Search

Loop closure detection is an important component of the Simultaneous Localization and Mapping (SLAM) algorithm, which is utilized in environmental sensing. It helps to reduce drift errors during long-term operation, improving the accuracy and robustness of localization. Such improvements are sorely needed, as conventional visual-based loop detection algorithms are greatly affected by significant changes in viewpoint and lighting conditions. In this paper, we present a semantic spatial structure-based loop detection algorithm. In place of feature points, robust semantic features are used to cope with the variation in the viewpoint. In consideration of the semantic features, which are region-based, we provide a corresponding matching algorithm. Constraints on semantic information and spatial structure are used to determine the existence of loop-back. A multi-stage pipeline framework is proposed to systematically leverage semantic information at different levels, enabling efficient filtering of potential loop closure candidates. To validate the effectiveness of our algorithm, we conducted experiments using the uHumans2 dataset. Our results demonstrate that, even when there are significant changes in viewpoint, the algorithm exhibits superior robustness compared to that of traditional loop detection methods. [ABSTRACT FROM AUTHOR]

Simple Summary: The use of computer vision technology has improved the effectiveness of individual sheep identification, but existing methods face challenges such as large parameter sizes, slow recognition speeds, and difficult deployment. To address this issue, we have made improvements and optimizations based on the Retinaface face recognition model to create a balanced speed-accuracy sheep face recognition model. The optimized model has fewer parameters, simpler computations, faster inference speeds, and higher recognition accuracy, making it well-suited for deployment on resource-constrained edge devices. This research is expected to promote the application of deep learning-based sheep face recognition methods in production. The recognition of sheep faces based on computer vision has improved the efficiency and effectiveness of individual sheep identification, providing technical support for the development of smart farming. However, current recognition models have problems such as large parameter sizes, slow recognition speed, and difficult deployment. Therefore, this paper proposes an efficient and fast basic module called Eblock and uses it to build a lightweight sheep face recognition model called SheepFaceNet, which achieves the best balance between speed and accuracy. SheepFaceNet includes two modules: SheepFaceNetDet for detection and SheepFaceNetRec for recognition. SheepFaceNetDet uses Eblock to construct the backbone network to enhance feature extraction capability and efficiency, designs a bidirectional FPN layer (BiFPN) to enhance geometric location ability, and optimizes the network structure, which affects inference speed, to achieve fast and accurate sheep face detection. SheepFaceNetRec uses Eblock to construct the feature extraction network, uses ECA channel attention to improve the effectiveness of feature extraction, and uses multi-scale feature fusion to achieve fast and accurate sheep face recognition. On our self-built sheep face dataset, SheepFaceNet recognized 387 sheep face images per second with an accuracy rate of 97.75%, achieving an advanced balance between speed and accuracy. This research is expected to further promote the application of deep-learning-based sheep face recognition methods in production. [ABSTRACT FROM AUTHOR]

Pyropia haitanensis, one of the most economically and ecologically important seaweed species, is often exposed to persistent or transient low irradiance (LI), resulting in limited yield and quality. However, the mechanisms mediating P. haitanensis responses to LI are largely unknown. In this study, LI-tolerant (LIT) and LI-sensitive (LIS) P. haitanensis strains were compared regarding their physiological and transcriptomic changes induced by 1 and 4 days of LI (5 μmol photons/m2·s). The results indicated that the inhibition of photomorphogenesis and decreases in photosynthesis and photosynthetic carbon fixation as the duration of LI increased are the key reasons for retarded blade growth under LI conditions. A potential self-amplifying loop involving calcium signaling, phosphatidylinositol signaling, reactive oxygen species signaling, and MAPK signaling may be triggered in blades in response to LI stress. These signaling pathways might activate various downstream responses, including improving light energy use, maintaining cell membrane stability, mitigating oxidative damage, to resist LI stress. Additionally, the LIT strain maintained transcriptional homeostasis better than the LIS strain under LI stress. Specifically, photosynthesis and energy production were relatively stable in the LIT strain, which may help to explain why the LIT strain was more tolerant to LI stress than the LIS strain. The findings of this study provide the basis for future investigations on the precise mechanisms underlying the LI stress tolerance of P. haitanensis. [ABSTRACT FROM AUTHOR]

Researchers increasingly report the therapeutic effect of exosomes derived from rat bone marrow mesenchymal stem cells (Exos-rBMMSC) on liver disease, while the optimal dose of Exos-rBMMSC in liver cirrhotic treatment has not been reported. In this study, we aimed to explore the efficacy and dose of Exos-rBMMSC in a hepatic cirrhosis rat model. The therapeutic effects of a low dose, medium dose and high dose of Exos-rBMMSC were assessed by liver function tests and histopathology. After four-weeks of Exos-rBMMSC therapy, pyroptosis-related expression levels in the medium dose and the high dose Exos-rBMMSC groups were significantly decreased compared to those in the liver cirrhosis group (p < 0.05). The hepatic function assay and histopathology results showed significant improvement in the medium dose and the high dose Exos-rBMMSCs groups. The localization of PKH67-labeled Exos-rBMMSC was verified microscopically, and these particles were coexpressed with the PCNA, NLRP3, GSDMD and Caspase-1. Our results demonstrated that Exos-rBMMSC accelerated hepatocyte proliferation and relieved liver fibrosis by restraining hepatocyte pyroptosis. More importantly, we confirmed that the high dose of Exos-rBMMSC may be the optimal dose for liver cirrhosis, which is conducive to the application of Exos-rBMMSC as a promising cell-free strategy. [ABSTRACT FROM AUTHOR]

The two-stage suspension system (TSSS) is designed for the fiber optic vector hydrophone (FOVH) to isolate the vibration from the mooring rope. The acceleration transmissibility of the TSSS is studied theoretically and experimentally. The results show that the TSSS has a major advantage over the traditional one-stage suspension system (OSSS). Typically, the vibration isolation of the TSSS is demonstrated to be over 25 dB higher than that of the OSSS at 100 Hz. Meanwhile, it is demonstrated that the TSSS has little negative influence on the in-band acceleration response of the FOVH. The TSSS has the prospect of reducing the mechanical noise of the FOVH, which is conducive to suppressing the self-noise and enhancing the ability of weak signal detection. [ABSTRACT FROM AUTHOR]

Modulation instability (MI) is the main limitation factor of the maximum optical power in long-haul phase-sensitive optical time domain reflectometry (Φ-OTDR), and induces signal fading and serious phase noise. In this paper, a method of coherent seed injection is proposed to suppress the MI-induced phase noise in long-haul Φ-OTDR. The spontaneous MI is suppressed by stimulating induced MI in an optical fiber. The visibility of the signal in Φ-OTDR is enhanced and the phase noise is suppressed significantly. This paper offers an effective method to increase the maximum input power with the MI-induced phase noise suppressed in the long-haul Φ-OTDR system. As a result, the maximum input power and sensing distance can be potentially increased, which is greatly beneficial to the enhancement of the performance of long-haul Φ-OTDR. [ABSTRACT FROM AUTHOR]

As a member of the death-associated protein kinase (DAPK) family, STK17B plays an important role in the regulation of cellular apoptosis and has been considered as a promising drug target for hepatocellular carcinoma. However, the highly conserved ATP-binding site of protein kinases represents a challenge to design selective inhibitors for a specific DAPK isoform. In this study, molecular docking, multiple large-scale molecular dynamics (MD) simulations, and binding free energy calculations were performed to decipher the molecular mechanism of the binding selectivity of PKIS43 toward STK17B against its high homology STK17A. MD simulations revealed that STK17A underwent a significant conformational arrangement of the activation loop compared to STK17B. The binding free energy predictions suggested that the driving force to control the binding selectivity of PKIS43 was derived from the difference in the protein–ligand electrostatic interactions. Furthermore, the per-residue free energy decomposition unveiled that the energy contribution from Arg41 at the phosphate-binding loop of STK17B was the determinant factor responsible for the binding specificity of PKIS43. This study may provide useful information for the rational design of novel and potent selective inhibitors toward STK17B. [ABSTRACT FROM AUTHOR]

Uveal melanoma (UVM) is the most common primary ocular malignancy in adults and involves several types of regulated cell death. Cuproptosis is a novel method of regulating cell death by binding lipoylated TCA cycle proteins. There is still no research on the relationship between cuproptosis-related genes (CRGs) and UVM. Here, we aimed to develop a prognostic CRG signature for UVM. After a prognostic CRG signature was constructed, we determined the relationship between the signature and immune infiltration, bioinformatics analysis and experimental validation. Finally, a prognostic cuproptosis-related three-gene (CRTG) signature was constructed, which comprised ORAI2, ACADSB and SLC47A1. The risk score of the CRTG signature was negatively correlated with the overall survival (OS) and progression-free survival (PFS) of patients, which revealed strong predictive ability and its independent prognostic value. In addition, we found that the risk score was negative for chromosomes 3 and 6p, and positive for 8q, and high-risk UVM patients showed an increase in protumor immune infiltrates and a high expression of immune checkpoints. Finally, experimental validation verified that the migratory ability of MUM-2B cells was suppressed by the knockdown of the identified genes in vitro. We constructed a CRTG signature that is helpful in predicting prognosis and guiding treatment for patients with UVM. [ABSTRACT FROM AUTHOR]

This study aimed to explore whether the defect of visual function is a risk factor of knee anterior cruciate ligament (ACL) sports injury and to provide a theoretical basis for the primary prevention of ACL sports injury. This cross-sectional study included 392 participants divided into two groups: the sports injury group (287 with sports injury of knee) and the control group (105 healthy volunteers). Participants in the sports injury group were further divided into the ACL-Intact group (133) and the ACL-Deficient group (154). Participants in the sports injury group received a questionnaire about the conditions of their injury (including injury action, site condition, weather, contact) and a visual examination by synoptophore (including binocular vision, subjective and objective oblique angle, visual fusion range, stereoacuity). Participants in the control group only received the visual examination. In the end, we found that low visual fusion range (p = 0.003) and injury action, especially quick turn (p = 0.001), sudden stop (p < 0.001) and jump (p = 0.001), are the major risk factors for ACL injury in the analysis of the integrated data. In addition, athletes with low vision fusion range have increased risk of ACL sports injury when they make a sudden stop on wooden floor, plastic floor or cement floor on cloudy days (OR = 13.208). Visual factors, especially low fusion range, significantly increase the risk of ACL sports injury. [ABSTRACT FROM AUTHOR]

Aging contributes significantly to cognitive decline. Aerobic exercise (AE) has been shown to induce substantial neuroplasticity changes, enhancing cognitive and brain health. Likewise, recent research underscores the cognitive benefits of foreign language learning (FLL), indicating improvements in brain structure and function across age groups. However, the lack of a comprehensive paradigm integrating language learning with exercise limits research on combined effects in older adults. In order to address this gap, we devised a novel approach using a virtual world tourism scenario for auditory-based language learning combined with aerobic cycling. Our study examines the impact of simultaneous AE and FLL integration on cognitive and language learning outcomes compared to FLL alone. A total of 20 older adults were randomly assigned to AE + FLL and FLL-only groups. The results revealed significantly improved Spanish language learning outcomes in both combined and language learning-only groups. Additionally, significant cognitive function improvement was observed in the FLL group following short-term language learning. [ABSTRACT FROM AUTHOR]

Semantic communication is a promising technology used to overcome the challenges of large bandwidth and power requirements caused by the data explosion. Semantic representation is an important issue in semantic communication. The knowledge graph, powered by deep learning, can improve the accuracy of semantic representation while removing semantic ambiguity. Therefore, we propose a semantic communication system based on the knowledge graph. Specifically, in our system, the transmitted sentences are converted into triplets by using the knowledge graph. Triplets can be viewed as basic semantic symbols for semantic extraction and restoration and can be sorted based on semantic importance. Moreover, the proposed communication system adaptively adjusts the transmitted contents according to channel quality and allocates more transmission resources to important triplets to enhance communication reliability. Simulation results show that the proposed system significantly enhances the reliability of the communication in the low signal-to-noise regime compared to the traditional schemes. [ABSTRACT FROM AUTHOR]

As the core area of human activities and economic development in the Xinjiang Autonomous Region, the hilly oasis zone of Xinjiang directly affects the regional sustainable development and stability of the ecosystem. Understanding the effects of different geomorphic types on vegetation distribution is crucial for maintaining vegetation growth and development, especially the improvement in the terrestrial ecological environment in arid areas under the background of climate change. However, there are few studies on the effect of spatial differences in detailed geomorphic types on vegetation distribution patterns. Therefore, this paper divides the Xinjiang hilly oasis zone into six geomorphologic level zones and innovatively investigates the influence of detailed geomorphologic types on the spatial distribution of vegetation and vegetation cover. Further, the area proportion of detailed landform types corresponding to different vegetation coverage in each geomorphic area was quantitatively calculated. Finally, the Geodetector method was used to detect the drivers of interactions between vegetation and the environment. The findings are shown as follows: (1) In the same climate zone, the spatial differentiation of landforms has a great influence on the vegetation distribution, manifesting as the significantly different vegetation distribution in different landform types. Grassland is the main vegetation type in the erosion and denudation of Nakayama; cultivated vegetation and meadows have a larger coverage in the alluvial flood plain and alluvial plain; and the distribution of vegetation in the Tianshan economic zone is characterized by obvious vertical zoning with the geomorphology. (2) The landform type and morphological types are the strongest driving factors for vegetation coverage with q values of 0.433 and 0.295, respectively, which effectually fill the gap caused by only using two terrain indicators, slope and elevation, to study the relationship between landforms and vegetation. (3) In addition, the improved nonlinear interaction resulting from the double factor of landform type and slope is 0.486, which has a stronger control on vegetation coverage than the single factor of landform type. These findings are conducive to enhancing the supply services of vegetation to the ecosystem in arid areas as well as providing important scientific guidance for the construction of ecological civilization and sustainable development in Xinjiang. [ABSTRACT FROM AUTHOR]

Surface water–groundwater interactions in arid zones are characterized by water exchange processes in a complex system comprising intermittent streams/terminal lakes, shallow aquifers, riparian zone evapotranspiration, and groundwater withdrawal. Notable challenges arise when simulating such hydrological systems; for example, field observations are scarce, and hydrogeological parameters exhibit considerable spatial heterogeneity. To reduce the simulation uncertainties, in addition to groundwater head and river discharge measurements, we adopted remote sensing-based evapotranspiration data and lake area dynamics as known conditions to calibrate the model. We chose the Ejina Basin, located in the lower reaches of the Heihe River Basin in arid northwest China, as the study area to validate our modelling approach. The hydrological system of this basin is characterized by intensive, spatiotemporally variable surface water–groundwater interactions. The areas of the terminal lakes into which all river runoff flows vary significantly depending on the ratio between river runoff and lake evaporation. Simulation results with a monthly time step from 2000 to 2017 indicate that river leakage accounted for approximately 61% of the total river runoff. Our study shows that for areas where surface water and groundwater observations are sparse, combining remote sensing product data of surface water areas and evapotranspiration can effectively reduce the uncertainty in coupled surface water and groundwater simulations. [ABSTRACT FROM AUTHOR]

Bacterial infections in wounded skin are associated with high mortality. The emergence of drug-resistant bacteria in wounded skin has been a challenge. Toluidine blue (TB) is a safe and inexpensive photosensitizer that can be activated and used in near-infrared photodynamic therapy to effectively kill methicillin-resistant Staphylococcus aureus (MRSA). However, its aggregation-induced quenching effect largely affects its clinical applications. In this study, TB nanoparticles (NPs) were synthesized using an ultrasound-assisted coating method. Their physicochemical and biological properties were studied and evaluated by scanning electron microscopy and Fourier-transform infrared spectroscopy. The TBNPs had a broad-spectrum antibacterial activity against Gram-positive bacteria (MRSA) and Gram-negative bacteria (E. coli). In addition, MTT, hemolysis, and acute toxicity tests confirmed that TBNPs had good biocompatibility. The TBNPs exhibited a high photodynamic performance under laser irradiation and efficiently killed E. coli and MRSA through generated reactive oxygen species, which destroyed the cell wall structure. The potential application of TBNPs in vivo was studied using an MRSA-infected wound model. The TBNPs could promote wound healing within 7 days, mainly by reducing the inflammation and promoting collagen deposition and granulation tissue formation. In conclusion, the TBNPs offer a promising strategy for clinical applications against multiple-drug resistance. [ABSTRACT FROM AUTHOR]