Lightweight Monocular Depth Estimation via Token-Sharing Transformer

Depth estimation is an important task in various robotics systems and applications. In mobile robotics systems, monocular depth estimation is desirable since a single RGB camera can be deployable at a low cost and compact size. Due to its significant and growing needs, many lightweight monocular depth estimation networks have been proposed for mobile robotics systems. While most lightweight monocular depth estimation methods have been developed using convolution neural networks, the Transformer has been gradually utilized in monocular depth estimation recently. However, massive parameters and large computational costs in the Transformer disturb the deployment to embedded devices. In this paper, we present a Token-Sharing Transformer (TST), an architecture using the Transformer for monocular depth estimation, optimized especially in embedded devices. The proposed TST utilizes global token sharing, which enables the model to obtain an accurate depth prediction with high throughput in embedded devices. Experimental results show that TST outperforms the existing lightweight monocular depth estimation methods. On the NYU Depth v2 dataset, TST can deliver depth maps up to 63.4 FPS in NVIDIA Jetson nano and 142.6 FPS in NVIDIA Jetson TX2, with lower errors than the existing methods. Furthermore, TST achieves real-time depth estimation of high-resolution images on Jetson TX2 with competitive results.Comment: ICRA 202

Unusual extraction treatment in Class II division 1 using C-orthodontic mini-implants.

AbstractThis paper describes the treatment of a female patient, aged 23 years and 5 months, with a Class II division 1 malocclusion, who showed severe anterior protrusion and lower anterior crowding. Specially-designed orthodontic mini-implants were placed bilaterally in the interdental space between both the upper and the lower posterior teeth. Both lower first molars showed severe apical lesions. Therefore, the treatment plan consisted of extraction of both upper first premolars and lower first molars, en masse retraction of the upper six anterior teeth, lower anterior alignment, and protraction of all the lower molars. C-implants® were used as substitutes for maxillary posterior anchorage teeth during anterior retraction and as hooks for mandibular molar protraction. The correct overbite and overjet were obtained by intruding and retracting the upper six anterior teeth into their proper positions. The dentition was detailed using conventional orthodontic appliances. The upper C-implants contributed to an improvement in facial balance, and the lower C-implants made it possible to protract the lower second and third molars with less effect on the axis of the lower anterior teeth. The active treatment period was 29 months and the patient's teeth continued to be stable 11 months after debonding

Carbon Monoxide Protects against Hepatic Ischemia/Reperfusion Injury via ROS-Dependent Akt Signaling and Inhibition of Glycogen Synthase Kinase 3β

Carbon monoxide (CO) may exert important roles in physiological and pathophysiological states through the regulation of cellular signaling pathways. CO can protect organ tissues from ischemia/reperfusion (I/R) injury by modulating intracellular redox status and by inhibiting inflammatory, apoptotic, and proliferative responses. However, the cellular mechanisms underlying the protective effects of CO in organ I/R injury remain incompletely understood. In this study, a murine model of hepatic warm I/R injury was employed to assess the role of glycogen synthase kinase-3 (GSK3) and phosphatidylinositol 3-kinase (PI3K)-dependent signaling pathways in the protective effects of CO against inflammation and injury. Inhibition of GSK3 through the PI3K/Akt pathway played a crucial role in CO-mediated protection. CO treatment increased the phosphorylation of Akt and GSK3-beta (GSK3β) in the liver after I/R injury. Furthermore, administration of LY294002, an inhibitor of PI3K, compromised the protective effect of CO and decreased the level of phospho-GSK3β after I/R injury. These results suggest that CO protects against liver damage by maintaining GSK3β phosphorylation, which may be mediated by the PI3K/Akt signaling pathway. Our study provides additional support for the therapeutic potential of CO in organ injury and identifies GSK3β as a therapeutic target for CO in the amelioration of hepatic injury

Smartphone-based multispectral imaging: system development and potential for mobile skin diagnosis

We investigate the potential of mobile smartphone-based multispectral imaging for the quantitative diagnosis and management of skin lesions. Recently, various mobile devices such as a smartphone have emerged as healthcare tools. They have been applied for the early diagnosis of nonmalignant and malignant skin diseases. Particularly, when they are combined with an advanced optical imaging technique such as multispectral imaging and analysis, it would be beneficial for the early diagnosis of such skin diseases and for further quantitative prognosis monitoring after treatment at home. Thus, we demonstrate here the development of a smartphone-based multispectral imaging system with high portability and its potential for mobile skin diagnosis. The results suggest that smartphone-based multispectral imaging and analysis has great potential as a healthcare tool for quantitative mobile skin diagnosis. © 2016 Optical Society of America.1

PowerCore: a program applying the advanced M strategy with a heuristic search for establishing core sets

AbstractMotivation: Core sets are necessary to ensure that access to useful alleles or characteristics retained in genebanks is guaranteed. We have successfully developed a computational tool named 'PowerCore' that aims to support the development of core sets by reducing the redundancy of useful alleles and thus enhancing their richness.Results: The program, using a new approach completely different from any other previous methodologies, selects entries of core sets by the advanced M (maximization) strategy implemented through a modified heuristic algorithm. The developed core set has been validated to retain all characteristics for qualitative traits and all classes for quantitative ones. PowerCore effectively selected the accessions with higher diversity representing the entire coverage of variables and gave a 100% reproducible list of entries whenever repeated.Availability: PowerCore software uses the .NET Framework Version 1.1 environment which is freely available for the MS Windows platform. The files can be downloaded from http://genebank.rda.go.kr/powercore/. The distribution of the package includes executable programs, sample data and a user manual.Contact: [email protected]

Cyclooxygenase-2 and p53 Expression as Prognostic Indicators in Conventional Renal Cell Carcinoma

The aim of this study was to investigate the relationship of cyclooxygenase (COX)-2 and p53 expression with prognosis in patients with conventional renal cell carcinoma (RCC). Formalin-fixed, paraffin-embedded tissue sections of conventional RCC from 92 patients, who had undergone radical nephrectomy, were examined for COX-2 and p53 expression by immunohistochemistry and compared with clinicopathological variables. The COX-2 expression significantly correlated only with tumor size (p=0.049), whereas the p53 expression profoundly correlated with the TNM stage (p=0.024), M stage (p=0.001), and metastasis (synchronous or metachronous; p=0.004). The COX-2 overexpression did not significantly associate with p53 positivity (p=0.821). The survival rate of patients correlated with the p53 expression (p<0.0001) but not with the COX-2 expression (p=0.7506). Multivariate analyses indicated that tumor size, M stage, and p53 expression were independent prognostic factors for cancer-specific survival. The COX-2 expression was not an independent factor. These results show that the increased expression of p53 was associated with metastasis and a worse prognosis in conventional RCC, which suggests that p53 might have played an important role in the progression of conventional RCC. The increased expression of COX-2 was associated only with tumor size, but may not be an important prognostic factor in conventional RCC. No association was observed between COX-2 overexpression and p53 positivity in conventional RCC

Tidal Effects on Intermediate Waters: A Case Study in the East/Japan Sea

Although tides are believed to be the most important source for diapycnal mixing in the ocean, few studies have directly simulated open-ocean circulation including tides. Because the East/Japan Sea (EJS) has been considered to be a “miniature ocean,” tidal effects on the intermediate water of the EJS are investigated by using an eddy-resolving ocean general circulation model that can take account of M2 and K1 tides as well as oceanic flows. The simulated temperature and salinity in the intermediate layer are significantly improved by including tides. The improvement results from the combined effect of two internal tides. The M2 internal tide, propagating into the interior of the EJS, enhances vertical mixing and brings watermass characteristics closer to those observed. The K1 internal tide, trapped along the coast, induces southwestward flow along the Russian coast in the upper layer and thereby enhances the so-called Liman Current, which transports fresh waters with density conducive to the ventilation of intermediate waters in the EJS