ReSyRIS: A Real-Synthetic Rock Instance Segmentation Dataset for Training and Benchmarking

The exploration of our solar system for understanding its creation and investigating potential chances of life on other celestial bodies is a fundamental drive of human mankind. After early telescope-based observation, Apollo 11 was the first space mission able to collect samples on the lunar surface and take them back to earth for analysis. Especially in recent years this trend accelerates again, and many successors were (or are in the process of being) launched into space for extra-terrestrial sample extraction. Yet, the abundance of potential failures makes these missions extremely challenging. For operations aimed at deeper parts of the solar system, the operational working distance extends even further, and communication delay and limited bandwidth increase complexity. Consequently, sample extraction missions are designed to be more autonomous in order to carry out large parts without human intervention. One specific sub-task particularly suitable for automation is the identification of relevant extraction candidates. While there exists several approaches for rock sample identification, there are often limiting factors in the form of applicable training data, lack of suitable annotations of the very same, and unclear performance of the algorithms in extra-terrestrial environments because of inadequate test data. To address these issues, we present ReSyRIS (Real-Synthetic Rock Instance Segmentation Dataset), which consists of real-world images together with their manually created synthetic counterpart. The real-world part is collected in a quasi-extra-terrestrial environment on Mt. Etna in Sicily, and focuses recordings of several rock sample sites. Every scene is re-created in OAISYS, a Blender-based data generation pipeline for unstructured outdoor environments, for which the required meshes and textures are extracted from the volcano site. This allows not only precise re-construction of the scenes in a synthetic environment, but also generation of highly realistic training data with automatic annotations in similar fashion to the real recordings. We finally investigate the generalization capability of a neural network trained on incrementally altered versions of synthetic data to explore potential sim-to-real gaps. The real-world dataset together with the OAISYS config files to create its synthetic counterpart are publicly available at https://rm.dlr.de/resyris_en. With this novel benchmark on extra-terrestrial stone instance segmentation we hope to further push the boundaries of autonomous rock sample extraction

Gender-Specific Differences in Serum Sphingomyelin Species in Patients with Hepatitis C Virus Infection—Sphingomyelin Species Are Related to the Model of End-Stage Liver Disease (MELD) Score in Male Patients

Hepatitis C virus (HCV) replication depends on cellular sphingomyelin (SM), but serum SM composition in chronic HCV infection has been hardly analyzed. In this work, 18 SM species could be quantified in the serum of 178 patients with chronic HCV infection before therapy with direct-acting antivirals (DAAs) and 12 weeks later, when therapy was completed. Six SM species were higher in the serum of females than males before therapy and nine at the end of therapy; thus, sex-specific analysis was performed. Type 2 diabetes was associated with lower serum levels of SM 36:2;O2 and 38:2;O2 in men. Serum SM species did not correlate with the viral load in both sexes. Of note, three SM species were lower in males infected with HCV genotype 3 in comparison to genotype 1 infection. These SM species normalized after viral cure. SM 38:1;O2, 40:1;O2, 41:1;O2, and 42:1;O2 (and, thus, total SM levels) were higher in the serum of both sexes at the end of therapy. In males, SM 39:1;O2 was induced in addition, and higher levels of all of these SM species were already detected at 4 weeks after therapy has been started. Serum lipids are related to liver disease severity, and in females 15 serum SM species were low in patients with liver cirrhosis before initiation of and after treatment with DAAs. The serum SM species did not correlate with the model of end-stage liver disease (MELD) score in the cirrhosis and the non-cirrhosis subgroups in females. In HCV-infected male patients, nine SM species were lower in the serum of patients with cirrhosis before DAA treatment and eleven at the end of the study. Most of the SM species showed strong negative correlations with the MELD score in the male cirrhosis patients before DAA treatment and at the end of therapy. Associations of SM species with the MELD score were not detected in the non-cirrhosis male subgroup. In summary, the current analysis identified sex-specific differences in the serum levels of SM species in HCV infection, in liver cirrhosis, and during DAA therapy. Correlations of SM species with the MELD score in male but not in female patients indicate a much closer association between SM metabolism and liver function in male patients

Serum Ceramide Species Are Associated with Liver Cirrhosis and Viral Genotype in Patients with Hepatitis C Infection.

Hepatitis C virus (HCV) infection affects ceramide metabolism, and, here, we have evaluated associations of eight serum ceramide species with viral load, viral genotype, and disease markers in 178 patients with chronic HCV. In this cohort, ceramide d18:1;O2/16:0 was higher in the serum of the 20 diabetic patients compared to the patients without this complication. Moreover, ceramide d18:1;O2/24:0 was negatively correlated with age. Of note, all but ceramide d18:1;O2/16:0 and 26:0 were diminished in the serum of patients with liver cirrhosis and, with the exception of ceramide d18:1;O2/16:0, were negatively correlated with the model for end-stage liver disease (MELD) score. Most of the serum ceramides are carried in low-density lipoprotein (LDL), which rises following effective direct-acting antiviral (DAA) therapy. Ceramide d18:1;O2/24:0 recovered in parallel with LDL, whereas ceramide d18:1;O2/18:0 declined. Genotype-3-infected patients had the lowest ceramide levels, which were comparable to other genotypes after DAA treatment. Notably, ceramide d18:1;O2/23:0 and 24:0 were negatively correlated with the MELD score in patients with liver cirrhosis at the end of DAA therapy. Long-chain (LC) ceramides show adverse effects, whereas very-long-chain (VL) species have protective functions in the liver. The ratio of VL/LC ceramides was higher in non-cirrhosis patients than cirrhosis patients and further increased at the end of therapy in this subgroup. In summary, our study shows that serum ceramide levels are related to liver cirrhosis and viral genotype. Whether the more favorable serum ceramide profile in non-cirrhosis patients, before and after DAA therapy, is of pathophysiological importance needs further investigation

HCV Infection and Liver Cirrhosis Are Associated with a Less-Favorable Serum Cholesteryl Ester Profile Which Improves through the Successful Treatment of HCV

Background: Infection with hepatitis C virus (HCV) lowers serum cholesterol levels, which rapidly recover during therapy with direct-acting antivirals (DAAs). Serum cholesterol is also reduced in patients with liver cirrhosis. Studies investigating serum cholesterol in patients with chronic liver diseases are generally based on enzymatic assays providing total cholesterol levels. Hence, these studies do not account for the individual cholesteryl ester (CE) species, which have different properties according to acyl chain length and desaturation. Methods: Free cholesterol (FC) and 15 CE species were quantified by flow injection analysis high-resolution Fourier Transform mass spectrometry (FIA-FTMS) in the serum of 178 patients with chronic HCV before therapy and during treatment with DAAs. Results: Serum CEs were low in HCV patients with liver cirrhosis and, compared to patients without cirrhosis, proportions of CE 16:0 and 16:1 were higher whereas % CE 20:4 and 20:5 were reduced. FC levels were unchanged, and the CE/FC ratio was consequently low in cirrhosis. FC and CEs did not correlate with viral load. Four CE species were reduced in genotype 3 compared to genotype 1-infected patients. During DAA therapy, 9 of the 15 measured CE species, and the CE/FC ratio, increased. Relative to total CE levels, % CE 16:0 declined and % CE 18:3 was higher at therapy end. At this time, % CE 14:0, 16:0 and 16:1 were higher and % CE 20:4 and 22:6 were lower in the cirrhosis than the non-cirrhosis patients. Viral genotype associated changes of CEs disappeared at therapy end. Conclusions: The serum CE composition differs between patients with and without liver cirrhosis, and changes through the efficient elimination of HCV. Overall, HCV infection and cirrhosis are associated with a higher proportion of CE species with a lower number of carbon atoms and double bonds, reflecting a less-favorable CE profile

Rising Lysophosphatidylcholine Levels Post-Hepatitis C Clearance

Hepatitis C virus (HCV) infection alters lysophosphatidylcholine (LPC) metabolism, enhancing viral infectivity and replication. Direct-acting antivirals (DAAs) effectively treat HCV and rapidly normalize serum cholesterol. In serum, LPC species are primarily albumin-bound but are also present in lipoprotein particles. This study aims to assess the impact of HCV eradication on serum LPC species levels in patients infected with HCV. Therefore, 12 different LPC species were measured by electrospray ionization tandem mass spectrometry (ESI-MS/MS) in the sera of 178 patients with chronic HCV infections at baseline, and in 176 of these patients after therapy with DAAs. All LPC species increased at 4 and 12 weeks post-initiation of DAA therapy. The serum profiles of the LPC species were similar before and after the viral cure. Patients with HCV and liver cirrhosis exhibited lower serum levels of all LPC species, except LPC 16:1, both before and after DAA treatment. Percentages of LPC 18:1 (relative to the total LPC level) were higher, and % LPC 22:5 and 22:6 were lower in cirrhotic compared to non-cirrhotic patients at baseline and at the end of therapy. LPC species levels inversely correlated with the model of end-stage liver disease score and directly with baseline and post-therapy albumin levels. Receiver operating characteristic curve analysis indicated an area under the curve of 0.773 and 0.720 for % LPC 18:1 (relative to total LPC levels) for classifying fibrosis at baseline and post-therapy, respectively. In summary, HCV elimination was found to increase all LPC species and elevated LPC 18:1 relative to total LPC levels may have pathological significance in HCV-related liver cirrhosis

Sex-specific changes in triglyceride profiles in liver cirrhosis and hepatitis C virus infection

Background Hepatitis C virus (HCV) infection is associated with serum lipid abnormalities, which partly normalize following direct-acting antiviral (DAA) therapy. Here, associations of serum triglycerides (TGs) with viral genotype and markers of liver disease severity were evaluated in patients with chronic HCV. Methods The study included the serum of 177 patients with chronic HCV. TGs were quantified by flow injection analysis Fourier transform mass spectrometry. Laboratory values and noninvasive scores for liver fibrosis assessment were determined. The nonparametric Kruskal‒Wallis test, one-way ANOVA, multiple linear regression and Student’s t test were used as appropriate. P values were adjusted for multiple comparisons. Results HCV-infected women had lower serum TGs than men, and thus, a sex-specific analysis was performed. None of the 46 TG species analyzed differed in the serum of female patients with and without liver cirrhosis. In contrast, in the serum of male patients with liver cirrhosis, TGs with 53, 56 and 58 carbon atoms and three to eight double bonds were diminished. These polyunsaturated TGs were also low in males with a high fibrosis-4 score. TGs with 7 or 8 double bonds negatively correlated with the model of end-stage liver disease score in males. In addition, TGs with 49, 51 and 53 carbon atoms were reduced in male patients infected with genotype 3a in comparison to genotype 1a. TGs with 56 carbon atoms were lower in genotype 3a-infected males than in genotype 1b-infected males. TGs did not differ in females by genotype. Genotype 3-related changes disappeared at the end of therapy with DAAs. Overall, the levels of serum TGs did not change during DAA therapy in either sex. Consequently, the serum TGs of males with liver cirrhosis were lower than those of males without cirrhosis at the end of therapy. Such a difference was not apparent in females. Conclusions The decline in TGs observed only in male patients with liver cirrhosis and male patients infected with genotype 3 illustrates sex-specific changes in lipid metabolism in chronic HCV

Interactive OAISYS: A photorealistic terrain simulation for robotics research

Photorealistic simulation pipelines are crucial for the development of novel robotic methods and modern machine vision approaches. Simulations have been particularly popular for generating labeled synthetic data sets, which otherwise would require vast efforts of manual annotation when using real data. However, these simulators are usually not interactive, and the data generation process cannot be interrupted. Therefore, these simulators are not suitable for evaluating active methods, such as active learning or perception aware path planning, which make decisions based on the observed perception data. In order to address this problem, we propose a modified version of the simulator OAISYS, a photorealistic scene simulator for unstructured outdoor environments. We extended the simulator in order to use it in an interactive way, and implemented a developer-friendly RPC interface so that it is easy for any environment to integrate into the simulator. In this paper, we demonstrate the functionality of the extension on 3D scene reconstruction to show its future research potential and provide an example of the implementation using the middleware ROS. The code is publicly available under https://github.com/DLR-RM/oaisy

Uncertainty Estimation for Planetary Robotic Terrain Segmentation

Terrain Segmentation information is crucial input for current and future planetary robotic missions. Labeling training data for terrain segmentation is a difficult task and can often cause semantic ambiguity. As a result, large portion of an image usually remains unlabeled. Therefore, it is difficult to evaluate network performance on such regions. Worse is the problem of using such a network for inference, since the quality of predictions cannot be guaranteed if trained with a standard semantic segmentation network. This can be very dangerous for real autonomous robotic missions since the network could predict any of the classes in a particular region, and the robot does not know how much of the prediction to trust. To overcome this issue, we investigate the benefits of uncertainty estimation for terrain segmentation. Knowing how certain the network is about its prediction is an important element for a robust autonomous navigation. In this paper, we present neural networks, which not only give a terrain segmentation prediction, but also an uncertainty estimation. We compare the different methods on the publicly released real world Mars data from the MSL mission

Testing for the MMX Rover Autonomous Navigation Experiment on Phobos

The MMX rover will explore the surface of Phobos, Mars´ bigger moon. It will use its stereo cameras for perceiving the environment, enabling the use of vision based autonomous navigation algorithms. The German Aerospace Center (DLR) is currently developing the corresponding autonomous navigation experiment that will allow the rover to efficiently explore the surface of Phobos, despite limited communication with Earth and long turn-around times for operations. This paper discusses our testing strategy regarding the autonomous navigation solution. We present our general testing strategy for the software considering a development approach with agile aspects. We detail, how we ensure successful integration with the rover system despite having limited access to the flight hardware. We furthermore discuss, what environmental conditions on Phobos pose a potential risk for the navigation algorithms and how we test for these accordingly. Our testing is mostly data set-based and we describe our approaches for recording navigation data that is representative both for the rover system and also for the Phobos environment. Finally, we make the corresponding data set publicly available and provide an overview on its content

In-Orbit Performance of the GRACE Follow-on Laser Ranging Interferometer

The Laser Ranging Interferometer (LRI) instrument on the Gravity Recovery and Climate Experiment (GRACE) Follow-On mission has provided the first laser interferometric range measurements between remote spacecraft, separated by approximately 220 km. Autonomous controls that lock the laser frequency to a cavity reference and establish the 5 degrees of freedom two-way laser link between remote spacecraft succeeded on the first attempt. Active beam pointing based on differential wave front sensing compensates spacecraft attitude fluctuations. The LRI has operated continuously without breaks in phase tracking for more than 50 days, and has shown biased range measurements similar to the primary ranging instrument based on microwaves, but with much less noise at a level of 1 nm/Hz at Fourier frequencies above 100 mHz. © 2019 authors. Published by the American Physical Society