Sensor fusion of camera, GPS and IMU using fuzzy adaptive multiple motion models

A tracking system that will be used for augmented reality applications has two main requirements: accuracy and frame rate. The first requirement is related to the performance of the pose estimation algorithm and how accurately the tracking system can find the position and orientation of the user in the environment. Accuracy problems of current tracking devices, considering that they are low-cost devices, cause static errors during this motion estimation process. The second requirement is related to dynamic errors (the end-to-end system delay, occurring because of the delay in estimating the motion of the user and displaying images based on this estimate). This paper investigates combining the vision-based estimates with measurements from other sensors, GPS and IMU, in order to improve the tracking accuracy in outdoor environments. The idea of using Fuzzy Adaptive Multiple Models was investigated using a novel fuzzy rule-based approach to decide on the model that results in improved accuracy and faster convergence for the fusion filter. Results show that the developed tracking system is more accurate than a conventional GPS–IMU fusion approach due to additional estimates from a camera and fuzzy motion models. The paper also presents an application in cultural heritage context running at modest frame rates due to the design of the fusion algorithm

Porphyry Cu-Mo-(Au) Mineralization at Paraga Area, Nakhchivan District, Azerbaijan: Evidence from Mineral Paragenesis, Hyrothermal Alteration and Geochemical Studies

The Paraga area is located at the extreme eastern part of Nakhchivan district at the boundary with Armenia. The field study is situated at Ordubad region placed in 9 km from Paraga village and stays at 2300-2800 m height over sea level. It lies within a region of low-grade metamorphic porphyritic volcanic and plutonic rocks. The detailed field studies revealed that this area composed mainly of metagabbro-diorite intrusive rocks with porphyritic character emplaced into meta-andesitic rocks. This complex is later intruded by unmapped olivine gabbroic rocks. The Cu-Mo-(Au) mineralization at Paraga deposit is vein-type mineralization that is essentially related to quartz veins stockwork which cut the dioritic rocks and concentrated at the eastern and northeastern parts of the area with different directions N80W, N25W, N70E and N45E. Also, this mineralization is associated with two shearing zones directed N75W and N15E. The host porphyritic rocks were affected by intense sulfidation, carbonatization, sericitization and silicification with pervasive hematitic alterations accompanied with mineralized quartz veins and quartz-carbonate veins. Sulfide minerals which are chalcopyrite, pyrite, arsenopyrite and sphalerite occurred in two cases either inside these mineralized quartz veins or disseminated in the highly altered rocks as well as molybdenite and also at the peripheries between the altered host rock and veins. Gold found as inclusion disseminated in arsenopyrite and pyrite as well as in their cracks

Porphyry Cu-Mo-(Au) Mineralization at Paraga Area, Nakhchivan District, Azerbaijan: Evidence from Mineral Paragenesis, Hyrothermal Alteration and Geochemical Studies

The Paraga area is located at the extreme eastern part of Nakhchivan district at the boundary with Armenia. The field study is situated at Ordubad region placed in 9 km from Paraga village and stays at 2300-2800 m height over sea level. It lies within a region of low-grade metamorphic porphyritic volcanic and plutonic rocks. The detailed field studies revealed that this area composed mainly of metagabbro-diorite intrusive rocks with porphyritic character emplaced into meta-andesitic rocks. This complex is later intruded by unmapped olivine gabbroic rocks. The Cu-Mo-(Au) mineralization at Paraga deposit is vein-type mineralization that is essentially related to quartz veins stockwork which cut the dioritic rocks and concentrated at the eastern and northeastern parts of the area with different directions N80W, N25W, N70E and N45E. Also, this mineralization is associated with two shearing zones directed N75W and N15E. The host porphyritic rocks were affected by intense sulfidation, carbonatization, sericitization and silicification with pervasive hematitic alterations accompanied with mineralized quartz veins and quartz-carbonate veins. Sulfide minerals which are chalcopyrite, pyrite, arsenopyrite and sphalerite occurred in two cases either inside these mineralized quartz veins or disseminated in the highly altered rocks as well as molybdenite and also at the peripheries between the altered host rock and veins. Gold found as inclusion disseminated in arsenopyrite and pyrite as well as in their cracks

Role of Porphyromonas gingivalis gingipains in multi-species biofilm formation

BackgroundPeriodontal diseases are polymicrobial diseases that cause the inflammatory destruction of the tooth-supporting (periodontal) tissues. Their initiation is attributed to the formation of subgingival biofilms that stimulate a cascade of chronic inflammatory reactions by the affected tissue. The Gram-negative anaerobes Porphyromonas gingivalis, Tannerella forsythia and Treponema denticola are commonly found as part of the microbiota of subgingival biofilms, and they are associated with the occurrence and severity of the disease. P. gingivalis expresses several virulence factors that may support its survival, regulate its communication with other species in the biofilm, or modulate the inflammatory response of the colonized host tissue. The most prominent of these virulence factors are the gingipains, which are a set of cysteine proteinases (either Arg-specific or Lys-specific). The role of gingipains in the biofilm-forming capacity of P. gingivalis is barely investigated. Hence, this in vitro study employed a biofilm model consisting of 10 ¿subgingival¿ bacterial species, incorporating either a wild-type P. gingivalis strain or its derivative Lys-gingipain and Arg-gingipan isogenic mutants, in order to evaluate quantitative and qualitative changes in biofilm composition.ResultsFollowing 64 h of biofilm growth, the levels of all 10 species were quantified by fluorescence in situ hybridization or immunofluorescence. The wild-type and the two gingipain-deficient P. gingivalis strains exhibited similar growth in their corresponding biofilms. Among the remaining nine species, only the numbers of T. forsythia were significantly reduced, and only when the Lys-gingipain mutant was present in the biofilm. When evaluating the structure of the biofilm by confocal laser scanning microscopy, the most prominent observation was a shift in the spatial arrangement of T. denticola, in the presence of P. gingivalis Arg-gingipain mutant.ConclusionsThe gingipains of P. gingivalis may qualitatively and quantitatively affect composition of polymicrobial biofilms. The present experimental model reveals interdependency between the gingipains of P. gingivalis and T. forsythia or T. denticola

Diagnostic value of combined serum biomarkers for the evaluation of liver fibrosis in chronic hepatitis C infection: A multicenter, noninterventional, observational study

Background/Aims: The hepatitis C virus (HCV) infection is important cause of chronic hepatitis. Liver biopsy is considered the gold standard for assessment of fibrosis but this procedure is an invasive procedure. We aimed to evaluate the diagnostic efficiency of non-invasive serum biomarkers, separately and in combinations, on liver fibrosis in treatment-naive chronic hepatitis C (CHC) patients. Materials and Methods: Two hundred and sixteen treatment-naive CHC patients were enrolled from 32 locations across Turkey in this open-labelled, non-interventional prospective observational study. FibroTest®, aspartate aminotransferase-to-platelet ratio index(APRI), aspartate aminotransferase and alanine aminotransferase ratio (AAR), fibrosis index based on four factors (FIB-4), Age-platelet(AP) index and Forns index were measured and compared with Metavir scores got from liver biopsies. Results: Data from 182 patients with baseline liver biopsy were suitable for analysis. One hundred and twenty patients (65.9%) had F0-F1 fibrosis and 62 patients (34.1%) had F2-F4 fibrosis. APRI 0.732 area under the curve(AUC) indicated advanced fibrosis with 69% sensitivity and 77% specificity. FIB-4 0.732 AUC and FibroTest 0.715 AUC indicated advanced fibrosis with 69% and 78.4% sensitivity, and 75% and 71.4% specificity, respectively. The combined use of tests also led to an increase in AUC and specificity. Combinations of FibroTest with APRI and/or FIB-4, and FIB-4 with APRI were optimal for the evaluation of liver fibrosis. Conclusion: Fibrotest, FIB-4, APRI, AP index and Forns index exhibit good diagnostic performance for determining liver fibrosis in CHC patients, and the use of at least two tests together will increase their diagnostic value still further. © Copyright 2018 by The Turkish Society of Gastroenterology

Evaluation Method, Dataset Size or Dataset Content: How to Evaluate Algorithms for Image Matching?

Most vision papers have to include some evaluation work in order to demonstrate that the algorithm proposed is an improvement on existing ones. Generally, these evaluation results are presented in tabular or graphical forms. Neither of these is ideal because there is no indication as to whether any performance differences are statistically significant. Moreover, the size and nature of the dataset used for evaluation will obviously have a bearing on the results, and neither of these factors are usually discussed. This paper evaluates the effectiveness of commonly used performance characterization metrics for image feature detection and description for matching problems and explores the use of statistical tests such as McNemar’s test and ANOVA as better alternatives

New Fisheries-related data from the Mediterranean Sea (April 2015)

In this second Collective Article with fisheries-related data from the Mediterranean Sea we present the evaluation of bony structures in aging of Barbus tauricus, otolith dimensions-body length relationships for two species (Trachinus draco and Synchiropus phaeton), information on the growth of juvenile Thunnus thynnus and of Ruvettus pretiosus, weight-length relationships for three species (Aulopus fiamentosus, Thunnus thynnus and Tylosurus acus imperialis) and data on feeding habits and reproduction of Aulopus fiamentosus

New Fisheries-related data from the Mediterranean Sea (October 2015)

In this third Collective Article, with fisheries-related data from the Mediterranean Sea, we present the historical length distribution of Lophius budegassa in the catch of commercial trawlers in the Greek seas; length-weight and length-length relationships of five flatfish species (Lepidorhombus boscii, L. whiffiagonis, Platichthys flesus, Pegusa lascaris and Solea solea) from different coastal areas of Turkey (Black Sea and Eastern Mediterranean Sea); growth of settled Polyprion americanus and length-weight relationships of this species and of Deltentosteus quadrimaculatus, Capros aper and three commercially important groupers in the Eastern Mediterranean Sea; the age, growth and mortality of Zosterisessor ophiocephalus in the Eastern Adriatic Sea; the length-weight relationship and condition factor of Atherina boyeri in a Central Mediterranean semi-isolated lagoon, and also the length-weight and length-length relationships of three Alburnus species from different inland waters in Turkey