Selective combination of visual and thermal imaging for resilient localization in adverse conditions : day and night, smoke and fire

Long-term autonomy in robotics requires perception systems that are resilient to unusual but realistic conditions that will eventually occur during extended missions. For example, unmanned ground vehicles (UGVs) need to be capable of operating safely in adverse and low-visibility conditions, such as at night or in the presence of smoke. The key to a resilient UGV perception system lies in the use of multiple sensor modalities, e.g., operating at different frequencies of the electromagnetic spectrum, to compensate for the limitations of a single sensor type. In this paper, visual and infrared imaging are combined in a Visual-SLAM algorithm to achieve localization. We propose to evaluate the quality of data provided by each sensor modality prior to data combination. This evaluation is used to discard low-quality data, i.e., data most likely to induce large localization errors. In this way, perceptual failures are anticipated and mitigated. An extensive experimental evaluation is conducted on data sets collected with a UGV in a range of environments and adverse conditions, including the presence of smoke (obstructing the visual camera), fire, extreme heat (saturating the infrared camera), low-light conditions (dusk), and at night with sudden variations of artificial light. A total of 240 trajectory estimates are obtained using five different variations of data sources and data combination strategies in the localization method. In particular, the proposed approach for selective data combination is compared to methods using a single sensor type or combining both modalities without preselection. We show that the proposed framework allows for camera-based localization resilient to a large range of low-visibility conditions.

Visual metrics for the evaluation of sensor data quality in outdoor perception

This paper proposes an experimental study of quality metrics that can be applied to visual and infrared images acquired from cameras onboard an unmanned ground vehicle (UGV). The relevance of existing metrics in this context is discussed and a novel metric is introduced. Selected metrics are evaluated on data collected by a UGV in clear and challenging environmental conditions, represented in this paper by the presence of airborne dust or smoke. An example of application is given with monocular SLAM estimating the pose of the UGV while smoke is present in the environment. It is shown that the proposed novel quality metric can be used to anticipate situations where the quality of the pose estimate will be significantly degraded due to the input image data. This leads to decisions of advantageously switching between data sources (e.g. using infrared images instead of visual images).

Combining multiple sensor modalities for a localisation robust to smoke

This paper proposes an approach to obtain a localisation that is robust to smoke by exploiting multiple sensing modalities: visual and infrared (IR) cameras. This localisation is based on a state-of-the-art visual SLAM algorithm. First, we show that a reasonably accurate localisation can be obtained in the presence of smoke by using only an IR camera, a sensor that is hardly affected by smoke, contrary to a visual camera (operating in the visible spectrum). Second, we demonstrate that improved results can be obtained by combining the information from the two sensor modalities (visual and IR cameras). Third, we show that by detecting the impact of smoke on the visual images using a data quality metric, we can anticipate and mitigate the degradation in performance of the localisation by discarding the most affected data. The experimental validation presents multiple trajectories estimated by the various methods considered, all thoroughly compared to an accurate dGPS/INS reference.

GWAS of 126,559 individuals identifies genetic variants associated with educational attainment

A genome-wide association study (GWAS) of educational attainment was conducted in a discovery sample of 101,069 individuals and a replication sample of 25,490. Three independent single-nucleotide polymorphisms (SNPs) are genome-wide significant (rs9320913, rs11584700, rs4851266), and all three replicate. Estimated effects sizes are small (coefficient of determination R(2) approximately 0.02%), approximately 1 month of schooling per allele. A linear polygenic score from all measured SNPs accounts for approximately 2% of the variance in both educational attainment and cognitive function. Genes in the region of the loci have previously been associated with health, cognitive, and central nervous system phenotypes, and bioinformatics analyses suggest the involvement of the anterior caudate nucleus. These findings provide promising candidate SNPs for follow-up work, and our effect size estimates can anchor power analyses in social-science genetics.

Fungal Planet description sheets: 371-399

Novel species of fungi described in the present study include the following from Australia: Neoseptorioides eucalypti gen. & sp. nov. from Eucalyptus radiata leaves, Phytophthora gondwanensis from soil, Diaporthe tulliensis from rotted stem ends of Theobroma cacao fruit, Diaporthe vawdreyi from fruit rot of Psidium guajava, Magnaporthiopsis agrostidis from rotted roots of Agrostis stolonifera and Semifissispora natalis from Eucalyptus leaf litter. Furthermore, Neopestalotiopsis egyptiaca is described from Mangifera indica leaves (Egypt), Roussoella mexicana from Coffea arabica leaves (Mexico), Calonectria monticola from soil (Thailand), Hygrocybe jackmanii from littoral sand dunes (Canada), Lindgomyces madisonensis from submerged decorticated wood (USA), Neofabraea brasiliensis from Malus domestica (Brazil), Geastrum diosiae from litter (Argentina), Ganoderma wiiroense on angiosperms (Ghana), Arthrinium gutiae from the gut of a grasshopper (India), Pyrenochaeta telephoni from the screen of a mobile phone (India) and Xenoleptographium phialoconidium gen. & sp. nov. on exposed xylem tissues of Gmelina arborea (Indonesia). Several novelties are introduced from Spain, namely Psathyrella complutensis on loamy soil, Chlorophyllum lusitanicum on nitrified grasslands (incl. Chlorophyllum arizonicum comb. nov.), Aspergillus citocrescens from cave sediment and Lotinia verna gen. & sp. nov. from muddy soil. Novel foliicolous taxa from South Africa include Phyllosticta carissicola from Carissa macrocarpa, Pseudopyricularia hagahagae from Cyperaceae and Zeloasperisporium searsiae from Searsia chirindensis. Furthermore, Neophaeococcomyces is introduced as a novel genus, with two new combinations, N. aloes and N. catenatus. Several foliicolous novelties are recorded from La Réunion, France, namely Ochroconis pandanicola from Pandanus utilis, Neosulcatispora agaves gen. & sp. nov. from Agave vera-cruz, Pilidium eucalyptorum from Eucalyptus robusta, Strelitziana syzygii from Syzygium jambos (incl. Strelitzianaceae fam. nov.) and Pseudobeltrania ocoteae from Ocotea obtusata (Beltraniaceae emend.). Morphological and culture characteristics along with ITS DNA barcodes are provided for all taxa.

Directional dominance on stature and cognition in diverse human populations

Homozygosity has long been associated with rare, often devastating, Mendelian disorders1, and Darwin was one of the first to recognize that inbreeding reduces evolutionary fitness2. However, the effect of the more distant parental relatedness that is common in modern human populations is less well understood. Genomic data now allow us to investigate the effects of homozygosity on traits of public health importance by observing contiguous homozygous segments (runs of homozygosity), which are inferred to be homozygous along their complete length. Given the low levels of genome-wide homozygosity prevalent in most human populations, information is required on very large numbers of people to provide sufficient power3, 4. Here we use runs of homozygosity to study 16 health-related quantitative traits in 354,224 individuals from 102 cohorts, and find statistically significant associations between summed runs of homozygosity and four complex traits: height, forced expiratory lung volume in one second, general cognitive ability and educational attainment (P < 1 × 10−300, 2.1 × 10−6, 2.5 × 10−10 and 1.8 × 10−10, respectively). In each case, increased homozygosity was associated with decreased trait value, equivalent to the offspring of first cousins being 1.2 cm shorter and having 10 months’ less education. Similar effect sizes were found across four continental groups and populations with different degrees of genome-wide homozygosity, providing evidence that homozygosity, rather than confounding, directly contributes to phenotypic variance. Contrary to earlier reports in substantially smaller samples5, 6, no evidence was seen of an influence of genome-wide homozygosity on blood pressure and low density lipoprotein cholesterol, or ten other cardio-metabolic traits. Since directional dominance is predicted for traits under directional evolutionary selection7, this study provides evidence that increased stature and cognitive function have been positively selected in human evolution, whereas many important risk factors for late-onset complex diseases may not have been.

Pharmacological inhibition of gut-derived serotonin synthesis is a potential bone anabolic treatment for osteoporosis

Osteoporosis is a disease of low bone mass most often caused by an increase in bone resorption that is not sufficiently compensated for by a corresponding increase in bone formation(1). As gut-derived serotonin (GDS) inhibits bone formation(2), we asked whether hampering its biosynthesis could treat osteoporosis through an anabolic mechanism (that is, by increasing bone formation). We synthesized and used LP533401, a small molecule inhibitor of tryptophan hydroxylase-1 (Tph-1), the initial enzyme in GDS biosynthesis. Oral administration of this small molecule once daily for up to six weeks acts prophylactically or therapeutically, in a dose-dependent manner, to treat osteoporosis in ovariectomized rodents because of an isolated increase in bone formation. These results provide a proof of principle that inhibiting GDS biosynthesis could become a new anabolic treatment for osteoporosis.

Ebselen is a potent non-competitive inhibitor of extracellular nucleoside diphosphokinase

Nucleoside di- and triphosphates and adenosine regulate several components of the mucocilairy clearance process (MCC) that protects the lung against infections, via activation of epithelial purinergic receptors. However, assessing the contribution of individual nucleotides to MCC functions remains difficult due to the complexity of the mechanisms of nucleotide release and metabolism. Enzymatic activities involved in the metabolism of extracellular nucleotides include ecto-ATPases and secreted nucleoside diphosphokinase (NDPK) and adenyl kinase, but potent and selective inhibitors of these activities are sparse. In the present study, we discovered that ebselen markedly reduced NDPK activity while having negligible effect on ecto-ATPase and adenyl kinase activities. Addition of radiotracer gamma P-32]ATP to human bronchial epithelial (HBE) cells resulted in rapid and robust accumulation of P-32]-inorganic phosphate ((32)Pi). Inclusion of UDP in the incubation medium resulted in conversion of gamma P-32]ATP to P-32]UTP, while inclusion of AMP resulted in conversion of gamma P-32]ATP to P-32]ADP. Ebselen markedly reduced P-32]UTP formation but displayed negligible effect on (32)Pi or P-32]ADP accumulations. Incubation of HBE cells with unlabeled UTP and ADP resulted in robust ebselen-sensitive formation of ATP (IC50=6.9 +/- 2 mu M). This NDPK activity was largely recovered in HBE cell secretions and supernatants from lung epithelial A549 cells. Kinetic analysis of NDPK activity indicated that ebselen reduced the V-max of the reaction (K-i=7.6 +/- 3 mu M), having negligible effect on KM values. Our study demonstrates that ebselen is a potent noncompetitive inhibitor of extracellular NDPK.

Zinc-substituted alpha-nickel hydroxide as an electrode material for alkaline secondary cells

Double hydroxides of the formula, Ni1-xZn2x (OH)(2) (CO3)(x). nH(2)O (x = 0.1 to 0.25) having the same structure as that of alpha-nickel hydroxide have been synthesized by partial substitution of zinc for nickel. The hydroxide having the composition x = 0.25 exhibits prolonged stability in 6 M KOH. Pasted electrodes comprising this material are rechargeable with a stabilized reversible discharge capacity of 410 +/- 15 mAh g(-1) of nickel even under suboptimal conditions of electrode fabrication. This compares favorably with the capacity values achieved for beta-nickel hydroxide (221 mAh g(-1)', This work; 297 mAh g(-1), Delahaye-Vidal and Figlarz;(1) 456 mAh g(-1), theoretical). (C) 1999 The Electrochemical Society. S0013-4651(98)01-071-4. All rights reserved.

Electrical and optical spectroscopy for quantitative screening of hepatic steatosis in donor livers.

Macro-steatosis in deceased donor livers is increasingly prevalent and is associated with poor or non-function of the liver upon reperfusion. Current assessment of the extent of steatosis depends upon the macroscopic assessment of the liver by the surgeon and histological examination, if available. In this paper we demonstrate electrical and optical spectroscopy techniques which quantitatively characterize fatty infiltration in liver tissue. Optical spectroscopy showed a correlation coefficient of 0.85 in humans when referenced to clinical hematoxylin and eosin (H&E) sections in 20 human samples. With further development, an optical probe may provide a comprehensive measure of steatosis across the liver at the time of procurement.

Evaluación del efecto de la fertilización mineral y orgánica (gallinaza) en el crecimiento y rendimiento del cultivo del maiz (Zea mays L.) variedad NB-S en la estación experimental "La Compañía" época de primera 2002

El presente estudio se realizó en la estación experimental “La Compañía ”, San Marcos, Carazo, durante la época de primera 2002. El estudio se llevó a cabo en dos áreas experimentales analizadas por separado; para los tratamientos minerales se hizo uso del fertilizante mineral completo (12-30-10) complementado con urea (46%) y un testigo; como fuente de abono orgánico se utilizó gallinaza, con aplicaciones de 20 y 10 t/ha y su respectivo testigo. Los tratamientos fueron arreglados en un experimento unifactorial con diseño de Bloques Completos al Azar (BCA) con tres tratamientos y cuatro repeticiones para cada área experimental, la variedad de maíz (Zea maysL.) evaluada fue NB-S. Las variables evaluadas fueron: altura de plantas (cm), altura del último nudo (cm), número de hojas, diámetro del tallo(cm), área foliar(cm2), diámetro de mazorca(cm), número de hileras por mazorca, número de granos por hilera, peso de 100 granos en gramos (g) y rendimiento en kg/ha. Los datos se procesaron usando Análisis de Varianza y con la prueba de rangos múltiples de Tukey al 95 % de confiabilidad. Se realizó un análisis económico utilizando la metodología planteada por el CIMMYT (1988) para evaluar la rentabilidad de los tratamientos. Los resultados obtenidos con la dosis de 150 kg N/ha se obtuvieron los mayores resultados para las variables área foliar, diámetro del tallo, número de hileras por mazorca, diámetro de mazorca y peso de 100 granos. La aplicación de 75 kg N/ha produjo superiores resultados para altura de planta, número de hojas, altura del último nudo, número de granos por hileras y rendimiento en kg/ha, así mismo resultó ser la más rentable, obteniéndose valores adicionales de 0.43 dólares por cada dólar invertido. En tanto para el ensayo orgánico la aplicación de 20 t/ha de gallinaza obtuvo mejores resultados para las variables altura de planta, área foliar, número de hojas; altura del último nudo y número de granos por hileras y los mayores rendimientos en kg/ha. Sin embargo la aplicación de 10 t/ha de gallinaza registró el mayor diámetro del tallo, número de hilera por mazorca, diámetro de mazorca y peso de 100 granos en gramos. La dosis de 10 t/ha de gallinaza resulto ser la más rentable reflejando una ganancia de 1.21 dólar por cada dólar invertido en el tratamiento.

Evaluacion del comportamiento agronomico de doce materiales geneticos de arroz (Oryza sativa L.) en el valle de Sebaco durante la epoca de postrera del 2006

El mejoramiento genético de arroz (Oryza sativa L.) en Nicaragua se ha basado principalmente en la introducción y posterior evaluación de materiales genéticos provenientes principalmente de centros internacionales como: el Centro Internacional de Agricultura Tropical (CIAT) de Colombia. En este trabajo de investigación se evaluaron materiales genéticos introducidos del CIAT y un testigo nacional: INTA DORADO. El ensayo de campo consistió en un experimento unifactorial en un diseño de Bloques Completos al Azar (BCA). En total se evaluaron 13 variables con cuatro repeticiones. El análisis de los resultados de campo permitió identificar un material genético; el CT-15765-12-1-4-2-1-M como el único que superó significativamente en cuanto a rendimiento de grano al testigo nacional INTA DORADO. Además, dicho material genético fue el de mejor calidad industrial. Se recomienda en lo general evaluar materiales genéticos en otras localidades y durante varios ciclos agrícolas a fin de determinar la adaptabilidad y estabilidad de los mismos.

Evaluación de la linea del sorgo (Sorghum bicolor L. Moench) ICSVLM-92512, bajo tres dosis y distintas fuentes de nitrogeno en el municipio de San Ramón, Matagalpa

El presente estudio se realizó en el municipio de San Ramón, Matagalpa en la finca de Señor Catalino Figueroa en la época de postrera, con el objetivo de determinar la respue sta de la línea CSVLM - 92512 de sorgo a la aplicación de nitrógeno, la misma, corresponde al proyecto del programa INTSORMIL. Se utilizó un diseño de bloques completamente al azar (BCA), con tres repeticiones , tres niveles de fertilización nitrogenada (37 , 66, 96 kg N ha - 1 ), un testigo y frijol mungo ( Vigna radiata ), sembrado a los 15 días después de la siembra del sorgo e incorporado a los 30 días después de la siembra del mungo como fuente alternativa de nitrógeno. Durante el crecimiento y desarrollo del cultivo se realizaron 4 muestreos en intervalos de 15 días, en altura de la planta (cm), número de hojas y diámetro del tallo (cm). Durante la cosecha se tomaron los parámetros de longitud de panoja (cm), longitud de raquis (cm). Biomasa seca (kg ha - 1 ), nitrógeno en la biomasa (%), nitrógeno en el grano (%), rendimiento de gramo kg ha - 1 . Todos los datos de campo fueron sometidos al análisis estadístico SAS ver 9.1 2006. Para las variables de crecimiento solo el diámetro de tallo fue influenciado significa tivamente lográndose los mayores diámetros con la aplicación de 37 kg N ha - 1 . Para las variables de rendimiento el tratamiento que sobresalió en rendimiento de biomasa y rendimiento de grano fue el tratamiento 2 con 5621.53 kg ha - 1 y 3078 kg de grano, aunq ue para esta última no se diferenció del resto de tratamientos. Para el análisis económico el tratamiento 2 presento la mayor tasa marginal con 193.84%. De igual manera la mayor eficiencia se obtuvo con el tratamiento 2