| 1. |
- Munk, P., et al.
(författare)
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Genomic analysis of sewage from 101 countries reveals global landscape of antimicrobial resistance
- 2022
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Ingår i: Nature Communications. - : Springer Science and Business Media LLC. - 2041-1723. ; 13:1
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Tidskriftsartikel (refereegranskat)abstract
- Antimicrobial resistance (AMR) is a major threat to global health. Understanding the emergence, evolution, and transmission of individual antibiotic resistance genes (ARGs) is essential to develop sustainable strategies combatting this threat. Here, we use metagenomic sequencing to analyse ARGs in 757 sewage samples from 243 cities in 101 countries, collected from 2016 to 2019. We find regional patterns in resistomes, and these differ between subsets corresponding to drug classes and are partly driven by taxonomic variation. The genetic environments of 49 common ARGs are highly diverse, with most common ARGs carried by multiple distinct genomic contexts globally and sometimes on plasmids. Analysis of flanking sequence revealed ARG-specific patterns of dispersal limitation and global transmission. Our data furthermore suggest certain geographies are more prone to transmission events and should receive additional attention.
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| 2. |
- Griffin, M. J., et al.
(författare)
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The Herschel-SPIRE instrument and its in-flight performance
- 2010
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Ingår i: Astronomy and Astrophysics. - : EDP Sciences. - 0004-6361 .- 1432-0746. ; 518, s. L3-
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Tidskriftsartikel (refereegranskat)abstract
- The Spectral and Photometric Imaging REceiver (SPIRE), is the Herschel Space Observatory`s submillimetre camera and spectrometer. It contains a three-band imaging photometer operating at 250, 350 and 500 mu m, and an imaging Fourier-transform spectrometer (FTS) which covers simultaneously its whole operating range of 194-671 mu m (447-1550 GHz). The SPIRE detectors are arrays of feedhorn-coupled bolometers cooled to 0.3 K. The photometer has a field of view of 4' x 8', observed simultaneously in the three spectral bands. Its main operating mode is scan-mapping, whereby the field of view is scanned across the sky to achieve full spatial sampling and to cover large areas if desired. The spectrometer has an approximately circular field of view with a diameter of 2.6'. The spectral resolution can be adjusted between 1.2 and 25 GHz by changing the stroke length of the FTS scan mirror. Its main operating mode involves a fixed telescope pointing with multiple scans of the FTS mirror to acquire spectral data. For extended source measurements, multiple position offsets are implemented by means of an internal beam steering mirror to achieve the desired spatial sampling and by rastering of the telescope pointing to map areas larger than the field of view. The SPIRE instrument consists of a cold focal plane unit located inside the Herschel cryostat and warm electronics units, located on the spacecraft Service Module, for instrument control and data handling. Science data are transmitted to Earth with no on-board data compression, and processed by automatic pipelines to produce calibrated science products. The in-flight performance of the instrument matches or exceeds predictions based on pre-launch testing and modelling: the photometer sensitivity is comparable to or slightly better than estimated pre-launch, and the spectrometer sensitivity is also better by a factor of 1.5-2.
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| 3. |
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| 4. |
- Canelhas, Daniel R., 1983-, et al.
(författare)
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Compressed Voxel-Based Mapping Using Unsupervised Learning
- 2017
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Ingår i: Robotics. - Basel, Switzerland : MDPI AG. - 2218-6581. ; 6:3
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Tidskriftsartikel (refereegranskat)abstract
- In order to deal with the scaling problem of volumetric map representations, we propose spatially local methods for high-ratio compression of 3D maps, represented as truncated signed distance fields. We show that these compressed maps can be used as meaningful descriptors for selective decompression in scenarios relevant to robotic applications. As compression methods, we compare using PCA-derived low-dimensional bases to nonlinear auto-encoder networks. Selecting two application-oriented performance metrics, we evaluate the impact of different compression rates on reconstruction fidelity as well as to the task of map-aided ego-motion estimation. It is demonstrated that lossily reconstructed distance fields used as cost functions for ego-motion estimation can outperform the original maps in challenging scenarios from standard RGB-D (color plus depth) data sets due to the rejection of high-frequency noise content.
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| 5. |
- Canelhas, Daniel R., 1983-, et al.
(författare)
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From Feature Detection in Truncated Signed Distance Fields to Sparse Stable Scene Graphs
- 2016
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Ingår i: IEEE Robotics and Automation Letters. - Piscataway, USA : Institute of Electrical and Electronics Engineers (IEEE). - 2377-3766. ; 1:2, s. 1148-1155
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Tidskriftsartikel (refereegranskat)abstract
- With the increased availability of GPUs and multicore CPUs, volumetric map representations are an increasingly viable option for robotic applications. A particularly important representation is the truncated signed distance field (TSDF) that is at the core of recent advances in dense 3D mapping. However, there is relatively little literature exploring the characteristics of 3D feature detection in volumetric representations. In this paper we evaluate the performance of features extracted directly from a 3D TSDF representation. We compare the repeatability of Integral invariant features, specifically designed for volumetric images, to the 3D extensions of Harris and Shi & Tomasi corners. We also study the impact of different methods for obtaining gradients for their computation. We motivate our study with an example application for building sparse stable scene graphs, and present an efficient GPU-parallel algorithm to obtain the graphs, made possible by the combination of TSDF and 3D feature points. Our findings show that while the 3D extensions of 2D corner-detection perform as expected, integral invariants have shortcomings when applied to discrete TSDFs. We conclude with a discussion of the cause for these points of failure that sheds light on possible mitigation strategies.
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| 6. |
- Canelhas, Daniel R., 1983-, et al.
(författare)
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Improved local shape feature stability through dense model tracking
- 2013
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Ingår i: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). - : IEEE. - 9781467363587 ; , s. 3203-3209
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Konferensbidrag (refereegranskat)abstract
- In this work we propose a method to effectively remove noise from depth images obtained with a commodity structured light sensor. The proposed approach fuses data into a consistent frame of reference over time, thus utilizing prior depth measurements and viewpoint information in the noise removal process. The effectiveness of the approach is compared to two state of the art, single-frame denoising methods in the context of feature descriptor matching and keypoint detection stability. To make more general statements about the effect of noise removal in these applications, we extend a method for evaluating local image gradient feature descriptors to the domain of 3D shape descriptors. We perform a comparative study of three classes of such descriptors: Normal Aligned Radial Features, Fast Point Feature Histograms and Depth Kernel Descriptors; and evaluate their performance on a real-world industrial application data set. We demonstrate that noise removal enabled by the dense map representation results in major improvements in matching across all classes of descriptors as well as having a substantial positive impact on keypoint detection reliability
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| 7. |
- Canelhas, Daniel R., 1983-, et al.
(författare)
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SDF tracker : a parallel algorithm for on-line pose estimation and scene reconstruction from depth images
- 2013
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Ingår i: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). - : IEEE. - 9781467363587 ; , s. 3671-3676
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Konferensbidrag (refereegranskat)abstract
- Ego-motion estimation and environment mapping are two recurring problems in the field of robotics. In this work we propose a simple on-line method for tracking the pose of a depth camera in six degrees of freedom and simultaneously maintaining an updated 3D map, represented as a truncated signed distance function. The distance function representation implicitly encodes surfaces in 3D-space and is used directly to define a cost function for accurate registration of new data. The proposed algorithm is highly parallel and achieves good accuracy compared to state of the art methods. It is suitable for reconstructing single household items, workspace environments and small rooms at near real-time rates, making it practical for use on modern CPU hardware
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| 8. |
- Jadersten, M., et al.
(författare)
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Targeting SAMHD1 with hydroxyurea in first-line cytarabine-based therapy of newly diagnosed acute myeloid leukaemia: Results from the HEAT-AML trial
- 2022
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Ingår i: Journal of Internal Medicine. - : Wiley. - 0954-6820 .- 1365-2796. ; 292:6, s. 925-940
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Tidskriftsartikel (refereegranskat)abstract
- Background Treatment of newly diagnosed acute myeloid leukaemia (AML) is based on combination chemotherapy with cytarabine (ara-C) and anthracyclines. Five-year overall survival is below 30%, which has partly been attributed to cytarabine resistance. Preclinical data suggest that the addition of hydroxyurea potentiates cytarabine efficacy by increasing ara-C triphosphate (ara-CTP) levels through targeted inhibition of SAMHD1. Objectives In this phase 1 trial, we evaluated the feasibility, safety and efficacy of the addition of hydroxyurea to standard chemotherapy with cytarabine/daunorubicin in newly diagnosed AML patients. Methods Nine patients were enrolled and received at least two courses of ara-C (1 g/m(2)/2 h b.i.d. d1-5, i.e., a total of 10 g/m(2) per course), hydroxyurea (1-2 g d1-5) and daunorubicin (60 mg/m(2) d1-3). The primary endpoint was safety; secondary endpoints were complete remission rate and measurable residual disease (MRD). Additionally, pharmacokinetic studies of ara-CTP and ex vivo drug sensitivity assays were performed. Results The most common grade 3-4 toxicity was febrile neutropenia (100%). No unexpected toxicities were observed. Pharmacokinetic analyses showed a significant increase in median ara-CTP levels (1.5-fold; p = 0.04) in patients receiving doses of 1 g hydroxyurea. Ex vivo, diagnostic leukaemic bone marrow blasts from study patients were significantly sensitised to ara-C by a median factor of 2.1 (p = 0.0047). All nine patients (100%) achieved complete remission, and all eight (100%) with validated MRD measurements (flow cytometry or real-time quantitative polymerase chain reaction [RT-qPCR]) had an MRD level <0.1% after two cycles of chemotherapy. Treatment was well-tolerated, and median time to neutrophil recovery >1.0 x 10(9)/L and to platelet recovery >50 x 10(9)/L after the start of cycle 1 was 19 days and 22 days, respectively. Six of nine patients underwent allogeneic haematopoietic stem-cell transplantation (allo-HSCT). With a median follow-up of 18.0 (range 14.9-20.5) months, one patient with adverse risk not fit for HSCT experienced a relapse after 11.9 months but is now in second complete remission. Conclusion Targeted inhibition of SAMHD1 by the addition of hydroxyurea to conventional AML therapy is safe and appears efficacious within the limitations of the small phase 1 patient cohort. These results need to be corroborated in a larger study.
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| 9. |
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| 10. |
- Lilienthal, Achim J., 1970-, et al.
(författare)
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Detection and Localization of an Odour Source by an autonomous mobile Robot
- 2002
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Ingår i: Robotik 2002. - Dusseldorf, Germany : V D I-V D E - VERLAG GMBH. - 3180916796 ; , s. 689-694
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Konferensbidrag (refereegranskat)abstract
- This paper presents studies concerning the use of an electronic nose on an autonomous mobile robot. In particular experiments were introduced in which a mobile robot generates two dimensional concentration maps of a known target gas in an unventilated room. It was shown that these concentration maps are clearly related to the position of the odour source. Moreover our results show that if accurate localization of the odour source itself is desired one has to consider weak air currents which usually occur even in closed unventilated rooms (often caused by convection).
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