Theory, Design, and Implementation of Landmark Promotion Cooperative Simultaneous Localization and Mapping

Simultaneous Localization and Mapping (SLAM) is a challenging problem in practice, the use of multiple robots and inexpensive sensors poses even more demands on the designer. Cooperative SLAM poses specific challenges in the areas of computational efficiency, software/network performance, and robustness to errors. New methods in image processing, recursive filtering, and SLAM have been developed to implement practical algorithms for cooperative SLAM on a set of inexpensive robots. The Consolidated Unscented Mixed Recursive Filter (CUMRF) is designed to handle non-linear systems with non-Gaussian noise. This is accomplished using the Unscented Transform combined with Gaussian Mixture Models. The Robust Kalman Filter is an extension of the Kalman Filter algorithm that improves the ability to remove erroneous observations using Principal Component Analysis (PCA) and the X84 outlier rejection rule. Forgetful SLAM is a local SLAM technique that runs in nearly constant time relative to the number of visible landmarks and improves poor performing sensors through sensor fusion and outlier rejection. Forgetful SLAM correlates all measured observations, but stops the state from growing over time. Hierarchical Active Ripple SLAM (HAR-SLAM) is a new SLAM architecture that breaks the traditional state space of SLAM into a chain of smaller state spaces, allowing multiple robots, multiple sensors, and multiple updates to occur in linear time with linear storage with respect to the number of robots, landmarks, and robots poses. This dissertation presents explicit methods for closing-the-loop, joining multiple robots, and active updates. Landmark Promotion SLAM is a hierarchy of new SLAM methods, using the Robust Kalman Filter, Forgetful SLAM, and HAR-SLAM. Practical aspects of SLAM are a focus of this dissertation. LK-SURF is a new image processing technique that combines Lucas-Kanade feature tracking with Speeded-Up Robust Features to perform spatial and temporal tracking. Typical stereo correspondence techniques fail at providing descriptors for features, or fail at temporal tracking. Several calibration and modeling techniques are also covered, including calibrating stereo cameras, aligning stereo cameras to an inertial system, and making neural net system models. These methods are important to improve the quality of the data and images acquired for the SLAM process

Water network dynamics at the critical moment of a peptide's ß-turn formation:a molecular dynamics study

All-atom molecular dynamics simulations for a single molecule of Leu-Enkephalin in aqueous solution have been used to study the role of the water network during the formation of ß-turns. We give a detailed account of the intramolecular hydrogen bonding, the water-peptide hydrogen bonding, and the orientation and residence times of water molecules focusing on the short critical periods of transition to the stable ß-turns. These studies suggest that, when intramolecular hydrogen bonding between the first and fourth residue of the ß-turn is not present, the disruption of the water network and the establishment of water bridges constitute decisive factors in the formation and stability of the ß-turn. Finally, we provide possible explanations and mechanisms for the formations of different kinds of ß-turns

Complexity of classical dynamics of molecular systems. II. Finite statistical complexity of a water-Na+ system

The computational mechanics approach has been applied to the orientational behavior of water molecules in a molecular dynamics simulated water–Na + system. The distinctively different statistical complexity of water molecules in the bulk and in the first solvation shell of the ion is demonstrated. It is shown that the molecules undergo more complex orientational motion when surrounded by other water molecules compared to those constrained by the electric field of the ion. However the spatial coordinates of the oxygen atom shows the opposite complexity behavior in that complexity is higher for the solvation shell molecules. New information about the dynamics of water molecules in the solvation shell is provided that is additional to that given by traditional methods of analysis

Complexity of classical dynamics of molecular systems. I. Methodology

Methods for the calculation of complexity have been investigated as a possible alternative for the analysis of the dynamics of molecular systems. “Computational mechanics” is the approach chosen to describe emergent behavior in molecular systems that evolve in time. A novel algorithm has been developed for symbolization of a continuous physical trajectory of a dynamic system. A method for calculating statistical complexity has been implemented and tested on representative systems. It is shown that the computational mechanics approach is suitable for analyzing the dynamic complexity of molecular systems and offers new insight into the process

Coping and emotional state in the acute phase of myocardial infarction

Σκοπός: Η ψυχολογική προσαρμογή στην οξεία φάση ενός Εμφράγματος του Μυοκαρδίου (ΕΜ) αποτελεί αντισταθμιστικό μηχανισμό των ασθενών στην προσαρμογή στη νέα πραγματικότητα μιας ανάλογης απειλητικής συνθήκης. Υπάρχουν ελάχιστα δεδομένα που καταδεικνύουν τη σχέση ανάμεσα στις στρατηγικές διαχείρισης από ενδονοσοκομειακούς ασθενείς και στη συναισθηματική τους κατάσταση. Η μελέτη ερευνά τη συγκεκριμένη σχέση σε ασθενείς που έχουν υποστεί ένα ΕΜ.Μέθοδος: Εκατό άνδρες ασθενείς που έχουν υποστεί ΕΜ, ηλικίας 60.5 (Διάστημα Εμπιστοσύνης (Δ.Ε): 57.5-62.7) ετών, έδωσαν συνέντευξη μετά την οξεία φάση ΕΜ κατά την τελευταία μέρα παραμονής τους στη Στεφανιαία Μονάδα. Ιατρικές πληροφορίες δόθηκαν από τους ιατρικούς φακέλους των ασθενών. Τα ερωτηματολόγια Προσανατολισμός Διαχείρισης Προβλημάτων (COPE) και Προφίλ Ψυχολογικής Διάθεσης (POMS) χρησιμοποιήθηκαν στην αξιολόγηση του τρόπου διαχείρισης και της συναισθηματικής κατάστασης αντίστοιχα.Αποτελέσματα: Η ενεργή διαχείριση σχετίστηκε θετικά με το άγχος και το θυμό. Η συναισθηματική υποστήριξη βρέθηκε να σχετίζεται αρνητικά με τις συγκεκριμένες μεταβλητές. Η πνευματική αναζήτηση και η συμπεριφορική αποδέσμευση σχετίστηκαν θετικά με την κατάθλιψη. Σημαντική διαφορά βρέθηκε στις στρατηγικές διαχείρισης και τη συναισθηματική διάθεση συγκρινόμενες με την υποκειμενική αντίληψη της σοβαρότητας.Συμπέρασμα:Oι ασθενείς μετά απο ένα ΕΜ, αναπτύσσουν στρατηγικές διαχείρισης που σχετίζονται με την συναισθηματική διάθεση. Η σημασία αυτών των συσχετίσεων μένει να εξακριβωθεί και σε μελλοντικές μελέτες.Objective: Emotional and coping adaptation after the acute phase of a myocardial infarction (MI) is a compensatory mechanism developed for patients’ adjustment to the new reality following this life threatening situation. There are however scarce data on the relationship between hospitalized MI patients’ coping behavior and their emotional state. The study investigates the associations between coping strategies and the affective status in patients surviving a MI.Methods: One-hundred male patients surviving a MI, aged 60.5 (Confidence Intervals (CI): 57.5-62.7) years, were interviewed after the acute phase of MI, at the last day of their coronary unit stay. Medical data were obtained by their medical records. Coping Orientation to Problems Experienced (COPE) and Profile of Mood States (POMS) questionnaires were used to examine coping styles and patients’ mood state respectively.Results: Active coping was positively related to anxiety and anger. Emotional support was negatively associated with these variables. Religious coping and behavioral disengagement were positively related to depression. Significant difference was found in coping styles and mood states scores between the different perceived severity beliefs.Conclusion: Patients surviving after a MI, develop coping strategies related to their emotional state. The significance of these relations remains to be clarified in future studies

Self-configured Entity Resolution with pyJedAI

Entity Resolution has been an active research topic for the last three decades, with numerous algorithms proposed in the literature. However, putting them into practice is often a complex task that requires implementing, combining and configuring complementary individual algorithms into comprehensive end-to-end workflows. To facilitate this process, we are developing pyJedAI, a novel system that provides a unifying framework for any type of main works in the field (i.e., both unsupervised and learning-based ones). Our vision is to facilitate both novice and expert users to use and combine these algorithms through a series of principled approaches for automatically configuring and benchmarking end-to-end pipelines

Accurate and reproducible reconstruction of coronary arteries and endothelial shear stress calculation using 3D OCT: Comparative study to 3D IVUS and 3D QCA

Background: Geometrically-correct 3D OCT is a new imaging modality with the potential to investigate the association of local hemodynamic microenvironment with OCT-derived high-risk features. We aimed to describe the methodology of 3D OCT and investigate the accuracy, inter- and intra-observer agreement of 3D OCT in reconstructing coronary arteries and calculating ESS, using 3D IVUS and 3D QCA as references. Methods-Results: 35 coronary artery segments derived from 30 patients were reconstructed in 3D space using 3D OCT. 3D OCT was validated against 3D IVUS and 3D QCA. The agreement in artery reconstruction among 3D OCT, 3D IVUS and 3D QCA was assessed in 3-mm-long subsegments using lumen morphometry and ESS parameters. The inter- and intra-observer agreement of 3D OCT, 3D IVUS and 3D QCA were assessed in a representative sample of 61 subsegments (n ¼ 5 arteries). The data processing times for each reconstruction methodology were also calculated. There was a very high agreement between 3D OCT vs. 3D IVUS and 3D OCT vs. 3D QCA in terms of total reconstructed artery length and volume, as well as in terms of segmental morphometric and ESS metrics with mean differences close to zero and narrow limits of agreement (BlandeAltman analysis). 3D OCT exhibited excellent inter- and intra-observer agreement. The analysis time with 3D OCT was significantly lower compared to 3D IVUS. Conclusions: Geometrically-correct 3D OCT is a feasible, accurate and reproducible 3D reconstruction technique that can perform reliable ESS calculations in coronary arteries

Riociguat treatment in patients with chronic thromboembolic pulmonary hypertension: Final safety data from the EXPERT registry

Objective: The soluble guanylate cyclase stimulator riociguat is approved for the treatment of adult patients with pulmonary arterial hypertension (PAH) and inoperable or persistent/recurrent chronic thromboembolic pulmonary hypertension (CTEPH) following Phase

Omecamtiv mecarbil in chronic heart failure with reduced ejection fraction, GALACTIC‐HF: baseline characteristics and comparison with contemporary clinical trials

Aims: The safety and efficacy of the novel selective cardiac myosin activator, omecamtiv mecarbil, in patients with heart failure with reduced ejection fraction (HFrEF) is tested in the Global Approach to Lowering Adverse Cardiac outcomes Through Improving Contractility in Heart Failure (GALACTIC‐HF) trial. Here we describe the baseline characteristics of participants in GALACTIC‐HF and how these compare with other contemporary trials. Methods and Results: Adults with established HFrEF, New York Heart Association functional class (NYHA) ≥ II, EF ≤35%, elevated natriuretic peptides and either current hospitalization for HF or history of hospitalization/ emergency department visit for HF within a year were randomized to either placebo or omecamtiv mecarbil (pharmacokinetic‐guided dosing: 25, 37.5 or 50 mg bid). 8256 patients [male (79%), non‐white (22%), mean age 65 years] were enrolled with a mean EF 27%, ischemic etiology in 54%, NYHA II 53% and III/IV 47%, and median NT‐proBNP 1971 pg/mL. HF therapies at baseline were among the most effectively employed in contemporary HF trials. GALACTIC‐HF randomized patients representative of recent HF registries and trials with substantial numbers of patients also having characteristics understudied in previous trials including more from North America (n = 1386), enrolled as inpatients (n = 2084), systolic blood pressure < 100 mmHg (n = 1127), estimated glomerular filtration rate < 30 mL/min/1.73 m2 (n = 528), and treated with sacubitril‐valsartan at baseline (n = 1594). Conclusions: GALACTIC‐HF enrolled a well‐treated, high‐risk population from both inpatient and outpatient settings, which will provide a definitive evaluation of the efficacy and safety of this novel therapy, as well as informing its potential future implementation