TEScalib: Targetless Extrinsic Self-Calibration of LiDAR and Stereo Camera for Automated Driving Vehicles with Uncertainty Analysis

In this paper, we present TEScalib, a novel extrinsic self-calibration approach of LiDAR and stereo camera using the geometric and photometric information of surrounding environments without any calibration targets for automated driving vehicles. Since LiDAR and stereo camera are widely used for sensor data fusion on automated driving vehicles, their extrinsic calibration is highly important. However, most of the LiDAR and stereo camera calibration approaches are mainly target-based and therefore time consuming. Even the newly developed targetless approaches in last years are either inaccurate or unsuitable for driving platforms. To address those problems, we introduce TEScalib. By applying a 3D mesh reconstruction-based point cloud registration, the geometric information is used to estimate the LiDAR to stereo camera extrinsic parameters accurately and robustly. To calibrate the stereo camera, a photometric error function is builded and the LiDAR depth is involved to transform key points from one camera to another. During driving, these two parts are processed iteratively. Besides that, we also propose an uncertainty analysis for reflecting the reliability of the estimated extrinsic parameters. Our TEScalib approach evaluated on the KITTI dataset achieves very promising results

Robust Self-Tuning Data Association for Geo-Referencing Using Lane Markings

Localization in aerial imagery-based maps offers many advantages, such as global consistency, geo-referenced maps, and the availability of publicly accessible data. However, the landmarks that can be observed from both aerial imagery and on-board sensors is limited. This leads to ambiguities or aliasing during the data association. Building upon a highly informative representation (that allows efficient data association), this paper presents a complete pipeline for resolving these ambiguities. Its core is a robust self-tuning data association that adapts the search area depending on a pseudo-entropy of the measurements. Additionally, to smooth the final result, we adjust the information matrix for the associated data as a function of the relative transform produced by the data association process. We evaluate our method on real data from urban and rural scenarios around the city of Karlsruhe in Germany. We compare state-of-the-art outlier mitigation methods with our self-tuning approach, demonstrating a considerable improvement, especially for outer-urban scenarios.This work was supported by the Regional Valencian Community Government and the European Regional Development Fund (ERDF) through the Project PROMETEO/2021/075, and under Grants ACIF/2019/088 and BEFPI/2021/069

High-Voltage Signal Generator for Biomedical Applications

Electroporation is the process where externally applied electric fields cause significantly increased permeability of the cell membrane. The increased permeability allows the transport of external compounds into the cell. This is important for applications in electrochemotheropy, electrofusion and drug delivery. Electroporation also has applications in the disinfection of liquids. Given a high enough electric field across the cell membrane, the electroporation process can become irreversible, leading to cell destruction. With the cell membrane under an intense electric field, the cell membrane structure fails causing the cell to die. Conventional liquid beverage disinfection systems rely on slow heating methods requiring large power requirements; this can reduce the taste and quality of some liquids. Pulse generators provide the necessary electric fields to produce the required voltage potential across the cell membrane. The usefulness of electroporation depends on several parameters such as amplitude, frequency and rise/fall times of the electric field. The wave shape also has a bearing on performance, and is limited by the pulse generator topology. A multilevel bipolar waveform is desired with operating frequencies above about 1 kHz. The cascaded H-bridge or full-bridge topology is the most useful as it capable of producing multilevel bipolar waveforms at high frequency. This thesis presents the design and implementation of a multilevel high-voltage pulse generator, capable of creating very high-voltage AC pulses. MOSFET switching devices in conjunction with good layout practices were used to provide required fast switching speeds. The full-bridge topology is used to create a multilevel output profile through cascading of multiple stages. As a full-bridge topology inherently creates a RCL resonant network, there are many challenges associated with mitigating high-frequency noise sources. Two separate stages are built, a low voltage stage capable of outputting up to 200 Vp and a high voltage stage capable of switching up to 1 kVp. A control board was also built for pulse signal generation and user configuration of the output waveforms. The designed pulse generator can produce short pulses of up to 1.4 kVp at frequencies of up to 350 kHz using primarily resistive loads (that simulate a conductive liquid load). Little high frequency switching noise was observable on the output waveform. A single stage pulse generator was also tested with actual liquid loads using an electrode chamber, demonstrating electroporation. The liquid load testing was performed on water and milk derived from milk powder. Results showed that the liquid loads were consistent with primarily resistive loads

Lys63/Met1-hybrid ubiquitin chains are commonly formed during the activation of innate immune signalling.

AbstractWe have reported previously that activation of the MyD88-signaling network rapidly induces the formation of hybrid ubiquitin chains containing both Lys63-linked and Met1-linked ubiquitin (Ub) oligomers, some of which are attached covalently to Interleukin Receptor Associated kinase 1. Here we show that Lys63/Met1-Ub hybrids are also formed rapidly when the TNFR1/TRADD, TLR3/TRIF- and NOD1/RIP2-signaling networks are activated, some of which are attached covalently to Receptor-Interacting Protein 1 (TNFR1 pathway) or Receptor-Interacting Protein 2 (NOD1 pathway). These observations suggest that the formation of Lys63/Met1-Ub hybrids are of general significance for the regulation of innate immune signaling systems, and their potential roles in vivo are discussed. We also report that TNFα induces the attachment of Met1-linked Ub chains directly to TNF receptor 1, which do not seem to be attached covalently to Lys63-linked or other types of ubiquitin chain

The anti-inflammatory drug BAY 11-7082 suppresses the MyD88-dependent signalling network by targeting the ubiquitin system

The compound BAY 11-7082 inhibits IκBα [inhibitor of NF-κB (nuclear factor κB)α] phosphorylation in cells and has been used to implicate the canonical IKKs (IκB kinases) and NF-κB in >350 publications. In the present study we report that BAY 11-7082 does not inhibit the IKKs, but suppresses their activation in LPS (lipopolysaccharide)-stimulated RAW macrophages and IL (interleukin)-1-stimulated IL-1R (IL-1 receptor) HEK (human embryonic kidney)-293 cells. BAY 11-7082 exerts these effects by inactivating the E2-conjugating enzymes Ubc (ubiquitin conjugating) 13 and UbcH7 and the E3 ligase LUBAC (linear ubiquitin assembly complex), thereby preventing the formation of Lys(63)-linked and linear polyubiquitin chains. BAY 11-7082 prevents ubiquitin conjugation to Ubc13 and UbcH7 by forming a covalent adduct with their reactive cysteine residues via Michael addition at the C(3) atom of BAY 11-7082, followed by the release of 4-methylbenzene-sulfinic acid. BAY 11-7082 stimulated Lys(48)-linked polyubiquitin chain formation in cells and protected HIF1α (hypoxia-inducible factor 1α) from proteasomal degradation, suggesting that it inhibits the proteasome. The results of the present study indicate that the anti-inflammatory effects of BAY 11-7082, its ability to induce B-cell lymphoma and leukaemic T-cell death and to prevent the recruitment of proteins to sites of DNA damage are exerted via inhibition of components of the ubiquitin system and not by inhibiting NF-κB

Measurement of the top quark forward-backward production asymmetry and the anomalous chromoelectric and chromomagnetic moments in pp collisions at √s = 13 TeV

Abstract The parton-level top quark (t) forward-backward asymmetry and the anomalous chromoelectric (d̂ t) and chromomagnetic (μ̂ t) moments have been measured using LHC pp collisions at a center-of-mass energy of 13 TeV, collected in the CMS detector in a data sample corresponding to an integrated luminosity of 35.9 fb−1. The linearized variable AFB(1) is used to approximate the asymmetry. Candidate t t ¯ events decaying to a muon or electron and jets in final states with low and high Lorentz boosts are selected and reconstructed using a fit of the kinematic distributions of the decay products to those expected for t t ¯ final states. The values found for the parameters are AFB(1)=0.048−0.087+0.095(stat)−0.029+0.020(syst),μ̂t=−0.024−0.009+0.013(stat)−0.011+0.016(syst), and a limit is placed on the magnitude of | d̂ t| < 0.03 at 95% confidence level. [Figure not available: see fulltext.

Measurement of b jet shapes in proton-proton collisions at root s=5.02 TeV

We present the first study of charged-hadron production associated with jets originating from b quarks in proton-proton collisions at a center-of-mass energy of 5.02 TeV. The data sample used in this study was collected with the CMS detector at the CERN LHC and corresponds to an integrated luminosity of 27.4 pb(-1). To characterize the jet substructure, the differential jet shapes, defined as the normalized transverse momentum distribution of charged hadrons as a function of angular distance from the jet axis, are measured for b jets. In addition to the jet shapes, the per-jet yields of charged particles associated with b jets are also quantified, again as a function of the angular distance with respect to the jet axis. Extracted jet shape and particle yield distributions for b jets are compared with results for inclusive jets, as well as with the predictions from the pythia and herwig++ event generators.Peer reviewe

Measurement of the azimuthal anisotropy of Y(1S) and Y(2S) mesons in PbPb collisions at root s(NN)=5.02 TeV

The second-order Fourier coefficients (v(2)) characterizing the azimuthal distributions of Y(1S) and Y(2S) mesons produced in PbPb collisions at root s(NN) = 5.02 TeV are studied. The Y mesons are reconstructed in their dimuon decay channel, as measured by the CMS detector. The collected data set corresponds to an integrated luminosity of 1.7 nb(-1). The scalar product method is used to extract the v2 coefficients of the azimuthal distributions. Results are reported for the rapidity range vertical bar y vertical bar < 2.4, in the transverse momentum interval 0 < pT < 50 GeV/c, and in three centrality ranges of 10-30%, 30-50% and 50-90%. In contrast to the J/psi mesons, the measured v(2) values for the Y mesons are found to be consistent with zero. (C) 2021 The Author(s). Published by Elsevier B.V.Peer reviewe

MUSiC : a model-unspecific search for new physics in proton-proton collisions at root s=13TeV

Results of the Model Unspecific Search in CMS (MUSiC), using proton-proton collision data recorded at the LHC at a centre-of-mass energy of 13 TeV, corresponding to an integrated luminosity of 35.9 fb(-1), are presented. The MUSiC analysis searches for anomalies that could be signatures of physics beyond the standard model. The analysis is based on the comparison of observed data with the standard model prediction, as determined from simulation, in several hundred final states and multiple kinematic distributions. Events containing at least one electron or muon are classified based on their final state topology, and an automated search algorithm surveys the observed data for deviations from the prediction. The sensitivity of the search is validated using multiple methods. No significant deviations from the predictions have been observed. For a wide range of final state topologies, agreement is found between the data and the standard model simulation. This analysis complements dedicated search analyses by significantly expanding the range of final states covered using a model independent approach with the largest data set to date to probe phase space regions beyond the reach of previous general searches.Peer reviewe