| 1. |
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| 2. |
- Adolfsson, Daniel, 1992-, et al.
(författare)
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CFEAR Radarodometry - Conservative Filtering for Efficient and Accurate Radar Odometry
- 2021
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Ingår i: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021). - : IEEE. - 9781665417143 - 9781665417150 ; , s. 5462-5469
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Konferensbidrag (refereegranskat)abstract
- This paper presents the accurate, highly efficient, and learning-free method CFEAR Radarodometry for large-scale radar odometry estimation. By using a filtering technique that keeps the k strongest returns per azimuth and by additionally filtering the radar data in Cartesian space, we are able to compute a sparse set of oriented surface points for efficient and accurate scan matching. Registration is carried out by minimizing a point-to-line metric and robustness to outliers is achieved using a Huber loss. We were able to additionally reduce drift by jointly registering the latest scan to a history of keyframes and found that our odometry method generalizes to different sensor models and datasets without changing a single parameter. We evaluate our method in three widely different environments and demonstrate an improvement over spatially cross-validated state-of-the-art with an overall translation error of 1.76% in a public urban radar odometry benchmark, running at 55Hz merely on a single laptop CPU thread.
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| 3. |
- Adolfsson, Daniel, 1992-, et al.
(författare)
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Oriented surface points for efficient and accurate radar odometry
- 2021
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Konferensbidrag (refereegranskat)abstract
- This paper presents an efficient and accurate radar odometry pipeline for large-scale localization. We propose a radar filter that keeps only the strongest reflections per-azimuth that exceeds the expected noise level. The filtered radar data is used to incrementally estimate odometry by registering the current scan with a nearby keyframe. By modeling local surfaces, we were able to register scans by minimizing a point-to-line metric and accurately estimate odometry from sparse point sets, hence improving efficiency. Specifically, we found that a point-to-line metric yields significant improvements compared to a point-to-point metric when matching sparse sets of surface points. Preliminary results from an urban odometry benchmark show that our odometry pipeline is accurate and efficient compared to existing methods with an overall translation error of 2.05%, down from 2.78% from the previously best published method, running at 12.5ms per frame without need of environmental specific training.
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| 4. |
- Alhashimi, Anas, 1978-, et al.
(författare)
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BFAR – Bounded False Alarm Rate detector for improved radar odometry estimation
- 2021
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Konferensbidrag (refereegranskat)abstract
- This paper presents a new detector for filtering noise from true detections in radar data, which improves the state of the art in radar odometry. Scanning Frequency-Modulated Continuous Wave (FMCW) radars can be useful for localisation and mapping in low visibility, but return a lot of noise compared to (more commonly used) lidar, which makes the detection task more challenging. Our Bounded False-Alarm Rate (BFAR) detector is different from the classical Constant False-Alarm Rate (CFAR) detector in that it applies an affine transformation on the estimated noise level after which the parameters that minimize the estimation error can be learned. BFAR is an optimized combination between CFAR and fixed-level thresholding. Only a single parameter needs to be learned from a training dataset. We apply BFAR tothe use case of radar odometry, and adapt a state-of-the-art odometry pipeline (CFEAR), replacing its original conservative filtering with BFAR. In this way we reduce the state-of-the-art translation/rotation odometry errors from 1.76%/0.5◦/100 m to 1.55%/0.46◦/100 m; an improvement of 12.5%.
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| 5. |
- Ameur, Adam, et al.
(författare)
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SweGen : a whole-genome data resource of genetic variability in a cross-section of the Swedish population
- 2017
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Ingår i: European Journal of Human Genetics. - : NATURE PUBLISHING GROUP. - 1018-4813 .- 1476-5438. ; 25:11, s. 1253-1260
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Tidskriftsartikel (refereegranskat)abstract
- Here we describe the SweGen data set, a comprehensive map of genetic variation in the Swedish population. These data represent a basic resource for clinical genetics laboratories as well as for sequencing-based association studies by providing information on genetic variant frequencies in a cohort that is well matched to national patient cohorts. To select samples for this study, we first examined the genetic structure of the Swedish population using high-density SNP-array data from a nation-wide cohort of over 10 000 Swedish-born individuals included in the Swedish Twin Registry. A total of 1000 individuals, reflecting a cross-section of the population and capturing the main genetic structure, were selected for whole-genome sequencing. Analysis pipelines were developed for automated alignment, variant calling and quality control of the sequencing data. This resulted in a genome-wide collection of aggregated variant frequencies in the Swedish population that we have made available to the scientific community through the website https://swefreq.nbis.se. A total of 29.2 million single-nucleotide variants and 3.8 million indels were detected in the 1000 samples, with 9.9 million of these variants not present in current databases. Each sample contributed with an average of 7199 individual-specific variants. In addition, an average of 8645 larger structural variants (SVs) were detected per individual, and we demonstrate that the population frequencies of these SVs can be used for efficient filtering analyses. Finally, our results show that the genetic diversity within Sweden is substantial compared with the diversity among continental European populations, underscoring the relevance of establishing a local reference data set.
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| 8. |
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| 9. |
- Klaric, Lucija, et al.
(författare)
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Mendelian randomisation identifies alternative splicing of the FAS death receptor as a mediator of severe COVID-19.
- 2021
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Ingår i: medRxiv : the preprint server for health sciences. - : Cold Spring Harbor Laboratory. ; , s. 1-28
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Annan publikation (övrigt vetenskapligt/konstnärligt)abstract
- Severe COVID-19 is characterised by immunopathology and epithelial injury. Proteomic studies have identified circulating proteins that are biomarkers of severe COVID-19, but cannot distinguish correlation from causation. To address this, we performed Mendelian randomisation (MR) to identify proteins that mediate severe COVID-19. Using protein quantitative trait loci (pQTL) data from the SCALLOP consortium, involving meta-analysis of up to 26,494 individuals, and COVID-19 genome-wide association data from the Host Genetics Initiative, we performed MR for 157 COVID-19 severity protein biomarkers. We identified significant MR results for five proteins: FAS, TNFRSF10A, CCL2, EPHB4 and LGALS9. Further evaluation of these candidates using sensitivity analyses and colocalization testing provided strong evidence to implicate the apoptosis-associated cytokine receptor FAS as a causal mediator of severe COVID-19. This effect was specific to severe disease. Using RNA-seq data from 4,778 individuals, we demonstrate that the pQTL at the FAS locus results from genetically influenced alternate splicing causing skipping of exon 6. We show that the risk allele for very severe COVID-19 increases the proportion of transcripts lacking exon 6, and thereby increases soluble FAS. Soluble FAS acts as a decoy receptor for FAS-ligand, inhibiting apoptosis induced through membrane-bound FAS. In summary, we demonstrate a novel genetic mechanism that contributes to risk of severe of COVID-19, highlighting a pathway that may be a promising therapeutic target.
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| 10. |
- Magnusson, Daniel, 1978, et al.
(författare)
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Demonstration of a SANEX process in centrifugal contactors using the CyMe4-BTBP molecule on a genuine fuel solution
- 2009
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Ingår i: Solvent Extraction and Ion Exchange. - : Informa UK Limited. - 0736-6299 .- 1532-2262. ; 27:2, s. 97-106
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Tidskriftsartikel (refereegranskat)abstract
- Efficient recovery of minor actinides from a genuine spent fuel solution has been successfully demonstrated by the CyMe4-BTBP/DMDOHEMA extractant mixture dissolved in octanol. The continuous countercurrent process, in which actinides(III) were separated from lanthanides(III), was carried out in laboratory centrifugal contactors using an optimized flow-sheet involving a total of 16 stages. The process was divided into 9 stages for extraction from a 2 M nitric acid feed solution, 3 stages for lanthanide scrubbing, and 4 stages for actinide back-extraction. Excellent feed decontamination factors for Am (7000) and Cm (1000) were obtained and the recoveries of these elements were higher than 99.9%. More than 99.9% of the lanthanides were directed to the raffinate except Gd for which 0.32% was recovered in the product.
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| 11. |
- Magnusson, Daniel, 1978, et al.
(författare)
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Demonstration of a TODGA based Extraction Process for the Partitioning of Minor Actinides from a PUREX Raffinate
- 2009
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Ingår i: Solvent Extraction and Ion Exchange. - : Informa UK Limited. - 0736-6299 .- 1532-2262. ; 27:1, s. 26-35
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Tidskriftsartikel (refereegranskat)abstract
- Efficient recovery of minor actinides (MA) from genuine PUREX raffinate has been successfully demonstrated by the TODGA + TBP extractant mixture dissolved in an industrial aliphatic solvent TPH. The process was carried out in centrifugal contactors using an optimized flow-sheet involving a total of 32 stages, divided into 4 stages for extraction, 12 stages for scrubbing and 16 stages for back-extraction. Very high feed decontamination factors were obtained (Am, Cm 40 000) and the recovery of these elements was higher than 99.99%. Of the non-lanthanide fission products only Y and a small part of Ru were co-separated into the product fraction together with the lanthanides and the MA.
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| 12. |
- Magnusson, Daniel, 1978, et al.
(författare)
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Investigation of the radiolytic stability of a CyMe4-BTBP based SANEX solvent
- 2009
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Ingår i: Radiochimica Acta. - : Walter de Gruyter GmbH. - 0033-8230. ; 97:9, s. 497-502
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Tidskriftsartikel (refereegranskat)abstract
- The radiolytic degradation of the 6,6'-bis(5,5,8,8-tetramethyl-5,6,7,8-tetrahydro-benzo[1,2,4]triazin-3-yl )-[2,2']-bipyridine (CyMe4-BTBP) based SANEX (selective actinide extraction) solvent has been investigated. As the solvent used in the extraction process is designed to separate trivalent actinides from lanthanides, the radiolytic degradation is mainly due to alpha decay of extracted minor actinide isotopes. A calculation of dose-rates was done by estimating the concentration of minor actinides in the solvent by fuel burn-up calculations and assumptions on dilutions in the subsequent reprocessing steps. The calculations showed that the main isotopes responsible for the dose-rate are Cm-242, Cm-244 and Am-241. Cm-242 is short-lived and has an impact only at short cooling times before reprocessing of the spent fuel. The dose-rates to a SANEX solvent in the reprocessing of standard spent LWR fuels are burn-up dependent and range from at least 0.03-0.2 kGy/h for UO2 fuels and from 0.4 to 0.8 kGy/h for MOX fuels. Fast reactor fuels yield dose-rates over 1 kGy/h. Based on these results, several radiolysis experiments were carried out in order to compare the effect of low LET external gamma radiation (0.2 kGy/h) and internal alpha radiation with different dose-rates (0.05, 0.2 and 1.0 kGy/h). Significant radiolytic degradation was shown in the gamma radiolysis and in the alpha radiolysis experiment at a dose-rate of 1 kGy/h. These experiments were continued up to an absorbed dose similar to 1200 kGy and >300 kGy, respectively. Comparing the alpha radiolysis results for 0.2 kGy/h and 1.0 kGy/h, up to an absorbed dose of similar to 120 kGy, no significant difference in the degradation for the different dose rates could be seen. The radiolytic degradation rate for gamma radiation was 40% higher than for alpha radiation.
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| 13. |
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| 14. |
- Magnusson, Daniel, 1993, et al.
(författare)
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Sustainable coworking: the member perspective
- 2024
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Ingår i: Journal of Corporate Real Estate. - 1463-001X .- 1479-1048. ; 26:2, s. 153-175
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Tidskriftsartikel (refereegranskat)abstract
- Purpose : Sustainability is regarded as a core value that the coworking movement aspires to. However, most sustainability efforts focus on the providers’ perspective while neglecting the coworking members’ role. Therefore, this paper aims to explore sustainable coworking from the members perspective by focusing on sustainable behaviors. Design/methodology/approach : This study uses a flexible pattern matching approach. Theoretical patterns are identified using literature on coworking space and sustainable behavior while matching them with the empirical data. Data were collected from three different coworking spaces in Sweden through interviews and observations. Findings : Based on the theoretical patterns, three constructs for sustainable coworking were identified, namely, productive behavior, prosocial behavior and responsible space sharing behavior. Through the empirical data, the constructs were further concretized to understand their different aspects. The findings uncovered a new layer of complexity where members can show the same behavior and be perceived differently. Originality/value : This study offers a more holistic understanding of sustainable coworking by highlighting the members’ role and identifying different member perceptions on sustainable coworking behaviors.
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| 15. |
- Magnusson, Daniel, 1978, et al.
(författare)
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Towards an optimized flow-sheet for a SANEX demonstration process using centrifugal contactors
- 2009
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Ingår i: Radiochimica Acta. - : Walter de Gruyter GmbH. - 0033-8230. ; 97:3, s. 155-159
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Tidskriftsartikel (refereegranskat)abstract
- The design of an efficient process flow-sheet requires accurate extraction data for experimental set-up used. Often this data is provided as equilibrium data. Due to the small hold-up volume compared to the flow rate in centrifugal contactors the time for extraction is often too short to reach equilibrium D-ratios. In this work single stage kinetics experiments have been carried out to investigate the D-ratio dependence of the flow rate and to compare this with equilibrium batch experiments for a SANEX system based on CyMe4-BTBP. The first centrifuge experiment was run with spiked solutions while in the second a genuine actinide/lanthanide fraction from a TODGA process was used. Three different flow rates were tested with each set-up. the results show that even with low flow rates, only around 9% of the equilibrium D-ratio (Am) was reached for the extraction in the spiked test and around 16% in the hot test (the difference is due to the size of the centrifuges). In the hot test the lanthanide scrubbing was inefficient whereas in the stripping both the actinides and the lanthanides showed good results. Based on these results improvements of the suggested flow-sheet is discussed.
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| 16. |
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| 17. |
- Stigebrandt, Anders, 1942, et al.
(författare)
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An Experiment with Forced Oxygenation of the Deepwater of the Anoxic By Fjord, Western Sweden
- 2015
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Ingår i: Ambio. - : Springer Netherlands. - 0044-7447 .- 1654-7209. ; 44:1, s. 42-54
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Tidskriftsartikel (refereegranskat)abstract
- In a 2.5-year-long environmental engineering experiment in the By Fjord, surface water was pumped into the deepwater where the frequency of deepwater renewals increased by a factor of 10. During the experiment, the deepwater became long-term oxic, and nitrate became the dominating dissolved inorganic nitrogen component. The amount of phosphate in the water column decreased by a factor of 5 due to the increase in flushing and reduction in the leakage of phosphate from the sediments when the sediment surface became oxidized. Oxygenation of the sediments did not increase the leakage of toxic metals and organic pollutants. The bacterial community was the first to show changes after the oxygenation, with aerobic bacteria also thriving in the deepwater. The earlier azoic deepwater bottom sediments were colonized by animals. No structural difference between the phytoplankton communities in the By Fjord and the adjacent Havsten Fjord, with oxygenated deepwater, could be detected during the experiment.
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| 18. |
- Walsh, Claire, 1983, et al.
(författare)
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The mevalonate precursor enzyme HMGCS1 is a novel marker and key mediator of cancer stem cell enrichment in luminal and basal models of breast cancer
- 2020
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Ingår i: PLoS ONE. - : Public Library of Science (PLoS). - 1932-6203. ; 15:7
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Tidskriftsartikel (refereegranskat)abstract
- The definitive characterization of common cancer stem cell (CSCs) subpopulations in breast cancer subtypes with distinct genotypic and phenotypic features remains an ongoing challenge. In this study, we have used a non-biased genome wide screening approach to identify transcriptional networks that may be specific to the CSC subpopulations in both luminal and basal breast cancer subtypes. In depth studies of three CSC-enriched breast cancer cell lines representing various subtypes of breast cancer revealed a striking hyperactivation of the mevalonate metabolic pathway in comparison to control cells. The upregulation of metabolic networks is a key feature of tumour cells securing growth and proliferative capabilities and dysregulated mevalonate metabolism has been associated with tumour malignancy and cellular transformation in breast cancer. Furthermore, accumulating evidence suggests that Simvastatin therapy, a mevalonate pathway inhibitor, could affect breast cancer progression and reduce breast cancer recurrence. When detailing the mevalonate pathway in breast cancer using a single-cell qPCR, we identified the mevalonate precursor enzyme, HMGCS1, as a specific marker of CSC-enriched subpopulations within both luminal and basal tumour subtypes. Down-regulation of HMGCS1 also decreased the CSC fraction and function in various model systems, suggesting that HMGCS1 is essential for CSC-activities in breast cancer in general. These data was supported by strong associations between HMGCS1 expression and aggressive features, such as high tumour grade, p53 mutations as well as ER-negativity in lymph node positive breast cancer. Importantly, loss of HMGCS1 also had a much more pronounced effect on CSC-activities compared to treatment with standard doses of Simvastatin. Taken together, this study highlights HMGCS1 as a potential gatekeeper for dysregulated mevalonate metabolism important for CSC-features in both luminal and basal breast cancer subtypes. Pharmacological inhibition of HMGCS1 could therefore be a superior novel treatment approach for breast cancer patients via additional CSC blocking functions.
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