DS-K3DOM: 3-D Dynamic Occupancy Mapping with Kernel Inference and Dempster-Shafer Evidential Theory

Occupancy mapping has been widely utilized to represent the surroundings for autonomous robots to perform tasks such as navigation and manipulation. While occupancy mapping in 2-D environments has been well-studied, there have been few approaches suitable for 3-D dynamic occupancy mapping which is essential for aerial robots. This paper presents a novel 3-D dynamic occupancy mapping algorithm called DSK3DOM. We first establish a Bayesian method to sequentially update occupancy maps for a stream of measurements based on the random finite set theory. Then, we approximate it with particles in the Dempster-Shafer domain to enable real time computation. Moreover, the algorithm applies kernel based inference with Dirichlet basic belief assignment to enable dense mapping from sparse measurements. The efficacy of the proposed algorithm is demonstrated through simulations and real experiments.Comment: 7 pages, 2 figures, submitted to ICRA 202

Autonomie d’apprentissage dans le cours de la traduction universitaire

L’objectif de cette étude est d’analyser les stratégies d’apprentissage des étudiants coréens en traduction selon le type de textes proposés et de développer leur autonomie. À cette fin, nous avons adopté l’outil de Compte rendu intégré des problèmes et décisions (CRIPD) dans un cours de traduction du français vers le coréen au niveau universitaire en Corée, en 2015. Ensuite, nous avons distribué et analysé des questionnaires destinés aux étudiants (de niveau Delf B1 et B2). De ces résultats, nous déduisons que rédiger à l’aide du CRIPD favorise l’autonomie des étudiants, la stratégie métacognitive et une confiance en eux leur permettant d’être actifs

Helicobacter pylori Infection and Halitosis – Evidence, Hypothesis, and Korean Red Ginseng to Mitigate Its Effect

Halitosis is a common and ignored condition, but in some, it is a disease-associated health problem, suggestive of overt disease conditions and hasaffected about 25–30% of world’s population, bothering nonmedical social disturbance in many people. Although two kinds, pseudohalitosis and halitophobia, are also concerned, genuine halitosis originated from the oral cavity, such as gingivitis, caries, and poor oral hygiene, in 80% and the remaining 20% are extraoral sources of halitosis, which should not be ignored because of stigmata suggestive of overt tissue dysfunctions, for instance, poor nutrition and hygiene, alcohol abuse, smoking, and systemic illness such as chronic obstructive pulmonary disease, liver cirrhosis, diabetes mellitus, and chronic renal diseases. In this chapter, Helicobacter pylori (H. pylori)–associated halitosis as one of the extragastric manifestations is introduced. Since diagnostics of halitosis includes subjective methods (examiner’s sense of smell) and objective methods (instrumental analysis), under the hypothesis of a possible relationship between H. pylori infection and objective halitosis, the real levels of volatile sulfur compounds (VSCs) in the breath showed significant correlation between VSC levels and the degree of H. pylori–associated erosive gastritis as well as gastric cancer. These findings are further validated through either measuring H2S level in gastric juices of H. pylori–infected gastritis or checking the expressions of cystathionine-γ-lyase (CSE) and cystathionine-β-synthase (CBS) responsible for H2S generation in biopsied stomach. The eradication of H. pylori significantly ameliorated halitosis, accompanied with significant reductions in gastric H2S levels (p<0.01). Korean red ginseng was very effective in either reducing H. pylori–associated H2S or alleviating halitosis in patients with H. pylori–associated chronic atrophic gastritis. Conclusively, H. pylori infection demonstrates to have an important relationship with the development of halitosis, and its eradication could possibly promote the improvement of this condition

Influence of the waist diameters on transmission characteristics and strain sensitivity of microtapered long-period fiber gratings

Transmission characteristics of microtapered long-period fiber gratings (MTLPGs) and their strain and temperature sensitivities with variations in the waist diameters are investigated theoretically and experimentally. Transmission characteristics of MTLPGs strongly depend on the waist diameter of the tapered optical fiber (TOF) because of the modification of the effective index difference between the core and the cladding modes. Based on the photoelastic effect, the resonant wavelengths of MTLPGs with variations in strain shift to shorter wavelengths. The strain sensitivity of the MTLPG with a waist diameter of 25 μm is improved by a factor of 20 compared with that of a 125 μm long-period fiber grating. The temperature sensitivities of MTLPGs are also enhanced by reducing the waist diameter of the TOF

Enzymatic analysis of the effect of naturally occurring Leu138Pro mutation identified in SHV β-lactamase on hydrolysis of penicillin and ampicillin

<p>Abstract</p> <p>Background</p> <p>The aim of this study was to analyze the significance of leucine to proline substitution at position 138(Leu138Pro) on the hydrolysis of penicillin and ampicillin that we identified in the <it>bla</it>_SHVgene of clinical <it>Escherichia coli </it>swine isolate.</p> <p>Results</p> <p>Kinetic analysis of the mutant proteins showed that <it>K</it>_{<it>m </it>}value of the purified L138P mutant was comparatively higher than SHV-1, SHV-33 and SHV-33(L138P) enzyme for penicillin and ampicillin. Docking simulation of the SHV-1 and SHV-(L138P) enzymes also confirmed that β-lactamases preferred penicillin to ampicillin and the SHV-1 had a higher binding affinity for antibiotics compared to the SHV-(L138P) and other mutants.</p> <p>Conclusions</p> <p>Our result demonstrated that L138P has a reduced role in penicillin and ampicillin hydrolyzing properties of SHV β-lactamases. These naturally occurring mutations rendering reduced function of the existing protein could trigger the emergence or acquisition of more effective alternative mechanisms for β-lactam hydrolysis.</p

Permanent Pacemaker for Syncope after Heart Transplantation with Bicaval Technique

Sinus node dysfunction occurs occasionally after heart transplantation and may be caused by surgical trauma, ischemia to the sinus node, rejection, drug therapy, and increasing donor age. However, the timing and indication of permanent pacemaker insertion due to sinus node dysfunction following heart transplantation is contentious. Here, we report a case of a permanent pacemaker insertion for syncope due to sinus arrest after heart transplantation, even with a bicaval technique, which has been known to associate with few incidences of sinus node dysfunction

Solution-processed near-infrared Cu(In,Ga)(S,Se)(2) photodetectors with enhanced chalcopyrite crystallization and bandgap grading structure via potassium incorporation

Although solution-processed Cu(In,Ga)(S,Se)(2) (CIGS) absorber layers can potentially enable the low-cost and large-area production of highly stable electronic devices, they have rarely been applied in photodetector applications. In this work, we present a near-infrared photodetector functioning at 980 nm based on solution-processed CIGS with a potassium-induced bandgap grading structure and chalcopyrite grain growth. The incorporation of potassium in the CIGS film promotes Se uptake in the bulk of the film during the chalcogenization process, resulting in a bandgap grading structure with a wide space charge region that allows improved light absorption in the near-infrared region and charge carrier separation. Also, increasing the Se penetration in the potassium-incorporated CIGS film leads to the enhancement of chalcopyrite crystalline grain growth, increasing charge carrier mobility. Under the reverse bias condition, associated with hole tunneling from the ZnO interlayer, the increasing carrier mobility of potassium-incorporated CIGS photodetector improved photosensitivity and particularly external quantum efficiency more than 100% at low light intensity. The responsivity and detectivity of the potassium-incorporated CIGS photodetector reach 1.87 A W-1 and 6.45 x 10(10) Jones, respectively, and the - 3 dB bandwidth of the device extends to 10.5 kHz under 980 nm near-infrared light

Clinical outcomes of difficult-to-wean patients with ventilator dependency at intensive care unit discharge

Background: Ventilator-dependent patients in the intensive care unit (ICU) who are difficult to wean from invasive mechanical ventilation (IMV) have been increasing in number. However, data on the clinical outcomes of difficult-to-wean patients are lacking. We aimed to evaluate clinical outcomes in patients discharged from the ICU with tracheostomy and ventilator dependency. Methods: We retrospectively investigated clinical course and survival in patients requiring home mechanical ventilation (HMV) with a tracheostomy and difficulty weaning from IMV during medical ICU admission from September 2013 through August 2016 at Severance Hospital, Yonsei University, Seoul, Korea. Results: Of 84 difficult-to-wean patients who were started on HMV in the medical ICU, 72 survived, were discharged from the ICU, and were included in this analysis. HMV was initiated after a median of 23 days of IMV, and the successful weaning rate was 46% (n = 33). In-hospital mortality rate was significantly lower in the successfully weaned group than the unsuccessfully weaned group (0% vs. 23.1%, respectively; P = 0.010). Weaning rates were similar according to primary diagnosis, but high body mass index (BMI), low Acute Physiologic Assessment and Chronic Health Evaluation (APACHE) II score at ICU admission, and absence of neuromuscular disease were associated with weaning success. After a median follow-up of 4.6 months (range, 1-27 months) for survivors, 3-month (n = 64) and 6-month (n = 59) survival rates were 82.5% and 72.2%, respectively. Survival rates were higher in the successfully weaned group than the unsuccessfully weaned group at 3 months (96.4% vs. 69.0%; P = 0.017) and 6 months (84.0% vs. 62.1%; P = 0.136) following ICU discharge. Conclusions: In summary, 46% of patients who started HMV were successfully weaned from the ventilator in general wards. High BMI, low APACHE II score, and absence of neuromuscular disease were factors associated with weaning success.11Nscopuskc