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- Mühlfellner, Peter, 1987-, et al.
(författare)
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Summary Maps for Lifelong Visual Localization
- 2016
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Ingår i: Journal of Field Robotics. - Hoboken, NJ : John Wiley & Sons. - 1556-4959 .- 1556-4967. ; 33:5, s. 561-590
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Tidskriftsartikel (refereegranskat)abstract
- Robots that use vision for localization need to handle environments which are subject to seasonal and structural change, and operate under changing lighting and weather conditions. We present a framework for lifelong localization and mapping designed to provide robust and metrically accurate online localization in these kinds of changing environments. Our system iterates between offline map building, map summary, and online localization. The offline mapping fuses data from multiple visually varied datasets, thus dealing with changing environments by incorporating new information. Before passing this data to the online localization system, the map is summarized, selecting only the landmarks that are deemed useful for localization. This Summary Map enables online localization that is accurate and robust to the variation of visual information in natural environments while still being computationally efficient.We present a number of summary policies for selecting useful features for localization from the multi-session map and explore the tradeoff between localization performance and computational complexity. The system is evaluated on 77 recordings, with a total length of 30 kilometers, collected outdoors over sixteen months. These datasets cover all seasons, various times of day, and changing weather such as sunshine, rain, fog, and snow. We show that it is possible to build consistent maps that span data collected over an entire year, and cover day-to-night transitions. Simple statistics computed on landmark observations are enough to produce a Summary Map that enables robust and accurate localization over a wide range of seasonal, lighting, and weather conditions. © 2015 Wiley Periodicals, Inc.
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| 2. |
- Wain, Louise V, et al.
(författare)
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Genome-wide association analyses for lung function and chronic obstructive pulmonary disease identify new loci and potential druggable targets.
- 2017
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Ingår i: Nature Genetics. - : Springer Science and Business Media LLC. - 1061-4036 .- 1546-1718. ; 49:3, s. 416-425
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Tidskriftsartikel (refereegranskat)abstract
- Chronic obstructive pulmonary disease (COPD) is characterized by reduced lung function and is the third leading cause of death globally. Through genome-wide association discovery in 48,943 individuals, selected from extremes of the lung function distribution in UK Biobank, and follow-up in 95,375 individuals, we increased the yield of independent signals for lung function from 54 to 97. A genetic risk score was associated with COPD susceptibility (odds ratio per 1 s.d. of the risk score (∼6 alleles) (95% confidence interval) = 1.24 (1.20-1.27), P = 5.05 × 10(-49)), and we observed a 3.7-fold difference in COPD risk between individuals in the highest and lowest genetic risk score deciles in UK Biobank. The 97 signals show enrichment in genes for development, elastic fibers and epigenetic regulation pathways. We highlight targets for drugs and compounds in development for COPD and asthma (genes in the inositol phosphate metabolism pathway and CHRM3) and describe targets for potential drug repositioning from other clinical indications.
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| 3. |
- Yang, Zhenlin, et al.
(författare)
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Structural basis of ligand binding modes at the neuropeptide Y Y-1 receptor
- 2018
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Ingår i: Nature. - : Springer Science and Business Media LLC. - 0028-0836 .- 1476-4687. ; 556:7702, s. 520-524
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Tidskriftsartikel (refereegranskat)abstract
- Neuropeptide Y (NPY) receptors belong to the G-protein-coupled receptor superfamily and have important roles in food intake, anxiety and cancer biology(1,2). The NPY-Y receptor system has emerged as one of the most complex networks with three peptide ligands (NPY, peptide YY and pancreatic polypeptide) binding to four receptors in most mammals, namely the Y-1, Y-2, Y-4 and Y-5 receptors, with different affinity and selectivity(3). NPY is the most powerful stimulant of food intake and this effect is primarily mediated by the Y-1 receptor (Y1R)(4). A number of peptides and small-molecule compounds have been characterized as Y1R antagonists and have shown clinical potential in the treatment of obesity(4), tumour(1) and bone loss(5). However, their clinical usage has been hampered by low potency and selectivity, poor brain penetration ability or lack of oral bioavailability(6). Here we report crystal structures of the human Y1R bound to the two selective antagonists UR-MK299 and BMS-193885 at 2.7 and 3.0 angstrom resolution, respectively. The structures combined with mutagenesis studies reveal the binding modes of Y1R to several structurally diverse antagonists and the determinants of ligand selectivity. The Y1R structure and molecular docking of the endogenous agonist NPY, together with nuclear magnetic resonance, photo-crosslinking and functional studies, provide insights into the binding behaviour of the agonist and for the first time, to our knowledge, determine the interaction of its N terminus with the receptor. These insights into Y1R can enable structure-based drug discovery that targets NPY receptors.
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