3D Segmentation Method for Natural Environments based on a Geometric-Featured Voxel Map

This work proposes a new segmentation algorithm for three-dimensional dense point clouds and has been specially designed for natural environments where the ground is unstructured and may include big slopes, non-flat areas and isolated areas. This technique is based on a Geometric-Featured Voxel map (GFV) where the scene is discretized in constant size cubes or voxels which are classified in flat surface, linear or tubular structures and scattered or undefined shapes, usually corresponding to vegetation. Since this is not a point-based technique the computational cost is significantly reduced, hence it may be compatible with Real-Time applications. The ground is extracted in order to obtain more accurate results in the posterior segmentation process. The scene is split into objects and a second segmentation in regions inside each object is performed based on the voxel’s geometric class. The work here evaluates the proposed algorithm in various versions and several voxel sizes and compares the results with other methods from the literature. For the segmentation evaluation the algorithms are tested on several differently challenging hand-labeled data sets using two metrics, one of which is novel.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Adoption of GMHT Crops: Coexistence Policy Consequences in the European Union

Agricultural and Food Policy, Crop Production/Industries,

Optimizing Scan Homogeneity for Building Full-3D Lidars based on Rotating a Multi-Beam Velodyne Rangefinder

Multi-beam lidar (MBL) scanners are compact, light, and accessible 3D sensors with high data rates, but they offer limited vertical resolution and field of view (FOV). Some recent robotics research has profited from the addition of a degree-of-freedom (DOF) to an MBL to build rotating multi-beam lidars (RMBL) that can achieve high-resolution scans with full spherical FOV. In a previous work, we offered a methodology to analyze the complex 3D scan measurement distributions produced by RMBLs with a rolling DOF and no pitching. In this paper, we investigate the effect of introducing constant pitch angles in the construction of the RMBLs with the purpose of finding a kinematic configuration that optimizes scan homogeneity with a spherical FOV. To this end, we propose a scalar index of 3D sensor homogeneity that is based on the spherical formulation of Ripley's K function. The optimization is performed for the widely used Puck (VLP-16) and HDL-32 sensors by Velodyne.This work was partially funded by the Spanish project {DPI2015-65186-R}. The publication has received support from Universidad de Málaga, Campus de Excelencia Andalucía Tech

Integration of a Canine Agent in a Wireless Sensor Network for Information Gathering in Search and Rescue Missions

Search and rescue operations in the context of emergency response to human or natural disasters have the major goal of finding potential victims in the shortest possible time. Multi-agent teams, which can include specialized human respondents, robots and canine units, complement the strengths and weaknesses of each agent, like all-terrain mobility or capability to locate human beings. However, efficient coordination of heterogeneous agents requires specific means to locate the agents, and to provide them with the information they require to complete their mission. The major contribution of this work is an application of Wireless Sensor Networks (WSN) to gather information from a multi-agent team and to make it available to the rest of the agents while keeping coverage. In particular, a canine agent has been equipped with a mobile node installed on a harness, providing information about the dog’s location as well as gas levels. The configuration of the mobile node allows for flexible arrangement of the system, being able to integrate static as well as mobile nodes. The gathered information is available at an external database, so that the rest of the agents and the control center can use it in real time. The proposed scheme has been tested in realistic scenarios during search and rescue exercises

Additively manufactured polyethylene terephthalate scaffolds for Scapholunate Interosseous Ligament Reconstruction

The regeneration of the ruptured scapholunate interosseous ligament (SLIL) represents a clinical challenge. Here, we propose the use of a Bone-Ligament-Bone (BLB) 3D-printed polyethylene terephthalate (PET) scaffold for achieving mechanical stabilisation of the scaphoid and lunate following SLIL rupture. The BLB scaffold featured two bone compartments bridged by aligned fibres (ligament compartment) mimicking the architecture of the native tissue. The scaffold presented tensile stiffness in the range of 260+/-38 N/mm and ultimate load of 113+/-13 N, which would support physiological loading. A finite element analysis, using inverse finite element analysis for material property identification, showed an adequate fit between simulation and experimental data. The scaffold was then biofunctionalized using two different methods: injected with a Gelatin Methacryloyl solution containing human mesenchymal stem cell spheroids or seeded with tendon-derived stem cells and placed in a bioreactor to undergo cyclic deformation. The first approach demonstrated high cell viability, as cells migrated out of the spheroid and colonised the interstitial space of the scaffold. These cells adopted an elongated morphology suggesting the internal architecture of the scaffold exerted topographical guidance. The second method demonstrated the high resilience of the scaffold to cyclic deformation and the secretion of a fibroblastic related protein was enhanced by the mechanical stimulation. This process promoted the expression of relevant proteins, such as Tenomodulin, indicating mechanical stimulation may enhance cell differentiation and be useful prior to surgical implantation. In conclusion, the PET scaffold presented several promising characteristics for the immediate mechanical stabilisation of disassociated scaphoid and lunate and, in the longer-term, the regeneration of the ruptured SLIL

International public awareness of peripheral artery disease

This is the author accepted manuscript. the final version is available from Hogrefe via the DOI in this recordBackground: Peripheral artery disease (PAD) of the lower limbs is a common condition with considerable global burden. Some country-specific studies suggest low levels of public awareness. To our knowledge public awareness of PAD has never been assessed simultaneously in several countries worldwide. Patients and methods: This was an international, general public, internet-based quantitative survey assessing vascular health and disease understanding. Questionnaires included 23 closed-ended multiple-choice, Likert scale and binary choice questions. Data were collected from 9,098 survey respondents from nine countries in Europe, North and Latin America during May-June 2018. Results: Overall, familiarity with PAD was low (57% of respondents were “not at all familiar”, and 9% were “moderately” or “very familiar”). Knowledge about PAD health consequences was limited, with 55% of all respondents not being aware of limb consequences of PAD. There were disparities in PAD familiarity levels between countries; highest levels of self-reported awareness were in Germany and Poland where 13% reported to be “very” or “moderately” familiar with PAD, and lowest in Scandinavian countries (5%, 3% and 2% of respondents in Norway, Sweden and Denmark, respectively). There were disparities in awareness according to age. Respondents aged 25–34 were most familiar with PAD, with 12% stating that they were “moderately” or “very” familiar with the condition, whereas those aged 18–24 were the least familiar with PAD (7% “moderately” or “very” familiar with PAD). In the 45–54, 55–64 and 65+ age groups, 9% said they were “moderately” or “very” familiar with the term. There was no important gender-based difference in PAD familiarity. Conclusions: On an international level, public self-reported PAD awareness is low, even though PAD is a common condition with considerable burden. Campaigns to increase PAD awareness are needed to reduce delays in diagnosis and to motivate people to control PAD risk factors.Bayer A

Experimental phase function and degree of linear polarization of cometary dust analogues

We present experimental phase function and degree of linear polarization curves for seven samples of cometary dust analogues namely: ground pieces of Allende, DaG521, FRO95002, and FRO99040 meteorites, Mg-rich olivine and pyroxene, and a sample of organic tholins. The experimental curves have been obtained at the IAA Cosmic Dust Laboratory at a wavelength of 520 nm covering a phase angle range from 3 degrees to 175 degrees. We also provide values of the backscattering enhancement for our cometary analogue samples. The final goal of this work is to compare our experimental curves with observational data of comets and asteroids to better constrain the nature of cometary and asteroidal dust grains. All measured phase functions present the typical behaviour for mu m-sized cosmic dust grains. Direct comparison with data provided by the OSIRIS/Rosetta camera for comet 67P/Churyumov-Gerasimenko reveals significant differences and supports the idea of a coma dominated by big chunks, larger than one micrometer. The polarization curves are qualitatively similar to ground-based observations of comets and asteroids. The position of the inversion polarization angle seems to be dependent on the composition of the grains. We find opposite dependence of the maximum of the polarization curve for grains sizes in the Rayleigh-resonance and geometric optics domains, respectively.Peer reviewe

A signalome screening approach in the autoinflammatory disease TNF Receptor Associated Periodic Syndrome (TRAPS) highlights the anti-inflammatory properties of drugs for repurposing

TNF Receptor Associated Periodic Syndrome (TRAPS) is an autoinflammatory disease caused by mutations in TNF Receptor 1 (TNFR1). Current therapies for TRAPS are limited and do not target the pro-inflammatory signalling pathways that are central to the disease mechanism. Our aim was to identify drugs for repurposing as anti-inflammatories based on their ability to down-regulate molecules associated with inflammatory signalling pathways that are activated in TRAPS. This was achieved using rigorously optimised, high through- put cell culture and reverse phase protein microarray systems to screen compounds for their effects on the TRAPS-associated inflammatory signalome. 1360 approved, publically available, pharmacologically active substances were investigated for their effects on 40 signalling molecules associated with pro-inflammatory signalling pathways that are constitutively upregulated in TRAPS. The drugs were screened at four ten-fold concentrations on cell lines expressing both wild-type (WT) TNFR1 and TRAPS-associated C33Y mutant TNFR1, or WT TNFR1 alone; signalling molecule levels were then determined in cell lysates by the reverse phase protein microarray. A novel mathematical methodology was developed to rank the compounds for their ability to reduce the expression of signalling molecules in the C33Y-TNFR1 transfectants towards the level seen in the WT-TNFR1 transfectants. Seven high-ranking drugs were selected and tested by RPPA for effects on the same 40 signalling molecules in lysates of peripheral blood mononuclear cells (PBMCs) from C33Y-TRAPS patients compared to PBMCs from normal controls. The fluoroquinolone antibiotic lomefloxacin, as well as others from this class of compounds, showed the most significant effects on multiple pro-inflammatory signalling pathways that are constitutively activated in TRAPS; lomefloxacin dose-dependently significantly reduced expression of 7/40 signalling molecules across the Jak/Stat, MAPK, NF-kB and PI3K/AKT pathways. This study demonstrates the power of signalome screening for identifying candidates for drug repurposing

Deep-sequencing reveals broad subtype-specific HCV resistance mutations associated with treatment failure

A percentage of hepatitis C virus (HCV)-infected patients fail direct acting antiviral (DAA)-based treatment regimens, often because of drug resistance-associated substitutions (RAS). The aim of this study was to characterize the resistance profile of a large cohort of patients failing DAA-based treatments, and investigate the relationship between HCV subtype and failure, as an aid to optimizing management of these patients. A new, standardized HCV-RAS testing protocol based on deep sequencing was designed and applied to 220 previously subtyped samples from patients failing DAA treatment, collected in 39 Spanish hospitals. The majority had received DAA-based interferon (IFN) a-free regimens; 79% had failed sofosbuvir-containing therapy. Genomic regions encoding the nonstructural protein (NS) 3, NS5A, and NS5B (DAA target regions) were analyzed using subtype-specific primers. Viral subtype distribution was as follows: genotype (G) 1, 62.7%; G3a, 21.4%; G4d, 12.3%; G2, 1.8%; and mixed infections 1.8%. Overall, 88.6% of patients carried at least 1 RAS, and 19% carried RAS at frequencies below 20% in the mutant spectrum. There were no differences in RAS selection between treatments with and without ribavirin. Regardless of the treatment received, each HCV subtype showed specific types of RAS. Of note, no RAS were detected in the target proteins of 18.6% of patients failing treatment, and 30.4% of patients had RAS in proteins that were not targets of the inhibitors they received. HCV patients failing DAA therapy showed a high diversity of RAS. Ribavirin use did not influence the type or number of RAS at failure. The subtype-specific pattern of RAS emergence underscores the importance of accurate HCV subtyping. The frequency of “extra-target” RAS suggests the need for RAS screening in all three DAA target regions

Simulating rewetting events in intermittent rivers and ephemeral streams: a global analysis of leached nutrients and organic matter

Climate change and human pressures are changing the global distribution and extent of intermittent rivers and ephemeral streams (IRES), which comprise half of the global river network area. IRES are characterized by periods of flow cessation, during which channel substrates accumulate and undergo physico‐chemical changes (preconditioning), and periods of flow resumption, when these substrates are rewetted and release pulses of dissolved nutrients and organic matter (OM). However, there are no estimates of the amounts and quality of leached substances, nor is there information on the underlying environmental constraints operating at the global scale. We experimentally simulated, under standard laboratory conditions, rewetting of leaves, riverbed sediments, and epilithic biofilms collected during the dry phase across 205 IRES from five major climate zones. We determined the amounts and qualitative characteristics of the leached nutrients and OM, and estimated their areal fluxes from riverbeds. In addition, we evaluated the variance in leachate characteristics in relation to selected environmental variables and substrate characteristics. We found that sediments, due to their large quantities within riverbeds, contribute most to the overall flux of dissolved substances during rewetting events (56‐98%), and that flux rates distinctly differ among climate zones. Dissolved organic carbon, phenolics, and nitrate contributed most to the areal fluxes. The largest amounts of leached substances were found in the continental climate zone, coinciding with the lowest potential bioavailability of the leached organic matter. The opposite pattern was found in the arid zone. Environmental variables expected to be modified under climate change (i.e. potential evapotranspiration, aridity, dry period duration, land use) were correlated with the amount of leached substances, with the strongest relationship found for sediments. These results show that the role of IRES should be accounted for in global biogeochemical cycles, especially because prevalence of IRES will increase due to increasing severity of drying events