Existence of Optimal Flat Ribbons.

We apply the direct method of the calculus of variations to show that any nonplanar Frenet curve in R3 can be extended to an infinitely narrow flat ribbon having minimal bending energy. We also show that, in general, minimizers are not free of planar points, yet such points must be isolated under the mild condition that the torsion does not vanish.

DSOMF: A Dynamic Environment Simultaneous Localization and Mapping Technique Based on Machine Learning.

To address the challenges of reduced localization accuracy and incomplete map construction demonstrated using classical semantic simultaneous localization and mapping (SLAM) algorithms in dynamic environments, this study introduces a dynamic scene SLAM technique that builds upon direct sparse odometry (DSO) and incorporates instance segmentation and video completion algorithms. While prioritizing the algorithm's real-time performance, we leverage the rapid matching capabilities of Direct Sparse Odometry (DSO) to link identical dynamic objects in consecutive frames. This association is achieved through merging semantic and geometric data, thereby enhancing the matching accuracy during image tracking through the inclusion of semantic probability. Furthermore, we incorporate a loop closure module based on video inpainting algorithms into our mapping thread. This allows our algorithm to rely on the completed static background for loop closure detection, further enhancing the localization accuracy of our algorithm. The efficacy of this approach is validated using the TUM and KITTI public datasets and the unmanned platform experiment. Experimental results show that, in various dynamic scenes, our method achieves an improvement exceeding 85% in terms of localization accuracy compared with the DSO system.

Analytical performance of free testosterone calculated by direct immunoluminometric method compared with the Vermeulen equation: results from a clinical series.

INTRODUCTION: Testosterone (T) is a hormone that is crucial for primary and secondary sexual development in both males and females. Free testosterone (FT) represents the biologically active form of T, and its measurement is of great importance in clinical practice. While application of either equilibrium dialysis or ultrafiltration is considered to be the gold standard for FT assessment, these methods are expensive and not widely accessible. As an alternative, the Vermeulen formula is a commonly utilized calculated method. METHODS: This clinical study, including 190 consecutive patients, was carried out to compare FT levels obtained through direct immunoluminometric assay and the Vermeulen formula. The comparison was performed using Passing-Bablok and Deming regression as well as the Bland-Altman plot. Sensitivity, specificity, accuracy, positive predictive value, and negative predictive value were assessed. RESULTS: The calculated method employing the Vermeulen formula was considered the gold standard. Passing-Bablok regression indicated a good agreement between the two methods, with slopes close to 1 for the whole series. Although the Bland-Altman plot demonstrated overall agreement, a potential proportional bias was observed in females. Deming regression confirmed excellent agreement and reliable estimates. Sensitivity and specificity analysis revealed that the direct method had a sensitivity of 75.0% and a specificity of 93.4% in all patients. However, sensitivity improved to 81.0% in males and dropped to 18.2% in females likely due to the low number of true positive cases. CONCLUSION: The direct method exhibited comparable performance to the calculated method, but caution should be exercised when interpreting results, particularly in females. Further studies are necessary to validate its sensitivity and specificity in larger series.

Should we depend on reference intervals from manufacturer package inserts? Comparing TSH and FT4 reference intervals from four manufacturers with results from modern indirect methods and the direct method.

OBJECTIVES: Correct interpretation of thyroid function tests relies on correct reference intervals (RIs) for thyroid-stimulating hormone (TSH) and free thyroxine (FT4). ISO15189 mandates periodic verification of RIs, but laboratories struggle with cost-effective approaches. We investigated whether indirect methods (utilizing historical laboratory data) could replace the direct approach (utilizing healthy reference individuals) and compared results with manufacturer-provided RIs for TSH and FT4. METHODS: We collected historical data (2008-2022) from 13 Dutch laboratories to re-establish RIs by employing indirect methods, TMC (for TSH) and refineR (for FT4). Laboratories used common automated platforms (Roche, Abbott, Beckman or Siemens). Indirect RIs (IRIs) were determined per laboratory per year and clustered per manufacturer (>1.000.000 data points per manufacturer). Direct RIs (DRIs) were established in 125 healthy individuals per platform. RESULTS: TSH IRIs remained robust over the years for all manufacturers. FT4 IRIs proved robust for three manufacturers (Roche, Beckman and Siemens), but the IRI upper reference limit (URL) of Abbott showed a decrease of 2 pmol/L from 2015. Comparison of the IRIs and DRIs for TSH and FT4 showed close agreement using adequate age-stratification. Manufacturer-provided RIs, notably Abbott, Roche and Beckman exhibited inappropriate URLs (overall difference of 0.5-1.0 µIU/mL) for TSH. For FT4, the URLs provided by Roche, Abbott and Siemens were overestimated by 1.5-3.5 pmol/L. CONCLUSIONS: These results underscore the importance of RI verification as manufacturer-provided RIs are often incorrect and RIs may not be robust. Indirect methods offer cost-effective alternatives for laboratory-specific or platform-specific verification of RIs.

A new method for estimating Sharpe ratio function via local maximum likelihood.

The Sharpe ratio function is a commonly used risk/return measure in financial econometrics. To estimate this function, most existing methods take a two-step procedure that first estimates the mean and volatility functions separately and then applies the plug-in method. In this paper, we propose a direct method via local maximum likelihood to simultaneously estimate the Sharpe ratio function and the negative log-volatility function as well as their derivatives. We establish the joint limiting distribution of the proposed estimators, and moreover extend the proposed method to estimate the multivariate Sharpe ratio function. We also evaluate the numerical performance of the proposed estimators through simulation studies, and compare them with existing methods. Finally, we apply the proposed method to the three-month US Treasury bill data and that captures a well-known covariate-dependent effect on the Sharpe ratio.

Global robust exponential stability of interval BAM neural networks with multiple time-varying delays: A direct method based on system solutions.

This paper analyzes global robust exponential stability of interval bidirectional associative memory (BAM) neural networks with multiple time-varying delays, proposes a direct method based on system solutions, and gives sufficient conditions under which interval BAM neural networks have a unique and globally robustly exponentially stable equilibrium point. This method not only avoids the difficult to set up any Lyapunov-Krasovskii functional, but also derives simpler global robust exponential stability criteria. Compared with the data from other literature, the robust exponential stability criteria obtained in this paper have been presented to have more merits theoretically and numerically.

Description of 3 failed attempts to estimate the calcium equivalency of phytase for growth performance and tibia ash of broiler chickens when using graded dietary levels of limestone.

Three broiler experiments were conducted to estimate the Ca equivalency of a novel phytase using direct and indirect methods. All 3 experiments employed 4 concentrations of limestone to create 4 reference diets, deficient in nonphytate P, with increasing dietary Ca. Phytase was supplemented to the lowest Ca reference diet at 350, 700, 1,400, or 2,800 FYT/kg in experiment (Exp.) 1 and Exp. 2 and at 500, 1,000, 2,000, or 4,000 FYT/kg in Exp. 3. Broilers were fed from d 8 to 10 and 20 to 24, 19 to 21, or 7 to 10 and 7 to 21 posthatching in Exp. 1, 2, or 3, respectively. Diet did not affect growth performance or tibia ash in Exp. 1. Reducing the dietary Ca linearly (P < 0.05) increased body weight gain (BWG) and feed intake (FI) in Exp. 2 or Exp. 3. Feed conversion ratio (FCR) was decreased (linear or quadratic, P < 0.05) as dietary Ca was reduced in Exp. 2 or Exp. 3 (d 7-21). Tibia ash percent linearly (P < 0.05) decreased as dietary Ca decreased in Exp. 3 but only from d 7 to 21 and phytase increased (linear or quadratic, P < 0.05) FI and BWG, and decreased FCR. In Exp. 1 (d 8-10) and Exp. 2, apparent ileal digestibility (AID), total tract retention, and apparent digested and retained Ca or P increased (linear or quadratic, P < 0.05) as dietary Ca decreased. Phytase increased (linear or quadratic, P < 0.05) AID and apparent digested and retained Ca or P in Exp. 1 or Exp. 2. Due to the nature of the effect of dietary Ca on performance or tibia ash, it was not possible to use the indirect method to estimate the Ca equivalence of phytase in the current experiments. The total and digestible Ca equivalence of phytase could be estimated using the direct method. These experiments highlight challenges to consider when designing experiments to estimate the Ca equivalency for phytase in the future.

A Robust Semi-Direct 3D SLAM for Mobile Robot Based on Dense Optical Flow in Dynamic Scenes.

Dynamic objects bring about a large number of error accumulations in pose estimation of mobile robots in dynamic scenes, and result in the failure to build a map that is consistent with the surrounding environment. Along these lines, this paper presents a robust semi-direct 3D simultaneous localization and mapping (SLAM) algorithm for mobile robots based on dense optical flow. First, a preliminary estimation of the robot's pose is conducted using the sparse direct method and the homography matrix is utilized to compensate for the current frame image to reduce the image deformation caused by rotation during the robot's motion. Then, by calculating the dense optical flow field of two adjacent frames and segmenting the dynamic region in the scene based on the dynamic threshold, the local map points projected within the dynamic regions are eliminated. On this basis, the robot's pose is optimized by minimizing the reprojection error. Moreover, a high-performance keyframe selection strategy is developed, and keyframes are inserted when the robot's pose is successfully tracked. Meanwhile, feature points are extracted and matched to the keyframes for subsequent optimization and mapping. Considering that the direct method is subject to tracking failure in practical application scenarios, the feature points and map points of keyframes are employed in robot relocation. Finally, all keyframes and map points are used as optimization variables for global bundle adjustment (BA) optimization, so as to construct a globally consistent 3D dense octree map. A series of simulations and experiments demonstrate the superior performance of the proposed algorithm.

A novel method to estimate the absorption rate constant for two-compartment model fitted drugs without intravenous pharmacokinetic data.

The in vivo performances of most drugs after extravascular administration are fitted well with the two-compartment pharmacokinetic (PK) model, but the estimation of absorption rate constant (ka) for these drugs becomes difficult during unavailability of intravenous PK data. Herein, we developed a novel method, called the direct method, for estimating the ka values of drugs without using intravenous PK data, by proposing a new PK parameter, namely, maximum apparent rate constant of disposition (kmax). The accuracy of the direct method in ka estimation was determined using the setting parameters (k12, k21, and k10 values at high, medium, and low levels, respectively) and clinical data. The results showed that the absolute relative error of ka estimated using the direct method was significantly lower than that obtained using both the Loo-Riegelman method and the statistical moment method for the setting parameters. Human PK studies of telmisartan, candesartan cilexetil, and tenofovir disoproxil fumarate indicated that the ka values of these drugs were accurately estimated using the direct method based on good correlations between the ka values and other PK parameters that reflected the absorption properties of drugs in vivo (Tmax, Cmax, and Cmax/AUC0-t). This novel method can be applied in situations where intravenous PK data cannot be obtained and is expected to provide valuable support for PK evaluation and in vitro-in vivo correlation establishment.

DPO: Direct Planar Odometry with Stereo Camera.

Nowadays, state-of-the-art direct visual odometry (VO) methods essentially rely on points to estimate the pose of the camera and reconstruct the environment. Direct Sparse Odometry (DSO) became the standard technique and many approaches have been developed from it. However, only recently, two monocular plane-based DSOs have been presented. The first one uses a learning-based plane estimator to generate coarse planes as input for optimization. When these coarse estimates are too far from the minimum, the optimization may fail. Thus, the entire system result is dependent on the quality of the plane predictions and restricted to the training data domain. The second one only detects planes in vertical and horizontal orientation as being more adequate to structured environments. To the best of our knowledge, we propose the first Stereo Plane-based VO inspired by the DSO framework. Differing from the above-mentioned methods, our approach purely uses planes as features in the sliding window optimization and uses a dual quaternion as pose parameterization. The conducted experiments showed that our method presents a similar performance to Stereo DSO, a point-based approach.

Complete region of interest reconstruction by fusing multiview deformable three-dimensional transesophageal echocardiography images.

BACKGROUND: While three-dimensional transesophageal echocardiography (3D TEE) has been increasingly used for assessing cardiac anatomy and function, it still suffers from a limited field of view (FoV) of the ultrasound transducer. Therefore, it is difficult to examine a complete region of interest without moving the transducer. Existing methods extend the FoV of 3D TEE images by mosaicing multiview static images, which requires synchronization between 3D TEE images and electrocardiogram (ECG) signal to avoid deformations in the images and can only get the widened image at a specific phase. PURPOSE: This work aims to develop a novel multiview nonrigid registration and fusion method to extend the FoV of 3D TEE images at different cardiac phases, avoiding the bias toward the specifically chosen phase. METHODS: A multiview nonrigid registration and fusion method is proposed to enlarge the FoV of 3D TEE images by fusing dynamic images captured from different viewpoints sequentially. The deformation field for registering images is defined by a collection of affine transformations organized in a graph structure and is estimated by a direct (intensity-based) method. The accuracy of the proposed method is evaluated by comparing it with two B-spline-based methods, two Demons-based methods, and one learning-based method VoxelMorph. Twenty-nine sequences of in vivo 3D TEE images captured from four patients are used for the comparative experiments. Four performance metrics including checkerboard volumes, signed distance, mean absolute distance (MAD), and Dice similarity coefficient (DSC) are used jointly to evaluate the accuracy of the results. Additionally, paired t-tests are performed to examine the significance of the results. RESULTS: The qualitative results show that the proposed method can align images more accurately and obtain the fused images with higher quality than the other five methods. Additionally, in the evaluation of the segmented left atrium (LA) walls for the pairwise registration and sequential fusion experiments, the proposed method achieves the MAD of (0.07 ± 0.03) mm for pairwise registration and (0.19 ± 0.02) mm for sequential fusion. Paired t-tests indicate that the results obtained from the proposed method are more accurate than those obtained by the state-of-the-art VoxelMorph and the diffeomorphic Demons methods at the significance level of 0.05. In the evaluation of left ventricle (LV) segmentations for the sequential fusion experiments, the proposed method achieves a DSC of (0.88 ± 0.08), which is also significantly better than diffeomorphic Demons at the 0.05 level. The FoVs of the final fused 3D TEE images obtained by our method are enlarged around two times compared with the original images. CONCLUSIONS: Without selecting the static (ECG-gated) images from the same cardiac phase, this work addressed the problem of limited FoV of 3D TEE images in the deformable scenario, obtaining the fused images with high accuracy and good quality. The proposed method could provide an alternative to the conventional fusion methods that are biased toward the specifically chosen phase.

The Mechanical and Efficiency Constraints When Swimming Front Crawl with the Aquanex System.

The aim of this study was to compare the mechanical and efficiency constraints between free swim and swimming with differential pressure sensors (Aquanex System). These conditions were also analysed to understand the differences between sexes. Thirty young swimmers, 14 boys and 16 girls (12.31 ± 0.67 years) performed three 25-m front crawl maximal bouts under each condition: free swim and swimming with sensors. Under the condition with sensors, swimmers carried the Aquanex System composed of two hand pressure sensors (v.4.1, Model DU2, Type A, Swimming Technology Research, Richmond, VA, USA). The 25-m time (T25) was assessed as a swimming performance variable. The swimming velocity (v), stroke rate (SR), and stroke length (SL) were assessed and calculated as stroke mechanics variables. Thereafter, the stroke index (SI) and arm stroke efficiency (η F) were estimated for swimming efficiency. Statistical significance was set at p ≤ 0.05. Swimming performance was impaired when swimmers swam with sensors (overall: p = 0.03, d = 0.14; Δ = 1.30%) and a significant decrease in v was found for overall (p = 0.04, d = 0.14; Δ = 1.42%) and the girls' group (p < 0.01, d = 0.39; Δ = -1.99%). The remaining stroke mechanics variables showed no differences between conditions, as well as for swimming efficiency. Furthermore, there were no differences between girls and boys in free swim and with sensors for all variables. Swimming with the Aquanex System seems not to impose constraints in the mechanics and efficiency of young swimmers, despite differences in swimming performance and v.

Research Note: Phosphorus digestibility of corn, wheat, soybean meal, and corn gluten meal in quail chicks.

A series of experiments was designed and conducted to determine the apparent and standardized ileal phosphorus digestibility (i.e., AIDP and SIDP, respectively) of some grains and protein meals in Japanese quail at different age classes during the growing period from the hatch to 35 d of age. Experimental diets included a PFD, to measure basal endogenous P losses (EPL), corn, wheat, soybean meal (SBM), and corn gluten meal (CGM), so as to be each ingredient the sole source of P, were developed and fed to five experimental groups with 5 replicates of 30 chicks each. Titanium dioxide as an indigestible marker was added to the diets at the rate of 5 g/kg of diet. The EPL in birds fed on PFD was estimated at 201 mg/kg dry matter intake (DMI) and quail chicks fed on PFD exhibited the lowest performance compared to chicks received dietary P regardless of P sources (P = 0.001). The estimated coefficients of AIPD (P = 0.001) | SIDP (P = 0.004) for CGM, corn, SBM, and wheat were 49.2 | 51.9%, 38.8 | 44.9%, 41.4 | 45.9%, and 33.2 | 40.1%, respectively. The mean differences between AIPD and SIPD coefficients with each ingredients including CGM (P = 0.245), corn (P = 0.169), and SBM (P = 0.169) were not statistically significant, while the comparison of those estimations for wheat (P = 0.022) showed significant differences. The present work showed that the use of direct method could successfully estimate the coefficients of P digestibility in growing quail for both the cereals and protein meals that were studied. The high relative contribution of endogenous P in young quail fed on wheat during the first 2 wk posthatch makes it inevitable to correct AIDP for EPL and evoke the implementation of SIDP coefficients in the feed formulation matrix.

Fin-TS and Fix-TS on fractional quaternion delayed neural networks with uncertainty via establishing a new Caputo derivative inequality approach.

This paper investigates the finite time synchronization (Fin-TS) and fixed time synchronization (Fix-TS) issues on Caputo quaternion delayed neural networks (QDNNs) with uncertainty. A new Caputo fractional differential inequality is constructed, then Fix-TS settling time of the positive definite function is estimated, which is very convenient to derive Fix-TS condition to Caputo QDNNs. By designing the appropriate self feedback and adaptive controllers, the algebraic discriminant conditions to achieve Fin-TS and Fix-TS on Caputo QDNNs are proposed based on quaternion direct method, Lyapunov stability theory, extended Cauchy Schwartz inequality, Jensen inequality. Finally, the correctness and validity of the presented results under the different orders are verified by two numerical examples.

Comparative study on direct and indirect methods for wet desulphurisation and denitrification based on micro-nano bubbles.

The wet desulphurisation and denitrification technique based on micro-nano bubbles, which is available by either D-method or I-method, is a promising novel process. By employing piped water, Na2SO3 aqueous solution and HA-Na aqueous solution as the absorption liquids, a comparative study was conducted in this article on D-method and I-method to analyze their performance, advantages and disadvantages. It was accompanied by an investigation of how initial pH and initial temperature values of the absorption liquids affected the removal efficiency. The results suggested a positive correlation between NO/SO2 removal efficiencies and pH values but a little improvement in the removal efficiency under alkaline conditions. Furthermore, heating the absorption liquids inhibited the removal of NO and SO2. When manipulated in the same experimental environment, D-method and I-method did not present a significant difference in the SO2 removal efficiency, while the former was remarkably more effective than the latter in removing NO. To put together, D-method had higher removal efficiency, but required a large-scale micro-nano bubble generator to process a large quantity of flue gas as the micro-nano bubble generator was subject to a limited inlet flow rate. Consequently, an increase in investment and operating costs was incurred, while this issue could be avoided by I-method.

Threshold dynamics of a viral infection model with defectively infected cells.

In this paper, we investigate the global dynamics of a viral infection model with defectively infected cells. The explicit expression of the basic reproduction number of virus is obtained by using the next generation matrix approach, where each term has a clear biological interpretation. We show that the basic reproduction number serves as a threshold parameter. The virus dies out if the basic reproduction number is not greater than unity, otherwise the virus persists and the viral load eventually approaches a positive number. The result is established by Lyapunov's direct method. Our novel arguments for the stability of the infection equilibrium not only simplify the analysis (compared with some traditional ones in the literature) but also demonstrate some correlation between the two Lyapunov functions for the infection-free and infection equilibria.

The Way to Modern Shutter Speed Measurement Methods: A Historical Overview.

Exposure time is a fundamental parameter for the photographer when the photo is composed, and the exact length of the exposure may be an essential determinant of performance in certain camera-based applications, e.g., optical camera communication (OCC) systems. There can be several reasons to measure the shutter speed of a camera: shutter speed may be checked at the time of manufacturing; it may be necessary to recheck in case of an elder camera model; it may be necessary to be measured if its exact value is not provided by the manufacturer; or a precise measurement may be necessary for a demanding application. In this paper various methods for shutter speed measurement are reviewed, presenting and analyzing methods that are still relevant today either for manufacturers, service personnel, amateur photographers, or the developers of camera-based systems. Each presented method is illustrated by real measurement results and the performance properties of the methods are also presented.

Novel Method for Ozone Isopleth Construction and Diagnosis for the Ozone Control Strategy of Chinese Cities.

Ozone (O3) isopleths describe the nonlinear responses of O3 concentrations to changes in nitrogen oxides (NOX) and volatile organic compounds (VOCs) and thus are pivotal to the determination of O3 control requirements. In this study, we innovatively use the Community Multiscale Air Quality model with the high-order decoupled direct method (CMAQ-HDDM) to simulate O3 pollution of China in 2017 and derive O3 isopleths for individual cities. Our simulation covering the entire China Mainland suggests severe O3 pollution as 97% of the residents experienced at least 1 day, in 2017, in excess of Chinese Level-II Ambient Air Quality Standards for O3 as 160 µg·m-3 (81.5 ppbV equally). The O3 responses to emissions of precursors vary widely across individual cities. Densely populated metropolitan areas such as Jing-Jin-Ji, Yangtze River Delta, and Pearl River Delta are following NOX-saturated regimes, where a small amount of NOX reduction increases O3. Ambient O3 pollution in the eastern region generally is limited by VOCs, while in the west by NOX. The city-specific O3 isopleths generated in this study are instrumental in forming hybrid and differentiated strategies for O3 abatement in China.

Novel Solutions to the Three-Anchor ToA-Based Three-Dimensional Positioning Problem.

At least four non-coplanar anchor nodes (ANs) are required for the time-of-arrival (ToA)-based three-dimensional (3D) positioning to enable unique position estimation. Direct method (DM) and particle filter (PF) algorithms were developed to address the three-anchor ToA-based 3D positioning problem. The proposed DM reduces this problem to the solution of a quadratic equation, exploiting the knowledge about the workspace, to first estimate the x- or z-coordinate, and then the remaining two coordinates. The implemented PF uses 1000 particles to represent the posterior probability density function (PDF) of the AN's 3D position. The prediction step generates new particles by a resampling procedure. The ToA measurements determine the importance of these particles to enable updating the posterior PDF and estimating the 3D position of the AN. Simulation results corroborate the viability of the developed DM and PF algorithms, in terms of accuracy and computational cost, in the pursuit and circumnavigation scenarios, and even with a horizontally coplanar arrangement of the three ANs. Therefore, it is possible to enable applications requiring real-time positioning, such as unmanned aerial vehicle (UAV) autonomous docking and circling a stationary (or moving) position, without the need for an excessive number of ANs.

Global dynamics of alcoholism epidemic model with distributed delays.

This paper aims to investigate the global dynamics of an alcoholism epidemic model with distributed delays. The main feature of this model is that it includes the effect of the social pressure as a factor of drinking. As a result, our global stability is obtained without a "basic reproduction number" nor threshold condition. Hence, we prove that the alcohol addiction will be always uniformly persistent in the population. This means that the investigated model has only one positive equilibrium, and it is globally asymptotically stable independent on the model parameters. This result is shown by proving that the unique equilibrium is locally stable, and the global attraction is shown using Lyapunov direct method.