This article presents ORB-SLAM3, the first system able to perform visual, visual-inertial and multimap SLAM with monocular, stereo and RGB-D cameras, using pin-hole and fisheye lens models. The first ...main novelty is a tightly integrated visual-inertial SLAM system that fully relies on maximum a posteriori (MAP) estimation, even during IMU initialization, resulting in real-time robust operation in small and large, indoor and outdoor environments, being two to ten times more accurate than previous approaches. The second main novelty is a multiple map system relying on a new place recognition method with improved recall that lets ORB-SLAM3 survive to long periods of poor visual information: when it gets lost, it starts a new map that will be seamlessly merged with previous maps when revisiting them. Compared with visual odometry systems that only use information from the last few seconds, ORB-SLAM3 is the first system able to reuse in all the algorithm stages all previous information from high parallax co-visible keyframes, even if they are widely separated in time or come from previous mapping sessions, boosting accuracy. Our experiments show that, in all sensor configurations, ORB-SLAM3 is as robust as the best systems available in the literature and significantly more accurate. Notably, our stereo-inertial SLAM achieves an average accuracy of 3.5 cm in the EuRoC drone and 9 mm under quick hand-held motions in the room of TUM-VI dataset, representative of AR/VR scenarios. For the benefit of the community we make public the source code.
Zygomycosis is an important emerging fungal infection, associated with high morbidity and mortality. The Working Group on Zygomycosis of the European Confederation of Medical Mycology (ECMM) ...prospectively collected cases of proven and probable zygomycosis in 13 European countries occurring between 2005 and 2007. Cases were recorded by a standardized case report form, entered into an electronic database and analysed descriptively and by logistic regression analysis. During the study period, 230 cases fulfilled pre-set criteria for eligibility. The median age of the patients was 50 years (range, 1 month to 87 years); 60% were men. Underlying conditions included haematological malignancies (44%), trauma (15%), haematopoietic stem cell transplantation (9%) and diabetes mellitus (9%). The most common manifestations of zygomycosis were pulmonary (30%), rhinocerebral (27%), soft tissue (26%) and disseminated disease (15%). Diagnosis was made by both histology and culture in 108 cases (44%). Among 172 cases with cultures, Rhizopus spp. (34%), Mucor spp. (19%) and Lichtheimia (formerly Absidia) spp. (19%) were most commonly identified. Thirty-nine per cent of patients received amphotericin B formulations, 7% posaconazole and 21% received both agents; 15% of patients received no antifungal therapy. Total mortality in the entire cohort was 47%. On multivariate analysis, factors associated with survival were trauma as an underlying condition (p 0.019), treatment with amphotericin B (p 0.006) and surgery (p <0.001); factors associated with death were higher age (p 0.005) and the administration of caspofungin prior to diagnosis (p 0.011). In conclusion, zygomycosis remains a highly lethal disease. Administration of amphotericin B and surgery, where feasible, significantly improve survival.
The high performance of Au-CeO₂ and Au-TiO₂ catalysts in the water-gas shift (WGS) reaction (H₂O + COrightward arrowH₂ + CO₂) relies heavily on the direct participation of the oxide in the catalytic ...process. Although clean Au(111) is not catalytically active for the WGS, gold surfaces that are 20 to 30% covered by ceria or titania nanoparticles have activities comparable to those of good WGS catalysts such as Cu(111) or Cu(100). In TiO₂₋x/Au(111) and CeO₂₋x/Au(111), water dissociates on O vacancies of the oxide nanoparticles, CO adsorbs on Au sites located nearby, and subsequent reaction steps take place at the metal-oxide interface. In these inverse catalysts, the moderate chemical activity of bulk gold is coupled to that of a more reactive oxide.
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•Activated carbons (ACs) were prepared by chemical activation of Tara gum with FeCl3.•The effect of the activation temperature and FeCl3:Tara gum mass ratio was analyzed.•The ACs were ...tested as adsorbents of antipyrine, as model emerging contaminant.•A maximum BET surface area of 1680m2·g−1 was achieved.•High antipyrine adsorption capacities were obtained (275mg·g−1 at 20°C)
Activated carbons were synthesized by FeCl3-activation of Tara gum at different temperatures (400–1000°C). The activating agent and the precursor were physically mixed at different ratios (r=FeCl3:precursor, 0.5–3.0wt). At r=2 and 800°C the most developed porosity was achieved, with a BET surface area of 1680m2·g−1 and a pore volume near 1cm3·g−1, corresponding mostly to micropores (≈75%). The carbons were fully characterized and tested for the aqueous-phase adsorption of antipyrine, used as model emerging pollutant. The kinetic curves and adsorption isotherms at 20, 40 and 60°C were obtained, which fitted well to hyperbolic and Langmuir equations, respectively. At 20°C, the saturation adsorption capacity was around 275mg·g−1 AC. The free energy of adsorption varied from −40.2 to −35.7kJ·mol−1, while values close to −3kJ·mol−1 and 112J·mol−1·K−1, were obtained for the enthalpy and entropy of adsorption, respectively.
The degradation and detoxification towards the duckweed Lemna minor of 4-nitrophenol (4NP) was studied by means of bench-scale constructed wetlands (CWs), TiO2-photocatalysis and Fenton + photoFenton ...reactions. The main goal of this work was to compare the three treatment techniques to evaluate their possible combination for the efficient, low cost treatment of 4NP effluents. In CWs, adsorption on the substrate of 4NP was found to achieve 34–45%. Low concentrations (up to 100 ppm) of 4NP were successfully treated by CWs in 8–12 h. The microbial degradation of 4NP started after a lag phase which was longer with higher initial concentrations of the pollutant. The greatest degradation rate was found to occur at initial concentrations of 4NP between 60 and 90 ppm. Solar TiO2-photocatalysis was faster than the CWs. The greatest removals in terms of mass of 4NP removed after 6 h of irradiation were found to occur at 4NP concentrations of about 200 ppm. Fenton reaction provided complete 4NP degradation up to 500 ppm in only 30 min but TOC was removed by only about 40%. The resulting toxicities were below 20% for initial 4NP concentrations below 300 ppm. It was the Fenton + photoFenton combination (180 min in total) that provided TOC reductions up to 80% and negative L. minor growth inhibition for almost all the 4NP concentrations tested. The combination of solar TiO2-photocatalysis (6 h) with CWs (16 h) was able to completely treat and detoxify 4NP effluents with concentrations as high as 200 ppm of the organic.
► We studied the treatment 4NP by CWs and advanced oxidation technologies. ► In CWs biodegradation and adsorption were the main removal pathways. ► The 4NP removal order was: CWs < TiO2-photocatalysis < Fenton–photoFenton. ► The combination of CWs with photocatalysis is proposed as a convenient treatment.
Summary
Objective
To evaluate the in vivo and in vitro responses to nOle e 1 in allergic rhinitis (AR) and local allergic rhinitis (LAR) patients sensitized to olive tree pollen (OL) confirmed by ...nasal allergen provocation test (NAPT).
Methods
Twelve subjects with AR, 12 with LAR and 12 subjects as control group (CG) were selected. Skin testing and NAPT with nOle e 1 were performed. Eosinophilic cationic protein (ECP) and tryptase were measured in nasal lavages before and after NAPT. Serum IgE to OL allergens was measured by ELISA. Basophil activation tests (BAT) with OL and nOle e 1 and dendritic cell maturation/proliferation studies were carried out.
Results
All AR (12/12) and 10/12 (83%) of LAR had a +NAPT to nOle e 1. ECP levels in nasal lavages were significantly increased after NAPT in both AR and LAR compared with CG at 15 min (P < 0.05). Serum IgE was positive only in AR. All AR had +BAT responses to OL and 10/12 to nOle e 1 (83%); 8/12 LAR (66.6%) had a +BAT to OL and 4/12 (33%) to nOle e 1, with only one subject of the CG with a +BAT to both OL and nOle e 1 (8%). Dendritic cell proliferation to nOle e 1 was increased in AR compared to LAR and CG (P = 0.019 and P = 0.001, respectively).
Conclusion
Both AR and LAR had a similar in vivo response to nOle e 1 with release of inflammatory mediators. Specific basophil activation with OL and nOle e 1 was observed in LAR confirming previous data obtained with dust mites.
Magnetic solids are widely used in detection and analytical systems because of the performance advantages they offer compared to similar solids that lack magnetic properties. These solids can be used ...to pre-concentrate analytes and for the magnetic separation and molecular identification of biomolecules, and organic and inorganic species. Magnetic solid separation techniques also offer benefits over centrifugation, filtration, and solid-phase extraction. In this review, we describe the synthesis, characterization and applications of a series of solids including silica supports, carbon nanotubes, alumina, organic polymers and other materials, mostly containing magnetite or paramagnetic metals. Also addressed are the future perspectives of magnetic solid applications.
Oxide nanoparticles can exhibit unique chemical products due to size limitations and a high density of corner or edge surface sites. Fernandez-Garcia, et al provide a review of recent studies that ...deal with the chemistry of nanostructured oxides.
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