Contour-based next-best view planning from point cloud segmentation of unknown objects

A novel strategy is presented to determine the next-best view for a robot arm, equipped with a depth camera in eye-in-hand configuration, which is oriented to autonomous exploration of unknown objects. Instead of maximizing the total size of the expected unknown volume that becomes visible, the next-best view is chosen to observe the border of incomplete objects. Salient regions of space that belong to the objects are detected, without any prior knowledge, by applying a point cloud segmentation algorithm. The system uses a Kinect V2 sensor, which has not been considered in previous works on next-best view planning, and it exploits KinectFusion to maintain a volumetric representation of the environment. A low-level procedure to reduce Kinect V2 invalid points is also presented. The viability of the approach has been demonstrated in a real setup where the robot is fully autonomous. Experiments indicate that the proposed method enables the robot to actively explore the objects faster than a standard next-best view algorithm.     

Ab initio correlation effects on the electronic and transport properties of metal(II)-phthalocyanine-based devices

Using first-principles calculations in the framework of density functional theory, we investigated the electronic and transport properties of metal(II)-phthalocyanine (M(II)Pc) systems, both in a single-molecule configuration and in a model device geometry. In particular, using copper(II)-Pc and manganese(II)-Pc as prototypical examples, we studied how electronic correlations on the central metal ion influence the analysis of the electronic structure of the system and we demonstrated that the choice of the exchange-correlation functional, also beyond the standard local or gradient corrected level, is of crucial importance for a correct interpretation of the data. Finally, our electronic transport simulations have shown that M(II)Pc-based devices can act selectively as molecular conductors, as in the case of copper, or as spin valves, as in the case of manganese, demonstrating once more the great potential of these systems for molecular nanoelectronics applications.     

Recent progress in GeSi electro-absorption modulators

Electro-absorption from GeSi heterostructures is receiving growing attention as a high performance optical modulator for short distance optical interconnects. Ge incorporation with Si allows strong modulation mechanism using the Franz–Keldysh effect and the quantum-confined Stark effect from bulk and quantum well structures at telecommunication wavelengths. In this review, we discuss the current state of knowledge and the on-going challenges concerning the development of high performance GeSi electro-absorption modulators. We also provide feasible future prospects concerning this research topic.     

Removing static aberrations from the active optics system of a wide-field telescope

The wavefront sensor in active and adaptive telescopes is usually not in the optical path toward the scientific detector. It may generate additional wavefront aberrations, which have to be separated from the errors due to the telescope optics. The aberrations that are not rotationally symmetric can be disentangled from the telescope aberrations by a series of measurements taken in the center of the field, with the wavefront sensor at different orientation angles with respect to the focal plane. This method has been applied at the VLT Survey Telescope on the ESO Paranal observatory.     

Layer-oriented simulation tool

The Layer-Oriented Simulation Tool (LOST) is a numerical simulation code developed for analysis of the performance of multiconjugate adaptive optics modules following a layer-oriented approach. The LOST code computes the atmospheric layers in terms of phase screens and then propagates the phase delays introduced in the natural guide stars' wave fronts by using geometrical optics approximations. These wave fronts are combined in an optical or numerical way, including the effects of wave-front sensors on measurements in terms of phase noise. The LOST code is described, and two applications to layer-oriented modules are briefly presented. We have focus on the Multiconjugate adaptive optics demonstrator to be mounted upon the Very Large Telescope and on the Near-IR-Visible Adaptive Interferometer for Astronomy (NIRVANA) interferometric system to be installed on the combined focus of the Large Binocular Telescope.     

High Temperature Oxidation and Microstructural Evolution of Modified MCrAlY Coatings

Thermal sprayed MCrAlY coatings are widely used as a bond coat in thermal barrier systems to protect the substrate from corrosion and high temperature oxidation and to improve the compatibility between the ceramic top coat and metallic substrate. In this paper, the high temperature oxidation resistance of MCrAlY coatings with modified compositions was evaluated; in particular, the effect of the addition of reactive and refractory elements (Ta, Re, Si, and Hf) was investigated. MCrAlY coatings were obtained by high velocity oxygen fuel spray and vacuum plasma spray techniques; samples were exposed to air at 1423 K (1150 °C) and the oxidation kinetics were evaluated by measuring the thickness of the thermally grown oxide (TGO) scale at several exposure times. Experimental data confirmed that the oxidation resistance of MCrAlY coatings is strictly related to the amount of the reactive and refractory elements in the starting powders and that a thorough understanding of the microstructural modifications taking place during oxidation is essential for controlling TGO growth and thermal barriers’ durability.     

Combining AVHRR and ATSR satellite sensor data for operational boreal forest fire detection

The potential to combine data from two different satellite systems was studied to increase fire detection sensitivity and image acquisition frequency in real-time fire detection and fire control. A fully automatic fire detection algorithm was applied to all scenes that were acquired using both satellite systems. Local fire authorities were notified about each detected fire in their territory using real-time fire reports that were sent by telefax. The average time from the start of National Oceanic and Atmospheric Administration (NOAA), Advanced Very High Resolution Radiometer (AVHRR) image acquisition until the sending of a telefax fire report was 25 min. During the straw-burning season in April 2000, the Along Track Scanning Radiometer (ATSR) instrument detected twice as many fires as the AVHRR per unit image area. The main reason for this may be the average resolution cell of the ATSR, which is half the size of that of the AVHRR in terms of area. The response from fire authorities was used to estimate the number of correct alerts and false alarms. A false alarm rate of 12% and 7% was obtained in the fire seasons of 1999 and 2000, respectively.     

The Helicobacter pylori CagY Protein Drives Gastric Th1 and Th17 Inflammation and B Cell Proliferation in Gastric MALT Lymphoma

Background: the neoplastic B cells of the Helicobacter pylori-related low-grade gastric mucosa-associated lymphoid tissue (MALT) lymphoma proliferate in response to H. pylori, however, the nature of the H. pylori antigen responsible for proliferation is still unknown. The purpose of the study was to dissect whether CagY might be the H. pylori antigen able to drive B cell proliferation. Methods: the B cells and the clonal progeny of T cells from the gastric mucosa of five patients with MALT lymphoma were compared with those of T cell clones obtained from five H. pylori–infected patients with chronic gastritis. The T cell clones were assessed for their specificity to H. pylori CagY, cytokine profile and helper function for B cell proliferation. Results: 22 of 158 CD4⁺ (13.9%) gastric clones from MALT lymphoma and three of 179 CD4⁺ (1.7%) clones from chronic gastritis recognized CagY. CagY predominantly drives Interferon-gamma (IFN-γ) and Interleukin-17 (IL-17) secretion by gastric CD4⁺ T cells from H. pylori-infected patients with low-grade gastric MALT lymphoma. All MALT lymphoma-derived clones dose dependently increased their B cell help, whereas clones from chronic gastritis lost helper activity at T-to-B-cell ratios greater than 1. Conclusion: the results obtained indicate that CagY drives both B cell proliferation and T cell activation in gastric MALT lymphomas.     

Kynurenine/Tryptophan Ratio as a Potential Blood-Based Biomarker in Non-Small Cell Lung Cancer

The enzyme indoleamine 2,3-dioxygenase 1 (IDO1) degrade tryptophan (Trp) into kynurenine (Kyn) at the initial step of an enzymatic pathway affecting T cell proliferation. IDO1 is highly expressed in various cancer types and associated with poor prognosis. Nevertheless, the serum Kyn/Trp concentration ratio has been suggested as a marker of cancer-associated immune suppression. We measured Kyn and Trp in blood samples of a wide cohort of non-small-cell lung cancer (NSCLC) patients, before they underwent surgery, and analyzed possible correlations of the Kyn/Trp ratio with either IDO1 expression or clinical–pathological parameters. Low Kyn/Trp significantly correlated with low IDO1 expression and never-smoker patients; while high Kyn/Trp was significantly associated with older (≥68 years) patients, advanced tumor stage, and squamous cell carcinoma (Sqcc), rather than the adenocarcinoma (Adc) histotype. Moreover, high Kyn/Trp was associated, among the Adc group, with higher tumor stages (II and III), and, among the Sqcc group, with a high density of tumor-infiltrating lymphocytes. A trend correlating the high Kyn/Trp ratio with the probability of recurrences from NSCLC was also found. In conclusion, high serum Kyn/Trp ratio, associated with clinical and histopathological parameters, may serve as a serum biomarker to optimize risk stratification and therapy of NSCLC patients.