Terrain classification and identification of tree stems using ground‐based LiDAR

To operate autonomously in forested terrain, unmanned ground vehicles must be able to identify the load‐bearing surface of the terrain (i.e., the ground) and obstacles in the environment. To travel long distances, they must be able to track their position even when the forest canopy obstructs GPS signals, e.g., by tracking progress relative to tree stems. This paper presents a novel, robust approach for modeling the ground plane and tree stems in forests from a single viewpoint using a lightweight LiDAR scanner. Ground plane identification is implemented using a two‐stage approach. The first stage, a local height‐based filter, discards most nonground points. The second stage, based on a support vector machine classifier, identifies which of the remaining points belong to the ground. Main tree stems are modeled as cylinders or cones to estimate the diameter 130 cm above the ground plane. To fit these models, candidate main stem data are selected by finding points approximately 130 cm above the ground. These points are clustered into separate point clouds for each stem. Cylinders and cones are fit to each point cloud, and heuristic filters identify which fits correspond to tree stems. Experimental results from five forested environments demonstrate the effectiveness of this approach. For ground plane estimation, the overall classification accuracy was 86.28% with a mean error for the ground height of approximately 4.7 cm. For stem estimation, up to 50% of the main stems were accurately modeled using cones, with a root mean square diameter error of 13.2 cm.© 2012 Wiley Periodicals, Inc.     

Dynamic Assessment of Functional Lipidomic Analysis in Human Urine

The development of enabling mass spectrometry platforms for the quantification of diverse lipid species in human urine is of paramount importance for understanding metabolic homeostasis in normal and pathophysiological conditions. Urine represents a non‐invasive biofluid that can capture distinct differences in an individual's physiological status. However, currently there is a lack of quantitative workflows to engage in high throughput lipidomic analysis. This study describes the development of a MS/MS^ALL shotgun lipidomic workflow and a micro liquid chromatography–high resolution tandem mass spectrometry (LC–MS/MS) workflow for urine structural and mediator lipid analysis, respectively. This workflow was deployed to understand biofluid sample handling and collection, extraction efficiency, and natural human variation over time. Utilization of 0.5 mL of urine for structural lipidomic analysis resulted in reproducible quantification of more than 600 lipid molecular species from over 20 lipid classes. Analysis of 1 mL of urine routinely quantified in excess of 55 mediator lipid metabolites comprised of octadecanoids, eicosanoids, and docosanoids generated by lipoxygenase, cyclooxygenase, and cytochrome P450 activities. In summary, the high‐throughput functional lipidomics workflow described in this study demonstrates an impressive robustness and reproducibility that can be utilized for population health and precision medicine applications.     

Relative abundance,age structure,and body size in mudpuppy populations in southwestern Ontario

Little is known of mudpuppy (Necturus maculosus) population structure and ecology; some populations in the Great Lakes are thought to be in decline. Mudpuppies are the obligate hosts for the mudpuppy mussel (Simpsonaias ambigua), a species that is endangered in Canada and in many Great Lakes states. We surveyed mudpuppies from the Sydenham River, the only known Canadian locality of the mudpuppy mussel, in order to generate information on relative density, deformity rates and population age/size structure and used this information to compare them to known mudpuppy populations from Great Lakes sites in the Detroit River, Lake St. Clair and Long Point in Lake Erie. Deformity rates were elevated at some sites in the Sydenham River. The relative density of mudpuppies in the Sydenham River was lower than that of other Great Lakes sites and their age was skewed towards younger individuals. Although at lower densities than at other Great Lakes sites, the mudpuppy population in the Sydenham River appears stable and is showing signs of recruitment which bodes well for the future of the mudpuppy mussel population of the river.     

Heritability of changes in genetic evaluations of dairy bulls from first to later records of daughters

Objectives of this study were to investigate changes in predicted transmitting abilities (PTA) of yields from evaluations based on first records to evaluations based on first and later records of daughters and determine whether these changes are heritable. Data were USDA sire evaluations of July 1989 through May 2000 on Holstein bulls in standard progeny testing programs. Changes in PTA for milk, fat, and protein from evaluations based on first records of daughters to evaluations on first and second were obtained on 2001 bulls. These were divided into two sets: subset 1 (n = 889) included bulls first evaluated before 1995 and subset 2 (n = 1112) included bulls first evaluated in 1995 and later. Changes in PTA from first-record evaluation to most recent evaluation (May 2000) were obtained on 2524 bulls first evaluated in 1995 or later. Mean changes in PTA for bulls first evaluated in 1995 and later were smaller than mean changes for bulls evaluated earlier but standard deviations were similar. Regressions of changes in PTA on changes in parent average showed that a change of 1.0 kg in parent average resulted in 1.1 to 1.2 kg change in PTA. Heritabilities estimated with animal model ranged from 0.14 to 0.23 for changes from first-record evaluation to evaluation on first and second, and 0.27 to 0.35 for changes from first-record evaluation to most recent evaluation. Heritabilities of this magnitude allow for identifying bulls that decrease in PTA.     

Lessons learned from programmers' experiences with one‐way constraints

One‐way constraints have been incorporated in many graphical user interface toolkits because they are simple to learn, easy to write, and can express many types of useful graphical relationships. This paper is an evaluative paper that examines users' experience with one‐way constraints in two user interface development toolkits, Garnet and Amulet, over a 15‐year time span. The lessons gained from this examination can help guide the design of future constraint systems. The most important lessons are that (1) constraints should be allowed to contain arbitrary code that is written in the underlying toolkit language and does not require any annotations, such as parameter declarations, (2) constraints are difficult to debug and better debugging tools are needed, and (3) programmers will readily use one‐way constraints to specify the graphical layout of an application, but must be carefully and time‐consumingly trained to use them for other purposes. Copyright © 2005 John Wiley & Sons, Ltd.     

Variances of and correlations among progeny tests for reproductive traits of cows sired by AI bulls

Estimates of daughter fertility were computed using first artificial insemination (AI) breedings reported to the US Dairy Herd Improvement Association (DHIA) from 1995 through 1997. An animal model was used to compute estimated breeding values (EBV) of daughter groups with fixed effects of herd-year-month bred and classes of early lactation energy-corrected milk, days in milk (DIM) when bred, and parity. Standard deviations and ranges of bull EBV for daughter fertility for DIM were 9.1 and -31 to 18; standard deviations and ranges of bull EBV for daughter fertility for nonreturn were 3.8 and -11 to 10. Correlations were computed for EBV for daughter fertility with EBV for mating bull fertility and with predicted transmitting abilities (PTA) for milk, somatic cell score (SCS), and productive life for bulls (213) with minimums of 200 matings and 100 progeny with reproductive traits. None of the correlations among EBV for reproductive traits differed from 0.0. Correlations of EBV for daughter fertility with PTA for productive life were significantly positive. PTA for yield traits were not correlated with EBV for daughter differences in nonreturn or DIM. Very low correlations of EBV for daughter reproductive traits with PTA for yield indicate that, in order to improve daughter fertility, fertility must be incorporated in sire selection decisions.