Irregular splicing was associated with tumor formation and progression in renal cell carcinoma (RCC) and many other cancers. By using splicing data in the TCGA SpliceSeq database, RCC subtype classification was performed and splicing features and their correlations with clinical course, genetic variants, splicing factors, pathways activation and immune heterogeneity were systemically analyzed. In this research, alternative splicing was found useful for classifying RCC subtypes. Splicing inefficiency with upregulated intron retention and cassette exon was associated with advanced conditions and unfavorable overall survival of patients with RCC. Splicing characteristics like splice site strength, guanine and cytosine content and exon length may be important factors disrupting splicing balance in RCC. Other than cis-acting and trans-acting regulation, alternative splicing also differed in races and tissue types and is also affected by mutation conditions, pathway settings and the response to environmental changes. Severe irregular splicing in tumor not only indicated terrible intra-cellular homeostasis, but also changed the activity of cancer-associated pathways by different splicing effects including isoforms switching and expression regulation. Moreover, irregular splicing and splicing-associated antigens were involved in immune reprograming and formation of immunosuppressive tumor microenvironment. Overall, we have described several clinical and molecular features in RCC splicing subtypes, which may be important for patient management and targeting treatment.

Normally, people always believe that the more measurement poses used in a robot calibration process, the more accurate result can be obtained. However, the accuracy improvement converges to a threshold after a number of measurement poses. Moreover, robot calibration is a time consuming process, too many poses would seriously complicate the process and consumedly increase the spending time. In this paper, an optimal measurement pose number searching method was proposed to improve the calibration method in time spending aspect. Optimal robot poses were added to an initial pose set one by one to establish a new pose set for the robot calibration. The root mean squares (RMS) of the end-effector pose errors after being calibrated by using these pose sets were calculated. The optimal number of the configuration set which correspond to the least RMS of pose error can then be obtained. This algorithm can get higher end-effector accuracy, meanwhile consume less time. The simulation on a serial robot manipulator with 24 unknown kinematic parameters shows that the end-effector pose accuracy after calibrated by the using of the optimal pose set is much better than the result before calibration, and is better than the using of a random pose set.

This paper is to develop an ontology-based mobile environment for collaborative product design and manufacture, which enables geographically dispersed team members to collaborate over the internet within the total design or manufacturing process, including product design specification, conceptual design, detail design, manufacture and recycling. In this paper, a database which based on a new method named ontology is built up to demonstrate the all related information in order to achieve an efficient and convenient management. According these two achievements, a new data management system is built and tested in the mobile device and compared to the traditional data management system at the end of this paper.

This paper presents a DSP/FPGA based multi-sensory flexible-joint robot including modular mechanics, hardware and software architecture. The robot is composed of four modular flexible joints and a DLR-HIT-Hand. In each joint there is a Field Programmable Gate Array (FPGA) for sensor data processing, brushless DC motor control and communication. The kernel of the hardware system is a PCI-based high speed floating-point Digital Signal Processor (DSP) for the arm/hand Cartesian level control, and FPGA for two high speed (up to 25 Mbps) real-time Serial Buses communication with the arm and hand. All the electronics are integrated into the joint to achieve the high modularity and reliability. Cartesian impedance control and position control with on-line gravity compensation are realized for regulation tasks of the robot with elastic joints. In addition, the experiments of the joint impedance control and Cartesian impedance control demonstrate that the multi-sensors highly integrated robot has a good performance.