AGDF-Net: Learning Domain Generalizable Depth Features With Adaptive Guidance Fusion.

Cross-domain generalizable depth estimation aims to estimate the depth of target domains (i.e., real-world) using models trained on the source domains (i.e., synthetic). Previous methods mainly use additional real-world domain datasets to extract depth specific information for cross-domain generalizable depth estimation. Unfortunately, due to the large domain gap, adequate depth specific information is hard to obtain and interference is difficult to remove, which limits the performance. To relieve these problems, we propose a domain generalizable feature extraction network with adaptive guidance fusion (AGDF-Net) to fully acquire essential features for depth estimation at multi-scale feature levels. Specifically, our AGDF-Net first separates the image into initial depth and weak-related depth components with reconstruction and contrary losses. Subsequently, an adaptive guidance fusion module is designed to sufficiently intensify the initial depth features for domain generalizable intensified depth features acquisition. Finally, taking intensified depth features as input, an arbitrary depth estimation network can be used for real-world depth estimation. Using only synthetic datasets, our AGDF-Net can be applied to various real-world datasets (i.e., KITTI, NYUDv2, NuScenes, DrivingStereo and CityScapes) with state-of-the-art performances. Furthermore, experiments with a small amount of real-world data in a semi-supervised setting also demonstrate the superiority of AGDF-Net over state-of-the-art approaches.

Evaluation of Self-Degradation and Plugging Performance of Temperature-Controlled Degradable Polymer Temporary Plugging Agent.

Temporary plugging diversion fracturing (TPDF) technology has been widely used in various oil fields for repeated reconstruction of high-water-cut old oil wells and horizontal well reservoir reconstruction. Previous studies have carried out in-depth study on the pressure-bearing law and placement morphology of different types of temporary plugging agents (TPAs) in fractures, but there are relatively few studies on TPA accumulation body permeability. To solve this problem, an experimental device for evaluating the TPA performance with adjustable fracture pores is proposed in this paper. Based on the test of fracturing fluid breaking time and residue content, the low damage of fracturing fluid to the reservoir is determined. The TPA degradation performance test determines whether the TPA causes damage to the hydraulic fracture after the temporary plugging fracturing. Finally, by testing the TPA pressure-bearing capacity and the temporary plugging aggregation body permeability, the plugging performance and the aggregation body permeability are determined. The results show the following: (1) Guar gum fracturing fluid shows good gel-breaking performance under the action of breaking agent, and the recommended concentration of breaking agent is 300 ppm. At 90~120 °C, the degradation rate of the three types of TPAs can reach more than 65%, and it can be effectively carried into the wellbore during the fracturing fluid flowback stage to achieve the effect of removing the TPA in the fracture. (2) The results of the pressure-bearing performance of the TPA show that the two kinds of TPAs can quickly achieve the plugging effect after plugging start: the effect of ZD-2 (poly lactic-co-glycolic acid (PLGA)) particle-and-powder combined TPA on forming an effective temporary plugging accumulation body in fractures is better than that of ZD-1 (PLGA) pure powder. There are large pores between the particles, and the fracturing fluid can still flow through the pores, so the ZD-3 (a mixture of lactide and PLGA) granular temporary plugging agent cannot form an effective plugging. (3) The law of length of the temporary plugging accumulation body shows that the ZD-2 combined TPA has stronger plugging ability for medium-aperture simulated fracture pores, while the ZD-1 powder TPA has stronger plugging ability for small aperture simulated fracture pores, and the ZD-3 granular TPA should be avoided alone as far as possible. This study further enriches and improves the understanding of the mechanism of temporary plugging diverting fracturing fluid.

Digging Into Uncertainty-Based Pseudo-Label for Robust Stereo Matching.

Due to the domain differences and unbalanced disparity distribution across multiple datasets, current stereo matching approaches are commonly limited to a specific dataset and generalize poorly to others. Such domain shift issue is usually addressed by substantial adaptation on costly target-domain ground-truth data, which cannot be easily obtained in practical settings. In this paper, we propose to dig into uncertainty estimation for robust stereo matching. Specifically, to balance the disparity distribution, we employ a pixel-level uncertainty estimation to adaptively adjust the next stage disparity searching space, in this way driving the network progressively prune out the space of unlikely correspondences. Then, to solve the limited ground truth data, an uncertainty-based pseudo-label is proposed to adapt the pre-trained model to the new domain, where pixel-level and area-level uncertainty estimation are proposed to filter out the high-uncertainty pixels of predicted disparity maps and generate sparse while reliable pseudo-labels to align the domain gap. Experimentally, our method shows strong cross-domain, adapt, and joint generalization and obtains 1st place on the stereo task of Robust Vision Challenge 2020. Additionally, our uncertainty-based pseudo-labels can be extended to train monocular depth estimation networks in an unsupervised way and even achieves comparable performance with the supervised methods.

Organic Anion Transporting Polypeptide (OATP) 1B3 is a Significant Transporter for Hepatic Uptake of Conjugated Bile Acids in Humans.

BACKGROUND & AIMS: OATP1B3/SLCO1B3 is a human liver-specific transporter for the clearance of endogenous compounds (eg, bile acid [BA]) and xenobiotics. The functional role of OATP1B3 in humans has not been characterized, as SLCO1B3 is poorly conserved among species without mouse orthologs. METHODS: Slc10a1-knockout (Slc10a1-/-), Slc10a1hSLCO1B3 (endogenous mouse Slc10a1 promoter-driven human-SLCO1B3 expression in Slc10a1-/- mice), and human SLCO1B3 liver-specific transgenic (hSLCO1B3-LTG) mice were generated and challenged with 0.1% ursodeoxycholic-acid (UDCA), 1% cholic-acid (CA) diet, or bile duct ligation (BDL) for functional studies. Primary hepatocytes and hepatoma-PLC/RPF/5 cells were used for mechanistic studies. RESULTS: Serum BA levels in Slc10a1-/- mice were substantially increased with or without 0.1% UDCA feeding compared with wild-type (WT) mice. This increase was attenuated in Slc10a1hSLCO1B3-mice, indicating that OATP1B3 functions as a significant hepatic BA uptake transporter. In vitro assay using primary hepatocytes from WT, Slc10a1-/-, and Slc10a1hSLCO1B3-mice indicated that OATP1B3 has a similar capacity in taking up taurocholate/TCA as Ntcp. Furthermore, TCA-induced bile flow was significantly impaired in Slc10a1-/- mice but partially recovered in Slc10a1hSLC01B3-mice, indicating that OATP1B3 can partially compensate the NTCP function in vivo. Liver-specific overexpression of OATP1B3 markedly increased the level of hepatic conjugated BA and cholestatic liver injury in 1% CA-fed and BDL mice. Mechanistic studies revealed that conjugated BAs stimulated Ccl2 and Cxcl2 in hepatocytes to increase hepatic neutrophil infiltration and proinflammatory cytokine production (eg, IL-6), which activated STAT3 to repress OATP1B3 expression by binding to its promoter. CONCLUSIONS: Human OATP1B3 is a significant BA uptake transporter and can partially compensate Ntcp for conjugated BA uptake in mice. Its downregulation in cholestasis is an adaptive protective response.

TUSR-Net: Triple Unfolding Single Image Dehazing with Self-Regularization and Dual Feature to Pixel Attention.

Single image dehazing is a challenging and illposed problem due to severe information degeneration of images captured in hazy conditions. Remarkable progresses have been achieved by deep-learning based image dehazing methods, where residual learning is commonly used to separate the hazy image into clear and haze components. However, the nature of low similarity between haze and clear components is commonly neglected, while the lack of constraint of contrastive peculiarity between the two components always restricts the performance of these approaches. To deal with these problems, we propose an end-to-end self-regularized network (TUSR-Net) which exploits the contrastive peculiarity of different components of the hazy image, i.e, self-regularization (SR). In specific, the hazy image is separated into clear and hazy components and constraint between different image components, i.e., self-regularization, is leveraged to pull the recovered clear image closer to groundtruth, which largely promotes the performance of image dehazing. Meanwhile, an effective triple unfolding framework combined with dual feature to pixel attention is proposed to intensify and fuse the intermediate information in feature, channel and pixel levels, respectively, thus features with better representational ability can be obtained. Our TUSR-Net achieves better trade-off between performance and parameter size with weight-sharing strategy and is much more flexible. Experiments on various benchmarking datasets demonstrate the superiority of our TUSR-Net over state-of-the-art single image dehazing methods.

Novel urinary protein panels for the non-invasive diagnosis of non-alcoholic fatty liver disease and fibrosis stages.

BACKGROUND & AIMS: There is an unmet clinical need for non-invasive tests to diagnose non-alcoholic fatty liver disease (NAFLD) and individual fibrosis stages. We aimed to test whether urine protein panels could be used to identify NAFLD, NAFLD with fibrosis (stage F ≥ 1) and NAFLD with significant fibrosis (stage F ≥ 2). METHODS: We collected urine samples from 100 patients with biopsy-confirmed NAFLD and 40 healthy volunteers, and proteomics and bioinformatics analyses were performed in this derivation cohort. Diagnostic models were developed for detecting NAFLD (UPNAFLD model), NAFLD with fibrosis (UPfibrosis model), or NAFLD with significant fibrosis (UPsignificant fibrosis model). Subsequently, the derivation cohort was divided into training and testing sets to evaluate the efficacy of these diagnostic models. Finally, in a separate independent validation cohort of 100 patients with biopsy-confirmed NAFLD and 45 healthy controls, urinary enzyme-linked immunosorbent assay analyses were undertaken to validate the accuracy of these new diagnostic models. RESULTS: The UPfibrosis model and the UPsignificant fibrosis model showed an AUROC of .863 (95% CI: .725-1.000) and 0.858 (95% CI: .712-1.000) in the training set; and .837 (95% CI: .711-.963) and .916 (95% CI: .825-1.000) in the testing set respectively. The UPNAFLD model showed an excellent diagnostic performance and the area under the receiver operator characteristic curve (AUROC) exceeded .90 in the derivation cohort. In the independent validation cohort, the AUROC for all three of the above diagnostic models exceeded .80. CONCLUSIONS: Our newly developed models constructed from urine protein biomarkers have good accuracy for non-invasively diagnosing liver fibrosis in NAFLD.

Gut Microbiota Deficiency Exacerbates Liver Injury in Bile Duct Ligated Mice via Inflammation and Lipid Metabolism.

Bile components play a critical role in maintaining gut microbiota homeostasis. In cholestasis, bile secretion is impaired, leading to liver injury. However, it remains to be elucidated whether gut microbiota plays a role in cholestatic liver injury. Here, we performed a sham operation and bile duct ligation (BDL) in antibiotic-induced microbiome depleted (AIMD) mice and assessed liver injury and fecal microbiota composition in these mice. Significant reductions in gut microbiota richness and diversity were found in AIMD-sham mice when compared to sham controls. Three-day BDL leads to great elevation of plasma ALT, ALP, total bile acids, and bilirubin where reduced diversity of the gut microbiota was also found. AIMD further aggravated cholestatic liver injury evidenced by significantly higher levels of plasma ALT and ALP, associated with further reduced diversity and increased Gram-negative bacteria in gut microbiota. Further analyses revealed increased levels of LPS in the plasma of AIMD-BDL mice where elevated expression of inflammatory genes and decreased expression of hepatic detoxification enzymes were also found in liver when compared to the BDL group. These findings indicate that gut microbiota plays a critical role in cholestatic liver injury. Maintaining its homeostasis may alleviate liver injury in patients with cholestasis.

Runt-related transcription factor-1 ameliorates bile acid-induced hepatic inflammation in cholestasis through JAK/STAT3 signaling.

BACKGROUND AND AIMS: Bile acids trigger a hepatic inflammatory response, causing cholestatic liver injury. Runt-related transcription factor-1 (RUNX1), primarily known as a master modulator in hematopoiesis, plays a pivotal role in mediating inflammatory responses. However, RUNX1 in hepatocytes is poorly characterized, and its role in cholestasis is unclear. Herein, we aimed to investigate the role of hepatic RUNX1 and its underlying mechanisms in cholestasis. APPROACH AND RESULTS: Hepatic expression of RUNX1 was examined in cholestatic patients and mouse models. Mice with liver-specific ablation of Runx1 were generated. Bile duct ligation and 1% cholic acid diet were used to induce cholestasis in mice. Primary mouse hepatocytes and the human hepatoma PLC/RPF/5- ASBT cell line were used for mechanistic studies. Hepatic RUNX1 mRNA and protein levels were markedly increased in cholestatic patients and mice. Liver-specific deletion of Runx1 aggravated inflammation and liver injury in cholestatic mice induced by bile duct ligation or 1% cholic acid feeding. Mechanistic studies indicated that elevated bile acids stimulated RUNX1 expression by activating the RUNX1 -P2 promoter through JAK/STAT3 signaling. Increased RUNX1 is directly bound to the promotor region of inflammatory chemokines, including CCL2 and CXCL2 , and transcriptionally repressed their expression in hepatocytes, leading to attenuation of liver inflammatory response. Blocking the JAK signaling or STAT3 phosphorylation completely abolished RUNX1 repression of bile acid-induced CCL2 and CXCL2 in hepatocytes. CONCLUSIONS: This study has gained initial evidence establishing the functional role of hepatocyte RUNX1 in alleviating liver inflammation during cholestasis through JAK/STAT3 signaling. Modulating hepatic RUNX1 activity could be a new therapeutic target for cholestasis.

Hepatic TNFRSF12A promotes bile acid-induced hepatocyte pyroptosis through NFκB/Caspase-1/GSDMD signaling in cholestasis.

Tumor necrosis factor receptor superfamily member-12A (TNFRSF12A) plays a critical role in inflammation and cell death. It is expressed in multiple tissues yet extremely low in normal liver. To date, little is known about its role in cholestasis. Therefore, we sought to delineate the role of TNFRSF12A in cholestasis and its underlying mechanisms. Human liver tissues were collected from patients with obstructive cholestasis (OC) or primary biliary cholangitis (PBC). Tnfrsf12a knockout (KO) mice were generated. Cholestasis was induced by bile-duct ligation (BDL) or 0.1% 5-diethoxycarbonyl-1,4-dihydrocollidine (DDC)-feeding. Human hepatoma PLC/PRF/5-ASBT and THP1 cell lines or primary mouse hepatocytes were used for mechanistic studies. Hepatic TNFRSF12A expression was markedly increased in OC or PBC patients. Genetic ablation of Tnfrsf12a in BDL- and 0.1%DDC-induced cholestatic mice significantly attenuated cholestatic liver injury with remarkable reduction of hepatocyte pyroptosis but without changing scores of necroptosis and apoptosis. Morphological features of hepatocyte pyroptosis and increased levels of pyroptosis-related proteins, NLRP3, cleaved-Caspase-1, and cleaved-GSDMD in OC patients and BDL-mice confirmed this observation. Further mechanistic studies revealed that bile acids (BAs) induced TNFRSF12A expression by enhancing the transcription factor c-JUN binding to the TNFRSF12A promoter and subsequently initiated hepatocyte pyroptosis by the NFκB/Caspase-1/GSDMD signaling. Interestingly, TWEAK, a typical ligand of TNFRSF12A, secreted by infiltrated macrophages in cholestatic livers, enhanced TNFRSF12A-induced hepatocyte pyroptosis. Taken together, we report, for the first time, that hepatic TNFRSF12A is dramatically increased in human cholestasis. Deletion of TNFRSF12A inhibits BAs-induced hepatocyte pyroptosis through the NFκB/Caspase-1/GSDMD signaling and thereby ameliorates cholestatic liver injury. As such, targeting TNFRSF12A could be a promising approach to treating cholestasis.

Semaphorin 7A interacts with nuclear factor NF-kappa-B p105 via integrin ß1 and mediates inflammation.

Semaphorin7a (SEMA7A), a membrane-anchored member of the semaphorin protein family, could be involved in a diverse range of immune responses via its receptor integrin ß1. Recently, we reported that the SEMA7AR148W mutation (a gain-of-function mutation, Sema7aR145W in mice) is a risk factor for progressive familial intrahepatic cholestasis and nonalcoholic fatty liver disease via upregulated membrane localization. In this study, we demonstrated that integrin ß1 is a membrane receptor for nuclear factor NF-kappa-B p105 (NF-κB p105) and a critical mediator of inflammation. Integrin ß1 could interact with the C-terminal domain of NF-κB p105 to promote p50 generation and stimulate the NF-κB p50/p65 signalling pathway, upregulate TNF-α and IL-1ß levels, and subsequently render hepatocytes more susceptible to inflammation. The induction of integrin ß1 depends on elevated Sema7a membrane localization. Moreover, we revealed elevated levels of Sema7aWT (SEMA7AWT) in hepatocellular carcinoma (HCC) patients and an HCC mouse model. In line with our findings, the NF-κB p50/p65 pathway could also be activated by high Sema7a expression and repressed by integrin ß1 silencing. In conclusion, our findings suggest that the Sema7aR145W (SEMA7AR148W) mutation and high Sema7aWT (SEMA7AWT) expression both activate the NF-κB p50/p65 pathway via integrin ß1 and play a crucial role in inflammatory responses. Video Abstract.

Application of Improved Robot-assisted Laparoscopic Telesurgery with 5G Technology in Urology.

The demand for telesurgery is rising rapidly, but robust evidence regarding the feasibility of its application in urology is still rare. From March to October 2021, a surgeon-controlled surgical robot in a tertiary hospital in Qingdao was used to remotely conduct robot-assisted laparoscopic radical nephrectomy (RN) in 29 patients located in eight primary hospitals. The median round-trip delay was 26 ms (interquartile range [IQR] 5) and the median distance between the primary hospital and the surgeon was 187 km (IQR 57). Both the master unit and the slave unit were guaranteed by network and mechanical engineers, and surgical assistants were well prepared on the patient side to prevent complications. The primary evaluation metric was the success rate, defined as the percentage of patients who underwent successful remote RN without conversion to other surgical procedures and no major intraoperative or postoperative complications. The results demonstrate that the combination of 5G technology and surgical robots is a novel potential telemedicine-based therapy choice for renal tumors. PATIENT SUMMARY: Our study shows that telesurgery using 5G technology is a safe and feasible treatment option for patients with kidney tumors. The total delay between the remote location and the operating rooms where surgery was being performed was just 200 ms. This approach could reduce health care costs and improve the quality of medical services accessed by patients.

Berberine Inhibits Herpes Simplex Virus 1 Replication in HEK293T Cells.

Berberine exhibits polytrophic medicinal roles in various diseases and is safe and effective. However, its role and the underlying mechanism in the replication of herpes simplex virus 1 (HSV-1) remain unreported. This research aimed to determine the functional mechanisms of berberine on HSV-1 infection. We determined the CC50 (405.11 ± 15.67 µM) and IC50 (45.6 ± 6.84 µM) of berberine on HEK293T cells infected with HSV-1. Berberine inhibited the transcription and translation of HSV-1 activity-related genes (gD, ICP-4, ICP-5, and ICP-8) in HSV-1-infected HEK293T cells dose-dependently. Berberine also inhibited the phosphorylation of MAPK proteins (JNK and p38) and inflammatory responses induced by HSV-1 infection in HEK293T cells dose-dependently. In conclusion, berberine attenuates HSV-1 replication through its activity, infective ability, and inflammatory response. Our research indicated that berberine may be a candidate drug for HSV-1 infection.

Establishing Reference Values for Peripheral Blood Lymphocyte Subsets of Healthy Children in China Using a Single Platform.

Lymphocyte subsets significantly change during childhood; thus, age-matched reference values derived from healthy children are crucial. We established reference values for lymphocyte subsets, including T cells (CD3+), CD4 T cells (CD3 + CD4+), CD8 T cells (CD3 + CD8+), double negative T (DNT) cells (CD3 + CD4-CD8-), B cells (CD3-CD19+), NK cells (CD3-CD56+), and NKT-like cells (CD3 + CD56+) in the peripheral blood of 813 healthy children. We used the method of the international standard document (Clinical Laboratory Standard Institute C28-A3) to establish reference intervals with a single platform. First, we used the Skewness and Kurtosis test to analyze the normality of the data. The nonnormally distributed data was transformed into approximately normal distribution by the Box-Cox transformation. Second, we used the Tukey's method to eliminate outliers. Further, all the subjects were grouped into subgroups according to sex (male and female) and age (0-1 month, 2-12 months, 1-3 years, 4-6 years, and 7-18 years). We used the standard normal deviation test (Z-test) to evaluate whether age and sex were possible grouping factors. The analyses indicated age to be an important factor associated with changes in lymphocyte subsets. The absolute number of lymphocyte subsets and total number of lymphocytes, T cells, CD4 T cells, CD8 T cells, and B cells gradually increase from birth to 12 months and then gradually decrease with age. Furthermore, CD4 T cells and the ratio of CD4+/CD8+ gradually decrease with age. In contrast, CD8 T and DNT cells gradually increase with age. The percentage and number of NK and NKT-like cells gradually increase with age and remain stable between 1 and 18 years of age. In conclusion, the age-related reference intervals established in healthy children in this study can aid in monitoring and assessing the changes in immune levels in diseased conditions.

Effects of Different Factors on Methane Hydrate Formation Using a Visual Wellbore Simulator.

During hydrate exploitation, the formation and decomposition of hydrate in the wellbore are affected by many factors such as salinity, temperature, pressure, gas-liquid ratio, and so on. In the drilling process, inhibitors will be added into the drilling fluid, to prevent the formation of hydrates in the wellbore to form blockages. In order to explore the influence of these factors on the formation and decomposition of hydrates, a visual wellbore simulator was used to study the formation, inhibition, and decomposition of hydrates in the wellbore, which affected these factors. First, the accuracy of device was verified, and then the effects of water type, pressure, inhibitor, and gas-liquid ratios (GLR) on methane hydrate (MH) formation were studied. The results show that (1) In fresh water, after the formation of methane hydrate, the pressure of methane gas in the container drops by 6.73 MPa, while in 10% NaCl brine, the pressure of methane gas in the container only drops by 1.24 MPa, since the NaCl is a thermodynamic inhibitor, which inhibits the formation of MH, the amount of dissolved gas in the brine is less, resulting in less pressure drop within the container. (2) Compared with fresh water, the kinetic inhibitor GID3 can better inhibit the generation of MH, but when the dosage of GID3 is 1.0 and 2.0 wt %, the pressure drop of MH in the container is 0.71 and 2.18 MPa, respectively. Therefore, excess inhibitor will reduce its inhibitory effect. (3) When the pressure and GLR increase, the hydrate can absorb more methane after it is formed. However, when there are inhibitors in the fluid, the law of dissolved methane becomes complicated. (4) Appropriate decomposition solution helps to accelerate the decomposition of MH and reduce hydrate blockage in the wellbore during drilling. This article provides a reference for the formation of hydrate in the wellbore during hydrate exploitation.

DiT-SLAM: Real-Time Dense Visual-Inertial SLAM with Implicit Depth Representation and Tightly-Coupled Graph Optimization.

Recently, generating dense maps in real-time has become a hot research topic in the mobile robotics community, since dense maps can provide more informative and continuous features compared with sparse maps. Implicit depth representation (e.g., the depth code) derived from deep neural networks has been employed in the visual-only or visual-inertial simultaneous localization and mapping (SLAM) systems, which achieve promising performances on both camera motion and local dense geometry estimations from monocular images. However, the existing visual-inertial SLAM systems combined with depth codes are either built on a filter-based SLAM framework, which can only update poses and maps in a relatively small local time window, or based on a loosely-coupled framework, while the prior geometric constraints from the depth estimation network have not been employed for boosting the state estimation. To well address these drawbacks, we propose DiT-SLAM, a novel real-time Dense visual-inertial SLAM with implicit depth representation and Tightly-coupled graph optimization. Most importantly, the poses, sparse maps, and low-dimensional depth codes are optimized with the tightly-coupled graph by considering the visual, inertial, and depth residuals simultaneously. Meanwhile, we propose a light-weight monocular depth estimation and completion network, which is combined with attention mechanisms and the conditional variational auto-encoder (CVAE) to predict the uncertainty-aware dense depth maps from more low-dimensional codes. Furthermore, a robust point sampling strategy introducing the spatial distribution of 2D feature points is also proposed to provide geometric constraints in the tightly-coupled optimization, especially for textureless or featureless cases in indoor environments. We evaluate our system on open benchmarks. The proposed methods achieve better performances on both the dense depth estimation and the trajectory estimation compared to the baseline and other systems.

Reference ranges of T lymphocyte subsets by single-platform among healthy population in southwest China.

BACKGROUND: Appropriate reference ranges of T lymphocyte subsets are essential for immune status evaluation of patients with immunological diseases. We aim to establish the age- and sex-related reference intervals of T lymphocyte subsets by single-platform for the southwest China population using the indirect method with the data resulting from 53,822 cases of periodic health examination individuals in the Laboratory Information System (LIS) of West China Hospital from 2018 to 2020. METHODS: We used the Box-Cox conversion combined with the Tukey method to normalize the data and eliminate the outliers, and the nonparametric method to estimate the 95% distribution reference intervals. RESULTS: We initially established the reference ranges of T lymphocyte subsets by single-platform among healthy population in southwest China by indirect method (See text for details). Using the standard normal deviate test (z-test) suggested by Harris and Boyd according to CLSI EP28-A3C, which is more scientific, we found the reference ranges of T lymphocyte subsets should be differentiated by ages and genders since the reference ranges of T lymphocyte subsets by single-platform in different ages and genders are significantly different. CONCLUSIONS: We further demonstrated the absolute count of CD3 + T cell, CD3 + CD4 + T cell, CD3 + CD8 + T cell decreased with aging, which is more marked in men and CD3 + CD8 + T cell count, and the obtained reference intervals were superior to the reference intervals derived from the reagent specification currently in use.

An autonomous excavator system for material loading tasks.

Excavators are widely used for material handling applications in unstructured environments, including mining and construction. Operating excavators in a real-world environment can be challenging due to extreme conditions-such as rock sliding, ground collapse, or excessive dust-and can result in fatalities and injuries. Here, we present an autonomous excavator system (AES) for material loading tasks. Our system can handle different environments and uses an architecture that combines perception and planning. We fuse multimodal perception sensors, including LiDAR and cameras, along with advanced image enhancement, material and texture classification, and object detection algorithms. We also present hierarchical task and motion planning algorithms that combine learning-based techniques with optimization-based methods and are tightly integrated with the perception modules and the controller modules. We have evaluated AES performance on compact and standard excavators in many complex indoor and outdoor scenarios corresponding to material loading into dump trucks, waste material handling, rock capturing, pile removal, and trenching tasks. We demonstrate that our architecture improves the efficiency and autonomously handles different scenarios. AES has been deployed for real-world operations for long periods and can operate robustly in challenging scenarios. AES achieves 24 hours per intervention, i.e., the system can continuously operate for 24 hours without any human intervention. Moreover, the amount of material handled by AES per hour is closely equivalent to an experienced human operator.

MLDA-Net: Multi-Level Dual Attention-Based Network for Self-Supervised Monocular Depth Estimation.

The success of supervised learning-based single image depth estimation methods critically depends on the availability of large-scale dense per-pixel depth annotations, which requires both laborious and expensive annotation process. Therefore, the self-supervised methods are much desirable, which attract significant attention recently. However, depth maps predicted by existing self-supervised methods tend to be blurry with many depth details lost. To overcome these limitations, we propose a novel framework, named MLDA-Net, to obtain per-pixel depth maps with shaper boundaries and richer depth details. Our first innovation is a multi-level feature extraction (MLFE) strategy which can learn rich hierarchical representation. Then, a dual-attention strategy, combining global attention and structure attention, is proposed to intensify the obtained features both globally and locally, resulting in improved depth maps with sharper boundaries. Finally, a reweighted loss strategy based on multi-level outputs is proposed to conduct effective supervision for self-supervised depth estimation. Experimental results demonstrate that our MLDA-Net framework achieves state-of-the-art depth prediction results on the KITTI benchmark for self-supervised monocular depth estimation with different input modes and training modes. Extensive experiments on other benchmark datasets further confirm the superiority of our proposed approach.