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Journal of Zhejiang University SCIENCE B

ISSN 1673-1581(Print), 1862-1783(Online), Monthly

Micropeptides: origins, identification, and potential role in metabolism-related diseases

Abstract: With the development of modern sequencing techniques and bioinformatics, genomes that were once thought to be noncoding have been found to encode abundant functional micropeptides (miPs), a kind of small polypeptides. Although miPs are difficult to analyze and identify, a number of studies have begun to focus on them. More and more miPs have been revealed as essential for energy metabolism homeostasis, immune regulation, and tumor growth and development. Many reports have shown that miPs are especially essential for regulating glucose and lipid metabolism and regulating mitochondrial function. MiPs are also involved in the progression of related diseases. This paper reviews the sources and identification of miPs, as well as the functional significance of miPs for metabolism-related diseases, with the aim of revealing their potential clinical applications.

Key words: Energy metabolism; Micropeptides; Mitochondria; Noncoding RNA (ncRNA); Small open reading frame (sORF)

Chinese Summary  <26> 基于学习的四足机器人通用技能控制方法

作者:邵烨程1,2,金永斌1,2,黄志龙4,王宏涛1,2,3,杨卫1,2
机构:1浙江大学,交叉力学中心,中国杭州,310027;2浙江大学,杭州国际科创中心,中国杭州,311200;3浙江大学,流体动力与机电系统国家重点实验室,中国杭州,310058;4浙江大学,应用力学研究所,中国杭州,310027
目的:控制四足机器人实现连续、可控的多种运动。
创新点:1.将动作生成与基于动作模仿的强化学习方法结合,使用同一个控制器,跟踪不同运动学轨迹,在实物机器人上实现步态切换、高抬腿和跳跃等不同动作。2.提出参考轨迹可预测性的概念,强化学习控制器具备挖掘参考轨迹内在关联性的能力,揭示动作模仿中控制器输入的参考轨迹长度对控制器性能的影响机理。
方法:1.通过动作捕获、草绘与轨迹优化等方法,建立运动轨迹数据库。2.通过基于动作模仿的强化方法,在仿真环境中训练控制器模仿数据库中的动作。3.基于控制器设计动作状态机,根据用户指令实时生成可控的运动轨迹,作为控制器的输入,实现对实物机器人的控制。4.提出参考轨迹可预测性的概念,分析参考轨迹长度对控制器性能的影响。
结论:1.本文所提出的控制方法可以在实物机器人上实现对多种技能的控制。2.参考轨迹长度对控制器性能的影响是通过可预测性实现的;对于可预测性低的运动,可以通过补充参考轨迹长度提高控制器性能。

关键词组:四足机器人;强化学习;动作生成;控制


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DOI:

10.1631/jzus.B2300128

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On-line Access:

2024-08-27

Received:

2023-10-17

Revision Accepted:

2024-05-08

Crosschecked:

2023-12-12

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