Rigid body dynamics and Kalman filtering

X-ray computed log tomography has always been applied for qualitative reconstructions. In most cases, a series of consecutive slices of the timber are scanned to estimate the 3D image reconstruction of the entire log. However, the unexpected movement of the timber under study influences the quality of image reconstruction since the position and orientation of some scanned slices can be incorrectly estimated. In addition, the reconstruction time remains a significant challenge for practical applications. The present study investigates the possibility to employ modern physics engines for the problem of estimating the position of a moving rigid body and its scanned slices which are subject to X-ray computed tomography. The current work includes implementations of the extended Kalman filter and an algebraic reconstruction method for fan-bean computer tomography. In addition, modern techniques such as NVidia PhysX and CUDA are used in current study. As the result, it is numerically shown that it is possible to apply the extended Kalman filter together with a real-time physics engine, known as PhysX, in order to determine the position of a moving object. It is shown that the position of the rigid body can be determined based only on reconstructions of its slices. However, the simulation of the body movement sometimes is subject to an error during Kalman filter employment as PhysX is not always able to continue simulating the movement properly because of incorrect state estimation.

The Chromatoid body entourage: Molecular characterization of the Chromatoid body‐associated cytoplasmic vesicles

Spermatogenesis is a unique process compared to cell differentiation in somatic tissues. Germ cells undergo a considerable number of metabolic and morphological changes during their differentiation: they initially proliferate by mitosis to increase in number; at some point they scramble their genetic material by meiosis, to create new genetic combinations that are the basis for evolution through natural selection and, finally, they change their shape and produce specialized structures characteristic of the mature sperm. Germ cells display an astonishingly broad transcription of their genome compared to differentiated somatic cells. Moreover, the different RNAs need to be specifically regulated in space and time for sperm production to occur appropriately. Different proteins localized in specific subcellular compartments, along with regulatory small RNAs, have an essential role in the proper execution of the different steps of spermatogenesis. These ribonucleoprotein granules interact with cytoplasmic vesicles and organelles to accomplish their role during sperm development. In this study, we characterized the most prominent ribonucleoprotein granule found in germ cells, the Chromatoid body (CB). For the first time we investigated the interaction of the CB with the cytoplasmic vesicles that surround it. These studies directed us to the description of Retromer proteins in germ cells and their involvement with the CB and the acrosome formation. Moreover, we discovered the interplay between the CB and the lysosome system in haploid round spermatids, and identified FYCO1, a new protein central to this interaction. Our results suggest that the vesicular transport system participates in the CB-mediated RNA regulation during sperm development.