FLAT2D: Fast localization from approximate transformation into 2D

Many autonomous vehicles require precise localization into a prior map in order to support planning and to leverage semantic information within those maps (e.g. that the right lane is a turn-only lane.) A popular approach in automotive systems is to use infrared intensity maps of the ground surface to localize, making them susceptible to failures when the surface is obscured by snow or when the road is repainted. An emerging alternative is to localize based on the 3D structure around the vehicle; these methods are robust to these types of changes, but the maps are costly both in terms of storage and the computational cost of matching. In this paper, we propose a fast method for localizing based on 3D structure around the vehicle using a 2D representation. This representation retains many of the advantages of "full" matching in 3D, but comes with dramatically lower space and computational requirements. We also introduce a variation of Graph-SLAM tailored to support localization, allowing us to make use of graph-based error-recovery techniques in our localization estimate. Finally, we present real-world localization results for both an indoor mobile robotic platform and an autonomous golf cart, demonstrating that autonomous vehicles do not need full 3D matching to accurately localize in the environment

Maternal nutritional status mediates the association between maternal age and birth outcomes

Young maternal age during pregnancy is linked with adverse birth outcomes. This study examined the role of maternal nutritional status in the association between maternal age and small for gestational age (SGA) delivery and birth length. We used data from a birth cohort study in Ethiopia, involving women who were 15-24 years of age and their newborns. A mediation analysis was fitted in a sample of 1,422 mother infant dyads for whom data on birth length were available, and 777 dyads for whom gestational age and birth weight was measured. We used commands, medeff for the mediation analysis and medsens for sensitivity analysis in STATA 14. Maternal nutritional status, measured by mid-upper arm circumference, mediated 21% of the association between maternal age and birth length and 14% of the association with SGA delivery. The average direct effect (ADE) of maternal age on birth length was (beta = 0.45, 95% CI [0.17, 0.99]) and the average causal mediated effect (ACME) was (beta = 0.12, 95% CI [0.02, 0.15]). We also found an ADE (beta = 0.31, 95% CI [0.09, 0.47]) and an ACME of (beta = 0.05, 95% CI [0.003, 0.205]) of maternal age on SGA delivery. The sensitivity analysis suggests an unmeasured confounder with a positive correlation of 0.15 and 0.20 between the mediator and the outcome could explain the observed ACME for birth length and SGA, respectively. We cannot make strong causal assertions as the findings suggest the mediator partly explained the total effect of maternal age on both outcomes

Development of a Maritime Safety - Tool for Inner Harbour Ferry Transport Operations

This research was interested in examining if an existing rail industry accident investigation tool could be modified for inner harbour ferry operations. The Contributing Factors Framework (CFF) investigation tool was therefore modified for the maritime industry, specifically as both an investigation tool and a post safety occurrence coding tool. The outcome of this research was the development of a new practical human factors centred investigation tool. It provides a framework for the identification of complex sociotechnical system failures and contributing factors specific to inner harbour ferry operations. The new Contributing Factors Framework-Maritime Safety (CFF-MS) tool fills an existing gap in the need to be able to identify specific inter-relationships between people, technology, and the wider transport system when conducting maritime industry safety investigations

Adolescent pregnancy and linear growth of infants : a birth cohort study in rural Ethiopia

Abstract Background Evidences indicate that the risk of linear growth faltering is higher among children born from young mothers. Although such findings have been documented in various studies, they mainly originate from cross-sectional data and demographic and health surveys which are not designed to capture the growth trajectories of the same group of children. This study aimed to assess the association between young maternal age and linear growth of infants using data from a birth cohort study in Ethiopia. Methods A total of 1423 mother-infant pairs, from a birth cohort study in rural Ethiopia were included in this study. They were followed for five time points, with three months interval until the infants were 12 months old. However, the analysis was based on 1378 subjects with at least one additional follow-up measurement to the baseline. A team of data collectors including nurses collected questionnaire based data and anthropometric measurements from the dyads. We fitted linear mixed-effects model with random intercept and random slope to determine associations of young maternal age and linear growth of infants over the follow-up period after adjusting for potential confounders. Results Overall, 27.2% of the mothers were adolescents (15–19 years) and the mean ± SD age of the mothers was 20 ± 2 years. Infant Length for Age Z score (LAZ) at birth was negatively associated with maternal age of 15–19 years (β = − 0.24, P = 0.032). However, young maternal age had no significant association with linear growth of the infants over the follow-up time (P = 0.105). Linear growth of infants was associated positively with improved maternal education and iron-folate intake during pregnancy and negatively with infant illness (P < 0.05). Conclusion Young maternal age had a significant negative association with LAZ score of infants at birth while its association over time was not influential on their linear growth. The fact that wide spread socio economic and environmental inequalities exist among mothers of all ages may have contributed to the non-significant association between young maternal age and linear growth faltering of infants. This leaves an opportunity to develop comprehensive interventions targeting for the infants to attain optimal catch-up growth

Immune response to rabies vaccination in pediatric transplant patients

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/75049/1/j.1399-3046.2008.00936.x.pd

Federated Identity Management for Research Collaborations

This white-paper expresses common requirements of Research Communities seeking to leverage Identity Federation for Authentication and Authorisation. Recommendations are made to Stakeholders to guide the future evolution of Federated Identity Management in a direction that better satisfies research use cases. The authors represent research communities, Research Services, Infrastructures, Identity Federations and Interfederations, with a joint motivation to ease collaboration for distributed researchers. The content has been edited collaboratively by the Federated Identity Management for Research (FIM4R) Community, with input sought at conferences and meetings in Europe, Asia and North America

Selective cancer-germline gene expression in pediatric brain tumors

Cancer-germline genes (CGGs) code for immunogenic antigens that are present in various human tumors and can be targeted by immunotherapy. Their expression has been studied in a wide range of human tumors in adults. We measured the expression of 12 CGGs in pediatric brain tumors, to identify targets for therapeutic cancer vaccines. Real Time PCR was used to quantify the expression of genes MAGE-A1, MAGE-A2, MAGE-A3, MAGE-A4, MAGE-A6, MAGE-A10, MAGE-A12, MAGE-C2, NY-ESO-1 and GAGE-1,2,8 in 50 pediatric brain tumors of different histological subtypes. Protein expression was examined with immunohistochemistry. Fifty-five percent of the medulloblastomas (n = 11), 86% of the ependymomas (n = 7), 40% of the choroid plexus tumors (n = 5) and 67% of astrocytic tumors (n = 27) expressed one or more CGGs. Immunohistochemical analysis confirmed qPCR results. With exception of a minority of tumors, the overall level of CGG expression in pediatric brain tumors was low. We observed a high expression of at least one CGG in 32% of the samples. CGG-encoded antigens are therefore suitable targets in a very selected group of pediatric patients with a brain tumor. Interestingly, glioblastomas from adult patients expressed CGGs more often and at significantly higher levels compared to pediatric glioblastomas. This observation is in line with the notion that pediatric and adult glioblastomas develop along different genetic pathways

Finishing the euchromatic sequence of the human genome

The sequence of the human genome encodes the genetic instructions for human physiology, as well as rich information about human evolution. In 2001, the International Human Genome Sequencing Consortium reported a draft sequence of the euchromatic portion of the human genome. Since then, the international collaboration has worked to convert this draft into a genome sequence with high accuracy and nearly complete coverage. Here, we report the result of this finishing process. The current genome sequence (Build 35) contains 2.85 billion nucleotides interrupted by only 341 gaps. It covers ∼99% of the euchromatic genome and is accurate to an error rate of ∼1 event per 100,000 bases. Many of the remaining euchromatic gaps are associated with segmental duplications and will require focused work with new methods. The near-complete sequence, the first for a vertebrate, greatly improves the precision of biological analyses of the human genome including studies of gene number, birth and death. Notably, the human enome seems to encode only 20,000-25,000 protein-coding genes. The genome sequence reported here should serve as a firm foundation for biomedical research in the decades ahead

Magna Carta, the Rule of Law and the Limits on Government

This paper surveys the legal tradition that links Magna Carta with the modern concepts of the rule of law and the limits on government. It documents that the original understanding of the rule of law included substantive commitments to individual freedom and limited government. Then, it attempts at explaining how and why such commitments were lost to a formalist interpretation of the rule of law from 1848 to 1939. The paper concludes by arguing how a revival of the substantive commitments of the rule of law is central in a project of reshaping modern states

Development of a maritime safety - tool for inner harbour ferry transport operations

This research was interested in examining if an existing rail industry accident investigation tool could be modified for inner harbour ferry operations. The Contributing Factors Framework (CFF) investigation tool was therefore modified for the maritime industry, specifically as both an investigation tool and a post safety occurrence coding tool. The outcome of this research was the development of a new practical human factors centred investigation tool. It provides a framework for the identification of complex sociotechnical system failures and contributing factors specific to inner harbour ferry operations. The new Contributing Factors Framework-Maritime Safety (CFF-MS) tool fills an existing gap in the need to be able to identify specific inter-relationships between people, technology, and the wider transport system when conducting maritime industry safety investigations