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This paper introduces an innovative approach to 3D environmental mapping through the integration of a compact, handheld sensor package with a two-stage sensor fusion pipeline. The sensor package, incorporating LiDAR, IMU, RGB, and thermal cameras, enables comprehensive and robust 3D mapping of various environments. By leveraging Simultaneous Localization and Mapping (SLAM) and thermal imaging, our solution offers good performance in conditions where global positioning is unavailable and in visually degraded environments. The sensor package runs a real-time LiDAR-Inertial SLAM algorithm, generating a dense point cloud map that accurately reconstructs the geometric features of the environment. Following the acquisition of that point cloud, we post-process these data by fusing them with images from the RGB and thermal cameras and produce a detailed, color-enriched 3D map that is useful and adaptable to different mission requirements. We demonstrated our system in a variety of scenarios, from indoor to outdoor conditions, and the results showcased the effectiveness and applicability of our sensor package and fusion pipeline. This system can be applied in a wide range of applications, ranging from autonomous navigation to smart agriculture, and has the potential to make a substantial benefit across diverse fields.

ABSTRACT Introduction Method Result Conclusion Trial Registration The reduction of fluoroscopic exposure during catheter ablation of supraventricular arrhythmias is widely adopted by experienced electrophysiology physicians with a relatively short learning curve and is becoming the standard of care in many parts of the world. While observational studies in the United States and some parts of Western Europe have evaluated the minimal fluoroscopic approach, there are scarce real‐world data for this technique and the generalizability of outcomes in other economic regions.The AALARA study is a prospective, observational, multicenter, and multinational open‐label study. Patients were recruited from 13 countries across Central Eastern Europe, North and South Africa, the Middle East, and the CIS (Commonwealth of Independent States), with different levels of operator expertise using minimal fluoroscopic exposure techniques. Data on radiation exposure, procedural success, complications, recurrence, and quality of life changes were collected and analyzed.A total of 680 patients were enrolled and followed for 6 months. The majority were ablation naïve with the commonest arrhythmia ablated being typical AVNRT (58%) followed by Atrial Flutter (23%). Zero fluoroscopy exposure was observed in almost 90% of the cases. Fluoroscopy was most commonly used during the ablation phase of the procedure. We observed a high acute success rate (99%), a low complication rate (0.4%), and a 6‐month recurrence rate of 3.8%. There was a significant improvement in the patient's symptoms and quality of life as measured by patient global assessment.The routine use of a 3D mapping system during right‐sided ablation was associated with low radiation exposure and associated with high acute success rate, low complications, and recurrence rate along with significant improvement in quality of life. The data confirm the reproducibility of this approach in real‐world settings across different healthcare systems, and operator experience supporting this approach to minimize radiation exposure without compromising efficacy and safety.NCT04716270 [ABSTRACT FROM AUTHOR]

The purpose of this study is to analyze the application of Total Station and Laser Scanner in geodesy surveys to obtain accurate coordinates and evaluate polygon shapes. The Total Station method is used to measure the angle and distance between points, while the Laser Scanner is used to generate point cloud data which is then processed. The data from the two methods were compared to determine the accuracy of the coordinates using the Root-Mean-Square Error (RMSE). The results showed that the Laser Scanner provided higher accuracy than the Total Station, with an RMSE value for horizontal coordinates of 0.038 meters and an elevation of 0.020 meters. Field evaluation also validates the accuracy of the scan results with direct measurements using a hand meter. This study not only confirms the superiority of the Laser Scanner in producing accurate geospatial data, but also supports the development of methodologies and technologies in geodesy surveys. The results of this research make an important contribution to the development of civil engineering science, especially in the context of 3D mapping and its application in infrastructure and construction projects. [ABSTRACT FROM AUTHOR]

Co‐working spaces have emerged as cost‐effective office space management solutions for workers from diverse industries who share space, which generates cost savings and facilitates networking opportunities. Past studies have mainly focused on needs for and benefits of co‐working spaces and range in emphasis from design preferences to potential social and economic impacts. However, limited attention has been given to the temporal clustering and geographical distribution patterns of co‐working spaces. This study examines the spatial distribution patterns of co‐working spaces establishments in terms of building floor plans. We discern the subcategory of 'co‐working office space' from the floor space and employment survey data, spanning 2007, 2012, and 2017 as collected by the City of Sydney, a municipal government in Australia. Both co‐working offices offered by conventional enterprises and co‐working providers are identified, and the spatial associations between co‐working spaces and their relationships with industry composition are analysed. Using establishment analysis, three co‐working spaces are identified: (1) dedicated co‐working enterprises providing office service and well‐design spaces; (2) conventional office rental enterprises diversifying into co‐working style office; and (3) standard enterprises converting fixed office spaces to co‐working office configurations. The spatial analysis reveals an outward diffusion of co‐working spaces from the centre of Sydney CBD, which is of importance in geographical research focused on urban, social, and economic change. [ABSTRACT FROM AUTHOR]

Background: The relationship between induction and recurrence due to atrial tachycardia (AT) and left atrial (LA) matrix progression after atrial fibrillation (AF) ablation remains unclear. Methods: One hundred fifty-two consecutive patients with paroxysmal and persistent AF who underwent pulmonary vein isolation (PVI) and cavo-tricuspid isthmus (CTI) ablation and achieved sinus rhythm before the procedure were classified into three groups according to the AT pattern induced after the procedure: group N (non-induced), F (focal pattern), and M (macroreentrant pattern) in 3D mapping. Results: The total rate of AT induction was 19.7% (30/152) in groups F (n = 13) and M (n = 17). Patients in group M were older than those in groups N and F, with higher CHADS2/CHA2DS2-VASc values, left atrial enlargement, and low-voltage area (LVA) size of LA. The receiver operating characteristic curve determined that the cut-off LVA for macroreentrant AT induction was 8.8 cm2 (area under the curve [AUC]: 0.86, 95% confidence interval [CI]: 0.75–0.97). The recurrence of AT at 36 months in group N was 4.1% (5/122), and at the second ablation, all patients had macroreentrant AT. Patients with AT recurrence in group N had a wide LVA at the first ablation, and the cut-off LVA for AT recurrence was 6.5 cm2 (AUC 0.94, 95%CI 0.88–0.99). Adjusted multivariate analysis showed that only LVA size was associated with the recurrence of macroreentrant AT (odds ratio 1.21, 95%CI 1.04–1.51). Conclusions: It is important to develop a therapeutic strategy based on the LVA size to suppress the recurrence of AT in these patients. [ABSTRACT FROM AUTHOR]

The variability of soil organic carbon (SOC) extends across three dimensions. However, quantitative analyses of the factors influencing spatiotemporal variations of SOC in various soil depth is scarce. This study leverages legacy data from two soil surveys conducted in the Dongting Lake Basin during the 1980s and the 2010s, employing Random Forest models to generate three-dimensional SOC maps. Through correlation analysis and permutation importance, we identified the primary factors driving temporal and spatial changes of SOC. The results showed that in the 2010s, SOC storage up to a depth of 1 m in the Dongting Lake Basin was approximately 2.95 Pg, increasing at an average rate of 0.0047 Pg C per year since the 1980s. Regions with higher average SOC contents were predominantly found in the western, southern, and eastern parts of the basin, despite significant losses over the 30-year period. In contrast, the central and northern areas, which initially had lower SOC contents in the 1980s, exhibited increases by the 2010s. Soil depth was the most influential predictor of SOC patterns in both the 1980s and 2010s. Meanwhile, relief and organism factors were primarily responsible for spatial variations in SOC, with the influence of organism factors diminishing by the 2010s. The temporal variations of SOC were chiefly attributed to changes in soil conservation practices, extreme precipitation events, and grain production. Consequently, it is imperative to prioritize ecological restoration and conservation tillage practices to mitigate the impacts of extreme weather conditions and safeguard food security.

Objective The talus is an important component in the ankle, and its treatment after injury is crucial. However, complications and adverse events due to incomplete traditional classifications may still occur, and these classifications fail to analyze the patterns and distribution of fractures from a three‐dimensional perspective. Therefore, in this study, we aimed to analyze the location and distribution of fracture lines in different types of talus fractures using three‐dimensional (3D) and heat mapping techniques. Additionally, we aimed to determine the surface area of the talus that can be utilized for different approaches of internal fixation, aiding in the planning of surgical procedures. Methods We retrospectively analyzed data from CT scans from 126 patients diagnosed with talus fractures at our two hospitals. We extracted the CT data of a healthy adult and created a standard talus model. We performed 3D reconstruction using patients' CT images and superimposed the fracture model onto the standard model for drawing fracture lines. Subsequently, we converted the fracture lines into a heat map for visualization. Additionally, we measured 20 specimens to determine the boundary for various ligaments attached to the talus. We determined the surface area of the talus available for different surgical approaches by integrating the boundary data with previously reported data on area of exposure. Results Without considering the displacement distance of the fracture, fracture types were classified as follows, by combining Hawkins and Sneppen classifications: talar neck, 41.3%; posterior talar tubercle, 22.2%; body for the talus and comminuted, 17.5%; lateral talar tubercle, 11.9%; and talar head, 7.1%. We established fracture line and heat maps using this classification. Additionally, we demonstrated the available area for anteromedial, anterolateral, posteromedial, posterolateral, and medial malleolus osteotomy and Chaput osteotomy approaches. Conclusion Fracture line and heat map analyses can aid surgeons in planning a single or combined surgical approach for the reduction and internal fixation of talus fractures. Demonstrating the different surgical approaches can help surgeons choose the most effective technique for individual cases.

Mapping is now thoroughly digital at all stages of production and maps are widely used in digital form. This digital turn has transformed the nature of mapping and maps. Maps need no longer be static representations, but rather constitute spatial media, providing an interactive, dynamic means for creating, discussing, and sharing spatial information and mediating spatial practices. This has included the development of 3D mapping, including nascent digital twins and digital deep maps. In this short paper, we reflect on our attempts to produce a 3D city information model for Dublin that acts as a basic digital twin, which we have also used to explore deep mapping, as well as map projecting data onto a printed 3D map model of the city. We consider what digital twins and deep maps mean for how we understand the nature of mapping, arguing that they produce a dyadic intertwining of map and territory; a literal, material expression of post‐representational, ontogenetic conceptions of mapping. [ABSTRACT FROM AUTHOR]

Unmanned aerial vehicle (UAV) systems have become crucial for gathering information for observation, surveillance, mapping, and 3D modeling tasks. The use of UAVs in close and mid-range sectors has shown potential for cost-effective alternatives to traditional aerial photogrammetry conducted by humans. The research aims to optimize photogrammetric processing for drone-based 3D mapping by examining strategies and applications to increase accuracy and efficiency. The study highlights the significance of image overlap and high-quality camera equipment to obtain reliable outcomes for stereo-photogrammetry and depth measurements. Drones and specialized software like 3DF Zephyr and Pix4D were used to create a 3D map. The software uses automatic structure from motion techniques, including feature extraction, image matching, and bundle block adjustment, to produce a dense point cloud that forms the basis for the 3D model. A DGPS system was implemented to enhance spatial accuracy. The map initially showed inadequate accuracy, with an error rate exceeding 80cm. However, with the use of a DGPS system, the error was reduced to less than 3cm. This study provides suggestions and insights for improving photogrammetric processing for drone-based 3D mapping. [ABSTRACT FROM AUTHOR]

Accompanying climate change and sea level rise, tidal marsh mortality in coastal wetlands has been globally observed that urges the documentation of high-resolution, 3D marsh inventory to assist resilience planning. Drone Lidar has proven useful in extracting the fine-scale bare earth terrain and canopy height. Beyond that, this study performed marsh biomass mapping from drone Lidar point cloud in a S. alterniflora-dominated estuary on the Southeast U.S. coast. Three point classes (ground, low-veg, and high-veg) were classified via point cloud deep learning. Considering only vegetation points in the vertical profile, a profile area-weighted height (HPA) was extracted at a grid size of 50 cm × 50 cm. Vegetation point densities were also extracted at each grid. Adopting the plant-level allometric equations of stem biomass from long-term S. alterniflora surveys, a Lidar biomass index (Lidar_BI) was built to represent the relative quantity of marsh biomass in a range of [0, 1] across the estuary. Compared with the clipped dry biomass samples, it achieved a comparable and slightly better performance (R2 = 0.5) than the commonly applied spectral index approaches (R2 = 0.4) in the same marsh field. This study indicates the feasibility of the drone Lidar point cloud for marsh biomass mapping. More advantageously, the drone Lidar approach yields information on plant community architecture, such as canopy height and plant density distributions, which are key factors in evaluating marsh habitat and its ecological services. [ABSTRACT FROM AUTHOR]

Bipolar radiofrequency ablation (B-RFA) is a method used to treat the arrhythmia substrate resistant to unipolar ablation. Few studies have addressed endo-epicardial B-RFA. The aim of the study was to evaluate chronic lesions resulting from endo-epicardial B-RFA and to determine optimal settings for such procedures in an animal model. In 7 pigs, up to 5 radiofrequency applications per animal were performed with 2 electrodes placed on both sides of the left ventricular free wall. Current was delivered for 60 seconds by a generator dedicated for B-RFA with power settings of 25, 30, 35, 40, and 50 W. At 12 weeks after ablation, 31 lesions were assessed. Their maximal cross-sectional area ranged from 7.2 to 68 mm2 and correlated with total power delivered (r = 0.53), with temperature increment at the endocardial catheter (r = 0.65), and inversely with temperature decrement at the epicardial catheter (r = 0.54). For power values between 30 and 40 W, the lesion area did not differ significantly (P =.92). Lesion depth ranged from 1.9 to 11 mm and correlated with impedance decrement (r = 0.5). Lesions were transmural in 8 cases. Lesion depth/wall thickness ratio was on average 0.6 ± 0.3, with the smallest value for 25 W (0.5 ± 0.3) and the largest for 50 W (0.8 ± 0.3). Steam pops occurred at a power range of 30–50 W, with an incidence of 1 in 5 applications, with 1 case of fatal tamponade at 40 W. Impedance decrement, endocardial catheter temperature increment, and endocardial electrogram amplitude decrement were greater during applications with steam pops. Chronic lesions resulting from endo-epicardial B-RFA appear smaller and less often transmural compared with acute lesions described in the literature. The incidence of steam pops during endo-epicardial B-RFA is relatively high even at low powers. [ABSTRACT FROM AUTHOR]

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Accurate CO2 tracking in electric substation construction is vital for climate efforts, using monocular SLAM for monitoring despite challenges like sunlight and complex terrain. Additionally, these methods typically yield only aggregate carbon emission data, thereby lacking the granularity necessary for precise monitoring throughout the construction process. These limitations compromise mapping accuracy and impede the integration of digital twins and IoT technologies. Addressing these issues, this paper proposed a methodology combining red, green, and blue (RGB) cameras and multi-camera collaboration with digital design systems, enhancing SLAM capabilities. The advanced technique integrated methods including overlap estimation, depth reasoning, noise reduction, and surface reconstruction to create accurate 3D models, enhancing scene reconstruction and real-time CO2 tracking during construction and operation. Leveraging continuous on-site camera monitoring as a substitute for manual inspections, it significantly contributes to the compilation of a comprehensive carbon emission database within a digital twin framework. Experimental results confirmed the proposed method's superiority over previous works in real-time CO2 estimation, enhancing decision-making, resource management, and sustainable energy development. Overall, besides its application in substation construction for CO2 monitoring, this methodology can also be applied to carbon tracking in various other construction projects. [ABSTRACT FROM AUTHOR]

Objective: The talus is an important component in the ankle, and its treatment after injury is crucial. However, complications and adverse events due to incomplete traditional classifications may still occur, and these classifications fail to analyze the patterns and distribution of fractures from a three‐dimensional perspective. Therefore, in this study, we aimed to analyze the location and distribution of fracture lines in different types of talus fractures using three‐dimensional (3D) and heat mapping techniques. Additionally, we aimed to determine the surface area of the talus that can be utilized for different approaches of internal fixation, aiding in the planning of surgical procedures. Methods: We retrospectively analyzed data from CT scans from 126 patients diagnosed with talus fractures at our two hospitals. We extracted the CT data of a healthy adult and created a standard talus model. We performed 3D reconstruction using patients' CT images and superimposed the fracture model onto the standard model for drawing fracture lines. Subsequently, we converted the fracture lines into a heat map for visualization. Additionally, we measured 20 specimens to determine the boundary for various ligaments attached to the talus. We determined the surface area of the talus available for different surgical approaches by integrating the boundary data with previously reported data on area of exposure. Results: Without considering the displacement distance of the fracture, fracture types were classified as follows, by combining Hawkins and Sneppen classifications: talar neck, 41.3%; posterior talar tubercle, 22.2%; body for the talus and comminuted, 17.5%; lateral talar tubercle, 11.9%; and talar head, 7.1%. We established fracture line and heat maps using this classification. Additionally, we demonstrated the available area for anteromedial, anterolateral, posteromedial, posterolateral, and medial malleolus osteotomy and Chaput osteotomy approaches. Conclusion: Fracture line and heat map analyses can aid surgeons in planning a single or combined surgical approach for the reduction and internal fixation of talus fractures. Demonstrating the different surgical approaches can help surgeons choose the most effective technique for individual cases. [ABSTRACT FROM AUTHOR]

Compact wearable mapping system (WMS) has gained significant attention due to their convenience in various applications. Specifically, it provides an efficient way to collect prior maps for 3D structure inspection and robot-based "last-mile delivery" in complex environments. However, vibrations in human motion and the uneven distribution of point cloud features in complex environments often lead to rapid drift, which is a prevalent issue when applying existing LiDAR Inertial Odometry (LIO) methods on low-cost WMS. To address these limitations, we propose a novel LIO for WMSs based on Hybrid Continuous Time Optimization (HCTO) considering the optimality of Lidar correspondences. First, HCTO recognizes patterns in human motion (high-frequency part, low-frequency part, and constant velocity part) by analyzing raw IMU measurements. Second, HCTO constructs hybrid IMU factors according to different motion states, which enables robust and accurate estimation against vibration-induced noise in the IMU measurements. Third, the best point correspondences are selected using optimal design to achieve real-time performance and better odometry accuracy. We conduct experiments on head-mounted WMS datasets to evaluate the performance of our system, demonstrating significant advantages over state-of-the-art methods. Video recordings of experiments can be found on the project page of HCTO: https://github.com/kafeiyin00/HCTO. [ABSTRACT FROM AUTHOR]

[Objective] In order to investigate the influencing factors and variation rules of accuracy of various two-step models of 3D mapping methods. [Methods] Soil organic carbon in a forest with an area of about 5 km2 in a typical hilly region of South China was mapped. Spline functions, exponential functions and power functions were used as depth functions, ordinary kriging and random forest were used as horizontal mapping methods and two different mapping forms (called forms A and B) were used. The 3D prediction mapping of soil organic carbon was carried out, and the influence of different depth functions, horizontal mapping methods and mapping forms on the 3D mapping results of two-step model was explored. [Results] (1) The depth function largely determined the variation of mapping results in vertical and horizontal directions, which showed that the variation of the mapping results was significantly different among the three depth functions. Exponential function had the largest variation and power function had the weakest variation, while horizontal mapping methods (ie.ordinary kriging and random forest) had little influence on the vertical variation of mapping results. However, the spatial variation of surface layer was greatly affected by the horizontal mapping methods. (2) The accuracy of spline function was the best because the simulated depth curve was in the best agreement with the measured values. The consistency correlation coefficients (CCC) of the 3D mapping based on the spline function were 0.72 and 0.75, which were higher than the other functions in the same form of 3D mapping (CCC were between 0.64 and 0.74). For the horizontal mapping methods, the accuracy of the ordinary kriging was better than that of the random forest, the CCC of the former was between 0.67 and 0.75, the latter was between 0.64 and 0.72; (3) The two mapping forms of the two-step model had little influence on accuracy. Only in the case of prediction for bottom layer, form A (i.e., horizontally mapping simulated walues of a depth function was better than form B (i.e., simulating parameters of a depth function).(4) Among all 3D mapping methods, the form A, with ordinary kriging and spline functions, had the highest accuracy, generating coefficient of determination (R2) of 0.76, CCC of 0.75, and root mean square error (RMSE) of 3.50 g/kg. [Conclusion] In the two-step model of 3D soil mapping, firstly, the spline function should be considered as the depth function. Secondly, the horizontal mapping method should be considered according to the landscape conditions and sample size. Finally, the first mapping form of the two-step model should be adopted as far as possible.

Abstract Cardioneuroablation (CNA) is currently considered as a promising treatment option for patients with symptomatic bradycardia caused by vagotonia. This study aims to further investigate its safety and efficacy in patients suffering from vagal bradycardia. A total of 60 patients with vagal bradycardia who underwent CNA in the First Affiliated Hospital of Xinjiang Medical University from November 2019 to June 2022. Preoperative atropine tests revealed abnormal vagal tone elevation in all patients. First, the electroanatomic structures of the left atrium was mapped out by using the Carto 3 system, according to the protocol of purely anatomy-guided and local fractionated intracardiac electrogram-guided CNA methods. The upper limit of ablation power of superior left ganglion (SLGP) and right anterior ganglion (RAGP) was not more than 45W with an ablation index of 450.Postoperative transesophageal cardiac electrophysiological examination was performed 1 to 3 months after surgery. The atropine test was conducted when appropriate. Twelve-lead electrocardiogram, Holter electrocardiogram, and skin sympathetic nerve activity were reviewed at 1, 3, 6 and 12 months after operation. Adverse events such as pacemaker implantation and other complications were also recorded to analyze the safety and efficacy of CNA in the treatment of vagus bradycardia. Sixty patients were enrolled in the study (38 males, mean age 36.67 ± 9.44, ranging from 18 to 50 years old). None of the patients had a vascular injury, thromboembolism, pericardial effusion, or other surgical complications. The mean heart rate, minimum heart rate, low frequency, low/high frequency, acceleration capacity of rate, and skin sympathetic nerve activity increased significantly after CNA. Conversely, SDNN, PNN50, rMSSD, high frequency, and deceleration capacity of rate values decreased after CNA (all P 0.05). The remaining 81.67% (49/60) of the patients had good clinical results, with no episodes of arrhythmia during follow-up. CNA may be a safe and effective treatment for vagal-induced bradycardia, subject to confirmation by larger multicenter trials.

Key Clinical Message: Focal atrial tachycardia (FAT) is an organized atrial rhythm >100 beats per minute initiated from a discrete origin and spreading over both atria in a centrifugal pattern. The arrhythmia may be sustained or incessant. Dynamic forms with recurrent interruptions and reinitiating may be frequent. In this report, we present a 36‐year‐old man who came to the emergency room complaining of palpitation and shortness of breath. All laboratory evaluations were normal. With an initial electrocardiogram (ECG) the patient was admitted with the initial diagnosis of atrial flutter. Finally, after the electrophysiologist's examination, with the diagnosis of FAT, ablation was successfully performed. Atrial tachycardia (AT), excluding atrial fibrillation (AF) and cavotricuspid isthmus‐dependent atrial flutter (AFL), account for 10% of supraventricular tachycardia referred for ablation procedures. More than 70% of these cases are focal and occur in patients with no records of cardiac surgery or ablation of AF. FAT originating from the right pulmonary veins (PV) can be challenging to differentiate from atrial flutter due to their proximity and overlapping symptoms. The right PV is close to the right atrium, and the abnormal electrical activity in FAT may mimic the organized circuit found in atrial flutter. Distinguishing between FAT and atrial flutter is crucial for choosing the best therapeutic option. This can be done most of the time by focusing on the differences in the pattern of their P and QRS waves, R‐R wave intervals, and also their baseline changes on ECG, as well as their cycle duration, response to adenosine and risk factors of the patient. [ABSTRACT FROM AUTHOR]

Background: Omnipolar mapping (OT) is a novel tool to acquire omnipolar signals for electro-anatomical mapping, displaying true voltage and real-time wavefront direction and speed independent of catheter orientation. The aim was to analyze previously performed left atrial (LA) and left ventricular (LV) maps for differences using automated OT vs. standard bipolar settings (SD) and HD wave (HDW) algorithm. Methods: Previously obtained SD and HDW maps of the LA and LV using a 16-electrode, grid-shaped catheter were retrospectively analyzed by applying automated OT, comparing voltage, point density, pulmonary vein (PV) gaps, and LV scar area. Results: In this analysis, 135 maps of 45 consecutive patients (30 treated for LA, 15 for LV arrhythmia) were included. Atrial maps revealed significantly higher point densities using OT (21471) vs. SD (6682) or HDW (12189, p < 0.001). Mean voltage was significantly higher using OT (0.75 mV) vs. SD (0.61 mV) or HDW (0.64 mV, p < 0.001). OT maps detected significantly more PV gaps per patient vs. SD (4 vs. 2), p = 0.001. In LV maps, OT revealed significantly higher point densities (25951) vs. SD (8582) and HDW (17071), p < 0.001. Mean voltage was significantly higher for OT (1.49 mV) vs. SD (1.19 mV) and HDW (1.2 mV), p < 0.001. Detected scar area was significantly smaller using OT (25.3%) vs. SD (33.9%, p < 0.001). Conclusion: OT mapping leads to significantly different substrate display, map density, voltage, detection of PV gaps, and scar size, compared to SD and HDW in LA and LV procedures. Successful CA might be facilitated due to true HD maps. [ABSTRACT FROM AUTHOR]

Introduction: It would be helpful in determining ablation strategy if the occurrence of perimitral atrial tachycardia (PMAT) could be predicted in advance. We investigated whether estimated perimitral conduction time (E‐PMCT), namely, twice the time between coronary sinus (CS) pacing and the ensuing wave‐front collision at the opposite side of the mitral annulus, correlated with the cycle length of PMAT and could predict future PMAT. Methods and Results: We retrospectively (retrospective cohort) and prospectively (validation cohort) investigated atrial fibrillation patients who had received pulmonary vein isolation (PVI) and in whom left atrial maps had been created during CS pacing. We calculated their E‐PMCT. PMAT was observed either by provocation or during follow‐up in 25, AT other than PMAT was observed in 24 (non‐PMAT AT group), and 53 patients never displayed any AT (no‐AT group) in the retrospective cohort. In the PMAT group of the retrospective cohort, a strong positive correlation was observed between the PMAT CL and E‐PMCT (r =.85, p < 0.001). PMAT was never induced nor observed in patients with E‐PMCT less than 176 ms, and the best cut‐off value for PMAT was 180 ms by receiver‐operating characteristic curve analysis. In the validation cohort of 76 patients, the cut‐off value of the E‐PMAT less than 180 ms predicted noninducibility of PMAT, with a sensitivity of 78.6%, specificity of 100%, positive predictive value of 100%, and negative predictive value of 25.0%. Conclusion: Short E‐PMCT may predict noninducibility of PMAT and guide a less invasive ablation strategy. [ABSTRACT FROM AUTHOR]

Traversing through challenging, unstructured environments, particularly in mining scenarios characterized by dust concentration, darkness, and lack of communication presents formidable obstacles for traditional sensing technologies. Drawing inspiration from naked mole rats, characterized as being skilled subterranean navigators that depend heavily on touch to navigate their environment, this study introduces a new whisker-sensing disk designed for 3D mapping in unstructured environments. The disk comprises a circular array of 32 whisker sensors, each featuring a slender flexible plastic rod attached to a compliant base housing a 3D Hall-effect sensor. The whisker sensor is modeled using both analytical and data-driven approaches to predict rotation angles based on magnetic field measurements. The validation and comparison of both models are performed by evaluating data from other whisker sensors. Additionally, a series of experiments demonstrates the whisker disk's capability in performing 3D-mapping tasks, along with successful implementation on diverse robotic platforms, highlighting its future potential for effective 3D mapping in complex and unstructured subterranean environments. [ABSTRACT FROM AUTHOR]

Pulmonary vein isolation (PVI), as the cornerstone of atrial fibrillation (AF) ablation, has emerged a widely used therapy for patients suffering from AF. To improve PVI efficiency, single-shot catheters (SSCs) have been developed. Regrettably, SSCs are not integrated into 3D-mapping technology. In that regard, a novel radiofrequency balloon catheter (RFBC, Heliostar, Biosense Webster) with full integration into 3D-mapping technology has been developed. The aim of this study was to assess operative and follow-up outcomes of the RFBC in AF patients. In this monocentric prospective registry, patients with a first-time PVI using the RFBC were included. Follow-up visits were scheduled 3, 6, 12 and 24 months after ablation and in case of symptoms. A total of 171 patients (36.8% female) were included, with a mean age of 68.5 ± 10.2 years. Among them, 63 patients (36.8%) presented with persistent AF. Notably, no major periprocedural complications were observed. The mean follow-up period was 287 ± 157 days. In the Kaplan–Meier analysis, the estimated recurrence-free survival after 12 months was 81.8%. Based on our data, PVI with the fully 3D-mapping-integrated RFBC seems to be safe and effective and to have a favorable 12-month outcome in patients with paroxysmal and persistent AF. [ABSTRACT FROM AUTHOR]

This study presents a drone-based excavation platform prototype with the key objectives of balancing stability during excavation, sensing, and digging the soil pile autonomously without human intervention. The whole platform was first designed in CAD software, and then each part of the excavator assembly was 3D printed by using PLA filament. The physical system was then combined with numerous electronic components and linked to various software applications for a drone to perform autonomous excavations. Pixhawk Orange Cube served as the main controller for the drone, while Nvidia Jetson Nano was used for processing data and controlling the tip of the bucket at a specified location for the autonomous excavator. Two scenarios were considered to validate the functionality of the developed platform. In the first scenario, the drone flies independently to a construction site, lands, senses the soil, excavates it, and then travels to another location specified by the mission to deposit the soil. [ABSTRACT FROM AUTHOR]

Path planning and motion control of mobile robots are highly dependent on the map representation. Planners and controllers can solve both simple 2D navigation indoors and complex navigation in rough outdoor terrain with multiple levels and varying slopes. Furthermore, an appropriate map representation can enable various approaches. In my dissertation [Pütz S, Navigation control & path planning for autonomous mobile robots. PhD Thesis, Osnabrück University, 2022], I present the robot navigation control system used worldwide in science and industry that can use different map representations while using the same core: Move Base Flex (MBF). It is a mid-level navigation control system that is map representation independent at its core. Building on this, the Mesh Navigation Stack (MeshNav) provides a layered mesh map to represent surfaces in 3D, layer plugins to compute navigability, and global path planners and local motion controllers using the referenced mesh map. The dissertation also provides an overview of path planning approaches and algorithms for various map representations. In addition, the developed Continuous Vector Field Planner (CVP), which computes vector fields for navigation on a 3D mesh map, is presented and evaluated. The developed software packages are open source and are published as binary ROS packages that can be installed via apt. Thus, the provided scientific results can be easily reproduced. Today, the software stack is available in ROS2 and is being further developed and maintained by Nature Robots. [ABSTRACT FROM AUTHOR]

This study demonstrates the successful use of a single-channel chirp system mounted on an Autonomous Surface Vehicle (ASV) for detecting and mapping a partly buried medieval ship found in water approximately one meter (m) deep in a dynamic, intertidal environment at Avaldsnes, south-western Norway. The ASV's fast mobilization and access to areas otherwise difficult to reach, makes it an efficient, low-cost, and non-invasive platform for examining the seafloor and subsurface with high-resolution seismic data, acquired in a dense grid. Line spacing of 0.25 m allowed for the generation of a detailed 3D data cube, enabling effective interpretation of both acoustic vertical sections and horizontal amplitude maps. This approach empowered accurate identification of the outline of the wooden hull and provided information about ship dimensions and maximum burial depth. Structural elements observed in the geophysical datasets, including the keelson, raiders, and maststep, corroborates with findings from previous diving investigations and photogrammetry documentation. Moreover, the geophysical survey offers valuable additional knowledge of the buried ship remains, revealing a slight tilt of the keel and a substantial object buried in close proximity to the stern, probably the rudder or another wreck-related artefact. [ABSTRACT FROM AUTHOR]

Key Clinical Message Focal atrial tachycardia (FAT) is an organized atrial rhythm >100 beats per minute initiated from a discrete origin and spreading over both atria in a centrifugal pattern. The arrhythmia may be sustained or incessant. Dynamic forms with recurrent interruptions and reinitiating may be frequent. In this report, we present a 36‐year‐old man who came to the emergency room complaining of palpitation and shortness of breath. All laboratory evaluations were normal. With an initial electrocardiogram (ECG) the patient was admitted with the initial diagnosis of atrial flutter. Finally, after the electrophysiologist's examination, with the diagnosis of FAT, ablation was successfully performed. Atrial tachycardia (AT), excluding atrial fibrillation (AF) and cavotricuspid isthmus‐dependent atrial flutter (AFL), account for 10% of supraventricular tachycardia referred for ablation procedures. More than 70% of these cases are focal and occur in patients with no records of cardiac surgery or ablation of AF. FAT originating from the right pulmonary veins (PV) can be challenging to differentiate from atrial flutter due to their proximity and overlapping symptoms. The right PV is close to the right atrium, and the abnormal electrical activity in FAT may mimic the organized circuit found in atrial flutter. Distinguishing between FAT and atrial flutter is crucial for choosing the best therapeutic option. This can be done most of the time by focusing on the differences in the pattern of their P and QRS waves, R‐R wave intervals, and also their baseline changes on ECG, as well as their cycle duration, response to adenosine and risk factors of the patient.

The Stimulating Peripheral Activity to Relieve Conditions (SPARC) data portal is a platform that allows users to access large sets of curated data and tools. Data on the portal is sourced from researchers working in a range of disciplines applied to peripheral nerve activity, including imaging, computational biology, electrophysiology and clinical research. However, many existing tutorials and examples for SPARC do not document examples of interfaces between tools within the SPARC ecosystem. Thus, we see an opportunity to lower the barrier for entry into the SPARC ecosystem, by creating accessible guides to create workflows using multiple SPARC tools. To do this, we have developed an online hub for hosting tutorials that can guide new users through the entire workflow of acquiring data, processing it, and visualizing it, using common, open-source scientific computing tools and crucially, spanning the repertoire of currently available SPARC tools. Our approach encapsulates the workflow within a Jupyter Notebook, which is designed to be readily accessible to new users of SPARC. Having a hub of tutorials that can be easily understood will not only accelerate the growth of the SPARC community but also increase the uptake and usage of tools by members of the community.

Accompanying climate change and sea level rise, tidal marsh mortality in coastal wetlands has been globally observed that urges the documentation of high-resolution, 3D marsh inventory to assist resilience planning. Drone Lidar has proven useful in extracting the fine-scale bare earth terrain and canopy height. Beyond that, this study performed marsh biomass mapping from drone Lidar point cloud in a S. alterniflora-dominated estuary on the Southeast U.S. coast. Three point classes (ground, low-veg, and high-veg) were classified via point cloud deep learning. Considering only vegetation points in the vertical profile, a profile area-weighted height (HPA) was extracted at a grid size of 50 cm × 50 cm. Vegetation point densities were also extracted at each grid. Adopting the plant-level allometric equations of stem biomass from long-term S. alterniflora surveys, a Lidar biomass index (Lidar_BI) was built to represent the relative quantity of marsh biomass in a range of [0, 1] across the estuary. Compared with the clipped dry biomass samples, it achieved a comparable and slightly better performance (R2 = 0.5) than the commonly applied spectral index approaches (R2 = 0.4) in the same marsh field. This study indicates the feasibility of the drone Lidar point cloud for marsh biomass mapping. More advantageously, the drone Lidar approach yields information on plant community architecture, such as canopy height and plant density distributions, which are key factors in evaluating marsh habitat and its ecological services.

Purpose: One of the major limitations of the 2D fracture evaluation (Schatzker classification) is its failure to adequately assess fracture lines in the frontal plane and fracture displacement in the antero-posterior direction. 3D fracture line mapping includes steric assessment which can aid decision making with regards to the surgical approach and fixation scheme. We hypothesized that there are consistent fracture patterns and zones of comminution for proximal tibial fractures. Methods: Radiographic data of 228 proximal tibia fractures were retrospectively included in this study. Fracture lines and zones of comminution were graphically superimposed onto a 3D template of an intact tibia after virtual reduction and normalization to identify major patterns of fracture and comminution. Results: Out of 206 male and 21 female patients, 89 had a fracture of the lateral condyle only (Schatzker I and II), 53 involved the medial plateau only (Schatzker IV) and 86 had a high-grade fracture involving both the condyles (Schatzker V and VI). 64.5% of the fracture lines involving the medial plateau alone were in the coronal plane, and this number was even lesser (44.2%) in medial plateau involvement of bicondylar fractures. In bicondylar fractures, lines were usually not seen to pass directly through the posteromedial region. Conclusions: Medial tibial plateau fractures have a mix of coronal or sagittal fracture alignment. A clearer understanding of the 3D orientations of fractures based on CT scans can aid in diagnosing the pattern of fracture and adequate positioning of plates can be done to eventually improve operative outcomes. [ABSTRACT FROM AUTHOR]

High-resolution topographic mapping is essential for scientific investigations and operational exploration of planets, such as Mars. Photoclinometry, which uses light scattered from a surface to reconstruct 3D topography, can retrieve subtle topographic details from monocular images. However, its performance is affected by the atmosphere of Mars, which alters surface reflectance mechanisms due to the scattering and absorption by aerosols. Therefore, specific treatments accounting for these atmospheric effects are needed to enable photoclinometric mapping of Mars. This paper presents a novel photoclinometric approach incorporating a radiative-transfer model of atmospheric scattering effects for pixel-wise 3D reconstruction of the Martian surface. The approach requires a high-resolution image, a corresponding coarse-resolution digital elevation model (DEM), and information of the optical depth as inputs. A radiative transfer model adapted to the Martian atmosphere is used to account for the atmospheric effects. The approach also allows directly adopting optical depth estimates from a global database (e.g., the Mars Climate Database). The approach was validated using different types of Mars orbiter images collected by cameras on-board the Mars Reconnaissance Orbiter and the Tianwen-1 Orbiter. The results indicate that the approach can achieve a geometric accuracy (in terms of root-mean-squared error (RMSE) of the elevation) of approximately 2 pixels of the image resolution and significantly enhances topographic details. In addition, we evaluated the approach using different settings for the optical depths and spatial resolutions of the input DEMs. The results show that overestimating the optical depth leads to overestimation of topographic amplitudes (e.g., deeper craters). On the other hand, underestimating the optical depth by the same amount as overestimation leads to a smaller increase in the RMSE. Moreover, coarsening the resolution of an input DEM increases the RMSE of the photoclinometric results. Nevertheless, photoclinometry improves both the RMSE and the resolution of the input DEM. This new approach serves as an effective means for applying photoclinometry for pixel-wise 3D topographic mapping of the Martian surface. This will facilitate exploitation of the large number of high-resolution monocular images of Mars in 3D topographic mapping of the planet. [ABSTRACT FROM AUTHOR]

Background: A 70‐year‐old man revealed a rare type of atrioventricular nodal re‐entrant tachycardia (AVNRT) involving distinct retrograde pathways, superior slow pathway, and inferolateral left atrial slow pathway. Result: Radiofrequency ablation was successfully performed on the noncoronary cusp and in the left atrium, respectively, to eliminate the tachycardias. Discussion and Conclusion: Due to the anomalous electrical conduction patterns, careful diagnosis and ablation strategies were necessary to avoid the risk of atrioventricular block. These findings underscore the diversity and complexity of AVNRT and highlight the importance of tailored therapeutic approaches. [ABSTRACT FROM AUTHOR]

Progress toward habitat protection goals can effectively be performed using satellite imagery and machine-learning (ML) models at various spatial and temporal scales. In this regard, habitat types and landscape structures can be discriminated against using remote-sensing (RS) datasets. However, most existing research in three-dimensional (3D) habitat mapping primarily relies on same/cross-sensor features like features derived from multibeam Light Detection And Ranging (LiDAR), hydrographic LiDAR, and aerial images, often overlooking the potential benefits of considering multi-sensor data integration. To address this gap, this study introduced a novel approach to creating 3D habitat maps by using high-resolution multispectral images and a LiDAR-derived Digital Surface Model (DSM) coupled with an object-based Random Forest (RF) algorithm. LiDAR-derived products were also used to improve the accuracy of the habitat classification, especially for the habitat classes with similar spectral characteristics but different heights. Two study areas in the United Kingdom (UK) were chosen to explore the accuracy of the developed models. The overall accuracies for the two mentioned study areas were high (91% and 82%), which is indicative of the high potential of the developed RS method for 3D habitat mapping. Overall, it was observed that a combination of high-resolution multispectral imagery and LiDAR data could help the separation of different habitat types and provide reliable 3D information. [ABSTRACT FROM AUTHOR]

Background : We describe our initial experience using a multipolar pulsed-field ablation catheter for the treatment of left atrial (LA) reentry tachycardia. Methods: We included all patients with LA reentry tachycardia treated with PFA at our institution between September 2021 and March 2022. The tachycardia mechanism was identified using 3D electro-anatomical mapping (3D-EAM). Subsequently, a roof line, anterior line, or mitral isthmus line was ablated as appropriate. Roof line ablation was always combined with LA posterior wall (LAPW) ablation. Positioning of the PFA catheter was guided by a 3D-EAM system and by fluoroscopy. Bidirectional block across lines was verified using standard criteria. Additional radiofrequency ablation (RFA) was used to achieve bidirectional block as necessary. Results: Among 22 patients (median age 70 (59–75) years; 9 females), we identified 27 LA reentry tachycardia: seven roof dependent macro-reentries, one posterior-wall micro-reentry, twelve peri-mitral macro-reentries, and seven anterior-wall micro-reentries. We ablated a total of 20 roof lines, 13 anterior lines, and 6 mitral isthmus lines. Additional RFA was necessary for two anterior lines (15%) and three mitral isthmus lines (50%). Bidirectional block was achieved across all roof lines, 92% of anterior lines, and 83% of mitral isthmus lines. We observed no acute procedural complications. Conclusion: Ablation of a roof line and of the LAPW is feasible, effective, and safe using this multipolar PFA catheter. However, the catheter is less suited for ablation of the mitral isthmus and the anterior line. A focal pulsed-field ablation catheter may be more effective for ablation of these lines. This study shows the feasibility to ablate linear lesions with a multipolar pulsed-field ablation catheter. 27 left atrial reentry tachycardia were treated in 22 patients. [ABSTRACT FROM AUTHOR]

The marine self-potential (SP) method is currently playing an increasing role in the exploration and resource evaluation of seafloor massive sulfide (SMS) deposits. SP surveys are conducted using autonomous underwater vehicles (AUV), which yield multicomponent electric field datasets. By comparing with the single-component electrical field data used to date, the inversion of these multicomponent data is expected to provide a more accurate description of the 3D structure of SMS deposits beneath the seafloor (like gradiometry in gravity surveys). We introduce an inversion algorithm specifically adapted to multicomponent SP data. A synthetic model demonstrates that the inversion of multicomponent datasets allows us to better recover the amplitude of the current density and the morphology of the ore bodies compared to using a single component of the electrical field. Next, we apply our approach to a multicomponent SP dataset collected during the DY58 oceanic cruise at the Yuhuang hydrothermal field on the Southwest Indian Ridge. Subsequently, we reconstruct the three-dimensional (3D) geometry of the SMS deposits beneath the seafloor. The AUV-based SP system with the collection of multicomponent SP data inversion appears to be a powerful tool in the exploration and evaluation of seafloor sulfide resource and, in the future, could be used in concert with induced polarization data. [ABSTRACT FROM AUTHOR]