Lidar-Based Relative Position Estimation and Tracking for Multi-Robot Systems

Relative positioning systems play a vital role in current multi-robot systems. We present a self-contained detection and tracking approach, where a robot estimates a distance (range) and an angle (bearing) to another robot using measurements extracted from the raw data provided by two laser range finders. We propose a method based on the detection of circular features with least-squares fitting and filtering out outliers using a map-based selection. We improve the estimate of the relative robot position and reduce its uncertainty by feeding measurements into a Kalman filter, resulting in an accurate tracking system. We evaluate the performance of the algorithm in a realistic indoor environment to demonstrate its robustness and reliability

The marine activities performed within the TOMO-ETNA experiment

The TOMO-ETNA experiment was planned in order to obtain a detailed geological and structural model of the continental and oceanic crust beneath Mt. Etna volcano and northeastern Sicily up to the Aeolian Islands (southern Italy), by integrating data from active and passive refraction and reflection seismic methodologies, magnetic and gravity surveys. This paper focuses on the marine activities performed within the experiment, which have been carried out in the Ionian and Tyrrhenian Seas, during three multidisciplinary oceanographic cruises, involving three research vessels (\u201cSarmiento de Gamboa\u201d, \u201cGalatea\u201d and \u201cAegaeo\u201d) belonging to different countries and institutions. During the offshore surveys about 9700 air-gun shots were produced to achieve a high-resolution seismic tomography through the wide-angle seismic refraction method, covering a total of nearly 2650 km of shooting tracks. To register ground motion, 27 ocean bottom seismometers were deployed, extending the inland seismic permanent network of the Istituto Nazionale di Geofisica e Vulcanologia (INGV) and a temporary network installed for the experiment. A total of 1410 km of multi-channel seismic reflection profiles were acquired to image the subsurface of the area and to achieve a 2D velocity model for each profile. Multibeam sonar and sub bottom profiler data were also collected. Moreover, a total of 2020 km of magnetic and 680 km of gravity track lines were acquired to compile magnetic and gravity anomaly maps offshore Mt. Etna volcano. Here, high-resolution images of the seafloor, as well as sediment and rock samples, were also collected using a remotely operated vehicle

Genetic heterogeneity and actionable mutations in HER2-positive primary breast cancers and their brain metastases

Brain metastases constitute a challenge in the management of patients with HER2- positive breast cancer treated with anti-HER2 systemic therapies. Here we sought to define the repertoire of mutations private to or enriched for in HER2-positive brain metastases. Massively parallel sequencing targeting all exons of 254 genes frequently mutated in breast cancers and/or related to DNA repair was used to characterize the spatial and temporal heterogeneity of HER2-positive breast cancers and their brain metastases in six patients. Data were analyzed with state-of-the-art bioinformatics algorithms and selected mutations were validated with orthogonal methods. Spatial and temporal inter-lesion genetic heterogeneity was observed in the HER2-positive brain metastases from an index patient subjected to a rapid autopsy. Genetic alterations restricted to the brain metastases included mutations in cancer genes FGFR2, PIK3CA and ATR, homozygous deletion in CDKN2A and amplification in KRAS. Shifts in clonal composition and the acquisition of additional mutations in the progression from primary HER2-positive breast cancer to brain metastases following anti-HER2 therapy were investigated in additional five patients. Likely pathogenic mutations private to or enriched in the brain lesions affected cancer and clinically actionable genes, including ATR, BRAF, FGFR2, MAP2K4, PIK3CA, RAF1 and TP53. Changes in clonal composition and the acquisition of additional mutations in brain metastases may affect potentially actionable genes in HER2-positive breast cancers. Our observations have potential clinical implications, given that treatment decisions for patients with brain metastatic disease are still mainly based on biomarkers assessed in the primary tumor

Effects of ocean acidification on skeletal characteristics of a temperate coral at a CO2 vent system

Ocean Acidification (OA) is predicted to have profound impacts on marine ecosystems because carbonate ions are an essential substrate for the biomineralization of shells and skeletons of calcifying marine organisms, from phytoplankton and corals to fishes1,2,3. Volcanic CO2 vent systems, where seawater is naturally acidified, offer a unique opportunity to investigate the response of benthic organisms and habitats to OA. The Ischia Island (Tyrrhenian Sea, Italy) offers a natural laboratory for OA studies, allowing us to investigate how a suite of habitats and species responds to acidification. A. calycularis is a Mediterranean endemic azooxanthellate coral. It is long-lived species and commonly found in dim light shallow rocky habitats of the south-western Mediterranean Sea4. It broods its larvae5 and thus has relatively low dispersal capacities and high potential for local adaptation. This coral is reported as vulnerable in the IUCN red list6. There is one population of A. calycularis that naturally occurs in a semi-submersed cave (Grotta del Mago) affected by CO2 venting, where is highly abundant (70% cover at 1 m depth). Here, we assess population structure and the skeletal characteristics of A. calycularis originating from different sites (naturally acidified and ambient pH sites) along the coast of Ischia Island . We hypothesize that the population thriving under naturally acidified conditions shows higher population dynamics and differences in biomineralization process than the populations studied from other reference sites with ambient pH.Colonies in the Grotta del Mago have encrusting morphology, with smaller size and consequent, lower weight and lower number of polyps compared to conspecifics from sites at normal pH conditions. With increasing acidification (lower pH), the skeletal porosity decreased while the bulk and micro- density increased. Given the reduced calcification rate that may be expected in acidified waters, the observed increase in skeletal density may be counterbalanced by a strong decrease in linear extension rate

Targeting PD-1/PD-L1 in lung cancer: current perspectives

María González-Cao,1 Niki Karachaliou,1 Santiago Viteri,1 Daniela Morales-Espinosa,1 Cristina Teixidó,2 Jesús Sánchez Ruiz,3 Miquel Ángel Molina-Vila,2 Mariacarmela Santarpia,4 Rafael Rosell1,2,5,61Translational Cancer Research Unit, Instituto Oncológico Dr Rosell, Quirón Dexeus University Hospital, Barcelona, Spain; 2Pangaea Biotech SL, Barcelona, Spain; 3Centro Nacional de Investigación Oncología (CNIO), Madrid, Spain; 4Medical Oncology Unit, Human Pathology Department, University of Messina, Messina, Italy; 5Cancer Biology and Precision Medicine Program, Catalan Institute of Oncology, Germans Trias i Pujol Health Sciences Institute and Hospital, Campus Can Ruti, Badalona, Barcelona, Spain; 6Fundación Molecular Oncology Research, Barcelona, SpainAbstract: Increased understanding of tumor immunology has led to the development of effective immunotherapy treatments. One of the most important advances in this field has been due to pharmacological design of antibodies against immune checkpoint inhibitors. Anti-PD-1/PD-L1 antibodies are currently in advanced phases of clinical development for several tumors, including lung cancer. Results from Phase I–III trials with anti-PD-1/PD-L1 antibodies in non-small-cell lung cancer have demonstrated response rates of around 20% (range, 16%–50%). More importantly, responses are long-lasting (median duration of response, 18 months) and fast (50% of responses are detected at time of first tumor evaluation) with very low grade 3–4 toxicity (less than 5%). Recently, the anti-PD-1 antibody pembrolizumab received US Food and Drug Administration (FDA) breakthrough therapy designation for treatment of non-small-cell lung cancer, supported by data from a Phase Ib trial. Another anti-PD-1 antibody, nivolumab, has also been approved for lung cancer based on survival advantage demonstrated in recently released data from a Phase III trial in squamous cell lung cancer.Keywords: immunotherapy, immunoncology, cancer, checkpoint inhibitor

Serpina1 is a potent inhibitor of IL-8-induced hematopoietic stem cell mobilization

Here, we report that cytokine-induced (granulocyte colony-stimulating factor and IL-8) hematopoietic stem cell (HSC) and hematopoietic progenitor cell (HPC) mobilization is completely inhibited after low-dose (0.5 Gy) total-body irradiation (TBI). Because neutrophil granular proteases are regulatory mediators in cytokine-induced HSC/HPC mobilization, we considered a possible role for protease inhibitors in the induction of HSC/HPC mobilization. Bone marrow (BM) extracellular extracts that were obtained from murine femurs after 0.5 Gy of TBI contained an inhibitor of elastase. Also, after low-dose TBI, both Serpina1 mRNA and protein concentrations were increased in BM extracts, compared with extracts that were obtained from controls. The inhibitory activity in BM extracts of irradiated mice was reversed by addition of an Ab directed against Serpina1. To further study a possible in vivo role of Serpina1 in HSC/HPC mobilization, we administered Serpina1 before IL-8 injection. This administration resulted in an almost complete inhibition of HSC/HPC mobilization, whereas heat-inactivated Serpina1 had no effect. These results indicate that low-dose TBI inhibits cytokine-induced HSC/HPC mobilization and induces Serpina1 in the BM. Because exogenous administration of Serpina1 inhibits mobilization, we propose that radiation-induced Serpina1 is responsible for the inhibition of HSC/HPC mobilization. Also, we hypothesize that cytokine-induced HSC/HPC mobilization is determined by a critical balance between serine proteases and serine protease inhibitors

Neutrophils are indispensable for hematopoietic stem cell mobilization induced by interleukin-8 in mice

The CXC chemokine interleukin-8 (IL-8/CXCL8) induces rapid mobilization of hematopoietic progenitor cells (HPCs). Previously we showed that mobilization could be prevented completely in mice by pretreatment with neutralizing antibodies against the β2-integrin LFA-1 (CD11a). In addition, murine HPCs do not express LFA-1, indicating that mobilization requires a population of accessory cells. Here we show that polymorphonuclear cells (PMNs) serve as key regulators in IL-8-induced HPC mobilization. The role of PMNs was studied in mice rendered neutropenic by administration of a single injection of antineutrophil antibodies. Absolute neutropenia was observed up to 3–5 days with a rebound neutrophilia at day 7. The IL-8-induced mobilizing capacity was reduced significantly during the neutropenic phase, reappeared with recurrence of the PMNs, and was increased proportionally during the neutrophilic phase. In neutropenic mice, the IL-8-induced mobilizing capacity was restored by the infusion of purified PMNs but not by infusion of mononuclear cells. Circulating metalloproteinase gelatinase B (MMP-9) levels were detectable only in neutropenic animals treated with PMNs in combination with IL-8, showing that in vivo activated PMNs are required for the restoration of mobilization. However, IL-8-induced mobilization was not affected in MMP-9-deficient mice, indicating that MMP-9 is not indispensable for mobilization. These data demonstrate that IL-8-induced mobilization of HPCs requires the in vivo activation of circulating PMNs