Semi-Direct Monocular Visual-Inertial Odometry Using Point and Line Features for IoV

The precise measuring of vehicle location has been a critical task in enhancing the autonomous driving in terms of intelligent decision making and safe transportation. Internet of Vehicles ( IoV ) is an important infrastructure in support of autonomous driving, allowing real-time road information exchanging and sharing for localizing vehicles. Global positioning System ( GPS ) is widely used in the traditional IoV system. GPS is unable to meet the key application requirements of autonomous driving due to meter level error and signal deterioration. In this article, we propose a novel solution, named Semi-Direct Monocular Visual-Inertial Odometry using Point and Line Features ( SDMPL-VIO ) for precise vehicle localization. Our SDMPL-VIO model takes advantage of a low-cost Inertial Measurement Unit ( IMU ) and monocular camera, using them as the sensor to acquire the surrounding environmental information. Visual-Inertial Odometry ( VIO ), taking into account both point and line features, is proposed, which is able to deal with both weak texture and dynamic environment. We use a semi-direct method to deal with keyframes and non-keyframes, respectively. Dual sliding window mechanisms can effectively fuse point-line and IMU information. To evaluate our SDMPL-VIO system model, we conduct extensive experiments on both an indoor dataset (i.e., EuRoC) and an outdoor dataset (i.e., KITTI) from the real-world applications, respectively. The experimental results show that the accuracy of SDMPL-VIO proposed by us is better than the mainstream VIO system at present. Especially in the weak texture of the datasets, fast-moving datasets, and other challenging datasets, SDMPL-VIO has a relatively high robustness.

Trends in Pancreatic Cancer Incidence and Mortality in Lithuania, 1998–2015

Background: Pancreatic cancer is one of the deadliest cancers worldwide, and its incidence is increasing. The aim of this study was to examine the time trends in the incidence and mortality rates of pancreatic cancer for the period of 1998–2015 for the first time in Lithuania by sex, age, subsite, and stage. Methods: This study was based on all cases (deaths) of pancreatic cancer diagnosed between 1998 and 2015. Age-standardized incidence (mortality) rates and group-specific rates were calculated for each sex using the direct method (European Standard). TNM classification-based information reported to the cancer registry was grouped into three categories: (1) localized cancer: T1-3/N0/M0; (2) cancer with regional metastasis: any 1-3/N+/M0; (3) advanced cancer: any T/any N/M+. Joinpoint regression was used to provide annual percentage changes (APCs) and to detect points in time where statistically significant changes in the trends occurred. Results: Overall, 8514 pancreatic cancer cases (4364 in men and 3150 in women) were diagnosed and 7684 persons died from cancer of the pancreas. Pancreatic cancer incidence rates were considerably lower for women than for men, with a female:male ratio of 1:2. Incidence rates changed during the study period from 14.2 in 1998 to 15.0/100,000 in the year 2015 in men, and from 6.7 to 9.8/100,000 in women. Incidence rates over the study period were stable for men (APC = 0.1%) and increasing for women by 1.1% per year. Similarly, mortality rates increased in women by 0.9% per year, and were stable in men. During the study period, incidence and mortality rates of pancreatic cancer were close. For the entire study period, rates increased significantly in the 50–74 years age group; only cancer of the head of pancreas showed a decline by 0.9%, while tail and not-specified pancreatic cancer incidence increased by 11.4% and 4.51%, respectively. Conclusions: The increasing pancreatic cancer incidence trend in the Lithuanian population may be related to the prevalence of its main risk factors (smoking, obesity, physical inactivity, diet, and diabetes).

Effectiveness of Nutritional Strategies on Improving the Quality of Diet of Children from 6 to 12 Years Old: A Systematic Review

Dietary habits, that are formed during childhood and consolidated in adulthood, are known to influence the development of future chronic diseases such as metabolic syndrome or type 2 diabetes. The aim of this review was to evaluate the effectiveness of nutritional interventions carried out in recent years focused on improving the quality of the diet of the child population. A systematic search of the PubMed and Scopus databases was performed from January 2011 until September 2021. A total of 910 articles were identified and screened based on their title, abstract and full text. Finally, 12 articles were included in the current systematic review. Of those, in six studies the intervention was based on the provision of healthy meals and in the other six studies the intervention focused on modifying the school environment. Six of the studies selected included other components in their intervention such as nutritional education sessions, physical activity and/or families. A wide variety of methods were used for diet assessments, from direct method to questionnaires. The results suggest that interventions that modify the school environment or provide different meals or snacks may be effective in improving children’s dietary patterns, both in the short and long term. Further research is necessary to evaluate the real effectiveness of strategies with multidisciplinary approach (nutritional sessions, physical activity and family’s involvement).

Estimation of the Squirt-Flow Length Based on Crack Properties in Tight Sandstones

Tight sandstones have low porosity and permeability and strong heterogeneities with microcracks, resulting in small wave impedance contrasts with the surrounding rock and weak fluid-induced seismic effects, which make the seismic characterization for fluid detection and identification difficult. For this purpose, we propose a reformulated modified frame squirt-flow (MFS) model to describe wave attenuation and velocity dispersion. The squirt-flow length (R) is an important parameter of the model, and, at present, no direct method has been reported to determine it. We obtain the crack properties and R based on the DZ (David-Zimmerman) model and MFS model, and how these properties affect the wave propagation, considering ultrasonic experimental data of the Sichuan Basin. The new model can be useful in practical applications related to exploration areas.

ON STABILITY OF STATIONARY STATES OF REVERSIBLE REACTIONS OF THE FIRST ORDER

The article discusses reversible first-order reactions. A system of differential equations is written. First integral and stationary state found. Using Lyapunov's direct method, stationary stability was investigated

Accuracy of Body Mass Index and Obesity Status in Police Trainees

The first aim of this study was to compare body mass index (BMI) (indirect method) classification with the body fat percent (PBF) (direct method) and to determine how BMI classifies subjects with different levels of skeletal muscle mass percent (PSMM). The second aim was to determine the prevalence of overweight and obesity status among police trainees (PTs). A total of 103 male PTs participated in this research: age = 21.46 ± 0.64 years, body mass (BM) = 75.97 ± 8.10 kg, body height (BH) = 174.07 ± 6.31 cm, BMI = 25.05 ± 2.12 kg/m2. The InBody 370 multichannel bioelectrical impedance analysis (BIA) measured body composition. Study results indicated that muscular PTs could be misclassified as overweight and that PBF identified more subjects as obese. Namely, three PTs were obese according to BMI, while 13 were obese according to PBF. The information provided by this research could be used to help professionals understand the importance of measuring body composition, and the inaccuracies in BMI classification. In conclusion, whenever possible PSMM and PBF should replace the utilization of BMI to screen overweight and obesity in PTs. Agencies may think of using BIA as non-invasive, quick and inexpensive measurement tool.

Orthonormal piecewise Bernoulli functions: Application for optimal control problems generated using fractional integro-differential equations

In this study, the orthonormal piecewise Bernoulli functions are generated as a new kind of basis functions. An explicit matrix related to fractional integration of these functions is obtained. An efficient direct method is developed to solve a novel set of optimal control problems defined using a fractional integro-differential equation. The presented technique is based on the expressed basis functions and their fractional integral matrix together with the Gauss–Legendre integration method and the Lagrange multipliers algorithm. This approach converts the original problem into a mathematical programming one. Three examples are investigated numerically to verify the capability and reliability of the approach.