AutoMerge: A Framework for Map Assembling and Smoothing in City-scale Environments

We present AutoMerge, a LiDAR data processing framework for assembling a large number of map segments into a complete map. Traditional large-scale map merging methods are fragile to incorrect data associations, and are primarily limited to working only offline. AutoMerge utilizes multi-perspective fusion and adaptive loop closure detection for accurate data associations, and it uses incremental merging to assemble large maps from individual trajectory segments given in random order and with no initial estimations. Furthermore, after assembling the segments, AutoMerge performs fine matching and pose-graph optimization to globally smooth the merged map. We demonstrate AutoMerge on both city-scale merging (120km) and campus-scale repeated merging (4.5km x 8). The experiments show that AutoMerge (i) surpasses the second- and third- best methods by 14% and 24% recall in segment retrieval, (ii) achieves comparable 3D mapping accuracy for 120 km large-scale map assembly, (iii) and it is robust to temporally-spaced revisits. To the best of our knowledge, AutoMerge is the first mapping approach that can merge hundreds of kilometers of individual segments without the aid of GPS.Comment: 18 pages, 18 figur

Inhibition of RhoA-Subfamily GTPases Suppresses Schwann Cell Proliferation Through Regulating AKT Pathway Rather Than ROCK Pathway

Inhibiting RhoA-subfamily GTPases by C3 transferase is widely recognized as a prospective strategy to enhance axonal regeneration. When C3 transferase is administered for treating the injured peripheral nerves, Schwann cells (SCs, important glial cells in peripheral nerve) are inevitably impacted and therefore SC bioeffects on nerve regeneration might be influenced. However, the potential role of C3 transferase on SCs remains elusive. Assessed by cell counting, EdU and water-soluble tetrazolium salt-1 (WST-1) assays as well as western blotting with PCNA antibody, herein we first found that CT04 (a cell permeable C3 transferase) treatment could significantly suppress SC proliferation. Unexpectedly, using Y27632 to inhibit ROCK (the well-accepted downstream signal molecule of RhoA subfamily) did not impact SC proliferation. Further studies indicated that CT04 could inactivate AKT pathway by altering the expression levels of phosphorylated AKT (p-AKT), PI3K and PTEN, while activating AKT pathway by IGF-1 or SC79 could reverse the inhibitory effect of CT04 on SC proliferation. Based on present data, we concluded that inhibition of RhoA-subfamily GTPases could suppress SC proliferation, and this effect is independent of conventional ROCK pathway but involves inactivation of AKT pathway

Ascorbic Acid Facilitates Neural Regeneration After Sciatic Nerve Crush Injury

Ascorbic acid (AA) is an essential micronutrient that has been safely used in the clinic for many years. The present study indicates that AA has an unexpected function in facilitating nerve regeneration. Using a mouse model of sciatic nerve crush injury, we found that AA can significantly accelerate axonal regrowth in the early stage [3 days post-injury (dpi)], a finding that was revealed by immunostaining and Western blotting for antibodies against GAP-43 and SCG10. On day 28 post-injury, histomorphometric assessments demonstrated that AA treatment increased the density, size, and remyelination of regenerated axons in the injured nerve and alleviated myoatrophy in the gastrocnemius. Moreover, the results from various behavioral tests and electrophysiological assays revealed that nerve injury-derived functional defects in motor and sensory behavior as well as in nerve conduction were significantly attenuated by treatment with AA. The potential mechanisms of AA in nerve regeneration were further explored by investigating the effects of AA on three types of cells involved in this process [neurons, Schwann cells (SCs) and macrophages] through a series of experiments. Overall, the data illustrated that AA treatment in cultured dorsal root ganglionic neurons resulted in increased neurite growth and lower expression of RhoA, which is an important inhibitory factor in neural regeneration. In SCs, proliferation, phagocytosis, and neurotrophin expression were all enhanced by AA. Meanwhile, AA treatment also improved proliferation, migration, phagocytosis, and anti-inflammatory polarization in macrophages. In conclusion, this study demonstrated that treatment with AA can promote the morphological and functional recovery of injured peripheral nerves and that this effect is potentially due to AA’s bioeffects on neurons, SCs and macrophages, three of most important types of cells involved in nerve injury and regeneration

Large expert-curated database for benchmarking document similarity detection in biomedical literature search

Document recommendation systems for locating relevant literature have mostly relied on methods developed a decade ago. This is largely due to the lack of a large offline gold-standard benchmark of relevant documents that cover a variety of research fields such that newly developed literature search techniques can be compared, improved and translated into practice. To overcome this bottleneck, we have established the RElevant LIterature SearcH consortium consisting of more than 1500 scientists from 84 countries, who have collectively annotated the relevance of over 180 000 PubMed-listed articles with regard to their respective seed (input) article/s. The majority of annotations were contributed by highly experienced, original authors of the seed articles. The collected data cover 76% of all unique PubMed Medical Subject Headings descriptors. No systematic biases were observed across different experience levels, research fields or time spent on annotations. More importantly, annotations of the same document pairs contributed by different scientists were highly concordant. We further show that the three representative baseline methods used to generate recommended articles for evaluation (Okapi Best Matching 25, Term Frequency-Inverse Document Frequency and PubMed Related Articles) had similar overall performances. Additionally, we found that these methods each tend to produce distinct collections of recommended articles, suggesting that a hybrid method may be required to completely capture all relevant articles. The established database server located at https://relishdb.ict.griffith.edu.au is freely available for the downloading of annotation data and the blind testing of new methods. We expect that this benchmark will be useful for stimulating the development of new powerful techniques for title and title/abstract-based search engines for relevant articles in biomedical research.Peer reviewe

Search for eccentric black hole coalescences during the third observing run of LIGO and Virgo

Despite the growing number of confident binary black hole coalescences observed through gravitational waves so far, the astrophysical origin of these binaries remains uncertain. Orbital eccentricity is one of the clearest tracers of binary formation channels. Identifying binary eccentricity, however, remains challenging due to the limited availability of gravitational waveforms that include effects of eccentricity. Here, we present observational results for a waveform-independent search sensitive to eccentric black hole coalescences, covering the third observing run (O3) of the LIGO and Virgo detectors. We identified no new high-significance candidates beyond those that were already identified with searches focusing on quasi-circular binaries. We determine the sensitivity of our search to high-mass (total mass M>70 M⊙) binaries covering eccentricities up to 0.3 at 15 Hz orbital frequency, and use this to compare model predictions to search results. Assuming all detections are indeed quasi-circular, for our fiducial population model, we place an upper limit for the merger rate density of high-mass binaries with eccentricities 0<e≤0.3 at 0.33 Gpc−3 yr−1 at 90\% confidence level

Ultralight vector dark matter search using data from the KAGRA O3GK run

Among the various candidates for dark matter (DM), ultralight vector DM can be probed by laser interferometric gravitational wave detectors through the measurement of oscillating length changes in the arm cavities. In this context, KAGRA has a unique feature due to differing compositions of its mirrors, enhancing the signal of vector DM in the length change in the auxiliary channels. Here we present the result of a search for U(1)B−L gauge boson DM using the KAGRA data from auxiliary length channels during the first joint observation run together with GEO600. By applying our search pipeline, which takes into account the stochastic nature of ultralight DM, upper bounds on the coupling strength between the U(1)B−L gauge boson and ordinary matter are obtained for a range of DM masses. While our constraints are less stringent than those derived from previous experiments, this study demonstrates the applicability of our method to the lower-mass vector DM search, which is made difficult in this measurement by the short observation time compared to the auto-correlation time scale of DM

Performance of fast fluid dynamics with a semi-Lagrangian scheme and an implicit upwind scheme in simulating indoor/outdoor airflow

Computational fluid dynamics can be time consuming for predicting indoor airflows and pollutant transport in large-scale problems or emergency management. Fast fluid dynamics (FFD) is able to accomplish efficient and accurate simulation of indoor/outdoor airflow. FFD solves the advection term of the Navier–Stokes equations either by a semi-Lagrangian (SL) scheme or an implicit upwind (IU) scheme. The SL scheme can be highly efficient, but its first-order version is not conservative and introduces significant numerical diffusion. To improve its accuracy, a high-order temporal and interpolation scheme that not only reduces dissipation and dispersion errors but also guarantees the convergence speed should be applied. Otherwise, an IU scheme instead could be used to solve the advection term. The IU scheme is conservative and introduces minor numerical diffusion, but it may increase the computation time. Therefore, this study investigated the performance of FFD with SL scheme using high-order temporal and interpolation schemes and that with IU scheme. The comparisons used experimental data of two indoor airflows and one outdoor airflow. The results showed that FFD with IU scheme was overall more accurate than FFD with SL scheme. In simulating indoor airflow, both methods were robust and the predictions were independent of time step sizes if the Courant number was less than or equal to one. In simulating the outdoor airflow, the FFD with SL scheme performed better than the FFD with IU scheme for large time step sizes. The FFD with IU scheme consumed 44%–61% computing time of the FFD with SL scheme

Preliminary Application of Vermicompost in Rice Production: Effects of Nursery Raising with Vermicompost on Fragrant Rice Performances

Vermicompost is an excellent organic fertilizer, but the application of vermicompost in fragrant rice production has not yet been reported. Seedling nursery is an important component of rice production. The present study firstly applied vermicompost in fragrant rice production through nursery raising. The seedlings of three fragrant rice cultivars were raised in matrix with different rations of vermicompost (the treatment without vermicompost was taken as the control), and the growth parameters and physiological characters of seedlings were investigated. The results showed that, compared with the control, the application of vermicompost significantly (p < 0.05) increased the plant height, stem diameter, fresh weight, and dry weight of fragrant rice seedlings by 11.22–24.73%, 38.34–65.87%, 16.74–30.46%, and 16.61–35.16%, respectively. Nursery raising with vermicompost significantly (p < 0.05) enhanced the net photosynthetic rate by 5.99–12.93%, relative to the control. Higher contents of chlorophyll a, chlorophyll b, carotenoids, and total chlorophyll were recorded in vermicompost treatments than in the control. Compared with the control, vermicompost treatments also increased root length, surface area, mean diameter, root volume, root tip number, and root activity of fragrant rice seedlings by 12.42–27.82%, 15.04–38.65%, 12.64–23.12%, 42.41–63.58%, 18.62–24.95%, and 12.01–26.29%, respectively. Moreover, nursery raising with vermicompost enhanced the activities of antioxidant enzymes including superoxide, peroxidase, and catalase by 7.97–24.21%, 17.11–44.99%, and 7.37–15.95%, respectively, relative to the control. Moreover, 7.92–29.40% lower malondialdehyde contents were recorded in vermicompost treatments compared with the control. Therefore, nursery raising with vermicompost could be a good agronomy practice in machine-transplanted fragrant rice