Growing Neural Gas with Different Topologies for 3D Space Perception

Three-dimensional space perception is one of the most important capabilities for an autonomous mobile robot in order to operate a task in an unknown environment adaptively since the autonomous robot needs to detect the target object and estimate the 3D pose of the target object for performing given tasks efficiently. After the 3D point cloud is measured by an RGB-D camera, the autonomous robot needs to reconstruct a structure from the 3D point cloud with color information according to the given tasks since the point cloud is unstructured data. For reconstructing the unstructured point cloud, growing neural gas (GNG) based methods have been utilized in many research studies since GNG can learn the data distribution of the point cloud appropriately. However, the conventional GNG based methods have unsolved problems about the scalability and multi-viewpoint clustering. In this paper, therefore, we propose growing neural gas with different topologies (GNG-DT) as a new topological structure learning method for solving the problems. GNG-DT has multiple topologies of each property, while the conventional GNG method has a single topology of the input vector. In addition, the distance measurement in the winner node selection uses only the position information for preserving the environmental space of the point cloud. Next, we show several experimental results of the proposed method using simulation and RGB-D datasets measured by Kinect. In these experiments, we verified that our proposed method almost outperforms the other methods from the viewpoint of the quantization and clustering errors. Finally, we summarize our proposed method and discuss the future direction on this research

Dynamic Trend of Myocardial Edema in Takotsubo Syndrome: A Serial Cardiac Magnetic Resonance Study

BACKGROUND The wall motion abnormalities of the left ventricle (LV) in takotsubo syndrome (TTS) are known to be transient and completely recover within a few weeks. However, there is little information about the relationship between functional recovery and tissue characteristics. The aim of this study was to investigate the recovery process of TTS using cardiovascular magnetic resonance (CMR). METHODS Consecutive patients with TTS were prospectively enrolled. We performed serial CMR in the acute phase (<72 h after admission), the subacute phase (7-10 days after admission) and the chronic phase (3 months later). To assess the degree of myocardial edema quantitatively, we evaluated the signal intensity of myocardium on T2-weighted images and calculated the signal intensity ratio compared with the skeletal muscle. RESULTS Fifteen patients with TTS were enrolled. CMR demonstrated reduced LV ejection fraction in the acute phase, and it recovered almost completely by the subacute phase. On the other hand, severe myocardial edema was still observed in the subacute phase, associated with increased LV mass. The highest signal intensity ratio in the subacute phase was correlated with the maximum voltage of negative T wave on electrocardiogram (r = 0.57, p = 0.03). CONCLUSIONS In patients with TTS, myocardial edema associated with increased LV mass still remained in the subacute phase despite functional recovery of the LV. Electrocardiogram may be useful to assess the degree of myocardial edema in the subacute phase. Our study suggests that myocardial ischemia might have a central role in developing TTS

Growing neural gas based navigation system in unknown terrain environment for an autonomous mobile robot

Recently, various types of autonomous robots have been expected in many fields such as a disaster site, forest, and so on. The autonomous robots are assumed to be utilized in unknown environments. In such environments, a path planning to a target point set in the unknown area is a fundamental capability for efficiently executing tasks. To realize the 3D space perception, GNG with Different Topologies (GNG-DT) proposed in our previous work can learn the multiple topological structures with in the framework of learning algorithm. This paper proposes a GNG-DT based 3D perception method by utilizing the multiple topological structures for perceiving the 3D unknown terrain environment and a path planning method to the target point set in the unknown area. Especially, a traversability property of the robot is added to GNG-DT as a new property of the topological structures for clustering the 3D terrain environment from the 3D point cloud measured by 3D Lidar. Furthermore, this paper proposes a path planning method utilizing the multiple topological structures. Next, this paper shows several experimental results of the proposed method using simulation terrain environments for verifying the effectiveness of our proposed method. Finally, we summarize our proposed method and discuss the future direction on this research

Seasonal phenology of four dominant copepods in the Pacific sector of the Arctic Ocean: Insights from statistical analyses of sediment trap data

In recent years, marine ecosystems have changed due to the drastic sea ice reduction in the Arctic Ocean, but the relationship between copepod phenology and environmental drivers is unclear. To reveal the relationship, seasonal changes in the flux (abundance of swimmers), population structure, lipid accumulation and gonad maturation of four dominant copepods (Calanus hyperboreus, Metridia longa, Paraeuchaeta glacialis and Heterorhabdus norvegicus) were studied using a sediment trap deployed at a depth of 222 m in the Pacific-Arctic sector from October 2010 to September 2013. C. hyperboreus, mostly comprising copepodid stage 6 females (C6F), exhibited several peaks in flux in spring and autumn. C. hyperboreus C6Fs were dominated by lipid-rich specimens year-round, and gonad development was observed in these samples from February to April. The M. longa flux showed no clear seasonality. Gonad maturation of M. longa C6Fs occurred from February to September. P. glacialis flux exhibited two peaks in autumn of 2011 and 2012. In contrast to the former two species, lipid-rich, mature P. glacialis C6Fs occurred year-round. H. norvegicus copepodid stage 6 males (C6Ms) also occurred throughout the year, likely because H. norvegicus has functional feeding appendages, even in C6Ms. From generalized additive models, C. hyperboreus, M. longa and P. glacialis showed relationships with daytime length and/or sea ice concentrations, but the relationship patterns were different. These findings suggest that the response (e.g., vertical migration) to the environmental parameters could vary with species and the drastic sea ice reductions may affect the copepod phenology in the Pacific-Arctic sector

Geographic variation in population structure and grazing features of Calanus glacialis/marshallae in the Pacific Arctic Ocean

Calanus glacialis/marshallae is a dominant zooplankton species in the Pacific Arctic Ocean that is widely distributed in shelf areas, and it plays a vital role in connecting primary production to higher trophic levels. Its phenology is well adapted to hydrography, but there is little available information about regional and diel changes in population structure and grazing features. In this study, we investigated C. glacialis/marshallae during autumn 2019 in the Eastern and Northeastern Chukchi and Canadian basins to reveal geographic and diel variations in population structure, body size, grazing activity, and fatty acid composition. The abundance of C. glacialis/marshallae was found to be high on the slopes and low on the shelves. Body size (prosome length) was well described by the Bělehrádek equation combined with in-situ temperature throughout the sampling region. Cluster analyses based on hydrographic parameters were divided into four regions: southern shelf, northern shelf, slope, and basin. The southern shelf was dominated by copepodite stage five (C5) transported from the Bering Sea by Pacific waters. C4 and C5 were dominant on the northern shelf, suggesting that they grew slower than those on the southern shelf, and the populations also exhibited higher concentrations of fatty acids originating from dinoflagellates than those originating from the pan-Arctic Ocean, indicating low productivity in the region. The population on the slope had the highest abundance, C4 was dominant, and large amounts of diatom-derived eicosapentaenoic acid (EPA). These features are attributed to the upwelling of populations and nutrients that support diatom growth. In the basin, the early copepodite stages of composition were distinctly higher than those recorded in previous studies, because larger amounts of organisms flow into the region, resulting in more extended reproduction periods. In the basin, small and large forms of C5 were simultaneously found, and the small form exhibited a diel grazing activity pattern, but the large forms did not. These findings suggest their well adaptation in changing of the Pacific Arctic Ocean

Regional comparison of seasonal changes on copepod community structure in the Arctic Ocean

The Arctic Ocean is characterized as the greatly variable oceanic environment both seasonality and regionally. Such environmental variability would affect regional differences in the respective copepod community structures, though it has not been reported so far. In this study, we analyzed time-series zooplankton samples with focus on large copepods collected by sediment traps moored in three different regions of the Arctic Ocean at approximately 72–260 m water depth, and seasonality of copepod community structures were compared. Remarkable seasonality in the copepod community structure around Molloy deep in the eastern Fram Strait were due to the influence of endemic species transported by the West Spitsbergen Current. In contrast, in the southern Canada Basin (Northwind Abyssal Plain, Hanna Canyon and Barrow Canyon), the community structure of predominant large copepods showed less seasonality due to low primary production. In the MacKenzie Trough, the number of copepod swimmers were greater than those in all other regions investigated, which cooccur with much higher primary production in that area. These spatial differences in seasonality of copepod swimmer community structure were thought to be caused by various factors, not only sea ice seasonality but also differences in current patterns, endemic species and the magnitude of primary production

Regional comparison of seasonal changes on copepod community structure in the Arctic Ocean

The Arctic Ocean is characterized as the greatly variable oceanic environment both seasonality and regionally. Such environmental variability would affect regional differences in the respective copepod community structures, though it has not been reported so far. In this study, we analyzed time-series zooplankton samples with focus on large copepods collected by sediment traps moored in three different regions of the Arctic Ocean at approximately 72–260 m water depth, and seasonality of copepod community structures were compared. Remarkable seasonality in the copepod community structure around Molloy deep in the eastern Fram Strait were due to the influence of endemic species transported by the West Spitsbergen Current. In contrast, in the southern Canada Basin (Northwind Abyssal Plain, Hanna Canyon and Barrow Canyon), the community structure of predominant large copepods showed less seasonality due to low primary production. In the MacKenzie Trough, the number of copepod swimmers were greater than those in all other regions investigated, which cooccur with much higher primary production in that area. These spatial differences in seasonality of copepod swimmer community structure were thought to be caused by various factors, not only sea ice seasonality but also differences in current patterns, endemic species and the magnitude of primary production