Cytoplasmic polyadenylation element binding proteins in development, health, and disease.

The cytoplasmic polyadenylation element binding (CPEB) proteins are sequence-specific mRNA binding proteins that control translation in development, health, and disease. CPEB1, the founding member of this family, has become an important model for illustrating general principles of translational control by cytoplasmic polyadenylation in gametogenesis, cancer etiology, synaptic plasticity, learning, and memory. Although the biological functions of the other members of this protein family in vertebrates are just beginning to emerge, it is already evident that they, too, mediate important processes, such as cancer etiology and higher cognitive function. In Drosophila, the CPEB proteins Orb and Orb2 play key roles in oogenesis and in neuronal function, as do related proteins in Caenorhabditis elegans and Aplysia. We review the biochemical features of the CPEB proteins, discuss their activities in several biological systems, and illustrate how understanding CPEB activity in model organisms has an important impact on neurological disease.

The role of secondary structures in the functioning of 3' untranslated regions of mRNA: A review of functions of 3' UTRs' secondary structures and hypothetical involvement of secondary structures in cytoplasmic polyadenylation in Drosophila.

3' untranslated regions (3' UTRs) of mRNAs have many functions, including mRNA processing and transport, translational regulation, and mRNA degradation and stability. These different functions require cis-elements in 3' UTRs that can be either sequence motifs or RNA structures. Here we review the role of secondary structures in the functioning of 3' UTRs and discuss some of the trans-acting factors that interact with these secondary structures in eukaryotic organisms. We propose potential participation of 3'-UTR secondary structures in cytoplasmic polyadenylation in the model organism Drosophila melanogaster. Because the secondary structures of 3' UTRs are essential for post-transcriptional regulation of gene expression, their disruption leads to a wide range of disorders, including cancer and cardiovascular diseases. Trans-acting factors, such as STAU1 and nucleolin, which interact with 3'-UTR secondary structures of target transcripts, influence the pathogenesis of neurodegenerative diseases and tumor metastasis, suggesting that they are possible therapeutic targets.

Spot the Difference: Function versus Toxicity in Amyloid Fibrils.

In a recent study, Hervas et al. extracted Orb2 fibrils, that are involved in long-term memory formation, from Drosophila brains, characterised their function, and determined their structure using cryo-electron microscopy (cryo-EM). The fibrils show a remarkable resemblance to amyloid ß (Aß) fibrils associated with Alzheimer's disease, highlighting the subtle difference between functional and dysfunctional amyloid.

The 3'UTR of the Drosophila CPEB translation factor gene orb2 plays a crucial role in spermatogenesis.

CPEB proteins are conserved translation regulators involved in multiple biological processes. One of these proteins in Drosophila, Orb2, is a principal player in spermatogenesis. It is required for meiosis and spermatid differentiation. During the later process, orb2 mRNA and protein are localized within the developing spermatid. To evaluate the role of the orb2 mRNA 3'UTR in spermatogenesis, we used the CRISPR/Cas9 system to generate a deletion of the orb2 3'UTR, orb2R. This deletion disrupts the process of spermatid differentiation but has no apparent effect on meiosis. Differentiation abnormalities include defects in the initial polarization of the 64-cell spermatid cysts, mislocalization of mRNAs and proteins in the elongating spermatid tails, altered morphology of the elongating spermatid tails, and defects in the assembly of the individualization complex. These disruptions in differentiation appear to arise because orb2 mRNA and protein are not properly localized within the 64-cell spermatid cyst.

Ozone-Resistant Bacteria, an Inconvenient Hazard in Water Reclamation: Resistance Mechanism, Propagating Capacity, and Potential Risks.

Resistant bacteria have always been of research interest worldwide. In the urban water system, the increased disinfectant usage gives more chances for undesirable disinfection-resistant bacteria. As the strongest oxidative disinfectant in large-scale water treatment, ozone might select ozone-resistant bacteria (ORB), which, however, have rarely been reported and are inexplicit for their resistant mechanisms and physiological characteristics. In this study, six strains of ORB were screened from a water reclamation plant in Beijing. Three of them (O7, CR19, and O4) were more resistant to ozone than all previously reported ORB or even spores. The ozone consumption capacity of extracellular polymeric substances and cell walls was proved to be the main sources of bacterial ozone resistance, rather than intracellular antioxidant enzymes. The transcriptome results elucidated that strong ORB possessed a combined antioxidant mechanism consisting of the enhanced transcription of protein synthesis, protein export, and polysaccharide export genes (LptF, LptB, NodJ, LivK, LviG, MetQ, MetN, and GltU). This study confirmed the existence of ORB in urban water systems and brought doubts to the idea of a traditional control strategy against chlorine-resistant bacteria. A salient "trade-off" effect between the ozone resistance and propagation ability indicated the weakness and potential control approaches of ORB.

Multicomponent nature underlies the extraordinary mechanical properties of spider dragline silk.

Dragline silk of golden orb-weaver spiders (Nephilinae) is noted for its unsurpassed toughness, combining extraordinary extensibility and tensile strength, suggesting industrial application as a sustainable biopolymer material. To pinpoint the molecular composition of dragline silk and the roles of its constituents in achieving its mechanical properties, we report a multiomics approach, combining high-quality genome sequencing and assembly, silk gland transcriptomics, and dragline silk proteomics of four Nephilinae spiders. We observed the consistent presence of the MaSp3B spidroin unique to this subfamily as well as several nonspidroin SpiCE proteins. Artificial synthesis and the combination of these components in vitro showed that the multicomponent nature of dragline silk, including MaSp3B and SpiCE, along with MaSp1 and MaSp2, is essential to realize the mechanical properties of spider dragline silk.

A Visual-Inertial Pressure Fusion-Based Underwater Simultaneous Localization and Mapping System.

Detecting objects, particularly naval mines, on the seafloor is a complex task. In naval mine countermeasures (MCM) operations, sidescan or synthetic aperture sonars have been used to search large areas. However, a single sensor cannot meet the requirements of high-precision autonomous navigation. Based on the ORB-SLAM3-VI framework, we propose ORB-SLAM3-VIP, which integrates a depth sensor, an IMU sensor and an optical sensor. This method integrates the measurements of depth sensors and an IMU sensor into the visual SLAM algorithm through tight coupling, and establishes a multi-sensor fusion SLAM model. Depth constraints are introduced into the process of initialization, scale fine-tuning, tracking and mapping to constrain the position of the sensor in the z-axis and improve the accuracy of pose estimation and map scale estimate. The test on seven sets of underwater multi-sensor sequence data in the AQUALOC dataset shows that, compared with ORB-SLAM3-VI, the ORB-SLAM3-VIP system proposed in this paper reduces the scale error in all sequences by up to 41.2%, and reduces the trajectory error by up to 41.2%. The square root has also been reduced by up to 41.6%.

YPR-SLAM: A SLAM System Combining Object Detection and Geometric Constraints for Dynamic Scenes.

Traditional SLAM systems assume a static environment, but moving objects break this ideal assumption. In the real world, moving objects can greatly influence the precision of image matching and camera pose estimation. In order to solve these problems, the YPR-SLAM system is proposed. First of all, the system includes a lightweight YOLOv5 detection network for detecting both dynamic and static objects, which provides pre-dynamic object information to the SLAM system. Secondly, utilizing the prior information of dynamic targets and the depth image, a method of geometric constraint for removing motion feature points from the depth image is proposed. The Depth-PROSAC algorithm is used to differentiate the dynamic and static feature points so that dynamic feature points can be removed. At last, the dense cloud map is constructed by the static feature points. The YPR-SLAM system is an efficient combination of object detection and geometry constraint in a tightly coupled way, eliminating motion feature points and minimizing their adverse effects on SLAM systems. The performance of the YPR-SLAM was assessed on the public TUM RGB-D dataset, and it was found that YPR-SLAM was suitable for dynamic situations.

Micro-electron diffraction structure of the aggregation-driving N terminus of Drosophila neuronal protein Orb2A reveals amyloid-like ß-sheets.

Amyloid protein aggregation is commonly associated with progressive neurodegenerative diseases, however not all amyloid fibrils are pathogenic. The neuronal cytoplasmic polyadenylation element binding protein is a regulator of synaptic mRNA translation and has been shown to form functional amyloid aggregates that stabilize long-term memory. In adult Drosophila neurons, the cytoplasmic polyadenylation element binding homolog Orb2 is expressed as 2 isoforms, of which the Orb2B isoform is far more abundant, but the rarer Orb2A isoform is required to initiate Orb2 aggregation. The N terminus is a distinctive feature of the Orb2A isoform and is critical for its aggregation. Intriguingly, replacement of phenylalanine in the fifth position of Orb2A with tyrosine (F5Y) in Drosophila impairs stabilization of long-term memory. The structure of endogenous Orb2B fibers was recently determined by cryo-EM, but the structure adopted by fibrillar Orb2A is less certain. Here we use micro-electron diffraction to determine the structure of the first 9 N-terminal residues of Orb2A, at a resolution of 1.05 Å. We find that this segment (which we term M9I) forms an amyloid-like array of parallel in-register ß-sheets, which interact through side chain interdigitation of aromatic and hydrophobic residues. Our structure provides an explanation for the decreased aggregation observed for the F5Y mutant and offers a hypothesis for how the addition of a single atom (the tyrosyl oxygen) affects long-term memory. We also propose a structural model of Orb2A that integrates our structure of the M9I segment with the published Orb2B cryo-EM structure.

Fast Automatic Registration of UAV Images via Bidirectional Matching.

Image registration plays a vital role in the mosaic process of multiple UAV (Unmanned Aerial Vehicle) images acquired from different spatial positions of the same scene. Aimed at the problem that many fast registration methods cannot provide both high speed and accuracy simultaneously for UAV visible light images, this work proposes a novel registration framework based on a popular baseline registration algorithm, ORB-the Oriented FAST (Features from Accelerated Segment Test) and Rotated BRIEF (Binary Robust Independent Elemental Features) algorithm. First, the ORB algorithm is utilized to extract image feature points fast. On this basis, two bidirectional matching strategies are presented to match obtained feature points. Then, the PROSRC (Progressive Sample Consensus) algorithm is applied to remove false matches. Finally, the experiments are carried out on UAV image pairs about different scenes including urban, road, building, farmland, and forest. Compared with the original version and other state-of-the-art registration methods, the bi-matching ORB algorithm exhibits higher accuracy and faster speed without any training or prior knowledge. Meanwhile, its complexity is quite low for on-board realization.

A Robust and Integrated Visual Odometry Framework Exploiting the Optical Flow and Feature Point Method.

In this paper, we propose a robust and integrated visual odometry framework exploiting the optical flow and feature point method that achieves faster pose estimate and considerable accuracy and robustness during the odometry process. Our method utilizes optical flow tracking to accelerate the feature point matching process. In the odometry, two visual odometry methods are used: global feature point method and local feature point method. When there is good optical flow tracking and enough key points optical flow tracking matching is successful, the local feature point method utilizes prior information from the optical flow to estimate relative pose transformation information. In cases where there is poor optical flow tracking and only a small number of key points successfully match, the feature point method with a filtering mechanism is used for posing estimation. By coupling and correlating the two aforementioned methods, this visual odometry greatly accelerates the computation time for relative pose estimation. It reduces the computation time of relative pose estimation to 40% of that of the ORB_SLAM3 front-end odometry, while ensuring that it is not too different from the ORB_SLAM3 front-end odometry in terms of accuracy and robustness. The effectiveness of this method was validated and analyzed using the EUROC dataset within the ORB_SLAM3 open-source framework. The experimental results serve as supporting evidence for the efficacy of the proposed approach.

A Semantic Topology Graph to Detect Re-Localization and Loop Closure of the Visual Simultaneous Localization and Mapping System in a Dynamic Environment.

Simultaneous localization and mapping (SLAM) plays a crucial role in the field of intelligent mobile robots. However, the traditional Visual SLAM (VSLAM) framework is based on strong assumptions about static environments, which are not applicable to dynamic real-world environments. The correctness of re-localization and recall of loop closure detection are both lower when the mobile robot loses frames in a dynamic environment. Thus, in this paper, the re-localization and loop closure detection method with a semantic topology graph based on ORB-SLAM2 is proposed. First, we use YOLOv5 for object detection and label the recognized dynamic and static objects. Secondly, the topology graph is constructed using the position information of static objects in space. Then, we propose a weight expression for the topology graph to calculate the similarity of topology in different keyframes. Finally, the re-localization and loop closure detection are determined based on the value of topology similarity. Experiments on public datasets show that the semantic topology graph is effective in improving the correct rate of re-localization and the accuracy of loop closure detection in a dynamic environment.

YDD-SLAM: Indoor Dynamic Visual SLAM Fusing YOLOv5 with Depth Information.

Simultaneous location and mapping (SLAM) technology is key in robot autonomous navigation. Most visual SLAM (VSLAM) algorithms for dynamic environments cannot achieve sufficient positioning accuracy and real-time performance simultaneously. When the dynamic object proportion is too high, the VSLAM algorithm will collapse. To solve the above problems, this paper proposes an indoor dynamic VSLAM algorithm called YDD-SLAM based on ORB-SLAM3, which introduces the YOLOv5 object detection algorithm and integrates deep information. Firstly, the objects detected by YOLOv5 are divided into eight subcategories according to their motion characteristics and depth values. Secondly, the depth ranges of the dynamic object and potentially dynamic object in the moving state in the scene are calculated. Simultaneously, the depth value of the feature point in the detection box is compared with that of the feature point in the detection box to determine whether the point is a dynamic feature point; if it is, the dynamic feature point is eliminated. Further, multiple feature point optimization strategies were developed for VSLAM in dynamic environments. A public data set and an actual dynamic scenario were used for testing. The accuracy of the proposed algorithm was significantly improved compared to that of ORB-SLAM3. This work provides a theoretical foundation for the practical application of a dynamic VSLAM algorithm.

INS/LIDAR/Stereo SLAM Integration for Precision Navigation in GNSS-Denied Environments.

Traditionally, navigation systems have relied solely on global navigation satellite system (GNSS)/inertial navigation system (INS) integration. When a temporal loss of GNSS signal lock is encountered, these systems would rely on INS, which can sustain short bursts of outages, albeit drift significantly in prolonged outages. In this study, an extended Kalman filter (EKF) is proposed to develop an integrated INS/LiDAR/Stereo simultaneous localization and mapping (SLAM) navigation system. The first update stage of the filter integrates the INS with the LiDAR, after which the resultant navigation solution is integrated with the stereo SLAM solution, which yields the final integrated navigation solution. The system was tested for different driving scenarios in urban and rural environments using the raw Karlsruhe Institute of Technology and Toyota Technological Institute (KITTI) dataset in the complete absence of the GNSS signal. In addition, the selected KITTI drives covered low and high driving speeds in feature-rich and feature-poor environments. It is shown that the proposed INS/LiDAR/Stereo SLAM navigation system yielded better position estimations in comparison to using the INS without any assistance from onboard sensors. The accuracy improvement was expressed as a reduction of the root-mean-square error (RMSE) by 83% and 82% in the horizontal and up directions, respectively. In addition, the proposed system outperformed the positioning accuracy of some of the state-of-the-art algorithms.

Correlated evolution between orb weaver glue droplets and supporting fibres maintains their distinct biomechanical roles in adhesion.

Orb weaving spiders employ a 'silken toolkit' to accomplish a range of tasks, including retaining prey that strike their webs. This is accomplished by a viscous capture spiral thread that features tiny glue droplets, supported by a pair of elastic flagelliform fibres. Each droplet contains a glycoprotein core responsible for adhesion. However, prey retention relies on the integrated performance of multiple glue droplets and their supporting fibres, with previous studies demonstrating that a suspension bridge forms, whose biomechanics sum the adhesive forces of multiple droplets while dissipating the energy of the struggling insect. While the interdependence of the droplet's glycoprotein and flagelliform fibres for functional adhesion is acknowledged, there has been no direct test of this hypothesized linkage between the material properties of each component. Spider mass, which differs greatly across orb weaving species, also has the potential to affect flagelliform fibre and glycoprotein material properties. Previous studies have linked spider mass to capture thread performance but have not examined the relationship between spider mass and thread material properties. We extend earlier studies to examine these relationships in 16 orb weaving species using phylogenetic generalized least squares. This analysis revealed that glycoprotein stiffness (elastic modulus) was correlated with flagelliform fibre stiffness, and that spider mass was related to the glycoprotein volume, flagelliform fibre cross-sectional area and droplets per unit thread length. By shaping the elastic moduli of glycoprotein adhesive and flagelliform fibres, natural selection has maintained the biomechanical integration of this adhesive system.

Building a Real-Time Testing Platform for Unmanned Ground Vehicles with UDP Bridge.

Perception and vehicle control remain major challenges in the autonomous driving domain. To find a proper system configuration, thorough testing is needed. Recent advances in graphics and physics simulation allow researchers to build highly realistic simulations that can be used for testing in safety-critical domains and inaccessible environments. Despite the high complexity of urban environments, it is the non-urban areas that are more challenging. Nevertheless, the existing simulators focus mainly on urban driving. Therefore, in this work, we describe our approach to building a flexible real-time testing platform for unmanned ground vehicles for indoor and off-road environments. Our platform consists of our original simulator, robotic operating system (ROS), and a bridge between them. To enable compatibility and real-time communication with ROS, we generate data interchangeable with real-life readings and propose our original communication solution, UDP Bridge, that enables up to 9.5 times faster communication than the existing solution, ROS#. As a result, all of the autonomy algorithms can be run in real-time directly in ROS, which is how we obtained our experimental results. We provide detailed descriptions of the components used to build our integrated platform.

Combination of VSLAM and a Magnetic Fingerprint Map to Improve Accuracy of Indoor Positioning.

With the continual advancement of positioning technology, people's use of mobile devices has increased substantially. The global navigation satellite system (GNSS) has improved outdoor positioning performance. However, it cannot effectively locate indoor users owing to signal masking effects. Common indoor positioning technologies include radio frequencies, image visions, and pedestrian dead reckoning. However, the advantages and disadvantages of each technology prevent a single indoor positioning technology from solving problems related to various environmental factors. In this study, a hybrid method was proposed to improve the accuracy of indoor positioning by combining visual simultaneous localization and mapping (VSLAM) with a magnetic fingerprint map. A smartphone was used as an experimental device, and a built-in camera and magnetic sensor were used to collect data on the characteristics of the indoor environment and to determine the effect of the magnetic field on the building structure. First, through the use of a preestablished indoor magnetic fingerprint map, the initial position was obtained using the weighted k-nearest neighbor matching method. Subsequently, combined with the VSLAM, the Oriented FAST and Rotated BRIEF (ORB) feature was used to calculate the indoor coordinates of a user. Finally, the optimal user's position was determined by employing loose coupling and coordinate constraints from a magnetic fingerprint map. The findings indicated that the indoor positioning accuracy could reach 0.5 to 0.7 m and that different brands and models of mobile devices could achieve the same accuracy.

The principle of simplicity for Qutb al-Din Shirazi.

This paper seeks to show how Qutb al-Din Shirazi, a prominent astronomer of the Islamic age of science, employed the principle of simplicity in choosing among rival planetary models. Following some previous studies, we distinguish syntactic and ontological accounts of simplicity. Shirazi explicitly refers to these methodological principles and utilizes them to reduce the number of orbs in the planetary models. We provide cases where Shirazi applies the former account of simplicity, and others where he uses the latter. In some complicated cases, however, he appeals to a third kind of simplicity in favor of conceptual consistency. We argue that retaining the uniform motion of orbs plays a critical role in his favoring a particular account of simplicity.

Shaped by the Sun: the effect of exposure to sunlight on the evolution of spider bodies.

Body temperature can strongly influence fitness. Some Sun-exposed ectotherms thermoregulate by adjusting body posture according to the Sun's position. In these species, body elongation should reduce the risk of heat stress by allowing the exposure of a smaller body area to sunlight. Therefore, selection should favour more elongated bodies in Sun-exposed than in Sun-protected species. Diurnal orb-web spider species that sit on their webs are more likely to be Sun-exposed, on average, than nocturnal or diurnal shelter-building species. We measured the body elongation of orb-web spiders (Araneae, Araneidae) across 1024 species and classified them as Sun-protected or exposed based on the literature. We found that Sun-exposed species evolved more elongate bodies than Sun-protected ones. Further, we built a model combining traditional heat transfer models with models of thermoregulatory postures in orb-web spiders and meteorological data. The model indicates that body elongation in large orb-web spiders decreases the risk of high body temperatures. Overall, our results suggest that Sun exposure influenced the evolution of body shapes of orb-web spiders.

Family-specific chemical profiles provide potential kin recognition cues in the sexually cannibalistic spider Argiope bruennichi.

Kin recognition, the ability to detect relatives, is important for cooperation, altruism and also inbreeding avoidance. A large body of research on kin recognition mechanisms exists for vertebrates and insects, while little is known for other arthropod taxa. In spiders, nepotism has been reported in social and solitary species. However, there are very few examples of kin discrimination in a mating context, one coming from the orb-weaver Argiope bruennichi. Owing to effective mating plugs and high rates of sexual cannibalism, both sexes of A. bruennichi are limited to a maximum of two copulations. Males surviving their first copulation can either re-mate with the current female (monopolizing paternity) or leave and search for another. Mating experiments have shown that males readily mate with sisters but are more likely to leave after one short copulation as compared with unrelated females, allowing them to search for another mate. Here, we ask whether the observed behaviour is based on chemical cues. We detected family-specific cuticular profiles that qualify as kin recognition cues. Moreover, correlations in the relative amounts of some of the detected substances between sexes within families indicate that kin recognition is likely based on subsets of cuticular substances, rather than entire profiles.