A Unified Framework for Mutual Improvement of SLAM and Semantic Segmentation

This paper presents a novel framework for simultaneously implementing localization and segmentation, which are two of the most important vision-based tasks for robotics. While the goals and techniques used for them were considered to be different previously, we show that by making use of the intermediate results of the two modules, their performance can be enhanced at the same time. Our framework is able to handle both the instantaneous motion and long-term changes of instances in localization with the help of the segmentation result, which also benefits from the refined 3D pose information. We conduct experiments on various datasets, and prove that our framework works effectively on improving the precision and robustness of the two tasks and outperforms existing localization and segmentation algorithms.Comment: 7 pages, 5 figures.This work has been accepted by ICRA 2019. The demo video can be found at https://youtu.be/Bkt53dAehj

Genome-Wide Identification and Evaluation of New Reference Genes for Gene Expression Analysis Under Temperature and Salinity Stresses in Ciona savignyi

Rapid adaptation/accommodation to changing environments largely contributes to maximal survival of invaders during biological invasions, usually leading to success in crossing multiple barriers and finally in varied environments in recipient habitats. Gene expression is one of the most important and rapid ways during responses to environmental stresses. Selection of proper reference genes is the crucial prerequisite for gene expression analysis using the common approach, real-time quantitative PCR (RT-qPCR). Here we identified eight candidate novel reference genes from the RNA-Seq data in an invasive model ascidian Ciona savignyi under temperature and salinity stresses. Subsequently, the expression stability of these eight novel reference genes, as well as other six traditionally used reference genes, was evaluated using RT-qPCR and comprehensive tool RefFinder. Under the temperature stress, two traditional reference genes, ribosomal proteins S15 and L17 (RPS15, RPL17), and one novel gene Ras homolog A (RhoA), were recommended as the top three stable genes, which can be used to normalize target genes with a high and moderate expression level, respectively. Under the salinity stress, transmembrane 9 superfamily member (TMN), MOB kinase activator 1A-like gene (MOB) and ubiquitin-conjugating enzyme (UBQ2) were suggested as the top three stable genes. On the other hand, several commonly used reference genes such as α-tubulin (TubA), β-tubulin (TubB) and glyceraldehyde-3-phosphate dehydrogenase (GAPDH) showed unstable expressions, thus these genes should not be used as internal controls for gene expression analysis. We also tested the expression level of an important stress response gene, large proline-rich protein bag6-like gene (BAG) using different reference genes. As expected, we observed different results and conclusions when using different normalization methods, thus suggesting the importance of selection of proper reference genes and associated normalization methods. Our results provide a valuable reference gene resource for the normalization of gene expression in the study of environmental adaptation/accommodation during biological invasions using C. savignyi as a model

Depositional and erosional signatures in sedimentary successions on the continental slope and rise off Prydz Bay, East Antarctica– implications for Pliocene paleoclimate

The Prydz Bay region of Antarctica is the immediate recipient of ice and sediments transported by the Lambert Glacier, the single largest outflow from the East Antarctic Ice Sheet. The continental slope and rise provide records covering multiple glacial cycles and containing paleoclimatic information. Marine geological and geophysical data collected from the continental shelf and adjacent slope of Prydz Bay, Antarctica, including seismic reflection data, bathymetry, and core records from ODP drilling sites, reveal the history of glacial sediment transport and deposition since the early Pliocene times. Seismic facies are interpreted in terms of episodes of slope progradation, contourite, turbidite, trough-mouth fan, and mass transport deposition. Two seismic units with estimated age of early to late Pliocene and late Pliocene to recent have been analyzed in detail for the area immediately offshore the Lambert Glacier and Prydz Bay and the adjacent Mac. Robertson margin. The upper slope is dominated by episodic mass transport deposits, many of which accumulated to form a trough mouth fan since Early Pliocene times. The trough mouth fan contrasts with the adjacent steep (4-6 degrees) continental slope of the Mac. Robertson margin, where glacigenic sediments have been transported down slope as high-velocity turbidity currents via submarine channels. The distal region exhibits evidence for contrasting effects of high-energy, traction-dominated versus lower-energy, fallout-dominated suspension flows. The counter-clockwise Coriolis force modifies the erosion and deposition patterns of turbidity currents creating an asymmetric channel-levee architecture. Since the early Pliocene, turbidite sedimentation surpassed the amount of sediment reworked and transported by westward-flowing contour currents along the base of slope. On the continental rise, contourites and sediment waves were deposited in response to enhanced bottom-water formation, which is consistent with climatic cooling since late Pliocene times. This study, based on existing seismic reflection and ODP data, highlights the need for a future scientific ocean drilling proposal on the Prydz Bay continental slope and rise in order to more accurately determine the timing of the important events that have influenced the evolution of this margin

Seismic architecture of Yongle isolated carbonate platform in Xisha Archipelago, South China Sea

This study presented recently reprocessed multi-channel seismic data and multi-beam bathymetric map to reveal the geomorphology and stratigraphic architecture of the Yongle isolated carbonate platform in the Xisha Archipelago, northwestern South China Sea. Our results show that the upper slope angles of Yongle carbonate platform exceed 10° and even reach to ∼32.5° whereas the lower slope angles vary from .5° to 5.3°. The variations of slope angles show that margins of Yongle Atoll belong to escarpment (bypass) margins to erosional (escarpment) margins. The interior of carbonate platform is characterized by sub-parallel to parallel, semi-continuous to continuous reflectors with medium-to high-amplitude and low-to medium-frequency. The platform shows a sub-flat to flat-topped shape in its geometry with aggradation and backstepping occurring on the platform margins. According to our seismic-well correlation, the isolated carbonate platform started forming in Early Miocene, grew during Early to Middle Miocene, and subsequently underwent drowning in Late Miocene, Pliocene and Quaternary. Large-scale submarine mass transport deposits are observed in the southeastern and southern slopes of Yongle Atoll to reshape the slopes since Late Miocene. The magmatism and hydrothermal fluid flow pipes around the Yongle Atoll have been active during 10.5–2.6 Ma. Their activity might intensify dolomitization of the Xisha isolated carbonate platforms during Late Miocene to Pliocene. Our results further suggest that the Yongle carbonate platform is situated upon a pre-existing fault-bounded block with a flat pre-Cenozoic basement rather than a large scale volcano as previously known and the depth of the basement likely reached to 1400 m, which is deeper than the well CK-2 suggested

Buyang Huanwu Decoction Attenuates Infiltration of Natural Killer Cells and Protects Against Ischemic Brain Injury

Background/Aims: Natural killer (NK) cells are among the first immune cells that respond to an ischemic insult in human brains. The infiltrated NK cells damage blood-brain barrier (BBB) and exacerbate brain infarction. Buyang Huanwu Decoction (BHD), a classic Chinese traditional herbal prescription, has long been used for the treatment of ischemic stroke. The present study investigated whether BHD can prevent brain infiltration of NK cells, attenuate BBB disruption and improve ischemic outcomes. Methods: Transient focal cerebral ischemia was induced in rats by a 60-minute middle cerebral artery occlusion, and BHD was orally administrated at the onset of reperfusion, 12 hours later, then twice daily. Assessed parameters on Day 3 after ischemia were: neurological and motor functional deficits through neurological deficit score and rotarod test, respectively; brain infarction through TTC staining; BBB integrity through Evans blue extravasation; matrix metalloproteinase-2/9 activities through gelatin zymography; tight junction protein, nuclear factor-kB (NF-kB) p65 and phospho-p65 levels through Western blotting; NK cell brain infiltration and CXCR3 levels on NK cells through flow cytometry; interferon-γ production through ELISA; CXCL10 mRNA levels through real-time PCR; CXCL10 expression and p65 nuclear translocation through immunofluorescence staining. Results: BHD markedly reduced brain infarction, improved rotarod performance, and attenuated BBB breakdown. Concurrently, BHD attenuated the upregulation of matrix metalloproteinase-2/9 activities and the degradation of tight junction proteins in the ischemic brain. Infiltration of NK cells was observed in the ischemic hemisphere, and this infiltration was blunted by treatment with BHD. BHD suppressed brain ischemia-induced interferon-γ and chemokine CXCL10 production. Furthermore, BHD significantly reduced the expression of CXCR3 on brain-infiltrated NK cells. Strikingly, BHD did not affect NK cell levels or its CXCR3 expression in the spleen or peripheral blood after brain ischemia. The nuclear translocation of NF-kB p65 and phospho-p65 in the ischemic brain was inhibited by BHD. Conclusion: Our findings suggest that BHD prevents brain infiltration of NK cells, preserves BBB integrity and eventually improves ischemic outcomes. The inhibitory effects of BHD on NK cell brain invasion may involve its ability of suppressing NF-kB-associated CXCL10-CXCR3-mediated chemotaxis. Notably, BHD only suppresses NK cells and their CXCR3 expression in the ischemic brain, but not those in periphery

First documentation of seismic stratigraphy and depositional signatures of Zhongsha atoll (Macclesfield Bank), South China Sea

Carbonate platforms form informative archives for paleoclimates and their internal structures can also hold crucial information about the tectonic history and carbonate evolution of the ocean basins. The Zhongsha atoll (Macclesfield Bank) forms the largest atoll system in the South China Sea with a surface area of 23500 km2. However, the internal structure and evolution of this atoll system is completely unknown. 2D multichannel seismic reflection data were acquired in 2017 over the Zhongsha atoll in the South China Sea to unravel the stratigraphy, geomorphology, depositional processes, and seismic facies of one of the world's largest atoll for the first time. This Neogene carbonate platform comprises more than 1 km thick carbonate sequence and overlies a metamorphic basement. The southeastern part of the atoll comprises a fault-controlled graben system, which was formed during the Cenozoic rifting stage of the South China Sea. Most of the faults trend NE-SW and E-W and terminate at or slightly above the top of Middle Miocene strata. Atolls and abundant organic reefs initiated on the positive relief and closely mimicked the underlying topography during the Early Miocene. Shallow-water carbonates continued growing through Middle Miocene to present times. Regional uplift led to subaerial exposure, termination of platform growth and karstification during the Miocene. We also reveal a number of fluid-flow features such as vertical sub-bottom venting features (chimneys and pipes), chaotic reflection zones, which provide the first evidence of active fluid venting in the area of Zhongsha atoll. The Neogene sedimentation history of Zhongsha atoll further provide an important paleoenvironmental context for future scientific drilling to better constrain the evolution of Asia Monsoon