Keyframe-based visual–inertial odometry using nonlinear optimization

Combining visual and inertial measurements has become popular in mobile robotics, since the two sensing modalities offer complementary characteristics that make them the ideal choice for accurate visual–inertial odometry or simultaneous localization and mapping (SLAM). While historically the problem has been addressed with filtering, advancements in visual estimation suggest that nonlinear optimization offers superior accuracy, while still tractable in complexity thanks to the sparsity of the underlying problem. Taking inspiration from these findings, we formulate a rigorously probabilistic cost function that combines reprojection errors of landmarks and inertial terms. The problem is kept tractable and thus ensuring real-time operation by limiting the optimization to a bounded window of keyframes through marginalization. Keyframes may be spaced in time by arbitrary intervals, while still related by linearized inertial terms. We present evaluation results on complementary datasets recorded with our custom-built stereo visual–inertial hardware that accurately synchronizes accelerometer and gyroscope measurements with imagery. A comparison of both a stereo and monocular version of our algorithm with and without online extrinsics estimation is shown with respect to ground truth. Furthermore, we compare the performance to an implementation of a state-of-the-art stochastic cloning sliding-window filter. This competitive reference implementation performs tightly coupled filtering-based visual–inertial odometry. While our approach declaredly demands more computation, we show its superior performance in terms of accuracy

Timing of antiretroviral therapy in Cambodian hospital after diagnosis of tuberculosis: impact of revised WHO guidelines

OBJECTIVE: To determine if implementation of 2010 World Health Organization (WHO) guidelines on antiretroviral therapy (ART) initiation reduced delay from tuberculosis diagnosis to initiation of ART in a Cambodian urban hospital. METHODS: A retrospective cohort study was conducted in a nongovernmental hospital in Phnom Penh that followed new WHO guidelines in patients with human immunodeficiency virus (HIV) and tuberculosis. All ART-naïve, HIV-positive patients initiated on antituberculosis treatment over the 18 months before and after guideline implementation were included. A competing risk regression model was used. FINDINGS: After implementation of the 2010 WHO guidelines, 190 HIV-positive patients with tuberculosis were identified: 53% males; median age, 38 years; median baseline CD4+ T-lymphocyte (CD4+ cell) count, 43 cells/µL. Before implementation, 262 patients were identified; 56% males; median age, 36 years; median baseline CD4+ cell count, 59 cells/µL. With baseline CD4+ cell counts ≤ 50 cells/µL, median delay to ART declined from 5.8 weeks (interquartile range, IQR: 3.7–9.0) before to 3.0 weeks (IQR: 2.1–4.4) after implementation (P < 0.001); with baseline CD4+ cell counts > 50 cells/µL, delay dropped from 7.0 (IQR: 5.3–11.3) to 3.6 (IQR: 2.9–5.3) weeks (P < 0.001). The probability of ART initiation within 4 and 8 weeks after tuberculosis diagnosis rose from 23% and 65%, respectively, before implementation, to 62% and 90% after implementation. A non-significant increase in 6-month retention and antiretroviral substitution was seen after implementation. CONCLUSION: Implementation of 2010 WHO recommendations in a routine clinical setting shortens delay to ART. Larger studies with longer follow-up are needed to assess impact on patient outcomes

Effect of Flow on Caloric Curve for Finite Nuclei

In a finite temperature Thomas-Fermi theory, we construct caloric curves for finite nuclei enclosed in a freeze-out volume few times the normal nuclear volume, with and without inclusion of flow. Without flow, the caloric curve indicates a smooth liquid-gas phase transition whereas with flow, the transition may be very sharp. We discuss these results in the context of two recent experiments, one for heavy symmetric system (Au + Au at 600A MeV) and the other for highly asymmetric system (Au + C at 1A GeV) where different behaviours in the caloric curves are seen.Comment: 11 pages revtex; 4 figs; version to appear in Phys. Rev. Let

Bacterial sepsis in patients with visceral leishmaniasis in Northwest Ethiopia

Background and Objectives. Visceral leishmaniasis (VL) is one of the neglected diseases affecting the poorest segment of world populations. Sepsis is one of the predictors for death of patients with VL. This study aimed to assess the prevalence and factors associated with bacterial sepsis, causative agents, and their antimicrobial susceptibility patterns among patients with VL. Methods. A cross-sectional study was conducted among parasitologically confirmed VL patients suspected of sepsis admitted to the University of Gondar Hospital, Northwest Ethiopia, from February 2012 to May 2012. Blood cultures and other clinical samples were collected and cultured following the standard procedures. Results. Among 83 sepsis suspected VL patients 16 (19.3%) had culture confirmed bacterial sepsis. The most frequently isolated organism was Staphylococcus aureus (68.8%; 11/16), including two methicillin-resistant isolates (MRSA). Patients with focal bacterial infection were more likely to have bacterial sepsis (P<0.001). Conclusions. The prevalence of culture confirmed bacterial sepsis was high, predominantly due to S. aureus. Concurrent focal bacterial infection was associated with bacterial sepsis, suggesting that focal infections could serve as sources for bacterial sepsis among VL patients. Careful clinical evaluation for focal infections and prompt initiation of empiric antibiotic treatment appears warranted in VL patients

Effect of Conjugated Linoleic Acids on Nutritional Status and Lipid Metabolism in Rats Fed Linoleic-Acid-Deprived Diets

This study aims to investigate the effect of conjugated linoleic acid (CLA) on nutritional parameters and triacylglycerol (TAG) regulation in male Wistar rats fed linoleic acid (LA)-deprived (−LA) diets compared to LA-enriched (+LA) diets. In both +LA and −LA groups, CLA are incorporated into the tissues, showing higher levels in the adipose tissue. However, different metabolic and nutritional effects are observed depending on the LA status. CLA markedly reduces fat depots in the −LA group, associated with an increased lipoprotein lipase (LPL) and lipogenic enzyme activities as compensatory mechanisms. Moreover, CLA restores the hepatic TAG levels in −LA animals, associated with a normalized triacylglycerol-secretion rate (TAG-SR), an increased lipogenic enzyme activity and higher mRNA levels of fatty acid synthase. Serum TAG levels are not affected by CLA in the +LA group. However, in the −LA group, CLA decreases the TAG levels associated with a reduced TAG-SR and a higher adipose tissue LPL activity. Thus, the CLA effects on the nutritional parameters and TAG metabolism differs depending on the LA status. CLA causes certain beneficial biological and nutritional effects in LA-deprived but not in LA-enriched animals. Practical Applications: The approach by the authors involve growing animals in healthy physiological conditions fed with diets containing recommended levels of dietary fats, moderate amounts of commercial CLA mixture obtained from industrial synthesis (equimolecular amounts of 9c,11t- and 10t,12c-isomers), and unbalanced LA levels. These variables constitute a situation observed in the human population. The present study might contribute to understanding the role of CLA on nutritional parameters and TAG metabolism depending on the nutritional milieu. Conjugated linoleic acid effects on nutritional parameters and triacylglycerol metabolism in rats fed linoleic-acid-enriched and linoleic-acid-deprived diets are determined.Fil: Fariña, Ana Clara. Universidad Nacional del Litoral. Facultad de Bioquímica y Ciencias Biológicas. Departamento de Ciencias Biológicas. Cátedra de Bromatología y Nutrición; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe; ArgentinaFil: Lavandera, Jimena Veronica. Universidad Nacional del Litoral. Facultad de Bioquímica y Ciencias Biológicas. Departamento de Ciencias Biológicas. Cátedra de Bromatología y Nutrición; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe; ArgentinaFil: González, Marcela Aída. Universidad Nacional del Litoral. Facultad de Bioquímica y Ciencias Biológicas. Departamento de Ciencias Biológicas. Cátedra de Bromatología y Nutrición; ArgentinaFil: Bernal, Claudio Adrian. Universidad Nacional del Litoral. Facultad de Bioquímica y Ciencias Biológicas. Departamento de Ciencias Biológicas. Cátedra de Bromatología y Nutrición; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Santa Fe; Argentin

Breakup Conditions of Projectile Spectators from Dynamical Observables

Momenta and masses of heavy projectile fragments (Z >= 8), produced in collisions of 197Au with C, Al, Cu and Pb targets at E/A = 600 MeV, were determined with the ALADIN magnetic spectrometer at SIS. An analysis of kinematic correlations between the two and three heaviest projectile fragments in their rest frame was performed. The sensitivity of these correlations to the conditions at breakup was verified within the schematic SOS-model. The data were compared to calculations with statistical multifragmentation models and to classical three-body calculations. Classical trajectory calculations reproduce the dynamical observables. The deduced breakup parameters, however, differ considerably from those assumed in the statistical multifragmentation models which describe the charge correlations. If, on the other hand, the analysis of kinematic and charge correlations is performed for events with two and three heavy fragments produced by statistical multifragmentation codes, a good agreement with the data is found with the exception that the fluctuation widths of the intrinsic fragment energies are significantly underestimated. A new version of the multifragmentation code MCFRAG was therefore used to investigate the potential role of angular momentum at the breakup stage. If a mean angular momentum of 0.75$\hbar$/nucleon is added to the system, the energy fluctuations can be reproduced, but at the same time the charge partitions are modified and deviate from the data. PACS numbers: 25.70.Mn, 25.70.Pq, 25.75.Ld, 25.75.-qComment: 38 pages, RevTeX with 21 included figures; Also available from http://www-kp3.gsi.de/www/kp3/aladin_publications.htm

Pion radii in nonlocal chiral quark model

The electromagnetic radius of the charged pion and the transition radius of the neutral pion are calculated in the framework of the nonlocal chiral quark model. It is shown in this model that the contributions of vector mesons to the pion radii are noticeably suppressed in comparison with a similar contribution in the local Nambu--Jona-Lasinio model. The form-factor for the process gamma*pi+pi- is calculated for the -1 GeV^2<q^2<1.6 GeV^2. Our results are in satisfactory agreement with experimental data.Comment: 7 pages, 7 figure

Multiplicity correlations of intermediate-mass fragments with pions and fast protons in 12C + 197Au

Low-energy pi+ (E < 35 MeV) from 12C+197Au collisions at incident energies from 300 to 1800 MeV per nucleon were detected with the Si-Si(Li)-CsI(Tl) calibration telescopes of the INDRA multidetector. The inclusive angular distributions are approximately isotropic, consistent with multiple rescattering in the target spectator. The multiplicity correlations of the low-energy pions and of energetic protons (E > 150 MeV) with intermediate-mass fragments were determined from the measured coincidence data. The deduced correlation functions 1 + R \approx 1.3 for inclusive event samples reflect the strong correlations evident from the common impact-parameter dependence of the considered multiplicities. For narrow impact-parameter bins (based on charged-particle multiplicity), the correlation functions are close to unity and do not indicate strong additional correlations. Only for pions at high particle multiplicities (central collisions) a weak anticorrelation is observed, probably due to a limited competition between these emissions. Overall, the results are consistent with the equilibrium assumption made in statistical multifragmentation scenarios. Predictions obtained with intranuclear cascade models coupled to the Statistical Multifragmentation Model are in good agreement with the experimental data.Comment: 9 pages, 11 figures, subm. to EPJ