Real-Time Tracking of Single and Multiple Objects from Depth-Colour Imagery Using 3D Signed Distance Functions.

We describe a novel probabilistic framework for real-time tracking of multiple objects from combined depth-colour imagery. Object shape is represented implicitly using 3D signed distance functions. Probabilistic generative models based on these functions are developed to account for the observed RGB-D imagery, and tracking is posed as a maximum a posteriori problem. We present first a method suited to tracking a single rigid 3D object, and then generalise this to multiple objects by combining distance functions into a shape union in the frame of the camera. This second model accounts for similarity and proximity between objects, and leads to robust real-time tracking without recourse to bolt-on or ad-hoc collision detection.

Muonium chemistry and spin dynamics in sulphur, modelling interstitial hydrogen.

The nature of the elusive muonium centre in sulphur is re-examined in the light of new data on its level-crossing resonance and spin-lattice relaxation. The aim is to provide a model for the solid-state chemistry of interstitial hydrogen in this element, which is as yet unknown, as well as to solve one of the longest standing puzzles in µSR spectroscopy, namely the surprisingly strong depolarization of muons mimicking ion-implanted protons in this innocuous non-magnetic material. The paramagnetic muonium (and by inference hydrogen) centre is confirmed to have the character of a molecular radical, but with huge anisotropy at cryogenic temperatures and a striking shift of the resonance at ordinary temperatures, the hyperfine parameters appearing to collapse and vanish towards the melting point. New density-functional supercell calculations identify a number of possible structures for the defect centre, including a novel form of bond-centred muonium in a closed-ring S(8)Mu complex. Simulations of the spin dynamics and fits to the spectra suggest a dynamical equilibrium or chemical exchange between several configurations, with occupancy of the bond-centre site falling from unity at low cryogenic temperatures to zero near the melting point.

"Spin-labelling" with the second hydrogen radioisotope: radicals formed from squalene by muonium addition.

By radio-labelling with muonium (the second hydrogen radioisotope), a free radical species has been clearly identified in squalene (2,6,10,15,19,23-hexamethyl-2,6,10,14,18,22-tetracosahexaene ) with a muon-electron hyperfine coupling of 240.7 MHz, as measured by the muon spin rotation (MuSR) technique. The radical is undetectable in pure squalene due to its high viscosity and the large molecular size which leads to extreme line broadening, but its signals may be resolved on reducing the viscosity of the medium by dilution with diethyl ether. The potential of the MuSR method is thus demonstrated as a means for spin-labelling radical species such as are formed from cellular antioxidants; ESR spectroscopy is unsuitable for studies of radicals formed from this molecule, due to extreme line-broadening and spectral complexity.

Steering without representation with the use of active fixation.

This paper demonstrates the use of active fixation on both fixed and moving fixation points to guide a robot vehicle by means of a steering rule which, at large distances, sets the steering angle directly proportional to the deviation of gaze direction from translation direction. Steering a motor vehicle around a winding but otherwise uncluttered road has been observed by Land and Lee to involve repeated periods of visual fixation upon the tangent point of the inside of each bend. We suggest that proportional rule devised for steering in the robotic example appears applicable to the observed human performance data, providing an alternative explanation to the quadratic rule proposed by Land and Lee.

Muon spectroscopy applied to biological systems: a study of thiyl radicals, RS.

Thiyl radicals (RS.) are formed when positive muons (mu+) are implanted into solutions of thiocarbonyl compounds (C = S) in ethanol, tetrahydrofuran or formamide solvents. A solvent dependence is found, which reflects changing electronic interactions and overall conformations, suggesting that the properties of RS. radicals may be dependent on the polarity (philicity) of the environment in which they are formed.

Lignin oxidation by laccase isozymes from Trametes versicolor and role of the mediator 2,2'-azinobis(3-ethylbenzthiazoline-6-sulfonate) in kraft lignin depolymerization.

Two laccase isozymes (I and II) produced by the white-rot fungus Trametes versicolor were purified, and their reactivities towards various substrates and lignins were studied. The N-terminal amino acid sequences of these enzymes were determined and compared to other known laccase sequences. Laccase II showed a very high sequence similarity to a laccase which was previously reported to depolymerize lignin. The reactivities of the two isozymes on most of the substrates tested were similar, but there were some differences in the oxidation rate of polymeric substrates. We found that the two laccases produced similar qualitative effects on kraft lignin and residual lignin in kraft pulp, with no evidence of a marked preference for depolymerization by either enzyme. However, the presence of the mediator 2,2'-azinobis(3-ethylbenzthiazoline-6-sulfonate) prevented and reversed the polymerization of kraft lignin by either laccase. The delignification of hardwood and softwood kraft pulps with the two isozymes and the mediator was compared; either laccase was able to reduce the kappa number of pulp, but only in the presence of 2,2'-azinobis(3-ethylbenzthiazoline-6-sulfonate).

Effect of Residual Lignin Type and Amount on Bleaching of Kraft Pulp by Trametes versicolor.

The white rot fungus Trametes (Coriolus) versicolor can delignify and brighten unbleached hardwood kraft pulp within a few days, but softwood kraft pulps require longer treatment. To determine the contributions of higher residual lignin contents (kappa numbers) and structural differences in lignins to the recalcitrance of softwood kraft pulps to biobleaching, we tested softwood and hardwood pulps cooked to the same kappa numbers, 26 and 12. A low-lignin-content (overcooked) softwood pulp resisted delignification by T. versicolor, but a high-lignin-content (lightly cooked) hardwood pulp was delignified at the same rate as a normal softwood pulp. Thus, the longer time taken by T. versicolor to brighten softwood kraft pulp than hardwood pulp results from the higher residual lignin content of the softwood pulp; possible differences in the structures of the residual lignins are important only when the lignin becomes highly condensed. Under the conditions used in this study, when an improved fungal inoculum was used, six different softwood pulps were all substantially brightened by T. versicolor. Softwood pulps whose lignin contents were decreased by extended modified continuous cooking or oxygen delignification to kappa numbers as low as 15 were delignified by T. versicolor at the same rate as normal softwood pulp. More intensive O(2) delignification, like overcooking, decreased the susceptibility of the residual lignin in the pulps to degradation by T. versicolor.

Manganese Peroxidase, Produced by Trametes versicolor during Pulp Bleaching, Demethylates and Delignifies Kraft Pulp.

Previous work has shown that Trametes (Coriolus) versicolor bleaches kraft pulp brownstock with the concomitant release of methanol. In this work, the fungus is shown to produce both laccase and manganese peroxidase (MnP) but not lignin peroxidase during pulp bleaching. MnP production was enhanced by the presence of pulp and/or Mn(II) ions. The maximum level of secreted MnP was coincident with the maximum rate of fungal bleaching. Culture filtrates isolated from bleaching cultures produced Mn(II)- and hydrogen peroxide-dependent pulp demethylation and delignification. Laccase and MnP were separated by ion-exchange chromatography. Purified MnP alone produced most of the demethylation and delignification exhibited by the culture filtrates. On the basis of the methanol released and the total and phenolic methoxyl contents of the pulp, it appears that MnP shows a preference for the oxidation of phenolic lignin substructures. The extensive increase in brightness observed in the fungus-treated pulp was not found with MnP alone. Therefore, either the MnP effect must be optimized or other enzymes or compounds from the fungus are also required for brightening.

Solubilization and mineralization of lignin by white rot fungi.

The white rot fungi Lentinula edodes, Phanerochaete chrysosporium, Pleurotus sajor-caju, Flammulina velutipes, and Schizophyllum commune were grown in liquid media containing C-lignin-labelled wood, and the formation of water-soluble C-labelled products and CO(2), the growth of the fungi, and the activities of extracellular lignin peroxidase, manganese peroxidase, and laccase were measured. Conditions that affect the rate of lignin degradation were imposed, and both long-term (0- to 16-day) and short-term (0- to 72-h) effects on the production of the two types of product and on the activities of the enzymes were monitored. The production of CO(2)-labelled products from the aqueous ones was also investigated. The short-term studies showed that the different conditions had different effects on the production of the two products and on the activities of the enzymes. Nitrogen sources inhibited the production of both products by all species when differences in growth could be discounted. Medium pH and manganese affected lignin degradation by the different species differently. With P. chrysosporium, the results were consistent, with lignin peroxidase playing a role in lignin solubilization and manganese peroxidase being important in subsequent CO(2) production.

Intermediates and products of synthetic lignin (dehydrogenative polymerizate) degradation by Phlebia tremellosa.

Agitated, nitrogen-limited cultures of Phlebia tremellosa caused substantial changes in the distribution of 14C-labelled synthetic lignin (dehydrogenative polymerizate [DHP]) between water-soluble, dioxane-soluble, alkali-soluble, and insoluble fractions before much lignin carbon was metabolized to CO2. First, the insoluble form increased at the expense of the dioxane-soluble form. Later, the amounts of alkali-soluble and water-soluble 14C increased, and release of 14CO2 began. The molecular weight distribution of the dioxane-soluble lignin remained constant during degradation, but that of the water-soluble fraction changed to higher molecular weights. Culture agitation accelerated the attachment of suspended DHP to the mycelia and stimulated production of water-soluble 14C and 14CO2. The nonionic detergent Tween 80 also hastened release of 14CO2 and increased the early conversion of dioxane-soluble DHP to the alkali-soluble and insoluble forms. Oxidative polymerization is suggested as the first step in degradation of DHP by P. tremellosa.

Relationship between Fungal Biomass Production and the Brightening of Hardwood Kraft Pulp by Coriolus versicolor.

The white-rot fungus Coriolus versicolor increased the brightness of hardwood kraft pulp by two mechanisms depending on the concentration of available nitrogen. In low-nitrogen conditions, the brightening process was a chemical effect mediated by the fungus, associated with the removal of residual lignin in the pulp; kappa number was used as an indicator of lignin concentration. A five-day treatment in low-nitrogen conditions increased the brightness of hardwood kraft pulp from 36.2 to 54.5%, with a corresponding decrease in kappa number from 12.0 to 8.5, equivalent to a reduction in the lignin concentration from ca. 2.0% (wt/wt) to ca. 1.4% (wt/wt). Under these conditions, we concluded that the brightening of the pulp was a secondary metabolic event initiated after the depletion of available nitrogen. This method of brightening has been described as bleaching or biobleaching. By contrast, in high-nitrogen conditions, the brightening was a physical effect associated with the dilution of the dark pulp fibers by the relatively high levels of brighter fungal mycelium produced. Since this method of brightening was not evidently associated with lignin removal, it cannot be described as bleaching. In pulp samples brightened in high-nitrogen conditions, as brightness increased, there was a corresponding increase in kappa number. This observation was explained by the consumption of potassium permanganate by the fungal mycelium, which interfered with kappa number determinations at high fungal biomass levels.

Delignification of Wheat Straw by Pleurotus spp. under Mushroom-Growing Conditions.

Pleurotus sajor-caju, P. sapidus, P. cornucopiae, and P. ostreatus mushrooms were produced on unsupplemented wheat straw. The yield of mushrooms averaged 3.6% (dry-weight basis), with an average 18% straw weight loss. Lignin losses (average, 11%) were lower than cellulose (20%) and hemicellulose (50%) losses. The cellulase digestibility of the residual straw after mushroom harvest was generally lower than that of the original straw. It does not appear feasible to simultaneously produce Pleurotus mushrooms and a highly delignified residue from wheat straw.

Ultrastructural Aspects of Wood Delignification by Phlebia (Merulius) tremellosus.

Wood from aspen and birch that had been decayed for 12 weeks by Phlebia tremellosus had averages of 30 and 31% weight loss, respectively, and 70% lignin loss. Digestibility increased from averages of 21 and 13% for sound aspen and birch to 54 and 51% for decayed aspen and birch. Individual wood sugar analyses of decayed birch blocks indicated an average loss of 10% glucose, 45% xylose, and 19% mannose. Micromorphological studies demonstrated the removal of middle lamellae and separation of cells. Vessels also separated at perforation plates. Electron microscopy with OsO(4)-glutaraldehyde-fixed and KMnO(4)-fixed wood showed that lignin was progressively removed first from the secondary cell wall layers, beginning at the lumen surface, and later from the compound middle lamella. Extensive degradation of lignin was found throughout the secondary wall and middle lamella region between cells. In cells with advanced decay, the middle lamella between cells was completely degraded, but cell corner regions remained.

Biological Delignification of Aspen Wood by Solid-State Fermentation with the White-Rot Fungus Merulius tremellosus.

Solid-state fermentation of aspen (Populus tremuloides) wood with Merulius tremellosus for 8 weeks removed 52% of the lignin but only 12% of the total wood weight, and increased the cellulase digestibility to 53% from 18%. Water-soluble and enzyme-solubilized lignin degradation products accumulated. Delignification was fastest at temperatures between 25 and 32.5 degrees C and at a water-to-wood ratio of 2. Initial pH values between 4 and 6 were optimal; M. tremellosus acidified the wood to below pH 3.5 as it grew. The fungus tolerated CO(2) concentrations of at least 14% and O(2) concentrations down to 7% in the bulk gas phase. Both simple and complex nitrogen supplements inhibited delignification. Supplementary KH(2)PO(4), MgSO(4), CaCl(2), thiamine, and trace elements had little effect on the fermentation. Four isolates of M. tremellosus had very similar abilities to delignify aspen wood. Biological delignification with M. tremellosus may be a useful pretreatment for enzymatic saccharification or ruminant feeding.

Effects of Nitrogen Supplements on Degradation of Aspen Wood Lignin and Carbohydrate Components by Phanerochaete chrysosporium.

A supplement of KH(2)PO(4), MgSO(4), CaCl(2), trace elements, and thiamine accelerated the initial rate of aspen wood decay by Phanerochaete chrysosporium but did not increase the extent of lignin degradation. Asparagine, casein hydrolysate, and urea supplements (1% added N) strongly inhibited lignin degradation and weight loss. The complex nitrogen sources peptone and yeast extract stimulated lignin degradation and weight loss. Albumen and NH(4)Cl had intermediate effects. Conversion of [C]lignin to CO(2) and water-soluble materials underestimated lignin degradation in the presence of the complex N sources. The highest ratio of lignin degradation to total weight loss and the largest increase in cellulase digestibility occurred during the decay of unsupplemented wood. Rotting of aspen wood by P. chrysosporium gives smaller digestibility increases than have been found with some other white-rot fungi.

Effects of Nitrogen Sources on Cellulose and Synthetic Lignin Degradation by Phanerochaete chrysosporium.

Phanerochaete chrysosporium degraded cellulose faster with organic nitrogen sources than with NH(4)Cl. Simple and complex nitrogen sources added at the time of inoculation to N-limited cultures of P. chrysosporium, with glucose as carbon/energy source, transiently stimulated degradation of synthetic [C]lignin to CO(2). The same nitrogen sources added 5 days after inoculation, when the cultures were entering secondary metabolism, delayed CO(2) production. The various N sources affected synthetic lignin degradation in defined medium differently than lignin degradation in aspen wood.

Further study discounts role for singlet oxygen in fungal degradation of lignin model compounds.

This study reexamined our contention that singlet oxygen (1O2) plays a role in the fungal degradation of lignin (BBRC 102(1981)484). Cultures of Phanerochaete chrysosporium and a photochemical 1O2-generating system (riboflavin/light/O2) cleaved a lignin substructure model compound, 1,2-bis(4-methoxyphenyl)propane-1,3-diol (I), by indistinguishable mechanisms. However, the rate of cleavage of I in D2O was the same as in H2O in the photochemical 1O2-generating system, indicating that 1O2 was not involved. Furthermore, products formed from I in a chemical system for generating 1O2 (H2O2 + NaOCl) differed from those produced by cultures or the photochemical system. It is concluded that 1O2 is not responsible for cleavage of I or related compounds in the fungal cultures or in the photochemical system.

Lignin degradation by Phanerochaete chrysosporium in hyperbaric oxygen.

Phanerochaete chrysosporium degraded aspen wood lignin as well in 2 atm O2 (1 atm = 101.325 kPa) as in 1 atm O2, but 3 atm O2 inhibited the fungus, and O2 pressures above 4 atm killed it. Lignin degradation in 5 atm of air was similar to that in 1 atm of O2, indicating that O2 concentration, not pressure, was the inhibitory factor. The selectivity with which P. chrysosporium metabolised lignin in preference to other wood components did not increase at O2 pressures above 1 atm.

Cell-wall composition and structure of yeast cells and conjugation tubes of Tremella mesenterica.

Cell walls prepared from vegetative yeast cells and from hormone-induced conjugation tubes of the basidiomycete Tremella mesenterica had similar compositions. Evidence was found for 1,3-alpha-glucan (yeast 38%, tube 25%), 1,3-beta-1,6-beta-glucan (yeast 33%, tube 48%) and chitin (both less than 3%) in the walls. The walls also contained xylose (5 to 7%), mannose (6%), glucuronic acid (approx. 2%), and traces of galactose. Protein amounted to less than 2% of the wall weight. The cell capsule was very insoluble and could not be removed from the cell wall. The conjugation hormone did not appear to exert its effect on cell shape by causing gross changes in wall composition.