Algorithm for efficient 3D reconstruction of outdoor environments using mobile robots

In this paper, an algorithm for the reconstruction of an outdoor environment using a mobile robot is presented. The focus of this algorithm is making the mapping process efficient by capturing the greatest amount of information on every scan, ensuring at the same time that the overall quality of the resulting 3D model of the environment complies with the specified standards. With respect to existing approaches, the proposed approach is an innovation since there are very few information based methods for outdoor reconstruction that use resulting model quality and trajectory cost estimation as criteria for view planning

Interactions between Resident Risk Perceptions and Wildfire Risk Mitigation: Evidence from Simultaneous Equations Modeling

Fire science emphasizes that mitigation actions on residential property, including structural hardening and maintaining defensible space, can reduce the risk of wildfire to a home. Accordingly, a rich body of social science literature investigates the determinants of wildfire risk mitigation behaviors of residents living in fire-prone areas. Here, we investigate relationships among wildfire hazards, residents’ risk perceptions, and conditions associated with mitigation actions using a combination of simulated wildfire conditions, household survey responses, and professionally assessed parcel characteristic data. We estimate a simultaneous model of these data that accounts for potential direct feedbacks between risk perceptions and parcel-level conditions. We also compare the use of self-reported versus assessed parcel-level data for estimating these relationships. Our analysis relies on paired survey and assessment data for approximately 2000 homes in western Colorado. Our simultaneous model demonstrates dual-directional interactions between risk perceptions and conditions associated with mitigation actions, with important implications for inference from simpler approaches. In addition to improving general understanding of decision-making about risk and natural hazards, our findings can support the effectiveness of publicly supported programs intended to encourage mitigation to reduce society’s overall wildfire risk

Imposter Phenomenon: The Occupational Experiences of First-Generation College Students

Background: First-generation college students (FGCS) represent an underserved population navigating higher education. There is a current gap in the literature regarding the interaction of occupational experiences, imposter phenomenon (IP), and FGCS. The purpose of this study is to use grounded theory to explore the occupational experience of IP among FGCS enrolled in a four-year university in California. Method: This research is a qualitative study using grounded theory. Data was collected through a screening survey and interview with 11 participants who identified as FGCS. Results: Thematic analysis generated five themes: (a) emotional aspects of IP, (b) collectivism, (c) balance, (d) communities of belonging, (e) othering. The theory of othering was created using grounded theory. FGCS\u27s sense of being extended beyond the individual to the collective. Imposter phenomenon and intersectionality contributed to barriers to belonging. Although THE participants still experienced othering at the university level, they created smaller communities with peers where they felt they belonged. Conclusion: This study contributes to occupational science literature by expanding the understanding of occupational experiences regarding IP. The theory of othering can be used by those working with FGCS to address othering and enhance belonging

Refurbishment and Automation of Thermal Vacuum Facilities at NASA/GSFC

The thermal vacuum facilities located at the Goddard Space Flight Center (GSFC) have supported both manned and unmanned space flight since the 1960s. Of the eleven facilities, currently ten of the systems are scheduled for refurbishment or replacement as part of a five-year implementation. Expected return on investment includes the reduction in test schedules, improvements in safety of facility operations, and reduction in the personnel support required for a test. Additionally, GSFC will become a global resource renowned for expertise in thermal engineering, mechanical engineering, and for the automation of thermal vacuum facilities and tests. Automation of the thermal vacuum facilities includes the utilization of Programmable Logic Controllers (PLCs), the use of Supervisory Control and Data Acquisition (SCADA) systems, and the development of a centralized Test Data Management System. These components allow the computer control and automation of mechanical components such as valves and pumps. The project of refurbishment and automation began in 1996 and has resulted in complete computer control of one facility (Facility 281), and the integration of electronically controlled devices and PLCs in multiple others

Diagnostic approaches, aetiological agents and their associations with short-term survival and laminitis in horses with acute diarrhoea admitted to referral institutions

Background: An international description of the diagnostic approaches used in different institutions to diagnose acute equine diarrhoea and the pathogens detected is lacking. Objectives: To describe the diagnostic approach, aetiological agents, outcome, and development of laminitis for diarrhoeic horses worldwide. Study design: Multicentre retrospective case series. Methods: Information from horses with acute diarrhoea presenting to participating institutions between 2016 and 2020, including diagnostic approaches, pathogens detected and their associations with outcomes, were compared between institutions or geographic regions. Results: One thousand four hundred and thirty‐eight horses from 26 participating institutions from 4 continents were included. Overall, aetiological testing was limited (44% for Salmonella spp., 42% for Neorickettsia risticii [only North America], 40% for Clostridiodes difficile, and 29% for ECoV); however, 13% (81/633) of horses tested positive for Salmonella, 13% (35/262) for N. risticii, 9% (37/422) for ECoV, and 5% (27/578) for C. difficile. C. difficile positive cases had greater odds of non‐survival than horses negative for C. difficile (OR: 2.69, 95%CI: 1.23–5.91). In addition, horses that were positive for N. risticii had greater odds of developing laminitis than negative horses (OR: 2.76, 95%CI: 1.12–6.81; p = 0.029). Main limitations: Due to the study's retrospective nature, there are missing data. Conclusions: This study highlighted limited diagnostic investigations in cases of acute equine diarrhoea. Detection rates of pathogens are similar to previous reports. Non‐survival and development of laminitis are related to certain detected pathogens

Survival rates and factors associated with survival and laminitis of horses with acute diarrhoea admitted to referral institutions

Background: Clinicopathological findings and their association with the outcome and development of laminitis in horses with acute diarrhoea has not been investigated in a multicentre study across different geographic regions.ObjectivesDescribe and compare clinicopathologic findings of diarrhoeic horses between different geographic regions, survival rates and factors associated with non‐survival and laminitis.Study designMulticentre retrospective case series. Methods: Information from horses with acute diarrhoea presenting to participating institutions between 2016 and 2020 was collected, and clinicopathological data were compared between surviving and non‐surviving horses and horses that did and did not develop laminitis. Survival rates and seasonal and geographic differences were also investigated. Results: One thousand four hundred thirty‐eight horses from 26 participating institutions from 4 continents were included; 76% survived to discharge with no differences identified between geographic regions. The survival proportion of horses with SIRS and creatinine concentrations > 159 μmol/L was 55% (154/279) compared with 81% (358/437) for those with SIRS and creatinine concentrations  2.8 mmol/L was 59% (175/298) compared with 81% (240/296) in horses with SIRS and L‐lactate concentration < 2.8 mmol/L (p < 0.001). The proportion of horses that developed laminitis was lower in Europe (4%, 19/479) compared with North America (8%, 52/619), Australia (8%, 12/138) and Latin America (11%, 16/146) (p < 0.05). More horses developed laminitis in the summer (46%, 39/85) compared with winter (18%, 15/85), spring (18%, 15/85) and fall (19%, 16/85) (p < 0.01). Horses with laminitis had greater odds of non‐survival than those without laminitis (OR: 3.73, 95% CI: 2.47–5.65). Main limitations: Not all variables were available for all horses due to the retrospective nature. Conclusions: Clinicopathological findings in horses with acute diarrhoea and their association with survival are similar across geographic regions. However, developing laminitis secondary to diarrhoea is less common in Europe. In addition, factors associated with non‐survival were indicative of disease severity and subsequent cardiovascular compromise

Clinical and economic outcomes associated with malnutrition in hospitalized patients

Q1Q1Artículo original1310–1316DesnutriciónBackground & aims: Hospitalized patients show a high rate of malnutrition, which is associated with poor patient outcomes and high healthcare costs. However, relatively few studies have investigated the association between clinical and economic outcomes and malnutrition in hospitalized patients, particularly those with cardiac and pulmonary conditions. Methods: This multicenter prospective observational cohort study included 800 patients hospitalized at four Colombian hospitals with a diagnosis of congestive heart failure, acute myocardial infarction, community-acquired pneumonia, or chronic obstructive pulmonary disease. All patients were screened for malnutrition using the Malnutrition Screening Tool (MST). A descriptive analysis of baseline variables was followed by multivariate analysis and inverse probability weighting (IPW) to compare the clinical outcomes, i.e., length of stay (LOS), mortality, and readmission, and hospital costs associated with a positive MST result. Results: The prevalence of a positive MST result was 24.62% (n ¼ 197) and was more common in patients with older age and greater comorbidities. Multivariate analysis controlling for age, gender, healthcare plan, university degree, hospitalization, entrance disease and Charlson co-morbidity index showed that a positive MST result was associated with increased LOS (1.43 ± 0.61 days) and both in-hospital mortality (odds ratio, 2.39) and global mortality (odds ratio, 2.52). IPW analysis confirmed the association between a positive MST result and increased hospital LOS and 30-day mortality, as well as a relative increase of 30.13% in the average cost associated with hospitalization. Conclusions: This study of hospital inpatients demonstrated a high burden of malnutrition at the time of hospital admission, which negatively impacted LOS and mortality and increased the costs of hospitalization. These findings underscore the need for improved diagnosis and treatment of hospital malnutrition to improve patient outcomes and reduce healthcare costs

Integration of Aspergillus niger transcriptomic profile with metabolic model identifies potential targets to optimise citric acid production from lignocellulosic hydrolysate

BACKGROUND: Citric acid is typically produced industrially by Aspergillus niger-mediated fermentation of a sucrose-based feedstock, such as molasses. The fungus Aspergillus niger has the potential to utilise lignocellulosic biomass, such as bagasse, for industrial-scale citric acid production, but realising this potential requires strain optimisation. Systems biology can accelerate strain engineering by systematic target identification, facilitated by methods for the integration of omics data into a high-quality metabolic model. In this work, we perform transcriptomic analysis to determine the temporal expression changes during fermentation of bagasse hydrolysate and develop an evolutionary algorithm to integrate the transcriptomic data with the available metabolic model to identify potential targets for strain engineering. RESULTS: The novel integrated procedure matures our understanding of suboptimal citric acid production and reveals potential targets for strain engineering, including targets consistent with the literature such as the up-regulation of citrate export and pyruvate carboxylase as well as novel targets such as the down-regulation of inorganic diphosphatase. CONCLUSIONS: In this study, we demonstrate the production of citric acid from lignocellulosic hydrolysate and show how transcriptomic data across multiple timepoints can be coupled with evolutionary and metabolic modelling to identify potential targets for further engineering to maximise productivity from a chosen feedstock. The in silico strategies employed in this study can be applied to other biotechnological goals, assisting efforts to harness the potential of microorganisms for bio-based production of valuable chemicals

A systematic CRISPR screen defines mutational mechanisms underpinning signatures caused by replication errors and endogenous DNA damage.

Mutational signatures are imprints of pathophysiological processes arising through tumorigenesis. We generated isogenic CRISPR-Cas9 knockouts (Δ) of 43 genes in human induced pluripotent stem cells, cultured them in the absence of added DNA damage, and performed whole-genome sequencing of 173 subclones. ΔOGG1, ΔUNG, ΔEXO1, ΔRNF168, ΔMLH1, ΔMSH2, ΔMSH6, ΔPMS1, and ΔPMS2 produced marked mutational signatures indicative of being critical mitigators of endogenous DNA modifications. Detailed analyses revealed mutational mechanistic insights, including how 8-oxo-dG elimination is sequence-context-specific while uracil clearance is sequence-context-independent. Mismatch repair (MMR) deficiency signatures are engendered by oxidative damage (C>A transversions), differential misincorporation by replicative polymerases (T>C and C>T transitions), and we propose a 'reverse template slippage' model for T>A transversions. ΔMLH1, ΔMSH6, and ΔMSH2 signatures were similar to each other but distinct from ΔPMS2. Finally, we developed a classifier, MMRDetect, where application to 7,695 WGS cancers showed enhanced detection of MMR-deficient tumors, with implications for responsiveness to immunotherapies