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One of the most crucial yet challenging tasks for autonomous vehicles in urban environments is predicting the future behaviour of nearby pedestrians, especially at points of crossing. Predicting behaviour depends on many social and environmental factors, particularly interactions between road users. Capturing such interactions requires a global view of the scene and dynamics of the road users in three-dimensional space. This information, however, is missing from the current pedestrian behaviour benchmark datasets. Motivated by these challenges, we propose 1) a novel graph-based model for predicting pedestrian crossing action. Our method models pedestrians' interactions with nearby road users through clustering and relative importance weighting of interactions using features obtained from the bird's-eye-view. 2) We introduce a new dataset that provides 3D bounding box and pedestrian behavioural annotations for the existing nuScenes dataset. On the new data, our approach achieves state-of-the-art performance by improving on various metrics by more than 15% in comparison to existing methods. The dataset is available at https://github.com/huawei-noah/datasets/PePScenes., 7 pages, 3 figures, 4 tables, accepted at ICRA 2021

The genus Bromeloecia Spuler is revised, including 20 new and one previously described species. A key to species is provided, and species-level phylogenetic relationships are assessed on the basis of morphological characters. The B. winnemana species group, a mainly Nearctic species group characterized by ornamental processes on the hind tarsus, is excluded from the revision but is diagnosed, included in the key and considered within the phylogeny of Bromeloecia as an operational taxonomic unit. B. bromeliarum (Knab and Malloch) is redescribed and the following new species are described: B. abundantia , B. aculatus , B. aurita , B. balaena , B. brachium , B. cercarcuata , B. coniclunis , B. diabolunguia , B. ephippium , B. fractacincta , B. magna , B. peloris , B. pinna , B. ponsa , B. ramus , B. robustora , B. spathicercus , B. triunguia , B. undulata , and B. wolverinei .

Study of all flies (Diptera) collected for one year from a four-hectare (150 x 266 meter) patch of cloud forest at 1,600 meters above sea level at Zurquí de Moravia, San José Province, Costa Rica (hereafter referred to as Zurquí), revealed an astounding 4,332 species. This amounts to more than half the number of named species of flies for all of Central America. Specimens were collected with two Malaise traps running continuously and with a wide array of supplementary collecting methods for three days of each month. All morphospecies from all 73 families recorded were fully curated by technicians before submission to an international team of 59 taxonomic experts for identification. Overall, a Malaise trap on the forest edge captured 1,988 species or 51% of all collected dipteran taxa (other than of Phoridae, subsampled only from this and one other Malaise trap). A Malaise trap in the forest sampled 906 species. Of other sampling methods, the combination of four other Malaise traps and an intercept trap, aerial/hand collecting, 10 emergence traps, and four CDC light traps added the greatest number of species to our inventory. This complement of sampling methods was an effective combination for retrieving substantial numbers of species of Diptera. Comparison of select sampling methods (considering 3,487 species of non-phorid Diptera) provided further details regarding how many species were sampled by various methods. Comparison of species numbers from each of two permanent Malaise traps from Zurquí with those of single Malaise traps at each of Tapantí and Las Alturas, 40 and 180 km distant from Zurquí respectively, suggested significant species turnover. Comparison of the greater number of species collected in all traps from Zurquí did not markedly change the degree of similarity between the three sites, although the actual number of species shared did increase. Comparisons of the total number of named and unnamed species of Diptera from four hectares at Zurquí is equivalent to 51% of all flies named from Central America, greater than all the named fly fauna of Colombia, equivalent to 14% of named Neotropical species and equal to about 2.7% of all named Diptera worldwide. Clearly the number of species of Diptera in tropical regions has been severely underestimated and the actual number may surpass the number of species of Coleoptera. Various published extrapolations from limited data to estimate total numbers of species of larger taxonomic categories (e.g., Hexapoda, Arthropoda, Eukaryota, etc.) are highly questionable, and certainly will remain uncertain until we have more exhaustive surveys of all and diverse taxa (like Diptera) from multiple tropical sites. Morphological characterization of species in inventories provides identifications placed in the context of taxonomy, phylogeny, form, and ecology. DNA barcoding species is a valuable tool to estimate species numbers but used alone fails to provide a broader context for the species identified.

Made available in DSpace on 2019-10-06T15:56:52Z (GMT). No. of bitstreams: 0 Previous issue date: 2018-12-01 Estimations of tropical insect diversity generally suffer from lack of known groups or faunas against which extrapolations can be made, and have seriously underestimated the diversity of some taxa. Here we report the intensive inventory of a four-hectare tropical cloud forest in Costa Rica for one year, which yielded 4332 species of Diptera, providing the first verifiable basis for diversity of a major group of insects at a single site in the tropics. In total 73 families were present, all of which were studied to the species level, providing potentially complete coverage of all families of the order likely to be present at the site. Even so, extrapolations based on our data indicate that with further sampling, the actual total for the site could be closer to 8000 species. Efforts to completely sample a site, although resource-intensive and time-consuming, are needed to better ground estimations of world biodiversity based on limited sampling. Entomology Section Natural History Museum of Los Angeles County, 900 Exposition Boulevard Royal British Columbia Museum and the American Museum of Natural History, 691-8th Ave. SE Department of Plant and Environmental Sciences Poole Agricultural Center Clemson University, 130 McGinty Court, E-143 Depto. de Biologia FFCLRP Universidade de São Paulo, Av. Bandeirantes 3900 Great Lakes Forestry Centre Canadian Forest Service Natural Resources Canada, 1219 Queen St. E. Australian Museum, 1 William Street Department of Natural Resource Sciences McGill University Macdonald Campus Canadian National Collection of Insects Invertebrate Biodiversity Agriculture and Agri-Food Canada, K.W. Neatby Building, 960 Carling Avenue Department of Biological Sciences Spaulding Hall University of New Hampshire Department of Biological Sciences Wright State University, 3640 Colonel Glenn Hwy Instituto Federal do Triângulo Mineiro – Campus Uberaba. Rua João Batista Ribeiro 4000 Distrito Industrial II Departamento de Zoologia Universidade Federal do Paraná Jardim das Américas Mississippi Entomological Museum Mississippi State University, 100 Old Highway 12, P.O. Drawer 9775 Department of Biology Western Kentucky University Integrative Research Center Field Museum of Natural History Independent Investigator California State Collection of Arthropods, 2683 Tam O’ Shanter Dr., El Dorado Hills California Department of Food and Agriculture California State Collection of Arthropods, 3294 Meadowview Rd. The Academy of Natural Sciences of Drexel University, 1900 Ben Franklin Parkway American Museum of Natural History, Central Park West at 79th St. Department of Entomology University of California Riverside, 900 University Ave. Zoological Museum Biodiversity Unit FI-20014 University of Turku Instituto de Ecología A.C. (INECOL) Red Ambiente y Sustentabilidad, Carretera Antigua a Coatepec 351, Col El Haya, Xalapa Station Linné, Ölands Skogsby 161 I. I. Schmalhausen Institute of Zoology of the National Academy of Sciences of Ukraine, Bogdan Chmielnicki St. 15 Universidad de Panama Department of Natural History University Museum of Bergen University of Bergen, P.O. Box 7800 Agriculture and Agri-Food Canada, 960 Carling Avenue School of Environmental Sciences University of Guelph Department of Entomology Smithsonian Institution, PO Box 37012, MRC 169 Natural History Museum of Denmark, Universitetsparken 15 Institute of Evolutionary Biology and Environmental Studies University of Zurich, Winterthurerstrasse 190 Systematic Entomology Laboratory USDA ARS c/o National Museum of Natural History, MRC-168, P.O. Box 37012 Departamento de Sistemática e Ecologia CCEN Universidade Federal da Paraíba, Castelo Branco, s/n Research Institute for Nature and Forest (INBO), Kliniekstraat 25 Research Group Terrestrial Ecology (TEREC) Ghent University, K.L.Ledeganckstraat 35 Entomology Unit Royal Belgian Institute for Natural Sciences (RBINS), Vautierstraat 29 USDA Forest Service Rocky Mountain Research Station Forestry Sciences Laboratory, 1648 S. 7th Avenue Department of Biological Sciences Bishop’s University, 2600 College Street UNESP - Univ Estadual Paulista Faculdade de Ciências Agrárias e Veterinárias Departamento de Morfologia e Fisiologia Animal; Via de Acesso Prof. Paulo Donato Castellane s/n Canadian National Collection of Insects & Canadian Food Inspection Agency OPL-Entomology, K.W. Neatby Bldg., C.E.F., 960 Carling Ave. Department of Biological Sciences University of Calgary, 2500 University Drive NW Finnish Museum of Natural History Zoology Unit University of Helsinki Washington State University, 2533 Inter Avenue Bohart Museum of Entomology University of California, One Shields Avenue Instituto Nacional de Biodiversidad (INBio) UNESP - Univ Estadual Paulista Faculdade de Ciências Agrárias e Veterinárias Departamento de Morfologia e Fisiologia Animal; Via de Acesso Prof. Paulo Donato Castellane s/n

Paramosina, a new genus of Sphaeroceridae, is described on the basis of one abundant new species, Paramosina hirsuta Marshall, from the Ecuadorian Andes.

Glutamate racemase (RacE) is a bacterial enzyme that converts l-glutamate to d-glutamate, an essential precursor for peptidoglycan synthesis. In prior work, we have shown that both isoforms cocrystallize with d-glutamate as dimers, and the enzyme is in a closed conformation with limited access to the active site [May, M., et al. (2007) J. Mol. Biol. 371, 1219-1237]. The active site of RacE2 is especially restricted. We utilize several computational and experimental approaches to understand the overall conformational dynamics involved during catalysis when the ligand enters and the product exits the active site. Our steered molecular dynamics simulations and normal-mode analysis results indicate that the monomeric form of the enzyme is more flexible than the native dimeric form. These results suggest that the monomeric enzyme might be more active than the dimeric form. We thus generated site-specific mutations that disrupt dimerization and find that the mutants exhibit significantly higher catalytic rates in the d-Glu to l-Glu reaction direction than the native enzyme. Low-resolution models restored from solution X-ray scattering studies correlate well with the first six normal modes of the dimeric form of the enzyme, obtained from NMA. Thus, along with the local active site residues, global domain motions appear to be implicated in the catalytically relevant structural dynamics of this enzyme and suggest that increased flexibility may accelerate catalysis. This is a novel observation that residues distant from the catalytic site restrain catalytic activity through formation of the dimer structure.

Paramosina, a new genus of Sphaeroceridae, is described on the basis of one abundant new species, Paramosina hirsuta Marshall, from the Ecuadorian Andes.