Mobile robot localization using a self-organized visual environment representation

Owing to the upcoming applications in the field of service robotics mobile robots are currently receiving increasing attention in industry and the scientific community. Applications in the area of service robotics demand a high degree of system autonomy, which robots without learning capabilities will not be able to meet. Learning is required in the context of action models and appropriate perception procedures. In both areas flexible adaptivity is difficult to achieve especially when high bandwidth sensors (e.g. video cameras) - which are needed in the envisioned unstructured worlds - are used. This paper proposes a new methodology for image-based navigation using a self-organized visual representation of the environment. Self-organization leads to internal representations, which can be used by the robot, but are not transparent to the user. It is shown how this conceptual gap can be bridged.     

Automatic image annotation using visual content and folksonomies

Automatic image annotation is an important and challenging task, and becomes increasingly necessary when managing large image collections. This paper describes techniques for automatic image annotation that take advantage of collaboratively annotated image databases, so called visual folksonomies. Our approach applies two techniques based on image analysis: First, classification annotates images with a controlled vocabulary and second tag propagation along visually similar images. The latter propagates user generated, folksonomic annotations and is therefore capable of dealing with an unlimited vocabulary. Experiments with a pool of Flickr images demonstrate the high accuracy and efficiency of the proposed methods in the task of automatic image annotation. Both techniques were applied in the prototypical tag recommender “tagr”.     

On error-correcting fingerprinting codes for use with watermarking

Digital fingerprinting has been suggested for copyright protection. Using a watermarking scheme, a fingerprint identifying the buyer is embedded in every copy sold. If an illegal copy appears, it can be traced back to the guilty user. By using collusion-secure codes, the fingerprinting system is made secure against cut-and-paste attacks. In this paper we study the interface between the collusion-secure fingerprinting codes and the underlying watermarking scheme, and we construct several codes which are both error-correcting and collusion-secure. Error-correction makes the system robust against successful attacks on the watermarking layer.     

Structural Analysis of Mitochondrial Dynamics—From Cardiomyocytes to Osteoblasts: A Critical Review

Mitochondria play a crucial role in cell physiology and pathophysiology. In this context, mitochondrial dynamics and, subsequently, mitochondrial ultrastructure have increasingly become hot topics in modern research, with a focus on mitochondrial fission and fusion. Thus, the dynamics of mitochondria in several diseases have been intensively investigated, especially with a view to developing new promising treatment options. However, the majority of recent studies are performed in highly energy-dependent tissues, such as cardiac, hepatic, and neuronal tissues. In contrast, publications on mitochondrial dynamics from the orthopedic or trauma fields are quite rare, even if there are common cellular mechanisms in cardiovascular and bone tissue, especially regarding bone infection. The present report summarizes the spectrum of mitochondrial alterations in the cardiovascular system and compares it to the state of knowledge in the musculoskeletal system. The present paper summarizes recent knowledge regarding mitochondrial dynamics and gives a short, but not exhaustive, overview of its regulation via fission and fusion. Furthermore, the article highlights hypoxia and its accompanying increased mitochondrial fission as a possible link between cardiac ischemia and inflammatory diseases of the bone, such as osteomyelitis. This opens new innovative perspectives not only for the understanding of cellular pathomechanisms in osteomyelitis but also for potential new treatment options.     

Tumor Infiltration with CD20+CD73+ B Cells Correlates with Better Outcome in Colorectal Cancer

Immunotherapy has become increasingly important in the treatment of colorectal cancer (CRC). Currently, CD73, also known as ecto-5′-nucleotidase (NT5E), has gained considerable interest as a potential therapeutic target. CD73 is one of the key enzymes catalyzing the conversion of extracellular ATP into adenosine, which in turn exerts potent immune suppressive effects. However, the role of CD73 expression on various cell types within the CRC tumor microenvironment remains unresolved. The expression of CD73 on various cell types has been described recently, but the role of CD73 on B-cells in CRC remains unclear. Therefore, we analyzed CD73 on B-cells, especially on tumor-infiltrating B-cells, in paired tumor and adjacent normal tissue samples from 62 eligible CRC patients. The highest expression of CD73 on tumor-infiltrating B-cells was identified on class-switched memory B-cells, followed by naive B-cells, whereas no CD73 expression was observed on plasmablasts. Clinicopathological correlation analysis revealed that higher CD73⁺ B-cells infiltration in the CRC tumors was associated with better overall survival. Moreover, metastasized patients showed a significantly decreased number of tumor-infiltrating CD73⁺ B-cells. Finally, neoadjuvant therapy correlated with reduced CD73⁺ B-cell numbers and CD73 expression on B-cells in the CRC tumors. As promising new immune therapies are being developed, the role of CD73⁺ B-cells and their subsets in the development of colorectal cancer should be further explored to find new therapeutic options.     

SARS-CoV-2 Infection Dysregulates Cilia and Basal Cell Homeostasis in the Respiratory Epithelium of Hamsters

Similar to many other respiratory viruses, SARS-CoV-2 targets the ciliated cells of the respiratory epithelium and compromises mucociliary clearance, thereby facilitating spread to the lungs and paving the way for secondary infections. A detailed understanding of mechanism involved in ciliary loss and subsequent regeneration is crucial to assess the possible long-term consequences of COVID-19. The aim of this study was to characterize the sequence of histological and ultrastructural changes observed in the ciliated epithelium during and after SARS-CoV-2 infection in the golden Syrian hamster model. We show that acute infection induces a severe, transient loss of cilia, which is, at least in part, caused by cilia internalization. Internalized cilia colocalize with membrane invaginations, facilitating virus entry into the cell. Infection also results in a progressive decline in cells expressing the regulator of ciliogenesis FOXJ1, which persists beyond virus clearance and the termination of inflammatory changes. Ciliary loss triggers the mobilization of p73⁺ and CK14⁺ basal cells, which ceases after regeneration of the cilia. Although ciliation is restored after two weeks despite the lack of FOXJ1, an increased frequency of cilia with ultrastructural alterations indicative of secondary ciliary dyskinesia is observed. In summary, the work provides new insights into SARS-CoV-2 pathogenesis and expands our understanding of virally induced damage to defense mechanisms in the conducting airways.     

Aluminiumalkyle mit Heteroatomen. II [1]. Darstellung von Tris(3-trimethylsilyl-propyl)aluminium

Aluminium Alkyls with Heteroatoms. II. Preparation of Tris[(3-trimethylsilyl)-propyl]aluminium Tris[(3-trimethylsilyl)-propyl]aluminium is prepared by disproportionation and by an olefine displacement reaction in a circulation process. The reaction way is investigated with the aid of ¹H-n.m.r.- and i.r.-spectroscopy.     

RTS-MAC: A Relative Time Synchronization MAC Protocol for Low Duty Cycle Body Sensor Networks

Emerging applications in the medical field require body sensor networks to communicate in real-time in a very energy-efficient way. An example is the Artificial Accommodation System??a set of two small active medical implants aiming at restoring accommodation of the human eye??in which sensor data have to be exchanged continuously between both eyes. To achieve energy efficiency, it is essential to operate the radios with a very low duty cycle. Therefore, idle listening and general protocol overhead must be reduced as much as possible. In this paper, we present a relative time synchronization medium access control protocol (RTS-MAC), which keeps relative time synchronization between two or more sensor nodes in a very energy-efficient manner: RTS-MAC makes use of the periodic broadcast of regular data messages and exploits the inter-arrival times to predict future arrivals within tight boundaries. Thereby, no overhead is generated for synchronization purposes, and still, idle listening is reduced to a minimum, which solely depends on the short-term accuracy of the underlying clock systems. We implemented the proposed protocol using off-the-shelf components and employed the internal low-accuracy oscillators of the microcontrollers as clock sources. Thereby, we achieved very low duty cycles close to an ideal minimum. Further, our results indicate that through omitting external crystals in favor of a minimally larger battery, the battery life of a sensor node can be prolonged.