Single-Shot Intrinsic Calibration for Autonomous Driving Applications.

In this paper, we present a first-of-its-kind method to determine clear and repeatable guidelines for single-shot camera intrinsic calibration using multiple checkerboards. With the help of a simulator, we found the position and rotation intervals that allow optimal corner detector performance. With these intervals defined, we generated thousands of multiple checkerboard poses and evaluated them using ground truth values, in order to obtain configurations that lead to accurate camera intrinsic parameters. We used these results to define guidelines to create multiple checkerboard setups. We tested and verified the robustness of the guidelines in the simulator, and additionally in the real world with cameras with different focal lengths and distortion profiles, which help generalize our findings. Finally, we used a 3D LiDAR (Light Detection and Ranging) to project and confirm the quality of the intrinsic parameters projection. We found it possible to obtain accurate intrinsic parameters for 3D applications, with at least seven checkerboard setups in a single image that follow our positioning guidelines.

Derealization symptoms according to the subjective visual vertical during unilateral centrifugation in patients with type 2 diabetes mellitus.

BACKGROUND: A recent study has shown variability on the perception of verticality during unilateral centrifugation among patients with type 2 diabetes mellitus; it is yet unknown if it is related to symptoms of unreality. OBJECTIVE: In patients with type 2 diabetes mellitus compared to age matched healthy volunteers, to assess depersonalization/derealization (DD) symptoms before and after unilateral centrifugation, according to the subjective visual vertical (SVV). METHODS: 47 patients with type 2 diabetes mellitus and 50 age matched healthy volunteers participated in the study. They replied to standardized questionnaires of symptoms related to balance, depression, and anxiety. Then, after neuro-otological evaluation, they completed a DD inventory before and after unilateral centrifugation (300°/s, 3.85 cm) with SVV estimation. RESULTS: Right/left asymmetric SVV during centrifugation was identified in 17 patients (36%) and no SVV change during centrifugation was identified in 6 patients (13%). Before centrifugation, patients with asymmetric SVV already reported some of the DD symptoms, while patients with no SVV change reported almost no DD symptoms. Unilateral centrifugation provoked an increase of DD symptoms in both healthy volunteers and the entire group of patients (repeated measures ANOVA, p < 0.01), except in the 6 patients with no SVV change. Before centrifugation, the DD score showed influence from the SVV subgroup and the evidence of depression (MANCoVA, p < 0.01); after centrifugation, which provoked asymmetry of the right/left utricular input, only the influence from depression persisted. No influence was observed from the characteristics of the subjects, including retinopathy, peripheral neuropathy (assessed by electromyography) or weight loss, or from the total score on the questionnaire of symptoms related to balance. CONCLUSIONS: In patients with type 2 diabetes mellitus and healthy volunteers, utricular stimulation by unilateral centrifugation may provoke DD symptoms, with an influence from depression. The results support that the aphysiological utricular input given by unilateral centrifugation may contribute to create a misleading vestibular frame of reference, giving rise to 'unreal' perceptions.

Kinetic of Adhesion of S. epidermidis with Different EPS Production on Ti6Al4V Surfaces.

Controlling initial bacterial adhesion is essential to prevent biofilm formation and implant-related infection. The search for surface coatings that prevent initial adhesion is a powerful strategy to obtain implants that are more resistant to infection. Tracking the progression of adhesion on surfaces from the beginning of the interaction between bacteria and the surface provides a deeper understanding of the initial adhesion behavior. To this purpose, we have studied the progression over time of bacterial adhesion from a laminar flow of a bacterial suspension, using a modified Robbins device (MRD). Comparing with other laminar flow devices, such as the parallel plate flow chamber, MRD allows the use of diverse substrata under the same controlled flow conditions simultaneously. Two different surfaces of Ti6Al4V and two strains of Staphylococcus epidermidis with different exopolymer production were tested. In addition, the modified Robbins device was examined for its convenience and suitability for the purpose of this study. Results were analyzed according to a pseudofirst order kinetic. The values of the parameters obtained from this model make it possible to discriminate the adhesive behavior of surfaces and bacteria. One of the fitting parameters depends on the bacterial strain and the other only on the surface properties of the substrate.

Physiological changes of the lichen Parmotrema tinctorum as result of carbon nanotubes exposition.

Carbon nanotubes (CNT) is one of the more abundant nanomaterial produced in the world. Therefore, it is desirable to access its effects in all environment compartments, in order to mitigate environmental distress. This study aims to verify the potential use of lichens - classical atmospheric pollution indicators - as biomonitors of carbon nanotubes aerosols. To examine cause-effect relationships, preserving environmental microclimatic parameters, the lichen Parmotrema tinctorum (Nyl.) Hale was transplanted to open top chambers where aerosols of CNT were daily added. Physiological parameters such as cell viability, photosynthetic efficiency, cell permeability as well as nanoparticle internalization were assessed. Carbon nanotubes exposure led to reduction on the cell viability of P. tinctorum. The treatment with 100µg/mL of MWCNT-COOH resulted in intracellular ion leakage, probably due to changes in membrane permeability. No alterations on photosynthetic efficiency were detected. Carbon nanotubes entrapment and internalization into the lichen thallus were observed. Short term exposition of CNT produced measurable physiological changes in P. tinctorum lichen. This suggests the possibility of use of lichens as models to assess the environmental impact (air related) of engineered nanomaterials.

Controlled silanization-amination reactions on the Ti6Al4V surface for biomedical applications.

Formation of thin films on titanium alloys incorporating bioactive small molecules or macromolecules is a route to improve their biocompatibility. Aminoalkylsilanes are commonly employed as interface reagents that combine good adhesion properties with an amino tail group susceptible of further functionalization. This article introduces a reproducible methodology to obtain a cross-linked polymer-type brush structure of covalently-bonded aminoalkylsiloxane chains on Ti6Al4V. The experimental protocol can be fine-tuned to provide a high density of surface-coated amino groups (threshold value: 2.1±0.1×10(-8) mol cm(-2)) as proven by chemical and spectrophotometric analyses. Using a model reaction involving the condensation of 3-aminopropyltrimethoxysilane (APTMS) on Ti6Al4V alloy, we herein show the effects of reaction temperature, reaction time and solvent humidity on the composition and structure of the film. The stability of the resulting coating under physiological-like conditions as well as the possibility of surface re-silanization has also been evaluated. To verify if detrimental effects on the biological performance of the Ti6Al4V alloy were induced by this coverage, human primary osteoblasts behavior, Staphylococci adhesion and biofilm formation have been tested and compared to the Ti6Al4V oxidized surface. Reaction with trans-cinnamaldehyde has used in order to determine useful amino groups at aminosilanized surface, XPS and UV analyses of imino derivatives generated reveal that almost a 50% of these groups are actually available at the siloxane chains.