Modelling the Xbox 360 Kinect for visual servo control applications

A research report submitted to the faculty of Engineering and the built environment, University of the Witwatersrand, Johannesburg, in partial fulfilment of the requirements for the degree of Master of Science in Engineering. Johannesburg, August 2016There has been much interest in using the Microsoft Xbox 360 Kinect cameras for visual servo control applications. It is a relatively cheap device with expected shortcomings. This work contributes to the practical considerations of using the Kinect for visual servo control applications. A comprehensive characterisation of the Kinect is synthesised from existing literature and results from a nonlinear calibration procedure. The Kinect reduces computational overhead on image processing stages, such as pose estimation or depth estimation. It is limited by its 0.8m to 3.5m practical depth range and quadratic depth resolution of 1.8mm to 35mm, respectively. Since the Kinect uses an infra-red (IR) projector, a class one laser, it should not be used outdoors, due to IR saturation, and objects belonging to classes of non- IR-friendly surfaces should be avoided, due to IR refraction, absorption, or specular reflection. Problems of task stability due to invalid depth measurements in Kinect depth maps and practical depth range limitations can be reduced by using depth map preprocessing and activating classical visual servoing techniques when Kinect-based approaches are near task failure.MT201

Algorithmic Views of Vectorized Polynomial Multipliers -- NTRU

The lattice-based post-quantum cryptosystem NTRU is used by Google for protecting Google’s internal communication. In NTRU, polynomial multiplication is one of bottleneck. In this paper, we explore the interactions between polynomial multiplication, Toeplitz matrix–vector product, and vectorization with architectural insights. For a unital commutative ring $R$, a positive integer $n$, and an element $\zeta \in R$, we reveal the benefit of vector-by-scalar multiplication instructions while multiplying in $R[x] / \langle x^n - \zeta \rangle$. We aim at designing an algorithm exploiting no algebraic and number–theoretic properties of $n$ and $\zeta$. An obvious way is to multiply in $R[x]$ and reduce modulo $x^n - \zeta$. Since the product in $R[x]$ is a polynomial of degree at most $2n − 2$, one usually chooses a polynomial modulus $g$ such that (i) $deg(g) \geq 2n − 1$, and (ii) there exists a well-studied fast polynomial multiplication algorithm f for multiplying in $R[x] / \langle g \rangle$. We deviate from common approaches and point out a novel insight with dual modules and vector-by-scalar multiplications. Conceptually, we relate the module-theoretic dual of $R[x] / \langle x^n - \zeta \rangle$ and $R[x] / \langle g \rangle$ with Toeplitz matrix-vector products, and demonstrate the benefit of Toeplitz matrix-vector products with vector-by-scalar multiplication instructions. It greatly reduces the register pressure, and allows us to multiply with essentially no permutation instructions that are commonly used in vectorized implementation. We implement the ideas for the NTRU parameter sets ntruhps2048677 and ntruhrss701 on a Cortex-A72 implementing the Armv8.0-A architecture with the single-instruction-multiple-data (SIMD) technology Neon. For polynomial multiplications, our implementation is 2.18× and 2.23× for ntruhps2048677 and ntruhrsss701 than the state-of-the-art optimized implementation. We also vectorize the polynomial inversions and sorting network by employing existing techniques and translating AVX2-optimized implementations into Neon. Compared to the state-of-the-art optimized implementation, our key generation, encapsulation, and decapsulation for ntruhps2048677 are 7.67×, 2.48×, and 1.77× faster, respectively. For ntruhrss701, our key generation, encapsulation, and decapsulation are 7.99×, 1.47×, and 1.56× faster, respectively

Genome plasticity of Vibrio parahaemolyticus: microevolution of the 'pandemic group'

<p>Abstract</p> <p>Background</p> <p>Outbreak of <it>V. parahaemolyticus </it>infections occurred since 1996 was linked to a proposed clonal complex, the pandemic group. The whole genome sequence provides an unprecedented opportunity for dissecting genome plasticity and phylogeny of the populations of <it>V. parahaemolyticus</it>. In the present work, a whole-genome cDNA microarray was constructed to compare the genomic contents of a collection of 174 strains of <it>V. parahaemolyticus</it>.</p> <p>Results</p> <p>Genes that present variably in the genome accounted for about 22% of the whole gene pool on the genome. The phylogenetic analysis of microarray data generated a minimum spanning tree that depicted the phylogenetic structure of the 174 strains. Strains were assigned into five complexes (C1 to C5), and those in each complex were related genetically and phylogenetically. C3 and C4 represented highly virulent clinical clones. C2 and C3 constituted two different clonal complexes 'old-O3:K6 clone' and 'pandemic clone', respectively. C3 included all the 39 pandemic strains tested (<it>trh</it>^-, <it>tdh</it>⁺and GS-PCR⁺), while C2 contained 12 pre-1996 'old' O3:K6 strains (<it>trh</it>⁺, <it>tdh</it>^-and GS-PCR^-) tested herein. The pandemic clone (post-1996 'new' O3:K6 and its derivates O4:K68, O1:K25, O1:KUT and O6:K18) might be emerged from the old-O3:K6 clone, which was promoted by acquisition of <it>toxRS</it>/new sequence and genomic islands. A phylogenetic intermediate O3:K6 clade (<it>trh</it>^-, <it>tdh</it>^-and GS-PCR⁺) was identified between the pandemic and old-O3:K6 clones.</p> <p>Conclusion</p> <p>A comprehensive overview of genomic contents in a large collection of global isolates from the microarray-based comparative genomic hybridization data enabled us to construct a phylogenetic structure of <it>V. parahaemolyticus </it>and an evolutionary history of the pandemic group (clone) of this pathogen.</p

Spinal epidural hematoma after epidural anesthesia in a patient receiving enoxaparin -A case report-

Spinal epidural hematoma is a rare but serious neurological complication of neuraxial anesthesia. Enoxaparin sodium is a low molecular weight heparin (LMWH) for use in preventing deep venous thrombosis in patients undergoing total hip arthroplasty and total knee arthroplasty. Hemorrhage is an uncommon but documented adverse reaction when using LMWH. We report a case of epidural hematoma after lumbar epidural anesthesia in a patient who administered enoxaparin in perioperative period

Algorithmic Views of Vectorized Polynomial Multipliers for NTRU and NTRU Prime (Long Paper)

This paper explores the design space of vector-optimized polynomial multiplications in the lattice-based key-encapsulation mechanisms NTRU and NTRU Prime. Since NTRU and NTRU Prime do not support straightforward applications of number– theoretic transforms, the state-of-the-art vector code either resorted to Toom–Cook, or introduced various techniques for coefficient ring extensions. All these techniques lead to a large number of small-degree polynomial multiplications, which is the bottleneck in our experiments. For NTRU Prime, we show how to reduce the number of small-degree polynomial multiplications to nearly 1/4 times compared to the previous vectorized code with the same functionality. Our transformations are based on careful choices of FFTs, including Good–Thomas, Rader’s, Schönhage’s, and Bruun’s FFTs. For NTRU, we show how to deploy Toom-5 with 3-bit losses. Furthermore, we show that the Toeplitz matrix–vector product naturally translates into efficient implementations with vector-by-scalar multiplication instructions which do not appear in all prior vector-optimized implementations. We choose the ARM Cortex-A72 CPU which implements the Armv8-A architecture for experiments, because of its wide uses in smartphones, and also the Neon vector instruction set implementing vector-by-scalar multiplications that do not appear in most other vector instruction sets like Intel’s AVX2. Even for platforms without vector-by-scalar multiplications, we expect significant improvements compared to the state of the art, since our transformations reduce the number of multiplication instructions by a large margin. Compared to the state-of-the-art optimized implementations, we achieve 2.18× and 6.7× faster polynomial multiplications for NTRU and NTRU Prime, respectively. For full schemes, we additionally vectorize the polynomial inversions, sorting network, and encoding/decoding subroutines in NTRU and NTRU Prime. For ntruhps2048677, we achieve 7.67×, 2.48×, and 1.77× faster key generation, encapsulation, and decapsulation, respectively. For ntrulpr761, we achieve 3×, 2.87×, and 3.25× faster key generation, encapsulation, and decapsulation, respectively. For sntrup761, there are no previously optimized implementations and we significantly outperform the reference implementation

Antimicrobial Activity of Lactobacillus Species Against Carbapenem-Resistant Enterobacteriaceae

ObjectiveThis study aims to identify suitable lactobacilli that have anti-carbapenem-resistant Enterobacteriaceae (CRE) activity with in vitro tolerance to pepsin and bile salts.MethodsFifty-seven Lactobacillus spp. strains encompassing nine species were collected for investigation. Their viabilities in the presence of pepsin and bile salts were tested using tolerance tests. Their anti-CRE effects were assessed by agar well diffusion and broth microdilution assay, as well as time-kill test.ResultsOf the 57 Lactobacillus isolates collected, 31 had a less than 2-log reduction in their viability in both pepsin and bile salt tolerance tests. Of these 31 isolates, 5 (LUC0180, LUC0219, LYC0289, LYC0413, and LYC1031) displayed the greatest anti-CRE activity with a CRE zone of inhibition greater than 15 mm in agar well diffusion assays. The minimal inhibitory percentages of supernatants from these five strains against CREs ranged from 10 to 30%. With the exception of LUC0180, which had a minimal bactericidal percentage ≥ 40%, the bactericidal percentage of all the strains ranged from 20 to 40%. The inhibitory effect of the cell-free culture supernatants from these Lactobacillus strains did not change after heating but was abolished as the pH changed to 7.0. After a 24-h incubation, five of the Lactobacillus strains at a concentration of 108 CFU/ml totally inhibited the growth of carbapenem-resistant Escherichia coli (CRE316) and Klebsiella pneumoniae (CRE632). After a 48-h incubation, the growth of CRE316 was completely inhibited under each concentration of lactobacilli based on time-kill test. Furthermore, when the concentration of lactobacilli was at 108 CFU/ml, the decline in pH was faster than at other concentrations.ConclusionSome Lactobacillus strains exhibit anti-CRE activity, which suggests potential applications for controlling or preventing CRE colonization or infection

The impact of overdiagnosis on the selection of efficient lung cancer screening strategies

Peer Reviewedhttps://deepblue.lib.umich.edu/bitstream/2027.42/136362/1/ijc30602_am.pdfhttps://deepblue.lib.umich.edu/bitstream/2027.42/136362/2/ijc30602.pd

FLJ10540 is associated with tumor progression in nasopharyngeal carcinomas and contributes to nasopharyngeal cell proliferation, and metastasis via osteopontin/CD44 pathway

BACKGROUND: Nasopharyngeal carcinoma (NPC) is well-known for its highly metastatic characteristics, but little is known of its molecular mechanisms. New biomarkers that predict clinical outcome, in particular the ability of the primary tumor to develop metastatic tumors are urgently needed. The aim of this study is to investigate the role of FLJ10540 in human NPC development. METHODS: A bioinformatics approach was used to explore the potentially important regulatory genes involved in the growth/metastasis control of NPC. FLJ10540 was chosen for this study. Two co-expression strategies from NPC microarray were employed to identify the relationship between FLJ10540 and osteopontin. Quantitative-RT-PCR, immunoblotting, and immunohistochemistry analysis were used to investigate the mRNA and protein expression profiles of FLJ10540 and osteopontin in the normal and NPC tissues to confirm microarray results. TW01 and Hone1 NPC cells with overexpression FLJ10540 or siRNA to repress endogenous FLJ10540 were generated by stable transfection to further elucidate the molecular mechanisms of FLJ10540-elicited cell growth and metastasis under osteopontin stimulation. RESULTS: We found that osteopontin expression exhibited a positive correlation with FLJ10540 in NPC microarray. We also demonstrated comprehensively that FLJ10540 and osteopontin were not only overexpressed in NPC specimens, but also significantly correlated with advanced tumor and lymph node-metastasis stages, and had a poor 5-year survival rate, respectively. Stimulation of NPC parental cells with osteopontin results in an increase in FLJ10540 mRNA and protein expressions. Functionally, FLJ10540 transfectant alone, or stimulated with osteopontin, exhibited fast growth and increased metastasis as compared to vehicle control with or without osteopontin stimulation. Conversely, knockdown of FLJ10540 by siRNA results in the suppression of NPC cell growth and motility. Treatment with anti-CD44 antibodies in NPC parental cells not only resulted in a decrease of FLJ10540 protein, but also affected the abilities of FLJ10540-elicited cell growth and motility in osteopontin stimulated-NPC cells. CONCLUSIONS: These findings suggest that FLJ10540 may be critical regulator of disease progression in NPC, and the underlying mechanism may involve in the osteopontin/CD44 pathway

Nurses' knowledge of universal health coverage for inclusive and sustainable elderly care services

Objectives: to explore nurses' knowledge of universal health coverage (UHC) for inclusive and sustainable development of elderly care services. Method: this was a cross-sectional survey. A convenience sample of 326 currently practicing enrolled nurses (EN) or registered nurses (RN) was recruited. Respondents completed a questionnaire which was based on the implementation strategies advocated by the WHO Global Forum for Governmental Chief Nursing Officers and Midwives (GCNOMs). Questions covered the government initiative, healthcare financing policy, human resources policy, and the respondents' perception of importance and contribution of nurses in achieving UHC in elderly care services. Results: the knowledge of nurses about UHC in elderly care services was fairly satisfactory. Nurses in both clinical practice and management perceived themselves as having more contribution and importance than those in education. They were relatively indifferent to healthcare policy and politics. Conclusion: the survey uncovered a considerable knowledge gap in nurses' knowledge of UHC in elderly care services, and shed light on the need for nurses to be more attuned to healthcare policy. The educational curriculum for nurses should be strengthened to include studies in public policy and advocacy. Nurses can make a difference through their participation in the development and implementation of UHC in healthcare services.Objetivos: explorar o conhecimento dos enfermeiros sobre a cobertura universal de saúde (CUS) para o desenvolvimento inclusivo e sustentável de serviços de saúde a idosos. Método: estudo transversal. Foi recrutada uma amostra de conveniência de 326 enrolled nurses (EN) ou registered nurses (RN). Os entrevistados responderam a um questionário com base nas estratégias de implementação preconizadas pelo Fórum Global da OMS para Governmental Chief Nursing Officers and Midwives (GCNOMs). As perguntas abordavam iniciativas do governo, políticas de financiamento da saúde, políticas de recursos humanos e percepção dos entrevistados sobre a importância e contribuição do enfermeiro no alcance da CUS em serviços de cuidados a idosos. Resultado: o conhecimento de enfermeiros sobre a CUS em serviço de atenção ao idoso foi razoavelmente satisfatório. Enfermeiros tanto da prática clínica como da gestão perceberam-se contribuindo mais e tendo mais importância do que aqueles que trabalham na educação. Eles eram relativamente indiferentes à política de saúde e à política. Conclusão: a pesquisa revelou uma lacuna de conhecimento considerável no conhecimento da CUS pelos enfermeiros nos serviços de cuidados a idosos e evidenciou a necessidade de enfermeiros terem mais sintonia com a política de saúde. O currículo de formação para preparar os enfermeiros deve ser reforçado para incluir estudos em política pública e advocacia. Os enfermeiros podem fazer a diferença por meio de sua participação no desenvolvimento e implementação da CUS nos serviços de saúde.Objetivos: explorar los conocimientos que tienen las enfermeras sobre la cobertura universal de salud (CUS) para el desarrollo inclusivo y sostenible de servicios para el cuidado de adultos mayores. Método: se utilizó una encuesta transversal. Se formó una muestra de conveniencia de 326 enrolled nurses (EN) o registered nurses (RN) que actualmente estuvieran ejerciendo. Los encuestados respondieron a un cuestionario basado en las estrategias de implementación apoyadas por el WHO Global Forum for Government Chief Nursing and Midwifery Officers (WGFGCNO). Las preguntas abarcaban la iniciativa del gobierno, políticas de financiamiento de la salud, las políticas de recursos humanos y la percepción de los encuestados sobre la importancia y la contribución de las enfermeras en el logro de la CUS en los servicios de cuidado para adultos mayores. Resultados: el conocimiento de las enfermeras sobre CUS en el servicio de cuidado para los adultos mayores fue bastante satisfactorio. Tanto las enfermeras de práctica clínica y como las de gestión perciben tener un mayor aporte e importancia que las de que están en educación. Tenían un punto de vista relativamente indiferente a la política sanitaria y la política. Conclusión: la encuesta descubrió una considerable brecha en el conocimiento de las enfermeras sobre CUS en los servicios de cuidado para adultos mayores y puso de manifiesto la necesidad de que las enfermeras estén más en sintonía con la política sanitaria. El plan de estudios para la preparación de las enfermeras debe fortalecerse para incluir estudios en las políticas públicas y promoción. Las enfermeras pueden hacer una diferencia a través de su participación en el desarrollo e implementación de CUS en los servicios de salud