Map building fusing acoustic and visual information using autonomous underwater vehicles

Author Posting. © The Author(s), 2012. This is the author's version of the work. It is posted here by permission of John Wiley & Sons for personal use, not for redistribution. The definitive version was published in Journal of Field Robotics 30 (2013): 763–783, doi:10.1002/rob.21473.We present a system for automatically building 3-D maps of underwater terrain fusing visual data from a single camera with range data from multibeam sonar. The six-degree of freedom location of the camera relative to the navigation frame is derived as part of the mapping process, as are the attitude offsets of the multibeam head and the on-board velocity sensor. The system uses pose graph optimization and the square root information smoothing and mapping framework to simultaneously solve for the robot’s trajectory, the map, and the camera location in the robot’s frame. Matched visual features are treated within the pose graph as images of 3-D landmarks, while multibeam bathymetry submap matches are used to impose relative pose constraints linking robot poses from distinct tracklines of the dive trajectory. The navigation and mapping system presented works under a variety of deployment scenarios, on robots with diverse sensor suites. Results of using the system to map the structure and appearance of a section of coral reef are presented using data acquired by the Seabed autonomous underwater vehicle.The work described herein was funded by the National Science Foundation Censsis ERC under grant number EEC-9986821, and by the National Oceanic and Atmospheric Administration under grant number NA090AR4320129

Could thermal fluctuations seed cosmic structure?

We examine the possibility that thermal, rather than quantum, fluctuations are responsible for seeding the structure of our universe. We find that while the thermalization condition leads to nearly Gaussian statistics, a Harrisson-Zeldovich spectrum for the primordial fluctuations can only be achieved in very special circumstances. These depend on whether the universe gets hotter or colder in time, while the modes are leaving the horizon. In the latter case we find a no-go theorem which can only be avoided if the fundamental degrees of freedom are not particle-like, such as in string gases near the Hagedorn phase transition. The former case is less forbidding, and we suggest two potentially successful ``warming universe'' scenarios. One makes use of the Phoenix universe, the other of ``phantom'' matter.Comment: minor corrections made, references added, matches the version accepted to PR

The effect of 12C + 12C rate uncertainties on the evolution and nucleosynthesis of massive stars

[Shortened] The 12C + 12C fusion reaction has been the subject of considerable experimental efforts to constrain uncertainties at temperatures relevant for stellar nucleosynthesis. In order to investigate the effect of an enhanced carbon burning rate on massive star structure and nucleosynthesis, new stellar evolution models and their yields are presented exploring the impact of three different 12C + 12C reaction rates. Non-rotating stellar models were generated using the Geneva Stellar Evolution Code and were later post-processed with the NuGrid Multi-zone Post-Processing Network tool. The enhanced rate causes core carbon burning to be ignited more promptly and at lower temperature. This reduces the neutrino losses, which increases the core carbon burning lifetime. An increased carbon burning rate also increases the upper initial mass limit for which a star exhibits a convective carbon core. Carbon shell burning is also affected, with fewer convective-shell episodes and convection zones that tend to be larger in mass. Consequently, the chance of an overlap between the ashes of carbon core burning and the following carbon shell convection zones is increased, which can cause a portion of the ashes of carbon core burning to be included in the carbon shell. Therefore, during the supernova explosion, the ejecta will be enriched by s-process nuclides synthesized from the carbon core s process. The yields were used to estimate the weak s-process component in order to compare with the solar system abundance distribution. The enhanced rate models were found to produce a significant proportion of Kr, Sr, Y, Zr, Mo, Ru, Pd and Cd in the weak component, which is primarily the signature of the carbon-core s process. Consequently, it is shown that the production of isotopes in the Kr-Sr region can be used to constrain the 12C + 12C rate using the current branching ratio for a- and p-exit channels.Comment: The paper contains 17 figures and 7 tables. Table 7 will be published in full online onl

Testing for pharmacogenomic predictors of ppRNFL thinning in individuals exposed to vigabatrin

BACKGROUND: The anti-seizure medication vigabatrin (VGB) is effective for controlling seizures, especially infantile spasms. However, use is limited by VGB-associated visual field loss (VAVFL). The mechanisms by which VGB causes VAVFL remains unknown. Average peripapillary retinal nerve fibre layer (ppRNFL) thickness correlates with the degree of visual field loss (measured by mean radial degrees). Duration of VGB exposure, maximum daily VGB dose, and male sex are associated with ppRNFL thinning. Here we test the hypothesis that common genetic variation is a predictor of ppRNFL thinning in VGB exposed individuals. Identifying pharmacogenomic predictors of ppRNFL thinning in VGB exposed individuals could potentially enable safe prescribing of VGB and broader use of a highly effective drug. METHODS: Optical coherence topography (OCT) and GWAS data were processed from VGB-exposed individuals (n = 71) recruited through the EpiPGX Consortium. We conducted quantitative GWAS analyses for the following OCT measurements: (1) average ppRNFL, (2) inferior quadrant, (3) nasal quadrant, (4) superior quadrant, (5) temporal quadrant, (6) inferior nasal sector, (7) nasal inferior sector, (8) superior nasal sector, and (9) nasal superior sector. Using the summary statistics from the GWAS analyses we conducted gene-based testing using VEGAS2. We conducted nine different PRS analyses using the OCT measurements. To determine if VGB-exposed individuals were predisposed to having a thinner RNFL, we calculated their polygenic burden for retinal thickness. PRS alleles for retinal thickness were calculated using published summary statistics from a large-scale GWAS of inner retinal morphology using the OCT images of UK Biobank participants. RESULTS: The GWAS analyses did not identify a significant association after correction for multiple testing. Similarly, the gene-based and PRS analyses did not reveal a significant association that survived multiple testing. CONCLUSION: We set out to identify common genetic predictors for VGB induced ppRNFL thinning. Results suggest that large-effect common genetic predictors are unlikely to exist for ppRNFL thinning (as a marker of VAVFL). Sample size was a limitation of this study. However, further recruitment is a challenge as VGB is rarely used today because of this adverse reaction. Rare variants may be predictors of this adverse drug reaction and were not studied here

Testing for pharmacogenomic predictors of ppRNFL thinning in individuals exposed to vigabatrin

Background: The anti-seizure medication vigabatrin (VGB) is effective for controlling seizures, especially infantile spasms. However, use is limited by VGB-associated visual field loss (VAVFL). The mechanisms by which VGB causes VAVFL remains unknown. Average peripapillary retinal nerve fibre layer (ppRNFL) thickness correlates with the degree of visual field loss (measured by mean radial degrees). Duration of VGB exposure, maximum daily VGB dose, and male sex are associated with ppRNFL thinning. Here we test the hypothesis that common genetic variation is a predictor of ppRNFL thinning in VGB exposed individuals. Identifying pharmacogenomic predictors of ppRNFL thinning in VGB exposed individuals could potentially enable safe prescribing of VGB and broader use of a highly effective drug. Methods: Optical coherence topography (OCT) and GWAS data were processed from VGB-exposed individuals (n = 71) recruited through the EpiPGX Consortium. We conducted quantitative GWAS analyses for the following OCT measurements: (1) average ppRNFL, (2) inferior quadrant, (3) nasal quadrant, (4) superior quadrant, (5) temporal quadrant, (6) inferior nasal sector, (7) nasal inferior sector, (8) superior nasal sector, and (9) nasal superior sector. Using the summary statistics from the GWAS analyses we conducted gene-based testing using VEGAS2. We conducted nine different PRS analyses using the OCT measurements. To determine if VGB-exposed individuals were predisposed to having a thinner RNFL, we calculated their polygenic burden for retinal thickness. PRS alleles for retinal thickness were calculated using published summary statistics from a large-scale GWAS of inner retinal morphology using the OCT images of UK Biobank participants. Results: The GWAS analyses did not identify a significant association after correction for multiple testing. Similarly, the gene-based and PRS analyses did not reveal a significant association that survived multiple testing. Conclusion: We set out to identify common genetic predictors for VGB induced ppRNFL thinning. Results suggest that large-effect common genetic predictors are unlikely to exist for ppRNFL thinning (as a marker of VAVFL). Sample size was a limitation of this study. However, further recruitment is a challenge as VGB is rarely used today because of this adverse reaction. Rare variants may be predictors of this adverse drug reaction and were not studied here

Nuclear astrophysics: the unfinished quest for the origin of the elements

Half a century has passed since the foundation of nuclear astrophysics. Since then, this discipline has reached its maturity. Today, nuclear astrophysics constitutes a multidisciplinary crucible of knowledge that combines the achievements in theoretical astrophysics, observational astronomy, cosmochemistry and nuclear physics. New tools and developments have revolutionized our understanding of the origin of the elements: supercomputers have provided astrophysicists with the required computational capabilities to study the evolution of stars in a multidimensional framework; the emergence of high-energy astrophysics with space-borne observatories has opened new windows to observe the Universe, from a novel panchromatic perspective; cosmochemists have isolated tiny pieces of stardust embedded in primitive meteorites, giving clues on the processes operating in stars as well as on the way matter condenses to form solids; and nuclear physicists have measured reactions near stellar energies, through the combined efforts using stable and radioactive ion beam facilities. This review provides comprehensive insight into the nuclear history of the Universe and related topics: starting from the Big Bang, when the ashes from the primordial explosion were transformed to hydrogen, helium, and few trace elements, to the rich variety of nucleosynthesis mechanisms and sites in the Universe. Particular attention is paid to the hydrostatic processes governing the evolution of low-mass stars, red giants and asymptotic giant-branch stars, as well as to the explosive nucleosynthesis occurring in core-collapse and thermonuclear supernovae, gamma-ray bursts, classical novae, X-ray bursts, superbursts, and stellar mergers.Comment: Invited Review. Accepted for publication in "Reports on Progress in Physics" (version with low-resolution figures

Effect-based and chemical analytical monitoring for the steroidal estrogens : An international project to cope with a monitoring challenge

Regulatory and risk assessment background and needs: In the context of the European Union (EU) Water Framework Directive (WFD) it is recognised that pharmaceuticals may pose a risk to the quality of European water bodies. Three substances with pharmaceutical use are included in the first so-called “watch list. However, monitoring of steroidal estrogens may be difficult because of the detection limits of most existing routine analytical methods and the high cost of high-end analytical methods. Sensitive effect-based methods are of reducing the current monitoring difficulties by measuring the estrogenic activity of environmental samples in a cost-efficient way. Project description:The project will focus on specific effect-based methods and best possible analytical methods related to the watch list substances EE2, E2 and E1. For this purpose, 20 l surface water and 20 wastewater samples across Europe will be collected and analysed. Approximately 20 institutes or agencies from 13 nations will be involved in the project. Detection methods covered: Best possible chemical analysis (Joint Research Centre (JRC), IT, and Federal Institute of Hydrology (BfG), DE) and eight effect-based methods. Some of the effect-based methods applied here are currently going through the OECD validation process or being developed as ISO standards. Results and discussion: We mainly discuss project characteristics and objectives in this abstract: a) Promoting reliable screening methods to support the monitoring of endocrine disrupting activity in wastewater and surface water b) Harmonizing monitoring options across Europe c) Linking reliable effect-based tools with regulatory needs d) Linking effect-based tools with chemical analysis for estrogen monitoring e) Supporting national and EU monitoring for endocrine disruptors Conclusions and expected outcomes: Only a limited number of institutes in Europe currently have the capacity to quantify the steroidal estrogens EE2 and E2 at their suggested EQS levels. This could cause problems for the EU watch list mechanism, where reliable exposure data are required. In this project we will provide harmonised methods for sample collection, sample extraction and data evaluation, and screening and risk assessment. This activity will provide a proof-of-concept for integrated monitoring of estrogenic substances and aims to bridge the gap between conventional analytical and effect-based monitoring