HeLiPR: Heterogeneous LiDAR Dataset for inter-LiDAR Place Recognition under Spatial and Temporal Variations

Place recognition is crucial for robotic localization and loop closure in simultaneous localization and mapping (SLAM). Recently, LiDARs have gained popularity due to their robust sensing capability and measurement consistency, even in the illumination-variant environment, offering an advantage over traditional imaging sensors. Spinning LiDARs are widely accepted among many types, while non-repetitive scanning patterns have recently been utilized in robotic applications. Beyond the range measurements, some LiDARs offer additional measurements, such as reflectivity, Near Infrared (NIR), and velocity (e.g., FMCW LiDARs). Despite these advancements, a noticeable dearth of datasets comprehensively reflects the broad spectrum of LiDAR configurations optimized for place recognition. To tackle this issue, our paper proposes the HeLiPR dataset, curated especially for place recognition with heterogeneous LiDAR systems, embodying spatial-temporal variations. To the best of our knowledge, the HeLiPR dataset is the first heterogeneous LiDAR dataset designed to support inter-LiDAR place recognition with both non-repetitive and spinning LiDARs, accommodating different field of view (FOV) and varying numbers of rays. Encompassing the distinct LiDAR configurations, it captures varied environments ranging from urban cityscapes to high-dynamic freeways over a month, designed to enhance the adaptability and robustness of place recognition across diverse scenarios. Notably, the HeLiPR dataset also includes trajectories that parallel sequences from MulRan, underscoring its utility for research in heterogeneous LiDAR place recognition and long-term studies. The dataset is accessible at https: //sites.google.com/view/heliprdataset.Comment: 9 pages, 9 figures, 5 table

Assessment of Deceased Donor Kidneys Using a Donor Scoring System

∙The authors have no financial conflicts of interest. Purpose: Marginal grafts should be used more actively in Asian countries where deceased donor transplantation is unpopular. We modified a quantitative donor scoring system proposed by Nyberg and his colleagues and developed a donor scoring system in order to assess the quality of deceased donor grafts and their prognostic value as an initial effort to promote usage of marginal donors. Materials and Methods: We retrospectively evaluated 337 patients. Results: A scoring system was derived from six donor variables [age, 0-25; renal function, 0-4; history of hypertension

Wastewater based microalgal biorefinery for bioenergy production: Progress and challenges

Treatment of industrial and domestic wastewater is very important to protect downstream users from health risks and meet the freshwater demand of the ever-increasing world population. Different types of wastewater (textile, dairy, pharmaceutical, swine, municipal, etc.) vary in composition and require different treatment strategies. Wastewater management and treatment is an expensive process; hence, it is important to integrate relevant technology into this process to make it more feasible and cost-effective. Wastewater treatment using microalgae-based technology could be a global solution for resource recovery from wastewater and to provide affordable feedstock for bioenergy (biodiesel, biohydrogen, bio-alcohol, methane, and bioelectricity) production. Variousmicroalgal cultivation systems (open or closed photobioreactors), turf scrubber, and hybrid systems have been developed. Although many algal biomass harvesting methods (physical, chemical, biological, and electromagnetic) have been reported, it is still an expensive process. In this review article, resource recovery fromwastewater using algal cultivation, biomass harvesting, and various technologies applied in converting algal biomass into bioenergy, along with the various challenges that are encountered are discussed in brief. (C) 2020 Elsevier B.V. All rights reserved

The role of NdgR in glycerol metabolism in Streptomyces coelicolor

Streptomyces, which produces many pharmaceutical antibiotics and anticancer agents, is a genus of soil-dwelling bacteria with numerous regulators that control both primary and secondary metabolism. NdgR is highly conserved in Streptomyces spp. and is known to be involved in antibiotic production, tolerance against shock and physical stress, nitrogen metabolism, leucine metabolism, and N-acetylglucosamine metabolism. As another function of NdgR, we report the involvement of NdgR in glycerol metabolism in S. coelicolor. Initially, a glycerol utilization operon containing gylCABX was found to be up-regulated in an ndgR deletion mutant (BG11) grown in N-acetylglucosamine solid minimal media compared with wild-type strain (M145). BG11 produced more antibiotics with a small amount of glycerol and increased glycerol utilization, yielding higher concentrations of lactate and acetate per cell. Moreover, fatty acid production was also changed in BG11 to produce longer chain fatty acids, phenolic compounds, alkanes, and fatty alcohols. Using a gel retardation assay, NdgR was found to bind the upstream region of gylC, working as a repressor. NdgR is a second regulator of a glycerol utilization operon, for which only one regulator, GylR was previously known. (c) Springer-Verlag GmbH Germany 2017

Study of SarA by DNA Affinity Capture Assay (DACA) Employing Three Promoters of Key Virulence and Resistance Genes in Methicillin-Resistant <i>Staphylococcus aureus</i>

Methicillin-resistant Staphylococcus aureus (MRSA), one of the most well-known human pathogens, houses many virulence factors and regulatory proteins that confer resistance to diverse antibiotics. Although they have been investigated intensively, the correlations among virulence factors, regulatory proteins and antibiotic resistance are still elusive. We aimed to identify the most significant global MRSA regulator by concurrently analyzing protein-binding and several promoters under same conditions and at the same time point. DNA affinity capture assay (DACA) was performed with the promoters of mecA, sarA, and sarR, all of which significantly impact survival of MRSA. Here, we show that SarA protein binds to all three promoters. Consistent with the previous reports, ΔsarA mutant exhibited weakened antibiotic resistance to oxacillin and reduced biofilm formation. Additionally, production and activity of many virulence factors such as phenol-soluble modulins (PSM), α-hemolysin, motility, staphyloxanthin, and other related proteins were decreased. Comparing the sequence of SarA with that of clinical strains of various lineages showed that all sequences were highly conserved, in contrast to that observed for AgrA, another major regulator of virulence and resistance in MRSA. We have demonstrated that SarA regulates antibiotic resistance and the expression of various virulence factors. Our results warrant that SarA could be a leading target for developing therapeutic agents against MRSA infections

Leucyl-tRNA Synthetase Inhibitor, D-Norvaline, in Combination with Oxacillin, Is Effective against Methicillin-Resistant Staphylococcus aureus

Methicillin-resistant Staphylococcus aureus (MRSA) is a pathogenic bacterium that causes severe diseases in humans. For decades, MRSA has acquired substantial resistance against conventional antibiotics through regulatory adaptation, thereby posing a challenge for treating MRSA infection. One of the emerging strategies to combat MRSA is the combinatory use of antibacterial agents. Based on the dramatic change in phospholipid fatty acid (PLFA) composition of MRSA in previous results, this study investigated branched-chain amino acid derivatives (precursors of fatty acid synthesis of cell membrane) and discovered the antimicrobial potency of D-norvaline. The compound, which can act synergistically with oxacillin, is among the three leucine-tRNA synthetase inhibitors with high potency to inhibit MRSA cell growth and biofilm formation. PLFA analysis and membrane properties revealed that D-norvaline decreased the overall amount of PLFA, increasing the fluidity and decreasing the hydrophobicity of the bacterial cell membrane. Additionally, we observed genetic differences to explore the response to D-norvaline. Furthermore, deletion mutants and clinically isolated MRSA strains were treated with D-norvaline. The study revealed that D-norvaline, with low concentrations of oxacillin, was effective in killing several MRSA strains. In summary, our findings provide a new combination of aminoacyl-tRNA synthetase inhibitor D-norvaline and oxacillin, which is effective against MRSA

Effect of Conversion from ESA with Shorter Half-Life to CERA Once Monthly for Maintaining Hb Concentration in Pre-Dialysis CKD Patients

Background: The purpose of this study is to identify whether hemoglobin (Hb) concentrations can be maintained, and to investigate changes in biomarkers, when switching from erythropoietin stimulating agents (ESA) with shorter half-life to once-monthly subcutaneous methoxy polyethylene glycol-epoetin β (CERA) in pre-dialysis chronic kidney disease (CKD) patients. Methods: Pre-dialysis CKD patients (n=191) aged ≥18 years who maintained their Hb level 10-12 g/dL through use of epoetin-α, epoetin-β, or darbepoetin-α were enrolled. Hb levels and CERA dose was assessed prospectively for 24 weeks. Serum biomarkers related to coagulation, endothelial function, and iron metabolism were measured at weeks 0 and 24. Results: Baseline Hb concentration was 10.8±0.6 g/dL Twelve and 24 weeks after conversion, mean Hb levels were 11.9±0.9 and 11.2±0.9 g/dL, respectively. The mean monthly CERA dose required to maintain Hb levels was gradually reduced. Of total 387 dose adjustments, dose increases and decreases occurred in 35 (9.0%) and 352 (91.0%) episodes, respectively. Hb overshoot occurred in 14 (9.7%) patients. P-selectin was significantly decreased, whereas VCAM was significantly increased 24 weeks after conversion (P P=N-S). Conclusion: Conversion from ESA with shorter half-life to subcutaneous once-monthly CERA in pre-dialysis CKD patients can efficaciously maintain Hb. The CERA dose requirement decreased significantly. The conversion ratio may need to be reduced when switching from ESA with shorter half-life to CERA. CERA may change biomarkers associated with platelet reactivity and endothelial microenvironment