Performance Evaluation of Vision-Based Algorithms for MAVs

An important focus of current research in the field of Micro Aerial Vehicles (MAVs) is to increase the safety of their operation in general unstructured environments. Especially indoors, where GPS cannot be used for localization, reliable algorithms for localization and mapping of the environment are necessary in order to keep an MAV airborne safely. In this paper, we compare vision-based real-time capable methods for localization and mapping and point out their strengths and weaknesses. Additionally, we describe algorithms for state estimation, control and navigation, which use the localization and mapping results of our vision-based algorithms as input.Comment: Presented at OAGM Workshop, 2015 (arXiv:1505.01065

Transient transcriptional events in human skeletal muscle at the outset of concentric resistance exercise training

We sought to ascertain the time course of transcriptional events that occur in human skeletal muscle at the outset of resistance exercise (RE) training in RE naive individuals and determine whether the magnitude of response was associated with exercise-induced muscle damage. Sixteen RE naive men were recruited; eight underwent two sessions of 5 × 30 maximum isokinetic knee extensions (180°/s) separated by 48 h. Muscle biopsies of the vastus lateralis, obtained from different sites, were taken at baseline and 24 h after each exercise bout. Eight individuals acted as nonexercise controls with biopsies obtained at the same time intervals. Transcriptional changes were assessed by microarray and protein levels of heat shock protein (HSP) 27 and αB-crystallin in muscle cross sections by immunohistochemistry as a proxy measure of muscle damage. In control subjects, no probe sets were significantly altered (false discovery rate < 0.05), and HSP27 and αB-crystallin protein remained unchanged throughout the study. In exercised subjects, significant intersubject variability following the initial RE bout was observed in the muscle transcriptome, with greatest changes occurring in subjects with elevated HSP27 and αB-crystallin protein. Following the second bout, the transcriptome response was more consistent, revealing a cohort of probe sets associated with immune activation, the suppression of oxidative metabolism, and ubiquitination, as differentially regulated. The results reveal that the initial transcriptional response to RE is variable in RE naive volunteers, potentially associated with muscle damage and unlikely to reflect longer term adaptations to RE training. These results highlight the importance of considering multiple time points when determining the transcriptional response to RE and associated physiological adaptation

Holomorphic anomaly equations and the Igusa cusp form conjecture

Let $S$ be a K3 surface and let $E$ be an elliptic curve. We solve the reduced Gromov-Witten theory of the Calabi-Yau threefold $S \times E$ for all curve classes which are primitive in the K3 factor. In particular, we deduce the Igusa cusp form conjecture. The proof relies on new results in the Gromov-Witten theory of elliptic curves and K3 surfaces. We show the generating series of Gromov-Witten classes of an elliptic curve are cycle-valued quasimodular forms and satisfy a holomorphic anomaly equation. The quasimodularity generalizes a result by Okounkov and Pandharipande, and the holomorphic anomaly equation proves a conjecture of Milanov, Ruan and Shen. We further conjecture quasimodularity and holomorphic anomaly equations for the cycle-valued Gromov-Witten theory of every elliptic fibration with section. The conjecture generalizes the holomorphic anomaly equations for ellliptic Calabi-Yau threefolds predicted by Bershadsky, Cecotti, Ooguri, and Vafa. We show a modified conjecture holds numerically for the reduced Gromov-Witten theory of K3 surfaces in primitive classes.Comment: 68 page

Statins (HMG-CoA reductase inhibitors) reduce CD40 expression in human vascular cells

Objective: HMG-CoA reductase inhibitors (statins) possess anti-inflammatory and immunomodulatory properties that are independent of their lipid-lowering action. As the CD40-CD40L signaling pathway is implicated in the modulation of inflammatory responses between vascular cells, involving adhesion molecules, pro-inflammatory cytokines, chemokines, we sought to investigate the potential role of statins in regulating the expression of CD40. Methods and Results: Using Western blot, flow cytometry and immunohistochemistry analyses, we observed that four different statins reduced IFN-γ-induced CD40 expression in human vascular cells (endothelial cells, smooth muscle cells, macrophages and fibroblasts). This effect was dose-dependent (from 5 μM to 80 nM) and reversed by addition of l-mevalonate. Activation of vascular cells by human recombinant CD40L, as measured by ELISA for IL-6, IL-8 and MCP-1, was strongly reduced when cells were treated with statins. Immunostaining of human carotid atherosclerotic lesions of patients subjected to statin treatment revealed less CD40 expression on a ‘per vascular cell' basis compared to control patients. Although many pleiotropic effects of statins are mediated by nitric oxide synthase (NOS)- or peroxisome proliferator-activated receptor (PPAR)-dependent signaling pathways, we observed similar statin-induced reduction of CD40 expression using NOS inhibitors or different PPAR ligands. Conclusion: Statins decrease CD40 expression and CD40-related activation of vascular cells. These effects are partially reversed by the HMG-CoA reductase product l-mevalonate and are mediated by NOS- or PPAR-dependent pathways. Altogether, these findings provide mechanistic insight into the beneficial effects of statins on atherogenesis. They also provide a scientific rationale for the use of statins as immunomodulators after organ transplantatio

Enhancement of tissue lesion depth by dual wavelength irradiation with the Nd-YAG/KTP laser: Perspectives for laser prostatectomy

The Nd-YAG/KTP laser coagulates and vaporizes prostate tissue. The objective of this study was to investigate the combined effects of both wavelengths and to determine the irradiation parameters allowing the largest lesion volume. Chicken breast tissue was irradiated ex vivo. Consecutive 1064 and 532 nm Nd-YAG/KTP laser irradiations were performed for different combinations (30 W/10 W, 20 W/20 W, 10 W/30 W) with variable total fluence (1200 J, 2400 J, 3600 J) and compared to isofluent single wavelengths at 40 W irradiation. The depths, diameters and volumes of the total lesion as well as the vaporization effects of the 532 nm wavelength on normal and on priorly coagulated tissue were analysed. Maximum total lesion depths (p< 0.001) were found under combined Nd-YAG/KTP (20 W/20 W) irradiation conditions. Ablation efficacy of the 532 nm wavelength was reduced after prior 1064 nm irradiation, but crater depths were increased. Dual wavelength irradiation with the Nd-YAG/KTP laser induces a specific denaturation process. This may represent a new approach to increase the depth of coagulation necrosis, and thus the treated volume, thereby improving long-term result

Intercomparison of two-dimensional wave spectra obtained from microwave instruments, buoys and WAModel simulations during the surface wave dynamics experiment

An intercomparison is made of two dimensional wave spectra obtained from buoys and various remote sensing microwave systems and predicted by the WAModel dur- ing the Surface Wave Dynamics Experiment (SWADE). The overall agreement be- tween the measurements and the model is satifactory, but some differences in detail require further investigation. The buoy data yield reliable mean spectral parame- ters, but the maximum likelihood retrieval algorithm tends to produce directional distributions that are broader than those of other instruments. Various microwave instruments (ROWS, RESSAC, SRA) show good promise for the determination of 2d-wave spectra, but exhibit individual shortcomings (calibration uncertainties, di- rectional ambiguity, impact of aircraft motion) that need to be further studied. The SAR system yields reliable retrievals with respect to the general spectral dis- tribution, but suffers in this experiment from an undetermined calibration factor. Deviations between the WAModel and instrumental data could be largely attributed to wind field errors, but the model also exhibits deficiencies in the development of short-fetch wave systems and in the wave spectral response to rapidly turning wind fields

Orientifolds, Unoriented Instantons and Localization

We consider world-sheet instanton effects in N=1 string orientifolds of noncompact toric Calabi-Yau threefolds. We show that unoriented closed string topological amplitudes can be exactly computed using localization techniques for holomorphic maps with involution. Our results are in precise agreement with mirror symmetry and large N duality predictions.Comment: 25 pages, 10 figures, published version; v4: typos correcte

Cloud Condensation Nuclei properties of model and atmospheric HULIS

Humic like substances (HULIS) have been identified as a major fraction of the organic component of atmospheric aerosols. These large multifunctional compounds of both primary and secondary sources are surface active and water soluble. Hence, it is expected that they could affect activation of organic aerosols into cloud droplets. We have compared the activation of aerosols containing atmospheric HULIS extracted from fresh, aged and pollution particles to activation of size fractionated fulvic acid from an aquatic source (Suwannee River Fulvic Acid), and correlated it to the estimated molecular weight and measured surface tension. A correlation was found between CCN-activation diameter of SRFA fractions and number average molecular weight of the fraction. The lower molecular weight fractions activated at lower critical diameters, which is explained by the greater number of solute species in the droplet with decreasing molecular weight. The three aerosol-extracted HULIS samples activated at lower diameters than any of the size-fractionated or bulk SRFA. The Köhler model was found to account for activation diameters, provided that accurate physico-chemical parameters are known

Depinning transition of a directed polymer by a periodic potential: a d-dimensional solution

We study the depinning phase transition of a directed polymer in a $d$-dimensional space by a periodic potential localized on a straight line. We give exact formulas in all dimensions for the critical pinning we need to localize the polymer. We show that a bounded state can still arise even if, in average, the potential layer is not attractive and for diverging values of the potential on the repulsive sites. The phase transition is of second order.Comment: 11 Pages in LaTeX. Figures available from the authors. [email protected] (e-mail address