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AstroPose: Astronaut pose estimation using a monocular camera during extravehicular activities

Science China Technological Sciences 2024年第6期67卷 1933-1945页

作者： LIU ZiBin LI You WANG ChunHui LIU Liang GUAN BangLei SHANG Yang YU QiFeng College of Aerospace Science and engineering National University of Defense Technology Key laboratory of human Factors engineering China Astronaut Research and Training Center

With the completion of the Chinese space station, an increasing number of extravehicular activities will be executed by astronauts,which is regarded as one of the most dangerous activities in human space exploration. To guarantee the safety of astronauts and the successful accomplishment of missions, it is vital to determine the pose of astronauts during extravehicular activities. This article presents a monocular vision-based pose estimation method of astronauts during extravehicular activities, making full use of the available observation resources. First, the camera is calibrated using objects of known structures, such as the spacesuit backpack or the circular handrail outside the space station. Subsequently, the pose estimation is performed utilizing the feature points on the spacesuit. The proposed methods are validated both on synthetic and semi-physical simulation experiments, demonstrating the high precision of the camera calibration and pose estimation. To further evaluate the performance of the methods in real-world scenarios, we utilize image sequences of Shenzhou-13 astronauts during extravehicular activities. The experiments validate that camera calibration and pose estimation can be accomplished solely with the existing observation resources, without requiring additional complicated equipment. The motion parameters of astronauts lay the technological foundation for subsequent applications such as mechanical analysis, task planning, and ground training of astronauts.

关键词： monocular camera astronaut pose estimation camera calibration

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A human-specific insertion promotes cell proliferation and migration by enhancing TBC1D8B expression

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Science China(Life Sciences) 2024年第4期67卷 765-777页

作者： Hui Zhao Lin-Lin Liu Jian Sun Lian Jin Hai-Bing Xie Jian-Bo Li Hui Xu Dong-Dong Wu Xiao-Lin Zhuang Min-Sheng Peng Ya-Jun Guo Wei-Zhu Qian Newton OOtecko Wei-Jie Sun Liang-Hu Qu Jie He Zhao-Li Chen Rong Liu Ce-Shi Chen Ya-Ping Zhang State Key laboratory for Conservation and Utilization of Bio-resource School of Life SciencesSchool of Ecology and Environmental ScienceYunnan UniversityKunming 650091China School of Forensic Medicine Kunming Medical UniversityKunming 650500China Academy of Biomedical engineering Kunming Medical UniversityKunming 650500China The Third Affiliated Hospital Kunming Medical UniversityKunming 650118China Key laboratory of Animal Models and human Disease Mechanisms of the Chinese Academy of Sciences and Yunnan Province Kunming Institute of ZoologyChinese Academy of SciencesKunming 650201China State Key laboratory of Genetic Resources and Evolution Yunnan Laboratory of Molecular Biology of Domestic AnimalsKunming Institute of ZoologyChinese Academy of SciencesKunming 650201China The Key laboratory of Gene engineering of the Ministry of Education State Key Laboratory for BiocontrolSun Yat-sen UniversityGuangzhou 510275China National engineering Research Center for antibody Medicine and Shanghai Key laboratory of Cell engineering and antibody Shanghai 201203China Department of Thoracic Surgery Cancer Institute and HospitalChinese Academy of Medical Sciences and Peking Union Medical CollegeBeijing 100730China

human-specific insertions play important roles in human phenotypes and diseases.Here we reported a 446-bp insertion(Insert-446)in intron 11 of the TBC1D8B gene,located on chromosome X,and traced its origin to a portion of intron 6 of the EBF1 gene on chromosome 5.Interestingly,Insert-446 was present in the human Neanderthal and Denisovans genomes,and was fixed in humans after human-chimpanzee divergence.We have demonstrated that Insert-446 acts as an enhancer through binding transcript factors that promotes a higher expression of human TBC1D8B gene as compared with orthologs in macaques.In addition,over-expression TBC1D8B promoted cell proliferation and migration through“a dual finger”catalytic mechanism(Arg538 and Gln573)in the TBC domain in vitro and knockdown of TBC1D8B attenuated tumorigenesis in vivo.Knockout of Insert-446 prevented cell proliferation and migration in cancer and normal cells.Our results reveal that the human-specific Insert-446 promotes cell proliferation and migration by upregulating the expression of TBC1D8B gene.These findings provide a significant insight into the effects of human-specific insertions on evolution.

关键词： human-specific insertion enhancer gene expression cell proliferation and migration

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Current status and challenges of pig-to-human organ xenotransplantation

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Science China(Life Sciences) 2024年第4期67卷 829-831页

作者： Minghui Fang Yong-Guang Yang Zheng Hu Key laboratory of Organ Regeneration&Transplantation of Ministry of Education and National-Local Joint Engineering Laboratory of Animal Models for Human DiseasesThe First Hospital of Jilin UniversityChangchun 130061China

Organ shortage is a global issue.Data collected by the Global Observatory on Donation and Transplantation reveals that over 150,000 solid organ transplants are conducted globally each year,a 52%increase from 2010(http... 详细信息

关键词： globally global shortage

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Configuration and Kinematics of a 3-DOF Generalized Spherical Parallel Mechanism for Ankle Rehabilitation

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Chinese Journal of Mechanical engineering 2024年第1期37卷 176-188页

作者： Jianjun Zhang Shuai Yang Chenglei Liu Xiaohui Wang Shijie Guo School of Mechanical engineering Hebei University of TechnologyTianjin 300401China Key laboratory of Robot Perception and human-Machine Fusion Tianjin 300401China

The kinematic equivalent model of an existing ankle-rehabilitation robot is inconsistent with the anatomical structure of the human ankle,which influences the rehabilitation effect.Therefore,this study equates the human ankle to the UR model and proposes a novel three degrees of freedom(3-DOF)generalized spherical parallel mechanism for ankle rehabilitation.The parallel mechanism has two spherical centers corresponding to the rotation centers of tibiotalar and subtalar joints.Using screw theory,the mobility of the parallel mechanism,which meets the requirements of the human ankle,is analyzed.The inverse kinematics are presented,and singularities are identified based on the Jacobian matrix.The workspaces of the parallel mechanism are obtained through the search method and compared with the motion range of the human ankle,which shows that the parallel mechanism can meet the motion demand of ankle rehabilitation.Additionally,based on the motion-force transmissibility,the performance atlases are plotted in the parameter optimal design space,and the optimum parameter is obtained according to the demands of practical applications.The results show that the parallel mechanism can meet the motion requirements of ankle rehabilitation and has excellent kinematic performance in its rehabilitation range,which provides a theoretical basis for the prototype design and experimental verification.

关键词： Ankle rehabilitation Parallel mechanism Kinematic analysis Parameter optimization

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Apolipoprotein E4 interferes with lipid metabolism to exacerbate depression-like behaviors in 5xFAD mice

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Animal Models and Experimental Medicine 2024年第3期7卷 347-361页

作者： Yanju Gong Mingfeng Li Min Liu Xinghan Wu Yanhong Li Chuan Qin Ling Zhang iNHC Key laboratory of human Disease Comparative Medicine Beijing Engineering Research Center for Experimental Animal Models of Human Critical DiseasesInternational Center for Technology and lnnovation of Animal ModelComparative Medicine CenterInstitute of Laboratory Animal SciencesChinese Academy of Medical Sciences(CAMS)and Peking Union Medical College(PuMC)BeijingChina Changping National laboratory(CPNL) BeijingChina

Background:Apolipoprotein E4(ApoE4)allele is the strongest genetic risk factor for late-onset Alzheimer's disease,and it can aggravate depressive symptoms in non-AD patients.However,the impact of ApoE4 on AD-associated depression-l ike behaviors and its underlying pathogenic mechanisms remain unclear.Methods:This study developed a 5xFAD mouse model overexpressing human ApoE4(E4FAD).Behavioral assessments and synaptic function tests were conducted to explore the effects of ApoE4 on cognition and depression in 5xFAD mice.Changes in peripheral and central lipid metabolism,as well as the levels of serotonin(5-HT)andγ-aminobutyric acid(GABA)neurotransmitters in the prefrontal cortex,were examined.In addition,the protein levels of 24-dehydrocholesterol reductase/glycogen synthase kinase-3 beta/mammalian target of rapamycin(DHCR24/GSK3β/m TOR)and postsynaptic density protein 95/calmodulin-dependent protein kinase II/brain-derived neurotrophic factor(PSD95/CaMK-II/BDNF)were measured to investigate the molecular mechanism underlying the effects of ApoE4 on AD mice.Results:Compared with 5xFAD mice,E4FAD mice exhibited more severe depressionlike behaviors and cognitive impairments.These mice also exhibited increased amyloid-beta deposition in the hippocampus,increased astrocyte numbers,and decreased expression of depression-related neurotransmitters 5-HT and GABA in the prefrontal cortex.Furthermore,lipid metabolism disorders were observed in E4FAD,manifesting as elevated low-density lipoprotein cholesterol and reduced high-density lipoprotein cholesterol in peripheral blood,decreased cholesterol level in the prefrontal cortex,and reduced expression of key enzymes and proteins related to cholesterol synthesis and homeostasis.Abnormal expression of proteins related to the DHCR24/GSK3β/m TOR and PSD95/CaMK-II/BDNF pathways was also observed.Conclusion:This study found that ApoE4 overexpression exacerbates depressionlike behaviors in 5xFAD mice and confirmed that ApoE4 reduces cognitive function in these mice.The mechanism may

关键词： 5xFAD mice Alzheimer's disease ApoE4 allele depression like

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A Feature-Aided Multiple Model Algorithm for Maneuvering Target Tracking

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IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 566-568页

作者： Yiwei Tian Meiqin Liu Senlin Zhang Ronghao Zheng Shanling Dong College of Electrical engineering Zhejiang University National Key laboratory of Industrial Control Technology Zhejiang University IEEE National Key laboratory of human-Machine Hybrid Augmented Intelligence Xi’an Jiaotong University

Dear Editor,This letter deals with the tracking problem for non-cooperative maneuvering targets based on the underwater sensor networks. Considering the acoustic intensity feature of underwater targets, a feature-aide... 详细信息

关键词： underwater Aided letter

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An extended social force model on unidirectional flow considering psychological and behavioral impacts of hazard source

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Chinese Physics B 2024年第2期33卷 567-576页

作者：邓凯丰李梦胡祥敏陈涛 Institute of Public Safety Research Department of Engineering PhysicsTsinghua UniversityBeijing 100084China Anhui Province Key laboratory of human Safety Hefei 230601China Beijing Key laboratory of Comprehensive Emergency Response Science Beijing 100084China

An accurate assessment of the evacuation efficiency in case of disasters is of vital importance to the safety design of buildings and street blocks.Hazard sources not only physically but psychologically affect the pedestrians,which may further alter their behavioral patterns.This effect is especially significant in narrow spaces,such as corridors and alleys.This study aims to integrate a non-spreading hazard source into the social force model following the results from a previous experiment and simulation,and to simulate unidirectional pedestrian flows over various crowd densities and clarity–intensity properties of the hazard source.The integration include a virtual repulsion force from the hazard source and a decay on the social force term.The simulations reveal(i)that the hazard source creates virtual bottlenecks that suppress the flow,(ii)that the inter-pedestrian push forms a stabilisation phase on the flow-density curve within medium-to-high densities,and(iii)that the pedestrians are prone to a less orderly and stable pattern of movement in low clarity–intensity scenarios,possibly with lateral collisions passing the hazard source.

关键词： evacuation social force model hazard source unidirectional pedestrian flow

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Simultaneously quantifying hundreds of acylcarnitines in multiple biological matrices within ten minutes using ultrahigh-performance liquid-chromatography and tandem mass spectrometry

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Journal of Pharmaceutical Analysis 2024年第1期14卷 140-148页

作者： Jingxian Zhang Qinsheng Chen Lianglong Zhang Biru Shi Men Yu Qingxia Huang Huiru Tang State Key laboratory of Genetic engineering School of Life SciencesHuman Phenome InstituteZhangjiang Fudan International Innovation CenterMetabonomics and Systems Biology Laboratory at Shanghai International Centre for Molecular PhenomicsZhongshan HospitalFudan UniversityShanghai200032China Wuhan laboratory for Shanghai Metabolome Institute(SMI)Ltd. Wuhan430000China

Acylcarnitines are metabolic intermediates of fatty acids and branched-chain amino acids having vital biofunctions and pathophysiological significances. Here, we developed a high-throughput method for quantifying hundreds of acylcarnitines in one run using ultrahigh performance liquid chromatography and tandem mass spectrometry (UPLC-MS/MS). This enabled simultaneous quantification of 1136 acylcarnitines (C0–C26) within 10-min with good sensitivity (limit of detection 0.992), accuracy (relative error 0.998) for predicting retention time (tR) of acylcarnitines with no standards and built a database of their multiple reaction monitoring parameters (tR, ion-pairs, and collision energy). Furthermore, we quantified 514 acylcarnitines in human plasma and urine, mouse kidney, liver, heart, lung, and muscle. This provides a rapid method for quantifying acylcarnitines in multiple biological matrices.

关键词： Acylcarnitine UPLC-MS/MS Quantitative structure-retention relationship Molecular phenotype

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Flexible pressure sensors with ultrahigh stress tolerance enabled by periodic microslits

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Microsystems & Nanoengineering 2024年第1期10卷 301-311页

作者： Song Wang Chenying Wang Yifan Zhao Yujing Zhang Yaxin Zhang Xiangyue Xu Qijing Lin Kai Yao Yuheng Wang Feng Han Yu Sun Zhuangde Jiang State Key laboratory for Manufacturing Systems engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesSchool of Mechanical EngineeringXi’an Jiaotong UniversityXi’anChina State Key laboratory for Manufacturing Systems engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesSchool of Instrument Science and TechnologyXi’an Jiaotong UniversityXi’anChina The Faculty of Electrical engineering and Computer Science Ningbo UniversityNingboChina Department of Mechanical and Industrial engineering University of TorontoTorontoCanada

Stress tolerance plays a vital role in ensuring the effectiveness of piezoresistive sensing films used in flexible pressure sensors.However,existing methods for enhancing stress tolerance employ dome-shaped,wrinkle-shaped,and pyramidal-shaped microstructures in intricate molding and demolding processes,which introduce significant fabrication challenges and limit the sensing performance.To address these shortcomings,this paper presents periodic microslits in a sensing film made of multiwalled carbon nanotubes and polydimethylsiloxane to realize ultrahigh stress tolerance with a theoretical maximum of 2.477 MPa and a sensitivity of 18.092 kPa−1.The periodic microslits permit extensive deformation under high pressure(e.g.,400 kPa)to widen the detection range.Moreover,the periodic microslits also enhance the sensitivity based on simultaneously exhibiting multiple synapses within the sensing interface and between the periodic sensing cells.The proposed solution is verified by experiments using sensors based on the microslit strategy for wind direction detection,robot movement sensing,and human health monitoring.In these experiments,vehicle load detection is achieved for ultrahigh pressure sensing under an ultrahigh pressure of over 400 kPa and a ratio of the contact area to the total area of 32.74%.The results indicate that the proposed microslit strategy can achieve ultrahigh stress tolerance while simplifying the fabrication complexity of preparing microstructure sensing films.

关键词： robot shaped stress

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Ancient mitochondrial genome depicts sheep maternal dispersal and migration in Eastern Asia

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Journal of Genetics and Genomics 2024年第1期51卷 87-95页

作者： Liu Yang Xing Zhang Yaning Hu Piao Zhu Hua Li Zhenyu Peng Hai Xiang Xinying Zhou Xingbo Zhao National engineering laboratory for Animal Breeding Key Laboratory of AnimalGeneticsBreeding and ReproductionMinistry of Agriculture and Rural AffairsCollege of Animal Science and TechnologyChina Agricultural UniversityBeijing 100193China Guangdong Provincial Key laboratory of Animal Molecular Design and Precise Breeding School of Life Science and EngineeringFoshan UniversityFoshanGuangdong 528225China State Key laboratory of Agricultural Genomics BGI-ShenzhenShenzhenGuangdong 518083China Key laboratory of Vertebrate Evolution and human Origins Institute of Vertebrate Paleontology and PaleoanthropologyChinese Academy of SciencesBeijing 100044China

Sheep have been one of the most important groups of animals since ancient times.However,the knowledge of their migration routes and genetic relationships is still poorly understood.To investigate sheep maternal migration histories alongside Eurasian communications routes,in this study,we obtain mitochondrial genomes(mitogenomes)from 17 sheep remains in 6 Chinese sites and 1 Uzbekistan site dated 4429–3100 years before present(BP).By obtaining the mitogenomes from the sheep(4429–3556 BP)found in the Tongtian Cave site in Xinjiang,Altai region of northwest China,our results support the emergence of haplogroup C sheep in Xinjiang as early as 4429–3556 BP.The combined phylogenetic analyses with extant ancient and modern sheep mitogenomes suggest that the Uzbekistan-Altai region may have been a migration hub for early sheep in eastern Asia.At least two migration events have taken place for sheep crossing Eurasia to China,one passing by Uzbekistan and Northwest China to the middle and lower reaches of the Yellow River at approximately 4000 BP and another following the Altai region to middle Inner Mongolia from 4429 BP to 2500 BP.Overall,this study provides further evidence for early sheep utilization and migration patterns in Eastern Asia.

关键词： Sheep Ancient DNA Eastern Asia Mitochondrial genome Migration Altai

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