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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]

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]

Abstract Background The VP3 protein of goose parvovirus (GPV) or Muscovy duck parvovirus (MDPV), a major structural protein, can induce neutralizing antibodies in geese and ducks, but monoclonal antibodies (MAbs) against VP3 protein has never been characterized. Results Three hybridoma cell lines secreting anti-GPV VP3 MAbs were obtained and designated 4A8, 4E2, and 2D5. Immunoglobulin subclass tests differentiated them as IgG2b (4A8 and 4E2) and IgG2a (2D5). Dot blotting assays showed that three MAbs reacted with His-VP3 protein in a conformation-independent manner. A competitive binding assay indicated that the MAbs delineated two epitopes, A and B of VP3. Immunofluorescence assay showed that MAbs 4A8, 4E2, and 2D5 could specifically bind to goose embryo fibroblast cells (GEF) or duck fibroblast cells (DEF) infected with GPV and MDPV. Dot blotting also showed that the MAbs recognized both nature GPV and MDPV antigen. Western blotting confirmed that the MAbs recognized VP3 proteins derived from purified GPV and MDPV particles. The MAbs 4A8 and 2D5 had universal reactivity to heterologous GPV and MDPV tested in an antigen-capture enzyme-linked immunosorbent assay. Conclusions Preparation and characterization of these the MAbs suggests that they may be useful for the development of a MAb-capture ELISA for rapid detection of both GPV and MDPV. Virus isolation and PCR are reliable for detecting GPV and MDPV infection, but these procedures are laborious, time-consuming, and requiring instruments. These diagnosis problems highlight the ongoing demand for rapid, reproducible, and automatic methods for the sensitive detection of both GPV and MDPV infection.

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]

It is known that humans and rodents are capable of transmitting stress to their naive partners via social interaction. However, a comprehensive understanding of transmitted stress, which may differ from authentic stress, thus revealing unique neural mechanisms of social interaction resulting from transmitted stress and the associated anxiety, is missing. We used, in the present study, maternal separation (MS) as a stress model to investigate whether MS causes abnormal behavior in adolescence. A key concern in the analysis of stress transmission is whether the littermates of MS mice who only witness MS stress ("Partners") exhibit behavioral abnormalities similar to those of MS mice themselves. Of special interest is the establishment of the neural mechanisms underlying transmitted stress and authentic stress. The results show that Partners, similar to MS mice, exhibit anxiety-like behavior and hyperalgesia after witnessing littermates being subjected to early-life repetitive MS. Electrophysiological analysis revealed that mice subjected to MS demonstrate a reduction in both the excitatory and inhibitory synaptic activities of parvalbumin interneurons (PVINs) in the anterior cingulate cortex (ACC). However, Partners differed from MS mice in showing an increase in the number and excitability of GABAergic PVINs in the ACC and in the ability of chemogenetic PVIN inactivation to eliminate abnormal behavior. Furthermore, the social transfer of anxiety-like behavior required intact olfactory, but not visual, perception. This study suggests a functional involvement of ACC PVINs in mediating the distinct neural basis of transmitted anxiety. SIGNIFICANCE STATEMENT The anterior cingulate cortex (ACC) is a critical brain area in physical and social pain and contributes to the exhibition of abnormal behavior. ACC glutamatergic neurons have been shown to encode transmitted stress, but it remains unclear whether inhibitory ACC neurons also play a role. We evaluate, in this study, ACC neuronal, synaptic and network activities and uncover a critical role of parvalbumin interneurons (PVINs) in the expression of transmitted stress in adolescent mice who had witnessed MS of littermates in infancy. Furthermore, inactivation of ACC PVINs blocks transmitted stress. The results suggest that emotional contagion has a severe effect on brain function, and identify a potential target for the treatment of transmitted anxiety., (Copyright © 2023 the authors.)

Introduction: The accelerated aging of the global population has emerged as a critical public health concern, with increasing recognition of the influential role played by the microbiome in shaping host well-being. Nonetheless, there remains a dearth of understanding regarding the functional alterations occurring within the microbiota and their intricate interactions with metabolic pathways across various stages of aging., Methods: This study employed a comprehensive metagenomic analysis encompassing saliva and stool samples obtained from 45 pigs representing three distinct age groups, alongside serum metabolomics and lipidomics profiling., Results: Our findings unveiled discernible modifications in the gut and oral microbiomes, serum metabolome, and lipidome at each age stage. Specifically, we identified 87 microbial species in stool samples and 68 in saliva samples that demonstrated significant age-related changes. Notably, 13 species in stool, including Clostridiales bacterium , Lactobacillus johnsonii , and Oscillibacter spp., exhibited age-dependent alterations, while 15 salivary species, such as Corynebacterium xerosis , Staphylococcus sciuri , and Prevotella intermedia , displayed an increase with senescence, accompanied by a notable enrichment of pathogenic organisms. Concomitant with these gut-oral microbiota changes were functional modifications observed in pathways such as cell growth and death (necroptosis), bacterial infection disease, and aging (longevity regulating pathway) throughout the aging process. Moreover, our metabolomics and lipidomics analyses unveiled the accumulation of inflammatory metabolites or the depletion of beneficial metabolites and lipids as aging progressed. Furthermore, we unraveled a complex interplay linking the oral-gut microbiota with serum metabolites and lipids., Discussion: Collectively, our findings illuminate novel insights into the potential contributions of the oral-gut microbiome and systemic circulating metabolites and lipids to host lifespan and healthy aging., Competing Interests: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest., (Copyright © 2023 Qiao, He, Wang, Jiang, Wang, Li, Tan, Chao, Xin, Gao, Yuan, Li, Xu, Zheng, Zhao and Liu.)