Six DOF Motion Estimation for Teleoperated Flexible Endoscopes Using Optical Flow: A Comparative Study

Colorectal cancer is one of the leading causes of cancer-related deaths worldwide, although it can be effectively treated if detected early. Teleoperated flexible endoscopes are an emerging technology to promote participation in these preventive screenings. Real-time pose estimation is therefore essential to enable feedback to the robotic endoscope's control system. Vision-based endoscope localization approaches are a promising avenue, since they do not require extra sensors on board the endoscopes. In this work, we compare several state-of-the-art algorithms for computing the image motion (optical flow), which is then used with a supervised learning strategy to provide an accurate estimate of the 6 degree of freedom endoscope motion. The method is validated using a robotically actuated endoscope in a human colon simulator, and represents a preliminary effort towards testing with clinical video data

First record of Calma gobioophaga Calado and Urgorri, 2002 (Gastropoda: Nudibranchia)in the Mediterranean sea

Specimens of the nudibranch genus Calma were observed under boulders at two Croatian localities while feeding on gobiid eggs. Some ambiguous morphological features compared with the original descriptions of the known species of the genus, C. glaucoides and C. gobioophaga hampered easy identification. Genetic data (COI and 16S sequences) confirmed the distinction between the two species of the genus Calma, and allowed unambiguous identification of the Croatian specimens as Calma gobioophaga. This is the first record of this species for the Mediterranean and extends its distribution range remarkably. Finally, the eggs consumed by the Croatian C. gobioophaga specimens have been taxonomically identified by using the 12S rDNA marker as Gobius cobitis

First record of Calma gobioophaga Calado and Urgorri, 2002 (Gastropoda: Nudibranchia) in the Mediterranean Sea

Specimens of the nudibranch genus Calma were observed under stones at two Croatian localities while feeding on gobiid eggs. Some ambiguous morphological features compared with the original descriptions of the known species of the genus, C. glaucoides and C. gobioophaga, hampered an easy identification. Genetic data (COI and 16S sequences) confirmed the distinction between the two species of the genus Calma, and allowed to unambiguously identify the Croatian specimens as Calma gobioophaga. This is the first record of this species for the Mediterranean and extends remarkably its distribution range. Finally, the eggs fed by the Croatian specimens have been taxonomically identified by using the 12S rDNA marker as Gobius cobitis

First record of Calma gobioophaga Calado and Urgorri, 2002 (Gastropoda: Nudibranchia) in the Mediterranean Sea

Specimens of the nudibranch genus Calma were observed under stones at two Croatian localities while feeding on gobiid eggs. Some ambiguous morphological features compared with the original descriptions of the known species of the genus, C. glaucoides and C. gobioophaga, hampered an easy identification. Genetic data (COI and 16S sequences) confirmed the distinction between the two species of the genus Calma, and allowed to unambiguously identify the Croatian specimens as Calma gobioophaga. This is the first record of this species for the Mediterranean and extends remarkably its distribution range. Finally, the eggs fed by the Croatian specimens have been taxonomically identified by using the 12S rDNA marker as Gobius cobitis

The Met80Ala and Tyr67His/Met80Ala mutants of human cytochrome cshed light on the reciprocal role of Met80 and Tyr67 in regulating ligand access into the heme pocket.

The spectroscopic and functional properties of the single Met80Ala and double Tyr67His/Met80Ala mutants of human cytochrome c have been investigated in their ferric and ferrous forms, and in the presence of different ligands, in order to clarify the reciprocal effect of these two residues in regulating the access of exogenous molecules into the heme pocket. In the ferric state, both mutants display an aquo high spin and a low spin species. The latter corresponds to an OH- ligand in Met80Ala but to a His in the double mutant. The existence of these two species is also reflected in the functional behavior of the mutants. The observation that (i) a significant peroxidase activity is present in the Met80Ala mutants, (ii) the substitution of the Tyr67 by His leads to only a slight increase of the peroxidase activity in the Tyr67His/Met80Ala double mutant with respect to wild type, while the Tyr67His mutant behaves as wild type, as previously reported, suggests that the peroxidase activity of cytochrome c is linked to an overall conformational change of the heme pocket and not only to the disappearance of the Fe-Met80 bond. Therefore, in human cytochrome c there is an interplay between the two residues at positions 67 and 80 that affects the conformation of the distal side of the heme pocket, and thus the sixth coordination of the hem

Leptin receptor expression and in vitro leptin actions on prostaglandin release and nitric oxide synthase activity in the rabbit oviduct

In this study, we have examined the presence and the distribution of receptors for leptin (Ob-R) in the oviduct of rabbits, and the effects of leptin on the release of prostaglandin (PG) F2alpha and PGE2 and on the activity of nitric oxide (NO) synthase (NOS) by oviducts cultured in vitro. Rabbits were killed during the follicular phase and the oviducts were incubated in vitro with leptin, PGF2alpha, PGE2, NO donor and inhibitors of NOS and cyclo-oxigenase (COX). Using immunohistochemistry, Ob-R-like positive reaction was observed only in the cytoplasm of secretory cells, having stronger intensity in the infundibulum and ampulla tracts than in the isthmus. Both leptin and NO donor inhibited PGE2 release, whereas they enhanced PGF2alpha release; NOS inhibitor alone or with leptin increased PGE2 and decreased PGF2alpha production; NOS activity was enhanced by leptin, while PGs did not affect this enzyme. This study suggests that the oviduct could be a potential target for endocrine regulation by leptin, whose circulating levels may act as a metabolic signal modulating oviductal PG release through mediation of the NOS/NO system

Leptin receptor expression and in vitro leptin actions on prostaglandin release and nitric oxide synthase activity in the rabbit oviduct

In this study, we have examined the presence and the distribution of receptors for leptin (Ob-R) in the oviduct of rabbits, and the effects of leptin on the release of prostaglandin (PG) F2alpha and PGE2 and on the activity of nitric oxide (NO) synthase (NOS) by oviducts cultured in vitro. Rabbits were killed during the follicular phase and the oviducts were incubated in vitro with leptin, PGF2alpha, PGE2, NO donor and inhibitors of NOS and cyclo-oxigenase (COX). Using immunohistochemistry, Ob-R-like positive reaction was observed only in the cytoplasm of secretory cells, having stronger intensity in the infundibulum and ampulla tracts than in the isthmus. Both leptin and NO donor inhibited PGE2 release, whereas they enhanced PGF2alpha release; NOS inhibitor alone or with leptin increased PGE2 and decreased PGF2alpha production; NOS activity was enhanced by leptin, while PGs did not affect this enzyme. This study suggests that the oviduct could be a potential target for endocrine regulation by leptin, whose circulating levels may act as a metabolic signal modulating oviductal PG release through mediation of the NOS/NO system

Cardoon meal as alternative protein source to soybean meal for limousine bulls fattening period: Effects on growth performances and meat quality traits

SIMPLE SUMMARY: Beef cattle feeding strategies are commonly based on soybean meal utilization as a fundamental protein source. This feed, though, might have negative environmental impacts on the major areas of production and is becoming very expensive. Cardoon (Cynara cardunculus L.) is a resilient crop which represents a good opportunity in reclaiming and remediating unutilized lands. Cardoon seeds are rich in oil, which is extracted for industrial purposes, and the related by-products (press cake and meal) are characterized by high protein content and essential fatty acids. The aim of this study was to evaluate cardoon meal as a protein source during the Limousine bulls’ fattening period, in order to study a suitable alternative to develop and create low-input and low-emission feeding strategies. The results obtained in terms of growth performances showed no statistical difference between bulls fed the by control diet (containing soybean meal as main protein source) and animals fed by the experimental diet, where soybean meal was partially replaced by one containing cardoon meal. Meat quality traits were measured, and no differences between the groups were found. Hence, these by-products could be considered as a valuable solution in Limousine bulls’ fattening periods and could be used to represent a key factor to improve cattle-feeding sustainability. ABSTRACT: Soybean meal is the most important protein source in beef cattle feeding. The research of alternative protein sources to replace soy use, avoiding negative effects on in vivo performance and on the product’s quality, is an important issue. In this context, cardoon represents a non-OGM resilient crop that can be cultivated in marginal lands for extracting its seed oil (utilized for biodiesel and biodegradable bioplastic production) and whose and the residual meal from its seed oil (utilized for biodiesel and biodegradable bioplastic production) could be a suitable by-product for animal feeding, due to its fairly high protein content. The aim of this study was to evaluate the feasibility of using cardoon meal as an innovative protein source during the Limousine bulls’ fattening period. Thirty-two bulls were divided into two groups and fed with a diet containing soybean meal (SG) or partially replacing soybean meal with cardoon meal as a protein source (CG), respectively. The feeding trial lasted about 11 months. Growth performances and meat physical–chemical traits were evaluated. No statistical differences in feed efficiency, average daily gain, or in the main meat quality indicators, as well as in fatty acid profiles were found among the groups. Therefore, cardoon meal could be considered as an alternative to soybean meal in fattening Limousine bulls in order to enhance the sustainability of the farming system

On-board and Ground Visual Pose Estimation Techniques for UAV Control

In this paper, two techniques to control UAVs (Unmanned Aerial Vehicles), based on visual information are presented. The first one is based on the detection and tracking of planar structures from an on-board camera, while the second one is based on the detection and 3D reconstruction of the position of the UAV based on an external camera system. Both strategies are tested with a VTOL (Vertical take-off and landing) UAV, and results show good behavior of the visual systems (precision in the estimation and frame rate) when estimating the helicopter¿s position and using the extracted information to control the UAV

Preparedness and response to the covid-19 emergency: Experience from the teaching hospital of Pisa, Italy

In Italy, the coronavirus disease 2019 (COVID-19) emergency took hold in Lombardy and Veneto at the end of February 2020 and spread unevenly among the other regions in the following weeks. In Tuscany, the progressive increase of hospitalized COVID-19 patients required the set-up of a regional task force to prepare for and effectively respond to the emergency. In this case report, we aim to describe the key elements that have been identified and implemented in our center, a 1082-bed hospital located in the Pisa district, to rapidly respond to the COVID-19 outbreak in order to guarantee safety of patients and healthcare workers