Automatic Dense 3D Scene Mapping from Non-overlapping Passive Visual Sensors for Future Autonomous Systems

The ever increasing demand for higher levels of autonomy for robots and vehicles means there is an ever greater need for such systems to be aware of their surroundings. Whilst solutions already exist for creating 3D scene maps, many are based on active scanning devices such as laser scanners and depth cameras that are either expensive, unwieldy, or do not function well under certain environmental conditions. As a result passive cameras are a favoured sensor due their low cost, small size, and ability to work in a range of lighting conditions. In this work we address some of the remaining research challenges within the problem of 3D mapping around a moving platform. We utilise prior work in dense stereo imaging, Stereo Visual Odometry (SVO) and extend Structure from Motion (SfM) to create a pipeline optimised for on vehicle sensing. Using forward facing stereo cameras, we use state of the art SVO and dense stereo techniques to map the scene in front of the vehicle. With significant amounts of prior research in dense stereo, we addressed the issue of selecting an appropriate method by creating a novel evaluation technique. Visual 3D mapping of dynamic scenes from a moving platform result in duplicated scene objects. We extend the prior work on mapping by introducing a generalized dynamic object removal process. Unlike other approaches that rely on computationally expensive segmentation or detection, our method utilises existing data from the mapping stage and the findings from our dense stereo evaluation. We introduce a new SfM approach that exploits our platform motion to create a novel dense mapping process that exceeds the 3D data generation rate of state of the art alternatives. Finally, we combine dense stereo, SVO, and our SfM approach to automatically align point clouds from non-overlapping views to create a rotational and scale consistent global 3D model

No approximate complex fermion coherent states

Whereas boson coherent states with complex parametrization provide an elegant, and intuitive representation, there is no counterpart for fermions using complex parametrization. However, a complex parametrization provides a valuable way to describe amplitude and phase of a coherent beam. Thus we pose the question of whether a fermionic beam can be described, even approximately, by a complex-parametrized coherent state and define, in a natural way, approximate complex-parametrized fermion coherent states. Then we identify four appealing properties of boson coherent states (eigenstate of annihilation operator, displaced vacuum state, preservation of product states under linear coupling, and factorization of correlators) and show that these approximate complex fermion coherent states fail all four criteria. The inapplicability of complex parametrization supports the use of Grassman algebras as an appropriate alternative.Comment: Argumentation made cleare

The role of parietal cortex in overimitation: a study with fNIRS

Previous studies have shown right parietal activation in response to observing irrational actions. Behavioural studies show that people sometimes imitate irrational actions, a phenomenon called overimitation. However, limitations on movement in fMRI mean that the neural basis of overimitation has not been studied. To address this, our study employed a less restrictive neuroimaging technique, functional near infrared spectroscopy (fNIRS). Measurements were taken while participants observed either rational or irrational movements before performing movements on a computerised puzzle task. Observing irrational actions produced greater activation in right anterior inferior parietal lobule (aIPL), replicating results from the fMRI literature. This is a proof of principle that fNIRS can be used as an alternative to fMRI in social cognition experiments, and that parietal cortex has a core role in responding to irrational actions

Gym workout advice: protein guidance looks wrong, our findings suggest

First paragraph: Visit a gym regularly and you’re bound to hear a conversation along the lines of: “I’ve just started my new whey protein shake. It says one scoop post-workout on the tub, but I take two just to make sure.” Access this article on The Conversation website: https://theconversation.com/gym-workout-advice-protein-guidance-looks-wrong-our-findings-suggest-6464

What’s the best source of protein for building muscle – meat or plants?

First paragraph: Do vegan bodybuilders have the edge? A recent study was reported as showing plant-based protein was more effective for building muscle than that from animals

Are You on My Wavelength? Interpersonal Coordination in Dyadic Conversations

Conversation between two people involves subtle nonverbal coordination in addition to speech. However, the precise parameters and timing of this coordination remain unclear, which limits our ability to theorize about the neural and cognitive mechanisms of social coordination. In particular, it is unclear if conversation is dominated by synchronization (with no time lag), rapid and reactive mimicry (with lags under 1 s) or traditionally observed mimicry (with several seconds lag), each of which demands a different neural mechanism. Here we describe data from high-resolution motion capture of the head movements of pairs of participants (n = 31 dyads) engaged in structured conversations. In a pre-registered analysis pathway, we calculated the wavelet coherence of head motion within dyads as a measure of their nonverbal coordination and report two novel results. First, low-frequency coherence (0.2–1.1 Hz) is consistent with traditional observations of mimicry, and modeling shows this behavior is generated by a mechanism with a constant 600 ms lag between leader and follower. This is in line with rapid reactive (rather than predictive or memory-driven) models of mimicry behavior, and could be implemented in mirror neuron systems. Second, we find an unexpected pattern of lower-than-chance coherence between participants, or hypo-coherence, at high frequencies (2.6–6.5 Hz). Exploratory analyses show that this systematic decoupling is driven by fast nodding from the listening member of the dyad, and may be a newly identified social signal. These results provide a step towards the quantification of real-world human behavior in high resolution and provide new insights into the mechanisms of social coordination

Appearance and management of COVID-19 laryngo-tracheitis: two case reports.

We present two cases of coronavirus disease 2019 (COVID-19)-related laryngotracheitis in good-prognosis, ventilated patients who had failed extubation. As the pandemic continues to unfold across the globe and better management of those with respiratory failure develops, this may be an increasingly common scenario. Close ENT-intensivist liaison, meticulous team preparation, early consideration of rigid endoscopy and prospective data collection and case sharing are recommended

Growing older with health and vitality: a nexus of physical activity, exercise and nutrition

The preservation of skeletal muscle mass and strength with advancing age are, we propose, critical aspects of ageing with health and vitality. Physical inactivity and poor nutrition are known to accelerate the gradual age-related decline in muscle mass and strength—sarcopenia—however, both are subject to modification. The main purpose of this review is to present the latest, evidence-based recommendations for physical activity and exercise, as well as diet for older adults that would help in preserving muscle mass and strength. We take the position that future physical activity/exercise guidelines need to make specific reference to resistance exercise and highlight the benefits of higher-intensity aerobic exercise training, alongside advocating older adults perform aerobic-based physical activity and household tasks (e.g.,carrying groceries). In terms of dietary recommendations, greater emphasis should be placed onoptimalrather thanminimumprotein intakes for older adults. Indeed, guidelines that endorse a daily protein intake of 1.2–1.5g/kg BM/day, which are levels 50–90% greater than the current protein Recommendation Dietary Allowance (0.8g/kg BM/day), are likely to help preserve muscle mass and strength and are safe for healthy older adults. Being cognisant of factors (e.g., reduced appetite) that may preclude older adults from increasing their total daily protein intake, we echo the viewpoint of other active researchers in advocating that protein recommendations for older adults be based on a per meal approach in order to maximize muscle protein synthesis (MPS). On this basis, assuming three meals are consumed daily, a protein dose of 0.4–0.5g/kg BM should be contained in each meal. We are beginning to understand ways in which to increase the utilization of ingested protein for the stimulation of MPS, namely by increasing the proportion of leucine contained in a given dose of protein, co-ingesting other nutrients (e.g., carbohydrate and fat or supplementation with n-3 polyunsaturated fatty acids) or being physically active prior to protein intake. Clearly, developing simple lifestyle interventions targeted at preserving muscle mass and strength with advancing age is crucial for facilitating longer, healthier lives into older age

Intervenção da equipe da saúde no combate a diabetes mellitus

As ações educativas são praticas inerentes ao projeto assistencial de saúde em todos os níveis de atenção. As causas de diabetes mellitus estão entre os fatores de risco modificáveis cujo controle associado a mudanças de vida pode ser estimulado no âmbito do atenção básica á saúde, minimizando a morbimortalidade por esta doença e seu impacto na saúde publica. Objetivo: Melhorar os níveis glicêmicos dos diabéticos tipo 2 da UBSF SQ 13 do município de Cidade Ocidental/GO, identificando fatores de risco para diabetes mellitus tipo 2 ,no período do projeto de intervenção e obter controle glicêmico adequado mediante aplicação de ações educativas contra os fatores de risco encontrados. Métodos: foram avaliados e acompanhados 25 pacientes da UBSF SQ 13, nos meses de setembro 2014 e maio de 2015, foram pacientes diagnosticados com diabetes desde há mais de 3 anos. A captação e coleta de amostras dos sujeitos da intervenção ocorreram nas dependências do posto de saúde SQ 13. As medições da glicemia séricas foram feitos no laboratório clinico publico em 3 ocasiões, as demais medições FDA glicemia capilar foram na UBSF SQ 13 e domicilio. As consultas foram agendadas para cada paciente cada três semanas para controle. Visitas domiciliar realizadas por medico a enfermeira e agentes de saúde de forma intercalada. As reuniões feitas em três momentos no período da intervenção com temáticas sobre diabetes e formas de tratamento, exercícios físicos e reunião de avaliação. Durantes as entrevistas individuais foram obtidos os principais fatores de risco sobre o descontrole glicêmico. Diante o acompanhamento, modificando os fatores que causam e medidas de educação em saúde, com os ajustes farmacológicos foram observadas a melhoria nas glicemias basais. A estimulação psicológica é importante para que os pacientes continuem e mantenham o tratamento continuo e o autocuidado. Alem disso a mais importante conclusão foi que a equipe organizada e determinada em resolver os problemas pode resolver situações da grande maioria sem precisar de recursos fora da unidade básica de saúde . Por tanto os resultados observados na intervenção foram satisfatórios em 92%, mostrando que os problemas ou descontrole da glicemia em sua grande maioria pode ser causadas por fatores simples, mais desencadeantes das complicações e que podem ser resolvidos a nível local