Integration of Absolute Orientation Measurements in the KinectFusion Reconstruction pipeline

In this paper, we show how absolute orientation measurements provided by low-cost but high-fidelity IMU sensors can be integrated into the KinectFusion pipeline. We show that integration improves both runtime, robustness and quality of the 3D reconstruction. In particular, we use this orientation data to seed and regularize the ICP registration technique. We also present a technique to filter the pairs of 3D matched points based on the distribution of their distances. This filter is implemented efficiently on the GPU. Estimating the distribution of the distances helps control the number of iterations necessary for the convergence of the ICP algorithm. Finally, we show experimental results that highlight improvements in robustness, a speed-up of almost 12%, and a gain in tracking quality of 53% for the ATE metric on the Freiburg benchmark.Comment: CVPR Workshop on Visual Odometry and Computer Vision Applications Based on Location Clues 201

Characterization of the mitochondrial processing peptidase of Neurospora crassa

The mitochondrial processing peptidase (MPP) of Neurospora crassa is constituted by an alpha- and a beta-subunit. We have purified alpha-MPP after expression in Escherichia coli while beta-MPP was purified from mitochondria. A fusion protein between precytochrome b2 and mouse dihydrofolate reductase was expressed in E. coli, and the purified protein was used as substrate for MPP. Both subunits of MPP are required for processing. MPP removes the matrix targeting signal of cytochrome b2 by a single cut, and the resulting presequence peptide is 31 amino acid residues in length. It acts as a competitive inhibitor of processing but has a approximately 30-fold lower affinity for MPP than the preprotein. Competition assays show that MPP recognizes the COOH- terminal portion of the presequence of cytochrome b2 rather than the NH2-terminal part which has the potential to form an amphiphilic helix. Substitution of arginine in position -2 of the matrix targeting sequence of cytochrome b2 prevents processing but not import of a chimeric precursor. Substitution of the tyrosyl residue in position +1 also prevents processing, indicating that MPP interacts with sequences COOH-terminal to the cleavage site. Non-cleavable preprotein is still recognized by MPP. Our data suggest that processing peptidase and import machinery recognize distinct structural elements in preproteins which, however, can be overlapping

The case for and against socialized medicine in the United States

Thesis (M.B.A.)--Boston Universit

The case for and against socialized medicine in the United States

Thesis (M.B.A.)--Boston Universit

Selective Vulnerability of Neuronal Subtypes in ALS: A Fertile Ground for the Identification of Therapeutic Targets

It is well defined that subpopulations of motoneurons have different vulnerability to the pathology causing amyotrophic lateral sclerosis (ALS). In the spinal cord, the fast fatigable motoneurons have been shown to be the first to degenerate, followed by fatigue-resistant and slow motoneurons. In contrast motoneurons located in the Onuf’s and oculomotor nuclei appear to be resistant to disease. With a focus on research mainly done on mice overexpressing the mutated human superoxide dismutase (SOD1) protein, we review recent studies exploring the mechanisms that underlie the selective vulnerability of the various motoneuron subtypes. By comparing differences in gene expression between these populations, it has been possible to identify factors, which critically determine the survival of motoneurons and the neuromuscular function in the pathologic context of ALS. Furthermore, we discuss the contribution of non-cell autonomous processes, involving glial cells and the skeletal muscle, in the neurodegenerative process. Exploring the cause of neurodegeneration from the angle of the selective neuronal vulnerability has recently led to the identification of novel targets, which open opportunities for therapeutic intervention against ALS

The reaction pi N to pi pi N in a meson-exchange approach

A resonance model for two-pion production in the pion-nucleon reaction is developed that includes information obtained in the analysis of pion-nucleon scattering in a meson-exchange model. The baryonic resonances Delta(1232), N*(1440), N*(1520), N*(1535), and N*(1650) are included. The model reproduces the total cross sections up to kinetic energies of the incident pion of 350 MeV and obtains the shapes of the differential cross sections in reasonable agreement with the data.Comment: 7 pages, 7 figures, 2 table

Long-term performance of organic crop rotations in the tropics: First results from a high and a medium potential site in sub-humid Central Kenya

Organic Agriculture is perceived by many stakeholders as a promising approach to increase food security in developing countries. However, only few attempts have been made so far to assess agronomic and economic performance of Organic Agriculture in these regions in a systematic way. The Research Institute of Organic Agriculture (FiBL), together with its partners, is presently establishing long-term comparisons of farming systems in various agro-ecological and socio-economic contexts to study the different parameters that are essential for sustainable development. To date, three study areas have been selected: (a) a sub-humid area in Kenya where farming is subsistence-oriented; (b) a semi-arid area in India where cotton is produced for the export market; and (c) a humid area in Bolivia where cacao and other perennial products are produced for the export and domestic markets. The key elements are replicated long-term field trials. These are complemented by farm surveys and short-term trials under on-farm conditions. This network of comparison of farming systems in the tropics is expected to (1) put the discussion on the benefits and drawbacks of Organic Agriculture on a rational basis; (2) help to identify challenges for Organic Agriculture that can then be addressed systematically; (3) provide physical reference points for stakeholders in agricultural research and development and thus support agricultural policy dialogue at different levels. In Kenya, the two trials sites are located in a high potential zone in Meru South District (Chuka) and in a medium potential zone in Maragua District (Thika). They consist of four treatments: conventional and organic, each at a low and a high input level, representing subsistence oriented and commercial farming, respectively. Maize, brassicas and maize were planted during the first, second and third season respectively in both organic and conventional plots. In the first three seasons, we found the following results: in Chuka, organic yields of the low input treatments were on average 4% lower than conventional yields. On the high input level, organic yields were 6% lower. In Thika, organic yields were on average 57% (low input level) and 33% (high input level) lower than conventional yields. It is assumed that the organic crops in Chuka could benefit from N and P mobilisation from the soil. In Thika, where N and P were probably less available, the crop depended on the easily soluble nutrients applied in the conventional treatments. The effect of lower nutrient availability in the organic treatments in Thika was possibly aggravated by serious drought spells during the second and third season. The questions of interest are a) whether the organic treatments can keep the yield level of the conventional treatments in Chuka or if they will go through a depression typical for conversion from conventional to Organic Agriculture; and b) if the organic treatments can improve soil fertility and thus the organic yield levels in Thika in the coming years

Glaciological problems set by the control of dangerous lakes in Cordillera Blanca, Peru. III. Study of moraines and mass balances at Safuna

We explain how preliminary results concerning the internal constitution of the big push moraine at Safuna were obtained in 1967. Cross-sections which were obtained later through electrical and seismic exploration and arduous borings are given. Under the lake Safuna Alta there exists a layer of dead ice which is probably a remnant from an old glacier advance and over which the active glacier slides, but this dead ice does not extend into the push moraine. Since 1950 Safuna Alta has formed, the glacier tongue has lowered by 0.8 m per year on average, and the big push moraine has moved and settled. The annual balance on the glacier tongue was measured in 1968. It increases by 3.9 m of ice per 100 m in altitude. The discharge of ice near the lake and the annual balance further up-valley allow an estimate of the mean annual balance in the accumulation zone (between 4850 and 6020 m) at 2.30 m of water per year. Until now no annual precipitation higher than 1 m/year had been measured in Cordillera Blanca, but this Cordillera includes many meso-climates. Eight successive moraines are found at Safuna. They are tentatively correlated with the eight existing between Huaraz and Laguna Llaca. Clapperton's (1972) “group 4” was not formed during the 20th, but during the 17th century. His “group 3” is not from A.D. 1750-1800, but is rather 5 000 to 7 000 years old, according to the offset of Cordillera Blanca great fault

Some mathematical tools for the Lenski experiment

The Lenski experiment is a long term daily reproduction of Escherichia coli, that has evidenced phenotypic and genetic evolutions along the years. Some mathematical models, that could be usefull in understanding the results of that experiment, are reviewed here: stochastic and deterministic growth, mutation appearance and fixation, competition of species

Régime pauvre en hydrates de carbone et douleurs articulaires: quel rapport? [Low-carb diet and joint pain: how are they related?]

We report the case of a 69-year-old male who presented with acute bilateral ankle pain treated as acute gouty arthritis but resistant to colchicine and NSAIDs. In view of very high inflammatory parameters, septic arthritis was initially suspected but ruled out by joint aspiration; the final diagnosis was gouty arthritis. He finally responded well to a short course of oral prednisone. We found this case interesting in view of the initial differential diagnosis and association with a low-carb diet, known to be associated with many metabolic complications among which gout is frequent. [Authors]]]> Diet, Carbohydrate-Restricted ; Arthritis, Gouty fre oai:serval.unil.ch:BIB_F31B6FE6921F 2022-05-07T01:30:01Z openaire documents urnserval <oai_dc:dc xmlns:dc="http://purl.org/dc/elements/1.1/" xmlns:xs="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:oai_dc="http://www.openarchives.org/OAI/2.0/oai_dc/" xsi:schemaLocation="http://www.openarchives.org/OAI/2.0/oai_dc/ http://www.openarchives.org/OAI/2.0/oai_dc.xsd"> https://serval.unil.ch/notice/serval:BIB_F31B6FE6921F The 1925 Opium Purchasing Campaign in Laos: The Anatomy of a Colonial Scandal Rapin, A.-J. info:eu-repo/semantics/other misc 2014 <![CDATA[Opium purchasing campaigns, initiated in 1915, were abruptly interrupted ten years later following the discovery that the Douanes &amp; Régies of the General Government of Indochina had been victim of a gigantic fraud. Various inquiries expedited with a view to establishing responsibility for the fiasco, involving purchases made at Luang Prabang in 1925, highlight the dysfunctions affecting the colonial civil service. The 1925 scandal revealed not only the difficulties encountered by the French in their attempts to control the drug trade, but also the prevailing circumstantial inefficiency of the colonial bureaucracy