"Estimating soil surface roughness by proximal sensing for soil erosion modeling implementation at field scale".

Soil Surface Roughness (SSR) is a physical feature of soil microtopography, which is strongly influenced by tillage practices and plays a key role in hydrological and soil erosion processes. Therefore, surface roughness indices are required when using models to estimate soil erosion rates, where tabular values or direct measurements can be used. Field measurements often imply out-of-date and time-consuming methods, such as the pin meter and the roller chain, providing inaccurate indices. A novel technique for SSR measurement has been adopted, employing an RGB-Depth camera to produce a small-scale Digital Elevation Model of the soil surface, in order to extrapolate roughness indices. Canopy cover coverage (CC) of the cover crop was also detected from the camera's images. The values obtained for SSR and CC indices were implemented in the MMF (Morgan-Morgan-Finney) model, to validate the reliability of the proposed methodology by comparing the models' results for sediment yields with long-term soil erosion measurements in sloping vineyards in NW Italy. The performance of the model in predicting soil losses was satisfactory to good for a vineyard plot with inter-rows managed with recurrent tillage, and it was improved using spatialized soil roughness input data with respect to a uniform value. Performance for plot with permanent ground cover was not so good, however it was also improved using spatialized data. The measured values were also useful to obtain C-factor for RUSLE application, to be used instead of tabular values.

A Factor-Graph-Based Approach to Vehicle Sideslip Angle Estimation.

Sideslip angle is an important variable for understanding and monitoring vehicle dynamics, but there is currently no inexpensive method for its direct measurement. Therefore, it is typically estimated from proprioceptive sensors onboard using filtering methods from the family of the Kalman filter. As a novel alternative, this work proposes modeling the problem directly as a graphical model (factor graph), which can then be optimized using a variety of methods, such as whole-dataset batch optimization for offline processing or fixed-lag smoothing for on-line operation. Experimental results on real vehicle datasets validate the proposal, demonstrating a good agreement between estimated and actual sideslip angle, showing similar performance to state-of-the-art methods but with a greater potential for future extensions due to the more flexible mathematical framework. An open-source implementation of the proposed framework has been made available online.

Totally laparoscopic repair of an ileal and uterine iatrogenic perforation secondary to endometrial curettage.

Small bowel perforation is a unique, serious complication during endometrial biopsy. The authors report a case of a double uterine-ileal perforation totally managed by primary laparoscopic repair. A 63-year-old female was admitted with acute abdomen 2 days after an endometrial curettage. Abdominal X-ray shows signs of pneumoperitoneum. Emergency diagnostic laparoscopy was performed and a uterine-ileal perforation was identified. Repair was accomplished by a totally laparoscopic intracorporeally suturing of the 2 breaches. Postoperative course showed only a delayed ileus and the patient was discharged after 5 days with no complications. When acute abdomen arises following uterine biopsy, a potential iatrogenic intestinal laceration always has to be ruled out. Laparoscopic approach is a quick and safe technique in these cases. Totally laparoscopic primary closure of the iatrogenic ileal laceration may be accomplished with low morbidity.

Retroperitoneal sarcoma involving unilateral double ureter: management, treatment and psychological implications.

The case of a 45-year-old woman who was admitted to our university hospital for polymenorrhea, weight gain and pain in the left iliac region is reported. An abdominal ultrasound revealed a 9.5 × 5.2-cm, hypoechoic and inhomogeneous mass located on the left side of the pelvis and behind the ovary. The patient underwent surgery. The pelvic mass was firmly anchored to the small intestine, colon, sigma and uterine fundus. After removing the adhesions, double ureters, which had been incorporated in the mass, were observed on the left side. Resection of the unilateral double ureters was necessary in order to remove the entire mass, and thereafter, a left salpingoophorectomy was performed. A histological examination showed a malignant retroperitoneal mass. Termino-terminal ureteral anastomosis with two double-J stents was carried out. Total hysterectomy with preservation of the right adenexum and regional lymphadenectomy was performed. The purpose of this case report is to discuss the physical and psychological implications related to the combination of two rare entities: leiomyosarcoma and a double ureter located within the mass. A literature review on the clinical management and psychological aspects from a female cancer patient's perspective undergoing surgery with the aforementioned disorders will be discussed.