SVS-VPR: A Semantic Visual and Spatial Information-Based Hierarchical Visual Place Recognition for Autonomous Navigation in Challenging Environmental Conditions.

Robust visual place recognition (VPR) enables mobile robots to identify previously visited locations. For this purpose, the extracted visual information and place matching method plays a significant role. In this paper, we critically review the existing VPR methods and group them into three major categories based on visual information used, i.e., handcrafted features, deep features, and semantics. Focusing the benefits of convolutional neural networks (CNNs) and semantics, and limitations of existing research, we propose a robust appearance-based place recognition method, termed SVS-VPR, which is implemented as a hierarchical model consisting of two major components: global scene-based and local feature-based matching. The global scene semantics are extracted and compared with pre-visited images to filter the match candidates while reducing the search space and computational cost. The local feature-based matching involves the extraction of robust local features from CNN possessing invariant properties against environmental conditions and a place matching method utilizing semantic, visual, and spatial information. SVS-VPR is evaluated on publicly available benchmark datasets using true positive detection rate, recall at 100% precision, and area under the curve. Experimental findings demonstrate that SVS-VPR surpasses several state-of-the-art deep learning-based methods, boosting robustness against significant changes in viewpoint and appearance while maintaining efficient matching time performance.

Evolutionary relevance of single nucleotide variants within the forebrain exclusive human accelerated enhancer regions.

BACKGROUND: Human accelerated regions (HARs) are short conserved genomic sequences that have acquired significantly more nucleotide substitutions than expected in the human lineage after divergence from chimpanzees. The fast evolution of HARs may reflect their roles in the origin of human-specific traits. A recent study has reported positively-selected single nucleotide variants (SNVs) within brain-exclusive human accelerated enhancers (BE-HAEs) hs1210 (forebrain), hs563 (hindbrain) and hs304 (midbrain/forebrain). By including data from archaic hominins, these SNVs were shown to be Homo sapiens-specific, residing within transcriptional factors binding sites (TFBSs) for SOX2 (hs1210), RUNX1/3 (hs563), and FOS/JUND (hs304). Although these findings suggest that the predicted modifications in TFBSs may have some role in present-day brain structure, work is required to verify the extent to which these changes translate into functional variation. RESULTS: To start to fill this gap, we investigate the SOX2 SNV, with both forebrain expression and strong signal of positive selection in humans. We demonstrate that the HMG box of SOX2 binds in vitro with Homo sapiens-specific derived A-allele and ancestral T-allele carrying DNA sites in BE-HAE hs1210. Molecular docking and simulation analysis indicated highly favourable binding of HMG box with derived A-allele containing DNA site when compared to site carrying ancestral T-allele. CONCLUSION: These results suggest that adoptive changes in TF affinity within BE-HAE hs1210 and other HAR enhancers in the evolutionary history of Homo sapiens might. have brought about changes in gene expression patterns and have functional consequences on forebrain formation and evolution. METHODS: The present study employ electrophoretic mobility shift assays (EMSA) and molecular docking and molecular dynamics simulations approaches.

Biological synthesis of hybrid silver nanoparticles by Periploca aphylla Dcne. From nanotechnology to biotechnology applications.

Nanotechnology is one of the advanced technologies that have almost universal implications in every field of science. The importance is due to the unique properties of nanoparticles; however, green synthesized nanoparticles are considered eco-friendly. The current project was rationalized to prepare green-synthesized biogenic Periploca aphylla Dcne. silver nanoparticles (Pe-AgNPs) and poly (ethylene glycol) methacrylate coated AgNPs nanocomposites (PEGMA-AgNPs) with higher potential for their application in plant tissue culture for enhancing the biomass of Stevia rebaudiana calli. The increased biomass accumulation (17.61 g/3 plates) was observed on a medium containing virgin Pe-AgNPs 40th days after incubation, while the maximum increase was found by supplementing virgin Pe-AgNPs and PEGMA capped AgNPs (19.56 g/3 plates), compared with control (12.01 g/3 plates). In this study, PEGMA capped AgNPs supplementation also induced the maximum increase in total phenolics content (2.46 mg GAE/g-FW), total flavonoids content (3.68 mg QE/g-FW), SOD activity (53.78 U/ml protein), GSH content (139.75 µg/g FW), antioxidant activity (54.3 mg AAE/g FW), FRAP (54 mg AAE/g FW), and DPPH (76.3%) in S. rebaudiana calli compared with the control. It was concluded that virgin Pe-AgNPs and PEGMA capped AgNPs (hybrid polymer) are potent growth regulator agents and elicitors that can be exploited in the biotechnology field for growth promotion and induction of essential bioactive compounds and secondary metabolites from various commercially important and medicinally valuable plants such as S. rebaudiana without laborious field cultivation.

Vitamin D levels among children, adolescents, adults, and elders in Pakistani population: a cross-sectional study.

BACKGROUND: Vitamin D is not only an essential part of a healthy diet but it is also known as the sunshine hormone. It helps to absorb calcium and phosphate within the body and is essential for the development of teeth and bones in growing children. Deficiency in vitamin D causes weak bones, osteoporosis in older individuals, and osteomalacia in children. It also causes loss of alveolar bone around the teeth, increased dental cavities, and other problems associated with gum disease. It can cause depression, fatigue, and appetite loss. This study aims to observe vitamin D deficiency, insufficiency, and sufficiency among children, adults, adolescents, and elders in the Pakistani population. METHODS: A cross-sectional survey was conducted with 27,880 individuals referred from the general out-patient-department (OPD) to Dow Diagnostic Research and Reference Laboratory (DDRRL) units at Dow University of Health Sciences (DUHS) Karachi, Pakistan, for a period of three months from January to March 2017. They were examined for laboratory findings of serum 25 hydroxyvitamin D levels to determine vitamin D deficiency, insufficiency, and sufficiency among all age groups of both male and female genders. RESULTS: A total of 26,750 individuals with a mean age of 38 ± 18 years were statistically examined for laboratory findings of serum vitamin D levels. Vitamin D deficiency was observed in 56% of individuals with a mean log of 1.01 ± 0.18 ng/ml serum vitamin D levels, vitamin D insufficiency in 20% of individuals with a mean log of 1.38 ± 0.05 ng/ml serum vitamin D levels and vitamin D sufficiency in 24% individuals with a mean log of 1.63 ± 0.12 ng/ml serum vitamin D levels. The highest percentage of individuals deficient in vitamin D were children and adolescents of age ranging between 6 to 18 years. CONCLUSION: The findings of vitamin D deficiency in children and adolescents direct higher authorities in the public health sector to take immediate steps to screen, intervene and educate high-risk populations incorporating vitamin D supplements to establish preventive and therapeutic measures.

Presenting Complaints in Acute Dengue Infection and Differences in Presenting Complaints Between Primary and Secondary Dengue Infections.

Aim and objectives To describe the presenting complaints in acute dengue infection, and identify any differences in presenting complaints between primary and secondary dengue infection patients. Material and methods This cross-sectional observational study was conducted at the Department of Infectious Diseases and Medicine, Holy Family Hospital, Rawalpindi, from July 2019 to December 2019 during the Dengue Rawalpindi Epidemic 2019. Presenting complaints of patients who fulfilled the inclusion criteria of the study were recorded on a proforma on their admissions and their informed consent was taken. Of these patients, 70 primary and 70 secondary dengue infection patients were randomly selected for comparison of presenting complaints. The two groups were compared using the chi-square test and a P-value of <0.05 was considered significant. Results Intermittent fever (88.6%), headache (85%), myalgia (87.9%), arthralgia/bone pain (75%), and retro-orbital pain (47.9%) were common in most dengue patients. Hemorrhagic manifestations, such as rash (15%), epistaxis (11.4%), gum bleeding (15%), melena (7.9%), hematemesis (6.4%), hemoptysis (5.7%), and hematuria (6.4%), were less common. Abdominal pain was significantly more common in secondary dengue infections (50% in secondary dengue infections compared to 32.9% in primary dengue infections). Conclusions Fever, headache, myalgia, arthralgia/bone pains, retro-orbital pain as well as rash, epistaxis, gum bleeding, melena, hematemesis, hemoptysis, hematuria, and decreased urine output despite fluid intake are presenting complaints of dengue infection. Patients with abdominal pain in addition to the above presenting complaints are more likely to be cases of the more serious secondary dengue infection.

Comparative efficacy of BioMin-F, Colgate Sensitive Pro-relief and Sensodyne Rapid Action in relieving dentin hypersensitivity: a randomized controlled trial.

BACKGROUND: Dentin hypersensitivity (DH) is a sharp toothache that influences a patients' oral health-related quality of life. Oral dentifrices have been marketed for pain relief within a minute for DH. The permanent management of DH is being investigated with the remineralisation potential of bioactive agents in dentinal tubules. This study investigated the relief from pain in DH in one minute after applying over the counter (OTC) dentifrices with Pro-Argin™ and strontium acetate and directly compared them with fluoro-calcium phospho-silicate (FCPS)-based dentifrices for immediate and sustained inhibition of painful stimulus provoking DH. METHODS: A randomised, controlled, triple-blinded clinical trial was conducted with 140 participants clinically diagnosed with DH and equally randomized into four groups with parallel treatment assignment of FCPS, Pro-Argin™, 8% strontium acetate, and sodium fluoride-based OTC dentifrices, and tested for DH with air blast, mechanical, and water jet stimuli on SCHIFF cold air sensitivity scale (SCASS) and visual analogue scale (VAS) at interim efficacy intervals of one minute, three days, two, four, and six weeks, subsequently. RESULTS: A total of 128 participants completed the trial. All the treatment groups showed statistically significant improvement in DH with p < 0.001 relative to baseline at all time points. Pro-Argin™ showed a greater reduction in DH with mean scores of (1.34 ± 0.68) (4.20 ± 1.70) (3.05 ± 2.17) followed by strontium acetate (1.57 ± 0.81) (4.65 ± 1.87) (3.75 ± 1.97) on SCASS and VAS for mechanical and water jet stimuli, one minute after application. There was no statistically significant treatment difference between the two (p = 0.499). FCPS showed the highest reduction in DH on SCASS and VAS for waterjet stimuli with mean scores of (0.97 ± 0.68) (1.80 ± 1.73) and Pro-Argin™ on VAS for mechanical stimuli with mean scores of (2.15 ± 1.92) in six weeks. CONCLUSION: OTC dentifrices with Pro-argin™ and strontium acetate are effective for immediate pain relief from DH, and FCPS could be the best possible treatment option for long term management of DH. TRIAL REGISTRATION: ID: NCT04249336 ( https://clinicaltrials.gov/ct2/show/NCT04249336 ), Date of Registration: January 30, 2020 (Retrospectively registered).

Role of Deep Learning in Loop Closure Detection for Visual and Lidar SLAM: A Survey.

Loop closure detection is of vital importance in the process of simultaneous localization and mapping (SLAM), as it helps to reduce the cumulative error of the robot's estimated pose and generate a consistent global map. Many variations of this problem have been considered in the past and the existing methods differ in the acquisition approach of query and reference views, the choice of scene representation, and associated matching strategy. Contributions of this survey are many-fold. It provides a thorough study of existing literature on loop closure detection algorithms for visual and Lidar SLAM and discusses their insight along with their limitations. It presents a taxonomy of state-of-the-art deep learning-based loop detection algorithms with detailed comparison metrics. Also, the major challenges of conventional approaches are identified. Based on those challenges, deep learning-based methods were reviewed where the identified challenges are tackled focusing on the methods providing long-term autonomy in various conditions such as changing weather, light, seasons, viewpoint, and occlusion due to the presence of mobile objects. Furthermore, open challenges and future directions were also discussed.

Clothoid: An Integrated Hierarchical Framework for Autonomous Driving in a Dynamic Urban Environment.

In recent years, research and development of autonomous driving technology have gained much interest. Many autonomous driving frameworks have been developed in the past. However, building a safely operating fully functional autonomous driving framework is still a challenge. Several accidents have been occurred with autonomous vehicles, including Tesla and Volvo XC90, resulting in serious personal injuries and death. One of the major reasons is the increase in urbanization and mobility demands. The autonomous vehicle is expected to increase road safety while reducing road accidents that occur due to human errors. The accurate sensing of the environment and safe driving under various scenarios must be ensured to achieve the highest level of autonomy. This research presents Clothoid, a unified framework for fully autonomous vehicles, that integrates the modules of HD mapping, localization, environmental perception, path planning, and control while considering the safety, comfort, and scalability in the real traffic environment. The proposed framework enables obstacle avoidance, pedestrian safety, object detection, road blockage avoidance, path planning for single-lane and multi-lane routes, and safe driving of vehicles throughout the journey. The performance of each module has been validated in K-City under multiple scenarios where Clothoid has been driven safely from the starting point to the goal point. The vehicle was one of the top five to successfully finish the autonomous vehicle challenge (AVC) in the Hyundai AVC.

A pilot study of the pan-class I PI3K inhibitor buparlisib in combination with cetuximab in patients with recurrent or metastatic head and neck cancer.

BACKGROUND: This study assessed the maximum tolerated dose (MTD) of the PI3K inhibitor buparlisib given concurrently with cetuximab in recurrent and metastatic (R/M) head and neck squamous cell carcinoma (HNSCC). METHODS: Twelve patients with R/M HNSCC were enrolled. Patients were given oral buparlisib starting day 7 and daily thereafter. The dose of buparlisib was escalated in a 3 + 3 design followed by a dose expansion cohort of 6 patients. The MTD of buparlisib per protocol was 100 mg daily with cetuximab given intravenously every 14 days starting day 0. RESULTS: Ten patients had ≥2 previous treatment regimens (11 with prior cetuximab). There were no dose limiting toxicities observed during dose escalation. One patient achieved a partial response and 4 achieved stable disease. CONCLUSION: Based on this pilot study, buparlisib at 100 mg daily plus cetuximab proved to be well-tolerated. Patients previously treated with cetuximab monotherapy showed benefit from this combination.

In Vitro Antidiabetic Effects and Antioxidant Potential of Cassia nemophila Pods.

The antidiabetic and antioxidant potential of ethanolic extract of Cassia nemophila pod (EECNP) was evaluated by three in vitro assays, including yeast glucose uptake assay, glucose adsorption assay, and DPPH radical scavenging activity. The result revealed that the extracts have enhanced the uptake of glucose through the plasma membrane of yeast cells. A linear increase in glucose uptake by yeast cells was noticed with gradual increase in the concentration of the test samples. Moreover, the adsorption capacity of the EECNP was directly proportional to the molar concentration of glucose. Also, the DPPH radical scavenging capacity of the extract was increased to a maximum value of 43.3% at 80 µg/ml, which was then decreased to 41.9% at 100 µg/ml. From the results, it was concluded that EECNP possess good antidiabetic and antioxidant properties as shown by in vitro assays.

Presence of small sessile serrated polyps increases rate of advanced neoplasia upon surveillance compared with isolated low-risk tubular adenomas.

BACKGROUND AND AIMS: The U.S. Multi-Society Task Force (USMSTF) stratifies patients with sessile serrated polyps (SSPs) without cytologic dysplasia of <10 mm in size as at low risk for metachronous advanced neoplasia and recommends management similar to low-risk conventional tubular adenomas. Evidence supporting the recommended surveillance interval for these low-risk SSPs is limited. We aimed to assess rates of metachronous advanced neoplasia based on the presence of an initial low-risk SSP compared with isolated low-risk tubular adenomas. METHODS: Colonoscopy data were retrieved for 2260 patients found to have an adenoma or SSP on pathology records between 2005 and 2011 at an academic medical center. The 788 patients who met study design criteria were stratified into 4 groups based on the presence of a high- or low-risk adenoma (HRA or LRA) and of a synchronous SSP on initial colonoscopy. The rates of advanced neoplasia at surveillance colonoscopy were then compared between groups. RESULTS: The rate of advanced neoplasia at surveillance in the LRA inclusive of SSP group (12/66, 18.2%) was greater than in the LRA without any SSP group (29/370, 7.8%; P = .019). The rate of advanced neoplasia at surveillance in patients with isolated low-risk SSP (10/56, 17.9%) remained significantly greater than those with isolated low-risk tubular adenomas (29/370, 7.8%; P = .024). The rate of advanced neoplasia upon surveillance in the LRA inclusive of SSP group (18.2%) was comparable with the rate observed in the index HRA without any SSP group (15.9%) (40/252, P = .709). CONCLUSIONS: The rate of advanced neoplasia upon surveillance in patients with initial low-risk SSPs is higher than in patients with initial isolated low-risk tubular adenomas and more similar to patients with initial high-risk tubular adenomas. These findings suggest that the rate of metachronous advanced neoplasia in patients with what are considered by USMSTF as "low-risk" SSPs is higher than in those without SSPs. Therefore, a surveillance interval that accounts for the presence of SSPs even in small lesions without cytologic dysplasia should be considered.