A new approach to the calibration problems of three-dimensional laser scanners

Synchronized laser scanners are the most popular 3D image capture systems for industrial applications. The accuracy of the scanned picture is a key factor of the complete system. In this paper, a new mathematical description of synchronized laser scanners will be presented, which is necessary to the developed calibration method. The mathematical model is based on the geometrical design of the triangulation and it can make the application of scanners easier. The calibration method is working by tests on reference planes, which should be scanned and some reference points should be chosen on it. Due to the combined relations among the geometrical and system parameters, it is better - as shown - if the system parameters are estimated step-by-step by a linear error correcting method from the measured data and from the coordinates of the points on the reference planes. The new mathematical model allows simulating the function and the errors of the triangulation system easy. The error analysis of the system can help us to obtain important data from the model to design synchronized scanners

The potential for modification in cloning and vitrification technology to enhance genetic progress in beef cattle in Northern Australia

AbstractRecent advances in embryology and related research offer considerable possibilities to accelerate genetic improvement in cattle breeding. Such progress includes optimization and standardization of laboratory embryo production (in vitro fertilization – IVF), introduction of a highly efficient method for cryopreservation (vitrification), and dramatic improvement in the efficiency of somatic cell nuclear transfer (cloning) in terms of required effort, cost, and overall outcome. Handmade cloning (HMC), a simplified version of somatic cell nuclear transfer, offers the potential for relatively easy and low-cost production of clones. A potentially modified method of vitrification used at a centrally located laboratory facility could result in cloned offspring that are economically competitive with elite animals produced by more traditional means. Apart from routine legal and intellectual property issues, the main obstacle that hampers rapid uptake of these technologies by the beef cattle industry is a lack of confidence from scientific and commercial sources. Once stakeholder support is increased, the combined application of these methods makes a rapid advance toward desirable traits (rapid growth, high-quality beef, optimized reproductive performance) a realistic goal. The potential impact of these technologies on genetic advancement in beef cattle herds in which improvement of stock is sought, such as in northern Australia, is hard to overestimate

Autonóm robotok korszerű irányításelméletének, navigációjának és az intelligencia növelésének kutatása = Research in the advanced control theory and navigation of autonomous robots and the increase of the intelligence

Módszereket dolgoztunk ki redundáns mobilis robotok mozgásának koordinálására es a mozgás optimális megosztására a platform és a robot között. Rétegezett irányításon és játékelméleten alapuló mozgástervezési és irányítási algoritmusokat dolgoztunk ki multiágensű rendszerek számára. Tárgymanipulációs algoritmusokat fejlesztettünk ki kooperáló robotok és többujjas robotkezek irányításához mesterséges intelligencia eszközök bevonásával. Módszereket adtunk járművek és intelligens beavatkozó szerveik modellezésére, pályatervezésére és korszerű irányításukra. Adaptív irányítási algoritmusokat fejlesztettünk ki mechatronikai rendszerek és robotok súrlódási jelenségeinek modellezésére és kompenzálására. Földi járművek automatikus akadályelerülésére pályatervezési módszert és prediktív irányítási algoritmust dolgoztunk ki. Sztereó képfeldolgozási módszereket fejlesztettünk ki a 3D jelenet rekonstruálására, az objektumok felismerésére és a tárgyak relatív helyzetének meghatározására. Robotok kézmozdulatokkal történő irányításához és a teleoperációhoz kidolgoztuk az emberi kéz részletes kinematikai modelljét. Mobilis és mikrorobotok viselkedésorientált irányításához platform független szimulátort fejlesztettünk ki, amely csökkenti a tervezési fázis költségét és a meghibásodás kockázatát. Ipari robot hibrid pozíció/erő irányításához új architektúrát, kommunikációs megoldásokat és szoftver platformot fejlesztettünk ki, amely megkönnyíti a valósidejű irányító szoftverek fejlesztését. | Methods were developed to coordinate the motion of redundant mobile robots allowing optimal task distribution between platform and robot arm. Motion design and control algorithms using stratified control and game theory were developed for multiagent systems. Object manipulation algorithms were elaborated to the control of cooperating robots and multifingered dexterous hands integrating artificial intelligence tools. Methods were given for modeling, path design, and advanced control of vehicles and their intelligent actuators. Adaptive control algorithms were developed for friction modeling and compensation in mechatronic and robotic systems. A path design method and a predictive control algorithm were elaborated for Collision Avoidance Systems of ground vehicles. Stereo image processing methods were developed for 3D reconstruction, object recognition, and for the determination of the relative pose among objects. A detailed kinematic model of the human hand was elaborated for the control and teleoperation of robots by hand gestures. A platform independent simulator was developed for the behavior based control of mobile and micro robots which decreases the cost of the design phase and reduces the risk of failures. A new architecture, communication solutions, and a software platform were developed for the hybrid position/force control of industrial robots facilitating the design of the real time control software tools

Pregnancy achieved by transfer of a single blastocyst selected by time-lapse monitoring

. Csaba Pribenszky obtained a DVM degree in 1998 and a PhD degree in 2005, in the field of assisted reproductive technologies, in Budapest, Hungary. Together with Mikos Molnar, he developed and patented the concept of 'stress for stress tolerance': utilizing sublethal hydrostatic pressure stress treatment to gametes, embryos, other cells and tissues in order to improve cell survival during subsequent ART procedures (e.g. cryopreservation). His current focuses are the application of the above method at the vitrification of stem cells and human oocytes, and the effects of different environmental factors on the in vitro embryo developmental dynamics and fragmentation. Abstract Appropriate selection of a single blastocyst for transfer decreases the risk of multiple gestations. By using a compact time-lapse microscope system placed inside a regular incubator, combined with a microwell embryo culture dish, the development of all the embryos from a patient was continuously monitored by obtaining images at 10 min intervals. The embryos were not moved during the time-lapse observation. The system was switched off completely between image acquisitions in order to avoid exposure to electromagnetic radiation. The analysis of time-lapse records was used to choose a single blastocyst for transfer, which resulted in a singleton pregnancy and birth of a healthy boy on term. RBMOnlin

Pregnancy achieved by transfer of a single blastocyst selected by time-lapse monitoring

. Csaba Pribenszky obtained a DVM degree in 1998 and a PhD degree in 2005, in the field of assisted reproductive technologies, in Budapest, Hungary. Together with Mikos Molnar, he developed and patented the concept of 'stress for stress tolerance': utilizing sublethal hydrostatic pressure stress treatment to gametes, embryos, other cells and tissues in order to improve cell survival during subsequent ART procedures (e.g. cryopreservation). His current focuses are the application of the above method at the vitrification of stem cells and human oocytes, and the effects of different environmental factors on the in vitro embryo developmental dynamics and fragmentation. Abstract Appropriate selection of a single blastocyst for transfer decreases the risk of multiple gestations. By using a compact time-lapse microscope system placed inside a regular incubator, combined with a microwell embryo culture dish, the development of all the embryos from a patient was continuously monitored by obtaining images at 10 min intervals. The embryos were not moved during the time-lapse observation. The system was switched off completely between image acquisitions in order to avoid exposure to electromagnetic radiation. The analysis of time-lapse records was used to choose a single blastocyst for transfer, which resulted in a singleton pregnancy and birth of a healthy boy on term. RBMOnlin

Follicular versus luteal phase ovarian stimulation during the same menstrual cycle (DuoStim) in a reduced ovarian reserve population results in a similar euploid blastocyst formation rate: new insight in ovarian reserve exploitation

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Reduction of multiple pregnancies in the advanced maternal age population after implementation of an elective single embryo transfer policy coupled with enhanced embryo selection: Pre- and post-intervention study

STUDY QUESTION Is an elective single-embryo transfer (eSET) policy an efficient approach for women aged >35 years when embryo selection is enhanced via blastocyst culture and preimplantation genetic screening (PGS)? SUMMARY ANSWER Elective SET coupled with enhanced embryo selection using PGS in women older than 35 years reduced the multiple pregnancy rates while maintaining the cumulative success rate of the IVF programme. WHAT IS KNOWN ALREADY Multiple pregnancies mean an increased risk of premature birth and perinatal death and occur mainly in older patients when multiple embryos are transferred to increase the chance of pregnancy. A SET policy is usually recommended in cases of good prognosis patients, but no general consensus has been reached for SET application in the advanced maternal age (AMA) population, defined as women older than 35 years. Our objective was to evaluate the results in terms of efficacy, efficiency and safety of an eSET policy coupled with increased application of blastocyst culture and PGS for this population of patients in our IVF programme. STUDY DESIGN, SIZE, DURATION In January 2013, a multidisciplinary intervention involving optimization of embryo selection procedure and introduction of an eSET policy in an AMA population of women was implemented. This is a retrospective 4-year (January 2010-December 2013) pre- and post-intervention analysis, including 1161 and 499 patients in the pre- and post-intervention period, respectively. The primary outcome measures were the cumulative delivery rate (DR) per oocyte retrieval cycle and multiple DR. PARTICIPANTS/MATERIALS, SETTING, METHODS Surplus oocytes and/or embryos were vitrified during the entire study period. In the post-intervention period, all couples with good quality embryos and less than two previous implantation failures were offered eSET. Embryo selection was enhanced by blastocyst culture and PGS (blastocyst stage biopsy and 24-chromosomal screening). Elective SET was also applied in cryopreservation cycles. MAIN RESULTS AND THE ROLE OF CHANCE Patient and cycle characteristics were similar in the pre- and post-intervention groups [mean (SD) female age: 39.6 ± 2.1 and 39.4 ± 2.2 years; range 36-44] as assessed by logistic regression. A total of 1609 versus 574 oocyte retrievals, 937 versus 350 embryo warming and 138 versus 27 oocyte warming cycles were performed in the pre- and post-intervention periods, respectively, resulting in 1854 and 508 embryo transfers, respectively. In the post-intervention period, 289 cycles were blastocyst stage with (n = 182) or without PGS (n = 107). A mean (SD) number of 2.9 ± 1.1 (range 1-4) and 1.4 ± 0.8 (range 1-3) embryos were transferred pre- and post-intervention, respectively (P < 0.01) and similar cumulative clinical pregnancy rates per transfer and per cycle were obtained: 26.8, 30.9% and 29.7, 26.3%, respectively. The total DR per oocyte retrieval cycle (21.0 and 20.4% pre- and post-intervention, respectively) defined as efficacy was not affected by the intervention [odds ratio (OR) = 0.8, 95% confidence interval (CI) = 0.7-1.1; P = 0.23]. However, a significantly increased live birth rate per transferred embryo (defined as efficiency) was observed in the post-intervention group 17.0 versus 10.6% (P < 0.01). Multiple DRs decreased from 21.0 in the preintervention to 6.8% in the post-intervention group (OR = 0.3. 95% CI = 0.1-0.7; P < 0.01). LIMITATIONS, REASONS FOR CAUTION In this study, the suitability of SET was assessed in individual women on the basis of both clinical and embryological prognostic factors and was not standardized. For the described eSET strategy coupled with an enhanced embryo selection policy, an optimized culture system, cryopreservation and aneuploidy screening programme is necessary. WIDER IMPLICATIONS OF THE FINDINGS Owing to the increased maternal morbidity and perinatal complications related to multiple pregnancies, it is recommended to extend the eSET policy to the AMA population. As shown in this study, enhanced embryo selection procedures might allow a reduction in the number of embryos transferred and the number of transfers to be performed without affecting the total efficacy of the treatment but increasing efficiency and safety. © The Author 2015. Published by Oxford University Press on behalf of the European Society of Human Reproduction and Embryology

Comparison of Gene Expression and Genome-Wide DNA Methylation Profiling between Phenotypically Normal Cloned Pigs and Conventionally Bred Controls

Animal breeding via Somatic Cell Nuclear Transfer (SCNT) has enormous potential in agriculture and biomedicine. However, concerns about whether SCNT animals are as healthy or epigenetically normal as conventionally bred ones are raised as the efficiency of cloning by SCNT is much lower than natural breeding or In-vitro fertilization (IVF). Thus, we have conducted a genome-wide gene expression and DNA methylation profiling between phenotypically normal cloned pigs and control pigs in two tissues (muscle and liver), using Affymetrix Porcine expression array as well as modified methylation-specific digital karyotyping (MMSDK) and Solexa sequencing technology. Typical tissue-specific differences with respect to both gene expression and DNA methylation were observed in muscle and liver from cloned as well as control pigs. Gene expression profiles were highly similar between cloned pigs and controls, though a small set of genes showed altered expression. Cloned pigs presented a more different pattern of DNA methylation in unique sequences in both tissues. Especially a small set of genomic sites had different DNA methylation status with a trend towards slightly increased methylation levels in cloned pigs. Molecular network analysis of the genes that contained such differential methylation loci revealed a significant network related to tissue development. In conclusion, our study showed that phenotypically normal cloned pigs were highly similar with normal breeding pigs in their gene expression, but moderate alteration in DNA methylation aspects still exists, especially in certain unique genomic regions