Map Construction Based on LiDAR Vision Inertial Multi-Sensor Fusion

In order to make up for the shortcomings of independent sensors and provide more reliable estimation, a multi-sensor fusion framework for simultaneous localization and mapping is proposed in this paper. Firstly, the light detection and ranging (LiDAR) point cloud is screened in the front-end processing to eliminate abnormal points and improve the positioning and mapping accuracy. Secondly, for the problem of false detection when the LiDAR is surrounded by repeated structures, the intensity value of the laser point cloud is used as the screening condition to screen out robust visual features with high distance confidence, for the purpose of softening. Then, the initial factor, registration factor, inertial measurement units (IMU) factor and loop factor are inserted into the factor graph. A factor graph optimization algorithm based on a Bayesian tree is used for incremental optimization estimation to realize the data fusion. The algorithm was tested in campus and real road environments. The experimental results show that the proposed algorithm can realize state estimation and map construction with high accuracy and strong robustness.

Additional clinical benefits of probiotics as an adjunctive therapy to nonsurgical periodontal treatment of periodontitis: a systematic review and meta-analysis

Background: With more and more concerns concentrated on the novel therapy applying probiotics, we challenge its trustworthy clinical efficacy as an adjuvant to scaling and root planning (SRP) as compared with SRP alone or combined with placebo applied as the initial therapy of periodontitis. Methods: Electronic databases retrieval, a grey literature and a hand search were performed until February 2020 under certain screening condition. Clinical randomized controlled trials (RCTs) to assess the efficacy of SRP + probiotic versus SRP treating systemically healthy and nonsmoker individuals diagnosed with periodontitis were included. Primary outcome variables were PPD (pocket probing depth) reduction, CAL (clinical attachment level) gain and the percentage of BOP (bleeding on probing) reduction. Results: After screening, eleven publications were eligible for the systematic review and ten were evaluated in the meta-analysis. Results demonstrated statistically significant more overall PPD reduction at 1 month (0.48mm, p=0.005), overall CAL gain at 1 (0.35mm, p=0.004) and 3 months (0.13mm, p=0.04) and BOP percentage reduction (10.38, p=0.001) at short-term and 6 months (7.57, p< 0.00001) favoring SRP + probiotics treatment. Moreover, significant more reduction of PPD for moderate (0.19mm, p< 0.00001) and deep pockets (0.58mm, p< 0.00001) and gain of CAL for moderate pockets (0.20mm, p=0.0001) were observed at 3 months favoring adjunctive efficacy of probiotics. However, there were not a significant difference of overall PPD reduction at 3 (0.14mm, p=0.07) and 6 months (0.2mm, p=0.26) and overall CAL gain at 6 months (0.19mm, p=0.53) between two groups. Conclusions: Within the ranges of this study, the adjunctive use of probiotics seem to achieve short-term clinical benefits in the treatment of periodontitis. Conclusions must be treated with caution because of high heterogeneity among included studies and future long-term RCTs are needed to testify the clinical application value of probiotics.

Additional clinical benefits of probiotics as an adjunctive therapy to nonsurgical periodontal treatment of periodontitis: a systematic review and meta-analysis

Background: With more and more concerns concentrated on the novel therapy applying probiotics, we challenge its trustworthy clinical efficacy as an adjuvant to scaling and root planning (SRP) as compared with SRP alone or combined with placebo or other nonsurgical treatment applied as the initial therapy of periodontitis. Methods: Electronic databases retrieval was performed until October 2017 under certain screening condition. Clinical randomized controlled trials (RCTs) to assess the efficacy of SRP + probiotic versus SRP were included. Primary outcome variables were PPD (pocket probing depth) reduction and CAL (clinical attachment level) gain. Nine publications were eligible for the systematic review and three were evaluated in the meta-analysis. Results: Results demonstrated statistically significant bleeding on probing (BOP) percentage reduction (5.34, p< 0.00001) at short-term, but not a significant differences of overall PPD reduction (0.23mm, p=0.25) for SRP + probiotic treatment versus SRP at short-term, and there was only a tendency (p = 0.08) with regard to overall CAL gain. However significant reduction of PPD and gain of CAL were observed when stratified for deep pockets (0.61mm, p< 0.00001) and for moderate pockets (0.37mm, p=0.006) at short-term respectively. Conclusions: Within the ranges of this study, the adjunctive use of probiotics seem to achieve short-term clinical benefits in the treatment of periodontitis. Conclusions must be treated with caution and future long-term RCTs are needed to testify the clinical application value of probiotics.

Soil moisture induced genotype-by-environment interaction for root volume of upland rice

Sixteen rice genotypes comprising established cultivars, recent releases and breeding lines were established in the greenhouse under different moisture levels, obtained from a combination of the amount and number of times of moisture application, to study genotype-by-environment interaction (GEI) for root volume (RV), and also probe into the level of moisture imposition, that would be adequate for screening of genotypes for response to soil moisture stress. Across the simulated environments, W880-9-32-1-1-12-HB had the largest root volume of 8.71 cm3, whereas ITA 257 had the lowest (4.89 cm3). Genotype (G) accounted for significant (P < 0.001) 10.6%, environment (E) (P < 0.001) captured 79.0%, and GEI (P < 0.001) 10.4% of the total sum of squares. The GGE biplot captured 82% of the G+GE and clustered the environments into two groups, with OS 6 being the best for RV in the rainfed environment (E10). W880-9-32-1-1- 12-HB recorded the best RV under environments with adequate to limited moisture, but was less stable, and recorded grain production (13.5 g/plant) close to the best mean of 16.0g/plant by ITA 150 and 14.1 g/plant by IRAT 170. Environments were generally positively correlated with vegetative and yield traits, but E2 (100% moisture requirement applied once in two weeks) was more representative of the screening condition while E10 (rainfed) was highly discriminating, and would be appropriate for discarding genotypes with poor RV. Overall, E1, E2, E4 and E7 were identified as moisture conditions that are appropriate for selection of genotypes for general adaptation for RV within the overall goal of developing drought tolerant rice.

A New Interwell Tracer Technology - Particle Tracer Technology

Fracture is the main factor to control seepage of fractured low permeability reservoir, which is more and more respected in the oilfield development. It will be one of the key factors in fractured low permeability reservoir that recognizes and describes correctly the geometric dimension and direction of the fracture. The article was done in the paper through the principle and characteristics of the particle tracer technology, analyzes the screening condition, introduces the injecting technology, monitors in the locale and creates an analytic method of particle tracer. The technology will provide a new method to determine the geometry and direction of the fracture of fractured low permeability reservoir, and will offer new approach to oilfield dynamic description.

Evaluation of the Sensitivity of Cervicography in a Consecutive Colposcopic Series

Cervicography was performed in 606 women referred for colposcopy. Cervigrams were blindly reviewed by two independent readers. The positivity rate at cervicography was high (operator A = 50 %, B = 58.8 %). The sensitivity for papillomavirus infection (HPV)/cervical intraepithelial neoplasia I (CIN I) (n = 141) was 79.4 % for operator A and 80.8 % for operator B. The sensitivity for CIN II or more severe lesions (n = 22) was 95.2 % and 90.5 % for operators A and B, respectively. The positive predictive value for HPV/CIN I or CIN II, or more severe lesions was 36.9 % and 6.9 % for operator A and 32.1 % and 5.3 % for operator B, respectively. Interobserver variability was acceptable (kappa = 0.62). Cervicography suspected 27 HPV/CIN I, 1 CIN II and 1 CIN III which showed no cytologic abnormalities. This study confirms that cervicography has a good sensitivity for cervical lesions, but it is based on a selected series, not representative of a screening condition. The combination of cervicography and cytology in screening is presently under evaluation in a prospecitve study of screened women.