Direct LiDAR-Inertial Odometry: Lightweight LIO with Continuous-Time Motion Correction

Aggressive motions from agile flights or traversing irregular terrain induce motion distortion in LiDAR scans that can degrade state estimation and mapping. Some methods exist to mitigate this effect, but they are still too simplistic or computationally costly for resource-constrained mobile robots. To this end, this paper presents Direct LiDAR-Inertial Odometry (DLIO), a lightweight LiDAR-inertial odometry algorithm with a new coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction. The key to our method lies in the construction of a set of analytical equations which are parameterized solely by time, enabling fast and parallelizable point-wise deskewing. This method is feasible only because of the strong convergence properties in our novel nonlinear geometric observer, which provides provably correct state estimates for initializing the sensitive IMU integration step. Moreover, by simultaneously performing motion correction and prior generation, and by directly registering each scan to the map and bypassing scan-to-scan, DLIO's condensed architecture is nearly 20% more computationally efficient than the current state-of-the-art with a 12% increase in accuracy. We demonstrate DLIO's superior localization accuracy, map quality, and lower computational overhead as compared to four state-of-the-art algorithms through extensive tests using multiple public benchmark and self-collected datasets

El uso excesivo de la facultad discrecional por parte de la administración tributaria y su consecuente afectación al derecho al crédito fiscal de los contribuyentes en sede SUNAT

El presente trabajo “El uso excesivo de la facultad discrecional por parte de la administración tributaria y su consecuente afectación al derecho al crédito fiscal de los contribuyentes en sede SUNAT”, tiene como problema general, un análisis de la situación problemática que genera el uso excesivo de la facultad discrecional por parte de la Administración Tributaria, que afecta directamente al derecho al crédito fiscal de los contribuyentes en sede SUNAT. Determinamos como objetivo general colegir la existencia de un uso excesivo de la facultad discrecional por parte de la Administración Tributaria en los procedimientos de fiscalización, en ese sentido, la investigación posee un enfoque cualitativo documental y observacional, porque los investigadores recogerán la información tal y como sucedieron sin que su intervención altere los hechos. La investigación utilizó la entrevista y las fichas de análisis documental como instrumentos de recolección de datos, permitiendo obtener información relevante para alcanzar los objetivos y demostrar la hipótesis planteada, todo ello, a través del análisis de las resoluciones emitidas por el Tribunal Fiscal en el periodo comprendido entre los años 2017 al 2020. Seguido a ello, se realizó la discusión dando el soporte a los resultados encontrados, las conclusiones se realizaron en base a los objetivos de estudio y las recomendaciones fueron otorgadas en base a la justificación y conclusiones de investigación.The present work "The excessive use of the discretionary power by the tax administration and its consequent affectation to the right to tax credit of taxpayers at SUNAT headquarters", has as a general problem, an analysis of the problematic situation that generates excessive use. of the discretionary power of the Tax Administration, which directly affects the right to tax credit of taxpayers at SUNAT headquarters. We determined as a general objective to infer the existence of an excessive use of the discretionary power by the Tax Administration in the examination procedures, in this sense, the investigation has a documentary and observational qualitative approach, because the investigators will collect the information as they happened without his intervention altering the facts. The investigation used the interview, and the documentary analysis sheets as data collection instruments, allowing to obtain relevant information to achieve the objectives and demonstrate the proposed hypothesis, all through the analysis of the resolutions issued by the Tax Court in the period between the years 2017 to 2020. Following this, the discussion was held giving support to the results found, the conclusions were made based on the study objectives and the recommendations were granted based on the justification and research conclusions.Estado Constitucional Derechos humanos y Derechos fundamentale

Overexpressing the H-protein of the glycine cleavage system increases biomass yield in glasshouse and field grown transgenic tobacco plants

Photorespiration is essential for C3 plants, enabling oxygenic photosynthesis through the scavenging of 2‐phosphoglycolate. Previous studies have demonstrated that overexpression of the L‐ and H‐proteins of the photorespiratory glycine cleavage system results in an increase in photosynthesis and growth in Arabidopsis thaliana. Here, we present evidence that under controlled environment conditions an increase in biomass is evident in tobacco plants overexpressing the H‐protein. Importantly, the work in this paper provides a clear demonstration of the potential of this manipulation in tobacco grown in field conditions, in two separate seasons. We also demonstrate the importance of targeted overexpression of the H‐protein using the leaf‐specific promoter ST‐LS1. Although increases in the H‐protein driven by this promoter have a positive impact on biomass, higher levels of overexpression of this protein driven by the constitutive CaMV 35S promoter result in a reduction in the growth of the plants. Furthermore in these constitutive overexpressor plants, carbon allocation between soluble carbohydrates and starch is altered, as is the protein lipoylation of the enzymes pyruvate dehydrogenase and alpha‐ketoglutarate complexes. Our data provide a clear demonstration of the positive effects of overexpression of the H‐protein to improve yield under field conditions

Quarterly Report (QR3)

In the third quarter, the project has built on the first public release (v0.1), providing additional functionality leading up to the 1.0 production release expected at the end of Q4. An additional public, preview release (v0.2) was produced and a subsequent release (v0.3) is expected just after the close of Q3. The releases are progressing well, with v0.3 expected to be nearly feature-complete, lacking only storage functionalities. The project is well-positioned to release the StratusLab v1.0 distribution at PM12 with the complete set of expected features

Lipoprotein-associated phospholipase A2 (Lp-PLA2) as a therapeutic target to prevent retinal vasopermeability during diabetes

Lipoprotein-associated phospholipase A2 (Lp-PLA2) hydrolyses oxidized low-density lipoproteins into proinflammatory products, which can have detrimental effects on vascular function. As a specific inhibitor of Lp-PLA2, darapladib has been shown to be protective against atherogenesis and vascular leakage in diabetic and hypercholesterolemic animal models. This study has investigated whether Lp-PLA2 and its major enzymatic product, lysophosphatidylcholine (LPC), are involved in blood-retinal barrier (BRB) damage during diabetic retinopathy. We assessed BRB protection in diabetic rats through use of species-specific analogs of darapladib. Systemic Lp-PLA2 inhibition using SB-435495 at 10 mg/kg (i.p.) effectively suppressed BRB breakdown in streptozotocin-diabetic Brown Norway rats. This inhibitory effect was comparable to intravitreal VEGF neutralization, and the protection against BRB dysfunction was additive when both targets were inhibited simultaneously. Mechanistic studies in primary brain and retinal microvascular endothelial cells, as well as occluded rat pial microvessels, showed that luminal but not abluminal LPC potently induced permeability, and that this required signaling by the VEGF receptor 2 (VEGFR2). Taken together, this study demonstrates that Lp-PLA2 inhibition can effectively prevent diabetes-mediated BRB dysfunction and that LPC impacts on the retinal vascular endothelium to induce vasopermeability via VEGFR2. Thus, Lp-PLA2 may be a useful therapeutic target for patients with diabetic macular edema (DME), perhaps in combination with currently administered anti-VEGF agents

State-of-the-art for assessment of solar energy technologies 2019

To realize the EU target of energy transition to a carbon neutral energy system, wide scale deployment of photovoltaic solar energy is required. This report describes the contribution of the European Solar Test Installation to enable this transition.JRC.C.2-Energy Efficiency and Renewable

Kumasi Marketing Strategy: Tourism

Kumasi needs to position itself strategically as a cultural destination, communicate its attributes more effectively to tourists already in Ghana and differentiate itself from other cities and attractions. Position should entail marketing a larger cultural region than just Kumasi. Several positioning statements can transmit Kumasi's new marketing strategy: Kumasi - Heart of the Kingdom of Ashanti, Ashanti - The Hidden Kingdom, Kumasi - Come and See! Kumasi is well placed to capitalize on the growth of tourism in Ghana due to its status as a cultural capital. The financial impact of tourism growth is potentially significant for the city and its surrounding districts. The creation of the Ashanti Region Marketing Corporation is fundamental to proper coordination among stakeholders

Elementary Forms of the Metaphorical Life : Tropes at Work in Durkheim’s Theory of the Religious

Peer reviewedPostprin

Lipoprotein-associated phosphoplipase a2 (lp-pla2) as a therapeutic target to prevent retinal vasopermeability during diabetes

Lipoprotein-associated phospholipase A(2) (Lp-PLA(2)) hydrolyses oxidized low-density lipoproteins into proinflammatory products, which can have detrimental effects on vascular function. As a specific inhibitor of Lp-PLA(2), darapladib has been shown to be protective against atherogenesis and vascular leakage in diabetic and hypercholesterolemic animal models. This study has investigated whether Lp-PLA(2) and its major enzymatic product, lysophosphatidylcholine (LPC), are involved in blood–retinal barrier (BRB) damage during diabetic retinopathy. We assessed BRB protection in diabetic rats through use of species-specific analogs of darapladib. Systemic Lp-PLA(2) inhibition using SB-435495 at 10 mg/kg (i.p.) effectively suppressed BRB breakdown in streptozotocin-diabetic Brown Norway rats. This inhibitory effect was comparable to intravitreal VEGF neutralization, and the protection against BRB dysfunction was additive when both targets were inhibited simultaneously. Mechanistic studies in primary brain and retinal microvascular endothelial cells, as well as occluded rat pial microvessels, showed that luminal but not abluminal LPC potently induced permeability, and that this required signaling by the VEGF receptor 2 (VEGFR2). Taken together, this study demonstrates that Lp-PLA(2) inhibition can effectively prevent diabetes-mediated BRB dysfunction and that LPC impacts on the retinal vascular endothelium to induce vasopermeability via VEGFR2. Thus, Lp-PLA(2) may be a useful therapeutic target for patients with diabetic macular edema (DME), perhaps in combination with currently administered anti-VEGF agents