Generic fitted shapes (GFS): Volumetric object segmentation in service robotics

In this paper, a simultaneous 3D volumetric segmentation and reconstruction method, based on the so-called Generic Fitted Shapes (GFS) is proposed. The aim of this work is to cope with the lack of volumetric information encountered in visually controlled mobile manipulation systems equipped with stereo or RGB-D cameras. Instead of using primitive volumes, such as cuboids or cylinders, for approximating objects in point clouds, their volumetric structure has been estimated based on fitted generic shapes. The proposed GFSs can capture the shapes of a broad range of object classes without the need of large a-priori shape databases. The fitting algorithm, which aims at determining the particular geometry of each object of interest, is based on a modified version of the active contours approach extended to the 3D Cartesian space. The proposed volumetric segmentation system produces comprehensive closed object surfaces which can be further used in mobile manipulation scenarios. Within the experimental setup, the proposed technique has been evaluated against two state-of-the-art methods, namely superquadrics and 3D Object Retrieval (3DOR) engines.     

Routes of immunization and antigen delivery systems for optimal mucosal immune responses in humans

Numerous experiments performed in humans and animals have revealed that stimulation of mucosal lymphoid inductive sites such as intestinal Peyer's patches results in parallel immune responses manifested by the appearance of S-IgA antibodies in the external secretions of remote glands. However, recent experiments suggest that inductive sites associated with the upper respiratory tract, rectum, and perhaps genital tract may also function as sources of lymphoid cells that populate, with some selectivity, certain remote mucosal effector sites. Furthermore, antigen-specific IgA antibodies can be induced in certain secretions (e.g., female genital tract) not only by immunization in the vicinity of corresponding mucosal tissues (e.g., vagina and rectum) but also by oral and especially intranasal immunization. The ineffectiveness of simple delivery of soluble antigens to mucosal membranes for immunization has stimulated extensive studies of strategies for effective delivery systems that would (a) increase the antigen absorption, (b) prevent its degradation, and (c) skew the outcome of immunization to a desired goal (protective response to infectious diseases vs. tolerance; B vs. T cell responses; mucosal vs. systemic). The induction of immune responses at a desired mucosal site can be accentuated with the use of a suitable antigen-delivery system including relevant bacterial or viral vectors, edible transgenic plants expressing microbial antigens, incorporation of antigens in biodegradable microspheres or liposomes, and linkage or coadministration of antigens with cholera toxin B subunit. However, only a few antigen-delivery systems extensively used in animal experimentation have been evaluated for their efficacy in humans. The combination of various immunization routes and the use of suitable antigen-delivery systems may accomplish an important task-the induction of mucosal immune responses at a location relevant to the site of entry of a given pathogen.     

Human immune responses to influenza virus vaccines administered by systemic or mucosal routes

Healthy adult volunteers were immunized by parenteral or oral routes with trivalent inactivated influenza vaccine (A/Chile/1/83 (H1N1), A/Mississippi/1/85 (H3N2), and B/Ann Arbor/1/86), or intranasally with live attenuated, cold-adapted influenza type A/Texas/1/85 (H1N1) reassortant virus. In all volunteers, cells spontaneously secreting IgA, IgG or IgM antibodies specific to influenza virus were detected in peripheral blood on days 6-13 after immunization, and specific IgA, IgG and IgM antibodies to influenza vaccine were measured in sera and external secretions (saliva and nasal lavage). Following systemic immunization, a raise in specific antibodies of all isotypes was observed in sera beginning on day 13. Although small variations in IgA and IgM antibodies in saliva and nasal lavages were detected, antigen-specific IgG significantly increased between days 13 and 27. Intranasal administration of attenuated virus induced IgA and IgG antibodies in serum as well as in secretions. Serum antibodies were not substantially influenced by oral immunization, only a small increase in all isotypes was observed in volunteers' sera 21 days after ingestion of vaccine. However, in secretions, antigen-specific IgA and IgG responses were detected one week after immunization and reached a peak response on day 20. These studies show that different routes of immunization can be effective for the induction of specific antibodies, and support the concept of the common mucosal immune system in humans by demonstrating that the oral or intranasal administration of antigen-induced specific antibodies of IgA isotype in external secretions, preceded by the transient appearance in peripheral blood of specific antibody-producing cells.     

Differences in immune responses induced by oral and rectal immunizations with Salmonella typhi Ty21a: evidence for compartmentalization within the common mucosal immune system in humans

Based on the concept of the common mucosal immune system, immunization at various inductive sites can induce an immune response at other, remote mucosal surfaces. The immune responses elicited through rectal and oral routes of antigen delivery were compared with respect to (i) measurement of antibody responses in serum and various external secretions of the vaccinees and (ii) characterization of the nature and homing potentials of circulating antibody-secreting cells (ASC). Specific ASC appeared in the circulation in 4 of 5 volunteers after oral and 9 of 11 volunteers after rectal immunization with Salmonella typhi Ty21a. The kinetics, magnitude, and immunoglobulin isotype distribution of the ASC responses were similar in the two groups. In both groups, almost all ASC (99 or 95% after oral or rectal immunization, respectively) expressed alpha4 beta7, the gut homing receptor (HR), whereas L-selectin, the peripheral lymph node HR, was expressed only on 22 or 38% of ASC, respectively. Oral immunization elicited a more pronounced immune response in saliva and vaginal secretion, while rectal immunization was more potent in inducing a response in nasal secretion, rectum, and tears. No major differences were found in the abilities of the two immunization routes to induce a response in serum or intestinal secretion. Thus, the rectal antigen delivery should be considered as an alternative to the oral immunization route. The different immune response profiles found in various secretions after oral versus rectal antigen administration provide evidence for a compartmentalization within the common mucosal immune system in humans.     

陆上地震技术新进展

先进的地震采集和处理技术已经应用于陆上。一种高保真度、高分辨率集成式单传感器系统目前已在陆上使用。该技术的出现标志着在勘探、开发和生产应用方面取得了重大进展。     

A Time-Delay Control Approach for a Stereo Vision Based Human-Machine Interaction System

In this paper, an approach to control a 6-DoF stereo camera for the purpose of actively tracking the face of a human observer in the context of Human-Robot Interaction (HRI) is proposed. The main objective in the presented work is to cope with the critical time-delay introduced by the computer vision algorithms used to acquire the feedback variable within the control system. In the studied HRI architecture, the feedback variable is represented by the 3D position of a human subject. We proposed a predictive control method which is able to handle the high time-delay inserted by the vision elements into the control system of the stereo camera. Also, along with the predictive control approach, a novel 3D nose detection algorithm is suggested for the computation of the feedback variable. The performance of the implemented platform is given through experimental results.     

Producing high-grade nickel sulfate with solvent displacement crystallization

Solvent displacement crystallization entails the addition of water-miscible organic solvents to aqueous metalliferous solutions to cause salt crystallization. In this work, isopropanol is used to produce well-grown and relatively pure nickel-sulfate hexahydrate crystals from industrial de-copperized electrolyte. By proper selection of the organic-to-aqueous ratio, the method of solvent addition and seeding/product recycling, nickel-sulfate crystals were produced with at least an order of magnitude higher purity than the ones conventionally produced by evaporative crystallization. The processing and product quality advantages of integrating solvent displacement crystallization with electrolyte purification in a copper refinery context are discussed.     

A new correction to the Born approximation

A correction to the Born approximation for the apparent conductivity (induced voltage) in a layered medium is derived. The correction involves a single constant a and is nonlinear in conductivity. An algorithm for choosing a for induction logging applications is derived. The correction is shown to be significantly more accurate than the uncorrected Born approximation at high conductivity contrasts between adjacent beds. The correction does not significantly increase the computation time or complexity of the Born approximation. Thus, it has application to the related inverse problem where the speed of computation of the forward problem is important. In typical cases studied, the correction is shown to reduce the root mean square (RMS) error of the Born approximation to no more than 5% in regions where the Born approximation without correction has a RMS error of up to 30%     

Time-dependent magnetotransport in semiconductor nanostructures via the generalized master equation

Transport of electrons through two-dimensional semiconductor structures on the nanoscale in the presence of perpendicular magnetic field depends on the interplay of geometry of the system, the leads, and the magnetic length. We use a generalized master equation (GME) formalism to describe the transport through the system without resorting to the Markov approximation. Coupling to the leads results in elastic and inelastic processes in the system that are described to a high order by the integro-differential equation of the GME formalism. Geometrical details of systems and leads leave their fingerprints on the transport of electrons through them. The GME formalism can be used to describe both the initial transient regime immediately after the coupling of the leads to the system and the steady state achieved after a longer time.