A Point Cloud Data-Driven Pallet Pose Estimation Method Using an Active Binocular Vision Sensor.

Pallet pose estimation is one of the key technologies for automated fork pickup of driverless industrial trucks. Due to the complex working environment and the enormous amount of data, the existing pose estimation approaches cannot meet the working requirements of intelligent logistics equipment in terms of high accuracy and real time. A point cloud data-driven pallet pose estimation method using an active binocular vision sensor is proposed, which consists of point cloud preprocessing, Adaptive Gaussian Weight-based Fast Point Feature Histogram extraction and point cloud registration. The proposed method overcomes the shortcomings of traditional pose estimation methods, such as poor robustness, time consumption and low accuracy, and realizes the efficient and accurate estimation of pallet pose for driverless industrial trucks. Compared with traditional Fast Point Feature Histogram and Signature of Histogram of Orientation, the experimental results show that the proposed approach is superior to the above two methods, improving the accuracy by over 35% and reducing the feature extraction time by over 30%, thereby verifying the effectiveness and superiority of the proposed method.

A Novel Pallet Detection Method for Automated Guided Vehicles Based on Point Cloud Data.

Automated guided vehicles are widely used in warehousing environments for automated pallet handling, which is one of the fundamental parts to construct intelligent logistics systems. Pallet detection is a critical technology for automated guided vehicles, which directly affects production efficiency. A novel pallet detection method for automated guided vehicles based on point cloud data is proposed, which consists of five modules including point cloud preprocessing, key point extraction, feature description, surface matching and point cloud registration. The proposed method combines the color with the geometric features of the pallet point cloud and constructs a new Adaptive Color Fast Point Feature Histogram (ACFPFH) feature descriptor by selecting the optimal neighborhood adaptively. In addition, a new surface matching method called the Bidirectional Nearest Neighbor Distance Ratio-Approximate Congruent Triangle Neighborhood (BNNDR-ACTN) is proposed. The proposed method overcomes the problems of current methods such as low efficiency, poor robustness, random parameter selection, and being time-consuming. To verify the performance, the proposed method is compared with the traditional and modified Iterative Closest Point (ICP) methods in two real-world cases. The results show that the Root Mean Square Error (RMSE) is reduced to 0.009 and the running time is reduced to 0.989 s, which demonstrates that the proposed method has faster registration speed while maintaining higher registration accuracy.

The N-terminal His-tag affects the triglyceride lipase activity of hormone-sensitive lipase in testis.

The sterility of hormone-sensitive lipase (HSL) knockout mice clearly shows the link between lipid metabolism and spermatogenesis. However, which substrate or product of this multifunctional lipase affects spermatogenesis is unclear. We found that an HSL protein with a His-tag at the N-terminus preserved the normal hydrolase activity of cholesteryl ester (CE) but the triglyceride lipase (TG) activity significantly decreased in vitro. Therefore, mice with this functionally incomplete HSL (His-HSL) were produced on a background of HSL deficiency (HSL-/- h). As a result, HSL-/- h testis has an 8.65-fold higher CE activity than wild-type testis but a twofold higher TG activity than wild-type testis. To compare His-HSL and wild-type HSL in vitro and in vivo, we confirmed that the His-tag significantly suppressed HSL TG activity. From our results, we believe that TG activity was affected by the His-tag insertion, but CE activity was not influenced. Furthermore, the His-tag protected HSL from binding to the inhibitor BAY. From our study, TG activity and BAY binding sites were affected by N-terminal His-tag insertion.

Ube2s stabilizes ß-Catenin through K11-linked polyubiquitination to promote mesendoderm specification and colorectal cancer development.

The canonical Wnt/ß-Catenin signaling pathway is widely involved in regulating diverse biological processes. Dysregulation of the pathway results in severe consequences, such as developmental defects and malignant cancers. Here, we identified Ube2s as a novel activator of the Wnt/ß-Catenin signaling pathway. It modified ß-Catenin at K19 via K11-linked polyubiquitin chain. This modification resulted in an antagonistic effect against the destruction complex/ß-TrCP cascade-orchestrated ß-Catenin degradation. As a result, the stability of ß-Catenin was enhanced, thus promoting its cellular accumulation. Importantly, Ube2s-promoted ß-Catenin accumulation partially released the dependence on exogenous molecules for the process of embryonic stem (ES) cell differentiation into mesoendoderm lineages. Moreover, we demonstrated that UBE2S plays a critical role in determining the malignancy properties of human colorectal cancer (CRC) cells in vitro and in vivo. The findings in this study extend our mechanistic understanding of the mesoendodermal cell fate commitment, and provide UBE2S as a putative target for human CRC therapy.

Effects of dietary soybean isoflavones (SI) on reproduction in the young breeder rooster.

Soybean isoflavones (SIs) are phytoestrogens that competitive with estrogens in body. Although SIs play an important role in reproduction, their role in testicular development in roosters is unknown. This study was conducted to investigate the effect of SIs on testicular development and serum reproductive hormone profiles in young breeder roosters (70-133days old). Gene expression of steroidogenic acute regulatory protein (StAR), cholesterol side-chain cleavage enzyme (P450scc), and 3ß-hydroxysteroid dehydrogenase (3ß-HSD), which are related to testosterone synthesis, in rooster testis were also evaluated after treatment with different SI doses. Although SIs had no significant effect on body weight, 5mg/kg SIs significantly increased the testis index and serum levels of reproductive hormones (gonadotropin releasing hormone, follicle- stimulating hormone, luteinizing hormone, and testosterone).To further investigate whether SIs regulate hormone synthesis via StAR, p450scc, 3ß-HSD, real time-PCR was performed to measure the mRNA levels of the corresponding genes. The results showed that 5mg/kg of SIs significantly increased StAR mRNA levels. However, there were no significant effects on p450scc or 3ß-HSD mRNA levels. Moreover, the spermatogonial development and the number of germ cell layers were increased by treatment with 5mg/kg of SIs. These results suggest that SIs promote testicular growth by increasing reproductive hormone secretion, which is closely related to StAR expression, to positively regulate reproduction in young roosters.

Hormone-sensitive lipase deficiency alters gene expression and cholesterol content of mouse testis.

Hormone-sensitive lipase-knockout (HSL-/-) mice exhibit azoospermia for unclear reasons. To explore the basis of sterility, we performed the following three experiments. First, HSL protein distribution in the testis was determined. Next, transcriptome analyses were performed on the testes of three experimental groups. Finally, the fatty acid and cholesterol levels in the testes with three different genotypes studied were determined. We found that the HSL protein was present from spermatocyte cells to mature sperm acrosomes in wild-type (HSL+/+) testes. Spermiogenesis ceased at the elongation phase of HSL-/- testes. Transcriptome analysis indicated that genes involved in lipid metabolism, cell membrane, reproduction and inflammation-related processes were disordered in HSL-/- testes. The cholesterol content was significantly higher in HSL-/- than that in HSL+/+ testis. Therefore, gene expression and cholesterol ester content differed in HSL-/- testes compared to other testes, which may explain the sterility of male HSL-/- mice.

Regulation of glucose transport by thyroid hormone in rat ovary.

Thyroid hormone (TH) plays an important role in regulating ovarian development. However, the mechanism involved remains unclear. Evidence suggests that glucose is essential for ovarian development, and its uptake is mediated by several glucose transporter proteins (Glut). We have investigated the effects of TH on Glut in rat ovary. Immature rats were treated with 6-propyl-2-thiouracil or L-thyroxine to induce hypothyroidism (hypo) or hyperthyroidism (hyper), respectively. Ovarian weights significantly decreased in both treated groups compared with the control group, although the body weights were not markedly altered. Glut1 expression significantly decreased without further changes being detected in the other Glut isforms in the hypo group and was accompanied by minimal change in mRNA content. The expression of Glut1 decreased in the hyper group. In contrast, L-thyroxine significantly increased Glut4 mRNA level and protein content but had little effect on Glut2 and Glut3 expression. Serum glucose concentrations in the hyper group were dramatically reduced compared with those in the control group. However, the serum glucose levels in the hypo group were not significantly changed. In addition, equine chorionic gonadotropin (eCG) increased ovarian weights in both the hypo and hyper groups compared with those in the rats without eCG injection. Glut2-4 protein content was significantly increased by eCG in hyper rats. Only the Glut4 mRNA content was significantly increased by eCG in the hyper group. Although the mRNA levels were not significantly changed by eCG in the hypo group, the protein level of Glut4 was markedly up-regulated. Serum glucose levels were not significantly altered by eCG in the two groups. Thus, dysfunction of the thyroid gland changes Glut expression in rat ovary and ovarian growth, both of which are also regulated by gonadotropin.

Effects of gonadotropin on Fas and/or FasL expression and proliferation in rat ovary.

Although gonadotropin is a dominant hormone involved in promoting ovarian follicle development in females, the mechanism by which gonadotropin regulates follicular development is still unknown. To systematically evaluate the effectiveness of the gonadotropin on apoptosis and proliferation of ovarian cells in vivo, rats were injected subcutaneously with eCG and/or anti-eCG antiserum. Equine chorionic gonadotropin treatment increased ovarian cell proliferation and expression of FSH receptors (FSHR) as revealed by increased immunostaining of proliferating cell nuclear antigen and FSHR in rat ovary. These effects did not occur in a follicular stage-dependent manner. Moreover, these actions were abolished by anti-eCG antiserum. However, granulosa cells exhibited more intense Fas- and FasL-positive immunostaining during all follicular stages in the anti-eCG antiserum group. We used Western blot analysis to confirm these results; Fas and FasL protein contents in rat ovaries were decreased by eCG. Meanwhile, proliferating cell nuclear antigen and FSHR expression were upregulated by eCG. However, all these eCG-induced regulations were reversed by anti-eCG antiserum treatment. Furthermore, there were no significant differences between the anti-eCG antiserum and control groups. These results indicate that eCG promotes follicular development via downregulation of death-inducer Fas/FasL expression and promotion of ovarian cell proliferation, which is partially mediated by FSHR.

Effects of 3, 5, 3'-triiodothyronine (t3) and follicle stimulating hormone on apoptosis and proliferation of rat ovarian granulosa cells.

Thyroid hormone (TH) is important for normal reproductive functions and dysregulation of TH support is associated with reproductive disorders. We have previously reported that 3,5,3'-triiodothyronine (T3) increases follicle stimulating hormone (FSH)-induced preantral follicle growth in vitro. Interaction of hormones with apoptosis and proliferation of granulosa cells is poorly understood. The present study investigated the role and the mechanism of T3 and/or FSH on granulosa cell apoptosis and proliferation. Granulosa cells harvested from DES-primed immature rats were exposed to T3 (1 nM) and/or FSH (100 ng/ml) for 24-48 h. We demonstrated by TUNEL assays that the hormones prevented cells from C8-ceramide-induced apoptosis. The Src/PI3K/Akt pathway was involved in the regulation of granulosa cell survival. While ineffective alone, T3 significantly enhanced the proliferating cell nuclear antigen (PCNA) content of FSH-induced granulosa cells, consistent with the cell number pattern after treatment. Moreover, the action of the hormones on cell proliferation was also shown to be mediated by the Src/PI3K/Akt pathway. Taken together, these results suggest that T3 potentiates the cell survival action of FSH through inhibiting cell apoptosis and promoting cell proliferation. Moreover, the protective and survival effects of hormones are mediated by the activation of Src/PI3K/Akt pathway.

Effect of different culture systems and 3, 5, 3'-triiodothyronine/follicle-stimulating hormone on preantral follicle development in mice.

The mechanical method to isolate preantral follicle has been reported for many years. However, the culture systems in vitro are still unstable. The aim of this study was to analyze the effect of the culture system of mice preantral follicles on the follicular development in vitro. The results showed that the 96-well plate system was the most effective method for mice follicle development in vitro (volume change: 51.71%; survival rate: 89%, at day 4). Follicle-stimulating hormone (FSH) and Thyroid hormone (TH) are important for normal follicular development and dysregulation of hormones are related with impaired follicular development. To determine the effect of hormone on preantral follicular development, we cultured follicle with hormones in the 96-well plate culture system and found that FSH significantly increased preantral follicular growth on day 4. The FSH-induced growth action was markedly enhanced by T3 although T3 was ineffective alone. We also demonstrated by QRT-PCR that T3 significantly enhanced FSH-induced up-regulation of Xiap mRNA level. Meanwhile, Bad, cell death inducer, was markedly down-regulated by the combination of hormones. Moreover, QRT-PCR results were also consistent with protein regulation which detected by Western Blotting analysis. Taken together, the findings of the present study demonstrate that 96-well plate system is an effective method for preantral follicle development in vitro. Moreover, these results provide insights on the role of thyroid hormone in increasing FSH-induced preantral follicular development, which mediated by up-regulating Xiap and down-regulating Bad.

[Effects of nonylphenol and cadmium on sperm acrosome reaction in vitro in mice].

OBJECTIVE: To study the effects of nonylphenol and cadmium on acrosome reaction in vitro in mouse spermatozoa. METHODS: Sperm were collected from the vas deferens of mice, capacitated in vitro and stimulated with A23187 at 30 micromol/L to induce acrosome reaction. Then the sperm suspension was treated with nonylphenol at 10, 20, 30, 60 and 100 micromol/L or cadmium at 500, 2500 and 5 000 micromol/L, and the control group treated with the carrier solvent. Acrosome reaction of the sperm was analyzed by FITC-PSA staining. RESULTS: Compared with the control group, nonylphenol significantly inhibited acrosome reaction at the concentration of > 60 micromol/L (P < 0.01), but not at < 30 micromol/L (P > 0.05), and the sperm survival rate was reduced with increased concentration of nonylphenol. However, cadmium exhibited no significant influence on either acrosome reaction (P > 0.05) or sperm survival rate at 500 - 5 000 micromol/L. CONCLUSION: Nonylphenol and cadmium affect the spermatogenesis of mice in different ways; the former directly inhibits sperm acrosome reaction, while the latter has no direct effect on it.