End-to-End Tracking and Semantic Segmentation Using Recurrent Neural Networks

In this work we present a novel end-to-end framework for tracking and classifying a robot's surroundings in complex, dynamic and only partially observable real-world environments. The approach deploys a recurrent neural network to filter an input stream of raw laser measurements in order to directly infer object locations, along with their identity in both visible and occluded areas. To achieve this we first train the network using unsupervised Deep Tracking, a recently proposed theoretical framework for end-to-end space occupancy prediction. We show that by learning to track on a large amount of unsupervised data, the network creates a rich internal representation of its environment which we in turn exploit through the principle of inductive transfer of knowledge to perform the task of it's semantic classification. As a result, we show that only a small amount of labelled data suffices to steer the network towards mastering this additional task. Furthermore we propose a novel recurrent neural network architecture specifically tailored to tracking and semantic classification in real-world robotics applications. We demonstrate the tracking and classification performance of the method on real-world data collected at a busy road junction. Our evaluation shows that the proposed end-to-end framework compares favourably to a state-of-the-art, model-free tracking solution and that it outperforms a conventional one-shot training scheme for semantic classification

Bienzymatic-based electrochemical DNA biosensors: a way to lower the detection limit of hybridization assays

5 pagesInternational audienceThe use of the alkaline phosphatase (AP) as enzyme label and the amplification of its analytical response with a diaphorase (DI) secondary enzyme were investigated in an electrochemical hybridization assay involving arrays of carbon screen-printed DNA biosensors for the sensitive quantification of an amplified 406-base pair human cytomegalovirus DNA sequence (HCMV DNA). For this purpose, PCR-amplified biotinylated HCMV DNA targets were simultaneously bound to a monolayer of neutravidin irreversibly adsorbed on the surface of the electrodes and hybridized to complementary digoxigenin-labeled detection probes. The amount of hybrids immobilized on the electrode surface was labeled with an anti-digoxigenin AP conjugate and quantified electrochemically by measuring the activity of the AP label through the hydrolysis of the electroinactive p-aminophenylphosphate (PAPP) substrate into the p-aminophenol (PAP) product. The intensity of the cyclic voltammetric anodic peak current resulting from the oxidation of PAP into p-quinoneimine (PQI) was related to the number of viral amplified DNA targets present in the sample, and a detection limit of 10 pM was thus achieved. The electrochemical response of the AP label product was further enhanced by adding the diaphorase enzymatic amplifier in the solution. In the presence of the auxiliary enzyme DI, the PQI was reduced back to PAP and the resulting oxidized form of DI was finally regenerated in its reduced native state by its natural substrate, NADH. Such bienzymatic amplification scheme enabled a 100-fold lowering of the HCMV DNA detection limit obtained with the monoenzymatic system

The South Residual CO2 Cap on Mars: Investigations with a Mars Global Climate Model

The CO2 cycle is one of the three controlling climate cycles on Mars. One aspect of the CO2 cycle that is not yet fully understood is the existence of a residual CO2 ice cap that is offset from the south pole. Previous investigations suggest that the atmosphere could control the placement of the south residual cap (e.g., Colaprete et al., 2005). These investigations show that topographically forced stationary eddies in the south during southern hemisphere winter produce colder atmospheric temperatures and increased CO2 snowfall over the hemisphere where the residual cap resides. Since precipitated CO2 ice produces higher surface albedos than directly deposited CO2 ice, it is plausible that CO2 snowfall resulting from the zonally asymmetric atmospheric circulation produces surface ice albedos high enough to maintain a residual cap only in one hemisphere. Our current work builds on these initial investigations with a version of the NASA Ames Mars Global Climate Model (GCM) that includes a sophisticated CO2 cloud microphysical scheme. Processes of cloud nucleation, growth, sedimentation, and radiative effects are accounted for. Simulated results thus far agree well with the Colaprete et al. studythe zonally asymmetric nature of the atmospheric circulation produces enhanced snowfall over the residual cap hemisphere throughout much of the winter season. However, the predicted snowfall patterns vary significantly with season throughout the cap growth and recession phases. We will present a detailed analysis of the seasonal evolution of the predicted atmospheric circulation and snowfall patterns to more fully evaluate the hypothesis that the atmosphere controls the placement of the south residual cap

Specifically neuropathic Gaucher's mutations accelerate cognitive decline in Parkinson's.

OBJECTIVE: We hypothesized that specific mutations in the β-glucocerebrosidase gene (GBA) causing neuropathic Gaucher's disease (GD) in homozygotes lead to aggressive cognitive decline in heterozygous Parkinson's disease (PD) patients, whereas non-neuropathic GD mutations confer intermediate progression rates. METHODS: A total of 2,304 patients with PD and 20,868 longitudinal visits for up to 12.8 years (median, 4.1) from seven cohorts were analyzed. Differential effects of four types of genetic variation in GBA on longitudinal cognitive decline were evaluated using mixed random and fixed effects and Cox proportional hazards models. RESULTS: Overall, 10.3% of patients with PD and GBA sequencing carried a mutation. Carriers of neuropathic GD mutations (1.4% of patients) had hazard ratios (HRs) for global cognitive impairment of 3.17 (95% confidence interval [CI], 1.60-6.25) and a hastened decline in Mini-Mental State Exam scores compared to noncarriers (p = 0.0009). Carriers of complex GBA alleles (0.7%) had an HR of 3.22 (95% CI, 1.18-8.73; p = 0.022). By contrast, the common, non-neuropathic N370S mutation (1.5% of patients; HR, 1.96; 95% CI, 0.92-4.18) or nonpathogenic risk variants (6.6% of patients; HR, 1.36; 95% CI, 0.89-2.05) did not reach significance. INTERPRETATION: Mutations in the GBA gene pathogenic for neuropathic GD and complex alleles shift longitudinal cognitive decline in PD into "high gear." These findings suggest a relationship between specific types of GBA mutations and aggressive cognitive decline and have direct implications for improving the design of clinical trials. Ann Neurol 2016;80:674-685

Application of nanoparticles in electrochemical sensors and biosensors

The unique chemical and physical properties of nanoparticles make them extremely suitable for designing new and improved sensing devices, especially electrochemical sensors and biosensors. Many kinds of nanoparticles, such as metal, oxide and semiconductor nanoparticles have been used for constructing electrochemical sensors and biosensors, and these nanoparticles play different roles in different sensing systems. The important functions provided by nanoparticles include the immobilization of biomolecules, the catalysis of electrochemical reactions, the enhancement of electron transfer between electrode surfaces and proteins, labeling of biomolecules and even acting as reactant. This minireview addresses recent advances in nanoparticle-based electrochemical sensors and biosensors, and summarizes the main functions of nanoparticles in these sensor systems

Direct Electrochemistry of Horseradish Peroxidase‐Gold Nanoparticles Conjugate

We have studied the direct electrochemistry of horseradish peroxidase (HRP) coupled to gold nanoparticles (AuNP) using electrochemical techniques, which provide some insight in the application of biosensors as tools for diagnostics because HRP is widely used in clinical diagnostics kits. AuNP capped with (i) glutathione and (ii) lipoic acid was covalently linked to HRP. The immobilized HRP/AuNP conjugate showed characteristic redox peaks at a gold electrode. It displayed good electrocatalytic response to the reduction of H2O2, with good sensitivity and without any electron mediator. The covalent linking of HRP and AuNP did not affect the activity of the enzyme significantly. The response of the electrode towards the different concentrations of H2O2 showed the characteristics of Michaelis Menten enzyme kinetics with an optimum pH between 7.0 to 8.0. The preparation of the sensor involves single layer of enzyme, which can be carried out efficiently and is also highly reproducible when compared to other systems involving the layer-by-layer assembly, adsorption or encapsulation of the enzyme. The immobilized AuNP-HRP can be used for immunosensor applications

Noble Metal Nanoparticles for Biosensing Applications

In the last decade the use of nanomaterials has been having a great impact in biosensing. In particular, the unique properties of noble metal nanoparticles have allowed for the development of new biosensing platforms with enhanced capabilities in the specific detection of bioanalytes. Noble metal nanoparticles show unique physicochemical properties (such as ease of functionalization via simple chemistry and high surface-to-volume ratios) that allied with their unique spectral and optical properties have prompted the development of a plethora of biosensing platforms. Additionally, they also provide an additional or enhanced layer of application for commonly used techniques, such as fluorescence, infrared and Raman spectroscopy. Herein we review the use of noble metal nanoparticles for biosensing strategies—from synthesis and functionalization to integration in molecular diagnostics platforms, with special focus on those that have made their way into the diagnostics laboratory

UK Space Agency ``Mars Utah Rover Field Investigation 2016'' (MURFI 2016): Overview of Mission, Aims, and Progress

The Mars Utah Rover Field Investigation “MURFI 2016” is a Mars Rover field analogue mission run by the UK Space Agency (UKSA) in collaboration with the Canadian Space Agency (CSA). MURFI 2016 took place between 22nd October and 13th November 2016 and consisted of a field team including an instrumented Rover platform, at the field site near Hanksville (Utah, USA), and an ‘Operations Team’ based in the Mission Control Centre (MOC) at the Harwell Campus near Oxford in the UK.The field site was chosen based on the collaboration with the CSA and its Mars-like local geology. It was used by the CSA in 2015 for Mars Rover trials, and in 2016, several teams used the site, each with their own designated working areas. The two main aims of MURFI 2016 were (i) to develop logistical and leadership experience in running field trials within the UKSA, and (ii) to provide members of the Mars Science community with Rover Operations experience, and hence to build expertise that could be used in the 2020 ExoMars Rover mission, or other future Rover missions. Because MURFI 2016 was the first solely UKSA-led Rover analogue trial, the most important objective was to learn how to best implement Rover trials in general. This included aspects of planning, logistics, field safety, MOC setup and support, communications, person management and science team development. Some aspects were based on past experience from previous trials but the focus was on ‘learning through experience’ - especially in terms of the Operations Team, who each took on a variety of roles during the mission

The 2016 UK Space Agency Mars Utah Rover Field Investigation (MURFI)

The 2016 Mars Utah Rover Field Investigation (MURFI) was a Mars rover field trial run by the UK Space Agency in association with the Canadian Space Agency's 2015/2016 Mars Sample Return Analogue Deployment mission. MURFI had over 50 participants from 15 different institutions around the UK and abroad. The objectives of MURFI were to develop experience and leadership within the UK in running future rover field trials; to prepare the UK planetary community for involvement in the European Space Agency/Roscosmos ExoMars 2020 rover mission; and to assess how ExoMars operations may differ from previous rover missions. Hence, the wider MURFI trial included a ten-day (or ten-‘sol’) ExoMars rover-like simulation. This comprised an operations team and control centre in the UK, and a rover platform in Utah, equipped with instruments to emulate the ExoMars rovers remote sensing and analytical suite. The operations team operated in ‘blind mode’, where the only available data came from the rover instruments, and daily tactical planning was performed under strict time constraints to simulate real communications windows. The designated science goal of the MURFI ExoMars rover-like simulation was to locate in-situ bedrock, at a site suitable for sub-surface core-sampling, in order to detect signs of ancient life. Prior to “landing”, the only information available to the operations team were Mars-equivalent satellite remote sensing data, which were used for both geologic and hazard (e.g., slopes, loose soil) characterisation of the area. During each sol of the mission, the operations team sent driving instructions and imaging/analysis targeting commands, which were then enacted by the field team and rover-controllers in Utah. During the ten-sol mission, the rover drove over 100 m and obtained hundreds of images and supporting observations, allowing the operations team to build up geologic hypotheses for the local area and select possible drilling locations. On sol 9, the team obtained a subsurface core sample that was then analyzed by the Raman spectrometer. Following the conclusion of the ExoMars-like component of MURFI, the operations and field team came together to evaluate the successes and failures of the mission, and discuss lessons learnt for ExoMars rover and future field trials. Key outcomes relevant to ExoMars rover included a key recognition of the importance of field trials for (i) understanding how to operate the ExoMars rover instruments as a suite, (ii) building an operations planning team that can work well together under strict time-limited pressure, (iii) developing new processes and workflows relevant to the ExoMars rover, (iv) understanding the limits and benefits of satellite mapping and (v) practicing efficient geological interpretation of outcrops and landscapes from rover-based data, by comparing the outcomes of the simulated mission with post-trial, in-situ field observations. In addition, MURFI was perceived by all who participated as a vital learning experience, especially for early and mid-career members of the team, and also demonstrated the UK capability of implementing a large rover field trial. The lessons learnt from MURFI are therefore relevant both to ExoMars rover, and to future rover field trials