3DupIC: An Underwater Scan Matching Method for Three-Dimensional Sonar Registration.

This work presents a six degrees of freedom probabilistic scan matching method for registration of 3D underwater sonar scans. Unlike previous works, where local submaps are built to overcome measurement sparsity, our solution develops scan matching directly from the raw sonar data. Our method, based on the probabilistic Iterative Correspondence (pIC), takes measurement uncertainty into consideration while developing the registration procedure.

Facial Nerve Palsy as a Neurological Manifestation of COVID-19.

Facial nerve palsy is the most frequent acute mononeuropathy and it is often of viral etiology, although many other causes have been identified. It has recently been described as a potential manifestation of COVID-19. We report the case of a patient with recent history of diarrhea and malaise that was admitted to the hospital presenting right facial paresis with orbicular muscle involvement.

Underwater Localization System Combining iUSBL with Dynamic SBL in ¡VAMOS! Trials.

Emerging opportunities in the exploration of inland water bodies, such as underwater mining of flooded open pit mines, require accurate real-time positioning of multiple underwater assets. In the mining operation scenarios, operational requirements deny the application of standard acoustic positioning techniques, posing additional challenges to the localization problem. This paper presents a novel underwater localization solution, implemented for the ¡VAMOS! project, based on the combination of raw measurements from a short baseline (SBL) array and an inverted ultrashort baseline (iUSBL).

LiDAR-Based Real-Time Detection and Modeling of Power Lines for Unmanned Aerial Vehicles.

The effective monitoring and maintenance of power lines are becoming increasingly important due to a global growing dependence on electricity. The costs and risks associated with the traditional foot patrol and helicopter-based inspections can be reduced by using UAVs with the appropriate sensors. However, this implies developing algorithms to make the power line inspection process reliable and autonomous.

[Guidelines for the management of pulmonary hypertension patients].

Pulmonary hypertension (PH) was until recently an obscure pathology which frequently went unidentified as it lacked a precise diagnostic strategy. Recent years have seen advances in the knowledge of the pathogenesis and mechanisms of vascular lesion of PH. This has led to the scientific community's growing interest in this area, an interest manifested in appreciable progress in the pathology's clinical characterisation, diagnostic strategies and the development of effective drugs.

[Right heart thrombus in a patient with pulmonary embolism. Clinical report].

Right heart thrombi are an uncommon finding in pulmonary embolism. The authors report a case of pulmonary embolism in an elderly male, describing its atypical presentation as well as the workup and therapy, followed by a brief thematic review.

Non-invasive ventilation in cardiogenic pulmonary edema in the emergency department.

Bilevel positive pressure (BiPAP) non-invasive ventilation (NIV) is frequently used in our emergency department (ED), as an adjuvant in the treatment of acute cardiogenic pulmonary edema (ACPE) to reduce the need for tracheal intubation (TI) in these patients. The purpose of our study was to evaluate the safety of NIV in patients with ACPE in our ED, used by a group of physicians outside the intensive care unit (ICU), by comparing our results with previously published results. We also wanted to identify possible additional advantages of NIV in the treatment of acpe.

Metastatic tumor of squamous cell carcinoma from uterine cervix to heart: ante-mortem diagnosis.

Sixty-three-year-old woman with a past medical history of uterine cancer and complaint of fatigue and dyspnea on mild exertion. Physical examination revealed hypertension and rales at lung bases. A transthoracic echocardiogram showed a mass with reduced mobility in the right ventricle.

Indoor air microbiological evaluation of offices, hospitals, industries, and shopping centers.

In this study it was compared the MAS-100 and the Andersen air samplers' performances and a similar trend in both instruments was observed. It was also evaluated the microbial contamination levels in 3060 samples of offices, hospitals, industries, and shopping centers, in the period of 1998 to 2002, in Rio de Janeiro city. Considering each environment, 94.