MacFormer: Map-Agent Coupled Transformer for Real-time and Robust Trajectory Prediction

Predicting the future behavior of agents is a fundamental task in autonomous vehicle domains. Accurate prediction relies on comprehending the surrounding map, which significantly regularizes agent behaviors. However, existing methods have limitations in exploiting the map and exhibit a strong dependence on historical trajectories, which yield unsatisfactory prediction performance and robustness. Additionally, their heavy network architectures impede real-time applications. To tackle these problems, we propose Map-Agent Coupled Transformer (MacFormer) for real-time and robust trajectory prediction. Our framework explicitly incorporates map constraints into the network via two carefully designed modules named coupled map and reference extractor. A novel multi-task optimization strategy (MTOS) is presented to enhance learning of topology and rule constraints. We also devise bilateral query scheme in context fusion for a more efficient and lightweight network. We evaluated our approach on Argoverse 1, Argoverse 2, and nuScenes real-world benchmarks, where it all achieved state-of-the-art performance with the lowest inference latency and smallest model size. Experiments also demonstrate that our framework is resilient to imperfect tracklet inputs. Furthermore, we show that by combining with our proposed strategies, classical models outperform their baselines, further validating the versatility of our framework.Comment: Accepted by IEEE Robotics and Automation Letters. 8 Pages, 9 Figures, 9 Tables. Video: https://www.youtube.com/watch?v=XY388iI6sP

Milk microbiome and bacterial load following dry cow therapy without antibiotics in dairy cows with healthy mammary gland

Made available in DSpace on 2018-11-26T17:40:14Z (GMT). No. of bitstreams: 0 Previous issue date: 2017-08-14Department of Veterinary Clinical Medicine, College of Veterinary MedicineUniversity of Illinois at Urbana-ChampaignFundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)Preventive infusion of antibiotics in the mammary gland of cows consumes 11 tons/year of medically relevant antimicrobials, yet, this practice might not be critical to prevent new infections in the healthy mammary gland of cows. Here, we used next-generation sequencing and quantitative real-time PCR to determine the impact of dry cow therapy without antibiotics on milk microbiome and bacterial load, respectively. Cows diagnosed as negative for mastitis at dry off were randomly allocated to receive antibiotic (intramammary ceftiofur hydrochloride) and teat sealant or just teat sealant. Firmicutes was the most abundant phylum, and Corynebacterium, Acinetobacter, and Staphylococcus, often involved in mastitis cases, were the most abundant genera across treatments and time. However, there were no effects of antimicrobial on milk microbiome and bacterial load. Bacterial load was greater at seven days postpartum than at dry off. Dry cow therapy based on teat sealant without antibiotics can be used with no detrimental impacts on milk microbiome and bacterial load in cows with a healthy mammary gland.Univ Illinois, Dept Vet Clin Med, Champaign, IL 61820 USASao Paulo State Univ, Dept Microbiol & Immunol, Inst Biosci, Botucatu, SP, BrazilCornell Univ, Dept Populat Med & Diagnost Sci, Ithaca, NY USAUniv Liverpool, Dept Epidemiol & Populat Hlth, Inst Infect & Global Hlth, Leahurst, Neston, EnglandSao Paulo State Univ, Dept Microbiol & Immunol, Inst Biosci, Botucatu, SP, BrazilFAPESP: 2015/15208

First report and multilocus genotyping of Enterocytozoon bieneusi from Tibetan pigs in southwestern China

Enterocytozoon bieneusi is a common intestinal pathogen in a variety of animals. While E. bieneusi genotypes have become better-known, there are few reports on its prevalence in the Tibetan pig. This study investigated the prevalence, genetic diversity, and zoonotic potential of E. bieneusi in the Tibetan pig in southwestern China. Tibetan pig feces (266 samples) were collected from three sites in the southwest of China. Feces were subjected to PCR amplification of the internal transcribed spacer (ITS) region. Enterocytozoon bieneusi was detected in 83 (31.2%) of Tibetan pigs from the three different sites, with 25.4% in Kangding, 56% in Yaan, and 26.7% in Qionglai. Prevalence varies according to age group, from 24.4% (age 0–1 years) to 44.4% (age 1–2 years). Four genotypes of E. bieneusi were identified: two known genotypes EbpC (n = 58), Henan-IV (n = 24) and two novel genotypes, SCT01 and SCT02 (one of each). We compare our results with a compilation of published results on the host range and geographical distribution of E. bieneusi genotypes in China. Phylogenetic analysis showed these four genotypes clustered to group 1 with zoonotic potential. Multilocus sequence typing (MLST) analysis of three microsatellites (MS1, MS3, MS7) and one minisatellite (MS4) was successful in 47, 48, 23 and 47 positive specimens and identified 10, 10, 5 and 5 genotypes at four loci, respectively. This study indicates the potential danger of E. bieneusi to Tibetan pigs in southwestern China, and offers basic advice for preventing and controlling infections

TELEX HEBDOMADAIRE NR 95 DU 17.09.82 DESTINE A L'ENSEMBLE DES DELEGATIONS EXTERIEURES ET BUREAUX DE PRESS ET D'INFORMATION INDEPENDANTS DANS LES PAYS TIERS = WEEKLY MEMO NO. 95 FOR 17.09.82 TO FOREIGN DELEGATIONS AND PRESS BUREAUS OF THIRD COUNTRIES

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First detection of Cryptosporidium spp. in red-bellied tree squirrels (Callosciurus erythraeus) in China

Cryptosporidium spp. are opportunistic pathogens that cause diarrhea in a variety of animal hosts. Although they have been reported in many animals, no information has been published on the occurrence of Cryptosporidium spp. in red-bellied tree squirrels (Callosciurus erythraeus). A total of 287 fecal specimens were collected from Sichuan province in China; the prevalence of Cryptosporidium spp., measured by nested-PCR amplification of the partial small-subunit (SSU) rRNA gene, was 1.4% (4/287). Three different Cryptosporidium species or genotypes were identified: Cryptosporidium parvum (n = 1), Cryptosporidium wrairi (n = 1), and Cryptosporidium rat genotype II (n = 2). The present study is the first report of Cryptosporidium infection in red-bellied tree squirrels in China. Although there is a relatively low occurrence of Cryptosporidium, the presence of C. parvum and C. wrairi, which were previously reported in humans, indicates that red-bellied tree squirrels may be a source of zoonotic cryptosporidiosis in China

Learned Smartphone ISP on Mobile GPUs with Deep Learning, Mobile AI & AIM 2022 Challenge: Report

The role of mobile cameras increased dramatically over the past few years, leading to more and more research in automatic image quality enhancement and RAW photo processing. In this Mobile AI challenge, the target was to develop an efficient end-to-end AI-based image signal processing (ISP) pipeline replacing the standard mobile ISPs that can run on modern smartphone GPUs using TensorFlow Lite. The participants were provided with a large-scale Fujifilm UltraISP dataset consisting of thousands of paired photos captured with a normal mobile camera sensor and a professional 102MP medium-format FujiFilm GFX100 camera. The runtime of the resulting models was evaluated on the Snapdragon's 8 Gen 1 GPU that provides excellent acceleration results for the majority of common deep learning ops. The proposed solutions are compatible with all recent mobile GPUs, being able to process Full HD photos in less than 20-50 milliseconds while achieving high fidelity results. A detailed description of all models developed in this challenge is provided in this paper