Real-time Monocular Object SLAM

We present a real-time object-based SLAM system that leverages the largest object database to date. Our approach comprises two main components: 1) a monocular SLAM algorithm that exploits object rigidity constraints to improve the map and find its real scale, and 2) a novel object recognition algorithm based on bags of binary words, which provides live detections with a database of 500 3D objects. The two components work together and benefit each other: the SLAM algorithm accumulates information from the observations of the objects, anchors object features to especial map landmarks and sets constrains on the optimization. At the same time, objects partially or fully located within the map are used as a prior to guide the recognition algorithm, achieving higher recall. We evaluate our proposal on five real environments showing improvements on the accuracy of the map and efficiency with respect to other state-of-the-art techniques

CACAO PRODUCTION ON WELL-DRAINED SOILS ALONG THE BANKS OF THE MAMORE RIVER ON NORTHEASTERN BOLIVIA

CACAO PRODUCTION ON WELL-DRAINED SOILS ALONG THE BANKS OF THE MAMORE RIVER ON NORTHEASTERN BOLIVI

4,7-Phenanthrolinium perchlorate-5-methyl-1,2,4-triazolo[1,5-a]pyrimidin-7(4H)-one-water (1/1/2)

The asymmetric unit of the title compound, C12H9N2+·ClO4-·C6H6N4O·2H2O, contains a monoprotonated 4,7-phenanthrolinium (47phen) cation, a perchlorate anion balancing its charge, a neutral molecule of 5-methyl-1,2,4-triazolo[1,5-a]pyrimidin-7(4H)-one (HmtpO) and two interstitial water molecules. In the crystal structure, the acidic H atoms of 47phenH+ and HmtpO form strong hydrogen bonds with the water molecules, which in turn act as hydrogen-bond donors, forming links between them and towards the carbonyl O atom of HmtpO, the non-protonated N atom of 47phen+ and one of the O atoms of the anion.We acknowledge financial support from the Spanish Ministerio de Ciencia y Tecnología (project CTQ2008–00037/PPQ) and from the Junta de Andalucía (research group FQM 195). ABC is grateful for a FPU grant from the Spanish Ministerio de Educación y Ciencia

Bis(cyanato-κN)bis­(5,7-dimethyl-1,2,4-triazolo[1,5-a]pyrimidine-κN 3)zinc

In the title complex, [Zn(NCO)2(C7H8N4)2], the ZnII ion exhibits a distorted tetra­hedral coordination geometry. The coordination environment is formed by two 5,7-dimethyl-1,2,4-triazolo[1,5-a]pyrimidine (dmtp) ligands, coordinated through the N atom in position 3, and two cyanate anions inter­acting by their N atoms. Supra­molecular dimers are generated by stacking inter­actions between the pyrimidine rings of two ligands related by an inversion center [centroid–centroid distance = 3.5444 (18) Å]

Incidència del nombre d’atacants en la defensa de primera línia en voleibol

Les relacions atac-defensa en voleibol s’han mostrat problemàtiques pràcticament des dels orígens de l’esport: els atacants realitzen un joc excessivament ràpid per a les possibilitats dels defenses. Es pretén de conèixer quina incidència té disposar d’un nombre més gran o més petit d’atacants en la realització de la defensa de primera línia. Per fer-ho, es va crear un instrument observacional a través del qual es pogués efectuar un registre sistemàtic de les accions d’atac i defensa de primera línia. Les dades recollides han estat tractades mitjançant el programa SDIS-GSEQ 4.1.2 per a Windows, a través del qual s’ha realitzat l’anàlisi seqüencial. L’objectiu consisteix a trobar patrons de joc estables en les situacions en què els atacants es troben en inferioritat ofensiva, igualtat numèrica i superioritat ofensiva. Els resultats permeten detectar estructures de joc estables en les accions defensives; aquests patrons de joc es veuen condicionats tant pel nivell dels equips com per la posició defensiva del col·locador

Overproduction and purification of protein p6 of Bacillus subtilis phage ø29

A ø29 DNA fragment containing gene 6, required for DNA replication, has been cloned in plasmid pPLc28 under the control of the PL promoter of phage lambda. A polypeptide with an electrophoretic mobility close to that of p6 was labelled with 35S methionine after heat induction. This protein, representing about 4% of the total E. coli protein after 1 h of induction, was obtained in a highly purified form. The protein was characterized as p6 by amino acid analysis and NH2 COOH-terminal sequence determination. Protein p6 has an apparent molecular weight of 23,600 suggesting that the native form of the protein is a dimer. The purified protein p6 stimulated the protein-primed initiation of ø29-coded DNA replication when added to purified proteins p2 (ø29-coded DNA polymerase) and p3 (terminal protein).Peer reviewe

Bis(7-amino-1,2,4-triazolo[1,5-a]pyrimidin-4-ium) bis­(oxalato-κ2 O 1,O 2)cuprate(II) dihydrate

The structure of the title ionic compound, (C5H6N5)2[Cu(C2O4)2]·2H2O, consists of a centrosymmetric copper(II) oxalate dianion, two monoprotonated mol­ecules of the adenine analog 7-amino-1,2,4-triazolo[1,5-a]pyrimidine (7atp) and two water mol­ecules of crystallization. The CuII ion, located on an inversion center, exhibits a sligthly distorted square-planar coordination geometry, in which two oxalate anions bind in a bidentate fashion. The triazolopyrimidine ligand is protonated at the N atom in position 4, instead of its most basic N atom in position 3. This fact may be explained by the network stability, which is provided through the formation of a two-dimensional wave-like network parallel to (50) by N—H⋯O, O—H⋯N and O—H⋯O hydrogen bonds. These nets are further connected via C—H⋯O inter­actions

Cytotoxicity of three new triazolo-pyrimidine derivatives against the plant trypanosomatid: Phytomonas sp isolated from Euphorbia characias

There is no effective chemotherapy against diseases caused by Phytomonas sp., a plant trypanosomatid responsible for economic losses in major crops. We tested three triazolo-pyrimidine complexes [two with Pt(II), and another with Ru(III)] against promastigotes of Phytomonas sp. isolated from Euphorbia characias. The incorporation of radiolabelled precursors, ultrastructural alterations and changes in the pattern of metabolite excretion were examined. Different degrees of toxicity were found for each complex: the platinun compound showed an inhibition effect on nucleic acid synthesis, provoking alterations on the levels of mitochondria, nucleus and glycosomes. These results, together with others reported previously in our laboratory about the activity of pyrimidine derivatives, reflect the potential of these compounds as agents in the treatment of Phytomonas sp.Financial support Universidad de Granada (Spain), grant BIO 2000-1429