Trajectory Replanning for Quadrotors Using Kinodynamic Search and Elastic Optimization

We focus on a replanning scenario for quadrotors where considering time efficiency, non-static initial state and dynamical feasibility is of great significance. We propose a real-time B-spline based kinodynamic (RBK) search algorithm, which transforms a position-only shortest path search (such as A* and Dijkstra) into an efficient kinodynamic search, by exploring the properties of B-spline parameterization. The RBK search is greedy and produces a dynamically feasible time-parameterized trajectory efficiently, which facilitates non-static initial state of the quadrotor. To cope with the limitation of the greedy search and the discretization induced by a grid structure, we adopt an elastic optimization (EO) approach as a post-optimization process, to refine the control point placement provided by the RBK search. The EO approach finds the optimal control point placement inside an expanded elastic tube which represents the free space, by solving a Quadratically Constrained Quadratic Programming (QCQP) problem. We design a receding horizon replanner based on the local control property of B-spline. A systematic comparison of our method against two state-of-the-art methods is provided. We integrate our replanning system with a monocular vision-based quadrotor and validate our performance onboard.Comment: 8 pages. Published in International Conference on Robotics and Automation (ICRA) 2018. IEEE copyrigh

A novel semisupervised support vector machine classifier based on active learning and context information

This paper proposes a novel semisupervised support vector machine classifier (Formula presented.) based on active learning (AL) and context information to solve the problem where the number of labeled samples is insufficient. Firstly, a new semisupervised learning method is designed using AL to select unlabeled samples as the semilabled samples, then the context information is exploited to further expand the selected samples and relabel them, along with the labeled samples train (Formula presented.) classifier. Next, a new query function is designed to enhance the reliability of the classification results by using the Euclidean distance between the samples. Finally, in order to enhance the robustness of the proposed algorithm, a fusion method is designed. Several experiments on change detection are performed by considering some real remote sensing images. The results show that the proposed algorithm in comparison with other algorithms can significantly improve the detection accuracy and achieve a fast convergence in addition to verify the effectiveness of the fusion method developed in this paper

Research on the Joint Construction of a National Multi-source and Multi-resolution image Checkpoint Database

In the process of quality inspection of Remote sensing image data results, the reuse of spatial location information of multiple units, multiple projects and multiple sources can not only overcome the problems of long time to obtain control information, high cost and difficulty in obtaining some areas, but also the basis for achieving efficient and high-precision geometric correction. From the perspective of reusability of checkpoints and saving the cost of quality inspection of remote sensing images, this paper discusses the necessity of joint construction of multi-source and multi-resolution image checkpoint database. And put forward the construction principle and management objectives of checkpoint database. At last, this paper briefly introduces and prospects the application of the national multi-source and multi-resolution image checkpoint database

Referred by Multi-Modality: A Unified Temporal Transformer for Video Object Segmentation

Recently, video object segmentation (VOS) referred by multi-modal signals, e.g., language and audio, has evoked increasing attention in both industry and academia. It is challenging for exploring the semantic alignment within modalities and the visual correspondence across frames. However, existing methods adopt separate network architectures for different modalities, and neglect the inter-frame temporal interaction with references. In this paper, we propose MUTR, a Multi-modal Unified Temporal transformer for Referring video object segmentation. With a unified framework for the first time, MUTR adopts a DETR-style transformer and is capable of segmenting video objects designated by either text or audio reference. Specifically, we introduce two strategies to fully explore the temporal relations between videos and multi-modal signals. Firstly, for low-level temporal aggregation before the transformer, we enable the multi-modal references to capture multi-scale visual cues from consecutive video frames. This effectively endows the text or audio signals with temporal knowledge and boosts the semantic alignment between modalities. Secondly, for high-level temporal interaction after the transformer, we conduct inter-frame feature communication for different object embeddings, contributing to better object-wise correspondence for tracking along the video. On Ref-YouTube-VOS and AVSBench datasets with respective text and audio references, MUTR achieves +4.2% and +8.7% J&F improvements to state-of-the-art methods, demonstrating our significance for unified multi-modal VOS. Code is released at https://github.com/OpenGVLab/MUTR.Comment: Accepted by AAAI 2024. Code is released at https://github.com/OpenGVLab/MUT

Epidemiological investigation, determination of related factors, and spatial-temporal cluster analysis of wild type pseudorabies virus seroprevalence in China during 2022

IntroductionPseudorabies virus (PRV) is a linear DNA virus with a double-stranded structure, capable of infecting a diverse array of animal species, including humans. This study sought to ascertain the seroprevalence of Pseudorabies Virus (PRV) in China by conducting a comprehensive collection of blood samples from 16 provinces over the course of 2022.MethodsThe presence of PRV gE antibodies was detected through the utilization of an enzyme-linked immunosorbent assay (ELISA) technique. Logistic regression analysis was conducted to identify potential related factors associated with the serologic status of PRV gE at the animal level. Additionally, the SaTScan 10.1 software was used to analyze the spatial and temporal clusters of PRV gE seroprevalence.ResultsA comprehensive collection of 161,880 samples was conducted, encompassing 556 swine farms throughout the country. The analysis revealed that the seroprevalence of PRV gE antibodies was 12.36% (95% confidence interval [CI], 12.20% to 12.52%) at the individual animal level. However, at the swine farm level, the seroprevalence was considerably higher, reaching 46.22% (95% CI, 42.08% to 50.37%). Related factors for PRV infection at the farm level included the geographic distribution of farms and seasonal variables. Moreover, five distinct high seroprevalence clusters of PRV gE were identified across China, with the peak prevalence observed during the months of April through June 2022.ConclusionOur findings serve as a valuable addition to existing research on the seroprevalence, related factors, and temporal clustering of PRV gE in China. Furthermore, our study provides a reference point for the development of effective strategies for the prevention and control of pseudorabies and wild virus outbreaks

Penaeid shrimp genome provides insights into benthic adaptation and frequent molting

Crustacea, the subphylum of Arthropoda which dominates the aquatic environment, is of major importance in ecology and fisheries. Here we report the genome sequence of the Pacific white shrimp Litopenaeus vannamei, covering similar to 1.66 Gb (scaffold N50 605.56 Kb) with 25,596 protein-coding genes and a high proportion of simple sequence repeats (>23.93%). The expansion of genes related to vision and locomotion is probably central to its benthic adaptation. Frequent molting of the shrimp may be explained by an intensified ecdysone signal pathway through gene expansion and positive selection. As an important aquaculture organism, L. vannamei has been subjected to high selection pressure during the past 30 years of breeding, and this has had a considerable impact on its genome. Decoding the L. vannamei genome not only provides an insight into the genetic underpinnings of specific biological processes, but also provides valuable information for enhancing crustacean aquaculture