SLAM in Dynamic Environments: A Deep Learning Approach for Moving Object Tracking Using ML-RANSAC Algorithm

The important problem of Simultaneous Localization and Mapping (SLAM) in dynamic environments is less studied than the counterpart problem in static settings. In this paper, we present a solution for the feature-based SLAM problem in dynamic environments. We propose an algorithm that integrates SLAM with multi-target tracking (SLAMMTT) using a robust feature-tracking algorithm for dynamic environments. A novel implementation of RANdomSAmple Consensus (RANSAC) method referred to as multilevel-RANSAC (ML-RANSAC) within the Extended Kalman Filter (EKF) framework is applied for multi-target tracking (MTT). We also apply machine learning to detect features from the input data and to distinguish moving from stationary objects. The data stream from LIDAR and vision sensors are fused in real-time to detect objects and depth information. A practical experiment is designed to verify the performance of the algorithm in a dynamic environment. The unique feature of this algorithm is its ability to maintain tracking of features even when the observations are intermittent whereby many reported algorithms fail in such situations. Experimental validation indicates that the algorithm is able to perform consistent estimates in a fast and robust manner suggesting its feasibility for real-time applications

Therapeutic potential of allicin-rich garlic preparations: Emphasis on clinical evidence toward upcoming drugs formulation

Garlic has been used for a long time in human history. Allicin, the main active compound present in freshly injured garlic, is enzymatically formed from alliin. Allicin has shown doubtless beneficial effects and even be conceived as medicine. The present review highlights allicin-associated studies. Indeed, clinical studies on healthy subjects have evidenced that standardized garlic treatment (900 mg/day) significantly reduces total cholesterol (TC) and low-density lipoprotein cholesterol (c-LDL). Besides, allicin also led to a marked improvement in mouth opening, burning sensation, and oral health-related quality of life on stage II oral submucous fibrosis patients. Interestingly, in children, allicin also has been proposed for thrush prevention and as an alternative antibiotic therapy. Nonetheless, there is particular attention to allicin bioavailability, given its high instability. Although clinical evidence has promoted allicin release from garlic powder tablets under simulated gastrointestinal conditions, garlic tablets are those that have provided less alliinase protection due to its fast disintegration, releasing low allicin amounts.Natália Martins would like to thank the Portuguese Foundation for Science and Technology (FCT-Portugal) for the Strategic project ref. UID/BIM/04293/2013 and "NORTE2020-Programa Operacional Regional do Norte" (NORTE-01-0145-FEDER-000012)

Intermittent in-situ high-resolution X-ray microscopy of 400-nm porous glass under uniaxial compression: study of pore changes and crack formation

The properties of porous glasses and their field of application strongly depend on the characteristics of the void space. Understanding the relationship between their porous structure and failure behaviour can contribute to the development of porous glasses with long-term reliability optimized for specific applications. In the present work, we used X-ray computed tomography with nanometric resolution (nano-CT) to image a controlled pore glass (CPG) with 400 nm-sized pores whilst undergoing uniaxial compression in-situ to emulate a stress process. Our results show that in-situ nano-CT provides an ideal platform for identifying the mechanisms of damage within glass with pores of 400 nm, as it allowed the tracking of the pores and struts change of shape during compression until specimen failure. We have also applied computational tools to quantify the microstructural changes within the CPG sample by mapping the displacements and strain fields, and to numerically simulate the behaviour of the CPG using a Fast Fourier Transform/phase-field method. Both experimental and numerical data show local shear deformation, organized along bands, consistent with the appearance and propagation of +/- 45 degrees cracks.Comment: 14 pages, 6 figure

Therapeutic potential of allicin-rich garlic preparations : emphasis on clinical evidence toward upcoming drugs formulation

Garlic has been used for a long time in human history. Allicin, the main active compound present in freshly injured garlic, is enzymatically formed from alliin. Allicin has shown doubtless beneficial effects and even be conceived as medicine. The present review highlights allicin-associated studies. Indeed, clinical studies on healthy subjects have evidenced that standardized garlic treatment (900 mg/day) significantly reduces total cholesterol (TC) and low-density lipoprotein cholesterol (c-LDL). Besides, allicin also led to a marked improvement in mouth opening, burning sensation, and oral health-related quality of life on stage II oral submucous fibrosis patients. Interestingly, in children, allicin also has been proposed for thrush prevention and as an alternative antibiotic therapy. Nonetheless, there is particular attention to allicin bioavailability, given its high instability. Although clinical evidence has promoted allicin release from garlic powder tablets under simulated gastrointestinal conditions, garlic tablets are those that have provided less alliinase protection due to its fast disintegration, releasing low allicin amounts9245555Natália Martins would like to thank the Portuguese Foundation for Science and Technology (FCT–Portugal) for the Strategic project ref. UID/BIM/04293/2013 and “NORTE2020—Programa Operacional Regional do Norte” (NORTE-01-0145-FEDER-000012

La evaluación de la calidad de enseñanza universitaria mediante la percepción del alumno de una actividad práctica: propuesta de escalas de medida

El panorama universitario actual, centrado en la valoración y juicio de los distintos agentes del proceso de enseñanza-aprendizaje, supone un campo adecuado para el desarrollo de investigaciones que pretendan alcanzar indicadores fiables del desempeño de las labores docentes. La futura implantación del Espacio Europeo de Educación Superior (EEES), acrecienta el interés por este tipo de investigaciones.Este trabajo, centrado en este contexto, pretende evaluar y valorar, por parte del discente, una actividad práctica constitutiva del programa de dos asignaturas universitarias impartidas en dos licenciaturas oficiales. Para su evaluación desarrollaremos una escala de medida que permita conocer la percepción de calidad de dicha actividad por parte de los alumnos y las posibles fuentes de mejora. Con los resultados obtenidos podremos conocer que aportación tiene esta práctica en el proceso de aprendizaje de esta materia y para la formación general del alumno

Tagetes spp. Essential oils and other extracts : chemical characterization and biological activity

Tagetes (marigold) is native to America, and its cultivation currently extends to other countries in Africa, Asia, and Europe. Many species of this genus, such as T. minuta, T. erecta, T. patula, and T. tenuifolia, are cultivated as ornamental plants and studied for their medicinal properties on the basis of their use in folk medicine. Different parts of the Tagetes species are used as remedies to treat various health problems, including dental, stomach, intestinal, emotional, and nervous disorders, as well as muscular pain, across the world. Furthermore, these plants are studied in the field of agriculture for their fungicidal, bactericidal, and insecticidal activities. The phytochemical composition of the extracts of different Tagetes species parts are reported in this work. These compounds exhibit antioxidant, antiinflammatory, and enzyme inhibitory properties. Cultivation and the factors affecting the chemical composition of Tagetes species are also covered. In the current work, available literature on Tagetes species in traditional medicine, their application as a food preservative, and their antimicrobial activities are reviewed

The Zika Virus Individual Participant Data Consortium: A Global Initiative to Estimate the Effects of Exposure to Zika Virus during Pregnancy on Adverse Fetal, Infant, and Child Health Outcomes

This commentary describes the creation of the Zika Virus Individual Participant Data Consortium, a global collaboration to address outstanding questions in Zika virus (ZIKV) epidemiology through conducting an individual participant data meta-analysis (IPD-MA). The aims of the IPD-MA are to (1) estimate the absolute and relative risks of miscarriage, fetal loss, and short- and long-term sequelae of fetal exposure; (2) identify and quantify the relative importance of different sources of heterogeneity (e.g., immune profiles, concurrent flavivirus infection) for the risk of adverse fetal, infant, and child outcomes among infants exposed to ZIKV in utero; and (3) develop and validate a prognostic model for the early identification of high-risk pregnancies and inform communication between health care providers and their patients and public health interventions (e.g., vector control strategies, antenatal care, and family planning programs). By leveraging data from a diversity of populations across the world, the IPD-MA will provide a more precise estimate of the risk of adverse ZIKV-related outcomes within clinically relevant subgroups and a quantitative assessment of the generalizability of these estimates across populations and settings. The ZIKV IPD Consortium effort is indicative of the growing recognition that data sharing is a central component of global health security and outbreak response.</jats:p

Analysis pipelines for cancer genome sequencing in mice

Mouse models of human cancer have transformed our ability to link genetics, molecular mechanisms and phenotypes. Both reverse and forward genetics in mice are currently gaining momentum through advances in next-generation sequencing (NGS). Methodologies to analyze sequencing data were, however, developed for humans and hence do not account for species-specific differences in genome structures and experimental setups. Here, we describe standardized computational pipelines specifically tailored to the analysis of mouse genomic data. We present novel tools and workflows for the detection of different alteration types, including single-nucleotide variants (SNVs), small insertions and deletions (indels), copy-number variations (CNVs), loss of heterozygosity (LOH) and complex rearrangements, such as in chromothripsis. Workflows have been extensively validated and cross-compared using multiple methodologies. We also give step-by-step guidance on the execution of individual analysis types, provide advice on data interpretation and make the complete code available online. The protocol takes 2?7 d, depending on the desired analyses.D.S. is supported by the European Research Council (Consolidator Grant 648521) and the Deutsche Forschungsgemeinschaft (SA1374/4-2; SFB 1321). I.V. is supported by the European Research Council (Starting Grant INTRAHETEROSEQ) and the Spanish Goverment (SAF2016-76758-R). R.R. is supported by the European Research Council (Consolidator Grants PACA-MET and MSCA-ITN-ETN PRECODE), the Deutsche Forschungsgemeinschaft (DFG RA1629/2-1; SFB1243; SFB1321; SFB1335), the German Cancer Consortium Joint Funding Program, and the Deutsche Krebshilfe (70112480)

Evaluation of therapeutic drug protocol used for control of pain after dental extractions / Avaliação do protocolo terapêutico medicamentoso utilizado para o controle da dor após exodontias

Pain control after surgery is one of the factors concern of surgical specialties. Aim of this study is to evaluate and compare the efficacy of nimesulide 100 mg and dipyrone monohydrate 500 mg used after extractions performed by a maxillofacial surgery UFPI services in order to support the drug choice appropriately, prioritizing the analgesic effect needed to patients undergoing interventions. Forty patients underwent extractions in the clinic of the UFPI, in the Health Center Poty Velho and Emergency Hospital of Promorar. Patients were divided into groups: undergoing intervention with and without ostectomy. Dipyrone monohydrate 500 mg or nimesulide 100 mg produced by compounding pharmacy, were prescribed for patients randomly, featuring a blind study. The intensity of pain after the extraction was assessed by patients using a visual analogue scale, in a postoperative period of 72 hours at 24 hour intervals. There was no statistical variation between the analgesics studied during the 3 days postoperatively evaluated, considering the presence or absence of ostectomy as a modifier of the search. Analgesia effect of nimesulide was similar to dipyrone according to the present study

Anacardium plants: Chemical,nutritional composition and biotechnological applications

Anacardium plants are native to the American tropical regions, and Anacardium occidentale L. (cashew tree) is the most recognized species of the genus. These species contain rich secondary metabolites in their leaf and shoot powder, fruits and other parts that have shown diverse applications. This review describes the habitat and cultivation of Anacardium species, phytochemical and nutritional composition, and their industrial food applications. Besides, we also discuss the secondary metabolites present in Anacardium plants which display great antioxidant and antimicrobial effects. These make the use of Anacardium species in the food industry an interesting approach to the development of green foods.AK. Jugran acknowledges the partial funding from Uttarakhand council for Biotechnology, Pantnagar, Uttarakhand, India (File No. UCB/R&D Project/2018-311) for this work. M. Martorell would like to thank the support offered by CONICYT PIA/APOYO CCTE AFB170007. N. Martins would like to thank the Portuguese Foundation for Science and Technology (FCT-Portugal) for the Strategic project ref. UID/BIM/04293/2013 and ?NORTE2020 - Northern Regional Operational Program? (NORTE-01-0145-FEDER- 000012)