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Simultaneous localization and mapping (SLAM) and 3D reconstruction have numerous applications for indoor ground wheeled robots such as floor sweeping and food delivery. To advance research in leveraging semantic information and multi-sensor data to enhance the performances of SLAM and 3D reconstruction in complex indoor scenes, we propose a novel and complex indoor dataset named CID-SIMS, where semantic annotated RGBD images, inertial measurement unit (IMU) measurements, and wheel odometer data are provided from a ground wheeled robot viewpoint. The dataset consists of 22 challenging sequences captured in nine different scenes including office building and apartment environments. Notably, our dataset achieves two significant breakthroughs. Firstly, semantic information and multi-sensor data are provided meanwhile for the first time. Secondly, GeoSLAM is utilized for the first time to generate ground truth trajectories and 3D point clouds within two-centimeter accuracy. With spatial-temporal synchronous ground truth trajectories and 3D point clouds, our dataset is capable of evaluating SLAM and 3D reconstruction algorithms in a unified global coordinate system. We evaluate state-of-the-art SLAM and 3D reconstruction approaches on our dataset, demonstrating that our benchmark is applicable. The dataset is publicly available on https://cid-sims.github.io. [ABSTRACT FROM AUTHOR]

This article presents a case report of a 35-year-old Chinese woman who initially presented with symptoms resembling idiopathic inflammatory myopathy (IIM), a rare autoimmune disorder affecting muscles. However, further investigation revealed that she had legionnaire's disease (LD), a bacterial infection that mimicked the symptoms of IIM. The patient's diagnosis was confirmed through pathogen screening, and she was successfully treated with antibiotics. The case highlights the importance of considering infectious etiologies when diagnosing conditions that mimic IIM and emphasizes the need for a comprehensive diagnostic approach. [Extracted from the article]

With the popularization of smartphones, larger collection of videos with high quality is available, which makes the scale of scene reconstruction increase dramatically. However, high-resolution video produces more match outliers, and high frame rate video brings more redundant images. To solve these problems, a tailor-made framework is proposed to realize an accurate and robust structure-from-motion based on monocular videos. The key ideas include two points: one is to use the spatial and temporal continuity of video sequences to improve the accuracy and robustness of reconstruction; the other is to use the redundancy of video sequences to improve the efficiency and scalability of system. Our technical contributions include an adaptive way to identify accurate loop matching pairs, a cluster-based camera registration algorithm, a local rotation averaging scheme to verify the pose estimate and a local images extension strategy to reboot the incremental reconstruction. In addition, our system can integrate data from different video sequences, allowing multiple videos to be simultaneously reconstructed. Extensive experiments on both indoor and outdoor monocular videos demonstrate that our method outperforms the state-of-the-art approaches in robustness, accuracy and scalability. [ABSTRACT FROM AUTHOR]

Objective: To investigate the clinical features, outcome, and risk factors of disease flares in patients with pregnancy-related lupus (PRL). Methods: Medical charts of 155 consecutive PRL inpatients were systematically reviewed, including demographic data, clinical features, laboratory findings, treatment, complications, and outcome. Results: PRL cases were divided into active (a-PRL) (n = 82, 53.0%) and stable lupus (s-PRL) (n = 73, 47.0%). Compared with nonpregnant active female systemic lupus erythematosus (SLE) patients, a-PRL including new-onset lupus (n-PRL) and flare lupus (f-PRL) (n = 41 respectively), had a higher incidence of renal and hematological involvement but less mucocutaneous and musculoskeletal involvement (p<0.05). The incidence of preeclampsia/eclampsia, fetal loss, and preterm birth were significantly higher in a-PRL than in s-PRL (p<0.05). Despite receiving a more vigorous glucocorticoid treatment, a-PRL mothers had a poorer prognosis (p<0.001). Five (6.1%) of them died and 13 (15.9%) developed severe irreversible organ failure, whereas none of these events was observed in the s-PRL group. Multivariate logistic analysis indicated that a history of lupus flares and serological activity (hypocomplementemia and/or anti-dsDNA positivity) at the time of conception were associated with lupus flares in PRL mothers. Conclusions: SLE patients with a flare history and serological activity at the time of conception were at an increased risk of disease flares during pregnancy and puerperium. a-PRL patients were more prone to renal and hematological involvement, pregnancy complications, and a poorer prognosis despite more vigorous glucocorticoid treatment. [ABSTRACT FROM AUTHOR]

Objective: Patients with rheumatoid arthritis (RA) are at risk to develop RA-associated interstitial lung disease (RA-ILD). This retrospective study aimed to investigate the potential association of the positivity of serum anti-cyclic citrullinated peptide antibody (anti-CCP2) and rheumatoid factor (RF) with RA-ILD in RA patients. Methods: A total of 285 RA patients were recruited at the inpatient service of Peking Union Medical College Hospital in China between 2004 and 2013. Individual patients were evaluated for the evidence of ILD. The concentrations of serum anti-CCP2 and RF in individual patients were measured. The potential risk factors for ILD in RA patients were assessed by univariate and multivariate models. Results: There were 71 RA patients with RA-ILD, accounting for 24.9% in this population. The positive rates of anti-CCP2 and RF in the patients with RA-ILD were significantly higher than that in the patients with RA-only (88.7% vs. 67.3%, p<0.001; 84.5% vs. 70.6%, p = 0.02, respectively). Univariate and multivariate logistic regression analysis revealed that RA patients with positive serum anti-CCP2, but not RF, were associated with an increased risk of ILD (crude odds ratio [cOR] 3.83, 95% confidence interval [CI] 1.74–8.43, p<0.001; adjusted odds ratio [aOR] 3.50, 95% CI 1.52–8.04, p<0.001). Conclusion: Our findings suggest that positive serum anti-CCP2, but not RF, may be associated with RA-ILD in RA patients. [ABSTRACT FROM AUTHOR]

3D scene reconstruction is an important topic in computer vision. A complete scene is reconstructed from views acquired along the camera trajectory, each view containing a small part of the scene. Tracking in textureless scenes is well known to be a Gordian knot of camera tracking, and how to obtain accurate 3D models quickly is a major challenge for existing systems. For the application of robotics, we propose a robust CPU-based approach to reconstruct indoor scenes efficiently with a consumer RGB-D camera. The proposed approach bridges feature-based camera tracking and volumetric-based data integration together and has a good reconstruction performance in terms of both robustness and efficiency. The key points in our approach include: (i) a robust and fast camera tracking method combining points and edges, which improves tracking stability in textureless scenes; (ii) an efficient data fusion strategy to select camera views and integrate RGB-D images on multiple scales, which enhances the efficiency of volumetric integration; (iii) a novel RGB-D scene reconstruction system, which can be quickly implemented on a standard CPU. Experimental results demonstrate that our approach reconstructs scenes with higher robustness and efficiency compared to state-of-the-art reconstruction systems. [ABSTRACT FROM AUTHOR]

Analyzes the clinical and histopathological features of consecutive anti-proteinase 3 (PR3). Diagnostic classification of patients with anti-PR3; Association of anti-PR3 with systemic vasculitis; Use of an enzyme-linked immunosorbent assay in detecting anti-PR3 in patients with antineutrophil cytoplasmic antibodies.

Background: Dominant-negative somatic mutations of p53 has been identified in the synovium of patients with rheumatoid arthritis (RA), in which interleukin (IL)-6 has been established as a pivotal inflammatory cytokine. The aim of this study was to clarify the significance of p53 in the longstanding inflammation in RA by modulating IL-6., Methods: We established adjuvant-induced arthritis (AIA) in Lewis rats and treated them with p53 activator, and then analyzed the histopathology of the synovium and IL-6 expression. Human fibroblast-like synoviocytes (FLS) were cultured and transfected with p53-siRNA or transduced with adenovirus (Ad)-p53, and then assessed with MTT, TUNEL staining, and luciferase assay. IL-1β, tumor necrosis factor (TNF)-α and IL-17 were used to stimulate FLS, and subsequent IL-6 expression as well as relevant signal pathways were explored., Results: p53 significantly reduced synovitis as well as the IL-6 level in the AIA rats. It controlled cell cycle arrest and proliferation, but not apoptosis. Proinflammatory cytokines inhibited p53 expression in FLS, while p53 significantly suppressed the production of IL-6. Furthermore, IL-6 expression in p53-deficient FLS was profoundly reduced by NF-kappaB, p38, JNK, and ERK inhibitors., Conclusion: Our findings reveal a novel function of p53 in controlling inflammatory responses and suggest that p53 abnormalities in RA could sustain and accelerate synovial inflammation mainly through IL-6. p53 may be a key modulator of IL-6 in the synovium and plays a pivotal role in suppressing inflammation by interaction with the signal pathways in RA-FLS. Interfering with the p53 pathway could therefore be an effective strategy to treat RA.

Objective: To identify proteomic biomarkers in cerebrospinal fluid (CSF) and develop a diagnostic proteomic model for neuropsychiatric systemic lupus erythematosus (NPSLE)., Methods: CSF proteomic spectra were generated by matrix-assisted laser desorption/ionization time-of-flight mass spectrometry (MALDI-TOF-MS) combined with weak cation exchange (WCX) magnetic beads. The spectra were taken from 27 patients with NPSLE before and after treatment, and 27 controls including 17 patients with scoliosis and 10 patients with SLE but without neuropsychiatric manifestation. Discriminating peaks were processed by Biomarker Patterns Software to build a decision tree model for NPSLE classification. In addition, CSF samples of 12 patients with NPSLE, 12 patients with lumbar disc herniation, and 9 patients with other neurological conditions were used as a blind test group to verify the accuracy of the model., Results: Twelve discriminating mass-to-charge (m/z) peaks were identified between NPSLE and controls: m/z peaks 7740, 11962, 8065, 7661, 6637, 5978, 11384, 11744, 8595, 10848, 7170, and 5806. The diagnostic decision tree model, built with a panel of m/z peaks 8595, 7170, 7661, 7740, and 5806, recognized NPSLE with both sensitivity and specificity of 92.6%, based on training group samples, and sensitivity and specificity of 91.7% and 85.7%, respectively, based on the blind test group. In addition, the root node m/z peak 8595 protein, which was downregulated in the CSF of patients with NPSLE after treatment, was identified and confirmed as ubiquitin by immunoprecipitation and ELISA., Conclusion: Potential CSF biomarkers for NPSLE are identified by MALDI-TOF-MS combined with WCX magnetic beads. The novel diagnostic proteomic model with m/z peaks 8595, 7170, 7661, 7740, and 5806 is highly sensitive and relatively specific for NPSLE diagnosis. The level of ubiquitin in CSF is a promising biomarker for active NPSLE.

Objective: To explore the diagnostic value of anti-cyclic citrullinated peptide antibody (anti-CCP) detected by ELISA in patients with rheumatoid arthritis (RA)., Methods: The synthesized cyclic citrullinated peptide was used as substrate for ELISA. Anti-CCP antibody was detected by ELISA in 191 patients with RA, 132 with rheumatic diseases other than RA, and 98 with nonrheumatic diseases. The antiperinuclear factor (APF), anti-keratin antibody (AKA), rheumatoid factor (RF), and HLA-DR4 gene complex were also tested in each RA patient. The results of these tests were compared with anti-CCP antibody to examine the correlation between them., Results: Ninety (47.1%) patients with RA, 4 (3.0%) with other rheumatic diseases, and 2 (2.0%) with nonrheumatic diseases were found to be anti-CCP antibody positive by ELISA. The sensitivity of anti-CCP antibody was 47.1%, with a high specificity (97.4%) in RA. Anti-CCP antibody correlated with APF, AKA, RF, and HLA-DR4 gene complex., Conclusion: A new modified anti-CCP antibody test had a moderate sensitivity (47.1%) but a high specificity (97.4%) in patients with RA and was found as a valuable supplement to diagnosis of RA. Anti-CCP correlated with APF, AKA, RF, and HLA-DR4 gene complex, but did not completely overlap with them. Anti-CCP antibody could be regarded as a new diagnostic marker for RA.