Search Results (19)

To solve the low efficiency of traditional sheet metal measurement, this paper proposes a digital inspection method for sheet metal parts based on 3D point clouds. The 3D point cloud data of sheet metal parts are collected using a 3D laser scanner, and the topological relationship is established by using a K-dimensional tree (KD tree). The pass-through filtering method is adopted to denoise the point cloud data. To preserve the fine features of the parts, an improved voxel grid method is proposed for the downsampling of the point cloud data. Feature points are extracted via the intrinsic shape signatures (ISS) algorithm and described using the fast point feature histograms (FPFH) algorithm. After rough registration with the sample consensus initial alignment (SAC-IA) algorithm, an initial position is provided for fine registration. The improved iterative closest point (ICP) algorithm, used for fine registration, can enhance the registration accuracy and efficiency. The greedy projection triangulation algorithm optimized by moving least squares (MLS) smoothing ensures surface smoothness and geometric accuracy. The reconstructed 3D model is projected onto a 2D plane, and the actual dimensions of the parts are calculated based on the pixel values of the sheet metal parts and the conversion scale. Experimental results show that the measurement error of this inspection system for three sheet metal workpieces ranges from 0.1416 mm to 0.2684 mm, meeting the accuracy requirement of ±0.3 mm. This method provides a reliable digital inspection solution for sheet metal parts. Full article

Glioblastoma (GBM) is a highly aggressive and heterogeneous brain tumor. Glioma stem-like cells (GSCs) play a central role in tumor progression, therapeutic resistance, and recurrence. Although immune cells are known to shape the GBM microenvironment, the impact of antigen-presenting-cell (APC) signature genes on tumor-intrinsic phenotypes remains underexplored. We analyzed both bulk- and single-cell RNA sequencing datasets of GBM to investigate the association between APC gene expression and tumor-cell states, including stemness and metabolic reprogramming. Signature scores were computed using curated gene sets related to APC activity, KEGG metabolic pathways, and cancer hallmark pathways. Protein–protein interaction (PPI) networks were constructed to examine the links between immune regulators and metabolic programs. The high expression of APC-related genes, such as HLA-DRA, CD74, CD80, CD86, and CIITA, was associated with lower stemness signatures and enhanced inflammatory signaling. These APC-high states (mean difference = –0.43, adjusted p < 0.001) also showed a shift in metabolic activity, with decreased oxidative phosphorylation and increased lipid and steroid metabolism. This pattern suggests coordinated changes in immune activity and metabolic status. Furthermore, TNF-α and other inflammatory markers were more highly expressed in the less stem-like tumor cells, indicating a possible role of inflammation in promoting differentiation. Our findings revealed that elevated APC gene signatures are associated with more differentiated and metabolically specialized GBM cell states. These transcriptional features may also reflect greater immunogenicity and inflammation sensitivity. The APC metabolic signature may serve as a useful biomarker to identify GBM subpopulations with reduced stemness and increased immune engagement, offering potential therapeutic implications. Full article

Stereotactic body radiotherapy (SBRT) delivers ablative radiation doses with sub-millimeter precision. Radiogenomic studies, meanwhile, provide insights into how tumor-intrinsic genetic factors influence responses to such high-dose treatments. This review explores the radiobiological mechanisms underpinning SBRT efficacy, emphasizing the roles of DNA damage response (DDR) pathways, tumor suppressor gene alterations, and inflammatory signaling in shaping tumor radiosensitivity or resistance. SBRT induces complex DNA double-strand breaks (DSBs) that robustly activate DDR signaling cascades, particularly via the ATM and ATR kinases. Tumors with proficient DNA repair capabilities often resist SBRT, whereas deficiencies in key repair genes can render them more susceptible to radiation-induced cytotoxicity. Mutations in tumor suppressor genes may impair p53-dependent apoptosis and disrupt cell cycle checkpoints, allowing malignant cells to evade radiation-induced cell death. Furthermore, SBRT provokes the release of pro-inflammatory cytokines and activates innate immune pathways, potentially leading to immunogenic cell death and reshaping the tumor microenvironment. Radiogenomic profiling has identified genomic alterations and molecular signatures associated with differential responses to SBRT and immune activation. These insights open avenues for precision radiotherapy approaches, including the use of genomic biomarkers for patient selection, the integration of SBRT with DDR inhibitors or immunotherapies, and the customization of treatment plans based on individual tumor genotypes and immune landscapes. Ultimately, these strategies aim to enhance SBRT efficacy and improve clinical outcomes through biologically tailored treatment. This review provides a comprehensive summary of current knowledge on the genetic determinants of response to stereotactic radiotherapy and discusses their implications for personalized cancer treatment. Full article

The target is often obstructed by obstacles with the dynamic tracking scene, leading to a loss of target information and a decrease in tracking accuracy or even complete failure. To address these challenges, we leverage the capabilities of Geiger-mode Avalanche Photodiode (GM-APD) LiDAR to acquire both intensity images and point cloud data for researching a target tracking method that combines the fusion of intensity images and point cloud data. Building upon Kernelized correlation filtering (KCF), we introduce Fourier descriptors based on intensity images to enhance the representational capacity of target features, thereby achieving precise target tracking using intensity images. Additionally, an adaptive factor is designed based on peak sidelobe ratio and intrinsic shape signature to accurately detect occlusions. Finally, by fusing the tracking results from Kalman filter and KCF with adaptive factors following occlusion detection, we obtain location information for the central point of the target. The proposed method is validated through simulations using the KITTI tracking dataset, yielding an average position error of 0.1182m for the central point of the target. Moreover, our approach achieves an average tracking accuracy that is 21.67% higher than that obtained by Kalman filtering algorithm and 7.94% higher than extended Kalman filtering algorithm on average. Full article

To address the matching challenge between the High Resolution Imaging Science Experiment (HiRISE) Digital Elevation Model (DEM) and the Mars Orbiter Laser Altimeter (MOLA) DEM, we propose a terrain matching framework based on the combination of point cloud coarse alignment and fine alignment methods. Firstly, we achieved global coarse localization of the HiRISE DEM through nearest neighbor matching of key Intrinsic Shape Signatures (ISS) points in the Fast Point Feature Histograms (FPFH) feature space. We introduced a graph matching strategy to mitigate gross errors in feature matching, employing a numerical method of non-cooperative game theory to solve the extremal optimization problem under Karush–Kuhn–Tucker (KKT) conditions. Secondly, to handle the substantial resolution disparities between the MOLA DEM and HiRISE DEM, we devised a smoothing weighting method tailored to enhance the Voxelized Generalized Iterative Closest Point (VGICP) approach for fine terrain registration. This involves leveraging the Euclidean distance between distributions to effectively weight loss and covariance, thereby reducing the results’ sensitivity to voxel radius selection. Our experiments show that the proposed algorithm improves the accuracy of terrain registration on the proposed Curiosity landing area’s, Mawrth Vallis, data by nearly 20%, with faster convergence and better algorithm robustness. Full article

The activation of the receptor tyrosine kinase Axl by Gas6 is a major driver of tumorigenesis. Despite recent insights, tumor cell-intrinsic and -extrinsic Axl functions are poorly understood in hepatocellular carcinoma (HCC). Thus, we analyzed the cell-specific aspects of Axl in liver cancer cells and in the tumor microenvironment. We show that tumor-intrinsic Axl expression decreased the survival of mice and elevated the number of pulmonary metastases in a model of resection-based tumor recurrence. Axl expression increased the invasion of hepatospheres by the activation of Akt signaling and a partial epithelial-to-mesenchymal transition (EMT). However, the liver tumor burden of Axl^+/+ mice induced by diethylnitrosamine plus carbon tetrachloride was reduced compared to systemic Axl^−/− mice. Tumors of Axl^+/+ mice were highly infiltrated with cytotoxic cells, suggesting a key immune-modulatory role of Axl. Interestingly, hepatocyte-specific Axl deficiency did not alter T cell infiltration, indicating that these changes are independent of tumor cell-intrinsic Axl. In this context, we observed an upregulation of multiple chemokines in Axl^+/+ compared to Axl^−/− tumors, correlating with HCC patient data. In line with this, Axl is associated with a cytotoxic immune signature in HCC patients. Together these data show that tumor-intrinsic Axl expression fosters progression, while tumor-extrinsic Axl expression shapes an inflammatory microenvironment. Full article

Assistive bathing robots have become a popular point due to their metrics, such as a humanoid working approach in the solution of elder care. However, the abilities of dynamic recognition and path planning are the key to obtain the advantages. This paper proposes a novel approach to recognize and track the dynamical human back, and path planning on it via a 3D point cloud. Firstly, the human back geometric features are recognized through coarse-to-fine alignment. The Intrinsic Shape Signature (ISS) algorithm combined with the Fast Point Feature Histogram (FPFH) and the Sample Consensus Initial Alignment (SAC-IA) algorithm are adopted to complete the coarse alignment, and the Iterative Closest Point (ICP) algorithm is applied to the fine alignment to improve the accuracy of recognition. Then, the dynamic transformation matrix between the contiguous recognized back is deduced based on spatial motion between two adjacent recognized back point clouds. The path can be planned on the tracked human back. Finally, a set of testing experiments are conducted to verify the proposed algorithm. The results show that the running time is reduced by 66.18% and 96.29% compared with the other two common algorithms, respectively. Full article

The Micro-Electro-Mechanical System (MEMS) LiDAR point cloud in autonomous vehicles has a large deflection range, which results in slow registration speed and poor applicability. To maximize speed, an improved Normal Distribution Transform (NDT) method that integrates point cloud density features has been proposed. First, the point cloud is reduced using a modified voxel filter and a pass-through filter. Next, the Intrinsic Shape Signature (ISS) algorithm is utilized to analyze the point cloud features and extract key points; the Four-Point Congruent Set (4PCS) algorithm is then employed to calculate the initial pose under the constraints of the key point set to complete the coarse registration. Finally, the self-adaptive segmentation model is constructed by using a K-D tree to obtain the density features of key points, and the NDT algorithm is combined with this model to form an SSM-NDT algorithm, which is used for fine registration. Each algorithm was compared on the autonomous vehicle dataset PandaSet and actual collected datasets. The results show that the novel method increases the speed by at least 60% and takes into account good registration accuracy and strong anti-interference. Full article

Overcoming PARPi resistance is a high clinical priority. We established and characterized comparative in vitro models of acquired PARPi resistance, derived from either a BRCA1-proficient or BRCA1-deficient isogenic background by long-term exposure to olaparib. While parental cell lines already exhibited a certain level of intrinsic activity of multidrug resistance (MDR) proteins, resulting PARPi-resistant cells from both models further converted toward MDR. In both models, the PARPi-resistant phenotype was shaped by (i) cross-resistance to other PARPis (ii) impaired susceptibility toward the formation of DNA-platinum adducts upon exposure to cisplatin, which could be reverted by the drug efflux inhibitors verapamil or diphenhydramine, and (iii) reduced PARP-trapping activity. However, the signature and activity of ABC-transporter expression and the cross-resistance spectra to other chemotherapeutic drugs considerably diverged between the BRCA1-proficient vs. BRCA1-deficient models. Using dual-fluorescence co-culture experiments, we observed that PARPi-resistant cells had a competitive disadvantage over PARPi-sensitive cells in a drug-free medium. However, they rapidly gained clonal dominance under olaparib selection pressure, which could be mitigated by the MRP1 inhibitor MK-751. Conclusively, we present a well-characterized in vitro model, which could be instrumental in dissecting mechanisms of PARPi resistance from HR-proficient vs. HR-deficient background and in studying clonal dynamics of PARPi-resistant cells in response to experimental drugs, such as novel olaparib-sensitizers. Full article

This paper proposes a stereo-vision-based method that detects and registers the positions and postures of muti-type, randomly placed miniature circuit breaker (MCB) components within scene point clouds acquired by a 3D stereo camera. The method is designed to be utilized in the flexible assembly of MCBs to improve the precision of gripping small-sized and complex-structured components. The proposed method contains the following stages: First, the 3D computer-aided design (CAD) models of the components are converted to surface point cloud models by voxel down-sampling to form matching templates. Second, the scene point cloud is filtered, clustered, and segmented to obtain candidate-matching regions. Third, point cloud features are extracted by Intrinsic Shape Signatures (ISSs) from the templates and the candidate-matching regions and described by Fast Point Feature Histogram (FPFH). We apply Sample Consensus Initial Alignment (SAC-IA) to the extracted features to obtain a rough matching. Fourth, fine registration is performed by employing Iterative Closest Points (ICPs) with a K-dimensional Tree (KD-tree) between the templates and the roughly matched targets. Meanwhile, Random Sample Consensus (RANSAC), which effectively solves the local optimal problem in the classic ICP algorithm, is employed to remove the incorrectly matching point pairs for further precision improvement. The experimental results show that the proposed method achieves spatial positioning errors smaller than 0.2 mm and postural estimation errors smaller than 0.5°. The precision and efficiency meet the requirements of the robotic flexible assembly for MCBs. Full article

Time delays are a signature of many physical systems, including the brain, and considerably shape their dynamics; moreover, they play a key role in consciousness, as postulated by the temporo-spatial theory of consciousness (TTC). However, they are often not known a priori and need to be estimated from time series. In this study, we propose the use of permutation entropy (PE) to estimate time delays from neural time series as a more robust alternative to the widely used autocorrelation window (ACW). In the first part, we demonstrate the validity of this approach on synthetic neural data, and we show its resistance to regimes of nonstationarity in time series. Mirroring yet another example of comparable behavior between different nonlinear systems, permutation entropy–time delay estimation (PE-TD) is also able to measure intrinsic neural timescales (INTs) (temporal windows of neural activity at rest) from hd-EEG human data; additionally, this replication extends to the abnormal prolongation of INT values in disorders of consciousness (DoCs). Surprisingly, the correlation between ACW-0 and PE-TD decreases in a state-dependent manner when consciousness is lost, hinting at potential different regimes of nonstationarity and nonlinearity in conscious/unconscious states, consistent with many current theoretical frameworks on consciousness. In summary, we demonstrate the validity of PE-TD as a tool to extract relevant time scales from neural data; furthermore, given the divergence between ACW and PE-TD specific to DoC subjects, we hint at its potential use for the characterization of conscious states. Full article

The basic principle of ultrasound is to relate the time of flight of a received echo to the location of a reflector, assuming a known and constant velocity of sound. This assumption breaks down in austenitic welds, in which a microstructure with large oriented austenitic grains induces local velocity differences resulting in deviations of the ultrasonic beam. The inspection problem is further complicated by scattering at grain boundaries, which introduces structural noise and attenuation. Embedding material information into imaging algorithms usually improves image quality and aids interpretation. Imaging algorithms can take the weld structure into account if it is known. The usual way to obtain such information is by metallurgical analysis of slices of a representative mock-up fabricated using the same materials and welding procedures as in the actual component. A non-destructive alternative to predict the weld structure is based on the record of the welding procedure, using either phenomenological models or the finite element method. The latter requires detailed modelling of the welding process to capture the weld pool and the microstructure formation. Several parameters are at play, and uncertainties intrinsically affect the process owing to the limited information available. This paper reports a case study aiming to determine the most critical parameters and levels of complexity of the weld formation models from the perspective of ultrasonic imaging. By combining state-of-the-art welding simulation with time-domain finite element prediction of ultrasound in complex welds, we assess the impact of the modelling choices on the offset and spatial spreading of defect signatures. The novelty of this work is in linking welding simulation with ultrasonic imaging and quantifying the effect of the common assumptions in solidification modelling from the non-destructive examination perspective. Both aspects have not been explored in the literature to date since solidification modelling has not been used to support ultrasonic inspection extensively. The results suggest that capturing electrode tilt, welding power, and weld path correctly is less significant. Bead shape was identified as having the greatest influence on delay laws used to compute ultrasonic images. Most importantly, we show that neglecting mechanical deformation in FE, allowing for simpler thermal simulation supplemented with a phenomenological grain growth loop, does not reduce the quality of the images considerably. Our results offer a pragmatic balance between the complexity of the model and the quality of ultrasonic images and suggest a perspective on how weld formation modelling may serve inspections and guide pragmatic implementation. Full article

A proper canopy light distribution in fruit trees can improve photosynthetic efficiency, which is important for improving fruit yield and quality. Traditional methods of measuring light intensity in the canopy of fruit trees are time consuming, labor intensive and error prone. Therefore, a method for predicting canopy light distribution in cherry trees was proposed based on a three-dimensional (3D) cherry tree canopy point cloud model fused by multiple sources. First, to quickly and accurately reconstruct the 3D cherry tree point cloud model, we propose a global cherry tree alignment method based on a binocular depth camera vision system. For the point cloud data acquired by the two cameras, a RANSAC-based orb calibration method is used to externally calibrate the cameras, and the point cloud is coarsely aligned using the pose transformation matrix between the cameras. For the point cloud data collected at different stations, a coarse point cloud alignment method based on intrinsic shape signature (ISS) key points is proposed. In addition, an improved iterative closest point (ICP) algorithm based on bidirectional KD-tree is proposed to precisely align the coarse-aligned cherry tree point cloud data to achieve point cloud data fusion and obtain a complete 3D cherry tree point cloud model. Finally, to reveal the pattern between the fruit tree canopy structure and the light distribution, a GBRT-based model for predicting the cherry tree canopy light distribution is proposed based on the established 3D cherry tree point cloud model, which takes the relative projected area features, relative surface area and relative volume characteristics of the minimum bounding box of the point cloud model as inputs and the relative light intensity as output. The experiment results show that the GBRT-based model for predicting the cherry tree canopy illumination distribution has good feasibility. The coefficient of determination between the predicted value and the actual value is 0.932, and the MAPE is 0.116, and the model can provide technical support for scientific and reasonable cherry tree pruning. Full article

In the fields of wind tunnel measurement and aerospace, the real-time pose information of aircraft is an important index. In this paper, we propose a large-scale aircraft pose estimation system, in which depth cameras are used to scan the entire aircraft model in multiple directions. Using a principal component analysis (PCA) featuring vectors as the target coordinate system through a coordinate transformation matrix for the point cloud calibration of aircraft, we merge the complete aircraft model with the point cloud. An intrinsic shape signature (ISS) key point extraction and a signature of histograms of orientations (SHOT) feature description are used to form feature descriptors. The scale of the point clouds is reduced, and coarse registration of the point clouds is performed by feature matching and random sample consensus (RANSAC) mismatching. The robustness of the algorithm is improved, and the initial pose estimation is achieved for the precise registration of point clouds. The experimental results demonstrate that the proposed system can achieve an angle measurement accuracy of 0.05°. Full article

The point clouds registration is a key step in data processing for the 3D laser scanner to obtain complete information of the object surface, and there are many algorithms. In order to overcome the disadvantages of slow calculation speed and low accuracy of existing point clouds registration algorithms, a fast point clouds registration algorithm based on the improved voxel filter and ISS-USC feature is proposed. Firstly, the improved voxel filter is used for down-sampling to reduce the size of the original point clouds data. Secondly, the intrinsic shape signature (ISS) feature point detection algorithm is used to extra feature points from the down-sampled point clouds data, and then the unique shape context (USC) descriptor is calculated to describe the extracted feature points. Next, the improved random sampling consensus (RANSAC) algorithm is used for coarse registration to obtain the initial position. Finally, the iterative closest point (ICP) algorithm based on KD tree is used for fine registration, which realizes the transform from the point clouds scanned by the 3D laser scanner at different angles to the same coordinate system. Through comparing with other algorithms and the registration experiment of the VGA connector for monitor, the experimental results verify the effectiveness and feasibility of the proposed algorithm, and it has fastest registration speed while maintaining high registration accuracy. Full article