Changes in cycling economy and fractional utilization of V̇O2peak during a 40-min maximal effort exercise test with acute hypobaric hypoxia corresponding to 2800 m of altitude.

INTRODUCTION: Peak oxygen uptake (V̇O2peak ) declines by ~7% per 1000 m of increasing altitude, whereas exercise performance seems reduced to a lesser extent. For example, 800-10 000 m track and field performances are decreased by 0.4%-2.4% above 1000 m as compared to below and some studies show similar drops in cycling performance. A greater decline in V̇O2peak than in endurance performance with altitude suggests a higher fractional utilization of V̇O2peak (%V̇O2peak ). Therefore, we hypothesized that the %V̇O2peak is higher with acute hypoxic exposure than near sea level. METHODS: Sixteen lowlanders (8 women, age: 31 ± 7 years [mean ± SD], body mass: 68 ± 8 kg, V̇O2peak : 60 ± 8 mL min-1 kg-1 ) underwent cycling testing in a hypobaric hypoxic chamber on 6 test days, three conducted at 300 m and three at 2800 m of acute altitude. At both altitudes, V̇O2peak was determined, and during a 40-min all out maximal effort time trial (TT), mean power output (MPO) and mean V̇O2 (%V̇O2peak ) were assessed. RESULTS: V̇O2peak decreased by 11.2 ± 3.0% (p < 0.001), while MPO during the TT declined by 10.7 ± 3.1% (p < 0.001) at 2800 m as compared to 300 m. During the TT, %V̇O2peak was higher at altitude, corresponding to 75.9 ± 4.5% at 300 m and 78.8 ± 4.2% at 2800 m (p = 0.011), and cycling economy (mL O2 kJ-1 ) was poorer (+3.4 ± 2.7%, p < 0.001). CONCLUSION: The %V̇O2peak was higher during a cycling TT at 2800 m of altitude than near sea level, while cycling economy was poorer. This resulted in a similar reduction in performance and V̇O2peak . Future studies should address the physiological mechanisms underlying the elevated %V̇O2peak .

HIIT at Home: Enhancing Cardiorespiratory Fitness in Older Adults-A Randomized Controlled Trial.

BACKGROUND: This study aimed to investigate the effectiveness of a 6-month home-based high-intensity interval training (HIIT) intervention to improve peak oxygen consumption (V̇O2peak) and lactate threshold (LT) in older adults. METHODS: Two hundred thirty-three healthy older adults (60-84 years; 54% females) were randomly assigned to either 6-month, thrice-weekly home-based HIIT (once-weekly circuit training and twice-weekly interval training) or a passive control group. Exercise sessions were monitored using a Polar watch and a logbook for objective and subjective data, respectively, and guided by a personal coach. The outcomes were assessed using a modified Balke protocol combining V̇O2peak and LT measures. General linear regression models assessed between-group differences in change and within-group changes for each outcome. RESULTS: There was a significant between-group difference in the pre-to-post change in V̇O2peak (difference: 1.8 [1.2; 2.3] mL/kg/min; exercise: +1.4 [1.0; 1.7] mL/kg/min [~5%]; control: -0.4 [-0.8; -0.0] mL/kg/min [approximately -1.5%]; effect size [ES]: 0.35). Compared with controls, the exercise group had lower blood lactate concentration (-0.7 [-0.9; -0.4] mmol/L, ES: 0.61), % of peak heart rate (-4.4 [-5.7; -3.0], ES: 0.64), and % of V̇O2peak (-4.5 [-6.1; -2.9], ES: 0.60) at the intensity corresponding to preintervention LT and achieved a higher treadmill stage (% incline) at LT (0.6 [0.3; 0.8]; ES: 0.47), following the intervention. CONCLUSION: This study highlights the effectiveness of a home-based HIIT intervention as an accessible and equipment-minimal strategy to induce clinically meaningful improvements in cardiorespiratory fitness in older adults. Over 6 months, the exercise group showed larger improvements in all outcomes compared with the control group. Notably, the LT outcome exhibited a more pronounced magnitude of change than V̇O2peak.

The intensity paradox: A systematic review and meta-analysis of its impact on the cardiorespiratory fitness of older adults.

AIM: The present systematic review and meta-analysis aimed to compare the effect of moderate- versus high-intensity aerobic exercise on cardiorespiratory fitness (CRF) in older adults, taking into account the volume of exercise completed. METHODS: The databases MEDLINE (Ovid), EMBASE (Ovid), and CENTRAL (Cochrane Library) were searched to identify randomized controlled trials (RCTs). Two reviewers extracted data and assessed bias. Comprehensive Meta-Analysis software calculated overall effect size, intensity differences, and performed meta-regression analyses using pre-to-post intervention or change scores of peak oxygen uptake (V̇O2 peak). The review included 23 RCTs with 1332 older adults (intervention group: n = 932; control group: n = 400), divided into moderate-intensity (435 older adults) and high-intensity (476 older adults) groups. RESULTS: Meta-regression analysis showed a moderate, but not significant, relationship between exercise intensity and improvements in V̇O2 peak after accounting for the completed exercise volume (ß = 0.31, 95% CI = [-0.04; 0.67]). Additionally, studies comparing moderate- versus high-intensity revealed a small, but not significant, effect in favor of high-intensity (Hedges' g = 0.20, 95% CI = [-0.02; 0.41]). Finally, no significant differences in V̇O2 peak improvements were found across exercise groups employing various methods, modalities, and intensity monitoring strategies. CONCLUSION: Findings challenge the notion that high-intensity exercise is inherently superior and indicate that regular aerobic exercise, irrespective of the specific approach and intensity, provides the primary benefits to CRF in older adults. Future RCTs should prioritize valid and reliable methodologies for monitoring and reporting exercise volume and adherence among older adults.

Novel whole blood transcriptome signatures of changes in maximal aerobic capacity in response to endurance exercise training in healthy women.

Maximal aerobic exercise capacity [maximal oxygen consumption (V̇o2max)] is one of the strongest predictors of morbidity and mortality. Aerobic exercise training can increase V̇o2max, but inter-individual variability is marked and unexplained physiologically. The mechanisms underlying this variability have major clinical implications for extending human healthspan. Here, we report a novel transcriptome signature related to ΔV̇o2max with exercise training detected in whole blood RNA. We used RNA-Seq to characterize transcriptomic signatures of ΔV̇o2max in healthy women who completed a 16-wk randomized controlled trial comparing supervised, higher versus lower aerobic exercise training volume and intensity (4 training groups, fully crossed). We found significant baseline gene expression differences in subjects who responded to aerobic exercise training with robust versus little/no ΔV̇o2max, and differentially expressed genes/transcripts were mostly related to inflammatory signaling and mitochondrial function/protein translation. Baseline gene expression signatures associated with robust versus little/no ΔV̇o2max were also modulated by exercise training in a dose-dependent manner, and they predicted ΔV̇o2max in this and a separate dataset. Collectively, our data demonstrate the potential utility of using whole blood transcriptomics to study the biology of inter-individual variability in responsiveness to the same exercise training stimulus.

FPGA-Based Feature Extraction and Tracking Accelerator for Real-Time Visual SLAM.

Due to its advantages of low latency, low power consumption, and high flexibility, FPGA-based acceleration technology has been more and more widely studied and applied in the field of computer vision in recent years. An FPGA-based feature extraction and tracking accelerator for real-time visual odometry (VO) and visual simultaneous localization and mapping (V-SLAM) is proposed, which can realize the complete acceleration processing capability of the image front-end. For the first time, we implement a hardware solution that combines features from accelerated segment test (FAST) feature points with Gunnar Farneback (GF) dense optical flow to achieve better feature tracking performance and provide more flexible technical route selection. In order to solve the scale invariance and rotation invariance lacking problems of FAST features, an efficient pyramid module with a five-layer thumbnail structure was designed and implemented. The accelerator was implemented on a modern Xilinx Zynq FPGA. The evaluation results showed that the accelerator could achieve stable tracking of features of violently shaking images and were consistent with the results from MATLAB code running on PCs. Compared to PC CPUs, which require seconds of processing time, the processing latency was greatly reduced to the order of milliseconds, making GF dense optical flow an efficient and practical technical solution on the edge side.

A Novel Deep Learning Approach to 5G CSI/Geomagnetism/VIO Fused Indoor Localization.

For positioning tasks of mobile robots in indoor environments, the emerging positioning technique based on visual inertial odometry (VIO) is heavily influenced by light and suffers from cumulative errors, which cannot meet the requirements of long-term navigation and positioning. In contrast, positioning techniques that rely on indoor signal sources such as 5G and geomagnetism can provide drift-free global positioning results, but their overall positioning accuracy is low. In order to obtain higher precision and more reliable positioning, this paper proposes a fused 5G/geomagnetism/VIO indoor localization method. Firstly, the error back propagation neural network (BPNN) model is used to fuse 5G and geomagnetic signals to obtain more reliable global positioning results; secondly, the conversion relationship from VIO local positioning results to the global coordinate system is established through the least squares principle; and finally, a fused 5G/geomagnetism/VIO localization system based on the error state extended Kalman filter (ES-EKF) is constructed. The experimental results show that the 5G/geomagnetism fusion localization method overcomes the problem of low accuracy of single sensor localization and can provide more accurate global localization results. Additionally, after fusing the local and global positioning results, the average positioning error of the mobile robot in the two scenarios is 0.61 m and 0.72 m. Compared with the VINS-mono algorithm, our approach improves the average positioning accuracy in indoor environments by 69.0% and 67.2%, respectively.

Oligofructose-Enriched Inulin Intake, Gut Microbiome Characteristics, and the V̇O2 Peak Response to High-Intensity Interval Training in Healthy Inactive Adults.

BACKGROUND: The gut microbiome has been associated with cardiorespiratory fitness. OBJECTIVES: To assess the effects of oligofructose (FOS)-enriched inulin supplementation on the gut microbiome and the peak oxygen uptake (V̇O2peak) response to high-intensity interval training (HIIT). METHODS: The study was a randomized controlled trial. Forty sedentary and apparently healthy adults [n = 31 women; aged 31.8 ± 9.8 y, BMI (in kg⋅m-2) 25.9 ± 4.3] were randomly allocated to 1) 6 wk of supervised HIIT (4 × 4-min bouts at 85-95% peak heart rate, interspersed with 3 min of active recovery, 3·wk-1) + 12 g·d-1 of FOS-enriched inulin (HIIT-I) or 2) 6 wk of supervised HIIT (3·wk-1, 4 × 4-min bouts) + 12 g·d-1 of maltodextrin/placebo (HIIT-P). Each participant completed an incremental treadmill test to assess V̇O2peak and ventilatory thresholds (VTs), provided a stool and blood sample, and completed a 24-h diet recall questionnaire and FFQ before and after the intervention. Gut microbiome analyses were performed using metagenomic sequencing. Fecal short-chain fatty acids were measured by mass spectrometry. RESULTS: There were no differences in the mean change in V̇O2peak response between groups (P = 0.58). HIIT-I had a greater improvement in VTs than HIIT-P [VT1 (lactate accumulation): mean difference + 4.3% and VT2 (lactate threshold): +4.2%, P < 0.05]. HIIT-I had a greater increase in the abundance of Bifidobacterium taxa [false discovery rate (FDR) < 0.05] and several metabolic processes related to exercise capacity (FDR < 0.05). Exploratory analysis of merged data found participants with a greater response to HIIT (V̇O2peak ≥3.5 mL⋅kg-1⋅min-1) had a 2.2-fold greater mean abundance of gellan degradation pathways (FDR < 0.05) and a greater, but not significant, abundance of Bifidobacterium uniformis species (P < 0.00023, FDR = 0.08). CONCLUSIONS: FOS-enriched inulin supplementation did not potentiate HIIT-induced improvements in V̇O2peak but led to gut microbiome changes possibly associated with greater ventilatory threshold improvements in healthy inactive adults. Gellan degradation pathways and B. uniformis spp. were associated with greater V̇O2peak responses to HIIT.

A Reconfigurable Visual-Inertial Odometry Accelerated Core with High Area and Energy Efficiency for Autonomous Mobile Robots.

With the wide application of autonomous mobile robots (AMRs), the visual inertial odometer (VIO) system that realizes the positioning function through the integration of a camera and inertial measurement unit (IMU) has developed rapidly, but it is still limited by the high complexity of the algorithm, the long development cycle of the dedicated accelerator, and the low power supply capacity of AMRs. This work designs a reconfigurable accelerated core that supports different VIO algorithms and has high area and energy efficiency, precision, and speed processing characteristics. Experimental results show that the loss of accuracy of the proposed accelerator is negligible on the most authoritative dataset. The on-chip memory usage of 70 KB is at least 10× smaller than the state-of-the-art works. Thus, the FPGA implementation's hardware-resource consumption, power dissipation, and synthesis in the 28 nm CMOS outperform the previous works with the same platform.

A Tightly Coupled Visual-Inertial GNSS State Estimator Based on Point-Line Feature.

Visual-inertial odometry (VIO) is known to suffer from drifting and can only provide local coordinates. In this paper, we propose a tightly coupled GNSS-VIO system based on point-line features for robust and drift-free state estimation. Feature-based methods are not robust in complex areas such as weak or repeated textures. To deal with this problem, line features with more environmental structure information can be extracted. In addition, to eliminate the accumulated drift of VIO, we tightly fused the GNSS measurement with visual and inertial information. The GNSS pseudorange measurements are real-time and unambiguous but experience large errors. The GNSS carrier phase measurements can achieve centimeter-level positioning accuracy, but the solution to the whole-cycle ambiguity is complex and time-consuming, which degrades the real-time performance of a state estimator. To combine the advantages of the two measurements, we use the carrier phase smoothed pseudorange instead of pseudorange to perform state estimation. Furthermore, the existence of the GNSS receiver and IMU also makes the extrinsic parameter calibration crucial. Our proposed system can calibrate the extrinsic translation parameter between the GNSS receiver and IMU in real-time. Finally, we show that the states represented in the ECEF frame are fully observable, and the tightly coupled GNSS-VIO state estimator is consistent. We conducted experiments on public datasets. The experimental results demonstrate that the positioning precision of our system is improved and the system is robust and real-time.

A Benchmark Comparison of Four Off-the-Shelf Proprietary Visual-Inertial Odometry Systems.

Commercial visual-inertial odometry (VIO) systems have been gaining attention as cost-effective, off-the-shelf, six-degree-of-freedom (6-DoF) ego-motion-tracking sensors for estimating accurate and consistent camera pose data, in addition to their ability to operate without external localization from motion capture or global positioning systems. It is unclear from existing results, however, which commercial VIO platforms are the most stable, consistent, and accurate in terms of state estimation for indoor and outdoor robotic applications. We assessed four popular proprietary VIO systems (Apple ARKit, Google ARCore, Intel RealSense T265, and Stereolabs ZED 2) through a series of both indoor and outdoor experiments in which we showed their positioning stability, consistency, and accuracy. After evaluating four popular VIO sensors in challenging real-world indoor and outdoor scenarios, Apple ARKit showed the most stable and high accuracy/consistency, and the relative pose error was a drift error of about 0.02 m per second. We present our complete results as a benchmark comparison for the research community.

Lipid oxidation during thermogenesis in high-altitude deer mice (Peromyscus maniculatus).

When at their maximum thermogenic capacity (cold-induced V̇o2max), small endotherms reach levels of aerobic metabolism as high, or even higher, than running V̇o2max. How these high rates of thermogenesis are supported by substrate oxidation is currently unclear. The appropriate utilization of metabolic fuels that could sustain thermogenesis over extended periods may be important for survival in cold environments, like high altitude. Previous studies show that high capacities for lipid use in high-altitude deer mice may have evolved in concert with greater thermogenic capacities. The purpose of this study was to determine how lipid utilization at both moderate and maximal thermogenic intensities may differ in high- and low-altitude deer mice, and strictly low-altitude white-footed mice. We also examined the phenotypic plasticity of lipid use after acclimation to cold hypoxia (CH), conditions simulating high altitude. We found that lipids were the primary fuel supporting both moderate and maximal rates of thermogenesis in both species of mice. Lipid oxidation increased threefold in mice from 30°C to 0°C, consistent with increases in oxidation of [13C]palmitic acid. CH acclimation led to an increase in [13C]palmitic acid oxidation at 30°C but did not affect total lipid oxidation. Lipid oxidation rates at cold-induced V̇o2max were two- to fourfold those at 0°C and increased further after CH acclimation, especially in high-altitude deer mice. These are the highest mass-specific lipid oxidation rates observed in any land mammal. Uncovering the mechanisms that allow for these high rates of oxidation will aid our understanding of the regulation of lipid metabolism.

Genome wide association study of response to interval and continuous exercise training: the Predict-HIIT study.

BACKGROUND: Low cardiorespiratory fitness (V̇O2peak) is highly associated with chronic disease and mortality from all causes. Whilst exercise training is recommended in health guidelines to improve V̇O2peak, there is considerable inter-individual variability in the V̇O2peak response to the same dose of exercise. Understanding how genetic factors contribute to V̇O2peak training response may improve personalisation of exercise programs. The aim of this study was to identify genetic variants that are associated with the magnitude of V̇O2peak response following exercise training. METHODS: Participant change in objectively measured V̇O2peak from 18 different interventions was obtained from a multi-centre study (Predict-HIIT). A genome-wide association study was completed (n = 507), and a polygenic predictor score (PPS) was developed using alleles from single nucleotide polymorphisms (SNPs) significantly associated (P < 1 × 10-5) with the magnitude of V̇O2peak response. Findings were tested in an independent validation study (n = 39) and compared to previous research. RESULTS: No variants at the genome-wide significance level were found after adjusting for key covariates (baseline V̇O2peak, individual study, principal components which were significantly associated with the trait). A Quantile-Quantile plot indicates there was minor inflation in the study. Twelve novel loci showed a trend of association with V̇O2peak response that reached suggestive significance (P < 1 × 10-5). The strongest association was found near the membrane associated guanylate kinase, WW and PDZ domain containing 2 (MAGI2) gene (rs6959961, P = 2.61 × 10-7). A PPS created from the 12 lead SNPs was unable to predict V̇O2peak response in a tenfold cross validation, or in an independent (n = 39) validation study (P > 0.1). Significant correlations were found for beta coefficients of variants in the Predict-HIIT (P < 1 × 10-4) and the validation study (P < × 10-6), indicating that general effects of the loci exist, and that with a higher statistical power, more significant genetic associations may become apparent. CONCLUSIONS: Ongoing research and validation of current and previous findings is needed to determine if genetics does play a large role in V̇O2peak response variance, and whether genomic predictors for V̇O2peak response trainability can inform evidence-based clinical practice. Trial registration Australian New Zealand Clinical Trials Registry (ANZCTR), Trial Id: ACTRN12618000501246, Date Registered: 06/04/2018, http://www.anzctr.org.au/Trial/Registration/TrialReview.aspx?id=374601&isReview=true .

Deletion of CD73 increases exercise power in mice.

Ecto-5'-nucleotidase or CD73 is the main source of extracellular adenosine involved in the activation of adenosine A2A receptors, responsible for the ergogenic effects of caffeine. We now investigated the role of CD73 in exercise by comparing female wild-type (WT) and CD73 knockout (KO) mice in a treadmill-graded test to evaluate running power, oxygen uptake (V̇O2), and respiratory exchange ratio (RER) - the gold standards characterizing physical performance. Spontaneous locomotion in the open field and submaximal running power and V̇O2 in the treadmill were similar between CD73-KO and WT mice; V̇O2max also demonstrated equivalent aerobic power, but CD73-KO mice displayed a 43.7 ± 4.2% larger critical power (large effect size, P < 0.05) and 3.8 ± 0.4% increase of maximum RER (small effect size, P < 0.05). Thus, KO of CD73 was ergogenic; i.e., it increased physical performance.

Treatment of air leakage using the VIO soft coagulation system: a mouse pulmonary air leak model.

PURPOSE: We aimed to compare the efficacy of the VIO soft coagulation system (VSCS) for the treatment of air leaks by sealing with fibrin glue, and also assess the histological alterations that occur after soft coagulation. METHODS: A mouse pulmonary air leak model was designed. The pulmonary fistula was subsequently coagulated with the VSCS or sealed with fibrin glue with polyglycolic acid (PGA) sheets. The burst pressure at air leak recurrence was measured in each group, and the results were compared. We also evaluated the histological alterations in the mouse pulmonary air leak model after soft coagulation with the VSCS. RESULTS: The burst pressure in the soft coagulation group (80 W/Effect 5) (median 42.8; range 35.4-53.8 cmH2O) was similar to that in the fibrin glue group (median 41.5; range 34.6-43.9 cmH2O) (p = 0.21). Histological examinations revealed that the visceral pleura remained torn, the structure of the pulmonary alveolus was maintained, and the coagulated fistula was covered with a fibrin membrane in the soft coagulation group. CONCLUSIONS: The pressure resistance following soft coagulation was equivalent to that after sealing using fibrin glue with PGA sheets. The air leaks were likely controlled by covering the fistula with a fibrin membrane after soft coagulation with the VSCS.

A slow V̇O2 on-response allows comfortable adoption of aerobically unaffordable walking and running speeds on short stair ascents.

The aim of this study was to investigate the mechanical and metabolic reasons for the spontaneous gait/speed choice when ascending a short flight of stairs, where walking on every step or running on every other step are frequently interchangeable options. The kinematics, oxygen uptake (V̇O2 ), ventilation and heart rate of 24 subjects were sampled during climbing one and two flights of stairs while using the two gaits. Although motor acts were very short in time (5-22 s), metabolic kinetics, extending into the 250 s after the end of climbing, consistently reflected the (metabolic equivalent of the) required mechanical energy and allowed comparison of the two ascent choices: despite a 250% higher mechanical power associated with running, measured [Formula: see text], ventilation and heart rate peaked at only +25% with respect to walking, and in both gaits at much lower values than [Formula: see text] despite predictions based on previous gradient locomotion studies. Mechanical work and metabolic cost of transport, as expected, showed a similar increase (+25%) in running. For stairs up to a height of 4.8 m (30 steps at 53% gradient), running makes us consume slightly more calories than walking, and in both gaits with no discomfort at all. The cardio-respiratory-metabolic responses similarly delay and dampen the replenishment of phosphocreatine stores, which were depleted much faster during the impulsive, highly powered mechanical event, with almost overlapping time courses. This discrepancy between mechanical and metabolic dynamics allows us to afford climbs ranging from almost to very anaerobic, and to interchangeably decide whether to walk or run up a short flight of stairs.

Perception in the Dark-Development of a ToF Visual Inertial Odometry System.

Visual inertial odometry (VIO) is the front-end of visual simultaneous localization and mapping (vSLAM) methods and has been actively studied in recent years. In this context, a time-of-flight (ToF) camera, with its high accuracy of depth measurement and strong resilience to ambient light of variable intensity, draws our interest. Thus, in this paper, we present a realtime visual inertial system based on a low cost ToF camera. The iterative closest point (ICP) methodology is adopted, incorporating salient point-selection criteria and a robustness-weighting function. In addition, an error-state Kalman filter is used and fused with inertial measurement unit (IMU) data. To test its capability, the ToF-VIO system is mounted on an unmanned aerial vehicle (UAV) platform and operated in a variable light environment. The estimated flight trajectory is compared with the ground truth data captured by a motion capture system. Real flight experiments are also conducted in a dark indoor environment, demonstrating good agreement with estimated performance. The current system is thus shown to be accurate and efficient for use in UAV applications in dark and Global Navigation Satellite System (GNSS)-denied environments.

Latency Compensated Visual-Inertial Odometry for Agile Autonomous Flight.

In visual-inertial odometry (VIO), inertial measurement unit (IMU) dead reckoning acts as the dynamic model for flight vehicles while camera vision extracts information about the surrounding environment and determines features or points of interest. With these sensors, the most widely used algorithm for estimating vehicle and feature states for VIO is an extended Kalman filter (EKF). The design of the standard EKF does not inherently allow for time offsets between the timestamps of the IMU and vision data. In fact, sensor-related delays that arise in various realistic conditions are at least partially unknown parameters. A lack of compensation for unknown parameters often leads to a serious impact on the accuracy of VIO systems and systems like them. To compensate for the uncertainties of the unknown time delays, this study incorporates parameter estimation into feature initialization and state estimation. Moreover, computing cross-covariance and estimating delays in online temporal calibration correct residual, Jacobian, and covariance. Results from flight dataset testing validate the improved accuracy of VIO employing latency compensated filtering frameworks. The insights and methods proposed here are ultimately useful in any estimation problem (e.g., multi-sensor fusion scenarios) where compensation for partially unknown time delays can enhance performance.

Consistent Monocular Ackermann Visual-Inertial Odometry for Intelligent and Connected Vehicle Localization.

The observability of the scale direction in visual-inertial odometry (VIO) under degenerate motions of intelligent and connected vehicles can be improved by fusing Ackermann error state measurements. However, the relative kinematic error measurement model assumes that the vehicle velocity is constant between two consecutive camera states, which degrades the positioning accuracy. To address this problem, a consistent monocular Ackermann VIO, termed MAVIO, is proposed to combine the vehicle velocity and yaw angular rate error measurements, taking into account the lever arm effect between the vehicle and inertial measurement unit (IMU) coordinates with a tightly coupled filter-based mechanism. The lever arm effect is firstly introduced to improve the reliability for information exchange between the vehicle and IMU coordinates. Then, the process model and monocular visual measurement model are presented. Subsequently, the vehicle velocity and yaw angular rate error measurements are directly used to refine the estimator after visual observation. To obtain a global position for the vehicle, the raw Global Navigation Satellite System (GNSS) error measurement model, termed MAVIO-GNSS, is introduced to further improve the performance of MAVIO. The observability, consistency and positioning accuracy were comprehensively compared using real-world datasets. The experimental results demonstrated that MAVIO not only improved the observability of the VIO scale direction under the degenerate motions of ground vehicles, but also resolved the inconsistency problem of the relative kinematic error measurement model of the vehicle to further improve the positioning accuracy. Moreover, MAVIO-GNSS further improved the vehicle positioning accuracy under a long-distance driving state. The source code is publicly available for the benefit of the robotics community.

Cardiopulmonary function during supramaximal exercise in hypoxia, normoxia and hyperoxia in Thoroughbred horses.

Supramaximal exercise while inspiring different O2 gases may induce different responses in cardiopulmonary function at the same relative and/or absolute exercise intensity. The purpose of this study was to compare the effects of supramaximal exercise in hypoxia, normoxia and hyperoxia on cardiopulmonary function in Thoroughbred horses. Using a crossover design, five well-trained horses were made to run up a 6% grade on a treadmill at supramaximal speeds sustainable for approximately 110 sec (approximately 115% V̇O2max) while breathing normoxic gas (NO, 21% O2) or hypoxic gas (LO, 15.3% O2) in random order. Horses also ran at the same speed, incline and run time as in NO while breathing hyperoxic gas (HONO, 28.8% O2) and as in LO while breathing normoxic gas (NOLO). Runs were on different days, and cardiopulmonary variables were analyzed with repeated-measures ANOVA and the Holm-Sidák method for pairwise comparisons. Supramaximal speeds differed significantly between NO and LO (14.0 ± 0.5 [SD] m/sec vs. 12.6 ± 0.5 m/sec), but run times to exhaustion did not (112 ± 17 sec vs. 103 ± 14 sec). The V̇O2max in NO was higher than that in LO (165 ± 11 vs. 120 ± 15 ml (min× kg)), as was the arterial oxygen tension (66 ± 5 vs. 45 ± 2 Torr). Oxygen consumption was increased in HONO and NOLO compared with the values in NO and LO, respectively. Supramaximal exercise in hypoxia induces more severe hypoxemia and decreases V̇O2max compared with normoxia at the same relative intensity. Conversely, supramaximal exercise in hyperoxia alleviates hypoxemia and increases V̇O2 compared with normoxia at the same absolute intensity.

Progressive exercise training improves maximal aerobic capacity in individuals with well-healed burn injuries.

Long-term rehabilitative strategies are important for individuals with well-healed burn injuries. Such information is particularly critical because patients are routinely surviving severe burn injuries given medical advances in the acute care setting. The purpose of this study was to test the hypothesis that a 6-mo community-based exercise training program will increase maximal aerobic capacity (V̇o2max) in subjects with prior burn injuries, with the extent of that increase influenced by the severity of the burn injury (i.e., percent body surface area burned). Maximal aerobic capacity (indirect calorimetry) and skeletal muscle oxidative enzyme activity (biopsy of the vastus lateralis muscle) were measured pre- and postexercise training in noninjured control subjects (n = 11) and in individuals with well-healed burn injuries (n = 13, moderate body surface area burned; n = 20, high body surface area burned). Exercise training increased V̇o2max in all groups (control: 15 ± 5%; moderate body surface area: 11 ± 3%; high body surface area: 11 ± 2%; P < 0.05), though the magnitude of this improvement did not differ between groups (P = 0.7). Exercise training also increased the activity of the skeletal muscle oxidative enzymes citrate synthase (P < 0.05) and cytochrome c oxidase (P < 0.05), an effect that did not differ between groups (P = 0.2). These data suggest that 6 mo of progressive exercise training improves V̇o2max in individuals with burn injuries and that the magnitude of body surface area burned does not lessen this adaptive response.