TS-LCD: Two-Stage Loop-Closure Detection Based on Heterogeneous Data Fusion.

Loop-closure detection plays a pivotal role in simultaneous localization and mapping (SLAM). It serves to minimize cumulative errors and ensure the overall consistency of the generated map. This paper introduces a multi-sensor fusion-based loop-closure detection scheme (TS-LCD) to address the challenges of low robustness and inaccurate loop-closure detection encountered in single-sensor systems under varying lighting conditions and structurally similar environments.

EFNet: enhancing feature information for 3D object detection in LiDAR point clouds.

With the development of autonomous driving, there has been considerable attention on 3D object detection using LiDAR. Pillar-based LiDAR point cloud detection algorithms are extensively employed in the industry due to their simple structure and high real-time performance. Nevertheless, the pillar-based detection network suffers from significant loss of 3D coordinate information during the feature degradation and extraction process.

Compressed Gaussian Estimation under Low Precision Numerical Representation.

This paper introduces a novel method for computationally efficient Gaussian estimation of high-dimensional problems such as Simultaneous Localization and Mapping (SLAM) processes and for treating certain Stochastic Partial Differential Equations (SPDEs). The authors have presented the Generalized Compressed Kalman Filter (GCKF) framework to reduce the computational complexity of the filters by partitioning the state vector into local and global and compressing the global state updates. The compressed state update, however, still suffers from high computational costs, making it challenging to implement on embedded processors.

Efficient Clustering for Continuous Occupancy Mapping Using a Mixture of Gaussian Processes.

This paper proposes a novel method for occupancy map building using a mixture of Gaussian processes. Gaussian processes have proven to be highly flexible and accurate for a robotic occupancy mapping problem, yet the high computational complexity has been a critical barrier for large-scale applications. We consider clustering the data into small, manageable subsets and applying a mixture of Gaussian processes.

Prediction of conversion to dementia using interpretable machine learning in patients with amnestic mild cognitive impairment.

Purpose: Amnestic mild cognitive impairment (aMCI) is a transitional state between normal aging and Alzheimer's disease (AD). However, not all aMCI patients are observed to convert to AD dementia. Therefore, developing a predictive algorithm for the conversion of aMCI to AD dementia is important.

Uncertainty Estimation of Dense Optical Flow for Robust Visual Navigation.

This paper presents a novel dense optical-flow algorithm to solve the monocular simultaneous localisation and mapping (SLAM) problem for ground or aerial robots. Dense optical flow can effectively provide the ego-motion of the vehicle while enabling collision avoidance with the potential obstacles. Existing research has not fully utilised the uncertainty of the optical flow-at most, an isotropic Gaussian density model has been used.

Depth-Camera-Aided Inertial Navigation Utilizing Directional Constraints.

This paper presents a practical yet effective solution for integrating an RGB-D camera and an inertial sensor to handle the depth dropouts that frequently happen in outdoor environments, due to the short detection range and sunlight interference. In depth drop conditions, only the partial 5-degrees-of-freedom pose information (attitude and position with an unknown scale) is available from the RGB-D sensor. To enable continuous fusion with the inertial solutions, the scale ambiguous position is cast into a of the vehicle motion, which is, in essence, an epipolar constraint in multi-view geometry.

Interleukin-8 in the Tumor Immune Niche: Lessons from Comparative Oncology.

Interleukin (IL)-8 is a chemokine that is essential for inflammation and angiogenesis. IL-8 expression is elevated in tumor cell lines and tissues, as well as in peripheral blood obtained from cancer patients. Primary works have attempted to determine the biological effect of IL-8 on tumor cells, including cell proliferation, survival, and migration.

Comparative Genomics Reveals Shared Mutational Landscape in Canine Hemangiosarcoma and Human Angiosarcoma.

Angiosarcoma is a highly aggressive cancer of blood vessel-forming cells with few effective treatment options and high patient mortality. It is both rare and heterogenous, making large, well-powered genomic studies nearly impossible. Dogs commonly suffer from a similar cancer, called hemangiosarcoma, with breeds like the golden retriever carrying heritable genetic factors that put them at high risk.

Somatic mutational profiles of stage II and III gastric cancer according to tumor microenvironment immune type.

We aimed to determine somatic mutational profiles of stage II/III gastric cancers (GCs) according to their tumor microenvironment immune types (TMITs), which classify cancer based on co-assessment of PD-L1 expression and CD8 tumor infiltrating lymphocytes. Eighty patients with stage II/III GC were classified as follows: TMIT I (PD-L1 /CD8 ), TMIT II (PD-L1 /CD8 ), TMIT III (PD-L1 /CD8 ), and TMIT IV (PD-L1 /CD8 ). Deep targeted sequencing using a panel of 170 cancer-related genes was performed on an Illumina HiSeq-2500 system.

Sensor-Based Real-Time Detection in Vulcanization Control Using Machine Learning and Pattern Clustering.

Recent paradigm shifts in manufacturing have resulted from the need for a smart manufacturing environment. In this study, we developed a model to detect anomalous signs in advance and embedded it in an existing programmable logic controller system. For this, we investigated the innovation process for smart manufacturing in the domain of synthetic rubber and its vulcanization process, as well as a real-time sensing technology.

Ingested d-Aspartate Facilitates the Functional Connectivity and Modifies Dendritic Spine Morphology in Rat Hippocampus.

d-Aspartate (d-Asp), the stereoisomer of l-aspartate, has a role in memory function in rodents. However, the mechanism of the effect of d-Asp has not been fully understood. In this study, we hypothesized that ingested d-Asp directly reaches the hippocampal tissues via the blood circulation and modifies the functional connectivity between hippocampus and other regions through spinogenesis in hippocampal CA1 neurons.

Src Kinase Dependent Rapid Non-genomic Modulation of Hippocampal Spinogenesis Induced by Androgen and Estrogen.

Dendritic spine is a small membranous protrusion from a neuron's dendrite that typically receives input from an axon terminal at the synapse. Memories are stored in synapses which consist of spines and presynapses. Rapid modulations of dendritic spines induced by hippocampal sex steroids, including dihydrotestosterone (DHT), testosterone (T), and estradiol (E2), are essential for synaptic plasticity.

Reliability verification of vehicle speed estimate method in forensic videos.

In various types of traffic accidents, including car-to-car crash, vehicle-pedestrian collision, and hit-and-run accident, driver overspeed is one of the critical issues of traffic accident analysis. Hence, analysis of vehicle speed at the moment of accident is necessary. The present article proposes a vehicle speed estimate method (VSEM) applying a virtual plane and a virtual reference line to a forensic video.

Spin-orbit torques associated with ferrimagnetic order in Pt/GdFeCo/MgO layers.

We investigate spin orbit torque (SOT) efficiencies and magnetic properties of Pt/GdFeCo/MgO multilayers by varying the thicknesses of GdFeCo and MgO layers. Our studies indicate that the ferrimagnetism in the GdFeCo alloy is considerably influenced by both thicknesses due to the diffusion of Gd atoms toward the MgO layer. Comparing to conventional Pt/ferromagnet/MgO structures, the Pt/GdFeCo/MgO exhibits a lower efficiency of SOTs associated with ferrimagnetic order and a similar magnitude of magnetic damping.

Sensor-Based Optimization Model for Air Quality Improvement in Home IoT.

We introduce current home Internet of Things (IoT) technology and present research on its various forms and applications in real life. In addition, we describe IoT marketing strategies as well as specific modeling techniques for improving air quality, a key home IoT service. To this end, we summarize the latest research on sensor-based home IoT, studies on indoor air quality, and technical studies on random data generation.

Safe and Effective Sarcoma Therapy through Bispecific Targeting of EGFR and uPAR.

Sarcomas differ from carcinomas in their mesenchymal origin. Therapeutic advancements have come slowly, so alternative drugs and models are urgently needed. These studies report a new drug for sarcomas that simultaneously targets both tumor and tumor neovasculature.

Honokiol suppresses lung tumorigenesis by targeting EGFR and its downstream effectors.

Since epidermal growth factor receptor (EGFR) is commonly deregulated in pre-malignant lung epithelium, targeting EGFR may arrest the development of lung cancer. Here, we showed that honokiol (2.5-7.

Anti-Insulin Immune Responses Are Detectable in Dogs with Spontaneous Diabetes.

Diabetes mellitus occurs spontaneously in dogs. Although canine diabetes shares many features with human type-1 diabetes, there are differences that have cast doubt on the immunologic origin of the canine disease. In this study, we examined whether peripheral immune responses directed against islet antigens were present in dogs with diabetes.

Pathobiology of Hemangiosarcoma in Dogs: Research Advances and Future Perspectives.

Hemangiosarcoma (HSA) is an aggressive and common cancer in dogs. While cutaneous masses are often treatable by tumor excision, visceral tumors are almost always incurable. Treatment advances for this disease have been limited due to a poor understanding of the overall tumor biology.

Genome-wide association study identifies shared risk loci common to two malignancies in golden retrievers.

Dogs, with their breed-determined limited genetic background, are great models of human disease including cancer. Canine B-cell lymphoma and hemangiosarcoma are both malignancies of the hematologic system that are clinically and histologically similar to human B-cell non-Hodgkin lymphoma and angiosarcoma, respectively. Golden retrievers in the US show significantly elevated lifetime risk for both B-cell lymphoma (6%) and hemangiosarcoma (20%).

Rapid increase of spines by dihydrotestosterone and testosterone in hippocampal neurons: Dependence on synaptic androgen receptor and kinase networks.

Rapid modulation of hippocampal synaptic plasticity by locally synthesized androgen is important in addition to circulating androgen. Here, we investigated the rapid changes of dendritic spines in response to the elevation of dihydrotestosterone (DHT) and testosterone (T), by using hippocampal slices from adult male rats, in order to clarify whether these signaling processes include synaptic/extranuclear androgen receptor (AR) and activation of kinases. We found that the application of 10nM DHT and 10nM T increased the total density of spines by approximately 1.

Interleukin-8 promotes canine hemangiosarcoma growth by regulating the tumor microenvironment.

Interleukin-8 (IL-8) gene expression is highly up-regulated in canine hemangiosarcoma (HSA); however, its role in the pathogenesis of this disease is unknown. We investigated the expression of IL-8 in canine HSA tissues and cell lines, as well and the effects of IL-8 on canine HSA in vitro, and in vivo using a mouse xenograft model for the latter. Constitutive expression of IL-8 mRNA, IL-8 protein, and IL-8 receptor were variable among different tumor samples and cell lines, but they showed stable steady states in each cell line.

Identification of three molecular and functional subtypes in canine hemangiosarcoma through gene expression profiling and progenitor cell characterization.

Canine hemangiosarcomas have been ascribed to an endothelial origin based on histologic appearance; however, recent findings suggest that these tumors may arise instead from hematopoietic progenitor cells. To clarify this ontogenetic dilemma, we used genome-wide expression profiling of primary hemangiosarcomas and identified three distinct tumor subtypes associated with angiogenesis (group 1), inflammation (group 2), and adipogenesis (group 3). Based on these findings, we hypothesized that a common progenitor may differentiate into the three tumor subtypes observed in our gene profiling experiment.

Correlation of tumor-infiltrating lymphocytes to histopathological features and molecular phenotypes in canine mammary carcinoma: A morphologic and immunohistochemical morphometric study.

Abundant lymphocyte infiltration is frequently found in canine malignant mammary tumors, but the pathological features and immunophenotypes associated with the infiltration remain to be elucidated. The aim of the present study was to evaluate the relationship between lymphocyte infiltration, histopathological features, and molecular phenotype in canine mammary carcinoma (MC). The study was done with archived formalin-fixed, paraffin-embedded samples (n = 47) by histologic and immunohistochemical methods.