Flexible system of multiple RGB-D sensors for measuring and classifying fruits in agri-food Industry

The productivity of the agri-food sector experiences continuous and growing challenges that make the use of innovative technologies to maintain and even improve their competitiveness a priority. In this context, this paper presents the foundations and validation of a flexible and portable system capable of obtaining 3D measurements and classifying objects based on color and depth images taken from multiple Kinect v1 sensors. The developed system is applied to the selection and classification of fruits, a common activity in the agri-food industry. Being able to obtain complete and accurate information of the environment, as it integrates the depth information obtained from multiple sensors, this system is capable of self-location and self-calibration of the sensors to then start detecting, classifying and measuring fruits in real time. Unlike other systems that use specific set-up or need a previous calibration, it does not require a predetermined positioning of the sensors, so that it can be adapted to different scenarios. The characterization process considers: classification of fruits, estimation of its volume and the number of assets per each kind of fruit. A requirement for the system is that each sensor must partially share its field of view with at least another sensor. The sensors localize themselves by estimating the rotation and translation matrices that allow to transform the coordinate system of one sensor to the other. To achieve this, Iterative Closest Point (ICP) algorithm is used and subsequently validated with a 6 degree of freedom KUKA robotic arm. Also, a method is implemented to estimate the movement of objects based on the Kalman Filter. A relevant contribution of this work is the detailed analysis and propagation of the errors that affect both the proposed methods and hardware. To determine the performance of the proposed system the passage of different types of fruits on a conveyor belt is emulated by a mobile robot carrying a surface where the fruits were placed. Both the perimeter and volume are measured and classified according to the type of fruit. The system was able to distinguish and classify the 95% of fruits and to estimate their volume with a 85% of accuracy in worst cases (fruits whose shape is not symmetrical) and 94% of accuracy in best cases (fruits whose shape is more symmetrical), showing that the proposed approach can become a useful tool in the agri-food industry.This project has been supported by the National Commission for Science and Technology Research of Chile (Conicyt) under FONDECYT grant 1140575 and the Advanced Center of Electrical and Electronic Engineering - AC3E (CONICYT/FB0008)

Ligand-controlled regioselectivity in the hydrothiolation of alkynes by rhodium N-heterocyclic carbene catalysts

Rh-N-heterocyclic carbene compounds [Rh(μ-Cl)(IPr)(ν 2- olefin)] 2 and RhCl(IPr)(py)(ν 2-olefin) (IPr = 1,3-bis(2,6-diisopropylphenyl)imidazol-2-carbene, py = pyridine, olefin = cyclooctene or ethylene) are highly active catalysts for alkyne hydrothiolation under mild conditions. A regioselectivity switch from linear to 1-substituted vinyl sulfides was observed when mononuclear RhCl(IPr)(py)(ν 2- olefin) catalysts were used instead of dinuclear precursors. A complex interplay between electronic and steric effects exerted by IPr, pyridine, and hydride ligands accounts for the observed regioselectivity. Both IPr and pyridine ligands stabilize formation of square-pyramidal thiolate-hydride active species in which the encumbered and powerful electron-donor IPr ligand directs coordination of pyridine trans to it, consequently blocking access of the incoming alkyne in this position. Simultaneously, the higher trans director hydride ligand paves the way to a cis thiolate-alkyne disposition, favoring formation of 2,2-disubstituted metal-alkenyl species and subsequently the Markovnikov vinyl sulfides via alkenyl-hydride reductive elimination. DFT calculations support a plausible reaction pathway where migratory insertion of the alkyne into the rhodium-thiolate bond is the rate-determining step. © 2012 American Chemical Society.Financial support from the Ministerio de Ciencia e Innovación (MICINN/FEDER) of Spain (Project CTQ2010-15221), the Diputación General de Aragón (E07), the ARAID Foundation under the program “Jóvenes Investigadores”, and CONSOLIDER INGENIO-2010, Projects MULTICAT (CSD2009-00050) and Factoría de Cristalización (CSD2006-0015) are gratefully acknowledged. R.C. thanks the CSIC and the European Social Fund for his Research Contract in the framework of the “Ramón y Cajal” Program.Peer Reviewe

Monitoring new long-lasting intravitreal formulation for glaucoma with vitreous images using optical coherence tomography

Intravitreal injection is the gold standard therapeutic option for posterior segment patholo-gies, and long-lasting release is necessary to avoid reinjections. There is no effective intravitreal treatment for glaucoma or other optic neuropathies in daily practice, nor is there a non-invasive method to monitor drug levels in the vitreous. Here we show that a glaucoma treatment combining a hypotensive and neuroprotective intravitreal formulation (IF) of brimonidine–Laponite (BRI/LAP) can be monitored non-invasively using vitreoretinal interface imaging captured with optical coherence tomography (OCT) over 24 weeks of follow-up. Qualitative and quantitative characterisation was achieved by analysing the changes in vitreous (VIT) signal intensity, expressed as a ratio of retinal pigment epithelium (RPE) intensity. Vitreous hyperreflective aggregates mixed in the vitreous and tended to settle on the retinal surface. Relative intensity and aggregate size progressively decreased over 24 weeks in treated rat eyes as the BRI/LAP IF degraded. VIT/RPE relative intensity and total aggregate area correlated with brimonidine levels measured in the eye. The OCT-derived VIT/RPE relative intensity may be a useful and objective marker for non-invasive monitoring of BRI/LAP IF

Residual Expression of the Reprogramming Factors Prevents Differentiation of iPSC Generated from Human Fibroblasts and Cord Blood CD34+ Progenitors

Human induced pluripotent stem cells (hiPSC) have been generated from different tissues, with the age of the donor, tissue source and specific cell type influencing the reprogramming process. Reprogramming hematopoietic progenitors to hiPSC may provide a very useful cellular system for modelling blood diseases. We report the generation and complete characterization of hiPSCs from human neonatal fibroblasts and cord blood (CB)-derived CD34+ hematopoietic progenitors using a single polycistronic lentiviral vector containing an excisable cassette encoding the four reprogramming factors Oct4, Klf4, Sox2 and c-myc (OKSM). The ectopic expression of OKSM was fully silenced upon reprogramming in some hiPSC clones and was not reactivated upon differentiation, whereas other hiPSC clones failed to silence the transgene expression, independently of the cell type/tissue origin. When hiPSC were induced to differentiate towards hematopoietic and neural lineages those hiPSC which had silenced OKSM ectopic expression displayed good hematopoietic and early neuroectoderm differentiation potential. In contrast, those hiPSC which failed to switch off OKSM expression were unable to differentiate towards either lineage, suggesting that the residual expression of the reprogramming factors functions as a developmental brake impairing hiPSC differentiation. Successful adenovirus-based Cre-mediated excision of the provirus OKSM cassette in CB-derived CD34+ hiPSC with residual transgene expression resulted in transgene-free hiPSC clones with significantly improved differentiation capacity. Overall, our findings confirm that residual expression of reprogramming factors impairs hiPSC differentiation

Sensitivity of South American tropical forests to an extreme climate anomaly

This is the final version. Available on open access from Nature Research via the DOI in this recordData availability: Publicly available climate data used in this paper are available from ERA5 (ref. 64), CRU ts.4.03 (ref. 65), WorldClim v2 (ref. 66), TRMM product 3B43 V7 (ref. 67) and GPCC, Version 7 (ref. 68). The input data are available on ForestPlots42.Code availability R code for graphics and analyses is available on ForestPlots42.The tropical forest carbon sink is known to be drought sensitive, but it is unclear which forests are the most vulnerable to extreme events. Forests with hotter and drier baseline conditions may be protected by prior adaptation, or more vulnerable because they operate closer to physiological limits. Here we report that forests in drier South American climates experienced the greatest impacts of the 2015–2016 El Niño, indicating greater vulnerability to extreme temperatures and drought. The long-term, ground-measured tree-by-tree responses of 123 forest plots across tropical South America show that the biomass carbon sink ceased during the event with carbon balance becoming indistinguishable from zero (−0.02 ± 0.37 Mg C ha−1 per year). However, intact tropical South American forests overall were no more sensitive to the extreme 2015–2016 El Niño than to previous less intense events, remaining a key defence against climate change as long as they are protected

Omecamtiv mecarbil in chronic heart failure with reduced ejection fraction, GALACTIC‐HF: baseline characteristics and comparison with contemporary clinical trials

Aims: The safety and efficacy of the novel selective cardiac myosin activator, omecamtiv mecarbil, in patients with heart failure with reduced ejection fraction (HFrEF) is tested in the Global Approach to Lowering Adverse Cardiac outcomes Through Improving Contractility in Heart Failure (GALACTIC‐HF) trial. Here we describe the baseline characteristics of participants in GALACTIC‐HF and how these compare with other contemporary trials. Methods and Results: Adults with established HFrEF, New York Heart Association functional class (NYHA) ≥ II, EF ≤35%, elevated natriuretic peptides and either current hospitalization for HF or history of hospitalization/ emergency department visit for HF within a year were randomized to either placebo or omecamtiv mecarbil (pharmacokinetic‐guided dosing: 25, 37.5 or 50 mg bid). 8256 patients [male (79%), non‐white (22%), mean age 65 years] were enrolled with a mean EF 27%, ischemic etiology in 54%, NYHA II 53% and III/IV 47%, and median NT‐proBNP 1971 pg/mL. HF therapies at baseline were among the most effectively employed in contemporary HF trials. GALACTIC‐HF randomized patients representative of recent HF registries and trials with substantial numbers of patients also having characteristics understudied in previous trials including more from North America (n = 1386), enrolled as inpatients (n = 2084), systolic blood pressure < 100 mmHg (n = 1127), estimated glomerular filtration rate < 30 mL/min/1.73 m2 (n = 528), and treated with sacubitril‐valsartan at baseline (n = 1594). Conclusions: GALACTIC‐HF enrolled a well‐treated, high‐risk population from both inpatient and outpatient settings, which will provide a definitive evaluation of the efficacy and safety of this novel therapy, as well as informing its potential future implementation

The purine analogues abacavir and didanosine increase acetaminophen-induced hepatotoxicity by enhancing mitochondrial dysfunction

Background NRTIs are essential components of HIV therapy with well-documented, long-term mitochondrial toxicity in hepatic cells, but whose acute effects on mitochondria are unclear. As acetaminophen-induced hepatotoxicity also involves mitochondrial interference, we hypothesized that it would be exacerbated in the context of ART. Methods We evaluated the acute effects of clinically relevant concentrations of the most widely used NRTIs, alone or combined with acetaminophen, on mitochondrial function and cellular viability. Results The purine analogues abacavir and didanosine produced an immediate and concentration-dependent inhibition of oxygen consumption and complex I and III activity. This inhibition was accompanied by an undermining of mitochondrial function, with increased production of reactive oxygen species and reduction of mitochondrial membrane potential and intracellular ATP levels. However, this interference did not compromise cell survival. Co-administration with concentrations of acetaminophen below those considered hepatotoxic exacerbated the deleterious effects of both compounds on mitochondrial function and compromised cellular viability, showing a clear correlation with diminished glutathione levels. Conclusions The simultaneous presence of purine analogues and low concentrations of acetaminophen significantly potentiates mitochondrial dysfunction, increasing the risk of liver injury. This new mechanism is relevant given the liver's susceptibility to mitochondrial dysfunction-related toxicity and the tendency of the HIV infection to increase oxidative stress.This work was supported by the Instituto de Salud Carlos III, Ministerio de Economía y Competitividad [grants PI11/00327, PI13/1025, PI14/00312 and CIBER CB06/04/0071], and postgraduate research grant FI12/00198 awarded to F.A.; the Conselleria d'Educació, Formació i Ocupació, Generalitat Valenciana [grants PROMETEO/2010/060, PROMETEOII/2014/035, ACOMP/2013/236 and GVA/2014/118] and postgraduate research grant ACIF/2013/136 awarded to M.P.; the Universitat Jaume I [grant P1.1B-2014/15]; the Ministerio of Economía y Competitividad [Juan de la Cierva contract JCI-2012–15124 to A.B.-G.]; the Ministerio de Sanidad and Generalitat Valenciana [contract CES10/030 to V.M.V]; and the Ministerio de Educación, Cultura y deporte [postgraduate research grant FPU13/00151 to A.M.-R.]