Abstract-Automated 3D modeling of building interiors is useful in applications such as virtual reality and entertainment. Using a human-operated backpack system equipped with 2D laser scanners and inertial measurement units (IMU), we develop scan matching based algorithms to localize the backpack in complex indoor environments such as a T-shaped corridor intersection, a staircase, and two indoor hallways from two separate floors connected by a staircase. When building 3D textured models, we find that the localization resulting from scan matching is not pixel accurate, resulting in misalignment between successive images used for texturing. To address this, we propose an image based pose estimation algorithm to refine the results from our scan matching based localization. Finally, we use the localization results within an image based renderer to enable virtual walkthroughs of indoor environments using imagery from cameras on the same backpack. Our renderer uses a three-step process to determine which image to display, and a RANSAC framework to determine homographies to mosaic neighboring images with common SIFT features. In addition, our renderer uses plane-fitted models of the 3D point cloud resulting from the laser scans to detect occlusions. We characterize the performance of our image based renderer on an unstructured set of 2709 images obtained during a five minute backpack data acquisition for a T-shaped corridor intersection.

Tonicity of saline (NaCl) is important in regulating cellular functions and homeostasis. Hypertonic saline is administered to treat many inflammatory diseases, including cystic fibrosis. Excess neutrophil extracellular trap (NET) formation, or NETosis, is associated with many pathological conditions including chronic inflammation. Despite the known therapeutic benefits of hypertonic saline, its underlying mechanisms are not clearly understood. Therefore, we aimed to elucidate the effects of hypertonic saline in modulating NETosis. For this purpose, we purified human neutrophils and induced NETosis using agonists such as diacylglycerol mimetic phorbol myristate acetate (PMA), Gram-negative bacterial cell wall component lipopolysaccharide (LPS), calcium ionophores (A23187 and ionomycin from Streptomyces conglobatus), and bacteria (Pseudomonas aeruginosa and Staphylococcus aureus). We then analyzed neutrophils and NETs using Sytox green assay, immunostaining of NET components and apoptosis markers, confocal microscopy, and pH sensing reagents. This study found that hypertonic NaCl suppresses nicotinamide adenine dinucleotide phosphate oxidase (NADPH2 or NOX2)-dependent NETosis induced by agonists PMA, Escherichia coli LPS (0111:B4 and O128:B12), and P. aeruginosa. Hypertonic saline also suppresses LPS- and PMA- induced reactive oxygen species production. It was determined that supplementing H2O2 reverses the suppressive effect of hypertonic saline on NOX2-dependent NETosis. Many of the aforementioned suppressive effects were observed in the presence of equimolar concentrations of choline chloride and osmolytes (d-mannitol and d-sorbitol). This suggests that the mechanism by which hypertonic saline suppresses NOX2-dependent NETosis is via neutrophil dehydration. Hypertonic NaCl does not significantly alter the intracellular pH of neutrophils. We found that hypertonic NaCl induces apoptosis while suppressing NOX2-dependent NETosis. In contrast, hypertonic solutions do not suppress NOX2-independent NETosis. Although hypertonic saline partially suppresses ionomycin-induced NETosis, it enhances A23187-induced NETosis, and it does not alter S. aureus-induced NETosis. Overall, this study determined that hypertonic saline suppresses NOX2-dependent NETosis induced by several agonists; in contrast, it has variable effects on neutrophil death induced by NOX2-independent NETosis agonists. These findings are important in understanding the regulation of NETosis and apoptosis in neutrophils.

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This paper shows how reinforcement learning can be used to derive optimal hedging strategies for derivatives when there are transaction costs. The paper illustrates the approach by showing the difference between using delta hedging and optimal hedging for a short position in a call option when the objective is to minimize a function equal to the mean hedging cost plus a constant times the standard deviation of the hedging cost. Two situations are considered. In the first, the asset price follows a geometric Brownian motion. In the second, the asset price follows a stochastic volatility process. The paper extends the basic reinforcement learning approach in a number of ways. First, it uses two different Q-functions so that both the expected value of the cost and the expected value of the square of the cost are tracked for different state/action combinations. This approach increases the range of objective functions that can be used. Second, it uses a learning algorithm that allows for continuous state and action space. Third, it compares the accounting P&L approach (where the hedged position is valued at each step) and the cash flow approach (where cash inflows and outflows are used). We find that a hybrid approach involving the use of an accounting P&L approach that incorporates a relatively simple valuation model works well. The valuation model does not have to correspond to the process assumed for the underlying asset price.

Recently, the failure rate of fracture fixation to fractured bone has increased. Mechanical and thermal damage to the bone, which influences the contact area and cell growth between the bone and the screw, is the primary reason for fixation failure. However, research has mainly focused on force and temperature in bone drilling. In this study, the characteristics of hole edges, microcracks, empty lacunae, and osteon necrosis were investigated as viewed in the transverse and longitudinal sections after drilling. Drilling force and temperature were also recorded for comparing the relationship with mechanical and thermal damage. Experiments were conducted in vivo using five different drill geometries under the same drilling parameters. Characteristics of the hole wall were detected using computed tomography. Microcracks and necrosis were analyzed using the pathological sectioning method. The maximum microcrack was approximately 3000 and 1400 μm in the transverse section and longitudinal section, respectively, which were much larger than those observed in previous studies. Empty lacuna and osteon necrosis, starting from the Haversian canal, were also found. The drill bit geometry, chisel edge, flute number, edges, and steps had a strong effect on bone damage, particularly the chisel edge. The standard and classic surgical drill caused the greatest surface damage and necrosis of the five drill bit geometries studied. The microstructural features including osteons and matrix played an important role in numbers and length of microcracks and necrosis. More microcracks were generated in the transverse direction, while a greater length of the empty lacuna was generated in the longitudinal direction under the same drilling parameters. Microcracks mainly propagated in a straight manner in and parallel to the interstitial bone matrix and cement line. Drilling forces were not directly correlated with bone damage; thus, hole performance should be considered to evaluate the superiority and inferiority of drill bits rather than the drill force alone.