EMV-LIO: An Efficient Multiple Vision aided LiDAR-Inertial Odometry

To deal with the degeneration caused by the incomplete constraints of single sensor, multi-sensor fusion strategies especially in LiDAR-vision-inertial fusion area have attracted much interest from both the industry and the research community in recent years. Considering that a monocular camera is vulnerable to the influence of ambient light from a certain direction and fails, which makes the system degrade into a LiDAR-inertial system, multiple cameras are introduced to expand the visual observation so as to improve the accuracy and robustness of the system. Besides, removing LiDAR's noise via range image, setting condition for nearest neighbor search, and replacing kd-Tree with ikd-Tree are also introduced to enhance the efficiency. Based on the above, we propose an Efficient Multiple vision aided LiDAR-inertial odometry system (EMV-LIO), and evaluate its performance on both open datasets and our custom datasets. Experiments show that the algorithm is helpful to improve the accuracy, robustness and efficiency of the whole system compared with LVI-SAM. Our implementation will be available upon acceptance.Comment: 6 pages, 5 figures, conferenc

Endoplasmic Reticulum Aminopeptidase 1 Is Involved in Anti-viral Immune Response of Hepatitis B Virus by Trimming Hepatitis B Core Antigen to Generate 9-Mers Peptides

Endoplasmic reticulum aminopeptidase 1 (ERAP1) is a processing enzyme of antigenic peptides presented to major histocompatibility complex (MHC) class I molecules. ERAP1-dependent trimming of epitope repertoire determines an efficacy of adoptive CD8+ T-cell responses in several viral diseases; however, its role in hepatitis B virus (HBV) infection remains unknown. Here, we show that the serum level of ERAP1 in patients with chronic hepatitis B (CHB) (n = 128) was significantly higher than that of healthy controls (n = 44) (8.78 ± 1.82 vs. 3.52 ± 1.61, p < 0.001). Furthermore, peripheral ERAP1 level is moderately correlated with HBV DNA level in patients with CHB (r = 0.731, p < 0.001). HBV-transfected HepG2.2.15 cells had substantially increased ERAP1 expression and secretion than the germline HepG2 cells (p < 0.001). The co-culture of ERAP1-specific inhibitor ERAP1-IN-1 pretreated HepG2.2.15 cells or ERAP1 knockdown HepG2.2.15 cells with CD8+ T cells led to 14–24% inhibition of the proliferation of CD8+ T cells. Finally, liquid chromatography tandem mass spectrometry (LC-MS/MS) test demonstrated that ERAP1-IN-1 blocks completely the production of a 9-mers peptide (30–38, LLDTASALY) derived from Hepatitis B core antigen (HBcAg). The predictive analysis by NetMHCpan-4.1 server showed that human leukocyte antigen (HLA)-C*04:01 is a strong binder for the 9-mers peptide in HepG2.2.15 cells. Taken together, our results demonstrated that ERAP1 trims HBcAg to produce 9-mers LLDTASALY peptides for binding onto HLA-C*04:01 in HepG2.2.15 cells, facilitating the potential activation of CD8+ T cells

Analysis of innovation diffusion theory under “micro” environment - Survey analysis of application and promotion of WeChat among the youth group

Since WeChat has been launched in 2011, as of the first quarter of 2015, the active users have reached 549 million per month1. WeChat has become the largest mobile instant messaging software among the user groups in Asia. Therefore, WeChat is no longer “micro”, and grabs the attention of more youth groups by virtue of the “micro” advantages in the Internet era in a way of low-priced new media. Through sorting 192 effective questionnaires recovered, this paper summarizes some transmitting tendency and suggestions of “micro” innovation diffusion from the research view of the concept of innovation diffusion theory, and development stage of WeChat in the youth group, based on the survey data and by the use of the statistics of informatics, qualitative and quantitative analysis method, so as to provide a certain theoretical basis for the future research of WeChat

Transformer-Based Object Detection with Deep Feature Fusion Using Carafe Operator in Remote Sensing Image

Recently, broad applications can be found in optical remote sensing images (ORSI), such as in urban planning, military mapping, field survey, and so on. Target detection is one of its important applications. In the past few years, with the wings of deep learning, the target detection algorithm based on CNN has harvested a breakthrough. However, due to the different directions and target sizes in ORSI, it will lead to poor performance if the target detection algorithm for ordinary optical images is directly applied. Therefore, how to improve the performance of the object detection model on ORSI is thorny. Aiming at solving the above problems, premised on the one-stage target detection model-RetinaNet, this paper proposes a new network structure with more efficiency and accuracy, that is, a Transformer-Based Network with Deep Feature Fusion Using Carafe Operator (TRCNet). Firstly, a PVT2 structure based on the transformer is adopted in the backbone and we apply a multi-head attention mechanism to obtain global information in optical images with complex backgrounds. Meanwhile, the depth is increased to better extract features. Secondly, we introduce the carafe operator into the FPN structure of the neck to integrate the high-level semantics with the low-level ones more efficiently to further improve its target detection performance. Experiments on our well-known public NWPU-VHR-10 and RSOD show that mAP increases by 8.4% and 1.7% respectively. Comparison with other advanced networks also witnesses that our proposed network is effective and advanced

Analysis of innovation diffusion theory under “micro” environment - Survey analysis of application and promotion of WeChat among the youth group

Since WeChat has been launched in 2011, as of the first quarter of 2015, the active users have reached 549 million per month1. WeChat has become the largest mobile instant messaging software among the user groups in Asia. Therefore, WeChat is no longer “micro”, and grabs the attention of more youth groups by virtue of the “micro” advantages in the Internet era in a way of low-priced new media. Through sorting 192 effective questionnaires recovered, this paper summarizes some transmitting tendency and suggestions of “micro” innovation diffusion from the research view of the concept of innovation diffusion theory, and development stage of WeChat in the youth group, based on the survey data and by the use of the statistics of informatics, qualitative and quantitative analysis method, so as to provide a certain theoretical basis for the future research of WeChat

Online Supervised Learning with Distributed Features over Multiagent System

Most current online distributed machine learning algorithms have been studied in a data-parallel architecture among agents in networks. We study online distributed machine learning from a different perspective, where the features about the same samples are observed by multiple agents that wish to collaborate but do not exchange the raw data with each other. We propose a distributed feature online gradient descent algorithm and prove that local solution converges to the global minimizer with a sublinear rate O2T. Our algorithm does not require exchange of the primal data or even the model parameters between agents. Firstly, we design an auxiliary variable, which implies the information of the global features, and estimate at each agent by dynamic consensus method. Then, local parameters are updated by online gradient descent method based on local data stream. Simulations illustrate the performance of the proposed algorithm

Screening and validation of plasma cell-derived, purinergic, and calcium signalling-related genetic signature to predict prognosis and PD-L1/PD-1 blockade responses in lung adenocarcinoma

Background: This study aims at screening and validation of prospective genetic signature for lung adenocarcinoma (LUAD) prognosis and treatment. Methods: The immune-related genes (IRGs) were obtained from The Cancer Genome Atlas (TCGA) dataset where a total of 535 LUAD and 59 control samples were included. A risk model was then developed for the risk stratification of LUAD patients. The immune cell infiltration, clinical outcomes, and the therapeutic efficacy of programmed cell death protein 1 (PD-1) and its ligand (PD-L1) blockade were compared between high and low-risk groups. Gene set enrichment analysis (GSEA) and gene set variation analysis (GSVA) were used to explore the biological processes and signalling pathways associated with the IRGs. Finally, IRGs mRNA levels were assayed by reverse transcription quantitative real-time PCR (RT-qPCR) in LUAD and relevant cell lines. Results: Two IRGs, P2RX1 (purinergic receptor P2X 1) and PCP4 (Purkinje cell protein 4), were screened from a module that possesses the highest correlation with plasma cells. RT-qPCR verified the expression of the two IRGs in plasmacytoma cell RPMI 8226 but not in LUAD cells. A higher risk score is associated with a lower infiltration of immune cells. Kaplan–Meier and nomogram analysis showed that the high-risk group has a lower survival rate than the low-risk cohort. Furthermore, the high-risk group had a worse response rate to PD-L1/PD-1 blockade. GSVA and GSEA-GO results indicated that a lower risk score is linked to signalling pathways and biological functions promoting immune response and inflammation. In contrast, a higher risk score is associated with signalling cascades promoting tumour growth. Conclusion:The immune-related prognostic model based on P2RX1 and PCP4 is conducive to predicting the therapeutic response of PD-L1/PD-1 blockade and clinical outcomes of LUAD.</p

Serum Interleukin-6 in Patients with Burning Mouth Syndrome and Relationship with Depression and Perceived Pain

Objective. To examine alteration of serum interleukin-6 and its clinical significance in burning mouth syndrome (BMS) patients. Methods. 48 BMS patients and 31 healthy controls participated in the study. Serum interleukin-6 was measured by means of ELISA. Hamilton rating scale of depression (HRSD) and visual analogue scale (VAS) were used to quantitiate depressive status and pain levels of subjects, respectively. Results. 15 (31%) patients displayed substantial depressive symptoms (HRSD ≧16). HRSD scores of patients were significantly higher than controls and positively correlated to their VAS values (P=.002). Serum interleukin-6 in patients was much lower than controls and negatively correlated to their VAS values (P=.011). However, no significant relations were found between interleukin-6 and HRSD scores (P=.317). Conclusions. Serum interleukin-6 in patients with burning mouth syndrome is decreased and negatively correlated to chronic pain. Both psychological and neuropathic disorders might act as precipitating factors in BMS etiopathogenesis