Human Visual Attention Mechanism-Inspired Point-and-Line Stereo Visual Odometry for Environments with Uneven Distributed Features

Visual odometry is critical in visual simultaneous localization and mapping for robot navigation.However,the pose estimation performance of most current visual odometry algorithms degrades in scenes with unevenly distributed features because dense features occupy excessive weight.Herein,a new human visual attention mechanism for point-and-line stereo visual odometry,which is called point-line-weight-mechanism visual odometry(PLWM-VO),is proposed to describe scene features in a global and balanced manner.A weight-adaptive model based on region partition and region growth is generated for the human visual attention mechanism,where sufficient attention is assigned to position-distinctive objects(sparse features in the environment).Furthermore,the sum of absolute differences algorithm is used to improve the accuracy of initialization for line features.Compared with the state-of-the-art method(ORB-VO),PLWM-VO show a 36.79%reduction in the absolute trajectory error on the Kitti and Euroc datasets.Although the time consumption of PLWM-VO is higher than that of ORB-VO,online test results indicate that PLWM-VO satisfies the real-time demand.The proposed algorithm not only significantly promotes the environmental adaptability of visual odometry,but also quantitatively demonstrates the superiority of the human visual attention mechanism.

Medical Radiation Exposure and Human Carcinogenesis-Genetic and Epigenetic Mechanisms

Ionizing radiation （IR） is a potential carcinogen. Evidence for the carcinogenic effect of IR radiation has been shown after long-term animal investigations and observations on survivors of the atom bombs in Hiroshima and Nagasaki. However, IR has been widely used in a controlled manner in the medical imaging for diagnosis and monitoring of various diseases and also in cancer therapy. The collective radiation dose from medical imagings has increased six times in the last two decades, and grow continuously day to day. A large number of evidence has revealed the increased cancer risk in the people who had frequently exposed to x-rays, especially in childhood. It has also been shown that secondary malignancy may develop within the five years in cancer survivors who have received radiotherapv, because of IR-mediated damage to healthy cells. In this article, we review the current knowledge about the role of medical x-ray exposure in cancer development in humans, and recently recognized epigenetic mechanisms in IR-induced carcinogenesis.

SIMULTANEOUS OVER-EXPRESSION OF INSULIN-LIKE GROWTH FACTOR- Ⅱ (IGF- Ⅱ ) AND IGF- Ⅱ RECEPTOR(IGF- Ⅱ R) GENES IN HUMAN PRIMARY CANCER-IMPLICATION OF AUTOCRINE AND PARACRINE MECHANISM IN AUTONOMOUS GROWTH OF HEPATIC CANCER

This is first report about the simultaneous over-expression of both Insulin-like growth factor (IGF- I ) and its receptor (IGF- I R) at mRNA level in human primary hepatic Cancer (PHC). In 10 PHC samples from China, IGF-I and IGF- I R were both over-expressed, whereas only a background signal was detected in normal liver. In 5 pairs of PHC and its non- tumorous adjacent liver tissues from South Africa, IGF- I and IGF- I R were also over-expressed in PHC. mRNA expression of IGF- I in all 5 cases and IGF- I R in 4 of 5 cases were higher in cancer than non- tumorous adjacent liver tissues. These results strongly implicate that an autocrine and/ or paracrine mechanism might be Involved in formation and progression of PHC.

The UN’s Human Rights Mechanisms and China’ Constructive Participation

Through establishing and improving charter-based and treaty-based human rights systems, the United Nations develops and promotes the implementation of human rights standards, urges countries to fulfill their international human rights obligations, and provides a platform for countries and other stakeholders to communicate and cooperate in promoting and protecting human rights There are also other UN agencies and entities involved in human rights promotion in different areas As one of the UN’s founding members and the security Council’s permanent members, China has been elected to the Human Rights Council multiple times and has been participating actively in the Universal Periodic Review process, fulfilling obligations under international human rights treaties, expanding cooperation for mutual benefits in the field of human rights, and promoting the concept of a community with a shared future for human beings At both the domestic and international levels, China can, from both domestic and international levels, further strengthen the implementation of international human rights treaties, enhance cooperation with the UN’s human rights system and other agencies, and increase China’s voice and influence in the field of human rights in the UN.

Study of Human Rights Protection Mechanisms for Suspects at the Investigation Stage

When criminal suspects are being investigated for criminal responsibil- ity, they are the most vulnerable to infringement by public power. Thus, they need more special attention and protection. It is the in- evitable requirement of the modern democratic rule of law, and also the inevitable historic choice of respecting and protecting human rights.

Responsibilities and Working Mechanism of National Human Rights Education and Training Bases

On July 22, 2014, the second group of national human rights education and train- ing bases was announced,increasing the number of national bases from the previous three to a total of eight, which reflects the advancement of human rights education and ~aining in China and has far-reaching significance.

Human Rights NGOs and the United Nations Human Rights Council——Participation by the China Society for Human Rights Studies in the Universal Periodic Review Mechanism

Since its founding in 1993, the China Society for Human Rights Studies （CSHRS） has extensively participated inthe human rights work of the United Nations （UN） and has actively carried out international exchange and cooperation. In May 2012, the UN Human Rights Council （UNHRC） initiated the second round of country reviews on human rights.

Responses of soil nutrient to driving mechanism in Taihu Lake basin in last 20 years

The objectives of this study is to understand the changing law of soil nutrient quality in Taihu Lake basin, Yangtze Delta in last 20 years, and reveal the relationship between soil nutrient changes and human driving forces in regional level over long period of time. Experiment on long-term collecting samples was conducted to study changes of soil organic matter, total N, available N, available P and available K in Dongting town, Wuxi city during the last 20 years. The paper analyses the co-relationship of the fluctuation of soil nutrient and state policy, cultivating practice, agricultural input, and per hectare agricultural net income. The results showed that at first the content of soil organic matter increased, then decreased, and increased again. The content of total N and available N steadily increased. The content of available K and available P steadily decreased. The authors found that the influence of state policy and cultivating practice on soil nutrient quality index (SNQI) is obvious, agricultural input and SNQI are positively correlated, and per hectare agricultural net income and SNQI are negatively correlated.

Design and Analysis of a Mechanical Device to Harvest Energy from Human Footstep Motion

Portable electronics is usually powered by battery,which is not sustainable not only to the longtime outdoor use but also to our living environment.There is rich kinetic energy in footstep motion during walking,so it is ideal to harvest the kinetic energy from human footstep motion as power source for portable electronic devices.In this paper,a novel mechanism based on dual-oscillating mode is designed to harvest the kinetic energy from footstep motion.The harvester contains two oscillating sub-mechanisms：one is spring-mass oscillator to absorb the vibration from external excitation,i.e.,the footstep motion,and the other is cantilever beam with tip mass for amplifying the vibration.Theoretic analysis shows that the dual-oscillating mechanism can be more effectively harness the foot step motion.The energy conversion sub-mechanism is based on the electromagnetic induction,where the wire coils fixed at the tip end of the cantilever beam serves as the slider and permanent magnets and yoke form the changing magnetic field.Simulation shows that the harvester,with total mass 70 g,can produce about 100 mW of electricity at the walking speed of 2 steps per second.

高校人力资本产权界定与激励机制研究

高校人才流失与缺乏积极性问题是制约高校发展的主要瓶颈,根本原因在于高校对人才的激励与约束机制缺乏科学合理性。高校人力资本激励,必须明确高校人力资本产权的归属,在此基础上采取有针对性的措施才能取得好的激励效果。高校人力资本产权永恒自有是建立高校人力资本激励机制的基础,确定了高校人力资本产权的归属问题,就可以通过强化质量指标考核、建立考核面谈制度、正负激励交互作用、组织文化激励以及健全人力资本约束机制五个方面对高校人力资本进行激励。

Target Detection Algorithm Based On Human Judge Mechanism

A D-G-YOLOV3 algorithm was proposed to identify and judge recyclables,which introduced a dense feature network to replace the feature pyramid network.The network closely connects and fits the feature maps and simulates human judgment mechanism.A three-stage judgment is made for judgment objects with lower confidence.Based on the judgment of the original image,the second-stage judgment is carried out after the channel contrast is increased.Finally,sampling is performed on the region of interest where the second-stage confidence score wins for the third stage of judgment,and then judgment result is sent to the gated recurrent unit network for final inference.The result shows that through experiments on the same recyclables data set,the algorithm reduces the missed detection rate by 15.54%,and the false detection rate by 0.97%,while improves the accuracy rate by 16.51%.

THE MECHANISM OF CLINICAL EFFECTIVENESS OF HUMAN FETAL LIVER CELL TRANSFUSION

During the development of human fetus, all organs consisting of various types of cells are in rapid growth. The significance of these cells and the chemical components involved, especially those of special functions in medical treatment of certain refractory diseases, have been noticed gradually. The questions as a step further are therefore raised, e.g. what is the mechanism underlying the clinical effectiveness and how to produce the active substances in large amount by biological engineering technique or chemical synthetic method, instead of using the crude preparation directly derived from fetus.

Crystal structure of full-length human glucagon receptor reveals novel receptor activation mechanisms

Subject Code:C05With the support by the National Natural Science Foundation of China,a team of scientists let by Profs.Wu Beili(吴蓓丽),Wang Mingwei and Jiang Hualiang from Shanghai Institute of Materia Medica,Chinese Academy of Sciences has determined the high-resolution atomic structure of a full-length class B

The Formulation of Convention on the Rights of Older Persons:The Process and Prospects

Since its establishment,the United nations open-ended Working group on aging has shouldered the historical mission of exploring the“possibilities”and even laying the“foundation”for a Convention on the Rights of older Persons.Although the formulation of a convention on the protection of the rights of older persons has been widely supported by the general public and many countries,it still faces many problems.China should adhere to the combination of“human rights”and“development”and adjust its policies to adapt to the new changes in related fields.With successful case studies,concise expression of rights,and regional contracting practice,China could participate more fully in the reform of the international mechanism for the protection of the rights of older persons to improve the voice in future international human rights governance and make greater contributions to the protection of the rights of older persons worldwide.

Molecular mechanism of microRNA125 regulating human coagulation factor IX gene with nonsense mutation

Objective To construct human coagulation factorⅨmini-gene(Mini-h F9)and some nonsense mutants,detect the levels of the Mini-h F9 mRNA,and analyze the molecular mechanism of microRNA125 regulating F9gene with nonsense mutation.Methods Three nonsense mutants were obtained by using PCR mutagenesis to ana-

Communication Between Speech Production and Perception Within the Brain--Observation and Simulation

Realization of an intelligent human-machine interface requires us to investigate human mechanisms and learn from them. This study focuses on communication between speech production and perception within human brain and realizing it in an artificial system. A physiological research study based on electromyographic signals （Honda, 1996） suggested that speech communication in human brain might be based on a topological mapping between speech production and perception, according to an analogous topology between motor and sensory representations. Following this hypothesis, this study first investigated the topologies of the vowel system across the motor, kinematic, and acoustic spaces by means of a model simulation, and then examined the linkage between vowel production and perception in terms of a transformed auditory feedback （TAF） experiment. The model simulation indicated that there exists an invariant mapping from muscle activations （motor space） to articulations （kinematic space） via a coordinate consisting of force-dependent equilibrium positions, and the mapping from the motor space to kinematic space is unique. The motor-kinematic-acoustic deduction in the model simulation showed that the topologies were compatible from one space to another. In the TAF experiment, vowel production exhibited a compensatory response for a perturbation in the feedback sound. This implied that vowel production is controlled in reference to perception monitoring.