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Background: Polygenic risk scores (PRS) derived from European individuals have reduced portability across global populations, limiting their clinical implementation at worldwide scale. Here, we investigate the performance of a wide range of PRS models across four ancestry groups (Africans, Europeans, East Asians, and South Asians) for 14 conditions of high-medical interest. Methods: To select the best-performing model per trait, we first compared PRS performances for publicly available scores, and constructed new models using different methods (LDpred2, PRS-CSx and SNPnet). We used 285 K European individuals from the UK Biobank (UKBB) for training and 18 K, including diverse ancestries, for testing. We then evaluated PRS portability for the best models in Europeans and compared their accuracies with respect to the best PRS per ancestry. Finally, we validated the selected PRS models using an independent set of 8,417 individuals from Biobank of the Americas-Genomelink (BbofA-GL); and performed a PRS-Phewas. Results: We confirmed a decay in PRS performances relative to Europeans when the evaluation was conducted using the best-PRS model for Europeans (51.3% for South Asians, 46.6% for East Asians and 39.4% for Africans). We observed an improvement in the PRS performances when specifically selecting ancestry specific PRS models (phenotype variance increase: 1.62 for Africans, 1.40 for South Asians and 0.96 for East Asians). Additionally, when we selected the optimal model conditional on ancestry for CAD, HDL-C and LDL-C, hypertension, hypothyroidism and T2D, PRS performance for studied populations was more comparable to what was observed in Europeans. Finally, we were able to independently validate tested models for Europeans, and conducted a PRS-Phewas, identifying cross-trait interplay between cardiometabolic conditions, and between immune-mediated components. Conclusion: Our work comprehensively evaluated PRS accuracy across a wide range of phenotypes, reducing the uncertainty with respect to which PRS model to choose and in which ancestry group. This evaluation has let us identify specific conditions where implementing risk-prioritization strategies could have practical utility across diverse ancestral groups, contributing to democratizing the implementation of PRS. [ABSTRACT FROM AUTHOR]

The trajectory tracking performance of an actual robot is usually used as an important standard to evaluate a nonlinear controller algorithm. The aim of this article is to design a new experimental robot system based on the Robot Operating System-MATLAB framework. To validate the performance, a nonlinear tracking controller includes the following features. Firstly, the surface robot model is in Lie algebra S O (3) format, which keeps the potential of cooperation control between space vehicles. Secondly, the nonlinear controller has good robustness under unknown disturbances. Thirdly, the control algorithm focuses on the practical robot, Turtlebot2. The robot system experimental results demonstrate the effectiveness of the proposed controller for trajectory tracking under unknown disturbance. The controller's potential applications include autonomous robots for indoor examination, extreme condition rescuing, and cooperation between unmanned aerial vehicle and unmanned surface vehicle autodrives. [ABSTRACT FROM AUTHOR]

Here in the essay the internal logic of the digital transformation of the steel pipe-making company is described. The digital transformation strategy is worked out, and some cases concerning the digital construction are analyzed. It is regarded that during the process of implementation of the digital transformation, it is necessary to identify the positive and negative effects of the organizational inertia, properly grasp the scale of the transformational change, and meanwhile build the dynamic capabilities of the enterprise by means of the scientific strategies; furthermore during the digital transformation process, it is also necessary to pay attention to the constructions of the digital culture, talent and ability, etc; and it is suggested to learn relevant across-industrial experiences, and continuously carry out explorations associated with such aspects as new business format, lean production, operation situational awareness and full-flow delivery and so on. [ABSTRACT FROM AUTHOR]