Parallel Globally Consistent Normal Orientation of Raw Unorganized Point Clouds

A mandatory component for many point set algorithms is the availability of consistently oriented vertex‐normals (e.g. for surface reconstruction, feature detection, visualization). Previous orientation methods on meshes or raw point clouds do not consider a global context, are often based on unrealistic assumptions, or have extremely long computation times, making them unusable on real‐world data. We present a novel massively parallelized method to compute globally consistent oriented point normals for raw and unsorted point clouds. Built on the idea of graph‐based energy optimization, we create a complete kNN‐graph over the entire point cloud. A new weighted similarity criterion encodes the graph‐energy. To orient normals in a globally consistent way we perform a highly parallel greedy edge collapse, which merges similar parts of the graph and orients them consistently. We compare our method to current state‐of‐the‐art approaches and achieve speedups of up to two orders of magnitude. The achieved quality of normal orientation is on par or better than existing solutions, especially for real‐world noisy 3D scanned data.     

Why are Tailored Messages More Effective? A Multiple Mediation Analysis of a Breast Cancer Screening Intervention

Past research has found that tailoring increases the persuasive effectiveness of a message. However, the observed effect has been small and the explanatory mechanism remains unknown. To address these shortcomings, a tailoring software program was created that personalized breast cancer screening pamphlets according to risk, health belief model constructs, and visual preference. Women aged 40 and older (N = 119) participated in a 2 (Tailored vs. Stock Message) × 2 (Charts/Graphs vs. Illustrated Visuals) × 3 (Nested Replications of the Visuals) experiment. Participants provided with tailored illustrated pamphlets expressed greater breast cancer screening intentions than those provided with other pamphlets. In a test of 10 different mediators, perceived message relevance was found to fully mediate the Tailoring × Visual interaction.     

The ETH‐MAV Team in the MBZ International Robotics Challenge

This study describes the hardware and software systems of the Micro Aerial Vehicle (MAV) platforms used by the ETH Zurich team in the 2017 Mohamed Bin Zayed International Robotics Challenge (MBZIRC). The aim was to develop robust outdoor platforms with the autonomous capabilities required for the competition, by applying and integrating knowledge from various fields, including computer vision, sensor fusion, optimal control, and probabilistic robotics. This paper presents the major components and structures of the system architectures and reports on experimental findings for the MAV‐based challenges in the competition. Main highlights include securing the second place both in the individual search, pick, and place the task of Challenge 3 and the Grand Challenge, with autonomous landing executed in less than 1 min and a visual servoing success rate of over for object pickups.     

Gene Discovery in Gelsemium Highlights Conserved Gene Clusters in Monoterpene Indole Alkaloid Biosynthesis

Genome mining is a routine technique in microbes for discovering biosynthetic pathways. In plants, however, genomic information is not commonly used to identify novel biosynthesis genes. Here, we present the genome of the medicinal plant and oxindole monoterpene indole alkaloid (MIA) producer Gelsemium sempervirens (Gelsemiaceae). A gene cluster from Catharanthus roseus, which is utilized at least six enzymatic steps downstream from the last common intermediate shared between the two plant alkaloid types, is found in G. sempervirens, although the corresponding enzymes act on entirely different substrates. This study provides insights into the common genomic context of MIA pathways and is an important milestone in the further elucidation of the Gelsemium oxindole alkaloid pathway.     

Solubility of Natural Gas in Diesel Fuel

The solubility of commercially available natural gas in commercially available diesel fuel at room temperature and defined pressure is investigated experimentally. The gas phase is considered to be pure methane. The use of Henry's law to model the solubility is discussed. Solubility is given in terms of the mole fraction and the volumetric mass concentration of dissolved gas and the corresponding Henry's coefficients. The solubility is compared to that of pure methane in pure hexadecane, which is similar to diesel fuel with respect to the mean carbon number.     

Compatibility of the Support System Consisting of Yielding Elements and Shotcrete Lining in Highly Faulted Grounds

The design procedure is made for a mine shaft where permanent underground facilities are interconnected. The highly faulted grounds were identified using empirical and semi-empirical theories. Furthermore, the behavior types are presented. This paper presents excavation and support methods in such ground conditions and the calculations results show that the installation of the yielding elements have an effect on support elements and prevent shotcrete damage during the curing stage. Different numerical analyses carried out showed that, with the yielding elements installed, the total displacements increase but the final axial force reduces, and therefore, the characteristic compressive strength of shotcrete is not exceeded. The calculation results of ground loads and displacements on the designed support system are presented with a 3D numerical geo-mechanical model adopted for highly faulted ground surrounding deeper complex underground structures.     

Mechanische Eigenschaften zyklisch be‐ und entfeuchteter Zeolithgranulate

The production of zeolite granules varies in the amounts of binder content and different drying/activation temperatures. Here, the influence of moisture content and cyclic moisture loading and unloading on the mechanical properties like the strength of three different types of zeolite granules has been studied by uniaxial compression tests. The force‐displacement curves and scanning electron microscopy pictures of the granule and fracture surfaces show that with increasing number of moistening‐drying cycles, a continuous decrease in the strength of granules take place due to non‐regenerative damage of the structure.