Effects of acute low salinity stress on the liver structure, physiology and biochemistry of juvenile Chinese sea bass (Lateolabrax maculatus)

In order to explore the effects of acute low salinity stress on the liver structure, physiology and biochemistry of the larvae of Lateolabrax maculatus, the experiment was carried out to transfer the juveniles direct from salinity 30‰ (control group) to salinity 20‰, 10‰, and 0‰, respectively. Changes in liver microstructure and related physiological and biochemical indexes at different time points were observed. The results showed that no fish died during the whole experiment and all of them returned to normal behavior within 15 minutes. The liver cells of juvenile Chinese sea bass showed pathological changes such as swelling, vacuolation and nuclear pyknosis after low salinity stress, and the lower the salinity, the earlier the abnormal phenomenon appeared. The total antioxidant capacity (T-AOC) and superoxide dismutase (SOD) of liver showed a rapid increase and then decrease; The level of malondialdehyde (MDA) returned to normal after high fluctuations. The activity of lysozyme (LZM) in experimental groups were higher than that in control group between 12h and 48h, while there was not significantly different before 6h in each group (P>0.05), all of them returned to normal in 96 h. The activity of alkaline phosphatase (ALP) and acid phosphatase (ACP) increased firstly and then decreased during the time of stress, and there was no significant difference between each group at the same time point (P>0.05). The comprehensive analysis showed that the juvenile Chinese sea bass had strong osmotic pressure regulation ability, and the acute low salinity stress had little effect on the liver structure and physiological and biochemical indexes

Aerial-Ground collaborative sensing: Third-Person view for teleoperation

Rapid deployment and operation are key requirements in time critical application, such as Search and Rescue (SaR). Efficiently teleoperated ground robots can support first-responders in such situations. However, first-person view teleoperation is sub-optimal in difficult terrains, while a third-person perspective can drastically increase teleoperation performance. Here, we propose a Micro Aerial Vehicle (MAV)-based system that can autonomously provide third-person perspective to ground robots. While our approach is based on local visual servoing, it further leverages the global localization of several ground robots to seamlessly transfer between these ground robots in GPS-denied environments. Therewith one MAV can support multiple ground robots on a demand basis. Furthermore, our system enables different visual detection regimes, and enhanced operability, and return-home functionality. We evaluate our system in real-world SaR scenarios.Comment: Accepted for publication in 2018 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR

Attention-Aware Face Hallucination via Deep Reinforcement Learning

Face hallucination is a domain-specific super-resolution problem with the goal to generate high-resolution (HR) faces from low-resolution (LR) input images. In contrast to existing methods that often learn a single patch-to-patch mapping from LR to HR images and are regardless of the contextual interdependency between patches, we propose a novel Attention-aware Face Hallucination (Attention-FH) framework which resorts to deep reinforcement learning for sequentially discovering attended patches and then performing the facial part enhancement by fully exploiting the global interdependency of the image. Specifically, in each time step, the recurrent policy network is proposed to dynamically specify a new attended region by incorporating what happened in the past. The state (i.e., face hallucination result for the whole image) can thus be exploited and updated by the local enhancement network on the selected region. The Attention-FH approach jointly learns the recurrent policy network and local enhancement network through maximizing the long-term reward that reflects the hallucination performance over the whole image. Therefore, our proposed Attention-FH is capable of adaptively personalizing an optimal searching path for each face image according to its own characteristic. Extensive experiments show our approach significantly surpasses the state-of-the-arts on in-the-wild faces with large pose and illumination variations

Assessing the detailed time course of perceptual sensitivity change in perceptual learning.

The learning curve in perceptual learning is typically sampled in blocks of trials, which could result in imprecise and possibly biased estimates, especially when learning is rapid. Recently, Zhao, Lesmes, and Lu (2017, 2019) developed a Bayesian adaptive quick Change Detection (qCD) method to accurately, precisely, and efficiently assess the time course of perceptual sensitivity change. In this study, we implemented and tested the qCD method in assessing the learning curve in a four-alternative forced-choice global motion direction identification task in both simulations and a psychophysical experiment. The stimulus intensity in each trial was determined by the qCD, staircase or random stimulus selection (RSS) methods. Simulations showed that the accuracy (bias) and precision (standard deviation or confidence bounds) of the estimated learning curves from the qCD were much better than those obtained by the staircase and RSS method; this is true for both trial-by-trial and post hoc segment-by-segment qCD analyses. In the psychophysical experiment, the average half widths of the 68.2% credible interval of the estimated thresholds from the trial-by-trial and post hoc segment-by-segment qCD analyses were both quite small. Additionally, the overall estimates from the qCD and staircase methods matched extremely well in this task where the behavioral rate of learning is relatively slow. Our results suggest that the qCD method can precisely and accurately assess the trial-by-trial time course of perceptual learning

Consistent Right-Invariant Fixed-Lag Smoother with Application to Visual Inertial SLAM

State estimation problems without absolute position measurements routinely arise in navigation of unmanned aerial vehicles, autonomous ground vehicles, etc., whose proper operation relies on accurate state estimates and reliable covariances. Unaware of absolute positions, these problems have immanent unobservable directions. Traditional causal estimators, however, usually gain spurious information on the unobservable directions, leading to over-confident covariance inconsistent with actual estimator errors. The consistency problem of fixed-lag smoothers (FLSs) has only been attacked by the first estimate Jacobian (FEJ) technique because of the complexity to analyze their observability property. But the FEJ has several drawbacks hampering its wide adoption. To ensure the consistency of a FLS, this paper introduces the right invariant error formulation into the FLS framework. To our knowledge, we are the first to analyze the observability of a FLS with the right invariant error. Our main contributions are twofold. As the first novelty, to bypass the complexity of analysis with the classic observability matrix, we show that observability analysis of FLSs can be done equivalently on the linearized system. Second, we prove that the inconsistency issue in the traditional FLS can be elegantly solved by the right invariant error formulation without artificially correcting Jacobians. By applying the proposed FLS to the monocular visual inertial simultaneous localization and mapping (SLAM) problem, we confirm that the method consistently estimates covariance similarly to a batch smoother in simulation and that our method achieved comparable accuracy as traditional FLSs on real data.Comment: 13 pages, 4 figures, AAAI 2021 Conferenc