A Dynamic Points Removal Benchmark in Point Cloud Maps

In the field of robotics, the point cloud has become an essential map representation. From the perspective of downstream tasks like localization and global path planning, points corresponding to dynamic objects will adversely affect their performance. Existing methods for removing dynamic points in point clouds often lack clarity in comparative evaluations and comprehensive analysis. Therefore, we propose an easy-to-extend unified benchmarking framework for evaluating techniques for removing dynamic points in maps. It includes refactored state-of-art methods and novel metrics to analyze the limitations of these approaches. This enables researchers to dive deep into the underlying reasons behind these limitations. The benchmark makes use of several datasets with different sensor types. All the code and datasets related to our study are publicly available for further development and utilization.Comment: Code check https://github.com/KTH-RPL/DynamicMap_Benchmark.git , 7 pages, accepted by ITSC 202

Impact of hepatic steatosis on treatment response of autoimmune hepatitis: A retrospective multicentre analysis

BackgroundThere is a paucity of data on whether steatosis impacts autoimmune hepatitis (AIH) treatment response. We aimed to evaluate the influence of baseline steatosis on the biochemical response, fibrosis progression, and adverse longterm outcomes of AIH.MethodsSteatosis was diagnosed by a controlled attenuation parameter (CAP) ≥ 248 dB / m. Only patients who underwent immunosuppressive therapy with available liver histological material at diagnosis and qualified CAP within seven days of the liver biopsy were included. Univariate and multivariate analyses were subsequently conducted.ResultsThe multicentre and retrospective cohort enrolled 222 subjects (88.3% female, median age 54 years, median follow-up 48 months) in the final analysis, and 56 (25.2%) patients had hepatic steatosis. Diabetes, hypertension, and significant fibrosis at baseline were more common in the steatosis group than in the no steatosis group. After adjusting for confounding factors, hepatic steatosis was an independent predictor of insufficient biochemical response (OR: 8.07) and identified as an independent predictor of long-term adverse outcomes (HR: 4.07). By subgroup multivariate analysis (different degrees of steatosis, fibrosis, and prednisone dose), hepatic steatosis independently showed a relatively stable correlation with treatment response. Furthermore, in contrast to those without steatosis, a significant increase in liver stiffness (LS) was observed in patients with steatosis (4.1%/year vs. -16%/year, P < 0.001).ConclusionsConcomitant hepatic steatosis was significantly associated with poor response to treatment in AIH patients. Routine CAP measurements are therefore essential to guide the management of AIH

A Dynamic Points Removal Benchmark in Point Cloud Maps

<p>Uniformat Dataset LiDAR Point Cloud Data [PCD format]<br> check <a href="https://github.com/KTH-RPL/DynamicMap_Benchmark">DynamicMap_Benchmark repo</a> and Our Papers for more detail.</p> <ul> <li>00: KITTI sequence 00 [VLP-64] from frame 4390 to 4530</li> <li>05: KITTI sequence 05 [VLP-64] from frame 2350 to 2670</li> <li>av2: Argoverse 2.0 one sequence on <em>07YOTznatmYypvQYpzviEcU3yGPsyaGg__Spring_2020. </em>[2 x VLP-32]</li> <li>semindoor: semi-indoor dataset collected by [VLP-16], collected by ourselves.</li> </ul> <p> </p> <table> <tbody> <tr> <td>Dataset</td> <td>Description</td> <td>Sensor Type</td> <td>Total Frame Number</td> </tr> <tr> <td>KITTI sequence 00</td> <td>in a small town with few dynamics (including one pedestrian around</td> <td>VLP-64</td> <td>141</td> </tr> <tr> <td>KITTI sequence 05</td> <td>in a small town straight way, one higher car, the benchmarking paper cover image from this sequeue</td> <td>VLP-64</td> <td>321</td> </tr> <tr> <td>Argoverse2</td> <td>in a big city, crowded and tall buildings (including cyclists, vehicles, people walking near the building etc.</td> <td>2 x VLP-32</td> <td>575</td> </tr> <tr> <td>Semi-indoor</td> <td>Collected by us, running on small 1x2 vehicle with two people walking around the platform</td> <td>VLP-16</td> <td>960</td> </tr> </tbody> </table> <p>Cite as:</p> <pre><code class="language-bash">@article{zhang2023benchmark, author={Zhang, Qingwen and Duberg, Daniel and Geng, Ruoyu and Jia, Mingkai and Wang, Lujia and Jensfelt, Patric}, title={A Dynamic Points Removal Benchmark in Point Cloud Maps}, journal={arXiv preprint arXiv:2307.07260}, year={2023} }</code></pre> <p> </p&gt

Pharmacological Characters and Toxicity Evaluation of Coumarin Derivative LP4C as Lead Compound against Biofilm Formation of <i>Pseudomonas aeruginosa</i>

Pseudomonas aeruginosa-induced biofilm infection is difficult to treat and poses a significant threat to public health. Our previous study found a new coumarin derivative LP4C which exerted potent in vitro and in vivo anti-biofilm activity against Pseudomonas aeruginosa; however, the underlying molecular mechanism and drug-likeness of LP4C is unclear. In this study, we confirmed that LP4C could inhibit the biofilm in dose-dependent manner without bactericidal activity. The transcriptomic profiling and RT-PCR result revealed that bacterial pyrimidine mediated the inhibitory activity of LP4C. The cell viability was not affected in LP4C treatment groups with the concentration under 200 μg/mL, and no death or toxicity sign was observed in mice treated by 20, 40 and 80 mg/kg LP4C during the three-week test period. Ames test presented that LP4C had no effect on the bacterial reverse mutation. In additional, pharmacokinetic results showed that LP4C was likely to have the orally bioavailable properties. Our data indicate that LP4C is a possible lead compound for the development of new anti-biofilm infection agents against Pseudomonas aeruginosa

Distance effect of single atoms on stability of cobalt oxide catalysts for acidic oxygen evolution

Abstract Developing efficient and economical electrocatalysts for acidic oxygen evolution reaction (OER) is essential for proton exchange membrane water electrolyzers (PEMWE). Cobalt oxides are considered promising non-precious OER catalysts due to their high activities. However, the severe dissolution of Co atoms in acid media leads to the collapse of crystal structure, which impedes their application in PEMWE. Here, we report that introducing acid-resistant Ir single atoms into the lattice of spinel cobalt oxides can significantly suppress the Co dissolution and keep them highly stable during the acidic OER process. Combining theoretical and experimental studies, we reveal that the stabilizing effect induced by Ir heteroatoms exhibits a strong dependence on the distance of adjacent Ir single atoms, where the OER stability of cobalt oxides continuously improves with decreasing the distance. When the distance reduces to about 0.6 nm, the spinel cobalt oxides present no obvious degradation over a 60-h stability test for acidic OER, suggesting potential for practical applications

Exendin-4 Induces Bone Marrow Stromal Cells Migration Through Bone Marrow-Derived Macrophages Polarization via PKA-STAT3 Signaling Pathway

Background/Aims: The synthesis and degradation processes involved in bone remodeling are critically regulated by osteoblasts and osteoclasts. The GLP-1 receptor agonist Exendin-4 is beneficial for osteoblast differentiation and increases the number of osteoblasts. Methods: We constructed an ovariectomized model to evaluate the impact of Exendin-4 on bone formation in osteoporosis. A macrophage-depleted model was also created to investigate the effect of macrophages on bone formation. Thirty-two female WT C57BL/6 mice (aged 3 months) were randomly assigned to a normal control group and four ovariectomized (OVX) subgroups: OVX + vehicle group, OVX + Exendin-4 (4.2 µg/kg/day) group, OVX + chloride phosphate liposome group and OVX + chloride phosphate liposome + Exendin-4 group. Results: In this study, we found that Exendin-4 not only increased the number of osteoblasts and decreased the number of osteoclasts, but also increased the number of bone marrow stromal cells (BMSCs) at the bone surface. Moreover, we found that OVX mice treated with Exendin-4 increased TGF-β1 levels at the bone surface compared with that in OVX mice. Besides, Exendin-4 promoted the polarization of bone marrow-derived macrophages into M2 subtype and increased TGF-β1 secretion by the M2 subtype. Finally, we found that Exendin-4 induced macrophage polarization via the cAMP-PKA-STAT3 signaling pathway. Conclusion: Exendin-4 promotes bone marrow-derived macrophage polarization to the M2 subtype and induces BMSC migration to the bone surface via PKA-STAT3 signaling

Activation of GLP-1 Receptor Promotes Bone Marrow Stromal Cell Osteogenic Differentiation through β-Catenin

Glucagon-like peptide 1 (GLP-1) plays an important role in regulating bone remodeling, and GLP-1 receptor agonist shows a positive relationship with osteoblast activity. However, GLP-1 receptor is not found in osteoblast, and the mechanism of GLP-1 receptor agonist on regulating bone remodeling is unclear. Here, we show that the GLP-1 receptor agonist exendin-4 (Ex-4) promoted bone formation and increased bone mass and quality in a rat unloading-induced bone loss model. These functions were accompanied by an increase in osteoblast number and serum bone formation markers, while the adipocyte number was decreased. Furthermore, GLP-1 receptor was detected in bone marrow stromal cells (BMSCs), but not in osteoblast. Activation of GLP-1 receptor by Ex-4 promoted the osteogenic differentiation and inhibited BMSC adipogenic differentiation through regulating PKA/β-catenin and PKA/PI3K/AKT/GSK3β signaling. These findings reveal that GLP-1 receptor regulates BMSC osteogenic differentiation and provide a molecular basis for therapeutic potential of GLP-1 against osteoporosis