Self-Supervised Deep Visual Odometry with Online Adaptation

Self-supervised VO methods have shown great success in jointly estimating camera pose and depth from videos. However, like most data-driven methods, existing VO networks suffer from a notable decrease in performance when confronted with scenes different from the training data, which makes them unsuitable for practical applications. In this paper, we propose an online meta-learning algorithm to enable VO networks to continuously adapt to new environments in a self-supervised manner. The proposed method utilizes convolutional long short-term memory (convLSTM) to aggregate rich spatial-temporal information in the past. The network is able to memorize and learn from its past experience for better estimation and fast adaptation to the current frame. When running VO in the open world, in order to deal with the changing environment, we propose an online feature alignment method by aligning feature distributions at different time. Our VO network is able to seamlessly adapt to different environments. Extensive experiments on unseen outdoor scenes, virtual to real world and outdoor to indoor environments demonstrate that our method consistently outperforms state-of-the-art self-supervised VO baselines considerably.Comment: Accepted by CVPR 2020 ora

Electrocardiogram Baseline Wander Suppression Based on the Combination of Morphological and Wavelet Transformation Based Filtering

One of the major noise components in electrocardiogram (ECG) is the baseline wander (BW). Effective methods for suppressing BW include the wavelet-based (WT) and the mathematical morphological filtering-based (MMF)algorithms. However, the T waveform distortions introduced by the WTand the rectangular/trapezoidal distortions introduced by MMF degrade the quality of the output signal. Hence, in this study, we introduce a method by combining the MMF and WTto overcome the shortcomings of both existing methods. To demonstrate the effectiveness of the proposed method, artificial ECG signals containing a clinicalBW are used for numerical simulation, and we also create a realistic model of baseline wander to compare the proposed method with other state-of-the-art methods commonly used in the literature. /e results show that the BW suppression effect of the proposed method is better than that of the others. Also, the new method is capable of preserving the outline of the BW and avoiding waveform distortions caused by the morphology filter, thereby obtaining an enhanced quality of ECG

Dynamical Effects of Magnetic Opacity in Neutron Star Accretion Columns

We present relativistic, radiation magnetohydrodynamic simulations of supercritical neutron star accretion columns in Cartesian geometry, including temperature-dependent, polarization-averaged Rosseland mean opacities accounting for classical electron scattering in a magnetic field. Just as in our previous pure Thomson scattering simulations, vertical oscillations of the accretion shock and horizontally propagating entropy waves (photon bubbles) are present in all our simulations. However, at high magnetic fields $\gtrsim10^{12}$~G, the magnetic opacities produce significant differences in the overall structure and dynamics of the column. At fixed accretion rate, increasing the magnetic field strength results in a shorter accretion column, despite the fact that the overall opacity within the column is larger. Moreover, the vertical oscillation amplitude of the column is reduced. Increasing the accretion rate at high magnetic fields restores the height of the column. However, a new, slower instability takes place at these field strengths because they are in a regime where the opacity increases with temperature. This instability causes both the average height of the column and the oscillation amplitude to substantially increase on a time scale of $\sim10$~ms. We provide physical explanations for these results, and discuss their implications for the observed properties of these columns, including mixed fan-beam/pencil-beam emission patterns caused by the oscillations.Comment: Accepted for publication in MNRA

Trends in HIV prevalence and risk behaviours among men who have sex with men from 2013 to 2017 in Nanjing, China: a consecutive cross-sectional survey.

OBJECTIVE:To examine the trends of HIV prevalence, risk behaviours and HIV testing among men who have sex with men (MSM) in Nanjing. DESIGN:Five consecutive cross-sectional surveys. SETTING:Nanjing, China. PRIMARY AND SECONDARY OUTCOME MEASURES:HIV and syphilis prevalence, HIV testing rate and factors associated with HIV infection; demographic characteristics and behaviours. RESULTS:649, 669, 577, 633, 503 MSM were recruited from 2013 to 2017. HIV prevalence was 9.9%, 12.3%, 12.5%, 9.8% and 10.1%, respectively. Syphilis prevalence decreased with a range from 10.6% to 5.6%. Risk behaviours like unprotected anal intercourse (UAI) and unprotected virginal sex in the past 6 months decreased, but multiple sex partners and ever used rush popper rose significantly. MSM tested for HIV in the previous year remained stable from 57.0% to 64.1% (P=0.633). Multivariate analysis showed that tested for HIV in the past year was protective factor against HIV infection. MSM who had UAI in the past 6 months, sex role as receptive and dual, diagnosed with sexually transmitted diseases (STDs) in the past year and currently syphilis infected were risk factors for HIV infection. CONCLUSIONS:We observed stable high HIV prevalence, a steady HIV testing rate, decreasing syphilis prevalence and UAI among MSM in Nanjing. However, rush popper use rose dramatically. The HIV preventive strategies for MSM including condom promotion, HIV testing expansion and reduction of rush popper use, STDs screening and standardised treatment should be strengthened

Composition and predictive functional analysis of bacterial communities inhabiting Chinese Cordyceps insight into conserved core microbiome.

BACKGROUND: Over the past few decades, most attention to Chinese Cordyceps-associated endogenous microorganism was focused on the fungal community that creates critical bioactive components. Bacterial community associated with Chinese Cordyceps has been previously described; however, most studies were only presenting direct comparisons in the Chinese Cordyceps and its microenvironments. In the current study, our objectives were to reveal the bacterial community structure composition and predict their function. RESULTS: We collected samples of Chinese Cordyceps from five sites located in the Qinghai-Tibet Plateau and used a high throughput sequencing method to compare Chinese Cordyceps-associated bacterial community composition and diversity quantitatively across sites. The results indicated that for the Chinese Cordyceps-associated bacterial community there is no single core microbiome, which was dominated by the both Proteobacteria and Actinobacteria. Predictive functional profiling suggested a location specific function pattern for Chinese Cordyceps and bacteria in the external mycelial cortices involved in the biosynthesis of active constituents. CONCLUSIONS: This study is firstly used high throughput sequencing method to compare the bacterial communities inhabiting Chinese Cordyceps and its microhabitat and to reveal composition functional capabilities of the bacteria, which will accelerate the study of the functions of bacterial communities in the micro-ecological system of Chinese Cordyceps