EgoPCA: A New Framework for Egocentric Hand-Object Interaction Understanding

With the surge in attention to Egocentric Hand-Object Interaction (Ego-HOI), large-scale datasets such as Ego4D and EPIC-KITCHENS have been proposed. However, most current research is built on resources derived from third-person video action recognition. This inherent domain gap between first- and third-person action videos, which have not been adequately addressed before, makes current Ego-HOI suboptimal. This paper rethinks and proposes a new framework as an infrastructure to advance Ego-HOI recognition by Probing, Curation and Adaption (EgoPCA). We contribute comprehensive pre-train sets, balanced test sets and a new baseline, which are complete with a training-finetuning strategy. With our new framework, we not only achieve state-of-the-art performance on Ego-HOI benchmarks but also build several new and effective mechanisms and settings to advance further research. We believe our data and the findings will pave a new way for Ego-HOI understanding. Code and data are available at https://mvig-rhos.com/ego_pcaComment: ICCV 202

Comparative Genomics of Mycoplasma: Analysis of Conserved Essential Genes and Diversity of the Pan-Genome

Mycoplasma, the smallest self-replicating organism with a minimal metabolism and little genomic redundancy, is expected to be a close approximation to the minimal set of genes needed to sustain bacterial life. This study employs comparative evolutionary analysis of twenty Mycoplasma genomes to gain an improved understanding of essential genes. By analyzing the core genome of mycoplasmas, we finally revealed the conserved essential genes set for mycoplasma survival. Further analysis showed that the core genome set has many characteristics in common with experimentally identified essential genes. Several key genes, which are related to DNA replication and repair and can be disrupted in transposon mutagenesis studies, may be critical for bacteria survival especially over long period natural selection. Phylogenomic reconstructions based on 3,355 homologous groups allowed robust estimation of phylogenetic relatedness among mycoplasma strains. To obtain deeper insight into the relative roles of molecular evolution in pathogen adaptation to their hosts, we also analyzed the positive selection pressures on particular sites and lineages. There appears to be an approximate correlation between the divergence of species and the level of positive selection detected in corresponding lineages

Yinia Liu & Li 1995

Genus <i>Yinia</i> Liu & Li, 1995 <p> <i>Yinia</i> Liu & Li, 1995: 104.</p> <p> <i>Caryandoides</i> Zheng & Xie, 2007: 92. <b>New synonym</b> Type species: <i>Yinia hunanica</i> Liu & Li, 1995.</p> <p> <b>Generic diagnosis.</b> Body medium-sized. Head shorter than pronotum. Vertex short, with widely rounded anterior margin and slightly depressed dorsum, lateral foveolae and median longitudinal carina absent. Antennae filiform, longer than combined length of head and pronotum. Frons oblique in profile view; frontal ridge distinct, extending almost to clypeus, longitudinally sulcate throughout, with lateral carinae nearly parallel. Eyes large, subellipsoid. Pronotum subcylindrical, median carina very weak, lateral carinae absent, metazona much shorter than prozona. Prosternal process conical with pointed or rounded apex. Mesosternal interspace much longer than wide. Tegmina reduced, not touching or slightly touching each other along median dorsal keel. Tympanal organs developed and oval. Hind femora slender, upper carina smooth, upper genicular lobes rounded, lower genicular lobes spined. Hind tibiae not expanded to form lamellate margins at apical half but with only carinate margins, external apical spine present. Furcula absent in terminal abdominal tergite. Subgenital plate in male with nearly truncate apex, in female having hind margin with subapical teeth. Epiphallus with divided symmetrical bridge, two pairs of lophi and unique dorsal lobe, anterior projection not distinctly protruding beyond the anterior margin of bridge, ancorae absent. Phallic complex with apical valves of penis and valves of cingulum broadly lamellated.</p> <p> <b>Remark.</b> The genus is obviously a member of the subfamily Oxyinae that has been reviewed by Hollis (1975), and most similar to <i>Oxya</i> Audinet-Serville. However, it can be easily distinguished from <i>Oxya</i> by: hind tibiae not expanded to form lamellate margins at apical half; tegmina much reduced, only reaching posterior margin of the second abdominal tergite (cf. <i>O. minuta</i> Carl, the only species of <i>Oxya</i> with shortened wings, tegmina hardly reaching middle of abdomen but touching each other along median dorsal keel (Hollis, 1971, 1975)); epiphallus with anterior projection not distinctly protruding beyond the anterior margin of bridge, phallic complex with apical valves of penis and valves of cingulum broadly lamellated. The genus is also very similar to <i>Caryanda</i> Stål, but differs from the latter in: posterior margin of pronotum without emargination in the middle, the terminal abdominal tergite of male without furcula; epiphallus with unique dorsal lobes and without ancorae.</p> <p> The genus <i>Caryandoides</i> was established to contain the species <i>Caryandoides maguas</i>. As a result of our study, <i>Caryandoides maguas</i> is recognized as a new junior synonym of <i>Yinia hunanica</i>, the type species of the genus <i>Yinia</i>. Thus we regard the genus <i>Caryandoides</i> as a new junior synonym of the genus <i>Yinia</i>.</p>Published as part of <i>Huang, Jianhua, Zheng, Zhemin, Huang, Yuan & Zhou, Shanyi, 2009, New synonymies in Chinese Oxyinae (Orthoptera: Acrididae), pp. 39-55 in Zootaxa 1976</i> on page 46, DOI: <a href="http://zenodo.org/record/185158">10.5281/zenodo.185158</a&gt

Oxya agavisa Tsai 1931

Oxya agavisa Tsai, 1931 [Figs. 1–15, 28– 29] Oxya agavisa Tsai, 1931: 437; Chang, 1934: 186; Tinkham, 1940: 296; Bey-Bienko & Mishchenko, 1951: 165; Mishchenko, 1952: 151; Xia, 1958: 34; Hollis, 1975: 222; Zheng, 1985: 129; Storozhenko, 1992: 37; Zheng, 1993: 81; Ma, Guo & Zheng, 1993: 212; Liu, Ding, Long, et al, 1995: 54; Yin, Shi & Yin, 1996: 483; Jiang & Zheng, 1998: 89; Ren, Ma & Guo, 2002: 507; Zhang, Ma & Guo, 2003: 533; Li, Xia, et al, 2006: 84; Yin, Yin & Zheng, 2008: 67. Oxya agavisa agavisa Tsai; Hollis, 1971: 317. Oxya agavisa form robusta Tsai, 1931: 439; Tinkham, 1940: 296. Oxyoides wulingshanensis Zheng & Fu, 1994: 100; Li, Xia, et al, 2006: 88; Huang, Fu & Zhou, 2007: 528. New synonym Oxyoides wulingshanensis Fu, Peng & Zhu, 1995: 58. Male. Body length: 24.4–34.0 mm; pronotum length: 4.1–7.2 mm; Tegmina length: 14.5–27.0 mm; hind femur length: 14.0–17.0 mm. Body medium-sized. Integument finely punctured and shiny. Face slightly oblique in profile view; frontal ridge shallowly sulcate, lateral sides nearly parallel. Eyes large and oval. Vertex short, fastigium slightly rounded and as long as broad, interocular distance slightly wider than frontal ridge between antennal sockets. Antennae filiform, twenty-five- to twenty-seven-segmented, slightly exceeding posterior margin of pronotum, with median segments two and a third times as long as broad. Pronotum subcylindrical, with dorsum slightly flattened, hardly narrowing forwards, median carina weak, lateral carina absent, posterior margin obtuseangular, three transverse sulci distinct and prozona slightly longer than metazona. Prosternal process conical, with thick base and slightly pointed apex. Mesosternal interspace narrow, three times as long as its minimum width. Tegmina fully developed, not or hardly surpassing apex of hind femora; hind wing as long as tegmina. Hind femora moderately slender, with upper median carinae smooth, both inner and outer lower genicular lobes sharply spined; hind tibiae expanded in apical half and with acute dorsolateral margins, both internal and external apical spines present; hind tarsi with large arolium. Terminal tergite of abdomen without furcula. Supra-anal plate rounded triangular, with weak basilateral folds and a short shallow longitudinal sulcus in the middle portion of the base. Cerci conical, with broad truncate apex. Subgenital plate short conical, with pointed, broadly rounded or distinctly truncate apex. Epiphallus completely divided into two symmetric half, with narrow bridge, a large pair of slender, hook-like outer lophi and a small pair of tooth-like inner lophi, without ancorae; anterior projections large, distinctly exceeding beyond the anterior margin. Phallic complex with posterior process of cingulum, from above, large and rounded trapezoid; lateral fleshy lobes not visible from above; valvular plate of cingulum with a broad, deep posterior emargination, apical valves of penis long, slender, up-curved. Body color varying, green or brownish green, or dorsal surface yellowish brown and lateral surface green. Postocular bands broad and dark brown. Tegmina brown. Hind femora green or yellowish brown, knee dark brown. Hind tibiae green or bluish green, and dark at base, metatibial spines with apical half black. Female. Body length: 28.0–39.0 mm; pronotum length: 5.3–8.8 mm; Tegmina length: 18.0–32.0 mm; hind femur length: 17.0–22.0 mm. Similar to male. Body larger and more robust than male. Antennae slightly shorter than combined length of head and pronotum. Anterior margin of tegmina weakly spined. The second, third and fourth abdominal tergite with posterolateral spines. Valves of ovipositor with tooth-like spines, posterior ventral basivalvular sclerite with a large spine on its inner ventral margin. Ventral surface of subgenital plate with deep median posterior concavity bordered on either side by a strong lateral longitudinal ridge which bears spines along its length; posterior portion of subgenital plate, excluding spines, with a triangular profile, median pair of spines well developed and closely spaced, two small pairs of lateral spines present. Materials examined. Oxyoides wulingshanensis: one male, holotype (abdominal apex missing), CHINA: Zhangjiajie (present name for former Dayong), Hunan Province, 29 ° 10 'N, 110 ° 50 'E, 17 August 1990, Guosheng Peng (Figs. 1–2). Oxya agavisa: one male with ill-developed tegmina, CHINA: Jinggangshan, Jiangxi Province, 18 October 2001, Zizhong Liao (Figs. 3–5); one male with ill-developed tegmina, CHINA: Liangtouyang Nature Reserve, Fenghuang County, Hunan Province, 30 July 2004, Jianhua Huang (Figs. 6–7); three males with normal tegmina, CHINA: Hengshan Nature Reserve, Hengshan county, Hunan Province, 28 August 2007, Jianhua Huang (Figs. 8–15); in addition, more than fifty individuals from Hunan, Guangxi, and Guangdong Province were examined. Distribution. CHINA (Shanghai, Jiangsu, Zhejiang, Anhui, Fujian, Jiangxi, Hubei, Hunan, Guangdong, Guangxi, Sichuan, Guizhou, Yunnan). Remark. Oxyoides wulingshanensis looks very similar to Oxya agavisa except much more reduced tegmina and hind wing as well as truncate apex of subgenital plate in male (Zheng & Fu, 1994). However, we find that both tegmina and hind wing of Oxyoides wulingshanensis show a slightly burnt appearance, which indicates that the type specimen of Oxyoides wulingshanensis may be a poorly-nourished individual of Oxya agavisa with poorly-developed tegmina and hind wings. Besides, we find two other male individuals of Oxya agavisa with obviously ill-developed tegmina and more or less truncate apex of subgenital plate, showing extreme similarity to the type specimen of Oxyoides wulingshanensis (Figs. 3–7). Furthermore, we also find some male individuals of Oxya agavisa with normal tegmina and more or less truncate apex of subgenital plate (Figs. 8–15). Since the external character of “reduced tegmina” and “truncate apex of subgenital plate” that distinguish Oxyoides wulingshanensis from Oxya agavisa either is questionable or can be found in normal individuals of Oxya agavisa, and the individual from Jinggangshan Nature Reserve, with ill-developed tegmina and truncate apex of subgenital plate, extremely similar to Oxyoides wulingshanensis (Figs. 3–5), have no difference from normal individuals of Oxya agavisa in the male genitalia structure (Figs. 28–29), we conclude that they are conspecific.Published as part of Huang, Jianhua, Zheng, Zhemin, Huang, Yuan & Zhou, Shanyi, 2009, New synonymies in Chinese Oxyinae (Orthoptera: Acrididae), pp. 39-55 in Zootaxa 1976 on pages 41-45, DOI: 10.5281/zenodo.18515

Yinia hunanica Liu & Li 1995

<i>Yinia hunanica</i> Liu & Li, 1995 <p>[Figs. 16–27, 30–37]</p> <p> <i>Yinia hunanica</i> Liu & Li, 1995: 105.</p> <p> <i>Oxyoides bamianshanensis</i> Fu & Zheng, 1999: 384; Li, Xia, <i>et al</i>, 2006: 90; Huang, Fu & Zhou, 2007: 525. <b>New synonym</b></p> <p> <i>Oxyoides longianchorus</i> Huang, Fu & Zhou, 2007: 526. <b>New synonym</b></p> <p> <i>Caryandoides maguas</i> Zheng & Xie, 2007: 92. <b>New synonym</b></p> <p> <b>Male.</b> Body length: 22.5–27.0 mm; pronotum length: 5.0–6.0mm; tegmina length: 5.3–6.6 mm; hind femur length: 15.0–17.4 mm.</p> <p>Body medium-sized. Head shorter than pronotum. Vertex short, with anterior margin bluntly rounded in dorsal view, dorsum distinctly depressed, median longitudinal carina and lateral foveolae absent. Interocular space about one to one and a half times as wide as frontal ridge between antennal sockets. Occiput with an indistinct median longitudinal carina, finely punctate at sides of the middle. Face oblique in profile view. Frontal ridge distinct, extending to clypeus, longitudinally sulcate throughout, with lateral carinae nearly parallel, facial carinae distinct. Antennae filiform, extending beyond the posterior margin of pronotum, twentyfour-segmented, the fourth segment shortest and median segments about two to three times as long as broad. Eyes oval, with longitudinal diameter about one and a half times as long as horizontal diameter and about two and a half times as long as subocular furrow. Pronotum cylindrical, irregularly and coarsely reticulate, with anterior margin straight, posterior margin roundedly curved, median carina visible in metazona but absent in prozona, lateral carina absent; three distinct transverse sulci and prozona about one and a two-third times as long as metazona; lateral lobe of pronotum longer than high, with anteroventral corner rounded and posteroventral corner subrectangular. Prosternal process subconical, slightly compressed laterally, apex pointed or rounded. Mesosternal lobes distinctly broader than long, interspace between them about five times as long as broad; metasternal lobes contiguous with each other. Both tegmina and hind wings reduced; tegmina touching each other at basal third or separated throughout; apex of tegmina obtusely rounded, just reaching or slightly exceeding posterior margin of the second abdominal tergite; hind wing narrow, distinctly shorter than tegmina and covered completely by tegmina. Hind femora slightly slender, with upper carinae smooth and spined at apex; upper genicular lobes rounded and lower genicular lobes spined at apex. Hind tibiae not expanded to form oar-like structure, with only carinate margins in the apical half, eleven to twelve spines at inner margin, ten spines at outer margin, both inner and outer apical spines present, but sometimes the outer apical spines very small and indistinct. Hind tarsi with the first segment slightly shorter than the third one; arolium large. Tympanum developed, with oval aperture. Tergite of terminal (the tenth) abdominal segment split in the middle, furcula absent. Supra-anal plate triangular, as long as broad, apex bluntly rounded or pointed in some individuals, basal half broadly depressed at both sides, the middle portion with a broad longitudinal sulcus, which is intersected by a median transverse sulcus and less distinct in apical half (absent even in some individuals). Cerci long and conical, apices pointed and extending beyond the supra-anal plate. Subgenital plate conical, apex truncate in dorsal view, and sometimes slightly concave in the middle.</p> <p>Epiphallus completely divided into two symmetrical halves; bridge narrow, with two pairs of lophi, the outer pair very developed and hook-like, having a furrow at basal half, the inner pair very short, triangular or concave posteriorly; ancorae absent; anterior projections short and blunt, with distinct or indistinct vertical lobes dorsally, i.e. the dorsal lobes (Liu & Li, 1995). Phallic complex with apical valves of penis and valves of cingulum broadly lamellated, valvular plate of cingulum basally sulcate, having deep emargination on the middle of apex, cingular apodeme horse-shoe-shaped, zygoma very broad; apical valves of penis, cingular plate and lophi granulose.</p> <p>Body yellowish brown. Antennae yellowish brown to reddish brown. Eyes pale brown with blackish brown maculae in irregular shapes. Postocular band black, extending to posterior margin of pronotum.</p> <p>Occiput, dorsum of pronotum, tegmina and abdomen brown. Face, gena and lower half of lateral lobe of pronotum yellow. Labrum, clypeus, face and anterior half of gena densely covered with black punctures. Gena with a black longitudinal band just below eye. Fore legs, middle legs and hind femora yellowish green. Hind tibiae bluish green, except the base and spines as well as apices of hind femora black.</p> <p> <b>Female.</b> Body length: 28.7–36.6 mm; pronotum length: 6.0–7.0 mm; tegmina length: 6.4–9.2 mm; hind femur length: 18.5–20.7 mm.</p> <p>Similar to male. Body relatively larger, occiput without median keel, tegmina separated along dorsal keel of abdomen, apices of tegmina reaching the middle or posterior margin of the second abdominal tergite. Supra-anal plate with a distinct transverse sulcus at middle and a distinct elevated furrow just anterior to the sulcus. Subgenital plate convex in the middle of posterior margin, with a subapical tooth at each side. Apices of hind femora and base of hind tibiae brown to blackish brown. Ovipositor valves long and slender, dorsal valves armed with relatively distinct large teeth at apical half of external edge, ventral valves distinctly and finely serrate along external edge.</p> <p> <b>Biology.</b> This species inhabits at the bamboo bushes (<i>Indocalamus sp.</i> and <i>Phyllostarchys sp.</i>), flat egg pods covered with yellowish coating were found on leaves of <i>Indocalamus sp.</i> in the field, females reared in lab lay their egg pods on either the provided bamboo leaves or the wall of the rearing container, but not in the moist sand in the bottom (Liu & Li, 1995).</p> <p> <b> Materials examined. <i>Yinia hunanica</i></b> : holotype, male, CHINA: Mangshan Natural Reserve, Yizhang County, Hunan Province, 700 m, 20 August 1991, Zhiwei Liu; paratypes, three males and three females, data same as holotype; one female, CHINA: Mangshan Natural Reserve, Yizhang County, Hunan Province, September 1960, Dingyuan Wen. <i>Oxyoides bamianshanensis</i>: holotype, male, CHINA: Bamianshan Natural Reserve, Qingshan Town, Guidong county, Hunan Province, 26° 02' N, 113° 45' E, 600 m, 20 August 1996, Jianhua Huang. <i>Oxyoides longiancorus</i>: holotype, male, CHINA: Jiulianshan Natural Reserve, longnan county, Jiangxi Province, 24° 35' N, 114° 27' E, 800 m, 19 August 2000, Jianhua Huang; paratypes, two males and two females, data same as holotype. <i>Caryandoides maguas</i>: holotype, female, Mangshan Natural Reserve, Yizhang County, Hunan Province, 620 m, 6 October 2004, Lingde Xie.</p> <p> <b>Distribution.</b> CHINA (Hunan, Jiangxi).</p> <p> <b>Remark.</b> There are no differences between the type specimens of <i>Yinia hunanica</i>, <i>Oxyoides bamianshanensis</i>, <i>Oxyoides longianchorus</i> and <i>Caryandoides maguas</i>, except hind tibiae without outer apical spines in <i>Caryandoides maguas</i> according to original description. However, we did find small and indistinct outer apical spines when reexamining the type specimens. Therefore, we synonymize <i>Oxyoides bamianshanensis</i>, <i>Oxyoides longianchorus</i> and <i>Caryandoides maguas</i> with <i>Yinia hunanica</i>.</p>Published as part of <i>Huang, Jianhua, Zheng, Zhemin, Huang, Yuan & Zhou, Shanyi, 2009, New synonymies in Chinese Oxyinae (Orthoptera: Acrididae), pp. 39-55 in Zootaxa 1976</i> on pages 47-52, DOI: <a href="http://zenodo.org/record/185158">10.5281/zenodo.185158</a&gt

Taxonomic notes on Pternoscirta pulchripes Uvarov, 1925 (Orthoptera: Acrididae: Oedipodinae) with proposal of new synonyms in the genera Flatovertex and Mioscirtus

Huang, Jianhua, Storozhenko, Sergey Yurievich, Mao, Benyong, Zheng, Zhemin (2013): Taxonomic notes on Pternoscirta pulchripes Uvarov, 1925 (Orthoptera: Acrididae: Oedipodinae) with proposal of new synonyms in the genera Flatovertex and Mioscirtus. Zootaxa 3718 (6): 545-560, DOI: http://dx.doi.org/10.11646/zootaxa.3718.6.

Three-Dimensional Trajectory Tracking for a Heterogeneous XAUV via Finite-Time Robust Nonlinear Control and Optimal Rudder Allocation

This paper proposes a novel three-dimensional trajectory tracking control methodology for a heterogeneous X-rudder autonomous underwater vehicle (XAUV) that can achieve finite-time convergence, complex actuator dynamics handling, and energy-efficient optimized rudder allocation. Under a compound robust control scheme, the trajectory tracking problem is decomposed into three sub-problems: kinematics control, dynamics control, and rudder allocation. For kinematics control, a novel finite-time line-of-sight (FTLOS) guidance law is proposed, which can achieve faster position and orientation tracking when compared with classical LOS guidance, and is rarely studied in the existing finite time control methods. In the dynamics control loop, global finite-time terminal sliding mode control (FTTSMC) laws are provided to solve the heading control, pitching control, and surge velocity tracking control problems, where finite-time convergence is achieved in both the approaching stage and sliding mode holding stage. The multi-source uncertainties with unknown upper bounds in both kinematics and dynamics loops are well treated by finite-time extended disturbance observers (FTEDOs), thus ensuring the system robustness. Moreover, the influence of complex actuator dynamics is fully considered by employing a RBFNN compensator to deal with the propeller saturation and proposing an energy-efficient optimal rudder allocator to tackle the multi-objective and multi-constraint heterogeneous X-rudder angle assignment problem. Finally, simulation verifications are carried out for two different scenarios, where Case 1 focuses on the adaptability of the algorithm to different conditions and Case 2 focuses on the superiority of the algorithm over three other commonly used algorithms. The comparative simulation results show that the proposed controller has good adaptability to different initial and disturbance conditions, and performs better than three other classical controllers, especially in convergence speed, tracking accuracy, stability, and energy consumption

A Method for Predicting Surface Finish of Polylactic Acid Parts Printed Using Fused Deposition Modeling

Accurately predicting the surface finish of fused deposition modeling (FDM) parts is an important task for the engineering application of FDM technology. So far, many prediction models have been proposed by establishing a mapping relationship between printing parameters and surface roughness. Each model can work well in its specific context; however, existing prediction models cannot meet the requirements of multi-factor and multi-category prediction of surface finish and cope with imbalanced data. Aiming at these issues, a prediction method based on a combination of the adaptive particle swarm optimization and K-nearest neighbor (APSO-KNN) algorithms is proposed in this paper. Seven input variables, including nozzle diameter, layer thickness, number of perimeters, flow rate, print speed, nozzle temperature, and build orientation, are considered. The printing values of each specimen are determined using an L27 Taguchi experimental design. A total of 27 specimens are printed and experimental data for the 27 specimens are used for model training and validation. The results indicate that the proposed method can achieve a minimum classification error of 0.01 after two iterations, with a maximum accuracy of 99.0%, and high model training efficiency. It can meet the requirements of predicting surface finish for FDM parts with multiple factors and categories and can handle imbalanced data. In addition, the high accuracy demonstrates the potential of this method for predicting surface finish, and its application in actual industrial manufacturing