Obstacle Detection Based on Fusion Between Stereovision and 2D Laser Scanner

International audienceObstacle detection is an essential task for mobile robots. This subject has been investigated for many years by researchers and a lot of obstacle detection systems have been proposed so far. Yet designing an accurate and totally robust and reliable system remains a challenging task, above all in outdoor environments. Thus, the purpose of this chapter is to present new techniques and tools to design an accurate, robust and reliable obstacle detection system in outdoor environments based on a minimal number of sensors. So far, experiments and assessments of already developed systems show that using a single sensor is not enough to meet the requirements: at least two complementary sensors are needed. In this chapter a stereovision sensor and a 2D laser scanner are considered

Traumatic subgaleal hematoma drainage in an adolescent: a case report and review of the literature

BackgroundSubgaleal hematoma is a well-known life-threatening complication of instrumentation at birth. Even though most cases of subgaleal hematomas occur in the neonatal period, older children and adults are also at risk for subgaleal hematomas and their complications, following head trauma.ObjectiveWe hereby report the case of a 14-year-old boy who presented with a traumatic subgaleal hematoma requiring drainage and review the relevant literature regarding potential complications and indications for surgical intervention.ResultsInfection, airway compression, orbital compartment syndrome and anemia requiring transfusion are potential complications of subgaleal hematomas. Although rare, surgical drainage and embolization are occasionally required interventions.ConclusionSubgaleal hematomas following head trauma can occur in children beyond the neonatal period. Large hematomas may require drainage to relieve pain or when compressive or infectious complications are suspected. Although usually not life-threatening, physicians taking care of children must be cognizant of this entity when caring for a patient with a large hematoma following head trauma and in severe cases, consider a multidisciplinary approach

A major hydrobiological change in Dasht-e Arjan Wetland (SW Iran) during the late glacial-early Holocene transition revealed by subfossil chironomids

The late glacial-early Holocene transition is a key period in the Earth’s history. However, although this transition is well studied in Europe, it is not well constrained in the Middle East and palaeohydrological records with robust chronologies remain scarce from this region. Here we present an interesting hydrobiological record showing a major environmental change occurring in the Dasht-e Arjan Wetland (SW Iran, near to Persepolis) during the late glacial-early Holocene transition (ca. 11,650 years cal BP). We use subfossil chironomids (Insecta: Diptera) as a proxy for hydrological changes and to reconstruct lake-level fluctuations. The Arjan wetland was a deep lake during the Younger Dryas (YD) marked by a dominance of Chironomus plumosus/anthracinus-type, taxa adapted to anoxic conditions of deep waters. At the beginning of the Holocene a drastic decrease (more than 80% to less than 10%) of Chironomus plumosus/anthracinus-type, combined with diversification of littoral taxa such as Polypedilum nubeculosum-type, Dicrotendipes nervosus-type and Glyptotendipes pallens-type suggest a lake-level decrease and a more vegetalized aquatic environment. We compare and contrast the chironomid record of Arjan with a similar record from northwestern Iran. The palaeoclimatic significance of the record, at a local and regional scale, is subsequently discussed. The increase in northern hemisphere temperatures, inferred by geochemical data from NGRIP, at the beginning of the Holocene best explains the change from the YD highstand to early Holocene lowstand conditions in the Dasht-e Arjan wetland. However, a contribution of the melt-water inflow from small local glaciers in the catchment basin is not excluded

High-pressure drop rates in solid-state batch one-step scCO2 foaming of acrylic polymers: A way to stabilize the structure of micro-nano foams

One-step solid-state batch scCO2 foaming is used with the target of achieving acrylic polymer micro-nano foams. Foaming is triggered by an average pressure drop (APDR), covering two decades, from 0.3 to 30 MPa.s−1. This study principally addresses the combined beneficial effects of block copolymer addition (BCP, here denoted as MAM) and high APDR. Numerous subtle kinetic parameters actually interplay and compete in the production of the final foams. In particular, the material effective temperature, the effective glass transition temperature of the plasticized system and the instantaneous PDR are physical quantities each having their own kinetics during foaming. The resulting foam morphologies are quantified by SEM microscopy and image analysis. A high APDR and the presence of BCP are shown to play a key role in the final structure of the foams. Over the scrutinized range of saturation temperature (40 °C to 60 °C i.e. rather ‘low’ temperatures in the CO2 supercritical state), the APDR is the main factor for significantly reducing cell size and increasing nuclei density in foams from neat PMMA. In the block copolymer approach, increasing the APDR is of secondary importance as the targeted reduction of the porosity dimensions and augmentation of nuclei density are mostly the consequence of MAM presence. In this latter case, increasing the APDR still promotes the ‘efficiency’ of the BCP nucleants. A real efficient nucleation activity of MAM additive is observed at a very high APDR (30 MPa.s−1), leading to monomodal homogeneous distribution of tiny pores in nearly nanosized foams. At lower APDR, an interesting reproducible double porosity (foams containing intra-wall and inter-wall pores) is detected in PMMA/MAM systems. In such double porosity foams, benefits from the Knudsen effect achieved within well expanded local domains (showing micron-sized pores) may remain meaningful thanks to a locally poorly expanded nanoporous thick solid skeleton encapsulating these local domains. Thereby, the radiative thermal conduction can be minimized and does not override the conductive component at the sample scale. This work provides further insight on acrylic polymer BCP foams influenced by different kinetics

Optimal design of multi-channel microreactor for uniform residence time distribution

Multi-channel microreactors can be used for various applications that require chemical or electrochemical reactions in either liquid, gaseous or multi phase. For an optimal control of the chemical reactions, one key parameter for the design of such microreactors is the residence time distribution of the fluid, which should be as uniform as possible in the series of microchannels that make up the core of the reactor. Based on simplifying assumptions, an analytical model is proposed for optimizing the design of the collecting and distributing channels which supply the series of rectangular microchannels of the reactor, in the case of liquid flows. The accuracy of this analytical approach is discussed after comparison with CFD simulations and hybrid analytical-CFD calculations that allow an improved refinement of the meshing in the most complex zones of the flow. The analytical model is then extended to the case of microchannels with other cross-sections (trapezoidal or circular segment) and to gaseous flows, in the continuum and slip flow regimes. In the latter case, the model is based on second-order slip flow boundary conditions, and takes into account the compressibility as well as the rarefaction of the gas flow

Direct interaction of TrkA/CD44v3 is essential for NGF-promoted aggressiveness of breast cancer cells

Background CD44 is a multifunctional membrane glycoprotein. Through its heparan sulfate chain, CD44 presents growth factors to their receptors. We have shown that CD44 and Tropomyosin kinase A (TrkA) form a complex following nerve growth factor (NGF) induction. Our study aimed to understand how CD44 and TrkA interact and the consequences of inhibiting this interaction regarding the pro-tumoral effect of NGF in breast cancer. Methods After determining which CD44 isoforms (variants) are involved in forming the TrkA/CD44 complex using proximity ligation assays, we investigated the molecular determinants of this interaction. By molecular modeling, we isolated the amino acids involved and confirmed their involvement using mutations. A CD44v3 mimetic peptide was then synthesized to block the TrkA/CD44v3 interaction. The effects of this peptide on the growth, migration and invasion of xenografted triple-negative breast cancer cells were assessed. Finally, we investigated the correlations between the expression of the TrkA/CD44v3 complex in tumors and histo-pronostic parameters. Results We demonstrated that isoform v3 (CD44v3), but not v6, binds to TrkA in response to NGF stimulation. The final 10 amino acids of exon v3 and the TrkA H112 residue are necessary for the association of CD44v3 with TrkA. Functionally, the CD44v3 mimetic peptide impairs not only NGF-induced RhoA activation, clonogenicity, and migration/invasion of breast cancer cells in vitro but also tumor growth and metastasis in a xenograft mouse model. We also detected TrkA/CD44v3 only in cancerous cells, not in normal adjacent tissues. Conclusion Collectively, our results suggest that blocking the CD44v3/TrkA interaction can be a new therapeutic option for triple-negative breast cancers

Early Sasanian landscape modification: New geoarchaeological evidence from the Ardashir Pond in southwest Iran (Palace of Ardashir, third century CE)

The Sasanian period (224–651 CE) marked an era of large‐scale urban projects insouthwest Asia, including Iran's semi‐arid highlands, with particular efforts to ma-nipulate water bodies. This study presents a recent interdisciplinary investigation ofa spring‐fed pond at the entrance of the Palace of Ardashir (Firuzabad plain,southwest Iran), part of a recently registered World Heritage site. Historical ac-counts suggest that the entire water system of the plain, including the pond, un-derwent a hydraulic re‐organization at the beginning of the Sasanian period, a factthat has never been investigated geoarchaeologically. A series of sediment coreswere retrieved from the pond to probe its evolution and examine the extent of itslandscape modification. The cores were sedimentologically described andradiocarbon‐dated with age–depth models established based on 57 AMS (accel-erator mass spectrometry)14C dates to understand the basin's depositional history.The results indicate that (i) Ardashir Pond has existed as part of a larger wetlandcomplex since at least 4500 years ago, (ii) it was substantially enlarged at the be-ginning of the Sasanian era, and (iii) it was abandoned at the end of the Sasanianperiod. The Ardashir Pond is one of the first geoarchaeologically investigated casestudies to demonstrate the Sasanian landscape in the framework of the“Iranshahr”sociopolitical concept

The Next-to-Minimal Supersymmetric Standard Model

We review the theoretical and phenomenological aspects of the Next-to-Minimal Supersymmetric Standard Model: the Higgs sector including radiative corrections and the 2-loop beta-functions for all parameters of the general NMSSM; the tadpole and domain wall problems, baryogenesis; NMSSM phenomenology at colliders, B physics and dark matter; specific scenarios as the constrained NMSSM, Gauge Mediated Supersymmetry Breaking, U(1)'-extensions, CP and R-parity violation.Comment: 144 pages, 11 figures, corrections in Eqs.(2.2), (2.21), (B.9

Clustering of HCV coinfections on HIV phylogeny indicates domestic and sexual transmission of HCV

Background: HCV coinfection remains a major cause of morbidity and mortality among HIV-infected individuals and its incidence has increased dramatically in HIV-infected men who have sex with men(MSM). Methods: Hepatitis C virus (HCV) coinfection in the Swiss HIV Cohort Study(SHCS) was studied by combining clinical data with HIV-1 pol-sequences from the SHCS Drug Resistance Database(DRDB). We inferred maximum-likelihood phylogenetic trees, determined Swiss HIV-transmission pairs as monophyletic patient pairs, and then considered the distribution of HCV on those pairs. Results: Among the 9748 patients in the SHCS-DRDB with known HCV status, 2768(28%) were HCV-positive. Focusing on subtype B(7644 patients), we identified 1555 potential HIV-1 transmission pairs. There, we found that, even after controlling for transmission group, calendar year, age and sex, the odds for an HCV coinfection were increased by an odds ratio (OR) of 3.2 [95% confidence interval (CI) 2.2, 4.7) if a patient clustered with another HCV-positive case. This strong association persisted if transmission groups of intravenous drug users (IDUs), MSMs and heterosexuals (HETs) were considered separately(in all cases OR >2). Finally we found that HCV incidence was increased by a hazard ratio of 2.1 (1.1, 3.8) for individuals paired with an HCV-positive partner. Conclusions: Patients whose HIV virus is closely related to the HIV virus of HIV/HCV-coinfected patients have a higher risk for carrying or acquiring HCV themselves. This indicates the occurrence of domestic and sexual HCV transmission and allows the identification of patients with a high HCV-infection ris

A constrained polynomial regression procedure for estimating the local False Discovery Rate

<p>Abstract</p> <p>Background</p> <p>In the context of genomic association studies, for which a large number of statistical tests are performed simultaneously, the local False Discovery Rate (<it>lFDR</it>), which quantifies the evidence of a specific gene association with a clinical or biological variable of interest, is a relevant criterion for taking into account the multiple testing problem. The <it>lFDR </it>not only allows an inference to be made for each gene through its specific value, but also an estimate of Benjamini-Hochberg's False Discovery Rate (<it>FDR</it>) for subsets of genes.</p> <p>Results</p> <p>In the framework of estimating procedures without any distributional assumption under the alternative hypothesis, a new and efficient procedure for estimating the <it>lFDR </it>is described. The results of a simulation study indicated good performances for the proposed estimator in comparison to four published ones. The five different procedures were applied to real datasets.</p> <p>Conclusion</p> <p>A novel and efficient procedure for estimating <it>lFDR </it>was developed and evaluated.</p