| 1. |
- Özcan, Banş, et al.
(author)
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A MonoSLAM Approach to Lane Departure Warning System
- 2014
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In: 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2014). - 9781479957378 ; , s. 640-645
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Conference paper (peer-reviewed)abstract
- Lane Departure Warning (LDW) systems are one of the widely researched topics under Advanced Driver Assistance Systems (ADAS), because they are seen as the most viable way to prevent the traffic accidents caused by involuntary lane departures from happening. Various methods and algorithms used for lane tracking to be used in LDW in the literature; however, most of them only track the lanes or the position of the vehicle inside the lane. This article introduces MonoSLAM based method for LDW design, assuming that the camera is moving in a previously unknown scene. While applying this method, a constant lateral velocity model for the vehicle is used, which assumes that the vehicle is exposed to undetermined Gaussian lateral accelerations. As the first output, the localization of the vehicle on the road is achieved. Moreover, the method is applied with a low cost webcam attached on a vehicle. Five control points for each lane is used to track the lanes and these control points are modelled as if they have a constant position. Detection is made with steerable filters exploiting the state covariance from EKF to make detection more robust. In addition to this, off-line experimental results are given for 200 frames. Results of lane slope on image plane compared with ground truth marked manually for performance benchmarking and localization estimation of a scenario similar to loop closure test is given.
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| 2. |
- van Eldert, Jeroen, 1987-
(author)
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Drill Monitoring for Rock Mass Assessment in Tunnelling
- 2020
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Doctoral thesis (other academic/artistic)abstract
- Site investigations for tunnel projects are often unable to determine rock mass conditions accurately for the entire tunnel, as these investigations obtain qualitative data for only limited parts of the tunnel. This is the case at the Stockholm Bypass project in Sweden. At two ramp tunnels, the rock mass was characterised as significantly poorer during the excavation than had been determined previously in the site investigation. In this study, Measurement While Drilling (MWD) technology was employed to characterise the rock mass for grouting purposes using extraction drill monitoring data from the grout holes. In addition, MWD data were extracted from blast holes at the entrance of one access and two ramp tunnels. The MWD data included the penetration rate and feed, percussive, rotation, and water pressure measurements at less than 3cm intervals in the drill holes. The drill rig supplier’s software was able to characterise the rock mass accurately for fracture zones, as shown in a comparison of the fracturing index of grout holes, blast holes, and the mappedrock mass structures. Since the suppliers’ software packages ignored some essential features of drilling, the study developed an improved MWD data normalisation and filtering process. This new process took the effects of different rock drills and drill rod extensions on the MWD data into account. The new normalisation and filtering process showed the capability to describe the rock mass conditions more accuratelythan the current method. A holistic approach was also developed to optimise the rock support process even further. Here, the rock mass was objectively qualified using measured drilling data instead of observations. This process correlated the fracturing index to rock mass quality and rock support requirements. Lastly, a correlation was made between the rock mass quality and the grout requirements per grout umbrella;these requirements were linked to the rock mass conditions determined by the MWD parameters. Based on these relations, a conceptual grout decision-making model was developed. The study found all-in-all tunnel practices could be improved with the implementation of MWD for rock mass characterisation and as part of a rock mass quality control plan. The MWD technology provides additional information on the rock mass and could be incorporated into the observational method for rock mass excavation.
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| 3. |
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"...men ingen berättar om de fula sidorna..."Rapport från en FoU-cirkel för lokal mobilisering mot cannabis
- 2013
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Editorial collection (other academic/artistic)abstract
- Det finns många myter, fördomar och föreställningar kring cannabis, som är det mest använda narkotiska preparatet i Europa1. En av dem låter ungefär så här: – Cannabis, det växer ju i naturen, det kan väl inte vara farligt eller skadligt, det är ju naturligt, så då måste det väl vara ok. Men spice, det är ju konstgjord skit, det kan man inte ta, det är ju livsfarligt. Myten är, åtminstone när det gäller att avstå spice, dåligt förankrad i verkligheten, så som myter brukar vara. Tullens beslag av syntetiska droger ökar hela tiden och i topp ligger kemiskt framställd cannabis. I dagsläget finns 31 olika sorter spice, som alla är narkotikaklassade. Tillsammans med cannabis och hasch utgör de lejonparten av alla tullens beslag när det gäller droger som beställs via nätet och som kommer till sina beställare via posten. Till det kommer den mer traditionella smugglingen av drogerna med tillhörande gatulangning. Hemodlandet av cannabis både i form av enstaka plantor på fönsterbrädan eller i garderoben för eget bruk, och i form av ”yrkesmässig” odling för försäljning, verkar också öka. Enligt Tullverket ökar också shoppingturismen över Öresund, särskilt inför och under helger, när många åker över till Danmark för att fylla på sina egna lager av cannabis och cannabisharts2. Tillgången på såväl odlad cannabis som syntetiskt framställd sådan är med andra ord god, och cannabis är den vanligaste illegala drogen bland ungdomar i Sverige, och användningen ökar, hela tiden. Kunskapsläget kring cannabisanvändandet varierar från de riktigt insatta till dem som inte är riktigt lika insatta och som därför lätt förirrar sig in i myternas töcken. En del av den kunskap som finns har vi samlat i den här FoU-rapporten till stöd för en regional mobilisering mot cannabis i Västra Götaland.
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| 4. |
- van Bergen, LAH, et al.
(author)
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Revisiting sulfur H-bonds in proteins: The example of peroxiredoxin AhpE
- 2016
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In: Scientific reports. - : Springer Science and Business Media LLC. - 2045-2322. ; 6, s. 30369-
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Journal article (peer-reviewed)abstract
- In many established methods, identification of hydrogen bonds (H-bonds) is primarily based on pairwise comparison of distances between atoms. These methods often give rise to systematic errors when sulfur is involved. A more accurate method is the non-covalent interaction index, which determines the strength of the H-bonds based on the associated electron density and its gradient. We applied the NCI index on the active site of a single-cysteine peroxiredoxin. We found a different sulfur hydrogen-bonding network to that typically found by established methods and we propose a more accurate equation for determining sulfur H-bonds based on geometrical criteria. This new algorithm will be implemented in the next release of the widely-used CHARMM program (version 41b) and will be particularly useful for analyzing water molecule-mediated H-bonds involving different atom types. Furthermore, based on the identification of the weakest sulfur-water H-bond, the location of hydrogen peroxide for the nucleophilic attack by the cysteine sulfur can be predicted. In general, current methods to determine H-bonds will need to be reevaluated, thereby leading to better understanding of the catalytic mechanisms in which sulfur chemistry is involved.
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| 5. |
- Onthong, U., et al.
(author)
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Ab initio study of the interaction of dimethylsulfoxide with the ions Li+ and I
- 2003
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In: International Journal of Mass Spectrometry. - 1387-3806 .- 1873-2798. ; 223:03-jan, s. 263-270:263, s. 223-
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Journal article (peer-reviewed)abstract
- We report analytical expressions for the dimethylsulfoxide (DMSO)-Li+ and DMSO-I- potential energy hypersurfaces. Quantum chemically calculated energies were fitted to polynomial functions of different number of parameters. These calculations are augmented by calculations of the electrostatic potential in the vicinity of DMSO. Global geometry optimizations and calculations of ion-induced frequency shifts have been performed. We find that at its global energy minima, Li+ in the DMSO-Li+ complex is bound to the oxygen atom with an energy of about 2.6 eV while I- in the vicinity is bound between the two methyl groups in a shallow energy minimum with about 0.6 eV.
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| 6. |
- Abrehdary, Majid, et al.
(author)
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Towards the Moho depth and Moho density contrast along with their uncertainties from seismic and satellite gravity observations
- 2017
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In: Journal of Applied Geodesy. - : Walter de Gruyter GmbH. - 1862-9016 .- 1862-9024. ; 11:4, s. 231-247
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Journal article (peer-reviewed)abstract
- We present a combined method for estimating a new global Moho model named KTH15C, containing Moho depth and Moho density contrast (or shortly Moho parameters), from a combination of global models of gravity (GOCO05S), topography (DTM2006) and seismic information (CRUST1.0 and MDN07) to a resolution of 1° × 1° based on a solution of Vening Meinesz-Moritz’ inverse problem of isostasy. This paper also aims modelling of the observation standard errors propagated from the Vening Meinesz-Moritz and CRUST1.0 models in estimating the uncertainty of the final Moho model. The numerical results yield Moho depths ranging from 6.5 to 70.3 km, and the estimated Moho density contrasts ranging from 21 to 650 kg/m3, respectively. Moreover, test computations display that in most areas estimated uncertainties in the parameters are less than 3 km and 50 kg/m3, respectively, but they reach to more significant values under Gulf of Mexico, Chile, Eastern Mediterranean, Timor sea and parts of polar regions. Comparing the Moho depths estimated by KTH15C and those derived by KTH11C, GEMMA2012C, CRUST1.0, KTH14C, CRUST14 and GEMMA1.0 models shows that KTH15C agree fairly well with CRUST1.0 but rather poor with other models. The Moho density contrasts estimated by KTH15C and those of the KTH11C, KTH14C and VMM model agree to 112, 31 and 61 kg/m3 in RMS. The regional numerical studies show that the RMS differences between KTH15C and Moho depths from seismic information yields fits of 2 to 4 km in South and North America, Africa, Europe, Asia, Australia and Antarctica, respectively.
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| 7. |
- Casar Borota, Olivera, et al.
(author)
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Serotonin, ATRX, and DAXX Expression in Pituitary Adenomas : Markers in the Differential Diagnosis of Neuroendocrine Tumors of the Sellar Region.
- 2017
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In: American Journal of Surgical Pathology. - 0147-5185 .- 1532-0979. ; 41:9, s. 1238-1246
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Journal article (peer-reviewed)abstract
- Differential diagnosis based on morphology and immunohistochemistry between a clinically nonfunctioning pituitary neuroendocrine tumor (NET)/pituitary adenoma and a primary or secondary NET of nonpituitary origin in the sellar region may be difficult. Serotonin, a frequently expressed marker in the NETs, has not been systematically evaluated in pituitary NETs. Although mutations in ATRX or DAXX have been reported in a significant proportion of pancreatic NETs, the mutational status of ATRX and DAXX and their possible pathogenetic role in pituitary NETs are unknown. Facing a difficult diagnostic case of an invasive serotonin and adrenocorticotroph hormone immunoreactive NET in the sellar region, we explored the immunohistochemical expression of serotonin, ATRX, and DAXX in a large series of pituitary endocrine tumors of different types from 246 patients and in 2 corticotroph carcinomas. None of the pituitary tumors expressed serotonin, suggesting that serotonin immunoreactive sellar tumors represent primary or secondary NETs of nonpituitary origin. Normal expression of ATRX and DAXX in pituitary tumors suggests that ATRX and DAXX do not play a role in the pathogenesis of pituitary endocrine tumors that remain localized to the sellar and perisellar region. A lack of ATRX or DAXX in a sellar NET suggests a nonpituitary NET, probably of pancreatic origin. One of the 2 examined corticotroph carcinomas, however, demonstrated negative ATRX immunolabeling due to an ATRX gene mutation. Further studies on a larger cohort of pituitary carcinomas are needed to clarify whether ATRX mutations may contribute to the metastatic potential in a subset of pituitary NETs.
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| 8. |
- Ghani, Mozhdeh, et al.
(author)
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Cross-linked superfine electrospun tragacanth-based biomaterial as scaffolds for tissue engineering
- 2016
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In: European Cells & Materials. - Davos, Switzerland : AO Research Institute Davos. - 1473-2262. ; 31:Suppl. 1, s. 204-204
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Journal article (peer-reviewed)abstract
- Natural polymer-based nanofibrous structures promote cell adhesion and proliferation due to their high surface area/volume ratio, high porosity, and similarity to native extracellular matrix in terms of both chemical composition and physical structure. Gum tragacanth (Tg) is a natural polysaccharides obtained from plants. It is a biocompatible, biodegradable and anionic polysaccharides that has been used extensively as an emulsifier in food and pharmaceutical industries. Despite, its good rheological properties and compatibility, the potential biomedical applications of Tg have not been fully investigated. The objective of the present study was to explore the feasibility of combining Tg with gelatin to fabricate a scaffold that serves as a simple collagen-glycosaminoglycans analog for tissue engineering applications, e.g. as a scaffold for human skin epithelial cells.
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| 9. |
- Merrien, M, et al.
(author)
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2-Arachidonoylglycerol Modulates CXCL12-Mediated Chemotaxis in Mantle Cell Lymphoma and Chronic Lymphocytic Leukemia
- 2023
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In: Cancers. - : MDPI AG. - 2072-6694. ; 15:5
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Journal article (peer-reviewed)abstract
- To survive chemotherapy, lymphoma cells can relocate to protective niches where they receive support from the non-malignant cells. The biolipid 2-arachidonoylglycerol (2-AG), an agonist for the cannabinoid receptors CB1 and CB2, is released by stromal cells in the bone marrow. To investigate the role of 2-AG in lymphoma, we analyzed the chemotactic response of primary B-cell lymphoma cells enriched from peripheral blood of twenty-two chronic lymphocytic leukemia (CLL) and five mantle cell lymphoma (MCL) patients towards 2-AG alone and/or to the chemokine CXCL12. The expression of cannabinoid receptors was quantified using qPCR and the protein levels visualized by immunofluorescence and Western blot. Surface expression of CXCR4, the main cognate receptor to CXCL12, was analyzed by flow cytometry. Phosphorylation of key downstream signaling pathways activated by 2-AG and CXCL12 were measured by Western blot in three MCL cell lines and two primary CLL samples. We report that 2-AG induces chemotaxis in 80% of the primary samples, as well as 2/3 MCL cell lines. 2-AG induced in a dose-dependent manner, the migration of JeKo-1 cell line via CB1 and CB2. 2-AG affected the CXCL12-mediated chemotaxis without impacting the expression or internalization of CXCR4. We further show that 2-AG modulated p38 and p44/42 MAPK activation. Our results suggest that 2-AG has a previously unrecognized role in the mobilization of lymphoma cells by effecting the CXCL12-induced migration and the CXCR4 signaling pathways, however, with different effects in MCL compared to CLL.
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| 10. |
- Yuan, Shiwen, et al.
(author)
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Recording monophasic action potentials using a platinum-electrode ablation catheter
- 2000
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In: Europace. - : Oxford University Press (OUP). - 1532-2092 .- 1099-5129. ; 2:4, s. 312-319
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Journal article (peer-reviewed)abstract
- AIMS: The monophasic action potential (MAP) is conventionally recorded using Ag-AgCl electrodes which are not suitable for delivering radiofrequency currents. To be able to use the sharp MAP upstroke for identifying the local activation, as a step towards the development of a MAP-guided catheter ablation technique, the possibility of recording MAP via platinum electrodes of an ordinary ablation catheter was explored. METHODS AND RESULTS: One hundred and forty-two MAP recordings from the endocardium were obtained via an ablation catheter in 40 patients undergoing electrophysiological study/catheter ablation. During sinus rhythm and pacing, 90% of the ventricular and 100% of the atrial MAPs had stable baselines. The amplitudes were 13 +/- 4.2 mV for ventricular and 2.4 +/- 0.8 mV for atrial MAPs. During mapping and ablation, MAPs and uni- and bipolar electrograms were recorded simultaneously using the same tip electrode in eight patients. The MAPs provided more distinct local activation than the electrograms. During 17 MAP recordings, additional MAPs were recorded simultaneously using an Ag-AgCl electrode catheter in the immediate vicinity of the ablation catheter. The MAPs taken with the ablation catheter had characteristics consistent with those taken with the Ag-AgCl catheter. CONCLUSIONS: (1) Platinum electrodes can be used for timely recording of MAPs in patients. (2) It is feasible to record MAPs and deliver radiofrequency currents via the same platinum-tip electrode. These findings suggest that MAP-guided catheter ablation is technically possible.
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