Harbin 150001 P.R. China

In recent years, researches on Electrical Discharge Machining (EDM) plasma mainly focus on the reasons and the characteristics of plasma oscillation and discharge wave oscillation. The mechanism of EDM plasma channel oscillation and discharge wave oscillation, however, has not been explained in detail. This paper chiefly analyzes the geometry change of EDM gap, the diameter change of EDM plasma channel and the electromagnetic field change of EDM plasma. These three factors contribute to the EDM plasma oscillation after affected by one another. On the base of analyzing, a new method of machining by active-oscillation-pulse in EDM has been put forward. The active-oscillation-pulse, which is generated by adding high frequency oscillation component to conventional EDM pulse, can put EDM plasma channel into forced oscillation state. Then the EDM plasma channel will move more frequently and harmful arc discharge will decrease accordingly. Experiment shows that the machining efficiency can be improved remarkably by machining of active-oscillation-pulse.

关键词： EDM Plasma Oscillation Mechanism Active-oscillation-pulse

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A Two-Step Fault Diagnosis Framework for Rolling Element Bearings with Imbalanced Data

A Two-Step Fault Diagnosis Framework for Rolling Element Bea...

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2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Yuan Lan Weiwei Zong Xiaojian Ding Xiaoyan Xiong Xiaohang Han Jiahai Huang Bing Ma Key Laboratory of Ministry of Education in Advance Transducers and Intelligent Control System Institute of Mechatronics Engineering under School of Mechanical EngineeringTaiyuan University of Technology Department of Computer Science Wayne State University Science and Technology on Information Systems Engineering Laboratory The Second Research Institute of China Electronic Technology Group Corporation

Rolling element bearings constitute the key parts on rotating machinery and their fault diagnosis are of great importance. In this paper, a novel Two-Step fault diagnosis framework is proposed to diagnose the status of rolling element bearings with imbalanced data. The Wavelet Packet Transform(WPT) is used to determine the feature vectors. 16-dimensional wavelet packet node energies were extracted from the original datasets as the feature vectors prepared to input to the ***, our proposed framework consists of two steps for the fault diagnosis, where Step One makes use of Weighted Extreme Learning Machine(weighted ELM) in an effort to classify the normal or abnormal categories, and Step Two further diagnoses the underlying anomaly in details. The effectiveness of our proposed approach is testified on the raw data collected from the rolling element bearing experiments conducted in our Institute,and the empirical results showed that our approach is really fast and can achieve the diagnosis accuracies more than 95%.

关键词： Two-Step fault diagnosis framework Weighed ELM ELM Bearing fault diagnosis

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A Two-Step Fault Diagnosis Framework for Rolling Element Bearings with Imbalanced Data

A Two-Step Fault Diagnosis Framework for Rolling Element Bea...

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International Conference on Ubiquitous Robots and Ambient Intelligence

作者： Yuan Lan Weiwei Zong Xiaojian Ding Xiaoyan Xiong Xiaohang Han Jiahai Huang Bing Ma Key Laboratory of Ministry of Education in Advance Transducers and Intelligent Control System Institute of Mechatronics Engineering under School of Mechanical Engineering Taiyuan University of Technology Department of Computer Science Wayne State University Science and Technology on Information Systems Engineering Laboratory The Second Research Institute of China Electronic Technology Group Corporation

ISBN: (纸本)9781509008223

Rolling element bearings constitute the key parts on rotating machinery and their fault diagnosis are of great importance. In this paper, a novel Two-Step fault diagnosis framework is proposed to diagnose the status of rolling element bearings with imbalanced data. The Wavelet Packet Transform (WPT) is used to determine the feature vectors. 16-dimensional wavelet packet node energies were extracted from the original datasets as the feature vectors prepared to input to the classifiers. Next, our proposed framework consists of two steps for the fault diagnosis, where Step One makes use of Weighted Extreme Learning Machine (weighted ELM) in an effort to classify the normal or abnormal categories, and Step Two further diagnoses the underlying anomaly in details. The effectiveness of our proposed approach is testified on the raw data collected from the rolling element bearing experiments conducted in our Institute, and the empirical results showed that our approach is really fast and can achieve the diagnosis accuracies more than 95%.

关键词： Two-Step fault diagnosis framework Weighed ELM ELM Bearing fault diagnosis

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Experiments and simulations of the standing wave acoustic field produced by two transducers mounted in contraposition

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Proceedings of Meetings on Acoustics 2017年第1期32卷

作者： Huijuan Dong Longfei Jia Yingzi Guan Jie Zhao 1School of Mechatronics Engineering Harbin Institute of Technology Harbin Hei Longjiang 150001 CHINA dhj@*** 2Chongqing Vocational College of Transportation Chongqing CHINA ***@*** 3School of Astronautics Harbin Institute of Technology Harbin Hei Longjiang 150001 CHINA guanyz@*** 4The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Hei Longjiang 150001 CHINA jzhao@***

Acoustic standing wave levitation transmission technique has been widely used in many research areas. In this work, two Langevin-type piezoelectric transducers’ output are assembled face to face at a certain angle. Each transducer’s output acts as both its radiator and another transducer’s reflector. The authors termed it as contraposition transducer array. Standing acoustic wave in the cavity between the radiator and the reflector is formed when optimizing the angle between the central lines of the two transducers, the distance of the cavity, and the phase differential of the generator being used to excite the two transducers. Accordingly, the object during the acoustic field can be levitated, moved and manipulated. Not only the standing acoustic field pressure is theoretically derived, but also its potential location is Ansys-programmed simulated and illustrated. As a result, the restrictions are detailed which are necessary to form the standing acoustic wave. The corresponding experiments are carried out to demonstrate the proposed method by the authors. Finally, the influences of geometrical parameters and exciting phase differential on the formed acoustic field are numerically simulated.

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A fusion-based localization method of mobile robot with equality geometric constraint

A fusion-based localization method of mobile robot with equa...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Zhongli Wang Xian Wu Baigen Cai Chuanqi Tao Zhiyi Zhang Yinling Wang State Key Laboratory of Robotics and System Harbin Institute of Technology China Beijing Engineering Research Center of EMC and GNSS Technology for Rail Transportation Beijing China School of Electronic Information and Engineering Beijing Jiao Tong University China CSR Qindao Sifang Co. Ltd. Qindao China

ISBN: (纸本)9781467389600

GPS/ODO fusion-based localization is always used for mobile robot in outdoor environment. This approach takes advantage of short-term accuracy of odometry measurement and the long-term correction by the GPS unit. Generally, to improve the localization accuracy, precise system model and sensor noise model are probed. In this paper, by taking the linear and nonlinear equality state constraints into the EKF-based fusion framework with the method of perfect measurement and estimate projection, the performance of fusion results can be greatly improved. The modeling process is introduced and two simulation cases have been conducted, which show the positioning accuracy of the mobile robot can be significantly improved after the introduction of the equivalent constraint. Theoretically, this implementation allows us to define additional adjustments to improve the overall behavior of the filter.

关键词： Robot sensing systems Mobile robots Mathematical model Global Positioning system Jacobian matrices Kalman filters

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