Positioning an underwater vehicle through image mosaicking

Mosaics have been commonly used as visual maps for undersea exploration and navigation. The position and orientation of an underwater vehicle can be calculated by integrating the apparent motion of the images which form the mosaic. A feature-based mosaicking method is proposed in this paper. The creation of the mosaic is accomplished in four stages: feature selection and matching, detection of points describing the dominant motion, homography computation and mosaic construction. In this work we demonstrate that the use of color and textures as discriminative properties of the image can improve, to a large extent, the accuracy of the constructed mosaic. The system is able to provide 3D metric information concerning the vehicle motion using the knowledge of the intrinsic parameters of the camera while integrating the measurements of an ultrasonic sensor. The experimental results of real images have been tested on the GARBI underwater vehicle

SwissBioisostere: a database of molecular replacements for ligand design.

The SwissBioisostere database (http://www.swissbioisostere.ch) contains information on molecular replacements and their performance in biochemical assays. It is meant to provide researchers in drug discovery projects with ideas for bioisosteric modifications of their current lead molecule, as well as to give interested scientists access to the details on particular molecular replacements. As of August 2012, the database contains 21 293 355 datapoints corresponding to 5 586 462 unique replacements that have been measured in 35 039 assays against 1948 molecular targets representing 30 target classes. The accessible data were created through detection of matched molecular pairs and mining bioactivity data in the ChEMBL database. The SwissBioisostere database is hosted by the Swiss Institute of Bioinformatics and available via a web-based interface.

Transcriptional profiling of Gram-positive Arthrobacter in the phyllosphere: induction of pollutant degradation genes by natural plant phenolic compounds.

Arthrobacter chlorophenolicus A6 is a Gram-positive, 4-chlorophenol-degrading soil bacterium that was recently shown to be an effective colonizer of plant leaf surfaces. The genetic basis for this phyllosphere competency is unknown. In this paper, we describe the genome-wide expression profile of A.chlorophenolicus on leaves of common bean (Phaseolus vulgaris) compared with growth on agar surfaces. In phyllosphere-grown cells, we found elevated expression of several genes known to contribute to epiphytic fitness, for example those involved in nutrient acquisition, attachment, stress response and horizontal gene transfer. A surprising result was the leaf-induced expression of a subset of the so-called cph genes for the degradation of 4-chlorophenol. This subset encodes the conversion of the phenolic compound hydroquinone to 3-oxoadipate, and was shown to be induced not only by 4-chlorophenol but also hydroquinone, its glycosylated derivative arbutin, and phenol. Small amounts of hydroquinone, but not arbutin or phenol, were detected in leaf surface washes of P.vulgaris by gas chromatography-mass spectrometry. Our findings illustrate the utility of genomics approaches for exploration and improved understanding of a microbial habitat. Also, they highlight the potential for phyllosphere-based priming of bacteria to stimulate pollutant degradation, which holds promise for the application of phylloremediation.

Evolving team compositions by agent swapping

Optimizing collective behavior in multiagent systems requires algorithms to find not only appropriate individual behaviors but also a suitable composition of agents within a team. Over the last two decades, evolutionary methods have emerged as a promising approach for the design of agents and their compositions into teams. The choice of a crossover operator that facilitates the evolution of optimal team composition is recognized to be crucial, but so far, it has never been thoroughly quantified. Here, we highlight the limitations of two different crossover operators that exchange entire agents between teams: restricted agent swapping (RAS) that exchanges only corresponding agents between teams and free agent swapping (FAS) that allows an arbitrary exchange of agents. Our results show that RAS suffers from premature convergence, whereas FAS entails insufficient convergence. Consequently, in both cases, the exploration and exploitation aspects of the evolutionary algorithm are not well balanced resulting in the evolution of suboptimal team compositions. To overcome this problem, we propose combining the two methods. Our approach first applies FAS to explore the search space and then RAS to exploit it. This mixed approach is a much more efficient strategy for the evolution of team compositions compared to either strategy on its own. Our results suggest that such a mixed agent-swapping algorithm should always be preferred whenever the optimal composition of individuals in a multiagent system is unknown.

EuroPhenome: a repository for high-throughput mouse phenotyping data.

The broad aim of biomedical science in the postgenomic era is to link genomic and phenotype information to allow deeper understanding of the processes leading from genomic changes to altered phenotype and disease. The EuroPhenome project (http://www.EuroPhenome.org) is a comprehensive resource for raw and annotated high-throughput phenotyping data arising from projects such as EUMODIC. EUMODIC is gathering data from the EMPReSSslim pipeline (http://www.empress.har.mrc.ac.uk/) which is performed on inbred mouse strains and knock-out lines arising from the EUCOMM project. The EuroPhenome interface allows the user to access the data via the phenotype or genotype. It also allows the user to access the data in a variety of ways, including graphical display, statistical analysis and access to the raw data via web services. The raw phenotyping data captured in EuroPhenome is annotated by an annotation pipeline which automatically identifies statistically different mutants from the appropriate baseline and assigns ontology terms for that specific test. Mutant phenotypes can be quickly identified using two EuroPhenome tools: PhenoMap, a graphical representation of statistically relevant phenotypes, and mining for a mutant using ontology terms. To assist with data definition and cross-database comparisons, phenotype data is annotated using combinations of terms from biological ontologies.

Fibrose rétropéritonéale: cause rare d'insuffisance rénale postrénale, a ne pas méconnaître [Retroperitoneal fibrosis: a rare cause of postrenal kidney failure, no to be missed].

We report the observation of a fifty years old man, admitted in the emergency room for bilateral lumbar pain and hyperkaliemic metabolic acidosis, and postrenal kidney failure induced by bilateral hydronephrosis. Radiographic exploration and histologic studies of biopsy confirmed an idiopathic retroperitoneal fibrosis that clinically and biologicaly responded to three seances of hemodialysis, and insertion in each uretere of one double J stent, and long term corticotherapy. The retroperitoneal fibrosis is a little common inflammatory disease, characterized by the development of a fibrous mass around the retroperitoneal structures. His diagnostic means evolved. On the other hand, his treatment was the object of no checked controlled and randomized trial. This article proposes an updating of the knowledge on this subject.

DNA barcodes for soil animal taxonomy

The biodiversity of soil communities remains very poorly known and understood. Soil biological sciences are strongly affected by the taxonomic crisis, and most groups of animals in that biota suffer from a strong taxonomic impediment. The objective of this work was to investigate how DNA barcoding - a novel method using a microgenomic tag for species identification and discrimination - permits better evaluation of the taxonomy of soil biota. A total of 1,152 barcode sequences were analyzed for two major groups of animals, collembolans and earthworms, which presented broad taxonomic and geographic sampling. Besides strongly reflecting the taxonomic impediment for both groups, with a large number of species-level divergent lineages remaining unnamed so far, the results also highlight a high level (15%) of cryptic diversity within known species of both earthworms and collembolans. These results are supportive of recent local studies using a similar approach. Within an impeded taxonomic system for soil animals, DNA-assisted identification tools can facilitate and improve biodiversity exploration and description. DNA-barcoding campaigns are rapidly developing in soil animals and the community of soil biologists is urged to embrace these methods.

Clival chordoma with an atypical presentation: a case report.

INTRODUCTION: Clival chordomas present with headache, commonly VI cranial nerve palsy or sometimes with lower cranial nerve involvement. Very rarely, they present with cerebrospinal fluid rhinorrhoea due to an underlying chordoma-induced skull base erosion. CASE PRESENTATION: A 60-year old Caucasian woman presented with meningitis secondary to cerebrospinal fluid rhinorrhoea. At first, radiological imaging did not reveal a tumoral condition, though intraoperative exploration and tissue histology revealed a chordoma which eroded her clivus and had a transdural extension. CONCLUSION: Patients who present with meningitis and cerebrospinal fluid rhinorrhoea could have an underlying erosive lesion which can sometimes be missed on initial radiological examination. Surgical exploration allows collecting suspicious tissue for histological diagnosis which is important for the actual treatment. A revision endoscopic excision of a clival chordoma is challenging and has been highlighted in this report.

Multimodal Investment Analysis Methodology, Phase One: The Conceptual Model, 1998

The purpose of this project is to develop an investment analysis model that integrates the capabilities of four types of analysis for use in evaluating interurban transportation system improvements. The project will also explore the use of new data warehousing and mining techniques to design the types of databases required for supporting such a comprehensive transportation model. The project consists of four phases. The first phase, which is documented in this report, involves development of the conceptual foundation for the model. Prior research is reviewed in Chapter 1, which is composed of three major sections providing demand modeling background information for passenger transportation, transportation of freight (manufactured products and supplies), and transportation of natural resources and agricultural commodities. Material from the literature on geographic information systems makes up Chapter 2. Database models for the national and regional economies and for the transportation and logistics network are conceptualized in Chapter 3. Demand forecasting of transportation service requirements is introduced in Chapter 4, with separate sections for passenger transportation, freight transportation, and transportation of natural resources and commodities. Characteristics and capacities of the different modes, modal choices, and route assignments are discussed in Chapter 5. Chapter 6 concludes with a general discussion of the economic impacts and feedback of multimodal transportation activities and facilities.

6.2

Airborne particles can come from a variety of sources and contain variable chemical constituents. Some particles are formed by natural processes, such as volcanoes, erosion, sea spray, and forest fires, while other are formed by anthropogenic processes, such as industrial- and motor vehicle-related combustion, road-related wear, and mining. In general, larger particles (those greater than 2.5 μm) are formed by mechanical processes, while those less than 2.5 μm are formed by combustion processes. The chemical composition of particles is highly influenced by the source: for combustion-related particles, factors such as temperature of combustion, fuel type, and presence of oxygen or other gases can also have a large impact on PM composition. These differences can often be observed at a regional level, such as the greater sulphate-composition of PM in regions that burn coal for electricity production (which contains sulphur) versus regions that do not. Most countries maintain air monitoring networks, and studies based on the resulting data are the most common basis for epidemiology studies on the health effects of PM. Data from these monitoring stations can be used to evaluate the relationship between community-level exposure to ambient particles and health outcomes (i.e., morbidity or mortality from various causes). Respiratory and cardiovascular outcomes are the most commonly assessed, although studies have also considered other related specific outcomes such as diabetes and congenital heart disease. The data on particle characteristics is usually not very detailed and most often includes some combination of PM2.5, PM10, sulphate, and NO2. Other descriptors that are less commonly found include particle number (ultrafine particles), metal components of PM, local traffic intensity, and EC/OC. Measures of association are usually reported per 10 μg/m3 or interquartile range increase in pollutant concentration. As the exposure data are taken from regional monitoring stations, the measurements are not representative of an individual's exposure. Particle size is an important descriptor for understanding where in the human respiratory system the particles will deposit: as a general rule, smaller particles penetrate to deeper regions of the lungs. Initial studies on the health effects of particulate matter focused on mass of the particles, including either all particles (often termed total suspended particulate or TSP) or PM10 (all particles with an aerodynamic diameter less than 10 μm). More recently, studies have considered both PM10 and PM2.5, with the latter corresponding more directly to combustion-related processes. UFPs are a dominant source of particles in terms of PNC, yet are negligible in terms of mass. Very few epidemiology studies have measured the effect of UFPs on health; however, the numbers of studies on this topic are increasing. In addition to size, chemical composition is of importance when understanding the toxicity of particles. Some studies consider the composition of particles in addition to mass; however this is not common, in part due the cost and labour involved in such analyses.

Ympäristölupien myöntämisperusteiden alueellisten erojen tasoittamismahdollisuudet kuntatasolla eläinsuojien, polttonesteiden jakeluasemien sekä kivenlouhimokokonaisuuksien osalta

Diplomityössä on tarkasteltu kunnissa myönnettyjen ympäristölupien myöntämiskriteereitä ja niiden yhtenäistämismahdollisuuksia eläinsuojien, polttonesteiden jakeluasemien sekä kivenlouhimokokonaisuuksien osalta. Työssä tutkittiin ympäristönsuojelulain (86/2000) mukaisialupapäätöksiä viidestä kunnasta. Lupapäätöksissä havaittiin eroja kuntien välillä kaikkien lupakokonaisuuksien osalta. Pääasiassa erot kohdistuivat ympäristölautakunnan antamiin lupamääräyksiin. Lupien myöntämiskriteereiden yhtenäistäminen kuntatasolla vaatii aikaa ja resursseja, mutta ei ole mahdotonta. Yhtenäistämiskeinoja ovat kunnan sisäinen muistilista, korkeimman hallinto-oikeuden ratkaisulinjan tulkitseminen, ympäristönsuojelulain tulkinnan syventämien, alueellisten ympäristökeskusten taitojen hyödyntäminen sekä kuntien välinenyhteistyö. Kutakin yhtenäistämiskeinoa voi käyttää itsenäisenä keinona, mutta tehokkaampi tulos saada yhdistämällä kaikki viisi keinoa. Keinojen yhtenäistäminen on paras toteuttaa kunnan ympäristötarkastajien koulutuksella.

Aplicación de la técnica de espectrometría de fluorescencia de rayos-X en el estudio de la dispersión de metales en áreas mineras

One critical factor for success in characterizing metals polluting mining environments so as to be able to eliminate them and subsequently recover these areas depends upon a speedy and correct response in the analysis of samples. Rapid, simultaneous, multi-element analysis can be undertaken using X-ray fluorescence spectrometry, a versatile, non-destructive analytical technique commonly employed to identify both major and minor elements in samples related to environmental studies. An additional advantage of this technique is the possibility of conducting the analysis directly on solid samples, which is extremely convenient when dealing with environmental samples that are difficult to dissolve, such as soils, sediments and mining wastes. Moreover, in recent years the development of spectrometers equipped with digital-signal processors combined with enlarged X-ray production, using better designs for excitation-detection, has contributed to an improvement in instrumental sensitivity, thus allowing us to detect important polluting elements such as Cd and Pb at trace levels. In this paper the authors describe, on the basis of their own experience, some interesting applications of XRF spectrometry for the analysis of several types of environmental samples related to the study of the dispersion of metals within mining environments: (A) analysis of mining wastes, soils and sediments; (B) analysis of samples of vegetation used as bioindicators or related to phytoremediation studies; and (C) analysis of water samples related to mining operations

Tutkimus- ja kehitysyhteistyön motiivit

Pro gradu -tutkielman tavoitteena on operationalisoida T&K- yhteistyön prosessimaista luonnetta, eli tarkemmin sanottuna analysoida T&K-yhteistyösuhteidenmuodostumista ja motiiveja. Tutkielman hypoteesit muodostettiin analysoimalla yrityksen teknologiastrategiaan perustuvia uuden tiedon tuonnin ja olemassa olevan tiedon hyväksikäytön oppimistavoitteita. Motivaatio T&K- yhteistyölle syntyy mahdollisuudesta T&K- projektien riskien jakamiseen. T&K- yhteistyön motiiveja analysoitiin transaktio- ja byrokratiahyötyjen, jotka pohjautuvat mittakaava- ja synergiaeduille, lähteitä arvioiden. Hypoteeseja testattiin 276 suomalaisen teollisuusyrityksen otoksella. Otoksen yrityksillä oliollut T&K- toimintaa. Otos perustuu kyselyyn, joka toteutettiin Lappeenrannan teknillisen yliopiston kauppatieteiden osastolla vuonna 2004. Hypoteeseja testattiin tilastollisilla menetelmillä; lineaarisella regressioanalyysillä, parillisten ja riippumattomien otosten t-testeillä. Validiteetti- ja multikollineaarisuusongelman todennäköisyydet on huomioitu. Hypoteesit vahvistuivat osittain. Teknologisella epävarmuudella ja monimutkaisuudella ei ole suoraa vaikutusta T&K- yhteistyön intensiivisyyteen. Teknologisella epävarmuudella on osittainen vaikutus teknologiastrategian valintaan. Yrityksen transaktio- ja byrokratiahyödyt riippuvat teknologisista kyvykkyyksistä. Vain korkean teknologian alan yritykset saavuttavat hyötyjä myös intensiivisesti T&K- yhteistyösuhteita koordinoimalla. Teknologiaintensiivisyyteen perustuvien erot perustuvat teknologisen tiedon luonteeseen toimialalla. Transaktiokustannusteorian mukainenkustannusten minimointi ja kompetenssiperusteisten teorioiden mukainen strategisointi selittävät komplementaarisesti T&K-yhteistyösuhteiden muodostumista ja yrityksen rajojen määräytymistä.

La producció de l'espai en la Modernitat Líquida

The article aims to show how the theoretical framework of liquid modernity, explained by Zygmunt Bauman, can offer new fields for exploration and new perspectives on the study of geographical phenomena. The article is based on the division of space conceived by French sociologist Henri Lefebvre in spatial practice, representation of space and representational spaces. An example in each dimension is analysed using liquid modernity as an analytical framework; there are, successively, local development policies, geoweb and no-places as new symbolic spaces. At the end, the article acknowledges the value of contributions from liquid modernity to analyse each example, and also some possible contributions that liquid modernity could offer for a geographical analysis

An 8-Item Short Form of the Inventory of Dimensions of Emerging Adulthood (IDEA) Among Young Swiss Men.

Emerging adulthood is a period of life transition, in which youths are no longer adolescents but have not yet reached full adulthood. Measuring emerging adulthood is crucial because of its association with psychopathology and risky behaviors such as substance use. Unfortunately, the only validated scale for such measurement has a long format (Inventory of Dimensions of Emerging Adulthood [IDEA]-31 items). This study aimed to test whether a shorter form yields satisfactory results without substantial loss of information among a sample of young Swiss men. Data from the longitudinal Cohort Study on Substance Use Risk Factors were used (N = 5,049). IDEA, adulthood markers (e.g., parenthood or financial independence), and risk factors (i.e., substance use and mental health issues) were assessed. The results showed that an 8-item, short-form scale (IDEA-8) with four factors (experimentation, negativity, identity exploration, and feeling in between) returned satisfactory results, including good psychometric properties, high convergence with the initial scale, and strong empirical validity. This study was a step toward downsizing a measure of emerging adulthood. Indeed, this 8-item short form is a good alternative to the 31-item long form and could be more convenient for surveys with constraints on questionnaire length. Moreover, it should help health care practitioners in identifying at-risk populations to prevent and treat risky behaviors.