Convex Relaxations for Pose Graph Optimization with Outliers

Pose Graph Optimization involves the estimation of a set of poses from pairwise measurements and provides a formalization for many problems arising in mobile robotics and geometric computer vision. In this paper, we consider the case in which a subset of the measurements fed to pose graph optimization is spurious. Our first contribution is to develop robust estimators that can cope with heavy-tailed measurement noise, hence increasing robustness to the presence of outliers. Since the resulting estimators require solving nonconvex optimization problems, we further develop convex relaxations that approximately solve those problems via semidefinite programming. We then provide conditions under which the proposed relaxations are exact. Contrarily to existing approaches, our convex relaxations do not rely on the availability of an initial guess for the unknown poses, hence they are more suitable for setups in which such guess is not available (e.g., multi-robot localization, recovery after localization failure). We tested the proposed techniques in extensive simulations, and we show that some of the proposed relaxations are indeed tight (i.e., they solve the original nonconvex problem 10 exactly) and ensure accurate estimation in the face of a large number of outliers.Comment: 10 pages, 5 figures, accepted for publication in the IEEE Robotics and Automation Letters, 201

GIS-based visual analysis for planning and designing historic urban landscapes

Visibility and scenic landscape analysis is an important field of study with direct implications in urban and regional landscape planning and management. More specifically, GIS-based landscape visibility analysis can be a tool to protect, manage, and plan also historic urban landscapes, focusing on scenic and visual values. Using visibility maps it is possible to predict the visual impact of transformations, locate interventions on the basis of visual sensitivity, and protect landscape of natural beauty, cultural heritage and significant landmarks visible from selected viewpoints. Among the studies carried out in some cities in the world, in Italy there is a pilot project for the integration of GIS-based visibility analysis in planning decisions for the Piedmont cultural heritage. GIS-based landscape visibility analysis has been developed on different areas located in the Piedmont Region within the framework of the landscape planning activity developed by the MiBAC (Ministero dei beni e delle attività culturali e del turismo) and the Piedmont Region - with the scientific advice of the Politecnico di Torino. A specific study has been carried out in the city of Turin. Set in an international perspective, this paper will focus on describing these applications and on highlighting some problematic issues and possible uses of such techniques in the planning domain

Perturbations of eigenvalues embedded at threshold: one, two and three dimensional solvable models

We examine perturbations of eigenvalues and resonances for a class of multi-channel quantum mechanical model-Hamiltonians describing a particle interacting with a localized spin in dimension $d=1,2,3$. We consider unperturbed Hamiltonians showing eigenvalues and resonances at the threshold of the continuous spectrum and we analyze the effect of various type of perturbations on the spectral singularities. We provide algorithms to obtain convergent series expansions for the coordinates of the singularities.Comment: 20 page

Peroxisome Proliferator–Activated Receptor-γ Mediates Bisphenol A Inhibition of FSH-Stimulated IGF-1, Aromatase, and Estradiol in Human Granulosa Cells

BackgroundBisphenol A (BPA), a chemical used as a plasticizer, is a potent endocrine disruptor that, even in low concentrations, disturbs normal development and functions of reproductive organs in different species.ObjectivesWe investigated whether BPA affects human ovarian granulosa cell function.MethodsWe treated KGN granulosa cells and granulosa cells from subjects undergoing in vitro fertilization (IVF) with follicle-stimulating hormone (FSH), BPA, or BPA plus FSH in a dose- and time-dependent manner. We then evaluated expression of insulin-like growth factor 1 (IGF-1), aromatase, and transcription factors known to mediate aromatase induction by FSH [including steroidogenic factor-1 (SF-1), GATA4, cAMP response element binding protein-1 (CREB-1), and peroxisome proliferator-activated receptor-gamma (PPARgamma)], as well as 17beta-estradiol (E2) secretion. KGN cells were transfected with a PPARgamma-containing vector, followed by assessment of aromatase and IGF-I expression.ResultsBPA reduced FSH-induced IGF-1 and aromatase expression and E2 secretion in a dose-dependent fashion. Similar effects on aromatase were observed in IVF granulosa cells. SF-1 and GATA4, but not CREB-1, were reduced after BPA treatment, although PPARgamma, an inhibitor of aromatase, was significantly up-regulated by BPA in a dose-dependent manner, with simultaneous decrease of aromatase. Overexpression of PPARgamma in KGN cells reduced FSH-stimulated aromatase and IGF-1 mRNAs, with increasing concentrations of the transfected expression vector, mimicking BPA action. Also, BPA reduced granulosa cell DNA synthesis without changing DNA fragmentation, suggesting that BPA does not induce apoptosis.ConclusionsOverall, the data demonstrate that BPA induces PPARgamma, which mediates down-regulation of FSH-stimulated IGF-1, SF-1, GATA4, aromatase, and E2 in human granulosa cells. These observations support a potential role of altered steroidogenesis and proliferation within the ovarian follicular compartment due to this endocrine disruptor

Asymmetric Organocatalysis and Continuous Chemistry for an Efficient and Cost-Competitive Process to Pregabalin

Herein, we present the scale up development of an innovative synthetic process to pregabalin. The process is underpinned by two enabling technologies critical to its success; continuous chemistry allowed a safe and clean production of nitroalkene, and asymmetric organocatalysis gave access to the chiral intermediate in an enantioenriched form. Crucial to the success of the process was the careful development of a continuous process to nitroalkene and optimization of the organocatalyst and of the reaction conditions to attain remarkably high turn-over frequency in the catalytic asymmetric reaction. Successful recycle of the organocatalysts was also developed in order to achieve a cost-competitive process

Dissociative electron attachment to the H2O molecule. I. Complex-valued potential-energy surfaces for the 2B1, 2A1, and 2B2 metastable states of the water anion

We present the results of calculations defining global, three-dimensional representations of the complex-valued potential-energy surfaces of the doublet B1, doublet A1, and doublet B2 metastable states of the water anion that underlie the physical process of dissociative electron attachment to water. The real part of the resonance energies is obtained from configuration-interaction calculations performed in a restricted Hilbert space, while the imaginary part of the energies (the widths) is derived from complex Kohn scattering calculations. A diabatization is performed on the 2A1 and 2B2 surfaces, due to the presence of a conical intersection between them. We discuss the implications that the shapes of the constructed potential-energy surfaces will have upon the nuclear dynamics of dissociative electron attachment to H2O. This work originally appeared as Phys Rev A 75, 012710 (2007). Typesetting errors in the published version have been corrected here.Comment: Corrected version of PRA 75, 012710 (2007

Limb reconstruction with knee mega-prosthesis in patients with distal femur primary tumours: gait analysis and alignment evaluation

Introduction: The aim of this study was the functional evaluation and lower limb alignment assessment of patients with a modular knee prosthesis after distal femur resection for primary bone tumour. Materials and methods: 15 patients affected by distal femur tumor and treated with a megaprosthesis implant (6 females and 9 males, mean age: 41 years, range: 15-74 years) and 15 controls were recruited for the study. For each subject the function evaluation included an instrumented gait analysis, while only patients underwent a teleradiography and a latero-lateral X-ray projection of the knee. Results: The duration of the stance phase of gait was shortened in the prosthetic limb with respect to the contralateral limb (57.5±3.6 % gait cycle vs. 60.9±4.8 % gait cycle, P = 0.01), with a correspondent increase of the swing phase. The prosthetic limb also showed an altered knee joint kinematic curve during gait, with a flexion deficit at load response with respect to the contralateral limb (4.5±3.6° vs. 13.4±5.0°, P = 0.000003). Abnormal timing in the muscle activation intervals were observed for tibialis anterior, gastrocnemius lateralis and rectus femoris of the prosthetic limb. The prosthetic limb was found to be misaligned with respect to the contralateral limb, both for the femorotibial (P<0.05) and the ankle joints (P<0.05). Conclusions: Gait analysis performed widely in reference centres could lead to a change in the design of megaprostheses to improve the function and prevent degenerative changes in not involved joint. A multicentric expertise is mandator

Unarousable child with a short bowel

Unarousable child with short bowel: A 4-year-old boy was admitted with progressive lethargy of a few hours' duration and no other symptoms. His medical history was relevant for short bowel syndrome (SBS), following neonatal volvulus, with residual bowel length of 23 cm and intact ileocecal valve. He had similar self-limiting episodes in the past, after weaning parenteral nutrition, especially after eating large meals. The day before, he had consumed a large amount of apples. Arterial blood gas (ABG) analysis showed metabolic acidosis with normal lactacidaemia (pH 7.09, pCO2 19 mm Hg, pO2 101 mm Hg, HCO3 5.8 mmol/L, BE -24, anion gap 29.4, chloride 116 mmol/L, L-lactate level 4 mmol/L). On admission, the child could be awakened, but he was confused with slurred speech (Glasgow Coma Scale 14), with a body temperature of 37 C°, a heart rate of 125 beats/min and a respiratory rate of 38 breaths/min. The abdomen was distended, without guarding and with normal bowel sounds. Blood glucose levels were normal, as well as white blood cell count, liver and kidney function test and C reactive protein. An abdominal ultrasound ruled out an intussusception. An abdominal X-ray was performed too (seefigure 1). Figure 1 Abdominal distension with gas and bloating. Questions: Which is the most likely diagnosis? Encephalitis D-lactic acidosis Dehydration with third space fluid collection and acidosis Hereditary fructose intolerance. How is this diagnosis confirmed? D lactic dosage Breath test for bacterial overgrowth Urine organic acid dosage Search for reductive substances in the stools. How should this patient be managed? Intravenous fluids to facilitate D-lactic excretion Restrict carbohydrates in the diet Intravenous bicarbonates Antibiotic treatment to reduce bowel bacterial overgrowth. Answers can be found on page 2