A5022002000- Robot Manipulation and Learning
- Genomics and Chromatin Dynamics
- RNA Research and Splicing
- Teleoperation and Haptic Systems
- Soft Robotics and Applications
- DNA Repair Mechanisms
- RNA modifications and cancer
- RNA and protein synthesis mechanisms
- Robotic Path Planning Algorithms
- Robotic Mechanisms and Dynamics
- CRISPR and Genetic Engineering
- Iterative Learning Control Systems
- Chromosomal and Genetic Variations
- Dynamics and Control of Mechanical Systems
- Surgical Simulation and Training
- Anomaly Detection Techniques and Applications
- Chromatin Remodeling and Cancer
- Virtual Reality Applications and Impacts
- Botulinum Toxin and Related Neurological Disorders
- Plant Molecular Biology Research
- Hepatitis B Virus Studies
- Cancer-related molecular mechanisms research
- HIV Research and Treatment
- Plant Virus Research Studies
- Video Surveillance and Tracking Methods
Tsinghua University
2022-2025
Peking University
2019-2024
Center for Life Sciences
2019-2024
DNA replication is initiated at multiple loci to ensure timely duplication of eukaryotic genomes. Sister forks progress bidirectionally, and terminates when two convergent encounter one another. To investigate the coordination forks, we developed a replication-associated in situ HiC method capture chromatin interactions involving nascent DNA. We identify more than 2000 fountain-like structures contacts human mouse genomes, indicative coupling forks. Replication fork interaction not only...
The relationship between transcription and the 3D chromatin structure is debated. Multiple studies have shown that affects global Cohesin binding genome structures. However, several other indicated inhibited does not alter conformations.
RNA polymerase II (Pol II) apparatuses are compartmentalized into transcriptional clusters. Whether protein factors control these clusters remains unknown. In this study, we find that the ATPase-associated with diverse cellular activities (AAA + ) ATPase RUVBL2 co-occupies promoters Pol and various transcription factors. interacts unphosphorylated in chromatin to promote RPB1 carboxy-terminal domain (CTD) clustering initiation. Rapid depletion of leads a decrease number inhibits nascent...
Abstract Background Early DNA replication occurs within actively transcribed chromatin compartments in mammalian cells, raising the immediate question of how early coordinates with transcription to avoid collisions and damage. Results We develop a high-throughput nucleoside analog incorporation sequencing assay identify thousands initiation zones both mouse human cells. The identified fall open are mutually exclusive elongation. Of note, mainly located non-transcribed regions adjacent...
Abstract Hepatitis B viral (HBV) DNAs, including covalently closed circular DNA (cccDNA) and integrated HBV forms, are considered to be primary contributors the development progression of HBV-associated liver diseases. However, it remains largely unclear how DNAs communicate with human chromatin. Here we employed a highly sensitive technology, 3C-high-throughput genome-wide translocation sequencing (3C-HTGTS), globally identify DNA–host contacts in cellular models infection. does not...
In-hand manipulation using multiple dexterous fingers is a critical robotic skill that can reduce the reliance on large arm motions, thereby saving space and energy. This letter focuses in-grasp object movement, which refers to manipulating an desired pose through only finger motions within stable grasp. The key challenge lies in simultaneously achieving high precision large-range movements while maintaining constant To address this problem, we propose simple practical approach based...
Abstract Background Mammalian cells have three types of RNA polymerases (Pols), Pol I, II, and III. However, the extent to which these are cross-regulated underlying mechanisms remain unclear. Results We employ genome-wide profiling after acute depletion or III assess cross-regulatory effects between Pols. find that enzymes mainly affect transcription their own target genes, while certain genes transcribed by other polymerases. Importantly, most active type crosstalk is exemplified fact...
CTCF is a predominant insulator protein required for three-dimensional chromatin organization. However, the roles of its insulation enhancers in 3D nuclear organization have not been fully explained. Here, we found that DNA-binding domain (DBD) forms dynamic self-interacting clusters. Strikingly, DBD clusters were to incorporate other proteins but are coenriched with transcriptional activators nucleus. This property observed domains or DBDs transcription factors. Moreover, endogenous shows...
Constrained environments, compared with open spaces without other objects, are more common in practical applications of manipulating deformable linear objects (DLOs) by robots, where movements both DLOs and robot manipulators should be constrained unintended collision avoided. Such a task is high-dimensional highly owing to the DLOs, dual-arm robots high degrees freedom, 3-D complex which render global planning extremely challenging. Furthermore, accurate DLO models needed often unavailable...
RNA polymerase II drives mRNA gene expression, yet our understanding of Pol degradation is limited. Using auxin-inducible degron, we degraded II's RPB1 subunit, resulting in global repression. Surprisingly, certain genes exhibited increased levels post-degradation. These are associated with GPCR ligand binding and characterized by being less paused comprising polycomb-bound short genes. globally KDM6B binding, which was insufficient to explain specific activation. In contrast, RPB2 repressed...
Non-prehensile manipulation methods usually use a simple end effector, e.g., single rod, to manipulate the object. Compared grasping method, such an effector is compact and flexible, hence it can perform tasks in constrained workspace; As trade-off, has relatively few degrees of freedom (DoFs), resulting under-actuation problem with complex constraints for planning control. This paper proposes new non-prehensile method task object retrieval cluttered environments, using rod-like pusher....
Ultrasound scanning robots enable the automatic imaging of a patient's internal organs by maintaining close contact between ultrasound probe and body during procedure. Comprehensive, high-quality scans are essential for providing patient with an accurate diagnosis effective treatment plan. An robot usually works in doctor-robot co-existing environment, hence both efficiency safety collaboration should be considered. In this paper, we propose novel multi-modal control scheme robots, which...
The ultrasound scanning robot operates in environments where frequent human-robot interactions occur. Most existing control methods for address only one specific interaction situation or implement hard switches between controllers different situations, which compromises both safety and efficiency. In this paper, we propose a unified framework robots capable of handling all common interactions, distinguishing human-intended unintended types, adapting with appropriate compliance. Specifically,...
Dexterous in-hand manipulation is an essential skill of production and life. Nevertheless, the highly stiff mutable features contacts cause limitations to real-time contact discovery inference, which degrades performance model-based methods. Inspired by recent advancements in contact-rich locomotion manipulation, this paper proposes a novel approach control dexterous overcome current limitations. The proposed has attractive feature, allows robot robustly execute long-horizon without...
Non-prehensile manipulation methods usually use a simple end effector, e.g., single rod, to manipulate the object. Compared grasping method, such an effector is compact and flexible, hence it can perform tasks in constrained workspace; As trade-off, has relatively few degrees of freedom (DoFs), resulting under-actuation problem with complex constraints for planning control. This paper proposes new non-prehensile method task object retrieval cluttered environments, using rod-like pusher....
There is invariably a tradeoff between safety and efficiency for collaborative robots (cobots) in human–robot collaborations (HRCs). Robots that interact minimally with humans can work high speed accuracy but cannot adapt to new tasks or respond unforeseen changes, whereas closely only by becoming passive humans, meaning their main are suspended compromised. Accordingly, this article proposes complementary framework HRC balances the of robots. In framework, robot carries out given using...
Constrained environments are common in practical applications of manipulating deformable linear objects (DLOs), where movements both DLOs and robots should be constrained. This task is high-dimensional highly constrained owing to the DLOs, dual-arm with high degrees freedom, 3-D complex environments, which render global planning challenging. Furthermore, accurate DLO models needed by often unavailable their strong nonlinearity diversity, resulting unreliable planned paths. article focuses on...
SUMMARY CTCF is required for three-dimensional chromatin organization and a predominant insulator protein. However, its roles in insulating enhancers have not been fully explained 3D nuclear organization. Here, we found that the DNA binding domain (DBD) forms dynamic self-interacting clusters. We next investigated spatial relationships between these clusters other transcription regulators with light-induced imaging system. Strikingly, DBD were to incorporate proteins but are coenriched...