97 research outputs found

    DGMem: Learning Visual Navigation Policy without Any Labels by Dynamic Graph Memory

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    In recent years, learning-based approaches have demonstrated significant promise in addressing intricate navigation tasks. Traditional methods for training deep neural network navigation policies rely on meticulously designed reward functions or extensive teleoperation datasets as navigation demonstrations. However, the former is often confined to simulated environments, and the latter demands substantial human labor, making it a time-consuming process. Our vision is for robots to autonomously learn navigation skills and adapt their behaviors to environmental changes without any human intervention. In this work, we discuss the self-supervised navigation problem and present Dynamic Graph Memory (DGMem), which facilitates training only with on-board observations. With the help of DGMem, agents can actively explore their surroundings, autonomously acquiring a comprehensive navigation policy in a data-efficient manner without external feedback. Our method is evaluated in photorealistic 3D indoor scenes, and empirical studies demonstrate the effectiveness of DGMem.Comment: 8 pages, 6 figure

    False Negativity of Tc-99m Labeled Sodium Phytate Bone Marrow Imaging Under the Effect of G-CSF Prescription in Aplastic Anemia: A Case Report

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    Granulocyte colony-stimulating factor (G-CSF) is a hematopoietic cytokine which controls the differentiation and growth of hematopoietic cells in the bone marrow. We report a severe aplastic anemia (SAA) patient with false-negative 99mTc sodium phytate bone marrow imaging findings under concurrent G-CSF therapy. The first bone marrow imaging showed a normal bone marrow activity. However, the bone marrow biopsy pathology report revealed a lack of hematopoietic cells. Furthermore, the complete blood count indicated severe pancytopenia resulting in the diagnosis of aplastic anemia (AA). A second marrow scan implemented after the stoppage of G-CSF showed an abnormal bone marrow activity, which matched the pathology reports. Accordingly, the concurrent administration of G-CSF was considered as the cause of false-negative bone marrow imaging findings obtained in the first scan. Consequently, it should be kept in mind that a 99mTc sodium phytate bone marrow scintigraphy during the concurrent administration of G-CSF may lead to the achievement of false negative results because it induces changes in bone marrow mimicking a normal marrow scan in patients with AA

    Genetic characterization of wild-type measles viruses isolated in China, 2006-2007

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    Molecular characterization of wild-type measles viruses in China during 1995-2004 demonstrated that genotype H1 was endemic and widely distributed throughout the country. H1-associated cases and outbreaks caused a resurgence of measles beginning in 2005. A total of 210,094 measles cases and 101 deaths were reported by National Notifiable Diseases Reporting System (NNDRS) and Chinese Measles Laboratory Network (LabNet) from 2006 to 2007, and the incidences of measles were 6.8/100,000 population and 7.2/100,000 population in 2006 and 2007, respectively. Five hundred and sixty-five wild-type measles viruses were isolated from 24 of 31 provinces in mainland China during 2006 and 2007, and all of the wild type virus isolates belonged to cluster 1 of genotype H1. These results indicated that H1-cluster 1 viruses were the predominant viruses circulating in China from 2006 to 2007. This study contributes to previous efforts to generate critical baseline data about circulating wild-type measles viruses in China that will allow molecular epidemiologic studies to help measure the progress made toward China's goal of measles elimination by 2012

    Inhibition of p38 MAPK Signaling Regulates the Expression of EAAT2 in the Brains of Epileptic Rats

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    Seizures induce the release of excitatory amino acids (EAAs) from the intracellular fluid to the extracellular fluid, and the released EAAs primarily comprise glutamic acid (Glu) and asparaginic acid (Asp). Glu neurotransmission functions via EAA transporters (EAATs) to maintain low concentrations of Glu in the extracellular space and avoid excitotoxicity. EAAT2, the most abundant Glu transporter subtype in the central nervous system (CNS), plays a key role in the regulation of glutamate transmission. Previous studies have shown that SB203580 promotes EAAT2 expression by inhibiting the p38 mitogen-activated protein kinase (MAPK) signaling pathway, but whether SB203580 upregulates EAAT2 expression in epileptic rats is unknown. This study demonstrated that EAAT2 expression was increased in the brain tissue of epileptic rats. Intraperitoneal injection of a specific inhibitor of p38 MAPK, SB203580, reduced the time to the first epileptic seizure and attenuated the seizure severity. In addition, SB203580 treatment increased the EAAT2 expression levels in the brain tissue of epileptic rats. These results suggest that SB203580 could regulate epileptic seizures via EAAT2

    Single Endemic Genotype of Measles Virus Continuously Circulating in China for at Least 16 Years

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    The incidence of measles in China from 1991 to 2008 was reviewed, and the nucleotide sequences from 1507 measles viruses (MeV) isolated during 1993 to 2008 were phylogenetically analyzed. The results showed that measles epidemics peaked approximately every 3 to 5 years with the range of measles cases detected between 56,850 and 140,048 per year. The Chinese MeV strains represented three genotypes; 1501 H1, 1 H2 and 5 A. Genotype H1 was the predominant genotype throughout China continuously circulating for at least 16 years. Genotype H1 sequences could be divided into two distinct clusters, H1a and H1b. A 4.2% average nucleotide divergence was found between the H1a and H1b clusters, and the nucleotide sequence and predicted amino acid homologies of H1a viruses were 92.3%–100% and 84.7%–100%, H1b were 97.1%–100% and 95.3%–100%, respectively. Viruses from both clusters were distributed throughout China with no apparent geographic restriction and multiple co-circulating lineages were present in many provinces. Cluster H1a and H1b viruses were co-circulating during 1993 to 2005, while no H1b viruses were detected after 2005 and the transmission of that cluster has presumably been interrupted. Analysis of the nucleotide and predicted amino acid changes in the N proteins of H1a and H1b viruses showed no evidence of selective pressure. This study investigated the genotype and cluster distribution of MeV in China over a 16-year period to establish a genetic baseline before MeV elimination in Western Pacific Region (WPR). Continuous and extensive MeV surveillance and the ability to quickly identify imported cases of measles will become more critical as measles elimination goals are achieved in China in the near future. This is the first report that a single endemic genotype of measles virus has been found to be continuously circulating in one country for at least 16 years

    Molecular epidemiology of measles viruses in China, 1995–2003

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    This report describes the genetic characterization of 297 wild-type measles viruses that were isolated in 24 provinces of China between 1995 and 2003. Phylogenetic analysis of the N gene sequences showed that all of the isolates belonged to genotype H1 except 3 isolates, which were genotype A. The nucleotide sequence and predicted amino acid homologies of the 294-genotype H1 strains were 94.7%–100% and 93.3%–100%, respectively. The genotype H1 isolates were divided into 2 clusters, which differed by approximately 2.9% at the nucleotide level. Viruses from both clusters were distributed throughout China with no apparent geographic restriction and multiple co-circulating lineages were present in many provinces. Even though other measles genotypes have been detected in countries that border China, this report shows that genotype H1 is widely distributed throughout the country and that China has a single, endemic genotype. This important baseline data will help to monitor the progress of measles control in China

    The Rice HGW Gene Encodes a Ubiquitin-Associated (UBA) Domain Protein That Regulates Heading Date and Grain Weight

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    Heading date and grain weight are two determining agronomic traits of crop yield. To date, molecular factors controlling both heading date and grain weight have not been identified. Here we report the isolation of a hemizygous mutation, heading and grain weight (hgw), which delays heading and reduces grain weight in rice. Analysis of hgw mutant phenotypes indicate that the hemizygous hgw mutation decreases latitudinal cell number in the lemma and palea, both composing the spikelet hull that is known to determine the size and shape of brown grain. Molecular cloning and characterization of the HGW gene showed that it encodes a novel plant-specific ubiquitin-associated (UBA) domain protein localized in the cytoplasm and nucleus, and functions as a key upstream regulator to promote expressions of heading date- and grain weight-related genes. Moreover, co-expression analysis in rice and Arabidopsis indicated that HGW and its Arabidopsis homolog are co-expressed with genes encoding various components of ubiquitination machinery, implying a fundamental role for the ubiquitination pathway in heading date and grain weight control

    Būsimųjų muzikos mokytojų vokalinis ugdymas universitete

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    Relevance of the research–Vocal music is a skill-based course with equal emphasis on practice and theory(Cao, 2008).The teaching of vocal music in higher normal schools should not only pay attention to the training of vocal performance(Fan, 2016),but should also pay attention to the theoryof vocal music and the cultivation of students’ cultural cultivation(Ginųg, 2015).Many vocal teachers over-emphasize the students’ vocal skills(Hao, 2012)and there is serious carelessness in the students’ vocal theory and cultural accumulation(Jia, 2009). Under the influence of such teaching mode, despite students’ strong vocal singing skills(Jurga, 2014),only the voices and emotions are heard from their songs(LI, 2012).They do not understand the true meaning of the lyrics and melody(Lin, 2009).They do not even know the singer or the importance of body language in singing. According to students’ opinions, if the teacher does not ask for it(Liu, 2008),they do not need to understand(Liu, 2014). The teacher arranges them to understand(Marazienė, 2008).They are only doing forms and are not willing to go deeper(Cao, 2008).If every vocal teacher can let the students delve into the basic theory of vocal singing, take the initiative to ask and guide the students to comprehend the creative intention of the songwriter(Liu, 2016)and teach the students to understand the rhythm of the melody curve of the song (Wang, 2004),then the students pass three or four years of vocal learning, even if there are no good singing conditions, but a student also hasa good vocal teaching and appreciation ability (Yu, 2014).In order to cultivate talents and meet the needs of the future’s vocal art(Zhang, 2018), college education must focus on cultivating students’ mastery spirit and making them the subjects of self-learning and enterprising spirit and artistic creation spirit. This is an inevitable requirement of art education and an important trend in development(Zhao, 2003).That is, in teaching, it is crucial to create a harmonious and equal teacher-student relationship(Zhu, 2011).Also, it is important to create a relaxed learning atmosphere for students and enable students to actively learn. Teachers should use encouragement as a means to stimulate students’ desires and ideals for creation and development which highly contribute to the maximization of the potential of each student. In short, it emphasizes the transformation from the original teacher-centered, focus to the student-centered, focus in learning the law (Wang, 2015).In the international environment of multicultural vocal music education, a single Western art music and musicology system has been questioned by the music education community(Fu, 2016).The development of multicultural vocal music education will become a compulsory course for futurevocal teachers(Cao, 2008).In the future, the comprehensive development of multicultural music education in vocal education will become the forerunner of vocal education reform.Tyrimo problema apibrėžiama klausimais: kokia yra būsimųjų muzikos mokytojų vokalinio ugdymo specifika ir kokie faktoriai padeda plėtoti vokalinį muzikos mokytojų rengimo procesą? Tyrimo objektas – būsimųjų muzikos mokytojų vokalinis ugdymo ypatumai. Tyrimo tikslas – išanalizuoti būsimųjų muzikos mokytojų vokalinio ugdymo ypatumus universitete. Tyrimo uždaviniai: 1. Teoriškai pagrįsti vokalinio ugdymo prasmę ir tikslingumą rengiant būsimuosius muzikos mokytojus. 2. Atskleisti būsimųjų muzikos mokytojų požiūrį į vokalinio ugdymo procesą universitete. 3. Išryškinti būsimųjų muzikos mokytojų vokalinio ugdymo plėtojimo perspektyvas universitete. Tyrimo metodai: Teoriniai – mokslinės literatūros ir švietimo dokumentų analizė. Empiriniai – kiekybinė ir kokybinė turinio (konteksto) analizė. Kiekybinio tyrimo metodai: studentų apklausa, kuri padeda atskleisti būsimųjų muzikos mokytojų vokalinio ugdymo ypatumus. Kokybinio tyrimo metodai: pusiau struktūruotu interviu su pedagogais padeda įvertinti vokalinio ugdymo procesą, plėtojamus vokalinius gebėjimus universitete. Mokslinės litertaūros analizė patvirtina, kad būsimųjų mokytojų vokalinis ugdymas universitete yra neatsiejama bendrojo muzikinio ugdymo dalis. Vokalinis ugdymas kartu yra visapusiškas asmenybės ugdymasis, kuriant estetinį vertybinį suvokimą. Tyrimo duomenys parodė, kad būsimajam muzikos mokytojui individualus vokalinis ugdymas yra aktuali priemonė tiek ugdytis pasitikėjimą savimi, tiek suvokti balso prigimtį, jo savybes, fiziologinius ypatumus. Taip pat, kaip ir ugdytis gebėjimą įžvelgti ir įvertinti būsimųjų mokinių vokalines galimybes, numatyti jų ugdymo formas, metodus, priemones. Būsimųjų muzikos mokytojų vokalinis ugdymasis universitete pasižymi taikomomis įvairiomis vokalinio ugdymo technologijomis, kurios sudaro prielaidas ugdytis ne tik vokalinius įgūdžius ir gebėjimus, bet ir plėtoti svarbias asmenines mokytojo savybes (nuolatinį mokymąsi, bendravimą ir bendradarbiavimą, atsakomybę, supratingumą, toleranciją kitoniškumui ir kt.).Švietimo akademij
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