HeLiPR: Heterogeneous LiDAR Dataset for inter-LiDAR Place Recognition under Spatial and Temporal Variations

Place recognition is crucial for robotic localization and loop closure in simultaneous localization and mapping (SLAM). Recently, LiDARs have gained popularity due to their robust sensing capability and measurement consistency, even in the illumination-variant environment, offering an advantage over traditional imaging sensors. Spinning LiDARs are widely accepted among many types, while non-repetitive scanning patterns have recently been utilized in robotic applications. Beyond the range measurements, some LiDARs offer additional measurements, such as reflectivity, Near Infrared (NIR), and velocity (e.g., FMCW LiDARs). Despite these advancements, a noticeable dearth of datasets comprehensively reflects the broad spectrum of LiDAR configurations optimized for place recognition. To tackle this issue, our paper proposes the HeLiPR dataset, curated especially for place recognition with heterogeneous LiDAR systems, embodying spatial-temporal variations. To the best of our knowledge, the HeLiPR dataset is the first heterogeneous LiDAR dataset designed to support inter-LiDAR place recognition with both non-repetitive and spinning LiDARs, accommodating different field of view (FOV) and varying numbers of rays. Encompassing the distinct LiDAR configurations, it captures varied environments ranging from urban cityscapes to high-dynamic freeways over a month, designed to enhance the adaptability and robustness of place recognition across diverse scenarios. Notably, the HeLiPR dataset also includes trajectories that parallel sequences from MulRan, underscoring its utility for research in heterogeneous LiDAR place recognition and long-term studies. The dataset is accessible at https: //sites.google.com/view/heliprdataset.Comment: 9 pages, 9 figures, 5 table

TRansPose: Large-Scale Multispectral Dataset for Transparent Object

Transparent objects are encountered frequently in our daily lives, yet recognizing them poses challenges for conventional vision sensors due to their unique material properties, not being well perceived from RGB or depth cameras. Overcoming this limitation, thermal infrared cameras have emerged as a solution, offering improved visibility and shape information for transparent objects. In this paper, we present TRansPose, the first large-scale multispectral dataset that combines stereo RGB-D, thermal infrared (TIR) images, and object poses to promote transparent object research. The dataset includes 99 transparent objects, encompassing 43 household items, 27 recyclable trashes, 29 chemical laboratory equivalents, and 12 non-transparent objects. It comprises a vast collection of 333,819 images and 4,000,056 annotations, providing instance-level segmentation masks, ground-truth poses, and completed depth information. The data was acquired using a FLIR A65 thermal infrared (TIR) camera, two Intel RealSense L515 RGB-D cameras, and a Franka Emika Panda robot manipulator. Spanning 87 sequences, TRansPose covers various challenging real-life scenarios, including objects filled with water, diverse lighting conditions, heavy clutter, non-transparent or translucent containers, objects in plastic bags, and multi-stacked objects. TRansPose dataset can be accessed from the following link: https://sites.google.com/view/transpose-datasetComment: Under revie

Generation of a recombinant antibody for sensitive detection of Pseudomonas aeruginosa

Pseudomonas aeruginosa (P. aeruginosa) is a major pathogen that causes nosocomial infections and often exhibits antibiotic resistance. Therefore, the development of an accurate method for detecting P. aeruginosa is required to control P. aeruginosa-related outbreaks. In this study, we established an enzyme-linked immunosorbent assay method for the sensitive detection of three P. aeruginosa strains, UCBPP PA14, ATCC 27853, and multidrug-resistant ATCC BAA-2108. We produced a recombinant antibody (rAb) against P. aeruginosa V‐antigen (PcrV), which is a needle tip protein of the type III secretion system of P. aeruginosa using mammalian cells with high yield and purity, and confirmed its P. aeruginosa binding efficiency. The rAb was paired with commercial anti-P. aeruginosa Ab for a sandwich ELISA, resulting in an antigen-concentration-dependent response with a limit of detection value of 230 CFU/mL. These results suggest that the rAb produced herein can be used for the sensitive detection of P. aeruginosa with a wide range of applications in clinical diagnosis and point-of-care testing.This work was funded by the Korea Medical Device Development Fund grant funded by the Korea government (KMDF_PR_20200901_0073), NRF grants funded by the Korean government (NRF-2020R1I1A307411712, 2021H1D3A2A02096525) and 2022 Hongik University Research Fund

SARS-CoV-2 aberrantly elevates mitochondrial bioenergetics to induce robust virus propagation

Severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) is a 'highly transmissible respiratory pathogen, leading to severe multi-organ damage. However, knowledge regarding SARS-CoV-2-induced cellular alterations is limited. In this study, we report that SARS-CoV-2 aberrantly elevates mitochondrial bioenergetics and activates the EGFR-mediated cell survival signal cascade during the early stage of viral infection. SARS-CoV-2 causes an increase in mitochondrial transmembrane potential via the SARS-CoV-2 RNA-nucleocapsid cluster, thereby abnormally promoting mitochondrial elongation and the OXPHOS process, followed by enhancing ATP production. Furthermore, SARS-CoV-2 activates the EGFR signal cascade and subsequently induces mitochondrial EGFR trafficking, contributing to abnormal OXPHOS process and viral propagation. Approved EGFR inhibitors remarkably reduce SARS-CoV-2 propagation, among which vandetanib exhibits the highest antiviral efficacy. Treatment of SARS-CoV-2-infected cells with vandetanib decreases SARS-CoV-2-induced EGFR trafficking to the mitochondria and restores SARS-CoV-2-induced aberrant elevation in OXPHOS process and ATP generation, thereby resulting in the reduction of SARS-CoV-2 propagation. Furthermore, oral administration of vandetanib to SARS-CoV-2-infected hACE2 transgenic mice reduces SARS-CoV-2 propagation in lung tissue and mitigates SARS-CoV-2-induced lung inflammation. Vandetanib also exhibits potent antiviral activity against various SARS-CoV-2 variants of concern, including alpha, beta, delta and omicron, in in vitro cell culture experiments. Taken together, our findings provide novel insight into SARS-CoV-2-induced alterations in mitochondrial dynamics and EGFR trafficking during the early stage of viral infection and their roles in robust SARS-CoV-2 propagation, suggesting that EGFR is an attractive host target for combating COVID-19

Cardiac Autonomic Neuropathy as a Predictor of Deterioration of the Renal Function in Normoalbuminuric, Normotensive Patients with Type 2 Diabetes Mellitus

Our study was performed to determine whether cardiac autonomic neuropathy can predict deterioration of the renal function in normoalbuminuric, normotensive people with type 2 diabetes mellitus (DM). One hundred and fifty-six normoalbuminuric, normotensive people with type 2 DM were included in our retrospective longitudinal study. We categorized normal patterns, early patterns, and definite or severe patterns according to the results of the cardiac autonomic function test. Of 156 patients included, 54 had normal patterns, 75 had early patterns, 25 had definite or severe patterns, and 2 had atypical patterns. During a median follow-up of nine years, glomerular filtration rates (GFR) remained stable in the normal and early pattern groups (mean changes, 4.50% and 0.77%, respectively) but declined in those with definite or severe patterns (mean change, -10.28%; p=0.047). An abnormal heart response to the deep breathing test of the cardiac autonomic function tests was an independent predictor of GFR decline. Our data suggest that cardiac autonomic neuropathy, especially with a definite or severe pattern, might be associated with a subsequent deterioration in renal function in normoalbuminuric, normotensive people with type 2 DM

Minimal Proteinuria One Year after Transplant is a Risk Factor for Graft Survival in Kidney Transplantation

It is generally accepted that one-year post-transplant proteinuria over 0.5 gm per day has a negative impact on renal graft survival. In this study, the effects of minimal proteinuria less than 0.5 g/day were analyzed in 272 renal recipients who had survived for one year with a functioning graft. Recipients were classified by one-year post-transplant proteinuria: no proteinuria group (<0.2 g/day), minimal proteinuria group (0.2-0.5 g/day), and overt proteinuria group (≥0.5 g/day). Recipients were followed up for 87.1±21 months after transplantation and 38 (13.9%) lost their graft during follow-up. Fifteen percent of patients had minimal proteinuria and 7.8% had overt proteinuria. Five-year graft survival in the minimal proteinuria group was 83.0%, and that in the overt proteinuria group was 70%, in contrast to 97.1% in the no proteinuria group (p=0.01 for trend). In a multivariate analysis, the minimal proteinuria group (relative risk [RR], 4.90; 95% confidence interval [CI], 2.09-11.46) and the overt proteinuria group (RR, 8.75; 95% CI, 3.29-23.29) had higher risks of graft failure than the no proteinuria group. Even minimal proteinuria at one year after transplantation was strongly associated with poor graft outcome. Therefore, it appears logical to consider a low level of proteinuria as a risk factor for graft survival in renal recipients

N-terminal Pro-Brain Natriuretic Peptide Levels Predict Left Ventricular Systolic Function in Patients with Chronic Kidney Disease

N-terminal pro-brain natriuretic peptide (NT-proBNP) can be a useful marker for left ventricular (LV) dysfunction in patients without kidney disease. This study was conducted to clarify the relationship between NT-proBNP and LV systolic function in patients with decreased renal function. We studied 256 chronic kidney disease (CKD) patients, patients on dialysis were excluded. The median glomerular filtration rate was 24 (13-36) mL/min/1.73 m2 and the median NT-proBNP was 4,849 (1,310-19,009) pg/mL. The prevalence of LV systolic dysfunction increased from the lower to the upper NT-proBNP quartiles (I, 17%; II, 34%; III, 61%; and IV, 72%; p<0.001 for trend). The NT-proBNP quartile was an independent predictor of LV systolic dysfunction after adjustment for renal function, compared with quartile I: II, odds ratio (OR) 3.99 (95% confidence interval [CI],1.34-11.93); III, OR 11.28 (95% CI, 3.74-33.95); and IV, OR 36.97 (95% CI, 11.47-119.1). Area under the curve and optimum cut points for NT-proBNP to detect LV systolic dysfunction were 0.781 and 2,165 pg/mL in CKD stage 3, 0.812 and 4,740 pg/mL in CKD stage 4, and 0.745 and 15,892 pg/mL in CKD stage 5. The NT-proBNP level was a predictor of LV systolic dysfunction in CKD patients. Optimum cut points should be stratified according to renal function

Assessment of Deceased Donor Kidneys Using a Donor Scoring System

∙The authors have no financial conflicts of interest. Purpose: Marginal grafts should be used more actively in Asian countries where deceased donor transplantation is unpopular. We modified a quantitative donor scoring system proposed by Nyberg and his colleagues and developed a donor scoring system in order to assess the quality of deceased donor grafts and their prognostic value as an initial effort to promote usage of marginal donors. Materials and Methods: We retrospectively evaluated 337 patients. Results: A scoring system was derived from six donor variables [age, 0-25; renal function, 0-4; history of hypertension