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opencc-by-4.0Jun 2013View details →

Figure 6 in Cloning and characterization of ubiquitin ribosome fusion gene RpS27a, a deltamethrin-resistance-associated gene from diamondback moth (Plutella xylostella L.)

Figure 6. mRNA level of RpS27a in DS-strain and DR-strain of P. xylostella. All values are expressed as means ± SD. DS-strain: deltamethrin-susceptible strain; DR-strain: deltamethrinresistant strain. *P <0.01.

opencc-by-4.0Sep 2024View details →

RGB-Based Behavior Cloning Dataset for Surgical Robotics: 99,522 Episodes of Optimal Demonstrations

<h3>Dataset Description:</h3> This dataset contains 99,522 episodes of RGB-based state-action-reward expert demonstrations collected from a reaching task within a surgical robotics simulation environment, LapGym (Scheikl et al.). The data was generated using the LapGym ReachEnv, where a robotic grasper is tasked with reaching a specific point in 3D space. Each episode consists of a series of RGB images (64x64 pixels), corresponding actions, rewards, and terminal flags, designed for training behavior cloning and offline RL algorithms. This dataset was created for the paper "Assessing Behavior Cloning with RGB Inputs in Surgical Robotics Through Dataset Ablation". The expert demonstrations were collected using an optimal agent, where actions were computed based on the known locations of the grasper and the point of interest. The specific settings for the ReachEnv environment used to collect the dataset are as follows: <ul> <li>Environment: <code>ReachEnv</code></li> <li>Observation Type: <code>RGB</code></li> <li>Render Mode: <code>HUMAN</code></li> <li>Action Type: <code>CONTINUOUS</code></li> <li>Distance to Target Threshold: <code>0.01</code></li> <li>Image Shape: <code>(64, 64)</code></li> <li>Frame Skip: <code>1</code></li> <li>Time Step: <code>0.1</code></li> <li>Reward Amounts: <ul> <li>Distance to Target: <code>0.0</code></li> <li>Delta Distance to Target: <code>0.0</code></li> <li>Successful Task: <code>100.0</code></li> <li>Time Step Cost: <code>0.0</code></li> <li>Workspace Violation: <code>0.0</code></li> </ul> </li> <li>Sphere Radius: <code>0.020</code></li> </ul> Key features of the dataset include: <ul> <li>RGB Inputs: Each episode includes 64x64 RGB frames representing the environment's visual state.</li> <li>Optimal Demonstrations: All actions represent optimal behavior for completing the reach task.</li> <li>Sparse Rewards: Rewards are only provided upon successful task completion, offering a challenging learning scenario.</li> <li>Varied Episode Lengths: Episodes vary in length, depending on how quickly the task is completed.</li> </ul> <h3>Applications:</h3> This dataset is designed for research in: <ul> <li>Behavior cloning with RGB image inputs.</li> <li>Data efficiency and sample efficiency in imitation learning.</li> <li>Offline reinforcement learning with visual inputs.</li> </ul> <h3>Structure:</h3> <ul> <li>Observations: Images stored as 64x64 RGB pixel arrays.</li> <li>Actions: Continuous actions corresponding to the robotic grasper’s movements.</li> <li>Rewards: Sparse rewards indicating task success.</li> <li>Terminals: Terminal flags for task completion.</li> </ul> <h3>How to Use:</h3> This dataset can be used to train and evaluate offline models for robotic control tasks in conjunction with LapGym, particularly in the domain of surgical robotics. It is especially suited for behavior cloning experiments, offline reinforcement learning, and studies on data efficiency. <h3>Citation:</h3> Please cite this dataset in any publications as: Acs and Zhong (2024). RGB-Based Behavior Cloning Dataset for Surgical Robotics: 99,522 Episodes of Optimal Demonstrations.

opencc-by-4.0Sep 2024View details →

Processed data for "Characterising the evolutionary dynamics of cancer proliferation in single-cell clones with SPRINTER"

This dataset contains the processed data for the figures and analyses performed in the publication "Characterising the evolutionary dynamics of cancer proliferation in single-cell clones with SPRINTER" from Lucas O., Ward S., Zaidi R., Bunkum A., ..., Zaccaria S. Nature genetics, in press, 2024. The processed data are separated into three respective folders: <ul> <li>GT contains all the data related to the analysis of the generated ground truth datasets;</li> <li>NSCLC contains all the data related to the analysis of the NSCLC dataset;</li> <li>TNBC_HGSC contains all the data related to the analysis of the TNBC and HGSC datasets. </li> </ul>

FIGURE 9 in Laboratory Hybridization among North American Whiptail Lizards, Including Aspidoscelis inornata arizonae × A. tigris marmorata (Squamata: Teiidae), Ancestors of Unisexual Clones in Nature

FIGURE 9. Testis, adrenal gland, mesonephros, and vas deferens of A. t. marmorata, the father of the hybrids. A. Testis, adrenal gland, mesonephros, and vas deferens (AMNH R-153156, slide 8, row 1, section 2). B. Seminiferous tubule (AMNH R-153156, slide 8, row 1, section 2). C. Vas deferens containing mature spermatozoa (AMNH R-153156, slide 9, row 1, section 6). D. Vas deferens with mature spermatozoa (AMNH R-153156, slide 6, row 1, section 2, Mallory Triple, Pantin method). Scale bar: 0.1 mm except for A, 1.0 mm.

FIGURE 5 in Laboratory Hybridization among North American Whiptail Lizards, Including Aspidoscelis inornata arizonae × A. tigris marmorata (Squamata: Teiidae), Ancestors of Unisexual Clones in Nature

FIGURE 5. Pattern of morphological variation expressed by the distribution of scores on the first two principal components extracted from a correlation matrix of seven meristic characters of three laboratory hybrids, 18 specimens of A. i. arizonae (including the maternal parent of the hybrids), and 18 specimens of A. t. marmorata (including the paternal parent of the hybrids). All samples represent populations in the vicinities of those from which the parents of the hybrids were collected. Note that the three hybrids are intermediate to their individual parents on PC1.

FIGURE 12 in Laboratory Hybridization among North American Whiptail Lizards, Including Aspidoscelis inornata arizonae × A. tigris marmorata (Squamata: Teiidae), Ancestors of Unisexual Clones in Nature

FIGURE 12. The large tissue sample from the adult-sized, apparently female (but intersex) laboratory hybrid (AMNH R-153158). A. An entire section (AMNH R-153158A, slide 1, section 3; scale bar: 1 mm). Rectangles identify enlarged views in B–E. B. Adrenal gland (AMNH R-153158A, slide 1, section 3). C and D. Adrenal gland and transition to adjacent ovary (AMNH R-153158A, slide 1, section 3). E. Ovary (AMNH R-153158A, slide 1, section 3). Scale bars for B–E: 0.1 mm.

FIGURE 1 in Laboratory Hybridization among North American Whiptail Lizards, Including Aspidoscelis inornata arizonae × A. tigris marmorata (Squamata: Teiidae), Ancestors of Unisexual Clones in Nature

FIGURE 1. Karyotype of laboratory hybrid of A. i. arizonae (♀) × A. t. marmorata (♂), AMNH R-153158, adult-sized intersex individual that superficially resembled a female. Upper row represents the haploid complement of A. t. marmorata (with 3 large Set I metacentric and submetacentric macrochromosomes including the X + 8 biarmed Set II macrochromosomes + 12 Set III microchromosomes). Lower row represents the haploid complement of A. i. arizonae (with 1 Set I macrochromosome including its characteristic NOR and satellite [arrow] + 12 subtelocentric Set II macrochromosomes + 10 Set III microchromosomes). Line represents 10 microns.

FIGURE 6 in Laboratory Hybridization among North American Whiptail Lizards, Including Aspidoscelis inornata arizonae × A. tigris marmorata (Squamata: Teiidae), Ancestors of Unisexual Clones in Nature

FIGURE 6. Pattern of morphological variation expressed by the distribution of scores on the first two principal components extracted from a correlation matrix of seven meristic characters of three hybrids, 18 specimens of A. i. arizonae (including the maternal parent of the hybrids), 18 specimens of A. t. marmorata (including the paternal parent of the hybrids), and 11 specimens of the unisexual A. neomexicana. All samples represent populations in the vicinities of those from which the parents of the hybrids were collected. Note that the three hybrids are intermediate to their individual parents and that A. neomexicana most closely resembles its maternal progenitor species, A. t. marmorata on PC1.

FIGURE 11 in Laboratory Hybridization among North American Whiptail Lizards, Including Aspidoscelis inornata arizonae × A. tigris marmorata (Squamata: Teiidae), Ancestors of Unisexual Clones in Nature

FIGURE 11. The small tissue sample from the adult-sized, apparently female (but intersex) laboratory hybrid (AMNH R-153158). A. Mesonephros and adrenal gland (AMNH R-153158B, slide 6, row 2, section 1). B. Adrenal gland (AMNH R-153158B, slide 3, row 1, section 10). C. Mesonephros and adrenal gland (AMNH R-153158B, slide 5, row 1, section 6). D. Mesonephros and adrenal gland (AMNH R-153158B, slide 6, row 2, section 1). Scale bars: 0.1 mm.

FIGURE 8 in Laboratory Hybridization among North American Whiptail Lizards, Including Aspidoscelis inornata arizonae × A. tigris marmorata (Squamata: Teiidae), Ancestors of Unisexual Clones in Nature

FIGURE 8. Gross morphology of the adult-sized, apparently female (but intersex) laboratory hybrid (AMNH R-153158) of A. i. arizonae × A. t. marmorata. A. Ventral view of the viscera through the opened body wall; the organs have not been disturbed. The arrows indicate a boundary between the left adrenal gland and the left ovary. B. The left kidney and dorsal body wall visible with the adrenal/ovary mass displaced to the right. C. Adrenal/ovary mass displaced to the left. D. Remaining viscera after removal of the adrenal/ovary mass and a suspected testis. Scale bars: 5 mm. Abbreviations in figures 8–17 are explained in Materials and Methods.

FIGURE 13 in Laboratory Hybridization among North American Whiptail Lizards, Including Aspidoscelis inornata arizonae × A. tigris marmorata (Squamata: Teiidae), Ancestors of Unisexual Clones in Nature

FIGURE 13. The large tissue sample from the adult-sized, apparently female (but intersex) laboratory hybrid (AMNH R-153158). A. An entire section (AMNH R-153158A, slide 23, section 1; scale bar: 1 mm). Rectangles identify enlarged views in B–I. B–C. Adrenal gland (AMNH R-153158A, slide 23, section 1). D–E. Adrenal gland and ovary (AMNH R-153158A, slide 23, section 1). F–I. Ovary (AMNH R-153158A, slide 23, section 1). H. An enlargement from slide 23, section 2 showing an atretic follicle in the ovary. I. An enlargement from slide 23, section 2, showing yolk granules. Scale bars for B–I: 0.1 mm.

FIGURE 7 in Laboratory Hybridization among North American Whiptail Lizards, Including Aspidoscelis inornata arizonae × A. tigris marmorata (Squamata: Teiidae), Ancestors of Unisexual Clones in Nature

FIGURE 7. Pattern of morphological distinctiveness expressed by the distribution of canonical variate scores derived from a canonical variate analysis of seven meristic characters of three a priori groups: 18 specimens of A. i. arizonae (including the maternal parent of the laboratory hybrids), 18 specimens of A. t. marmorata (including the paternal parent of the hybrids), and 11 specimens of A. neomexicana. All samples represent populations in the vicinities of those from which the parents of the hybrids were collected. The three laboratory hybrids were included in the CVA as unassigned, for classification to the a priori group that each most closely resembled. Note the position of the hybrid group intermediate to A. i. arizonae, A. t. marmorata, and A. neomexicana clusters. This suggested that the hybrid group itself is distinctive, which was verified by a followup CVA (not illustrated, but see text).

Fig. 14 in Congruent Patterns of Genetic and Morphological Variation in the Parthenogenetic Lizard Aspidoscelis tesselata (Squamata: Teiidae) and the Origins of Color Pattern Classes and Genotypic Clones in Eastern New Mexico

Fig. 14. Additive tree (phenogram), based on Mahalanobis D2 distances (table 13), depicting meristic resemblance among nine groups of Aspidoscelis tesselata. Distances (similarities) between groups are computed by adding lengths of nodes between groups of interest. Terminal nodes represent the nine groups, and internal nodes represent horizontal distances between clusters. As an interpretation example, the resemblance between Conchas 6CE and Conchas 1CE is 7.2 + 3.2 + 2.2 + 2.8 + 5.6 = 21.0, while the resemblance between Conchas 6CE and Macho EC is 7.2 + 1.0 + 1.9 + 3.1 = 13.2.

Fig. 3 in Congruent Patterns of Genetic and Morphological Variation in the Parthenogenetic Lizard Aspidoscelis tesselata (Squamata: Teiidae) and the Origins of Color Pattern Classes and Genotypic Clones in Eastern New Mexico

Fig. 3. Electrophoretic phenotypes of sACOH, a monomeric enzyme, from liver homogenates of nine specimens of A. tesselata of pattern class CE from Conchas Lake State Park, New Mexico. Letters below gel identify allozymes based on alleles present (table 3), and the genotype of each lizard is listed on the right. Lanes for individual lizards are labeled beside their patterns on the gel. Anode is to the right.

Fig. 11 in Congruent Patterns of Genetic and Morphological Variation in the Parthenogenetic Lizard Aspidoscelis tesselata (Squamata: Teiidae) and the Origins of Color Pattern Classes and Genotypic Clones in Eastern New Mexico

Fig. 11. Pattern of multivariate morphological variation among Aspidoscelis tesselata of pattern classes C (N = 44), E (N = 32), and New Mexico D (N = 5) from the vicinity of Sumner Lake State Park, De Baca County, New Mexico. Canonical variate scores were derived from a canonical variate analysis using meristic characters identified in table 10.

Fig. 2 in Congruent Patterns of Genetic and Morphological Variation in the Parthenogenetic Lizard Aspidoscelis tesselata (Squamata: Teiidae) and the Origins of Color Pattern Classes and Genotypic Clones in Eastern New Mexico

Fig. 2. Electrophoretic phenotypes of GPI, a dimeric enzyme, from erythrocyte hemolysates of six specimens of Aspidoscelis. Letters below gel identify allozymes based on alleles present (table 3), and the genotype of each lizard is listed on the right. Note the very slight difference in migration between the products of the ballele versus callele. Lanes for individual lizards are labeled beside their patterns on the gel as follows: TESC, A. tesselata of pattern class CE from Conchas Lake State Park, New Mexico; and TESE, A. tesselata of pattern class E from Sandoval County, New Mexico. Anode is to the right.

Fig. 1 in Congruent Patterns of Genetic and Morphological Variation in the Parthenogenetic Lizard Aspidoscelis tesselata (Squamata: Teiidae) and the Origins of Color Pattern Classes and Genotypic Clones in Eastern New Mexico

Fig. 1. Geographic relationships among four northern collecting localities of Aspidoscelis tesselata of color pattern classes C, New Mexico D, and E and convenience classes CE and EC. Color patterns found at the four sites are (1) Conchas Lake State Park: CE and New Mexico D; (2) Sumner Lake State Park: C, New Mexico D, and E; (3) Puerto de Luna: E; and (4) Arroyo del Macho: EC.

Fig. 7 in Congruent Patterns of Genetic and Morphological Variation in the Parthenogenetic Lizard Aspidoscelis tesselata (Squamata: Teiidae) and the Origins of Color Pattern Classes and Genotypic Clones in Eastern New Mexico

Fig. 7. Color pattern variation in Aspidoscelis tesselata of pattern class CE from the vicinity of Conchas Lake State Park, San Miguel County, New Mexico. Morphological subgroup 6CE: A (RU 0002, 93 mm SVL); B (RU 0029, 96 mm SVL); morphological subgroup 1CE: C (RU 0013, 95 mm SVL); D (RU 0030, 89 mm SVL); E (RU 0021, 95 mm SVL); morphological subgroup 8CE: F (RU 0027, 86 mm SVL).

Fig. 4 in Congruent Patterns of Genetic and Morphological Variation in the Parthenogenetic Lizard Aspidoscelis tesselata (Squamata: Teiidae) and the Origins of Color Pattern Classes and Genotypic Clones in Eastern New Mexico

Fig. 4. Electrophoretic phenotypes of MPI, a monomeric enzyme, from liver homogenates of 11 specimens of Aspidoscelis. Letters below gel identify allozymes based on alleles present (table 3), and the genotype of each lizard is listed on the right. Lanes for individual lizards are labeled beside their patterns on the gel (with genotype) as follows: NEOTESA, B, and C, different pattern classes of the triploid A. neotesselata from Colorado; TESC and D, A. tesselata of pattern classes CE and D from Conchas Lake State Park, New Mexico; TESE, A. tesselata of pattern class EC from Arroyo del Macho, New Mexico; TESF, A. dixoni from New Mexico; TESF × PUN, triploid hybrid of A. dixoni × A. tigris punctilinealis from New Mexico; and TESG and H, A. dixoni of two pattern classes from Texas. Anode is to the right.