3D object detection using point cloud is an essential task for autonomous driving. With the development of infrastructures, roadside perception can extend the view range of the autonomous vehicles through communication technology. Computation time and power consumption are two main concerns when deploying object detection tasks, and a light-weighted detection model applied in an embedded system is a convenient solution for both roadside and vehicleside. In this study, a 3D Point cLoud Object deTection (PLOT) network is proposed to reduce heavy computing and ensure real-time object detection performance in an embedded system. First, a bird’s eye view representation of the point cloud is calculated using pillar-based encoding method. Then a cross-stage partial network-based backbone and a feature pyramid network-based neck are implemented to generate the high-dimensional feature map. Finally, a multioutput head using a shared convolutional layer is attached to predict classes, bounding boxes, and the orientations of the objects at the same time. Extensive experiments using the Waymo Open Dataset and our own dataset are conducted to demonstrate the accuracy and efficiency of the proposed method.

Patients with cirrhosis experience worse health-related quality of life (HRQoL), and attempts are warranted further exploration of modifiable factors to improve HRQoL. Data on the impact of malnutrition risk on HRQoL among cirrhosis are limited; thus, we aimed to strengthen understanding by clarifying the relationship between nutritional status and low HRQoL in patients with decompensated cirrhosis. Consecutive inpatients with cirrhosis attending our department within a tertiary hospital were studied. Generic health profiles and malnutrition risk were evaluated by the EuroQol-5D (EQ-5D) and Royal Free Hospital-Nutritional Prioritizing Tool (RFH-NPT) score, respectively. Multiple linear regression analysis was used to determine association of malnutrition risk with low HRQoL. In this cohort of 364 patients with median age of 64 years and 49·5 % male, 55·5 % of the study population reported impairment pertinent to HRQoL in at least one dimension in terms of the EQ-5D. Moreover, malnutrition risk (RFH-NPT score: β coefficient = −0·114, P = 0·038) was proved to be independently associated with poor HRQoL in multiple analysis, after adjustment for significant variables like age, BMI and markers of decompensation. Notably, we found that health dimensions representing physical function (i.e. mobility, self-care and usual activities) are substantially affected, while malnourished patients reported less frequencies of complaints in other domain such as anxiety/depression. In conclusion, the risk of malnutrition assessed by the RFH-NPT score is independently associated with low HRQoL. It is operational to improve HRQoL by identifying patients at high malnutrition risk and providing timely nutrition treatment.

The mitochondrial genome provides important information for phylogenetic analysis and an understanding of evolutionary origin. In this study, the mitochondrial genomes of Ilisha elongata and Setipinna tenuifilis were sequenced, which are typical circular vertebrate mitochondrial genomes composed of 16,770 and 16,805 bp, respectively. The mitogenomes of I. elongata and S. tenuifilis include 13 protein-coding genes (PCGs), 22 transfer RNA (tRNA), two ribosomal RNA (rRNA) genes and one control region (CR). Both two species' genome compositions were highly A + T biased and exhibited positive AT-skews and negative GC-skews. The genetic distance and Ka/Ks ratio analyses indicated that 13 PCGs were affected by purifying selection and the selection pressures were different from certain deep-sea fishes, which were most likely due to the difference in their living environment. Results of phylogenetic analysis support close relationships among Chirocentridae, Denticipitidae, Clupeidae, Engraulidae and Pristigasteridae based on the nucleotide and amino acid sequences of 13 PCGs. Within Clupeoidei, I. elongata and S. tenuifilis were most closely related to the family Pristigasteridae and Engraulidae, respectively. These results will help to better understand the evolutionary position of Clupeiformes and provide a reference for further phylogenetic research on Clupeiformes species.

Fibronectin type III domain-containing protein 5 (FNDC5) is a transmembrane protein and the precursor of irisin, which serves as a systemic exerkine/myokine with multiple origins. Since its discovery in 2012, this hormone-like polypeptide has rapidly evolved to a component significantly involved in a gamut of metabolic dysregulations and various liver diseases. After a decade of extensive investigation on FNDC5/irisin, we are still surrounded by lots of open questions regarding its diagnostic and therapeutic values. In this review, we first concentrated on the structure–function relationship of FNDC5/irisin. Next, we comprehensively summarised the current knowledge and research findings regarding pathogenic roles/therapeutic applications of FNDC5/irisin in the context of non-alcoholic fatty liver disease, fibrosis, liver injury due to multiple detrimental insults, hepatic malignancy and intrahepatic cholestasis of pregnancy. Moreover, the prominent molecules involved in the underlying mechanisms and signalling pathways were highlighted. As a result, emerging evidence reveals FNDC5/irisin may act as a proxy for diagnosing liver disease pathology, a sensitive biomarker for assessing damage severity, a predisposing factor for surveilling illness progression and a treatment option with protective/preventive impact, all of which are highly dependent on disease grading and contextually pathological features.

We extend Savage et al.'s music and social bonding hypothesis by examining it in the context of Chinese music. First, top-down functions such as music as political instrument should receive more attention. Second, solo performance can serve as important cues for social identity. Third, a right match between the tones in lyrics and music contributes also to social bonding.

Saetaspongia so far cannot be confidently assigned to any class-level crown group. Clarifying its phylogenetic position requires new information provided by more detailed studies of previously described and/or new material. Some sponge fossils with the typical skeletal architecture of Saetaspongia have recently been recognized in the Cambrian (Stage 4) Balang Biota of Guizhou, China, including S. jianhensis new species and S. cf. S. densa. The new taxon is characterized by the following features: spicules are fine monaxons and are inclined to be loosely to densely arranged into plumose arrays; skeleton is composed primarily of one major plumose bundle, with an uncertain number (perhaps two) of small plumose arrays; and primary skeleton is occasionally interspersed with some irregularly oriented individual spicules. An additional specimen consisting of large monaxons, with plumose structures and overlying irregular coarse monaxons, closely fits the description and illustrations of previously described S. cf. S. densa. By combining information from previous studies and the present research, fossil evidence indicates that the plumose architecture is a critical feature diagnostic of Saetaspongia and that there are no hexactine-based spicules in this genus. The new material from the Balang Biota further supports the notion that Saetaspongia has a protomonaxonid rather than a hexactinellid affinity. Fossil evidence suggests that Saetaspongia had a wide biogeographic distribution during the early Cambrian and the stratigraphic distribution of this genus extends up to Stage 4.

UUID: http://zoobank.org/e9ca5e4a-134c-4daa-9266-19085e32614f.

Real-time localization is an important mission for self-driving cars and it is difficult to achieve precise pose information in dynamic environments. In this paper, a novel localization method is proposed to estimate the pose of self-driving cars using a 3D-LiDAR sensor. First, the multi-frame curb features and laser intensity features are extracted. Meanwhile, based on the high-precision curb map generated offline, obstacles on road are detected using region segmentation methods and their features are removed. Furthermore, a map-matching method is proposed to match the features to the map, a robust iterative closest point algorithm is utilized to deal with curb features along with a probability search method dealing with intensity features. Finally, two separate Kalman filters are used to fuse the low-cost global positioning systems and map-matching results. Both offline and online experiments are carried out in dynamic environments and the results demonstrate the accuracy and robustness of the proposed method.

Annexin A2 (ANXA2) is reported to be associated with cancer development. To investigate the roles ANXA2 plays during the development of cancer, the RNAi method was used to inhibit the ANXA2 expression in caco2 (human colorectal cancer cell line) and SMMC7721 (human hepatocarcinoma cell line) cells. The results showed that when the expression of ANXA2 was efficiently inhibited, the growth and motility of both cell lines were significantly decreased, and the development of the motility relevant microstructures, such as pseudopodia, filopodia, and the polymerization of microfilaments and microtubules were obviously inhibited. The cancer cell apoptosis was enhanced without obvious significance. The possible regulating pathway in the process was also predicted and discussed. Our results suggested that ANXA2 plays important roles in maintaining the malignancy of colorectal and hepatic cancer by enhancing the cell proliferation, motility, and development of the motility associated microstructures of cancer cells based on a possible complicated signal pathway.

AlMg alloys have widespread industrial applications. Grain refinement techniques have been frequently used to achieve high strength in these alloys. Here, we report on the fabrication of epitaxial co-sputtered AlMg thin films with high-density growth twins. The microstructure evolution with varying Mg composition has been characterized. Nanoindentation and in-situ micropillar compression tests show that the strength of AlMg alloys increases with increasing Mg composition. The flow stress of epitaxial nanotwinned Al–10 at.% Mg thin film exceeds 800 MPa. The modified Hall–Petch plots incorporating the solid solution strengthening effect suggest that, compared to high angle grain boundaries, incoherent twin boundaries are equivalent barriers to the transmission of dislocations in nanotwinned AlMg alloys.