PI-BA Bundle Adjustment Acceleration on Embedded FPGAs with Co-observation Optimization

Bundle adjustment (BA) is a fundamental optimization technique used in many crucial applications, including 3D scene reconstruction, robotic localization, camera calibration, autonomous driving, space exploration, street view map generation etc. Essentially, BA is a joint non-linear optimization problem, and one which can consume a significant amount of time and power, especially for large optimization problems. Previous approaches of optimizing BA performance heavily rely on parallel processing or distributed computing, which trade higher power consumption for higher performance. In this paper we propose {\pi}-BA, the first hardware-software co-designed BA engine on an embedded FPGA-SoC that exploits custom hardware for higher performance and power efficiency. Specifically, based on our key observation that not all points appear on all images in a BA problem, we designed and implemented a Co-Observation Optimization technique to accelerate BA operations with optimized usage of memory and computation resources. Experimental results confirm that {\pi}-BA outperforms the existing software implementations in terms of performance and power consumption.Comment: in Proceedings of IEEE FCCM 201

Genetic incorporation of D-Lysine into diketoreductase in Escherichia coli cells

D-Lysine has been genetically introduced into diketoreductase in E. coli cells by utilization of an orthogonal Ph tRNA /Lysyl-tRNA synthetase pair. This is the first report on the genetic incoporation of D-amino acids into proteins, which may be generally applicable to a wide variety of applications

Simple reverse genetics approach to elucidating the biosynthetic pathway of complex thiopeptide nocathiacin

Biothythetic pathway of the most drugable thiopeptide nocathiacin has been elucidated by applying reverse genetics method based on its structural features. The present study provides an efficient approach for an easy access to the biosynthetic gene clusters of complex bioactive peptides that are ribosomally synthesized with extensive posttranslational modifications

The role of NF-kappaB and C/EBP factors during pathogen-mediated activation of bovine interleukin 8 and beta-defensin in mammary epithelial cells

Molecular mechanisms of pathogen-induced activation of the IL-8 and LAP genes were investigated in Mammary Epithelial Cells. Activity of the resting IL-8 promoter is inhibited by NF-kappaB p65, but activated quickly after pathogen contact by C/EBP factors. Conversely, NF-kappaB p65 drives LAP expression some time after pathogen induction, while C/EBP factors attenuate activity of this promoter. Hence, in the very same cell type NF-kappaB p65 and C/EBP factors antagonistically regulate both immune relevant genes before and after pathogen mediated stimulation.Molekulare Mechanismen der Pathogen-induzierten Expression des Cytokingenes IL-8 und des beta-Defensin Gens LAP wurden in Milchdrüsen Epithelzellen (MEC) untersucht. Die Expression des ruhenden IL-8-Promotors wird durch NF-kappaB p65 blockiert, aber schnell nach Pathogen Kontakt durch C/EBP-Faktoren induziert. Umgekehrt treibt NF-kappaB p65 die LAP-Expression einige Zeit nach Pathogen-Kontakt, während C/EBP-Faktoren die Aktivität dieses Promotors mindern. In dem gleichen Zelletyp werden also diese beiden immun-relevanten Gene gegensätzlich reguliert durch die Faktoren NF-kappaB p65 und C/EBP

Molecular diversity and functional dynamics in the central amygdala

The central amygdala (CeA) is crucial in integrating sensory and associative information to mediate adaptive responses to emotional stimuli. Recent advances in genetic techniques like optogenetics and chemogenetics have deepened our understanding of distinct neuronal populations within the CeA, particularly those involved in fear learning and memory consolidation. However, challenges remain due to overlapping genetic markers complicating neuron identification. Furthermore, a comprehensive understanding of molecularly defined cell types and their projection patterns, which are essential for elucidating functional roles, is still developing. Recent advancements in transcriptomics are starting to bridge these gaps, offering new insights into the functional dynamics of CeA neurons. In this review, we provide an overview of the expanding genetic markers for amygdala research, encompassing recent developments and current trends. We also discuss how novel transcriptomic approaches are redefining cell types in the CeA and setting the stage for comprehensive functional studies

A rapid one-step process for fabrication of biomimetic superhydrophobic surfaces by pulse electrodeposition

Inspired by some typical plants such as lotus leaves, superhydrophobic surfaces are commonly prepared by a combination of low surface energy materials and hierarchical micro/nano structures. In this work, superhydrophobic surfaces on copper substrates were prepared by a rapid, facile one-step pulse electrodepositing process, with different duty ratios in an electrolyte containing lanthanum chloride (LaCl3·6H2O), myristic acid (CH3(CH2)12COOH), and ethanol. The equivalent electrolytic time was only 10 min. The surface morphology, chemical composition and superhydrophobic property of the pulse electrodeposited surfaces were fully investigated with SEM, EDX, XRD, contact angle meter and time-lapse photographs of water droplets bouncing method. The results show that the as-prepared surfaces have micro/nano dual scale structures mainly consisting of La[CH3(CH2)12COO]3 crystals. The maximum water contact angle (WCA) is about 160.9°, and the corresponding sliding angle is about 5°. This method is time-saving and can be easily extended to other conductive materials, having a great potential for future applications

Biodiversity of wild alfalfa pollinators and their temporal foraging characters in Hexi Corridor, Northwest China

Seed production of alfalfa (Medicago sativa L.) is important in determining the effective distribution of new cultivars to farmers. However, little is known about the biodiversity and their community function of native wild pollinators of alfalfa in agronomic systems. We investigated the biodiversity of insects which visited alfalfa flowers and their temporal foraging characters in Hexi Corridor, China. A high biodiversity of insect visitors was discovered, 20 insect taxa in all, including 13 species of Hymenoptera, 3 species of Coleoptera, 3 species of Lepidoptera and 1 species of Diptera. Three native bee species, Andrena squamata, Anthophora melanognatha and Megachile abluta,were validated as the principal pollinators. They showed significant variations in tripping mode and their diurnal distribution patterns. Our results indicated that the native wild bees are diverse and they complement each other. This means they have developed a more complex system for the pollination of alfalfa than has been previously found out

Morphological Structure, Physicochemical Properties Analysis and Application in Processing Vermicelli of the Kidney Bean Starch Grown in Qianjiang, China

 The structure, morphology, physicochemical properties and potential use in vermicelli of kidney bean starch, grown in Qianjiang, China, were carried out. Results pointed out that the scanning electron micrographs revealed the presence of kidney or ovoid- to globose-shaped granules and with a diameter ranging from 5 to 50 μm. And the kidney bean starch exhibited an A-type X-ray diffraction pattern. The freeze-thaw stability was poor that the rate of water release was only 41.90%. But the thermal stability and cold stability were good and it showed a C- type Brabender viscosity curve. Besides, the kidney bean vermicelli was prepared by the optimized process. The viscosity and swelling of kidney bean vermicelli were less than mung bean vermicelli, which lead to the acceptable unable to equal to mung bean vermicelli. But considering the price and big cooking loss, weak tensile strength and weak shear strength of other starch vermicelli, the kidney bean starch vermicelli still has important application value