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MicroRNAs (miRNAs) are an abundant class of small non-protein-coding RNAs that regulate gene expression in plants and animals. Skin colour is an important economic consideration in chicken production, and chickens with black skin have high market value. Nevertheless, little research has been conducted on miRNA regulation of melanogenesis in chicken skin. In this study, we sampled the dorsal skins of chickens with black (BS) and white (WS) skin to construct six small RNA libraries. High-throughput sequencing technology was then used to identify which miRNAs were expressed differentially between the BS and WS phenotypes. A total of 645 known and 64 novel miRNAs were identified from the six sequencing libraries. Additionally, the expression of 18 miRNAs was significantly different between the two phenotypes, including 9 miRNAs that were up-regulated, and 9 that were down-regulated. We identified 2 miRNAs, i.e. miR-204 and miR-6631-5p, that may be important for melanogenesis in chicken skin. Our data contribute to the understanding of the molecular mechanism, through miRNA regulation, of melanin formation in chicken skin.Highlights Differentially expressed miRNAs were identified in black skin (BS) and white skin (WS) of black-bone chickens Eighteen DEMs were detected in BS and WS groups. miR-204 and miR-6631-5p were potential candidates influencing skin melanogenesis in chicken.

Background/Aims: Melanin is a major and ubiquitous component of plumage colouration, and patterns of melanin pigmentation in birds are extremely varied. However, the molecular mechanism of pigmentation in avian plumage is still largely unknown. Methods: To elucidate the molecular mechanisms involved in the formation of black and white plumage, this study takes advantage of high-throughput sequencing technology to compare differences in the transcriptome between black and white chicken feather bulbs. In total, we constructed six cDNA libraries from black (Group B) and white (Group W) feather bulbs in the dorsal plumage of Muchuan black-boned chickens. Results: A comparison between Groups B and W revealed 61 differentially expressed genes, with 47 displaying higher, and 14 displaying lower, levels of expression in white feather bulbs. Our results revealed a set of candidate genes and two potential metabolic pathways involved in black-bone chicken plumage melanogenesis. These include four homeobox genes (HOXB9, HOXC8, HOXA9, and HOXC 9), two glutathione (GSH) metabolism-related genes (CHAC1 and GPX3), and the transforming growth factor beta (TGF-β) signalling pathway. Two known genes, TYR and MITF, were also shown to play a role in melanin formation. Conclusion: our data provide a valuable resource for discovering genes important in plumage melanin formation and will help further elucidate the molecular mechanisms for black and white plumage.

Laying performance is an important economical trait of goose production. As laying performance is of low heritability, it is of significance to develop a marker-assisted selection (MAS) strategy for this trait. Definition of sequence variation related to the target trait is a prerequisite of quantitating MAS, but little is presently known about the goose genome, which greatly hinders the identification of genetic markers for the laying traits of geese. Recently developed restriction site-associated DNA (RAD) sequencing is a possible approach for discerning large-scale single nucleotide polymorphism (SNP) and reducing the complexity of a genome without having reference genomic information available. In the present study, we developed a pooled RAD sequencing strategy for detecting geese laying-related SNP. Two DNA pools were constructed, each consisting of equal amounts of genomic DNA from 10 individuals with either high estimated breeding value (HEBV) or low estimated breeding value (LEBV). A total of 139,013 SNP were obtained from 42,291,356 sequences, of which 18,771,943 were for LEBV and 23,519,413 were for HEBV cohorts. Fifty-five SNP which had different allelic frequencies in the two DNA pools were further validated by individual-based AS-PCR genotyping in the LEBV and HEBV cohorts. Ten out of 55 SNP exhibited distinct allele distributions in these two cohorts. These 10 SNP were further genotyped in a goose population of 492 geese to verify the association with egg numbers. The result showed that 8 of 10 SNP were associated with egg numbers. Additionally, liner regression analysis revealed that SNP Record-111407, 106975 and 112359 were involved in a multiplegene network affecting laying performance. We used IPCR to extend the unknown regions flanking the candidate RAD tags. The obtained sequences were subjected to BLAST to retrieve the orthologous genes in either ducks or chickens. Five novel genes were cloned for geese which harbored the candidate laying-related SNP, including membrane associated guanylate kinase (MAGI-1), KIAA1462, Rho GTPase activating protein 21 (ARHGAP21), acyl-CoA synthetase family member 2 (ACSF2), astrotactin 2 (ASTN2). Collectively, our data suggests that 8 SNP and 5 genes might be promising candidate markers or targets for marker-assisted selection of egg numbers in geese.

Insects exhibit remarkable abilities in navigating complex natural environments, whether it be evading predators, capturing prey, or seeking out con-specifics, all of which rely on their compact yet reliable neural systems. We explore the field of bio-inspired robotic vision systems, focusing on the locust inspired Lobula Giant Movement Detector (LGMD) models. The existing LGMD models are thoroughly evaluated, identifying their common meta-properties that are essential for their functionality. This article reveals a common framework, characterized by layered structures and computational strategies, which is crucial for enhancing the capability of bio-inspired models for diverse applications. The result of this analysis is the Strategic Prototype, which embodies the identified meta-properties. It represents a modular and more flexible method for developing more responsive and adaptable robotic visual systems. The perspective highlights the potential of the Strategic Prototype: LGMD-Universally Prototype (LGMD-UP), the key to re-framing LGMD models and advancing our understanding and implementation of bio-inspired visual systems in robotics. It might open up more flexible and adaptable avenues for research and practical applications.

Visual perception equips unmanned aerial vehicles (UAVs) with increasingly comprehensive and instant environmental perception, rendering it a crucial technology in intelligent UAV obstacle avoidance. However, the rapid movements of UAVs cause significant changes in the field of view, affecting the algorithms’ ability to extract the visual features of collisions accurately. As a result, algorithms suffer from a high rate of false alarms and a delay in warning time. During the study of visual field angle curves of different orders, it was found that the peak times of the curves of higher-order information on the angular size of looming objects are linearly related to the time to collision (TTC) and occur before collisions. This discovery implies that encoding higher-order information on the angular size could resolve the issue of response lag. Furthermore, the fact that the image of a looming object adjusts to meet several looming visual cues compared to the background interference implies that integrating various field-of-view characteristics will likely enhance the model’s resistance to motion interference. Therefore, this paper presents a concise A-LGMD model for detecting looming objects. The model is based on image angular acceleration and addresses problems related to imprecise feature extraction and insufficient time series modeling to enhance the model’s ability to rapidly and precisely detect looming objects during the rapid self-motion of UAVs. The model draws inspiration from the lobula giant movement detector (LGMD), which shows high sensitivity to acceleration information. In the proposed model, higher-order information on the angular size is abstracted by the network and fused with multiple visual field angle characteristics to promote the selective response to looming objects. Experiments carried out on synthetic and real-world datasets reveal that the model can efficiently detect the angular acceleration of an image, filter out insignificant background motion, and provide early warnings. These findings indicate that the model could have significant potential in embedded collision detection systems of micro or small UAVs.

Prey-predator interactions play a pivotal role in elucidating the evolution and adaptation of various organism’s traits. Numerous approaches have been employed to study the dynamics of prey-predator interaction systems, with agent-based methodologies gaining popularity. However, existing agent-based models are limited in their ability to handle multi-modal interactions, which are believed to be crucial for understanding living organisms. Conversely, prevailing prey-predator integration studies often rely on mathematical models and computer simulations, neglecting real-world constraints and noise. These elusive attributes, challenging to model, can lead to emergent behaviors and embodied intelligence. To bridge these gaps, our study designs and implements a prey-predator interaction scenario that incorporates visual and olfactory sensory cues not only in computer simulations but also in a real multi-robot system. Observed emergent spatial-temporal dynamics demonstrate successful transitioning of investigating prey-predator interactions from virtual simulations to the tangible world. It highlights the potential of multi-robotics approaches for studying prey-predator interactions and lays the groundwork for future investigations involving multi-modal sensory processing while considering real-world constraints.

Abstract Memory, the process of encoding, storing, and maintaining information over time to influence future actions, is very important in our lives. Losing it, it comes with a great cost. Deciphering the biophysical mechanisms leading to recall improvement should thus be of outmost importance. In this study, we embarked on the quest to improve computationally the recall performance of a bio-inspired microcircuit model of the mammalian hippocampus, a brain region responsible for the storage and recall of short-term declarative memories. The model consisted of excitatory and inhibitory cells. The cell properties followed closely what is currently known from the experimental neurosciences. Cells’ firing was timed to a theta oscillation paced by two distinct neuronal populations exhibiting highly regular bursting activity, one tightly coupled to the trough and the other to the peak of theta. An excitatory input provided to excitatory cells context and timing information for retrieval of previously stored memory patterns. Inhibition to excitatory cells acted as a non-specific global threshold machine that removed spurious activity during recall. To systematically evaluate the model’s recall performance against stored patterns, pattern overlap, network size, and active cells per pattern, we selectively modulated feedforward and feedback excitatory and inhibitory pathways targeting specific excitatory and inhibitory cells. Of the different model variations (modulated pathways) tested, ‘model 1’ recall quality was excellent across all conditions. ‘Model 2’ recall was the worst. The number of ‘active cells’ representing a memory pattern was the determining factor in improving the model’s recall performance regardless of the number of stored patterns and overlap between them. As ‘active cells per pattern’ decreased, the model’s memory capacity increased, interference effects between stored patterns decreased, and recall quality improved.

Pheromones are chemical substances essential for communication among social insects. In the application of swarm intelligence to real micro mobile robots, the deployment of a single virtual pheromone has emerged recently as a powerful real-time method for indirect communication. However, these studies usually exploit only one kind of pheromones in their task, neglecting the crucial fact that in the world of real insects, multiple pheromones play important roles in shaping stigmergic behaviors such as foraging or nest building. To explore the multiple pheromones mechanism which enable robots to solve complex collective tasks efficiently, we introduce an artificial multiple pheromone system (ColCOS $\Phi $ ) to support swarm intelligence research by enabling multiple robots to deploy and react to multiple pheromones simultaneously. The proposed system ColCOS $\Phi $ uses optical signals to emulate different evaporating chemical substances i.e. pheromones. These emulated pheromones are represented by trails displayed on a wide LCD display screen positioned horizontally, on which multiple miniature robots can move freely. The color sensors beneath the robots can detect and identify lingering “pheromones” on the screen. Meanwhile, the release of any pheromone from each robot is enabled by monitoring its positional information over time with an overhead camera. No other communication methods apart from virtual pheromones are employed in this system. Two case studies have been carried out which have verified the feasibility and effectiveness of the proposed system in achieving complex swarm tasks as empowered by multiple pheromones. This novel platform is a timely and powerful tool for research into swarm intelligence.

With the rapid development of hyperspectral imaging technology, object tracking in hyperspectral video has become a research hotspot. Real-time object tracking for hyperspectral video is a great challenge. We propose a fast hyperspectral object tracking method via a channel selection strategy to improve the tracking speed significantly. First, we design a strategy of channel selection to select few candidate channels from many hyperspectral video channels, and then send the candidates to the subsequent background-aware correlation filter (BACF) tracking framework. In addition, we consider the importance of local and global spectral information in feature extraction, and further improve the BACF tracker to ensure high tracking accuracy. In the experiments carried out in this study, the proposed method was verified and the best performance was achieved on the publicly available hyperspectral dataset of the WHISPERS Hyperspectral Objecting Tracking Challenge. Our method was superior to state-of-the-art RGB-based and hyperspectral trackers, in terms of both the area under the curve (AUC) and DP@20pixels. The tracking speed of our method reached 21.9 FPS, which is much faster than that of the current most advanced hyperspectral trackers.

Similar to most visual animals, the crab Neohelice granulata relies predominantly on visual information to escape from predators, to track prey and for selecting mates. It, therefore, needs specialized neurons to process visual information and determine the spatial location of looming objects. In the crab Neohelice granulata, the Monostratified Lobula Giant type1 (MLG1) neurons have been found to manifest looming sensitivity with finely tuned capabilities of encoding spatial location information. MLG1s neuronal ensemble can not only perceive the location of a looming stimulus, but are also thought to be able to influence the direction of movement continuously, for example, escaping from a threatening, looming target in relation to its position. Such specific characteristics make the MLG1s unique compared to normal looming detection neurons in invertebrates which can not localize spatial looming. Modeling the MLG1s ensemble is not only critical for elucidating the mechanisms underlying the functionality of such neural circuits, but also important for developing new autonomous, efficient, directionally reactive collision avoidance systems for robots and vehicles. However, little computational modeling has been done for implementing looming spatial localization analogous to the specific functionality of MLG1s ensemble. To bridge this gap, we propose a model of MLG1s and their pre-synaptic visual neural network to detect the spatial location of looming objects. The model consists of 16 homogeneous sectors arranged in a circular field inspired by the natural arrangement of 16 MLG1s' receptive fields to encode and convey spatial information concerning looming objects with dynamic expanding edges in different locations of the visual field. Responses of the proposed model to systematic real-world visual stimuli match many of the biological characteristics of MLG1 neurons. The systematic experiments demonstrate that our proposed MLG1s model works effectively and robustly to perceive and localize looming information, which could be a promising candidate for intelligent machines interacting within dynamic environments free of collision. This study also sheds light upon a new type of neuromorphic visual sensor strategy that can extract looming objects with locational information in a quick and reliable manner.

The central complex of the insect midbrain is thought to coordinate insect guidance strategies. Computational models can account for specific behaviours, but their applicability across sensory and task domains remains untested. Here, we assess the capacity of our previous model (Sun et al. 2020) of visual navigation to generalise to olfactory navigation and its coordination with other guidance in flies and ants. We show that fundamental to this capacity is the use of a biologically plausible neural copy-and-shift mechanism that ensures sensory information is presented in a format compatible with the insect steering circuit regardless of its source. Moreover, the same mechanism is shown to allow the transfer cues from unstable/egocentric to stable/geocentric frames of reference, providing a first account of the mechanism by which foraging insects robustly recover from environmental disturbances. We propose that these circuits can be flexibly repurposed by different insect navigators to address their unique ecological needs.

The perception of different visual motion cues is crucial for autonomous mobile robots to react to or interact with the dynamic visual world. It is still a great challenge for a micro mobile robot to cope with dynamic environments due to the restricted computational resources and the limited functionalities of its visual systems. In this study, we propose a compound visual neural system to automatically extract and fuse different visual motion cues in real-time using the extremely constrained computation power of micro mobile robots. The proposed visual system contains multiple bio-inspired visual motion perceptive neurons each with a unique role, for example to extract collision visual cues, darker collision cue and directional motion cues. In the embedded system, these multiple visual neurons share a similar presynaptic network to minimise the consumption of computation resources. In the postsynaptic part of the system, visual cues pass results to corresponding action neurons using lateral inhibition mechanism. The translational motion cues, which are identified by comparing pairs of directional cues, are given the highest priority, followed by the darker colliding cues and approaching cues. Systematic experiments with both virtual visual stimuli and real-world scenarios have been carried out to validate the system's functionality and reliability. The proposed methods have demonstrated that (1) with extremely limited computation power, it is still possible for a micro mobile robot to extract multiple visual motion cues robustly in a complex dynamic environment; (2) the cues extracted can be fused with a lateral inhibited postsynaptic network, thus enabling the micro robots to respond effectively with different actions, accordingly to different states, in real-time. The proposed embedded visual system has been modularised and can be easily implemented in other autonomous mobile platforms for real-time applications. The system could also be used by neurophysiologists to test new hypotheses pertaining to biological visual neural systems.

Accurate and timely perception of collision in highly variable environments is still a challenging problem for artificial visual systems. As a source of inspiration, the lobula giant movement detectors (LGMDs) in locust's visual pathways have been studied intensively, and modelled as quick collision detectors against challenges from various scenarios including vehicles and robots. However, the state-of-the-art LGMD models have not achieved acceptable robustness to deal with more challenging scenarios like the various vehicle driving scenes, due to the lack of adaptive signal processing mechanisms. To address this problem, we propose an improved neuronal system model, called LGMD+, that is featured by novel modelling of spatiotemporal inhibition dynamics with biological plausibilities including 1) lateral inhibitions with global biases defined by a variant of Gaussian distribution, spatially, and 2) an adaptive feed-forward inhibition mediation pathway, temporally. Accordingly, the LGMD+ performs more effectively to detect merely approaching objects threatening head-on collision risks by appropriately suppressing motion distractors caused by vibrations, near-miss or approaching stimuli with deviations from the centre view. Through evolutionary learning with a systematic dataset of various crash and non-collision driving scenarios, the LGMD+ shows improved robustness outperforming the previous related methods. After evolution, its computational simplicity, flexibility and robustness have also been well demonstrated by real-time experiments of autonomous micro-mobile robots.

Collision prevention sets a major research and development obstacle for intelligent robots and vehicles. This paper investigates the robustness of two state-of-the-art neural network models inspired by the locust’s LGMD-1 and LGMD-2 visual pathways as fast and low-energy collision alert systems in critical scenarios. Although both the neural circuits have been studied and modelled intensively, their capability and robustness against real-time critical traffic scenarios where real-physical crashes will happen have never been systematically investigated due to difficulty and high price in replicating risky traffic with many crash occurrences. To close this gap, we apply a recently published robotic platform to test the LGMDs inspired visual systems in physical implementation of critical traffic scenarios at low cost and high flexibility. The proposed visual systems are applied as the only collision sensing modality in each micro-mobile robot to conduct avoidance by abrupt braking. The simulated traffic resembles on-road sections including the intersection and highway scenes wherein the roadmaps are rendered by coloured, artificial pheromones upon a wide LCD screen acting as the ground of an arena. The robots with light sensors at bottom can recognise the lanes and signals, tightly follow paths. The emphasis herein is laid on corroborating the robustness of LGMDs neural systems model in different dynamic robot scenes to timely alert potential crashes. This study well complements previous experimentation on such bio-inspired computations for collision prediction in more critical physical scenarios, and for the first time demonstrates the robustness of LGMDs inspired visual systems in critical traffic towards a reliable collision alert system under constrained computation power. This paper also exhibits a novel, tractable, and affordable robotic approach to evaluate online visual systems in dynamic scenes.

In aviation, gliding is the most economical mode of flight explicitly appreciated by natural fliers. They achieve it by high-performance wing structures evolved over millions of years in nature. Among other prehistoric beings, locust is a perfect example of such natural glider capable of endured transatlantic flights that could inspire a practical solution to achieve similar capabilities on micro aerial vehicles. An investigation in this study demonstrates the effects of haemolymph on the flexibility of several flying insect wings proving that many species exist with further simplistic yet well-designed wing structures. However, biomimicry of such aerodynamic and structural properties is hindered by the limitations of modern as well as conventional fabrication technologies in terms of availability and precision, respectively. Therefore, here we adopt finite-element analysis to investigate the manufacturing-worthiness of a three-dimensional digitally reconstructed locust wing, and propose novel combinations of economical and readily available manufacturing methods to develop the model into prototypes that are structurally similar to their counterparts in nature while maintaining the optimum gliding ratio previously obtained in the aerodynamic simulations. The former is assessed here via an experimental analysis of the flexural stiffness and maximum deformation rate as EIs = 1.34 × 10−4 Nm2, EIc = 5.67 × 10−6 Nm2 and greater than 148.2%, respectively. Ultimately, a comparative study of the mechanical properties reveals the feasibility of each prototype for gliding micro aerial vehicle applications.

Insect navigation arises from the coordinated action of concurrent guidance systems but the neural mechanisms through which each functions, and are then coordinated, remains unknown. We propose that insects require distinct strategies to retrace familiar routes (route-following) and directly return from novel to familiar terrain (homing) using different aspects of frequency encoded views that are processed in different neural pathways. We also demonstrate how the Central Complex and Mushroom Bodies regions of the insect brain may work in tandem to coordinate the directional output of different guidance cues through a contextually switched ring-attractor inspired by neural recordings. The resultant unified model of insect navigation reproduces behavioural data from a series of cue conflict experiments in realistic animal environments and offers testable hypotheses of where and how insects process visual cues, utilise the different information that they provide and coordinate their outputs to achieve the adaptive behaviours observed in the wild.

Recent research progress on the topic of human visual attention allocation in scene perception and its simulation is based mainly on studies with static images. However, natural vision requires us to extract visual information that constantly changes due to egocentric movements or dynamics of the world. It is unclear to what extent spatio-temporal regularity, an inherent regularity in dynamic vision, affects human gaze distribution and saliency computation in visual attention models. In this free-viewing eye-tracking study we manipulated the spatio-temporal regularity of traffic videos by presenting them in normal video sequence, reversed video sequence, normal frame sequence, and randomised frame sequence. The recorded human gaze allocation was then used as the ‘ground truth’ to examine the predictive ability of a number of state-of-the-art visual attention models. The analysis revealed high inter-observer agreement across individual human observers, but all the tested attention models performed significantly worse than humans. The inferior predictability of the models was evident from indistinguishable gaze prediction irrespective of stimuli presentation sequence, and weak central fixation bias. Our findings suggest that a realistic visual attention model for the processing of dynamic scenes should incorporate human visual sensitivity with spatio-temporal regularity and central fixation bias.

We firstly construct generalized Baskakov operators Vn,α,q(f;x) and their truncated sum Bn,α,q(f;γn,x). Secondly, we study the pointwise convergence and the uniform convergence of the operators Vn,α,q(f;x), respectively, and estimate that the rate of convergence by the operators Vn,α,q(f;x) is 1/nq/2. Finally, we study the convergence by the truncated operators Bn,α,q(f;γn,x) and state that the finite truncated sum Bn,α,q(f;γn,x) can replace the operators Vn,α,q(f;x) in the computational point of view provided that limn→∞nγn=∞.

The paper discusses the relationship between the null space property (NSP) and the lq-minimization in compressed sensing. Several versions of the null space property, that is, the lq stable NSP, the lq robust NSP, and the lq,p robust NSP for 0

Robotic swarms that take inspiration from nature are becoming a fascinating topic for multi-robot researchers. The aim is to control a large number of simple robots in order to solve common complex tasks. Due to the hardware complexities and cost of robot platforms, current research in swarm robotics is mostly performed by simulation software. The simulation of large numbers of these robots in robotic swarm applications is extremely complex and often inaccurate due to the poor modelling of external conditions. In this paper, we present the design of a low-cost, open-platform, autonomous micro-robot (Colias) for robotic swarm applications. Colias employs a circular platform with a diameter of 4 cm. It has a maximum speed of 35 cm/s which enables it to be used in swarm scenarios very quickly over large arenas. Long-range infrared modules with an adjustable output power allow the robot to communicate with its direct neighbours at a range of 0.5 cm to 2 m. Colias has been designed as a complete platform with supporting software development tools for robotics education and research. It has been tested in both individual and swarm scenarios, and the observed results demonstrate its feasibility for use as a micro-sized mobile robot and as a low-cost platform for robot swarm applications.

Research on keystroke dynamics biometrics has been increasing, especially in the last decade. The main motivation behind this effort is due to the fact that keystroke dynamics biometrics is economical and can be easily integrated into the existing computer security systems with minimal alteration and user intervention. Numerous studies have been conducted in terms of data acquisition devices, feature representations, classification methods, experimental protocols, and evaluations. However, an up-to-date extensive survey and evaluation is not yet available. The objective of this paper is to provide an insightful survey and comparison on keystroke dynamics biometrics research performed throughout the last three decades, as well as offering suggestions and possible future research directions.

CamBAfx is a workflow application designed for both researchers who use workflows to process data (consumers) and those who design them (designers). It provides a front-end (user interface) optimized for data processing designed in a way familiar to consumers. The back-end uses a pipeline model to represent workflows since this is a common and useful metaphor used by designers and is easy to manipulate compared to other representations like programming scripts. As an Eclipse Rich Client Platform application, CamBAfx's pipelines and functions can be bundled with the software or downloaded post-installation. The user interface contains all the workflow facilities expected by consumers. Using the Eclipse Extension Mechanism designers are encouraged to customize CamBAfx for their own pipelines. CamBAfx wraps a workflow facility around neuroinformatics software without modification. CamBAfx's design, licensing and Eclipse Branding Mechanism allow it to be used as the user interface for other software, facilitating exchange of innovative computational tools between originating labs.