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Visual simultaneous localization and mapping (VSLAM) is pivotal for intelligent mobile robots. VSLAM systems can be used to identify scenes by obtaining massive amounts of redundant texture information from the environment. However, VSLAM faces a major challenge in dynamic low-light environments, in which the extraction of feature points is often difficult, leading to tracking failure with mobile robots. Therefore, we developed a method to improve the feature point extraction method used for VSLAM. We first used the contrast limited adaptive histogram equalization (CLAHE) method to increase the contrast in low-light images, allowing for the extraction of more feature points. Second, in order to increase the effectiveness of the extracted feature points, the redundant feature points were removed. We developed three conditions to filter the feature points. Finally, the proposed method was tested on popular datasets (e.g., TUM and OpenLORIS-Scene), and the results were compared with those of several traditional methods. The results of the experiments showed that the proposed method is feasible and highly robust in dynamic low-light environments. [ABSTRACT FROM AUTHOR]

Background: Paranasal sinus angiosarcoma is an uncommon malignancy, with only a few reported cases worldwide. Although it exhibits multiple symptoms, facial paralysis has not been previously documented as a noticeable presentation. Case Presentation: In this case, we report a 40-year-old male who presented with facial numbness and pain for one month, weakness of his facial muscles for 15 days, and recurrent right epistaxis for 1 year. He had a history of nasal inflammatory polyps with chronic sinusitis. Computed tomography and magnetic resonance imaging showed space-occupying lesions in the right nasal cavity and maxillary sinus, with bone destruction occurring in the sinus wall and turbinate. This patient then underwent endoscopic surgery. According to the histopathological and immunohistochemical results, he was eventually diagnosed with paranasal sinus angiosarcoma in April 2021. To date, this patient has not initiated any radiotherapy or chemotherapy and has survived with lymphatic metastasis for at least 3 years. Conclusions: This manuscript suggests that paranasal sinus angiosarcoma can present with facial paralysis. Moreover, pathological and immunohistochemical tests are still vital for diagnosing paranasal sinus angiosarcoma and differential diagnosis. Additionally, regular follow-up is crucial for patients with paranasal sinus angiosarcoma, enabling monitoring of recurrence, metastasis, and recovery while contributing valuable clinical data to understanding this rare disease and associated research endeavours. [ABSTRACT FROM AUTHOR]

Simultaneous localization and mapping (SLAM) plays a crucial role in the field of intelligent mobile robots. However, the traditional Visual SLAM (VSLAM) framework is based on strong assumptions about static environments, which are not applicable to dynamic real-world environments. The correctness of re-localization and recall of loop closure detection are both lower when the mobile robot loses frames in a dynamic environment. Thus, in this paper, the re-localization and loop closure detection method with a semantic topology graph based on ORB-SLAM2 is proposed. First, we use YOLOv5 for object detection and label the recognized dynamic and static objects. Secondly, the topology graph is constructed using the position information of static objects in space. Then, we propose a weight expression for the topology graph to calculate the similarity of topology in different keyframes. Finally, the re-localization and loop closure detection are determined based on the value of topology similarity. Experiments on public datasets show that the semantic topology graph is effective in improving the correct rate of re-localization and the accuracy of loop closure detection in a dynamic environment. [ABSTRACT FROM AUTHOR]

Biocytin, a chemical compound that is an amide formed from the vitamin biotin and the amino acid L-lysine, has been used as a histological dye to stain nerve cells. Electrophysiological activity and morphology are two key characteristics of neurons, but revealing both the electrophysiological and morphological properties of the same neuron is challenging. This article introduces a detailed and easy-to-operate procedure for single-cell labeling in combination with whole-cell patch-clamp recording. Using a recording electrode filled with a biocytin-containing internal solution, we demonstrate the electrophysiological and morphological characteristics of pyramidal (PNs), medial spiny (MSNs) and parvalbumin neurons (PVs) in brain slices, where the electrophysiological and morphological properties of the same individual cell are elucidated. We first introduce a protocol for whole-cell patch-clamp recording in various neurons, coupled with the intracellular diffusion of biocytin delivered by the glass capillary of the recording electrode, followed by a post hoc procedure to reveal the architecture and morphology of biocytin-labeled neurons. An analysis of action potentials (APs) and neuronal morphology, including the dendritic length, number of intersections, and spine density of biocytin-labeled neurons, were performed using ClampFit and Fiji Image (ImageJ), respectively. Next, to take advantage of the techniques introduced above, we uncovered defects in the APs and the dendritic spines of PNs in the primary motor cortex (M1) of deubiquitinase cylindromatosis (CYLD) knock-out (Cyld−/−) mice. In summary, this article provides a detailed methodology for revealing the morphology as well as the electrophysiological activity of a single neuron that will have many applications in neurobiology. [ABSTRACT FROM AUTHOR]

The porcine body length trait is an essential factor affecting meat production and reproductive performance. It is evident that the development/lengthening of individual vertebrae is one of the main reasons for increases in body length; however, the underlying molecular mechanism remains unclear. In this study, RNA-seq analysis was used to profile the transcriptome (lncRNA, mRNA, and miRNA) of the thoracic intervertebral cartilage (TIC) at two time points (1 and 4 months) during vertebral column development in Yorkshire (Y) and Wuzhishan pigs (W). There were four groups: 1- (Y1) and 4-month-old (Y4) Yorkshire pigs and 1- (W1) and 4-month-old (W4) Wuzhishan pigs. In total, 161, 275, 86, and 126 differentially expressed (DE) lncRNAs, 1478, 2643, 404, and 750 DE genes (DEGs), and 74,51, 34, and 23 DE miRNAs (DE miRNAs) were identified in the Y4 vs. Y1, W4 vs. W1, Y4 vs. W4, and Y1 vs. W1 comparisons, respectively. Functional analysis of these DE transcripts (DETs) demonstrated that they had participated in various biological processes, such as cellular component organization or biogenesis, the developmental process, the metabolic process, bone development, and cartilage development. The crucial bone development-related candidate genes NK3 Homeobox 2 (NKX3.2), Wnt ligand secretion mediator (WLS), gremlin 1 (GREM1), fibroblast growth factor receptor 3 (FGFR3), hematopoietically expressed homeobox (HHEX), (collagen type XI alpha 1 chain (COL11A1), and Wnt Family Member 16 (WNT16)) were further identified by functional analysis. Moreover, lncRNA, miRNA, and gene interaction networks were constructed; a total of 55 lncRNAs, 6 miRNAs, and 7 genes formed lncRNA–gene, miRNA–gene, and lncRNA–miRNA–gene pairs, respectively. The aim was to demonstrate that coding and non-coding genes may co-regulate porcine spine development through interaction networks. NKX3.2 was identified as being specifically expressed in cartilage tissues, and it delayed chondrocyte differentiation. miRNA-326 regulated chondrocyte differentiation by targeting NKX3.2. The present study provides the first non-coding RNA and gene expression profiles in the porcine TIC, constructs the lncRNA–miRNA–gene interaction networks, and confirms the function of NKX3.2 in vertebral column development. These findings contribute to the understanding of the potential molecular mechanisms regulating pig vertebral column development. They expand our knowledge about the differences in body length between different pig species and provide a foundation for future studies. [ABSTRACT FROM AUTHOR]

Semantic mapping can help robots better understand the environment and is extensively studied in robotics. However, it is a challenge for semantic mapping that calibrates all the obstacles with semantics. We propose integrating two network models to realize the salient semantic segmentation used for mobile robot mapping, which differs from traditional segmentation methods. Firstly, we detected salient objects. The detection result was the grayscale image form, which was recognized and annotated by our trained model. Then, we projected the salient objects' contour with semantics to the corresponding RGB image, which realized the salient objects' semantic segmentation. We treated the salient objects instead of all the obstacles as semantic segmentation objects that could reduce the background consideration. The neural network model trained based on the salient object's shape information was stable for object recognition and easy for model training. We only used the shape feature for training, which could reduce the calculation amount of feature details. Experiments demonstrated that the algorithm could quickly realize the model's training and provide a semantic landmark in the point cloud map as the relative position reference for robot repositioning when the map needs to be used again and exist in a similar environment. [ABSTRACT FROM AUTHOR]

Background: Before the deposition of amyloid-beta plaques and the onset of learning memory deficits, patients with Alzheimer's disease (AD) experience olfactory dysfunction, typified by a reduced ability to detect, discriminate, and identify odors. Rodent models of AD, such as the Tg2576 and APP/PS1 mice, also display impaired olfaction, accompanied by aberrant in vivo or in vitro gamma rhythms in the olfactory pathway. However, the mechanistic relationships between the electrophysiological, biochemical and behavioral phenomena remain unclear. Methods: To address the above issues in AD models, we conducted in vivo measurement of local field potential (LFP) with a combination of in vitro electro-olfactogram (EOG), whole-cell patch and field recordings to evaluate oscillatory and synaptic function and pharmacological regulation in the olfactory pathway, particularly in the olfactory bulb (OB). Levels of protein involved in excitation and inhibition of the OB were investigated by western blotting and fluorescence staining, while behavioral studies assessed olfaction and memory function. Results: LFP measurements demonstrated an increase in gamma oscillations in the OB accompanied by altered olfactory behavior in both APP/PS1 and 3xTg mice at 3–5 months old, i.e. an age before the onset of plaque formation. Fewer olfactory sensory neurons (OSNs) and a reduced EOG contributed to a decrease in the excitatory responses of M/T cells, suggesting a decreased ability of M/T cells to trigger interneuron GABA release indicated by altered paired-pulse ratio (PPR), a presynaptic parameter. Postsynaptically, there was a compensatory increase in levels of GABAAR α1 and β3 subunits and subsequent higher amplitude of inhibitory responses. Strikingly, the GABA uptake inhibitor tiagabine (TGB) ameliorated abnormal gamma oscillations and levels of GABAAR subunits, suggesting a potential therapeutic strategy for early AD symptoms. These findings reveal increased gamma oscillations in the OB as a core indicator prior to onset of AD and uncover mechanisms underlying aberrant gamma activity in the OB. Conclusions: This study suggests that the concomitant dysfunction of both olfactory behavior and gamma oscillations have important implications for early AD diagnosis: in particular, awareness of aberrant GABAergic signaling mechanisms might both aid diagnosis and suggest therapeutic strategies for olfactory damage in AD. [ABSTRACT FROM AUTHOR]

Japanese encephalitis virus SA14-14-2 (JEV SA14-14-2) is a widely used vaccine in China and other southeastern countries to prevent Japanese encephalitis in children. In this study, a stable infectious cDNA clone of JEV SA14-14-2 with a low copy number pACYC177 vector dependent on the T7 promoter and T7 terminator was developed. Two introns were inserted into the capsid gene and envelope gene of JEV cDNA for gene stability. Hepatitis delta virus ribozyme (HDVr) was engineered into the 3′ UTR cDNA of JEV for authentic 3′ UTR transcription. The rescued virus showed biological properties indistinguishable from those of the parent strain (JEV SA14-14-2). The establishment of a JEV SA14-14-2 reverse genetics system lays the foundation for the further development of other flavivirus vaccines and viral pathogenesis studies. [ABSTRACT FROM AUTHOR]

Lysophosphatidic acid is a serum-derived growth factor that is involved in wound healing. Although in its infancy, a growing body of evidence has demonstrated that lysophosphatidic acid exerts a potentially significant role in regulating bone cell biology. However, previous studies mainly focused on the osteoinductive potential of lysophosphatidic acid, its effects on bone tissue vascularization, another essential element during bone regeneration, remains ill-defined so far. Here in this study, we examined the effects of lysophosphatidic acid on osteogenic differentiation as well as the angiogenesis-inducing capacity of pre-osteoblasts, a cell population that coordinates osteogenic and angiogenic processes in bone regenerating niche. Our results showed that treatment of MC3T3-E1 pre-osteoblastic cells with lysophosphatidic acid enhanced alkaline phosphatase activity and matrix mineralization, demonstrating in vitro osteoblastic differentiation. Of particular importance was the finding that vascular endothelial growth factor secretion also increased after lysophosphatidic acid treatment. Lysophosphatidic acid conditioned media of MC3T3-E1 cells was capable of promoting angiogenic behavior of endothelial cells, as evidenced by stimulating proliferation, migration, and tube formation. Besides, inhibition of LPA1/3 receptor abolished lysophosphatidic acid-induced elevation of the osteogenic and angiogenic capability of pre-osteoblasts. Our research demonstrated the important role of lysophosphatidic acid in coupling osteogenesis and angiogenesis during bone remodeling through orchestrating pre-osteoblast behavior, and implications therein for novel and effective treatment strategies for bone regeneration success. [ABSTRACT FROM AUTHOR]

[Objective] The paper to investigate the effects of pelleted total mixed ration of different particle size on production performance and serum biochemical index of fattening Hainan black goats. [Method] Thirty-six fattening Hainan black goats with the same genetic backgrounds and similar initial weight of (19.02±0.22) kg were randomly divided into three treatments. Goats were fed with Juncao+concentrate (control group), pelleted total mixed ration I (particle size 6 mm, experimental group I) and II (particle size 5 mm, experimental group II), respectively. The trial lasted 45 d. [Result] (1) The final weight and daily gain of experimental group II were significantly higher than those of control group (P<0.05), and the daily gain of experimental group II was also higher than that of experimental group I (P<:0.05); the feed intake of experimental group II was markedly higher than that of control group (P<0.05), but was significantly lower than that of experimental group I (P<0.05). The feed/gain ratio of experimental group II was significantly lower than those of control group and experimental group I (P<0.05). (2) The feed gain cost of experimental group II was markedly lower than that of control group (P<0.05), but the gross profit was significantly higher than those of control group and experimental group I (P<0.05). (3) Compared with the control group, the serum total protein content of experimental group II increased markedly (P<0.05) while the urea nitrogen level decreased (P>0.05). [Conclusion] The pelleted total mixed ration with the particle size of 5 mm obtained better fattening effect, and obviously improved the serum total protein level. [ABSTRACT FROM AUTHOR]

[Objective] This paper was to study effects of pelleted total mixed ration with different concenlrate-roughage ratios on production performance and serum biochemical parameters of fattening Hainan black goats. [Method] Thirty-six fattening Hainan black goats with the same genetic background and similar initial weight of (14.08+0.13) kg were randomly assigned into three treatments. Goats were fed with Juncao + concentrate (control group), pelleted total mixed ration I (concentrate: roughage 50;50, group I) and II (concentrate: roughage 45;55, group II), respectively. The test lasted 45 d. [Result] The final weight, daily gain and feed intake of rams in experimental group 1 were significantly higher than those of control group and experimental group II (P<0.05); the final weight and daily gain of rains in experimental group I were also markedly higher than those of experimental group II (P<0.05); the feed/gain of rams in experimental group I was significantly lower than those in control group and experimental group If (P<0.05). The feed gain cost of rams in experimental group T was markedly lower than that in experimental group TT (P<0.05), but was significantly higher than that in experimental group 1 (P<0.05); the gross profit of rams in experimental group 1 wras significantly higher than those in control group and experimental group 11 (P<0.05). Compared with control group and experimental group 11, the serum total protein and glucose levels in experimental group 11 increased significantly (P<0.05), but the urea nitrogen content reduced (P>0.05). [Conclusion] When the concentrate-roughage ratio ol pelleted total mixed ration was 50:50, the fattening effect of Hainan black goal was better, and the serum total protein and glucose levels were evidently improved. [ABSTRACT FROM AUTHOR]

[Objective] The paper was to study the effects on growth performance and feed digestibility of Hainan black pigs by adding lysine in low protein diet. [Method] A total of 36 Hainan black pigs with the body weight of (46341306) kg were randomly divided into three groups: control group (protein level 15%, lysine level 0.83%), experimental group I (protein level 13%, 0.83%), and experimental group II (protein level 13%, lysine level 1.03), each group had three replicates of four pigs. The trial lasted 35 d. [Result] The growth performance of Hainan black pig in group [I had no significant difference with that in control group (P>0.05). The apparent digestibility of crude protein and phosphorus of Hainan black pigs in Group II increased significantly (P<0.05), which were increased by 10.08% and 11.85% respectively compared to the control group; the apparent digestibility of calcium was increased, but the difference was not significant (P>0.05). [Conclusion] It will not reduce the growth performance of Hainan black pig when the protein level of diet is reduced by 2% and the lysine level is increased to 1.03%. It is recommended that the diet can be used in the production of Hainan black pig. [ABSTRACT FROM AUTHOR]

BACKGROUND The objective of the present study was to investigate the chronic effect of transgenic maize lines by the insertion of the cry1Ac gene from Bacillus thuringiensis (Bt) on the growth performance, immune response and health using a Wuzhishan miniature pig model through a 196-day feeding study. RESULTS Based on the gender and weight, 72 Wuzhishan miniature pigs were randomly assigned one of the diets containing 65% non-transgenic isogenic corn or Bt corn at three stages of growth (day 0-69, 70-134 and 135-196). The potential toxicological effects of transgenic corn on pigs were explored. No difference between the diet treatments for growth performance and haematology parameters at any stages of growth. Although subtle differences in serum content of alanine aminotransferase, relative kidney weight and some immune response were observed between the Bt group and isogenic group, they were not considered as diet treatment-related. CONCLUSION Long-term feeding Bt corn carrying cry1Ac genes to Wuzhishan miniature pigs did not indicate adverse effects on the growth, immune response and health indicators at any stages of growth. © 2016 Society of Chemical Industry [ABSTRACT FROM AUTHOR]

Coat color is one of the most important characteristics for distinguishing Chinese indigenous pig breeds. In Wuzhishan pigs, the animals have black on the back and white on the abdomen. However, the molecular genetic basis of this phenotype is unclear. In this study, we used high-throughput RNA sequencing to compare expression profiles of coding and non-coding RNAs from white and black skin samples obtained from individual Wuzhishan pigs. The expression profiling revealed that 194 lncRNAs (long non-coding RNAs), 189 mRNAs (messenger RNAs), and 162 miRNAs (microRNAs) had significantly different levels of expression (|log2 fold change| > 1, p-value < 0.05) in white and black skin. Compared to RNA levels in black skin, white skin had higher levels of expression of 185 lncRNAs, 181 mRNAs, and 23 miRNAs and lower levels of expression of 9 lncRNAs, 8 mRNAs, and 139 miRNAs. Functional analysis suggested that the differentially expressed transcripts are involved in biological processes such as melanin biosynthesis, pigmentation and tyrosine metabolism. Several key genes involved in melanogenesis, including MLANA, PMEL, TYR, TYRP1, DTC, TRPM1 and CAMK2A, had significantly different levels of expression in the two skin tissues. Potential lncRNA–miRNA–gene interactions were also examined. A total of 15 lncRNAs, 11 miRNAs and 7 genes formed 23 lncRNA–miRNA–gene pairs, suggesting that complex regulatory networks of coding and non-coding genes underlie the coat color trait in Wuzhishan pigs. Our study provides a foundation for understanding how lncRNA, miRNA and genes interact to regulate coat color in black-back/white-belly pigs. We also constructed lncRNA–miRNA–gene interaction networks to elucidate the complex molecular mechanisms underlying skin physiology and melanogenesis. The results extend our knowledge about the diversity of coat color among different domestic animals and provide a foundation for studying novel mechanisms that control coat color in Chinese indigenous pigs. [ABSTRACT FROM AUTHOR]