Four years of multi-modal odometry and mapping on the rail vehicles

Precise, seamless, and efficient train localization as well as long-term railway environment monitoring is the essential property towards reliability, availability, maintainability, and safety (RAMS) engineering for railroad systems. Simultaneous localization and mapping (SLAM) is right at the core of solving the two problems concurrently. In this end, we propose a high-performance and versatile multi-modal framework in this paper, targeted for the odometry and mapping task for various rail vehicles. Our system is built atop an inertial-centric state estimator that tightly couples light detection and ranging (LiDAR), visual, optionally satellite navigation and map-based localization information with the convenience and extendibility of loosely coupled methods. The inertial sensors IMU and wheel encoder are treated as the primary sensor, which achieves the observations from subsystems to constrain the accelerometer and gyroscope biases. Compared to point-only LiDAR-inertial methods, our approach leverages more geometry information by introducing both track plane and electric power pillars into state estimation. The Visual-inertial subsystem also utilizes the environmental structure information by employing both lines and points. Besides, the method is capable of handling sensor failures by automatic reconfiguration bypassing failure modules. Our proposed method has been extensively tested in the long-during railway environments over four years, including general-speed, high-speed and metro, both passenger and freight traffic are investigated. Further, we aim to share, in an open way, the experience, problems, and successes of our group with the robotics community so that those that work in such environments can avoid these errors. In this view, we open source some of the datasets to benefit the research community

Modeling \u3cem\u3ep\u3c/em\u3eCO\u3csub\u3e2\u3c/sub\u3e Variability in the Gulf of Mexico

A three-dimensional coupled physical–biogeochemical model was used to simulate and examine temporal and spatial variability of sea surface pCO2 in the Gulf of Mexico (GoM). The model was driven by realistic atmospheric forcing, open boundary conditions from a data-assimilative global ocean circulation model, and observed freshwater and terrestrial nutrient and carbon input from major rivers. A 7-year model hindcast (2004–2010) was performed and validated against ship measurements. Model results revealed clear seasonality in surface pCO2 and were used to estimate carbon budgets in the Gulf. Based on the average of model simulations, the GoM was a net CO2 sink with a flux of 1.11 ± 0.84  ×  1012 mol C yr−1, which, together with the enormous fluvial inorganic carbon input, was comparable to the inorganic carbon export through the Loop Current. Two model sensitivity experiments were performed: one without biological sources and sinks and the other using river input from the 1904–1910 period as simulated by the Dynamic Land Ecosystem Model (DLEM). It was found that biological uptake was the primary driver making GoM an overall CO2 sink and that the carbon flux in the northern GoM was very susceptible to changes in river forcing. Large uncertainties in model simulations warrant further process-based investigations

Gender-specific association between blood cell parameters and hyperuricemia in high-altitude areas

BackgroundHyperuricemia is a common metabolic disorder linked to various health conditions. Its prevalence varies among populations and genders, and high-altitude environments may contribute to its development. Understanding the connection between blood cell parameters and hyperuricemia in high-altitude areas can shed light on the underlying mechanisms. This study aimed to investigate the relationship between blood cell parameters and hyperuricemia in high-altitude areas, with a particular focus on gender differences.MethodsWe consecutively enrolled all eligible Tibetan participants aged 18–60 who were undergoing routine medical examinations at the People’s Hospital of Chaya County between January and December 2022. During this period, demographic and laboratory data were collected to investigate the risk factors associated with hyperuricemia.ResultsAmong the participants, 46.09% were diagnosed with hyperuricemia. In the male cohort, significant correlations were found between serum uric acid (SUA) levels and red blood cell (RBC) count, creatinine (Cr). Urea, alanine transaminase (ALT), and albumin (ALB). Notably, RBC exhibited the strongest association. Conversely, in the female cohort, elevated SUA levels were associated with factors such as white blood cell (WBC) count. Urea, ALT, and ALB, with WBC demonstrating the most significant association. Further analysis within the female group revealed a compelling relationship between SUA levels and specific white blood cell subtypes, particularly neutrophils (Neu).ConclusionThis study revealed gender-specific associations between SUA levels and blood cell parameters in high-altitude areas. In males, RBC count may play a role in hyperuricemia, while in females, WBC count appears to be a significant factor. These findings contribute to our understanding of metabolic dynamics in high-altitude regions but require further research for comprehensive mechanistic insights

Century-Long Increasing Trend and Variability of Dissolved Organic Carbon Export from the Mississippi River Basin Driven by Natural and Anthropogenic Forcing

There has been considerable debate as to how natural forcing and anthropogenic activities alter the timing and magnitude of the delivery of dissolved organic carbon (DOC) to the coastal ocean, which has ramifications for the ocean carbon budget, land-ocean interactions, and coastal life. Here we present an analysis of DOC export from the Mississippi River to the Gulf of Mexico during 1901–2010 as influenced by changes in climate, land use and management practices, atmospheric CO2, and nitrogen deposition, through the integration of observational data with a coupled hydrologic/biogeochemical land model. Model simulations show that DOC export in the 2000s increased more than 40% since the 1900s. For the recent three decades (1981–2010), however, our simulated DOC export did not show a significant increasing trend, which is consistent with observations by U.S. Geological Survey. Our factorial analyses suggest that land use and land cover change, including land management practices (LMPs: i.e., fertilization, irrigation, tillage, etc.), were the dominant contributors to the century-scale trend of rising total riverine DOC export, followed by changes in atmospheric CO2, nitrogen deposition, and climate. Decadal and interannual variations of DOC export were largely attributed to year-to-year climatic variability and extreme flooding events, which have been exacerbated by human activity. LMPs show incremental contributions to DOC increase since the 1960s, indicating the importance of sustainable agricultural practices in coping with future environmental changes such as extreme flooding events. Compared to the observational-based estimate, the modeled DOC export was 20% higher, while DOC concentrations were slightly lower. Further refinements in model structure and input data sets should enable reductions in uncertainties in our prediction of century-long trends in DOC

The gene polymorphisms of eNOS and MTHFR modulates the development of preeclampsia in Han population

We explored the effects of the endothelial nitric oxide synthase (eNOS) gene −786 T > C and 894 G > T locus polymorphisms and the methylenetetrahydrofolate reductase (MTHFR) gene 1298 A > C and 677 C > T locus polymorphisms on preeclampsia (PE) in pregnant women in Quanzhou area and provide reliable and stable predictors PE. This study included 160 normal pregnant women (normal control group) and 160 women with preeclampsia (PE group). Polymorphisms in eNOS gene and MTHFR were analyzed by the polymerase chain reaction/restriction fragment length polymorphism (PCR/RFLP) technique. eNOS 894 G > T locus and MTHFR 1298 A > C locus had no significant difference between the two groups. In the PE patients, eNOS −786 T allele (OR: 2.07, p = 0.03) and MTHFR 677 C allele (OR: 1.83, p = 0.04) had significantly lower frequency. The nitric oxide (NO) level in patients with eNOS −786 C C was significantly lower than that in those with −786 TT. The homocysteine (Hcy) level in patients with MTHFR 677 TT was significantly higher than that in those with 677 C C. In conclusion, the frequency of the eNOS −786 C C genotype and MTHFR 677 TT genotype are higher in women with PE, which cause lower NO level and higher Hcy level