No abstract

The Iterative Closest Point (ICP) algorithm and its variants are a fundamental technique for rigid registration between two point sets, with wide applications in different areas from robotics to 3D reconstruction. The main drawbacks for ICP are its slow convergence as well as its sensitivity to outliers, missing data, and partial overlaps. Recent work such as Sparse ICP achieves robustness via sparsity optimization at the cost of computational speed. In this paper, we propose a new method for robust registration with fast convergence. First, we show that the classical point-to-point ICP can be treated as a majorization-minimization (MM) algorithm, and propose an Anderson acceleration approach to speed up its convergence. In addition, we introduce a robust error metric based on the Welsch's function, which is minimized efficiently using the MM algorithm with Anderson acceleration. On challenging datasets with noises and partial overlaps, we achieve similar or better accuracy than Sparse ICP while being at least an order of magnitude faster. Finally, we extend the robust formulation to point-to-plane ICP, and solve the resulting problem using a similar Anderson-accelerated MM strategy. Our robust ICP methods improve the registration accuracy on benchmark datasets while being competitive in computational time.

In the current clinical boron neutron capture therapy (BNCT), p-boronophenylalanine (BPA) has been the most powerful drug owing to its ability to accumulate selectively within cancers through cancer-related amino acid transporters including LAT1. However, the therapeutic success of BPA has been sometimes compromised by its unfavorable efflux from cytosol due to their antiport mechanism. Here, we report that poly(vinyl alcohol) (PVA) can form complexes with BPA through reversible boronate esters in aqueous solution, and the complex termed PVA-BPA can be internalized into cancer cells through LAT1-mediated endocytosis, thereby enhancing cellular uptake and slowing the untoward efflux. In in vivo study, compared with clinically used fructose-BPA complexes, PVA-BPA exhibited efficient tumor accumulation and prolonged tumor retention with quick clearance from bloodstream and normal organs. Ultimately, PVA-BPA showed critically enhanced antitumor activity in BNCT. The facile technique proposed in this study offers an approach for drug delivery focusing on drug metabolism.

Today's world relies upon critical green technologies that are made of elements with unique properties irreplaceable by other materials. Such elements are classified under strategic materials; examples include rare earth elements that are in increasingly high demand but facing supply uncertainty and near zero recycling. For tackling the sustainability challenges associated with rare earth elements supply, new strategies have been initiated to mine these elements from secondary sources. Waste electrical and electronic equipment contain considerable amounts of rare earth elements; however, the current level of their recycling is less than 1%. Current recycling practices use either pyrometallurgy, which is energy intensive, or hydrometallurgy that rely on large volumes of acids and organic solvents, generating large volumes of environmentally unsafe residues. This study put emphasis on developing an innovative and sustainable process for the urban mining of rare earth elements from waste electrical and electronic equipment, in particular, a nickel metal hydride battery. The developed process relies on supercritical fluid extraction utilizing CO 2 as the solvent, which is inert, safe, and abundant. This process is very efficient in the sense that it is safe, runs at low temperature, and does not produce hazardous waste while recovering ∼90% of rare earth elements. Furthermore, we propose a mechanism for the supercritical fluid extraction of rare earth elements, where we considered a trivalent rare earth element state bonded with three tri-n-butyl phosphate molecules and three nitrates model for the extracted rare earth tri-n-butyl phosphate complex. The supercritical fluid extraction process has the double advantage of waste valorization without utilizing hazardous reagents, thus minimizing the negative impacts of process tailings.