Reinforcement Learning-based Visual Navigation with Information-Theoretic Regularization

To enhance the cross-target and cross-scene generalization of target-driven visual navigation based on deep reinforcement learning (RL), we introduce an information-theoretic regularization term into the RL objective. The regularization maximizes the mutual information between navigation actions and visual observation transforms of an agent, thus promoting more informed navigation decisions. This way, the agent models the action-observation dynamics by learning a variational generative model. Based on the model, the agent generates (imagines) the next observation from its current observation and navigation target. This way, the agent learns to understand the causality between navigation actions and the changes in its observations, which allows the agent to predict the next action for navigation by comparing the current and the imagined next observations. Cross-target and cross-scene evaluations on the AI2-THOR framework show that our method attains at least a $10\%$ improvement of average success rate over some state-of-the-art models. We further evaluate our model in two real-world settings: navigation in unseen indoor scenes from a discrete Active Vision Dataset (AVD) and continuous real-world environments with a TurtleBot.We demonstrate that our navigation model is able to successfully achieve navigation tasks in these scenarios. Videos and models can be found in the supplementary material.Comment: 11 pages, corresponding author: Kai Xu ([email protected]) and Jun Wang ([email protected]

Towards Target-Driven Visual Navigation in Indoor Scenes via Generative Imitation Learning

We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the robot to the target without relying on odometry or GPS at runtime. The system is learned by optimizing a combinational objective encompassing three key designs. First, we propose that an agent conceives the next observation before making an action decision. This is achieved by learning a variational generative module from expert demonstrations. We then propose predicting static collision in advance, as an auxiliary task to improve safety during navigation. Moreover, to alleviate the training data imbalance problem of termination action prediction, we also introduce a target checking module to differentiate from augmenting navigation policy with a termination action. The three proposed designs all contribute to the improved training data efficiency, static collision avoidance, and navigation generalization performance, resulting in a novel target-driven mapless navigation system. Through experiments on a TurtleBot, we provide evidence that our model can be integrated into a robotic system and navigate in the real world. Videos and models can be found in the supplementary material.Comment: 11 pages, accepted by IEEE Robotics and Automation Letter

Arginine Alters miRNA Expression Involved in Development and Proliferation of Rat Mammary Tissue

This study was designed to determine the effects of dietary arginine on development and proliferation in rat mammary tissue through changes in miRNA profiles. Twelve pregnant Wistar rats were allocated randomly to two groups. A basal diet containing arginine or the control diet containing glutamate on an equal nitrogen basis as the arginine supplemented diet were used. The experiment included a pre-experimental period of four days before parturition and an experimental period of 17 days after parturition. Mammary tissue was collected for histology, RNA extraction and high-throughput sequencing analysis. The greater mammary acinar area indicated that arginine supplementation enhanced mammary tissue development (p < 0.01). MicroRNA profiling indicated that seven miRNA (miR-206-3p, miR-133a-5p, miR-133b-3p, miR-1-3p, miR-133a-3p, miR-1b and miR-486) were differentially expressed in response to Arginine when compared with the glutamate-based control group. In silico gene ontology enrichment and KEGG pathway analysis revealed between 240 and 535 putative target genes among the miRNA. Further verification by qPCR revealed concordance with the differential expression from the sequencing results: 17 of 28 target genes were differentially expressed (15 were highly expressed in arginine and 2 in control) and 11 target genes did not have significant difference in expression. In conclusion, our study suggests that arginine may potentially regulate the development of rat mammary glands through regulating miRNAs

Triptolide modulates adriamycin sensitivity via regulating Mir-21 and Bcl-2 expression in K562/A02 cell line

Drug resistance is a major obstacle for successful treatment of leukemia. Increasing evidence suggests that microRNA-21 (miR-21) is over-expressed in K562/A02 cell line, promoting drug resistance. The aim of our present study is to investigate the reversal effects of triptolide on drug resistance in adriamycin-resistant cells. Cell viability was measured by MTT assays and adriamycin induced apoptosis was evaluated by flow cytometry. Levels of miR-21 quantified by real-time PCR. Bcl-2 protein level were measured by western blot. TPL enhanced sensitivity of K562/A02 cells to adriamycin and promoted adriamycin–induced apoptosis. Levels of miR-21 and Bcl-2 was significantly decreased after triptolide treatment. Transfection with anti-miR-21, a significant up-regulation of sensitivity to adriamycin and a significant down-regulation of Bcl-2 protein level was noted in K562/A02 cells. Our study suggests that triptolide significantly sensitizes K562/A02 cell to adriamycin by inducing apoptosis and these effects of triptolide may be due to its down-regulation of miR-21.Colegio de Farmacéuticos de la Provincia de Buenos Aire

Detection and differentiation of Borrelia burgdorferi sensu lato in ticks collected from sheep and cattle in China

<p>Abstract</p> <p>Background</p> <p>Lyme disease caused by <it>Borrelia burgdorferi </it>sensu lato complex is an important endemic zoonosis whose distribution is closely related to the main ixodid tick vectors. In China, isolated cases of Lyme disease infection of humans have been reported in 29 provinces. Ticks, especially ixodid ticks are abundant and a wide arrange of <it>Borrelia </it>natural reservoirs are present. In this study, we developed a reverse line blot (RLB) to identify <it>Borrelia </it>spp. in ticks collected from sheep and cattle in 7 Provinces covering the main extensive livestock regions in China.</p> <p>Results</p> <p>Four species-specific RLB oligonucleotide probes were deduced from the spacer region between the 5S-23S rRNA gene, along with an oligonucleotide probe which was common to all. The species specific probes were shown to discriminate between four genomic groups of <it>B. burgdorferi </it>sensu lato i.e. <it>B. burgdorferi </it>sensu stricto, <it>B. garinii, B. afzelii</it>, and <it>B. valaisiana</it>, and to bind only to their respective target sequences, with no cross reaction to non target DNA. Furthermore, the RLB could detect between 0.1 pg and 1 pg of <it>Borrelia </it>DNA.</p> <p>A total of 723 tick samples (<it>Haemaphysalis, Boophilus, Rhipicephalus </it>and <it>Dermacentor</it>) from sheep and cattle were examined with RLB, and a subset of 667 corresponding samples were examined with PCR as a comparison. The overall infection rate detected with RLB was higher than that of the PCR test.</p> <p>The infection rate of <it>B. burgdoreri </it>sensu stricto was 40% in south areas; while the <it>B. garinii infection rate </it>was 40% in north areas. The highest detection rates of <it>B. afzelii </it>and <it>B. valaisiana </it>were 28% and 22%, respectively. Mixed infections were also found in 7% of the ticks analyzed, mainly in the North. The proportion of <it>B. garinii </it>genotype in ticks was overall highest at 34% in the whole investigation area.</p> <p>Conclusion</p> <p>In this study, the RLB assay was used to detect <it>B. burgdorferi </it>sensu lato in ticks collected from sheep and cattle in China. The results showed that <it>B. burdorferi senso stricto </it>and <it>B. afzelii </it>were mainly distributed in the South; while <it>B. garinii </it>and <it>B. valaisiana </it>were dominant in the North. <it>Borrelia </it>spirochaetes were detected in <it>Rhipicephalus </it>spp for the first time. It is suggested that the <it>Rhipicephalus </it>spps might play a role in transmitting <it>Borrelia </it>spirochaetes.</p

Avian Influenza (H5N1) Virus in Waterfowl and Chickens, Central China

In 2004, 3 and 4 strains of avian influenza virus (subtype H5N1) were isolated from waterfowl and chickens, respectively, in central People’s Republic of China. Viral replication and pathogenicity were evaluated in chickens, quails, pigeons, and mice. We analyzed the sequences of the hemagglutinin and neuraminidase genes of the isolates and found broad diversity among them

Inhibition of 26S Protease Regulatory Subunit 7 (MSS1) Suppresses Neuroinflammation

Recently, researchers have focused on immunosuppression induced by rifampicin. Our previous investigation found that rifampicin was neuroprotective by inhibiting the production of pro-inflammatory mediators, thereby suppressing microglial activation. In this study, using 2-dimensional gel electrophoresis (2-DE) and mass spectrometry (MS), we discovered that 26S protease regulatory subunit 7 (MSS1) was decreased in rifampicin-treated microglia. Western blot analysis verified the downregulation of MSS1 expression by rifampicin. As it is indicated that the modulation of the ubiquitin-26S proteasome system (UPS) with proteasome inhibitors is efficacious for the treatment of neuro-inflammatory disorders, we next hypothesized that silencing MSS1 gene expression might inhibit microglial inflammation. Using RNA interference (RNAi), we showed significant reduction of IkBα degradation and NF-kB activation. The production of lipopolysaccharides-induced pro-inflammatory mediators such as inducible nitric oxide synthase (iNOS), nitric oxide, cyclooxygenase-2, and prostaglandin E2 were also reduced by MSS1 gene knockdown. Taken together, our findings suggested that rifampicin inhibited microglial inflammation by suppressing MSS1 protein production. Silencing MSS1 gene expression decreased neuroinflammation. We concluded that MSS1 inhibition, in addition to anti-inflammatory rifampicin, might represent a novel mechanism for the treatment of neuroinflammatory disorders

Molecular Evidence of Bartonella melophagi in Ticks in Border Areas of Xinjiang, China

Bartonella are gram-negative intracellular bacteria; certain species of Bartonella can cause diseases in mammals and humans. Ticks play a major role in the transmission of Bartonella. Xinjiang is the largest province in China according to land area and has one-third of the tick species in China; the infection rate of Bartonella in ticks in the Xinjiang border areas has not been studied in detail. Therefore, this study investigated tick infections by Bartonella in Xinjiang border areas, and the purpose of the study was to fill in gaps in information regarding the genetic diversity of tick infections by Bartonella in Xinjiang. We tested 1,549 tick samples from domestic animals (sheep and cattle) for Bartonella using ribC-PCR. Positive samples from the ribC-PCR assay for Bartonella spp. were further subjected to PCR assays targeting the ITS, rpoB and gltA genes followed by phylogenetic analyses. Bartonella DNA was detected in 2.19% (34/1,549) of tick samples, and the ITS, rpoB and gltA genes of ribC gene-positive samples were amplified to identify nine samples of Bartonella melophagi. In this study, molecular analysis was used to assess the presence and genetic diversity of B. melophagi in ticks collected from sheep and cattle from Xinjiang, China. This study provides new information on the presence and identity of B. melophagi in ticks from sheep and cattle