Learning a Bias Correction for Lidar-only Motion Estimation

This paper presents a novel technique to correct for bias in a classical estimator using a learning approach. We apply a learned bias correction to a lidar-only motion estimation pipeline. Our technique trains a Gaussian process (GP) regression model using data with ground truth. The inputs to the model are high-level features derived from the geometry of the point-clouds, and the outputs are the predicted biases between poses computed by the estimator and the ground truth. The predicted biases are applied as a correction to the poses computed by the estimator. Our technique is evaluated on over 50km of lidar data, which includes the KITTI odometry benchmark and lidar datasets collected around the University of Toronto campus. After applying the learned bias correction, we obtained significant improvements to lidar odometry in all datasets tested. We achieved around 10% reduction in errors on all datasets from an already accurate lidar odometry algorithm, at the expense of only less than 1% increase in computational cost at run-time.Comment: 15th Conference on Computer and Robot Vision (CRV 2018

Backscattering particle immunoassays in wire-guide droplet manipulations

A simpler way for manipulating droplets on a flat surface was demonstrated, eliminating the complications in the existing methods of open-surface digital microfluidics. Programmed and motorized movements of 10 μL droplets were demonstrated using stepper motors and microcontrollers, including merging, complicated movement along the programmed path, and rapid mixing. Latex immunoagglutination assays for mouse immunoglobulin G, bovine viral diarrhea virus and Escherichia coli were demonstrated by merging two droplets on a superhydrophobic surface (contact angle = 155 ± 2°) and using subsequent back light scattering detection, with detection limits of 50 pg mL-1, 2.5 TCID50 mL-1 and 85 CFU mL-1, respectively, all significantly lower than the other immunoassay demonstrations in conventional microfluidics (~1 ng mL-1 for proteins, ~100 TCID50 mL-1 for viruses and ~100 CFU mL-1 for bacteria). Advantages of this system over conventional microfluidics or microwell plate assays include: (1) minimized biofouling and repeated use (>100 times) of a platform; (2) possibility of nanoliter droplet manipulation; (3) reprogrammability with a computer or a game pad interface

Clinical benefit of adenosine as an adjunct to reperfusion in ST-elevation myocardial infarction patients: An updated meta-analysis of randomized controlled trials

Background: Adenosine administered as an adjunct to reperfusion can reduce coronary no-reflow and limit myocardial infarct (MI) size in ST-segment elevation myocardial infarction (STEMI) patients. Whether adjunctive adenosine therapy can improve clinical outcomes in reperfused STEMI patients is not clear and is investigated in this meta-analysis of 13 randomized controlled trials (RCTs). Methods: We performed an up-to-date search for all RCTs investigating adenosine as an adjunct to reperfusion in STEMI patients. We calculated pooled relative risks using a fixed-effect meta-analysis assessing the impact of adjunctive adenosine therapy on major clinical endpoint including all-cause mortality, non-fatal myocardial infarction, and heart failure. Surrogate markers of reperfusion were also analyzed. Results: 13 RCTs (4273 STEMI patients) were identified and divided into 2 subgroups: intracoronary adenosine versus control (8 RCTs) and intravenous adenosine versus control (5 RCTs). In patients administered intracoronary adenosine, the incidence of heart failure was significantly lower (risk ratio [RR] 0.44 [95% CI 0.25–0.78], P = 0.005) and the incidence of coronary no-reflow was reduced (RR for TIMI flow<3 postreperfusion 0.68 [95% CI 0.47–0.99], P = 0.04). There was no difference in heart failure incidence in the intravenous adenosine group but most RCTs in this subgroup were from the thrombolysis era. There was no difference in non-fatal MI or all-cause mortality in both subgroups. Conclusion: We find evidence of improved clinical outcome in terms of less heart failure in STEMI patients administered intracoronary adenosine as an adjunct to reperfusion. This finding will need to be confirmed in a large adequately powered prospective RCT

2MASS Studies of Differential Reddening Across Three Massive Globular Clusters

J, H, and K_S band data from the Two Micron All-Sky Survey (2MASS) are used to study the effects of differential reddening across the three massive Galactic globular clusters Omega Centauri, NGC 6388, and NGC 6441. Evidence is found that variable extinction may produce false detections of tidal tails around Omega Centauri. We also investigate what appears to be relatively strong differential reddening towards NGC 6388 and NGC 6441, and find that differential extinction may be exaggerating the need for a metallicity spread to explain the width of the red giant branches for these two clusters. Finally, we consider the implications of these results for the connection between unusual, multipopulation globular clusters and the cores of dwarf spheroidal galaxies (dSph).Comment: 40 pages, 14 figures. Accepted for publication in Oct. 2003 A