516 research outputs found

    Learning globally consistent maps by relaxation

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    Mobile robots require the ability to build their own maps to operate in unknown environments. A fundamental problem is that odometry-based dead reckoning cannot be used to assign accurate global position information to a map because of drift errors caused by wheel slippage. The paper introduces a fast, online method of learning globally consistent maps, using only local metric information. The approach differs from previous work in that it is computationally cheap, easy to implement and is guaranteed to find a globally optimal solution. Experiments are presented in which large, complex environments were successfully mapped by a real robot, and quantitative performance measures are used to assess the quality of the maps obtained

    A Multi-signal Variant for the GPU-based Parallelization of Growing Self-Organizing Networks

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    Among the many possible approaches for the parallelization of self-organizing networks, and in particular of growing self-organizing networks, perhaps the most common one is producing an optimized, parallel implementation of the standard sequential algorithms reported in the literature. In this paper we explore an alternative approach, based on a new algorithm variant specifically designed to match the features of the large-scale, fine-grained parallelism of GPUs, in which multiple input signals are processed at once. Comparative tests have been performed, using both parallel and sequential implementations of the new algorithm variant, in particular for a growing self-organizing network that reconstructs surfaces from point clouds. The experimental results show that this approach allows harnessing in a more effective way the intrinsic parallelism that the self-organizing networks algorithms seem intuitively to suggest, obtaining better performances even with networks of smaller size.Comment: 17 page

    Conducting surveys on forestry attitudes and practices in Leyte Communities, Philippines: Experiences and lessons learnt

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    A survey of forestry practices and attitudes was undertaken in four communities in Leyte, the Philippines, to improve understanding of the social and economic factors affecting small-scale forestry development. The survey had three main data collection activities — initial focus group discussions (FGDs), household interviews, and reporting and validation FGDs. A team of enumerators was selected for household interviews which consisted of both males and females, to avoid potential problems of unwillingness of people to talk with those of the opposite gender. The interviewers were also required to be able to speak local dialects (Cebuano and Waray Waray), the survey questionnaires being administered in these dialects. Various methods were used to gain the support and assistance of local government units and barangay captains. Some difficulty was experienced by the survey team in the first community due to barangay elections at the time of the survey, and the requirement by the University of Queensland Ethics Committee that respondents sign a consent form. This requirement was found to be not culturally appropriate for the Leyte smallholder communities. Offering goods at the end of the interview was found to be of limited value for encouraging participation in the survey. Provision of food and drinks were found to encourage FGD participants to express their views, but too much alcohol had a negative effect. The importance of providing comprehensive feedback to respondents and involving them and other stakeholders in development of policy recommendations was apparent. These survey experiences provide valuable insights which are not generally available in textbooks on sample surveys, and provide lessons for planning and conducting smallholder community survey into natural resource management issues

    Plasma arginine vasopressin concentrations in epileptics under monotherapy

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    Plasma arginine vasopressin concentrations were determined by radio-immunoassay in 112 adult epileptics who were taking carbamazepine, phenytoin, primidone, or sodium valproate in long-term monotherapy, and in 19 controls. No significant difference was found between the groups, but some epileptics taking carbamazepine and primidone showed low values. Serum concentrations of carbamazepine did not correlate with the concentrations of plasma arginine vasopressin. In conclusion, there was no evidence of a stimulating effect of chronic carbamazepine medication or a special inhibiting effect of phenytoin on the release of vasopressin arginine from the posterior pituitary

    Retrospective case note review of chronic spontaneous urticaria outcomes and adverse effects in patients treated with omalizumab or ciclosporin in UK secondary care.

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    BACKGROUND: Omalizumab is approved in the UK as add-on treatment for chronic spontaneous urticaria (CSU) in patients with inadequate response to H1-antihistamines. Ciclosporin is an established but unlicensed 3rd line option for CSU. Two parallel retrospective observational studies were conducted to describe outcomes of treatment and adverse events with omalizumab or ciclosporin for CSU treatment. METHODS: Data from UK specialist centres prescribing omalizumab (five centres) or ciclosporin (three centres) in CSU patients were collected from hospital records by clinical staff and pooled for analysis. RESULTS: Forty-six patients prescribed omalizumab and 72 patients prescribed ciclosporin were included. Twenty-two (48%) omalizumab-treated patients had paired Urticaria Activity Scores (UAS7), showing a 25.4 point improvement during treatment (P < 0.0001). Paired Dermatology Life Quality Index (DLQI) was available in 28 (61%) omalizumab-treated and 17 (24%) ciclosporin-treated patients. At least a 75% improvement in DLQI score was observed in 79% of omalizumab-treated and 41% of ciclosporin-treated patients, and 65% of omalizumab-treated patients had complete resolution of their quality-of-life impairment (DLQI 0-1) versus 21% of ciclosporin-treated patients. Clinician comments reported symptom clearance in 15/36 (42%) omalizumab-treated and 10/60 (17%) ciclosporin-treated patients. Proportions of patients with adverse events were similar but those for omalizumab resembled CSU symptoms, making causality assignment difficult, whereas those for ciclosporin were consistent with its known adverse effect profile. CONCLUSIONS: Validated patient-reported measures of disease severity and quality of life should be used routinely in CSU management. Based on clinician comments and DLQI scores, symptoms and quality of life showed a greater improvement in the omalizumab-treated cohort than in the ciclosporin-treated cohort

    Dyslipidemia inhibits Toll-like receptor–induced activation of CD8α-negative dendritic cells and protective Th1 type immunity

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    Environmental factors, including diet, play a central role in influencing the balance of normal immune homeostasis; however, many of the cellular mechanisms maintaining this balance remain to be elucidated. Using mouse models of genetic and high-fat/cholesterol diet–induced dyslipidemia, we examined the influence of dyslipidemia on T cell and dendritic cell (DC) responses in vivo and in vitro. We show that dyslipidemia inhibited Toll-like receptor (TLR)–induced production of proinflammatory cytokines, including interleukin (IL)-12, IL-6, and tumor necrosis factor-α, as well as up-regulation of costimulatory molecules by CD8α− DCs, but not by CD8α+ DCs, in vivo. Decreased DC activation profoundly influenced T helper (Th) cell responses, leading to impaired Th1 and enhanced Th2 responses. As a consequence of this immune modulation, host resistance to Leishmania major was compromised. We found that oxidized low-density lipoprotein (oxLDL) was the key active component responsible for this effect, as it could directly uncouple TLR-mediated signaling on CD8α− myeloid DCs and inhibit NF-κB nuclear translocation. These results show that a dyslipidemic microenvironment can directly interfere with DC responses to pathogen-derived signals and skew the development of T cell–mediated immunity

    Automated experience-based learning for plug and produce assembly systems

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    YesThis paper presents a self-learning technique for adapting modular automated assembly systems. The technique consists of automatically analysing sensor data and acquiring experience on the changes made on an assembly system to cope with new production requirements or to recover from disruptions. Experience is generalised into operational knowledge that is used to aid engineers in future adaptations by guiding them throughout the process. At each step, applicable changes are presented and ranked based on: (1) similarity between the current context and those in the experience base; (2) estimate of the impact on system performance. The experience model and the self-learning technique reflect the modular structure of the assembly machine and are particularly suitable for plug and produce systems, which are designed to offer high levels of self-organisation and adaptability. Adaptations can be performed and evaluated at different levels: from the smallest pluggable unit to the whole assembly system. Knowledge on individual modules can be reused when modules are plugged into other systems. An experimental evaluation has been conducted on an industrial case study and the results show that, with experience-based learning, adaptations of plug and produce systems can be performed in a shorter time.European Union [grant number 314762]

    Interleukin-6 gene (IL-6): a possible role in brain morphology in the healthy adult brain

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    Background: Cytokines such as interleukin 6 (IL-6) have been implicated in dual functions in neuropsychiatric disorders. Little is known about the genetic predisposition to neurodegenerative and neuroproliferative properties of cytokine genes. In this study the potential dual role of several IL-6 polymorphisms in brain morphology is investigated. Methodology: In a large sample of healthy individuals (N = 303), associations between genetic variants of IL-6 (rs1800795; rs1800796, rs2069833, rs2069840) and brain volume (gray matter volume) were analyzed using voxel-based morphometry (VBM). Selection of single nucleotide polymorphisms (SNPs) followed a tagging SNP approach (e.g., Stampa algorigthm), yielding a capture 97.08% of the variation in the IL-6 gene using four tagging SNPs. Principal findings/results: In a whole-brain analysis, the polymorphism rs1800795 (−174 C/G) showed a strong main effect of genotype (43 CC vs. 150 CG vs. 100 GG; x = 24, y = −10, z = −15; F(2,286) = 8.54, puncorrected = 0.0002; pAlphaSim-corrected = 0.002; cluster size k = 577) within the right hippocampus head. Homozygous carriers of the G-allele had significantly larger hippocampus gray matter volumes compared to heterozygous subjects. None of the other investigated SNPs showed a significant association with grey matter volume in whole-brain analyses. Conclusions/significance: These findings suggest a possible neuroprotective role of the G-allele of the SNP rs1800795 on hippocampal volumes. Studies on the role of this SNP in psychiatric populations and especially in those with an affected hippocampus (e.g., by maltreatment, stress) are warranted.Bernhard T Baune, Carsten Konrad, Dominik Grotegerd, Thomas Suslow, Eva Birosova, Patricia Ohrmann, Jochen Bauer, Volker Arolt, Walter Heindel, Katharina Domschke, Sonja Schöning, Astrid V Rauch, Christina Uhlmann, Harald Kugel and Udo Dannlowsk
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