A sensor fusion layer to cope with reduced visibility in SLAM

Mapping and navigating with mobile robots in scenarios with reduced visibility, e.g. due to smoke, dust, or fog, is still a big challenge nowadays. In spite of the tremendous advance on Simultaneous Localization and Mapping (SLAM) techniques for the past decade, most of current algorithms fail in those environments because they usually rely on optical sensors providing dense range data, e.g. laser range finders, stereo vision, LIDARs, RGB-D, etc., whose measurement process is highly disturbed by particles of smoke, dust, or steam. This article addresses the problem of performing SLAM under reduced visibility conditions by proposing a sensor fusion layer which takes advantage from complementary characteristics between a laser range finder (LRF) and an array of sonars. This sensor fusion layer is ultimately used with a state-of-the-art SLAM technique to be resilient in scenarios where visibility cannot be assumed at all times. Special attention is given to mapping using commercial off-the-shelf (COTS) sensors, namely arrays of sonars which, being usually available in robotic platforms, raise technical issues that were investigated in the course of this work. Two sensor fusion methods, a heuristic method and a fuzzy logic-based method, are presented and discussed, corresponding to different stages of the research work conducted. The experimental validation of both methods with two different mobile robot platforms in smoky indoor scenarios showed that they provide a robust solution, using only COTS sensors, for adequately coping with reduced visibility in the SLAM process, thus decreasing significantly its impact in the mapping and localization results obtained

A sensor fusion layer to cope with reduced visibility in SLAM

Mapping and navigating with mobile robots in scenarios with reduced visibility, e.g. due to smoke, dust, or fog, is still a big challenge nowadays. In spite of the tremendous advance on Simultaneous Localization and Mapping (SLAM) techniques for the past decade, most of current algorithms fail in those environments because they usually rely on optical sensors providing dense range data, e.g. laser range finders, stereo vision, LIDARs, RGB-D, etc., whose measurement process is highly disturbed by particles of smoke, dust, or steam. This article addresses the problem of performing SLAM under reduced visibility conditions by proposing a sensor fusion layer which takes advantage from complementary characteristics between a laser range finder (LRF) and an array of sonars. This sensor fusion layer is ultimately used with a state-of-the-art SLAM technique to be resilient in scenarios where visibility cannot be assumed at all times. Special attention is given to mapping using commercial off-the-shelf (COTS) sensors, namely arrays of sonars which, being usually available in robotic platforms, raise technical issues that were investigated in the course of this work. Two sensor fusion methods, a heuristic method and a fuzzy logic-based method, are presented and discussed, corresponding to different stages of the research work conducted. The experimental validation of both methods with two different mobile robot platforms in smoky indoor scenarios showed that they provide a robust solution, using only COTS sensors, for adequately coping with reduced visibility in the SLAM process, thus decreasing significantly its impact in the mapping and localization results obtained

The multi-modality cardiac imaging approach to the Athlete's heart: an expert consensus of the European Association of Cardiovascular Imaging

The term 'athlete's heart' refers to a clinical picture characterized by a slow heart rate and enlargement of the heart. A multi-modality imaging approach to the athlete's heart aims to differentiate physiological changes due to intensive training in the athlete's heart from serious cardiac diseases with similar morphological features. Imaging assessment of the athlete's heart should begin with a thorough echocardiographic examination. Left ventricular (LV) wall thickness by echocardiography can contribute to the distinction between athlete's LV hypertrophy and hypertrophic cardiomyopathy (HCM). LV end-diastolic diameter becomes larger (>55 mm) than the normal limits only in end-stage HCM patients when the LV ejection fraction is <50%. Patients with HCM also show early impairment of LV diastolic function, whereas athletes have normal diastolic function. When echocardiography cannot provide a clear differential diagnosis, cardiac magnetic resonance (CMR) imaging should be performed. With CMR, accurate morphological and functional assessment can be made. Tissue characterization by late gadolinium enhancement may show a distinctive, non-ischaemic pattern in HCM and a variety of other myocardial conditions such as idiopathic dilated cardiomyopathy or myocarditis. The work-up of athletes with suspected coronary artery disease should start with an exercise ECG. In athletes with inconclusive exercise ECG results, exercise stress echocardiography should be considered. Nuclear cardiology techniques, coronary cardiac tomography (CCT) and/or CMR may be performed in selected cases. Owing to radiation exposure and the young age of most athletes, the use of CCT and nuclear cardiology techniques should be restricted to athletes with unclear stress echocardiography or CMR

Structure of the Mg-Chelatase Cofactor GUN4 Reveals a Novel Hand-Shaped Fold for Porphyrin Binding

In plants, the accumulation of the chlorophyll precursor Mg-protoporphyrin IX (Mg-Proto) in the plastid regulates the expression of a number of nuclear genes with functions related to photosynthesis. Analysis of the plastid-to-nucleus signaling activity of Mg-Proto in Arabidopsis thaliana led to the discovery of GUN4, a novel porphyrin-binding protein that also dramatically enhances the activity of Mg-chelatase, the enzyme that synthesizes Mg-Proto. GUN4 may also play a role in both photoprotection and the cellular shuttling of tetrapyrroles. Here we report a 1.78-Å resolution crystal structure of Synechocystis GUN4, in which the porphyrin-binding domain adopts a unique three dimensional fold with a “cupped hand” shape. Biophysical and biochemical analyses revealed the specific site of interaction between GUN4 and Mg-Proto and the energetic determinants for the GUN4 • Mg-Proto interaction. Our data support a novel protective function for GUN4 in tetrapyrrole trafficking. The combined structural and energetic analyses presented herein form the physical-chemical basis for understanding GUN4 biological activity, including its role in the stimulation of Mg-chelatase activity, as well as in Mg-Proto retrograde signaling

Tumour-derived alkaline phosphatase regulates tumour growth, epithelial plasticity and disease-free survival in metastatic prostate cancer

BACKGROUND: Recent evidence suggests that bone-related parameters are the main prognostic factors for overall survival in advanced prostate cancer (PCa), with elevated circulating levels of alkaline phosphatase (ALP) thought to reflect the dysregulated bone formation accompanying distant metastases. We have identified that PCa cells express ALPL, the gene that encodes for tissue nonspecific ALP, and hypothesised that tumour-derived ALPL may contribute to disease progression. METHODS: Functional effects of ALPL inhibition were investigated in metastatic PCa cell lines. ALPL gene expression was analysed from published PCa data sets, and correlated with disease-free survival and metastasis. RESULTS: ALPL expression was increased in PCa cells from metastatic sites. A reduction in tumour-derived ALPL expression or ALP activity increased cell death, mesenchymal-to-epithelial transition and reduced migration. Alkaline phosphatase activity was decreased by the EMT repressor Snail. In men with PCa, tumour-derived ALPL correlated with EMT markers, and high ALPL expression was associated with a significant reduction in disease-free survival. CONCLUSIONS: Our studies reveal the function of tumour-derived ALPL in regulating cell death and epithelial plasticity, and demonstrate a strong association between ALPL expression in PCa cells and metastasis or disease-free survival, thus identifying tumour-derived ALPL as a major contributor to the pathogenesis of PCa progression.British Journal of Cancer advance online publication, 22 December 2016; doi:10.1038/bjc.2016.402 www.bjcancer.com

Mathematical model of a telomerase transcriptional regulatory network developed by cell-based screening: analysis of inhibitor effects and telomerase expression mechanisms

Cancer cells depend on transcription of telomerase reverse transcriptase (TERT). Many transcription factors affect TERT, though regulation occurs in context of a broader network. Network effects on telomerase regulation have not been investigated, though deeper understanding of TERT transcription requires a systems view. However, control over individual interactions in complex networks is not easily achievable. Mathematical modelling provides an attractive approach for analysis of complex systems and some models may prove useful in systems pharmacology approaches to drug discovery. In this report, we used transfection screening to test interactions among 14 TERT regulatory transcription factors and their respective promoters in ovarian cancer cells. The results were used to generate a network model of TERT transcription and to implement a dynamic Boolean model whose steady states were analysed. Modelled effects of signal transduction inhibitors successfully predicted TERT repression by Src-family inhibitor SU6656 and lack of repression by ERK inhibitor FR180204, results confirmed by RT-QPCR analysis of endogenous TERT expression in treated cells. Modelled effects of GSK3 inhibitor 6-bromoindirubin-3′-oxime (BIO) predicted unstable TERT repression dependent on noise and expression of JUN, corresponding with observations from a previous study. MYC expression is critical in TERT activation in the model, consistent with its well known function in endogenous TERT regulation. Loss of MYC caused complete TERT suppression in our model, substantially rescued only by co-suppression of AR. Interestingly expression was easily rescued under modelled Ets-factor gain of function, as occurs in TERT promoter mutation. RNAi targeting AR, JUN, MXD1, SP3, or TP53, showed that AR suppression does rescue endogenous TERT expression following MYC knockdown in these cells and SP3 or TP53 siRNA also cause partial recovery. The model therefore successfully predicted several aspects of TERT regulation including previously unknown mechanisms. An extrapolation suggests that a dominant stimulatory system may programme TERT for transcriptional stability

Monocytes regulate the mechanism of T-cell death by inducing Fas-mediated apoptosis during bacterial infection.

Monocytes and T-cells are critical to the host response to acute bacterial infection but monocytes are primarily viewed as amplifying the inflammatory signal. The mechanisms of cell death regulating T-cell numbers at sites of infection are incompletely characterized. T-cell death in cultures of peripheral blood mononuclear cells (PBMC) showed 'classic' features of apoptosis following exposure to pneumococci. Conversely, purified CD3(+) T-cells cultured with pneumococci demonstrated necrosis with membrane permeabilization. The death of purified CD3(+) T-cells was not inhibited by necrostatin, but required the bacterial toxin pneumolysin. Apoptosis of CD3(+) T-cells in PBMC cultures required 'classical' CD14(+) monocytes, which enhanced T-cell activation. CD3(+) T-cell death was enhanced in HIV-seropositive individuals. Monocyte-mediated CD3(+) T-cell apoptotic death was Fas-dependent both in vitro and in vivo. In the early stages of the T-cell dependent host response to pneumococci reduced Fas ligand mediated T-cell apoptosis was associated with decreased bacterial clearance in the lung and increased bacteremia. In summary monocytes converted pathogen-associated necrosis into Fas-dependent apoptosis and regulated levels of activated T-cells at sites of acute bacterial infection. These changes were associated with enhanced bacterial clearance in the lung and reduced levels of invasive pneumococcal disease

Secular evolution versus hierarchical merging: galaxy evolution along the Hubble sequence, in the field and rich environments

In the current galaxy formation scenarios, two physical phenomena are invoked to build disk galaxies: hierarchical mergers and more quiescent external gas accretion, coming from intergalactic filaments. Although both are thought to play a role, their relative importance is not known precisely. Here we consider the constraints on these scenarios brought by the observation-deduced star formation history on the one hand, and observed dynamics of galaxies on the other hand: the high frequency of bars and spirals, the high frequency of perturbations such as lopsidedness, warps, or polar rings. All these observations are not easily reproduced in simulations without important gas accretion. N-body simulations taking into account the mass exchange between stars and gas through star formation and feedback, can reproduce the data, only if galaxies double their mass in about 10 Gyr through gas accretion. Warped and polar ring systems are good tracers of this accretion, which occurs from cold gas which has not been virialised in the system's potential. The relative importance of these phenomena are compared between the field and rich clusters. The respective role of mergers and gas accretion vary considerably with environment.Comment: 18 pages, 8 figures, review paper to "Penetrating Bars through Masks of Cosmic Dust: the Hubble Tuning Fork Strikes a New Note", Pilanesberg, ed. D. Block et al., Kluwe

Attractor dynamics approach to joint transportation by autonomous robots: theory, implementation and validation on the factory floor

This paper shows how non-linear attractor dynamics can be used to control teams of two autonomous mobile robots that coordinate their motion in order to transport large payloads in unknown environments, which might change over time and may include narrow passages, corners and sharp U-turns. Each robot generates its collision-free motion online as the sensed information changes. The control architecture for each robot is formalized as a non-linear dynamical system, where by design attractor states, i.e. asymptotically stable states, dominate and evolve over time. Implementation details are provided, and it is further shown that odometry or calibration errors are of no significance. Results demonstrate flexible and stable behavior in different circumstances: when the payload is of different sizes; when the layout of the environment changes from one run to another; when the environment is dynamice.g. following moving targets and avoiding moving obstacles; and when abrupt disturbances challenge team behavior during the execution of the joint transportation task.- This work was supported by FCT-Fundacao para a Ciencia e Tecnologia within the scope of the Project PEst-UID/CEC/00319/2013 and by the Ph.D. Grants SFRH/BD/38885/2007 and SFRH/BPD/71874/2010, as well as funding from FP6-IST2 EU-IP Project JAST (Proj. Nr. 003747). We would like to thank the anonymous reviewers, whose comments have contributed to improve the paper