Information-based view initialization in visual SLAM with a single omnidirectional camera

© 2015 Elsevier B.V. All rights reserved. This paper presents a novel mechanism to initiate new views within the map building process for an EKF-based visual SLAM (Simultaneous Localization and Mapping) approach using omnidirectional images. In presence of non-linearities, the EKF is very likely to compromise the final estimation. Particularly, the omnidirectional observation model induces non-linear errors, thus it becomes a potential source of uncertainty. To deal with this issue we propose a novel mechanism for view initialization which accounts for information gain and losses more efficiently. The main outcome of this contribution is the reduction of the map uncertainty and thus the higher consistency of the final estimation. Its basis relies on a Gaussian Process to infer an information distribution model from sensor data. This model represents feature points existence probabilities and their information content analysis leads to the proposed view initialization scheme. To demonstrate the suitability and effectiveness of the approach we present a series of real data experiments conducted with a robot equipped with a camera sensor and map model solely based on omnidirectional views. The results reveal a beneficial reduction on the uncertainty but also on the error in the pose and the map estimate

Formation of supermassive stars in the first star clusters

The formation of supermassive stars is believed to be an essential intermediate step for the formation of the massive black hole seeds that become the supermassive black holes powering the quasars observed in the early Universe. Numerical simulations have shown that supermassive stars can form in atomic-cooling halos when protostars reach accretion rates higher than $\sim10^{-2}$ M$_\odot$ yr$^{-1}$ and fragmentation is suppressed on pc scales. It is however still uncertain if a supermassive star still emerges when fragmentation occurs at smaller scales and a cluster of stars is formed instead. In this work we explore the problem of massive object formation due to the interplay of collisions and accretion in star clusters at low metallicity. We model a small embedded cluster of accreting protostars following sub-parsec scale fragmentation during the collapse of a primordial gas cloud and follow its evolution by performing $N$-body plus hydrodynamical simulations. Our results show that supermassive stars with 10$^3$ and 10$^4$ M$_\odot$ are always formed due to the interplay of collisions and accretion, and in some cases these objects are part of a binary system. The resulting supermassive star is surrounded by tens of smaller stars with typical masses in the range $1$-$100$ M$_\odot$.Comment: 16 pages, 20 figures, accepted by MNRA

Finite element analysis of the flexor digitorum profundus tendon during a passive rehabilitation protocol

The present study aims to create a patient-specific hand model to simulate the passive rehabilitation on the index finger, quantifying the flexor digitorum profundus (FDP) tendon excursion and the stress experienced during simulated flexion. The computational model used in this analysis was created from an unknown patient dataset available in the Embodi3d online library. The segmentation, three-dimensional reconstruction, and modeling of the structures involved were performed using Materialise Mimics and Rhino3D. The FDP tendon excursion and stress values present in the model were calculated in the ANSYS environment. Based on the finite-element simulation, the FDP tendon presents an excursion of 10.1 mm during passive postoperative flexion. The highest-stress values were observed between the pulleys-FDP tendon contact surfaces. In particular, the pulley A1 exhibited the maximum principal stress of the model with a 58.7 MPa. The pulley A3 showed the same stress distribution pattern that A1 Pulley, but with the lowest values. The FDP Tendon excursion obtained is consistent with the results reported in the literature, which vary from 8 to 11 mm. The stress values found in the model explain the importance of the pulley mechanism keeping the FDP tendon attached to the finger bone during the range of motion experienced. The silico model proposed may potentially be used in the assessment of new medical device proposals in the field of hand reconstructive surgery

3d printing and testing of rose thorns or limpet teeth inspired anchor device for tendon tissue repair

Purposes: Advancements in medical technology have enabled medical specialists to resolve significant problems concerning tendon injuries. However, despite the latest improvements, surgical tendon repair remains challenging. This study aimed to explore the capabilities of the current state-of-the-art technologies for implantable devices. Methods: After performing extensive patent landscaping and literature review, an anchored tissue fixation device was deemed the most suitable candidate. This design was firstly investigated numerically, realizing a Finite Element Model of the device anchored to two swine tendons stumps, to simulate its application on a severed tendon. Two different hook designs, both bio-inspired, were tested while retaining the same device geometry and anchoring strategy. Then, the applicability of a 3D-printed prototype was tested on swine tendons. Finally, the device-tendon stumps ensemble was subjected to uniaxial tensile tests. Results: The results show that the investigated device enables a better load distribution during the immobilized limb period in comparison to standard suture-based approaches, yet it still presents several design flaws. Conclusions: The current implantable solutions do not ensure an optimal result in terms of strength recovery. This and other weak points of the currently available proposals will serve as a starting point for future works on bio-inspired implantable devices for tendon repair

Diversidad y abundancia de la microbiota vaginal asociada a diferentes razas de ovino

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Effect of alternative synchronisation treatments on the vaginal microbiota of ewes and their impact on pregnancy rate

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