Navigational Drift Analysis for Visual Odometry

Visual odometry estimates a robot's ego-motion with cameras installed on itself. With the advantages brought by camera being a sensor, visual odometry has been widely adopted in robotics and navigation fields. Drift (or error accumulation) from relative motion concatenation is an intrinsic problem of visual odometry in long-range navigation, as visual odometry is a sensor based on relative measurements. General error analysis using ``mean'' and ``covariance'' of positional error in each axis is not fully capable to describe the behavior of drift. Moreover, no theoretic drift analysis is available for performance evaluation and algorithms comparison. Drift distribution is established in the paper, as a function of the covariance matrix from positional error propagation model. To validate the drift model, experiment with a specific setting is conducted

EMShepherd: Detecting Adversarial Samples via Side-channel Leakage

Deep Neural Networks (DNN) are vulnerable to adversarial perturbations-small changes crafted deliberately on the input to mislead the model for wrong predictions. Adversarial attacks have disastrous consequences for deep learning-empowered critical applications. Existing defense and detection techniques both require extensive knowledge of the model, testing inputs, and even execution details. They are not viable for general deep learning implementations where the model internal is unknown, a common 'black-box' scenario for model users. Inspired by the fact that electromagnetic (EM) emanations of a model inference are dependent on both operations and data and may contain footprints of different input classes, we propose a framework, EMShepherd, to capture EM traces of model execution, perform processing on traces and exploit them for adversarial detection. Only benign samples and their EM traces are used to train the adversarial detector: a set of EM classifiers and class-specific unsupervised anomaly detectors. When the victim model system is under attack by an adversarial example, the model execution will be different from executions for the known classes, and the EM trace will be different. We demonstrate that our air-gapped EMShepherd can effectively detect different adversarial attacks on a commonly used FPGA deep learning accelerator for both Fashion MNIST and CIFAR-10 datasets. It achieves a 100% detection rate on most types of adversarial samples, which is comparable to the state-of-the-art 'white-box' software-based detectors

Five Proteins of Laodelphax striatellus Are Potentially Involved in the Interactions between Rice Stripe Virus and Vector

Rice stripe virus (RSV) is the type member of the genus Tenuivirus, which relies on the small brown planthopper (Laodelphax striatellus Fallén) for its transmission in a persistent, circulative-propagative manner. To be transmitted, virus must cross the midgut and salivary glands epithelial barriers in a transcytosis mechanism where vector receptors interact with virions, and as propagative virus, RSV need utilize host components to complete viral propagation in vector cells. At present, these mechanisms remain unknown. In this paper, we screened L. striatellus proteins, separated by two-dimensional electrophoresis (2-DE), as potential RSV binding molecules using a virus overlay assay of protein blots. The results, five L. striatellus proteins that bound to purified RSV particles in vitro were resolved and identified using mass spectrometry. The virus-binding capacities of five proteins were further elucidated in yeast two-hybrid screen (YTHS) and virus-binding experiments of expressed proteins. Among five proteins, the receptor for activated protein kinase C (RACK) and glyceraldehyde-3-phosphate dehydrogenase (GAPDH3) did not interact with RSV nucleocapsid protein (NCP) in YTHS and in far-Western blot, and three ribosomal proteins (RPL5, RPL7a and RPL8) had specific interactions with RSV. In dot immunobinding assay (DIBA), all five proteins were able to bind to RSV particles. The five proteins' potential contributions to the interactions between RSV and L. striatellus were discussed. We proposed that RACK and GAPDH3 might be involved in the epithelial transcytosis of virus particles, and three ribosomal proteins probably played potential crucial roles in the infection and propagation of RSV in vector cells

Unilateral pedicle screws asymmetric tethering: an innovative method to create idiopathic deformity

<p>Abstract</p> <p>Objective</p> <p>To evaluate the feasibility of the method that unilateral pedicle screws asymmetric tethering in concave side in combination with convex rib resection for creating idiopathic deformity.</p> <p>Summary of background data</p> <p>Various methods are performed to create idiopathic deformity. Among these methods, posterior asmmetric tethering of the spine shows satisfying result, but some drawbacks related to the current posterior asymmetric tether were still evident.</p> <p>Materials and methods</p> <p>Unilateral pedicle screws asymmetric tethering was performed to 14 female goats (age: 5–8 week-old, weight: 6–8 kg) in concave side in combination with convex rib resection. Dorsoventral and lateral plain radiographs were taken of each thoracic spine in the frontal and sagittal planes right after the surgery and later every 4 weeks.</p> <p>Results</p> <p>All animals ambulated freely after surgery. For technical reasons, 2 goats were excluded (one animal died for anesthetic during the surgery, and one animal was lost for instrumental fail due to postoperative infection). Radiography showed that 11 goats exhibited scoliosis with convex toward to the right side, and as the curve increased with time, only 1 goat showed nonprogressive. The initial scoliosis generated in the progressors after the procedures measured 29.0° on average (range 23.0°–38.5°) and increased to 43.0° on average (range 36.0°–58.0°) over 8 to 10 weeks. The average progression of 14.0° was measured. The curvature immediately after tethering surgery (the initial Cobb angle) did have a highly significant correlation with the final curvature (p < 0.001). The progressive goats showed an idiopathic-like deformity not only by radiography, but in general appearance.</p> <p>Conclusion</p> <p>Unilateral pedicle screws asymmetric tethering is a practical method to create experimental scoliosis, especially for those who would like to study the correction of this deformity.</p

Host-range shift of H3N8 canine influenza virus: a phylodynamic analysis of its origin and adaptation from equine to canine host

International audiencePrior to the emergence of H3N8 canine influenza virus (CIV) and the latest avian-origin H3N2 CIV, there was no evidence of a circulating canine-specific influenza virus. Molecular and epidemiological evidence suggest that H3N8 CIV emerged from H3N8 equine influenza virus (EIV). This host-range shift of EIV from equine to canine hosts and its subsequent establishment as an enzootic CIV is unique because this host-range shift was from one mammalian host to another. To further understand this host-range shift, we conducted a comprehensive phylodynamic analysis using all the available whole-genome sequences of H3N8 CIV. We found that (1) the emergence of H3N8 CIV from H3N8 EIV occurred in approximately 2002; (2) this interspecies transmission was by a reassortant virus of the circulating Florida-1 clade H3N8 EIV; (3) once in the canine species, H3N8 CIV spread efficiently and remained an enzootic virus; (4) H3N8 CIV evolved and diverged into multiple clades or sublineages, with intra and inter-lineage reassortment. Our results provide a framework to understand the molecular basis of host-range shifts of influenza viruses and that dogs are potential “mixing vessels” for the establishment of novel influenza viruses

Management Letter, Year Ended June 30, 1999

The intestinal microbiome is essential in humans to maintain physiological balance and nutrition metabolism. Laparoscopic cholecystectomy due to gallstone disease and cholecystitis can cause intestinal microbial dysbiosis, and following bile acid metabolism dysfunction, positions the patient at high risk of colorectal cancer. However, little is known regarding intestinal microbiota characteristics in post-cholecystectomy patients. Here, we compared the microbial composition of cholecystectomy patients with that of a healthy population. We determined that cholecystectomy eliminated aging-associated fecal commensal microbiota and further identified several bile acid metabolism-related bacteria as contributors of colorectal cancer incidence via elevation of secondary bile acids.Significance statementWe identified aging-associated fecal microbiota in a healthy population, which was lost in cholecystectomy patients. Absent intestinal bacteria, such as Bacteroides, were negatively related to secondary bile acids and may be a leading cause of colorectal cancer incidence in cholecystectomy patients. Our study provides novel insight into the connection between cholecystectomy-altered gut microbiota and colorectal carcinoma, which is of value for colorectal cancer diagnosis and management