Open-Vocabulary Affordance Detection in 3D Point Clouds

Affordance detection is a challenging problem with a wide variety of robotic applications. Traditional affordance detection methods are limited to a predefined set of affordance labels, hence potentially restricting the adaptability of intelligent robots in complex and dynamic environments. In this paper, we present the Open-Vocabulary Affordance Detection (OpenAD) method, which is capable of detecting an unbounded number of affordances in 3D point clouds. By simultaneously learning the affordance text and the point feature, OpenAD successfully exploits the semantic relationships between affordances. Therefore, our proposed method enables zero-shot detection and can be able to detect previously unseen affordances without a single annotation example. Intensive experimental results show that OpenAD works effectively on a wide range of affordance detection setups and outperforms other baselines by a large margin. Additionally, we demonstrate the practicality of the proposed OpenAD in real-world robotic applications with a fast inference speed (~100ms). Our project is available at https://openad2023.github.io.Comment: Accepted to The 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023

Language-driven Scene Synthesis using Multi-conditional Diffusion Model

Scene synthesis is a challenging problem with several industrial applications. Recently, substantial efforts have been directed to synthesize the scene using human motions, room layouts, or spatial graphs as the input. However, few studies have addressed this problem from multiple modalities, especially combining text prompts. In this paper, we propose a language-driven scene synthesis task, which is a new task that integrates text prompts, human motion, and existing objects for scene synthesis. Unlike other single-condition synthesis tasks, our problem involves multiple conditions and requires a strategy for processing and encoding them into a unified space. To address the challenge, we present a multi-conditional diffusion model, which differs from the implicit unification approach of other diffusion literature by explicitly predicting the guiding points for the original data distribution. We demonstrate that our approach is theoretically supportive. The intensive experiment results illustrate that our method outperforms state-of-the-art benchmarks and enables natural scene editing applications. The source code and dataset can be accessed at https://lang-scene-synth.github.io/.Comment: Accepted to NeurIPS 202

Isolation and identification of indole acetic acid producing bacteria from the coasts of Ben Tre and Tra Vinh Provinces

Beneficial plant-growth-promoting bacteria (PGPB) have been reasonably applied to rescue crucial issue for agriculture by salinity soil. Observed most of PGPB was found in endophyte, rhizosphere and soil. Indole acetic acid (IAA)-producing bacteria could naturally stimulate and facilitate plant growth. The knowledge of IAA production and content of bacteria resident in the marine environment has been typically insufficient and limited to date. In recent years, unwarrantable intrusions of sea water have been enlarged in the Mekong River Delta of Vietnam, threatening productive rice fields, local fruits, and cash crops. Therefore, finding PGPB in the coastal regions in the Mekong River Delta as a creative resource for sustainable agriculture is necessary and is a prompt challenge. In this study, IAA-producing bacteria from coastal regions of Ben Tre and Tra Vinh Provinces were isolated and adequately identified. Out of 202 bacterial isolates, 10 isolates showed the possible ability to produce IAA from L-tryptophan. These 10 isolates were objectively evaluated the capacity to produce IAA under 5% (w/v) NaCl in King B and marine broths. The results revealed that IAA production decreased in 5% NaCl, even though bacterial growth increased. These 10 IAA-producing bacteria were classified at the species level, Marinobacter hydrocarbonoclasticus, M. pelagius, M. daepoensis, and Mameliella phaeodactyli by 16S rRNA gene analysis. The most IAA producer in King’s B broth, the isolate C7, was investigated in more detail. The isolate C7 produced the maximum IAA amount (192.2 ± 1.14 µg/ml) under the presence of 20 g/l yeast extract, 2 g/l of L-tryptophan and 1% NaCl. The isolate C7 was able to grow at 1–17% (w/v) NaCl (optimum, 4%), but not in the absence of NaCl, indicating it is a moderate halophilic bacteria. This study highlighted the considerable ability to produce IAA of marine bacteria, which could be thoughtfully considered to use naturally as biofertilizers to promote plant growth in saline intrusion lands.

In-situ deposition of pressure and temperature sensitive e-skin for robotic applications

The development of a multimodal sensing platform with multiple layers for electronic skin (e-skin) sensing of temperature and pressure has attracted considerable interest to practical applications in soft robotics, human-machine interfaces, and wearable health monitoring. In this work, we demonstrated a new platform technology with multiple sandwiched layers of highly oriented carbon nanotube membrane and polyacrylonitrile for the integration of pressure and temperature sensory functionalities into a single platform that is thin, ultra-lightweight, flexible, and wearable. The key technology of in situ deposition of sensor platform on objects or in robot interface makes this a unique method for the development of e-skins for robotic applications, offering a new approach to wearable electronics and portable health care

Influence of Market Type and Time of Purchase on Bacterial Counts and Salmonella and Listeria Prevalence in Whole Chickens in Vietnam

The objective of the current study was to determine the influence of market type and sampling time on Salmonella and Listeria prevalence and bacterial counts of 180 whole chicken carcasses collected from 6 supermarkets (SM), 6 indoor markets (IM), and 6 open markets (OM) in Vietnam, at opening (T0) and 4 h after the opening (T4). Salmonella and Listeria prevalence was at least 25.6% and 42.7%, respectively. Whole birds in IM had greater Salmonella prevalence than birds from both SM and OM by 28.4% and 23.0% (P = 0.006 and 0.022, respectively). Listeria prevalence was lower in whole chickens from SM, at 56.6%, than those in IM and OM (78.6% and 73.2%, P = 0.024 and 0.089, respectively). Whole chicken carcasses had more than 10.1, 7.5, and 9.4 log colony-forming units (CFU)/g of aerobic bacteria, Escherichia coli (E. coli), and coliforms, respectively. Both E. coli and coliform counts were greater in IM than in SM (P = 0.002 and 0.006). However, only E. coli counts differed between SM (7.7 log CFU/g) and OM (8.3 log CFU/g; P = 0.024). These results highlighted high levels of bacteria and high prevalence of Salmonella and Listeria in whole chickens in retail establishments in Vietnam, posing potential food safety and public health risks

Prospects for Food Fermentation in South-East Asia, Topics From the Tropical Fermentation and Biotechnology Network at the End of the AsiFood Erasmus+Project

Fermentation has been used for centuries to produce food in South-East Asia and some foods of this region are famous in the whole world. However, in the twenty first century, issues like food safety and quality must be addressed in a world changing from local business to globalization. In Western countries, the answer to these questions has been made through hygienisation, generalization of the use of starters, specialization of agriculture and use of long-distance transportation. This may have resulted in a loss in the taste and typicity of the products, in an extensive use of antibiotics and other chemicals and eventually, in a loss in the confidence of consumers to the products. The challenges awaiting fermentation in South-East Asia are thus to improve safety and quality in a sustainable system producing tasty and typical fermented products and valorising by-products. At the end of the “AsiFood Erasmus+ project” (www.asifood.org), the goal of this paper is to present and discuss these challenges as addressed by the Tropical Fermentation Network, a group of researchers from universities, research centers and companies in Asia and Europe. This paper presents current actions and prospects on hygienic, environmental, sensorial and nutritional qualities of traditional fermented food including screening of functional bacteria and starters, food safety strategies, research for new antimicrobial compounds, development of more sustainable fermentations and valorisation of by-products. A specificity of this network is also the multidisciplinary approach dealing with microbiology, food, chemical, sensorial, and genetic analyses, biotechnology, food supply chain, consumers and ethnology

Cardinal ligament surgical anatomy: cardinal points at hysterectomy

Introduction and hypothesis The cardinal ligament (CL) still requires more precise anatomical mapping. We aim to elucidate the anatomy of the CL and the roles it plays in gynecological surgery. Methods Studies employed sharp dissection of 28 formalin-fixed cadaveric hemipelves and 10 unembalmed cadaveric hemipelves. Results The CL (total length averaging 10.0 cm) can be subdivided into three sections: a distal (cervical) section, on average 2.1 cm long, attached to the lateral aspect of the cervix (posteriorly, it was confluent with the attachment of the uterosacral [USL] ligament to form the cardinal–uterosacral confluence [CUSC]); an intermediate section, on average 3.4 cm long, running laterally (slightly posteriorly) from the cervix; a proximal (pelvic) section, relatively thick, triangular-shaped on cross-section, averaging 4.6 cm long, attached to the lateral pelvic sidewall, with its apex at the first branching of the internal iliac artery. Only the distal section is free of any significant neural or vascular component (ureter is in the intermediate section) and therefore safe for surgical use. The CUSC (first pedicle of a vaginal hysterectomy and later pedicle of an abdominal hysterectomy), if attached to the vaginal vault at hysterectomy has the potential for both lateral (CL) and supero-posterior (USL) surgical support. This pedicle would not be subsequently accessible for other surgeries. Conclusions Suggested cardinal points at hysterectomy are: know the CL anatomy; the distal section (as part of the CUSC) can provide vaginal vault support; the intermediate and proximal sections are surgically dangerous