3-D Laser-Based Multiclass and Multiview Object Detection in Cluttered Indoor Scenes

This paper investigates the problem of multiclass and multiview 3-D object detection for service robots operating in a cluttered indoor environment. A novel 3-D object detection system using laser point clouds is proposed to deal with cluttered indoor scenes with a fewer and imbalanced training data. Raw 3-D point clouds are first transformed to 2-D bearing angle images to reduce the computational cost, and then jointly trained multiple object detectors are deployed to perform the multiclass and multiview 3-D object detection. The reclassification technique is utilized on each detected low confidence bounding box in the system to reduce false alarms in the detection. The RUS-SMOTEboost algorithm is used to train a group of independent binary classifiers with imbalanced training data. Dense histograms of oriented gradients and local binary pattern features are combined as a feature set for the reclassification task. Based on the dalian university of technology (DUT)-3-D data set taken from various office and household environments, experimental results show the validity and good performance of the proposed method

Mapping the tail fiber as the receptor binding protein responsible for differential host specificity of Pseudomonas aeruginosa bacteriophages PaP1 and JG004.

The first step in bacteriophage infection is recognition and binding to the host receptor, which is mediated by the phage receptor binding protein (RBP). Different RBPs can lead to differential host specificity. In many bacteriophages, such as Escherichia coli and Lactococcal phages, RBPs have been identified as the tail fiber or protruding baseplate proteins. However, the tail fiber-dependent host specificity in Pseudomonas aeruginosa phages has not been well studied. This study aimed to identify and investigate the binding specificity of the RBP of P. aeruginosa phages PaP1 and JG004. These two phages share high DNA sequence homology but exhibit different host specificities. A spontaneous mutant phage was isolated and exhibited broader host range compared with the parental phage JG004. Sequencing of its putative tail fiber and baseplate region indicated a single point mutation in ORF84 (a putative tail fiber gene), which resulted in the replacement of a positively charged lysine (K) by an uncharged asparagine (N). We further demonstrated that the replacement of the tail fiber gene (ORF69) of PaP1 with the corresponding gene from phage JG004 resulted in a recombinant phage that displayed altered host specificity. Our study revealed the tail fiber-dependent host specificity in P. aeruginosa phages and provided an effective tool for its alteration. These contributions may have potential value in phage therapy

Safe, Efficient, and Comfortable Velocity Control based on Reinforcement Learning for Autonomous Driving

A model used for velocity control during car following was proposed based on deep reinforcement learning (RL). To fulfil the multi-objectives of car following, a reward function reflecting driving safety, efficiency, and comfort was constructed. With the reward function, the RL agent learns to control vehicle speed in a fashion that maximizes cumulative rewards, through trials and errors in the simulation environment. A total of 1,341 car-following events extracted from the Next Generation Simulation (NGSIM) dataset were used to train the model. Car-following behavior produced by the model were compared with that observed in the empirical NGSIM data, to demonstrate the model's ability to follow a lead vehicle safely, efficiently, and comfortably. Results show that the model demonstrates the capability of safe, efficient, and comfortable velocity control in that it 1) has small percentages (8\%) of dangerous minimum time to collision values (\textless\ 5s) than human drivers in the NGSIM data (35\%); 2) can maintain efficient and safe headways in the range of 1s to 2s; and 3) can follow the lead vehicle comfortably with smooth acceleration. The results indicate that reinforcement learning methods could contribute to the development of autonomous driving systems.Comment: Submitted to IEEE transaction on IT

DNA builds and strengthens the extracellular matrix in Myxococcus xanthus biofilms by interacting with exopolysaccharides.

One intriguing discovery in modern microbiology is the extensive presence of extracellular DNA (eDNA) within biofilms of various bacterial species. Although several biological functions have been suggested for eDNA, including involvement in biofilm formation, the detailed mechanism of eDNA integration into biofilm architecture is still poorly understood. In the biofilms formed by Myxococcus xanthus, a Gram-negative soil bacterium with complex morphogenesis and social behaviors, DNA was found within both extracted and native extracellular matrices (ECM). Further examination revealed that these eDNA molecules formed well organized structures that were similar in appearance to the organization of exopolysaccharides (EPS) in ECM. Biochemical and image analyses confirmed that eDNA bound to and colocalized with EPS within the ECM of starvation biofilms and fruiting bodies. In addition, ECM containing eDNA exhibited greater physical strength and biological stress resistance compared to DNase I treated ECM. Taken together, these findings demonstrate that DNA interacts with EPS and strengthens biofilm structures in M. xanthus