Illumination-invariant vegetation detection for a vision sensor-based agricultural applications

In this paper, we propose a novel method, illumination-invariant vegetation detection (IVD), to improve many aspects of agriculture for vision-based autonomous machines or robots. The proposed method derives new color feature functions from simultaneously modeling the spectral properties of the color camera and scene illumination. An experiment in which an image sample dataset was acquired under nature illumination, including various intensities, weather conditions, shadows and reflections, was performed. The results show that the proposed method (IVD) yields the highest performance with the lowest error and standard deviation and is superior to six typical methods. Our method has multiple strengths, including computational simplicity and uniformly high-accuracy image segmentation

A Compact Optical Six-Axis Force/Torque Sensor for Legged Robots Using a Polymorphic Calibration Method

This paper presents a novel design for a compact, lightweight 6-axis force/torque sensor intended for use in legged robots. The design promotes easy manufacturing and cost reduction, while introducing innovative calibration methods that simplify the calibration process and minimize effort. The sensor's advantages are achieved by streamlining the structure for durability, implementing noncontact sensors, and providing a wider sensing range compared to commercial sensors. To maintain a simple structure, the paper proposes a force sensing scheme using photocouplers where the sensing elements are aligned in-plane. This strategy enables all sensing elements to be fabricated on a single printed circuit board, eliminating manual labor tasks such as bonding and coating the sensing elements. The prototype sensor contains only four parts, costs less than $250, and exhibits high response frequency and performance. Traditional calibration methods present challenges, such as the need for specialized equipment and extensive labor. To facilitate easy calibration without the need for specialized equipment, a new method using optimal control is proposed. To verify the feasibility of these ideas, a prototype six-axis F/T sensor was manufactured. Its performance was evaluated and compared to a reference F/T sensor and previous calibration methods.Comment: 12 pages, 13 figures, 9 table

Effect of the Ratio of Raw Material Components on the Physico-chemical Characteristics of Emulsion-type Pork Sausages

This study was conducted to investigate the effects of raw material ratio on the physicochemical characteristics of emulsion-type pork sausages. Experiment design was divided into 12 treatments, based on protein level (P), fat level (3P, 3.5P, and 4P), and water level (4P+10, 4P+15, 4P+20, and 4P+25). The pH and shear force values were significantly higher in T7 (3.5P fat and 4P+20 water) than those of other treatments. The lightness and redness were greatly reduced by increasing the quantity of water. The treatments containing 3P fat and 4P+20 water had the highest values of cohesiveness, springiness, gumminess, and chewiness. On the whole, when the protein (P) and fat (3P, 3.5P, 4P) levels were fixed, an increase over the appropriate moisture level deteriorated many physicochemical characteristics

N-(3,4-Difluoro­phen­yl)-N′-(2,5-di­methoxy­phen­yl)urea

In the title compound, C15H14F2N2O3, the dihedral angle between the benzene rings is 64.5 (1)°. One F atom is disordered over two meta positions, with occupancy factors of 0.72 and 0.28. In the crystal, mol­ecules are linked by N—H⋯O hydrogen bonds involving two N—H and one C=O groups of the urea central fragment, leading to a supra­molecular chain along [011]

Platelet-activating Factor–mediated NF-κB Dependency of a Late Anaphylactic Reaction

Anaphylaxis is a life-threatening systemic allergic reaction with the potential for a recurrent or biphasic pattern. Despite an incidence of biphasic reaction between 5 and 20%, the molecular mechanism for the reaction is unknown. Using a murine model of penicillin V–induced systemic anaphylaxis, we show an autoregulatory cascade of biphasic anaphylactic reactions. Induction of anaphylaxis caused a rapid increase in circulating platelet-activating factor (PAF) levels. In turn, the elevated PAF contributes to the early phase of anaphylaxis as well as the subsequent activation of the nuclear factor (NF)-κB, a crucial transcription factor regulating the expression of many proinflammatory cytokines and immunoregulatory molecules. The induction of NF-κB activity is accompanied by TNF-α production, which, in turn, promotes late phase PAF synthesis. This secondary wave of PAF production leads eventually to the late phase of anaphylactic reactions. Mast cells do not appear to be required for development of the late phase anaphylaxis. Together, this work reveals the first mechanistic basis for biphasic anaphylactic reactions and provides possible therapeutic strategies for human anaphylaxis

1-(2-Hy­droxy­eth­yl)-3-(3-meth­oxy­phen­yl)thio­urea

In the title compound, C10H14N2O3S, the 3-meth­oxy­phenyl unit is almost planar, with an r.m.s. deviation of 0.013 Å. The dihedral angle between the benzene ring and the plane of the thio­urea unit is 62.57 (4)°. In the crystal, N—H⋯O and O—H⋯S hydrogen bonds link the mol­ecules into a three-dimensional network

1-(4-Hy­droxy­phen­yl)-3-(3,4,5-tri­methoxy­phen­yl)thio­urea

In the title compound, C16H18N2O4S, the dihedral angle between the hy­droxy­phenyl ring and the plane of the thio­urea moiety is 54.53 (8)°. The H atoms of the NH groups of thio­urea are positioned anti to each other. In the crystal, inter­molecular N—H⋯S, N—H⋯O, and O—H⋯S hydrogen bonds link the mol­ecules into a three-dimensional network

Pyruvate Dehydrogenase Kinase 4 Promotes Vascular Calcification via SMAD1/5/8 Phosphorylation

Vascular calcification, a pathologic response to defective calcium and phosphate homeostasis, is strongly associated with cardiovascular mortality and morbidity. In this study, we have observed that pyruvate dehydrogenase kinase 4 (PDK4) is upregulated and pyruvate dehydrogenase complex phosphorylation is increased in calcifying vascular smooth muscle cells (VSMCs) and in calcified vessels of patients with atherosclerosis, suggesting that PDK4 plays an important role in vascular calcification. Both genetic and pharmacological inhibition of PDK4 ameliorated the calcification in phosphate-treated VSMCs and aortic rings and in vitamin D3-treated mice. PDK4 augmented the osteogenic differentiation of VSMCs by phosphorylating SMAD1/5/8 via direct interaction, which enhances BMP2 signaling. Furthermore, increased expression of PDK4 in phosphate-treated VSMCs induced mitochondrial dysfunction followed by apoptosis. Taken together, our results show that upregulation of PDK4 promotes vascular calcification by increasing osteogenic markers with no adverse effect on bone formation, demonstrating that PDK4 is a therapeutic target for vascular calcification

Glial Choristoma in the Middle Ear and Mastoid Bone: A Case Report

Heterotopic brain tissue usually involves extracranial midline structures of the head and neck such as nose, nasopharynx, and oral cavity. Its occurrence in the non-midline structures, including middle ear, is rare. We described a 50-yr-old-man with heterotopic glial tissue in the middle ear and mastoid bone. The patient presented with progressive hearing loss for 8 yr. There was no history of congenital anomalies, trauma, or ear surgery. Computed tomography revealed a mass-like lesion with soft tissue density occupying the middle ear cavity and mastoid antrum. At the operation, a graywhite fibrotic mass was detected in the epitympanic area. Mesotympanum and ossicles were intact. The patient underwent left simple mastoidectomy with type I tympanoplasty. During operation, definite cranial bone defect or cerebrospinal fluid leakage was not found. Histologically, the lesion was composed of exclusively mature, disorganized glial tissue with fibrovascular elements in a rather loose fibrillary background. Glial tissue showed diffuse positive reaction for glial fibrillar acidic protein and S100 protein on immunohistochemical study

Analgesic effect of highly reversible ω-conotoxin FVIA on N type Ca2+ channels

<p>Abstract</p> <p>Background</p> <p>N-type Ca²⁺channels (Ca_v2.2) play an important role in the transmission of pain signals to the central nervous system. ω-Conotoxin (CTx)-MVIIA, also called ziconotide (Prialt^®), effectively alleviates pain, without causing addiction, by blocking the pores of these channels. Unfortunately, CTx-MVIIA has a narrow therapeutic window and produces serious side effects due to the poor reversibility of its binding to the channel. It would thus be desirable to identify new analgesic blockers with binding characteristics that lead to fewer adverse side effects.</p> <p>Results</p> <p>Here we identify a new CTx, FVIA, from the Korean <it>Conus Fulmen </it>and describe its effects on pain responses and blood pressure. The inhibitory effect of CTx-FVIA on N-type Ca²⁺channel currents was dose-dependent and similar to that of CTx-MVIIA. However, the two conopeptides exhibited markedly different degrees of reversibility after block. CTx-FVIA effectively and dose-dependently reduced nociceptive behavior in the formalin test and in neuropathic pain models, and reduced mechanical and thermal allodynia in the tail nerve injury rat model. CTx-FVIA (10 ng) also showed significant analgesic effects on writhing in mouse neurotransmitter- and cytokine-induced pain models, though it had no effect on acute thermal pain and interferon-γ induced pain. Interestingly, although both CTx-FVIA and CTx-MVIIA depressed arterial blood pressure immediately after administration, pressure recovered faster and to a greater degree after CTx-FVIA administration.</p> <p>Conclusions</p> <p>The analgesic potency of CTx-FVIA and its greater reversibility could represent advantages over CTx-MVIIA for the treatment of refractory pain and contribute to the design of an analgesic with high potency and low side effects.</p