MoGDE: Boosting Mobile Monocular 3D Object Detection with Ground Depth Estimation

Monocular 3D object detection (Mono3D) in mobile settings (e.g., on a vehicle, a drone, or a robot) is an important yet challenging task. Due to the near-far disparity phenomenon of monocular vision and the ever-changing camera pose, it is hard to acquire high detection accuracy, especially for far objects. Inspired by the insight that the depth of an object can be well determined according to the depth of the ground where it stands, in this paper, we propose a novel Mono3D framework, called MoGDE, which constantly estimates the corresponding ground depth of an image and then utilizes the estimated ground depth information to guide Mono3D. To this end, we utilize a pose detection network to estimate the pose of the camera and then construct a feature map portraying pixel-level ground depth according to the 3D-to-2D perspective geometry. Moreover, to improve Mono3D with the estimated ground depth, we design an RGB-D feature fusion network based on the transformer structure, where the long-range self-attention mechanism is utilized to effectively identify ground-contacting points and pin the corresponding ground depth to the image feature map. We conduct extensive experiments on the real-world KITTI dataset. The results demonstrate that MoGDE can effectively improve the Mono3D accuracy and robustness for both near and far objects. MoGDE yields the best performance compared with the state-of-the-art methods by a large margin and is ranked number one on the KITTI 3D benchmark.Comment: 36th Conference on Neural Information Processing Systems (NeurIPS), 2022. arXiv admin note: text overlap with arXiv:2303.1301

Density-invariant Features for Distant Point Cloud Registration

Registration of distant outdoor LiDAR point clouds is crucial to extending the 3D vision of collaborative autonomous vehicles, and yet is challenging due to small overlapping area and a huge disparity between observed point densities. In this paper, we propose Group-wise Contrastive Learning (GCL) scheme to extract density-invariant geometric features to register distant outdoor LiDAR point clouds. We mark through theoretical analysis and experiments that, contrastive positives should be independent and identically distributed (i.i.d.), in order to train densityinvariant feature extractors. We propose upon the conclusion a simple yet effective training scheme to force the feature of multiple point clouds in the same spatial location (referred to as positive groups) to be similar, which naturally avoids the sampling bias introduced by a pair of point clouds to conform with the i.i.d. principle. The resulting fully-convolutional feature extractor is more powerful and density-invariant than state-of-the-art methods, improving the registration recall of distant scenarios on KITTI and nuScenes benchmarks by 40.9% and 26.9%, respectively. Code is available at https://github.com/liuQuan98/GCL.Comment: In Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV), 202

Cooling and Crack Suppression of Bone Material Drilling Based on Microtextured Bit Modeled on Dung Beetle

In recent years, the number of patients with orthopedic diseases such as cervical spondylosis has increased, resulting in an increase in the demand for orthopedic surgery. However, thermal necrosis and bone cracks caused by surgery severely restrict the development and progression of orthopedic surgery. For the material of cutting tool processing bone in bone surgery of drilling high temperature lead to cell death, easy to produce the problem such as crack cause secondary damage effects to restore, in this paper, a bionic drill was designed based on the micro-structure of the dung beetle’s head and back. The microstructure configuration parameters were optimized by numerical analysis, and making use of the optical fiber laser marking machine preparation of bionic bit; through drilling test, the mathematical model of drilling temperature and crack generation based on micro-structure characteristic parameters was established by infrared thermal imaging technology and acoustic emission signal technology, and the cooling mechanism and crack suppression strategy were studied. The experimental results show that when the speed is 60 m/min, the cooling effects of the bionic bit T1 and T2 are 15.31% and 19.78%, respectively, and both kinds of bits show obvious crack suppression effect. The research in this paper provides a new idea for precision and efficient machining of bone materials, and the research results will help to improve the design and manufacturing technology and theoretical research level in the field of bone drilling tools

Video-assisted thoracic bronchial sleeve lobectomy with bronchoplasty for treatment of lung cancer confined to a single lung lobe: a case series of Chinese patients

BACKGROUND: The outcomes of video-assisted thoracic bronchial sleeve lobectomy (VABSL), a minimally invasive video-assisted thoracoscopic (VATS) lobectomy, are mostly unknown in Chinese patients. OBJECTIVES: To investigate operative and postoperative outcomes of VABSL in a cases series of Chinese patients with lung cancer. METHODS: Retrospective study of 9 patients (male:female 8:1; mean age 59.4 ± 17.6 years, ranging 21–79 years) diagnosed with lung cancer of a single lobe, treated with VABSL between March 2009 and November 2011, and followed up for at least 2 months (mean follow-up: 14.17 ± 12.91 months). Operative outcomes (tumor size, operation time, estimated blood loss and blood transfusion), postoperative outcomes (intensive care unit [ICU] stay, hospitalization length and pathological tumor stage), death, tumor recurrence and safety were assessed. RESULTS: Patients were diagnosed with carcinoid cancer (11.1%), squamous carcinoma (66.7%) or small cell carcinoma (22.2%), affecting the right (77.8%) or left (22.2%) lung lobes in the upper (55.6%), middle (11.1%) or lower (33.3%) regions. TNM stages were T2 (88.9%) or T3 (11.1%); N0 (66.7%), N1 (11.1%) or N2 (22.2%); and M0 (100%). No patient required conversion to thoracotomy. Mean tumor size, operation time and blood loss were 2.50 ± 0.75 cm, 203 ± 20 min and 390 ± 206 ml, respectively. Patients were treated in the ICU for 18.7 ± 0.7 hours, and overall hospitalization duration was 20.8 ± 2.0 days. No deaths, recurrences or severe complications were reported. CONCLUSIONS: VABSL surgery is safe and effective for treatment of lung cancer by experienced physicians, warranting wider implementation of VABSL and VATS training in China

Preparation of BiVO 4

We prepared BiVO4-graphene nanocomposites by using a facile single-step method and characterized the material by x-ray diffraction, scanning electron microscopy, Fourier-transform infrared spectroscopy, ultraviolet-visible diffuse-reflection spectroscopy, and three-dimensional fluorescence spectroscopy. The results show that graphene oxide in the catalyst was thoroughly reduced. The BiVO4 is densely dispersed on the graphene sheets, which facilitates the transport of electrons photogenerated in BiVO4, thereby leading to an efficient separation of photogenerated carriers in the coupled graphene-nanocomposite system. For degradation of rhodamine B dye under visible-light irradiation, the photocatalytic activity of the synthesized nanocomposites was over ∼20% faster than for pure BiVO4 catalyst. To study the contribution of electrons and holes in the degradation reaction, silver nitrate and potassium sodium tartrate were added to the BiVO4-graphene photocatalytic reaction system as electron-trapping agent and hole-trapping agent, respectively. The results show that holes play the main role in the degradation of rhodamine B

Difference between Pb and Cd Accumulation in 19 Elite Maize Inbred Lines and Application Prospects

In the last two decades, the accumulation of heavy metal in crop grains has become the study hotspot. In this study, 19 representative elite maize inbred lines and 3 hybrid varieties were investigated at the seedling stage, which can accumulate Pb and Cd in the stems and leaves, respectively. The results demonstrated that significant differences are among inbred lines for accumulation of heavy metals, implying that the Cd accumulation is significant correlation between the male parents and their hybrids and some inbred lines have been selected for cross-breeding with low Pb or Cd accumulation, such as S37, 9782, and ES40; Moreover, some inbred lines could be suitable for phytoremediation species for soil bioremediation with high levels of Pb and Cd accumulation, including 178, R08, 48-2, and Mo17ht

Analysis of gut microbiotal diversity in healthy young adults in Sunan County, Gansu Province, China

ObjectiveTo examine gut microbiotal diversity in the Han Chinese and Yugur populations of Sunan County, Gansu Province, living in the same environmental conditions, and to analyze possible causes of differences in diversity.MethodsWe selected 28 people, ages 18–45 years old, all of whom were third-generation pure Yugur or Han Chinese from Sunan County. Fresh fecal samples were collected, and total bacterial deoxyribonucleic acid (DNA) was extracted. We performed 16S ribosomal ribonucleic acid (16S rRNA) high-throughput sequencing (HTS) and bioinformatics to study the relationships among between gut microbiota structure, genetics, and dietary habits in Yugur and Han Chinese subjects.ResultsWe found 350 differential operational taxonomic units (OTUs) in Han Chinese and Yugur gut microbiota, proving that gut microbiota differed between the two populations. That were less abundant among Yugurs than Han Chinese were Prevotella_9 and Alloprevotella. That were more abundant among Yugurs than Han Chinese were Anaerostipes and Christensenellaceae_R-7_group. And they were significantly associated with a high-calorie diet In addition. we found differences in predicted gut microbiota structural functions (The main functions were metabolic and genetic information) between the two populations.ConclusionYugur subjects demonstrated differences in gut microbiotal structure from Han Chinese subjects, and this difference influenced by dietary and may be influenced by genetic influences. This finding will provide a fundamental basis for further study of the relationships among gut microbiota, dietary factors, and disease in Sunan County

Pharmacokinetics/pharmacodynamics of polymyxin B in patients with bloodstream infection caused by carbapenem-resistant Klebsiella pneumoniae

Introduction: Polymyxin B is a last-line therapy for carbapenem-resistant microorganisms. However, a lack of clinical pharmacokinetic/pharmacodynamic (PK/PD) data has substantially hindered dose optimization and breakpoint setting.Methods: A prospective, multi-center clinical trial was undertaken with polymyxin B [2.5 mg/kg loading dose (3-h infusion), 1.25 mg/kg/12 h maintenance dose (2-h infusion)] for treatment of carbapenem-resistant K. pneumoniae (CRKP) bloodstream infections (BSI). Safety, clinical and microbiological efficacy were evaluated. A validated liquid chromatography-tandem mass spectrometry (LC-MS/MS) method was applied to determine the concentrations of polymyxin B in blood samples. Population pharmacokinetic (PK) modeling and Monte Carlo simulations were conducted to examine the susceptibility breakpoint for polymyxin B against BSI caused by CRKP.Results: Nine patients were enrolled and evaluated for safety. Neurotoxicity (5/9), nephrotoxicity (5/9), and hyperpigmentation (1/9) were recorded. Blood cultures were negative within 3 days of commencing therapy in all 8 patients evaluated for microbiological efficacy, and clinical cure or improvement occurred in 6 of 8 patients. Cmax and Cmin following the loading dose were 5.53 ± 1.80 and 1.62 ± 0.41 mg/L, respectively. With maintenance dosing, AUCss,24 h was 79.6 ± 25.0 mg h/L and Css,avg 3.35 ± 1.06 mg/L. Monte Carlo simulations indicated that a 1 mg/kg/12-hourly maintenance dose could achieve >90% probability of target attainment (PTA) for isolates with minimum inhibitory concentration (MIC) ≤1 mg/L. PTA dropped substantially for MICs ≥2 mg/L, even with a maximally recommended daily dose of 1.5 mg/kg/12-hourly.Conclusion: This is the first clinical PK/PD study evaluating polymyxin B for BSI. These results will assist to optimize polymyxin B therapy and establish its breakpoints for CRKP BSI

Polymorphisms of TP53 codon 72 with breast carcinoma risk: evidence from 12226 cases and 10782 controls

<p>Abstract</p> <p>Background</p> <p>Previously, TP53 codon 72 polymorphisms have been implicated as risk factors for various cancers. A number of studies have conducted on the association of TP53 codon 72 polymorphisms with susceptibility to breast carcinoma and have yielded inconclusive results. The aim of the present study was to derive a more precise estimation of the relationship.</p> <p>Methods</p> <p>We conducted a search in the Medline, EMBASE, OVID, Sciencedirect, and Chinese National Knowledge Infrastructure (CNKI) without a language limitation, covering all papers published up to Jan 2009. The associated literature was acquired through deliberate searching and selected based on the established inclusion criteria for publications.</p> <p>Results</p> <p>A total of seventeen case-control studies, including 12226 cases and 10782 controls, met the included criteria and thus were selected. Ultimately, the relevant data were extracted and further analyzed using systematic meta-analyses. Overall, no associations of TP53 codon 72 polymorphisms with breast carcinoma were observed (for Arg/Arg vs Pro/Pro: OR = 1.20; 95%CI = 0.96–1.50; for dominant model: OR = 1.12; 95%CI = 0.96–1.32; for recessive model: OR = 1.13; 95%CI = 0.98–1.31). In the subgroup analysis by ethnicity, statistically similar results were obtained when the data were stratified as Asians, Caucasians and Africans.</p> <p>Conclusion</p> <p>Collectively, the results of the present study suggest that <it>TP53 codon 72 </it>polymorphisms might not be a low-penetrant risk factor for developing breast carcinoma.</p

Causative agent distribution and antibiotic therapy assessment among adult patients with community acquired pneumonia in Chinese urban population

<p>Abstract</p> <p>Background</p> <p>Knowledge of predominant microbial patterns in community-acquired pneumonia (CAP) constitutes the basis for initial decisions about empirical antimicrobial treatment, so a prospective study was performed during 2003–2004 among CAP of adult Chinese urban populations.</p> <p>Methods</p> <p>Qualified patients were enrolled and screened for bacterial, atypical, and viral pathogens by sputum and/or blood culturing, and by antibody seroconversion test. Antibiotic treatment and patient outcome were also assessed.</p> <p>Results</p> <p>Non-viral pathogens were found in 324/610 (53.1%) patients among whom <it>M. pneumoniae </it>was the most prevalent (126/610, 20.7%). Atypical pathogens were identified in 62/195 (31.8%) patients carrying bacterial pathogens. Respiratory viruses were identified in 35 (19%) of 184 randomly selected patients with adenovirus being the most common (16/184, 8.7%). The nonsusceptibility of <it>S. pneumoniae </it>to penicillin and azithromycin was 22.2% (Resistance (R): 3.2%, Intermediate (I): 19.0%) and 79.4% (R: 79.4%, I: 0%), respectively. Of patients (312) from whom causative pathogens were identified and antibiotic treatments were recorded, clinical cure rate with β-lactam antibiotics alone and with combination of a β-lactam plus a macrolide or with fluoroquinolones was 63.7% (79/124) and 67%(126/188), respectively. For patients having mixed <it>M. pneumoniae </it>and/or <it>C. pneumoniae </it>infections, a better cure rate was observed with regimens that are active against atypical pathogens (e.g. a β-lactam plus a macrolide, or a fluoroquinolone) than with β-lactam alone (75.8% vs. 42.9%, <it>p </it>= 0.045).</p> <p>Conclusion</p> <p>In Chinese adult CAP patients, <it>M. pneumoniae </it>was the most prevalent with mixed infections containing atypical pathogens being frequently observed. With <it>S. pneumoniae</it>, the prevalence of macrolide resistance was high and penicillin resistance low compared with data reported in other regions.</p