S3E: A Large-scale Multimodal Dataset for Collaborative SLAM

With the advanced request to employ a team of robots to perform a task collaboratively, the research community has become increasingly interested in collaborative simultaneous localization and mapping. Unfortunately, existing datasets are limited in the scale and variation of the collaborative trajectories, even though generalization between inter-trajectories among different agents is crucial to the overall viability of collaborative tasks. To help align the research community's contributions with realistic multiagent ordinated SLAM problems, we propose S3E, a large-scale multimodal dataset captured by a fleet of unmanned ground vehicles along four designed collaborative trajectory paradigms. S3E consists of 7 outdoor and 5 indoor sequences that each exceed 200 seconds, consisting of well temporal synchronized and spatial calibrated high-frequency IMU, high-quality stereo camera, and 360 degree LiDAR data. Crucially, our effort exceeds previous attempts regarding dataset size, scene variability, and complexity. It has 4x as much average recording time as the pioneering EuRoC dataset. We also provide careful dataset analysis as well as baselines for collaborative SLAM and single counterparts. Data and more up-to-date details are found at https://github.com/PengYu-Team/S3E

The LDBC Financial Benchmark

The Linked Data Benchmark Council's Financial Benchmark (LDBC FinBench) is a new effort that defines a graph database benchmark targeting financial scenarios such as anti-fraud and risk control. The benchmark has one workload, the Transaction Workload, currently. It captures OLTP scenario with complex, simple read queries and write queries that continuously insert or delete data in the graph. Compared to the LDBC SNB, the LDBC FinBench differs in application scenarios, data patterns, and query patterns. This document contains a detailed explanation of the data used in the LDBC FinBench, the definition of transaction workload, a detailed description for all queries, and instructions on how to use the benchmark suite.Comment: For the source code of this specification, see the ldbc_finbench_docs repository on Githu

miRNA Expression Profile of Saliva in Subjects of Yang Deficiency Constitution and Yin Deficiency Constitution

Background/Aims: Based on the theory of constitution in Traditional Chinese Medicine (TCM), the Chinese Han population has been classified into nine constitutions. Of these, Yang deficiency constitution mainly exhibit cold intolerance while Yin deficiency constitution mainly exhibit heat intolerance. Some studies have been carried out to explore the modern genetic and biological basis of such constitution classification, but more remains to be done. MicroRNA (miRNA) serves as post-transcriptional regulators of gene expression and may play a role in the classification process. Here, we examined miRNA expression profile of saliva to further improve the comprehensiveness of constitution classification. Methods: Saliva was collected from Chinese Han individuals with Yang deficiency, Yin deficiency and Balanced constitutions (n=5 each), and miRNA expression profile was determined using the Human miRNA OneArray®v7. Based on 1.5 Fold change, means log2|Ratio|≥0.585 and P-value< 0.05, differentially expressed miRNA was screened. Target genes were predicted using DIANA-TarBasev7.0 and analysis of KEGG pathway was carried out using DIANA-mirPathv.3. Results: We found that 81 and 98 differentially expressed miRNAs were screened in Yang deficiency and Yin deficiency constitution, respectively. Among them, 16 miRNAs were identical and the others were unique. In addition, the target genes that are regulated by the unique miRNAs were significantly enriched in 27 and 20 signaling pathways in Yang deficiency and Yin deficiency constitution, respectively. Thyroid hormone signaling pathway is present in both constitutions. These unique miRNAs that regulated target genes of thyroid hormone signaling pathway may be associated with cold intolerance or heat intolerance. Conclusion: The results of our study show that Yang deficiency and Yin deficiency constitutions exhibit systematic differences in miRNA expression profile. Moreover, the distinct characteristics of TCM constitution may be explained, in part, by differentially expressed miRNAs

The Linked Data Benchmark Council (LDBC): Driving competition and collaboration in the graph data management space

Graph data management is instrumental for several use cases such as recommendation, root cause analysis, financial fraud detection, and enterprise knowledge representation. Efficiently supporting these use cases yields a number of unique requirements, including the need for a concise query language and graph-aware query optimization techniques. The goal of the Linked Data Benchmark Council (LDBC) is to design a set of standard benchmarks that capture representative categories of graph data management problems, making the performance of systems comparable and facilitating competition among vendors. LDBC also conducts research on graph schemas and graph query languages. This paper introduces the LDBC organization and its work over the last decade

The Linked Data Benchmark Council (LDBC): Driving competition and collaboration in the graph data management space

Graph data management is instrumental for several use cases such as recommendation, root cause analysis, financial fraud detection, and enterprise knowledge representation. Efficiently supporting these use cases yields a number of unique requirements, including the need for a concise query language and graph-aware query optimization techniques. The goal of the Linked Data Benchmark Council (LDBC) is to design a set of standard benchmarks that capture representative categories of graph data management problems, making the performance of systems comparable and facilitating competition among vendors. LDBC also conducts research on graph schemas and graph query languages. This paper introduces the LDBC organization and its work over the last decade

Descriptive visual words and visual phrases for image applications

The Bag-of-visual Words (BoW) image representation has been applied for various problems in the fields of multimedia and computer vision. The basic idea is to represent images as visual documents composed of repeatable and distinctive visual elements, which are comparable to the words in texts. However, massive experiments show that the commonly used visual words are not as expressive as the text words, which is not desirable because it hinders their effectiveness in various applications. In this paper, Descriptive Visual Words (DVWs) and Descriptive Visual Phrases (DVPs) are proposed as the visual correspondences to text words and phrases, where visual phrases refer to the frequently co-occurring visual word pairs. Since images are the carriers of visual objects and scenes, novel descriptive visual element set can be composed by the visual words and their combinations whic

MALAT1 Mediates α-Synuclein Expression through miR-23b-3p to Induce Autophagic Impairment and the Inflammatory Response in Microglia to Promote Apoptosis in Dopaminergic Neuronal Cells

Background. Parkinson’s disease (PD) is a very common neurodegenerative disease that adversely affects the physical and mental health of many patients, but there is currently no effective treatment. Objective. To this end, this study focused on investigating the potential mechanisms leading to dopaminergic neuronal apoptosis in PD. Methods. Rotenone induces damage in dopaminergic neuronal MN9D cells. Apoptosis was detected by flow cytometry, and the expression of apoptosis-related proteins was detected by western blot. RT-qPCR was used to detect the expression of MALAT1 and miR-23b-3p. The expression of α-synuclein was detected by ELISA. A dual luciferase gene reporter assay was used to determine the targeted regulatory relationship between MALAT1 and miR-23b-3p and miR-23b-3p and α-synuclein. MN9D supernatant was cocultured with BV-2 cells, or BV-2 cells were treated with exogenous α-synuclein and then treated with an autophagy inhibitor (3-MA) and autophagy activator (RAPA). The expression of α-synuclein in BV-2 cells was detected by immunofluorescence. The expression of MIP-1α, a marker of microglial activation, was detected by ELISA. The nuclear translocation of NF-κB p65 was detected by immunofluorescence. The expression of proinflammatory cytokines was detected by ELISA. Western blotting was used to detect the expression of autophagy-related proteins. Apoptosis of MN9D cells was detected after coculture of BV-2 supernatant with MN9D. Results. The expression of MALAT1 and α-synuclein was upregulated, while the expression of miR-23b-3p was downregulated in damaged MN9D cells, resulting in cell apoptosis. MALAT1 can negatively regulate the expression of miR-23b-3p, while miR-23b-3p negatively regulates the expression of α-synuclein. α-synuclein can enter BV-2 cells through cell phagocytosis. Coculture of BV-2 cells with α-synuclein or with MN9D supernatant overexpressing MALAT1 resulted in a decrease in the autophagy level of BV-2 cells and an inflammatory reaction. However, miR-23b-3p mimics and knockdown of α-synuclein reversed the effect of MALAT1 on autophagy and the inflammatory response of BV-2 cells. In addition, after coculture of BV-2 cells with α-synuclein, the level of autophagy further decreased when 3-MA was added, while the opposite result occurred when RAPA was added. After coculture of α-synuclein-treated BV-2 cell supernatant with MN9D cells, autophagy-impaired BV-2 promoted the apoptosis of MN9D cells, and 3-MA aggravated the autophagy disorder of BV-2 and further promoted the apoptosis of MN9D cells, while RAPA reversed the autophagy disorder of BV-2 and alleviated the apoptosis of MN9D cells. Conclusion. MALAT1 can promote α-synuclein expression by regulating miR-23b-3p, thereby inducing microglial autophagy disorder and an inflammatory response leading to apoptosis of dopaminergic neurons. This newly discovered molecular mechanism may provide a potential target for the treatment of PD