Recent Developments on Drivable Area Estimation: A Survey and a Functional Analysis.

Most advanced autonomous driving systems (ADS) today rely on the prior creation of high-definition maps (HD maps). This process is expensive and needs to be performed frequently to keep up with the changing conditions of the road environment. Creating accurate navigation maps online is an alternative to reduce the cost and broaden the current operational design domains (ODD) of modern ADS. This paper offers a snapshot of the state of the art in drivable area estimation, which is an essential technology to deploy ADS in ODDs where HD maps are limited or unavailable. The proposed review introduces a novel architecture breakdown that fits learning-based and non-learning-based techniques and allows the analysis of a set of impactful and recent drivable area algorithms. In addition to that, complimentary information for practitioners is provided: (i) an assessment of the influence of modern sensing technologies on the task under study and (ii) a selection of relevant datasets for evaluation and benchmarking purposes.

A Grid-Based Framework for Collective Perception in Autonomous Vehicles.

Today, perception solutions for Automated Vehicles rely on sensors on board the vehicle, which are limited by the line of sight and occlusions caused by any other elements on the road. As an alternative, Vehicle-to-Everything (V2X) communications allow vehicles to cooperate and enhance their perception capabilities. Besides announcing its own presence and intentions, services such as Collective Perception (CPS) aim to share information about perceived objects as a high-level description. This work proposes a perception framework for fusing information from on-board sensors and data received via CPS messages (CPM). To that end, the environment is modeled using an occupancy grid where occupied, and free and uncertain space is considered. For each sensor, including V2X, independent grids are calculated from sensor measurements and uncertainties and then fused in terms of both occupancy and confidence. Moreover, the implementation of a Particle Filter allows the evolution of cell occupancy from one step to the next, allowing for object tracking. The proposed framework was validated on a set of experiments using real vehicles and infrastructure sensors for sensing static and dynamic objects. Results showed a good performance even under important uncertainties and delays, hence validating the viability of the proposed framework for Collective Perception.

Merit-Based Motion Planning for Autonomous Vehicles in Urban Scenarios.

Safe and adaptable motion planning for autonomous vehicles remains an open problem in urban environments, where the variability of situations and behaviors may become intractable using rule-based approaches. This work proposes a use-case-independent motion planning algorithm that generates a set of possible trajectories and selects the best of them according to a merit function that combines longitudinal comfort, lateral comfort, safety and utility criteria. The system was tested in urban scenarios on simulated and real environments, and the results show that different driving styles can be achieved according to the priorities set in the merit function, always meeting safety and comfort parameters imposed by design.

Abscisic acid is involved in phenolic compounds biosynthesis, mainly anthocyanins, in leaves of Aristotelia chilensis plants (Mol.) subjected to drought stress.

Abscisic acid (ABA) regulates the physiological and biochemical mechanisms required to tolerate drought stress, which is considered as an important abiotic stress. It has been postulated that ABA might be involved in regulation of plant phenolic compounds biosynthesis, especially anthocyanins that accumulate in plants subjected to drought stress; however, the evidence for this postulate remains elusive. Therefore, we studied whether ABA is involved in phenolic compounds accumulation, especially anthocyanin biosynthesis, using drought stressed Aristotelia chilensis plants, an endemic berry in Chile. Our approach was to use fluridone, an ABA biosynthesis inhibitor, and then subsequent ABA applications to young and fully-expanded leaves of drought stressed A. chilensis plants during 24, 48 and 72 h of the experiment. Plants were harvested and leaves were collected separately to determine the biochemical status. We observed that fluridone treatments significantly decreased ABA concentrations and total anthocyanin (TA) concentrations in stressed plants, including both young and fully-expanded leaves. TA concentrations following fluridone treatment were reduced around fivefold, reaching control plant levels. ABA application restored ABA levels as well as TA concentrations in stressed plant at 48 h of the experiment. We also observed that TA concentrations followed the same pattern as ABA concentrations in the ABA treated plants. Quantitative real-time PCR revealed that AcUFGT gene expression decreased in fully-expanded leaves of stressed plants treated with fluridone, while a subsequent ABA application increased AcUFGT expression. Taken together, our results suggest that ABA is involved in the regulation of anthocyanin biosynthesis under drought stress.

Evaluating the involvement and interaction of abscisic acid and miRNA156 in the induction of anthocyanin biosynthesis in drought-stressed plants.

MAIN CONCLUSION: ABA is involved in anthocyanin synthesis through the regulation of microRNA156, augmenting the level of expression of anthocyanin synthesis-related genes and, therefore, increasing anthocyanin level. Drought stress is the main cause of agricultural crop loss in the world. However, plants have developed mechanisms that allow them to tolerate drought stress conditions. At cellular level, drought stress induces changes in metabolite accumulation, including increases in anthocyanin levels due to upregulation of the anthocyanin biosynthetic pathway. Recent studies suggest that the higher anthocyanin content observed under drought stress conditions could be a consequence of a rise in the abscisic acid (ABA) concentration. This plant hormone crosses the plasma membrane by specific transporters, and it is recognized at the cytosolic level by receptors known as pyrabactin resistance (PYR)/regulatory component of ABA receptors (PYR/RCARs) that regulate downstream components. In this review, we discuss the hypothesis regarding the involvement of ABA in the regulation of microRNA156 (miRNA156), which is upregulated as part of dehydration stress responsiveness in different species. The miRNA156 upregulation produces a greater level of anthocyanin gene expression, forming the multienzyme complex that will synthesize an increased level of anthocyanins at the cytosolic face of the rough endoplasmic reticulum (RER). After synthesis, anthocyanins are transported from the RER to the vacuole by two possible models of transport: (1) membrane vesicle-mediated transport, or (2) membrane transporter-mediated transport. Thus, the aim was to analyze the recent findings on synthesis, transport and the possible mechanism by which ABA could increase anthocyanin synthesis under drought stress conditions potentially throughout microRNA156 (miRNA156).

A Review of the Bayesian Occupancy Filter.

Autonomous vehicle systems are currently the object of intense research within scientific and industrial communities; however, many problems remain to be solved. One of the most critical aspects addressed in both autonomous driving and robotics is environment perception, since it consists of the ability to understand the surroundings of the vehicle to estimate risks and make decisions on future movements. In recent years, the Bayesian Occupancy Filter (BOF) method has been developed to evaluate occupancy by tessellation of the environment. A review of the BOF and its variants is presented in this paper. Moreover, we propose a detailed taxonomy where the BOF is decomposed into five progressive layers, from the level closest to the sensor to the highest abstractlevelofriskassessment. Inaddition,wepresentastudyofimplementedusecasestoprovide a practical understanding on the main uses of the BOF and its taxonomy.

A Comparison of FPGA and GPGPU Designs for Bayesian Occupancy Filters.

Grid-based perception techniques in the automotive sector based on fusing information from different sensors and their robust perceptions of the environment are proliferating in the industry. However, one of the main drawbacks of these techniques is the traditionally prohibitive, high computing performance that is required for embedded automotive systems. In this work, the capabilities of new computing architectures that embed these algorithms are assessed in a real car. The paper compares two ad hoc optimized designs of the Bayesian Occupancy Filter; one for General Purpose Graphics Processing Unit (GPGPU) and the other for Field-Programmable Gate Array (FPGA). The resulting implementations are compared in terms of development effort, accuracy and performance, using datasets from a realistic simulator and from a real automated vehicle.

Pre-Harvest Salicylic Acid Application Affects Fruit Quality and Yield under Deficit Irrigation in Aristotelia chilensis (Mol.) Plants.

Salicylic acid (SA) application is a promising agronomic tool. However, studies under field conditions are required, to confirm the potential benefits of SA. Thus, SA application was evaluated under field conditions for its effect on abscisic acid levels, antioxidant related-parameters, fruit quality, and yield in Aristotelia chilensis subjected to different levels of irrigation. During two growing seasons, three-year-old plants under field conditions were subjected to full irrigation (FI: 100% of reference evapotranspiration (ETo), and deficit irrigation (DI: 60% ETo). During each growth season, a single application of 0.5 mM SA was performed at fruit color change by spraying fruits and leaves of both irrigation treatments. The results showed that DI plants experienced moderate water stress (-1.3 MPa), which increased ABA levels and oxidative stress in the leaves. The SA application facilitated the recovery of all physiological parameters under the DI condition, increasing fruit fresh weight by 44%, with a 27% increase in fruit dry weight, a 1 mm increase in equatorial diameter, a 27% improvement in yield per plant and a 27% increase in total yield, with lesser oxidative stress and tissue ABA levels in leaves. Also, SA application significantly increased (by about 10%) the values of fruit trait variables such as soluble solids, total phenols, and antioxidant activity, with the exceptions of titratable acidity and total anthocyanins, which did not vary. The results demonstrated that SA application might be used as an agronomic strategy to improve fruit yield and quality, representing a saving of 40% regarding water use.

Physiological and molecular effects of TiO2 nanoparticle application on UV-A radiation stress responses in Solanum lycopersicum L.

Nanoparticles (NPs) of titanium dioxide (TiO2) alter photosynthetic and biochemical parameters in Solanum lycopersicum L., possibly due to their photocatalytic properties given by energy absorption in the UV-A range; however, the joint effects TiO2 NPs and UV-A radiation are not well understood. This work evaluates the combined responses of TiO2 NPs and UV-A radiation at the physiological and molecular levels in S. lycopersicum. In a split growth chamber, the presence (UV-A +) and absence (UV-A -) of UV-A were combined with 0 (water as a control), and 1000 and 2000 mg L-1 of TiO2 NPs applied at sowing. At the end of exposure (day 30 after sowing), the photosynthetic performance was determined, and biochemical and molecular parameters were evaluated in leaf tissues. Better photochemical performance in UV-A + than UV-A - in control plants was observed, but these effects decreased in 1000 and 2000 mg TiO2 L-1, similar to net CO2 assimilation. A clear increase in photosynthetic pigment levels was recorded under UV-A + compared to UV-A - that was positively correlated with photosynthetic parameters. A concomitant increase in total phenols was observed on adding TiO2 in UV-A - conditions, while a decreasing trend in lipid peroxidation was observed for the same treatments. There was an increase in psbB gene expression under TiO2/UV-A + treatments, and a reduced expression of rbcS and rbcL under UV-A - . These results suggest that the reduction in photosynthetic performance on applying high doses of TiO2 NPs is probably due to biochemical limitation, while UV-A achieves the same result via the photochemical component.

Impact of nanoparticles and their ionic counterparts derived from heavy metals on the physiology of food crops.

Heavy metals and their engineered nanoparticle (NP) counterparts are emerging contaminants in the environment that have captured the attention of researchers worldwide. Although copper, iron, zinc and manganese are essential micronutrients for food crops, higher concentrations provoke several physiological and biochemical alterations that in extreme cases can lead to plant death. The effects of heavy metals on plants have been studied but the influence of nanoparticles (NPs) derived from these heavy metals, and their comparative effect is less known. In this critical review, we have found similar impacts for copper and manganese ionic and NP counterparts; in contrast, iron and zinc NPs seem less toxic for food crops. Although these nutrients are metals that can be dissociated in water, few authors have conducted joint ionic state and NP assays to evaluate their comparative effect. More efforts are thus required to fully understand the impact of NPs and their ion counterparts at the physiological, metabolic and molecular dimensions in crop plants.

Salicylic Acid Improves Antioxidant Defense System and Photosynthetic Performance in Aristotelia chilensis Plants Subjected to Moderate Drought Stress.

Salicylic acid (SA) has been shown to ameliorate drought stress. However, physiological and biochemical mechanisms involved in drought stress tolerance induced by SA in plants have not been well understood. Thus, this study aimed to study the role of SA application on enzymatic and non-enzymatic antioxidants, photosynthetic performance, and plant growth in A. chilensis plants subjected to moderate drought stress. One-year-old A. chilensis plants were subjected to 100% and 60% of field capacity. When plants reached moderate drought stress (average of stem water potential of -1.0 MPa, considered as moderate drought stress), a single SA application was performed on plants. Then, physiological and biochemical features were determined at different times during 14 days. Our study showed that SA application increased 13.5% plant growth and recovered 41.9% AN and 40.7% gs in drought-stressed plants on day 3 compared to drought-stressed plants without SA application. Interestingly, SOD and APX activities were increased 85% and 60%, respectively, in drought-stressed SA-treated plants on day 3. Likewise, SA improved 30% total phenolic content and 60% antioxidant capacity in drought-stressed A. chilensis plants. Our study provides insight into the SA mechanism to tolerate moderate drought stress in A. chilensis plants.

Pre-Harvest MeJA Application Counteracts the Deleterious Impact of Al and Mn Toxicity in Highbush Blueberry Grown in Acid Soils.

Volcanic ash-derived soils are characterized by low pH (pH ≤ 5.5) with increased concentrations of aluminum (Al3+) and manganese (Mn2+), which decreases plant growth, fruit quality, and yield. Methyl jasmonate (MeJA) improves abiotic stress tolerance. Our work aimed to evaluate the application of MeJA's impact on the growth, antioxidant defense, and fruit quality of highbush blueberry grown under Al and Mn toxicity. A field assay was conducted with four-year-old bushes of highbush blueberry cultivar Legacy under eight treatments (Control, Al (87% of Al saturation), Mn (240 mg kg-1), and Al-Mn with and without MeJA application). Physiological, biochemical, and fruit quality parameters were measured. Growth rate significantly decreased with Al (20%), Mn (45%), and Al-Mn (40%). MeJA application recovered the growth rate. Photosynthetic parameters were not affected. Antioxidant activity increased under all treatments compared with controls, being higher with MeJA application. Total phenols (TP) were decreased in plants under Al (43%) and Mn (20%) compared with controls. MeJA application increased TP in all treatments. Fruits of bushes under Al and Mn toxicity with MeJA applications exhibited an increase in fruit firmness and weight, maintaining suitable contents of soluble solids. Our results provide insights about the beneficial effect of MeJA application on growth, antioxidant properties, and fruit quality of highbush blueberry plants grown in acid soils under Al and Mn toxicity.

Differential mechanisms between traditionally established and new highbush blueberry (Vaccinium corymbosum L.) cultivars reveal new insights into manganese toxicity resistance.

In acid soils, manganese (Mn) concentration increases, becoming toxic to plants. Mn toxicity differentially affects physiological processes in highbush blueberry (Vaccinium corymbosum L.) cultivars. However, the mechanisms involved in Mn toxicity of the new and traditionally established cultivars are unknown. To understand Mn toxicity mechanisms, four traditionally established (Legacy, Brigitta, Duke, and Star) cultivars and two recently introduced to Chile (Camellia and Cargo) were grown under hydroponic conditions subjected to control Mn (2 µM) and Mn toxicity (1000 µM). Physiological, biochemical, and molecular parameters were evaluated at 0, 7, 14, and 21 days. We found that the relative growth rate was reduced in almost all blueberry cultivars under Mn toxicity, except Camellia, with Star being the most affected. The photosynthetic parameters were reduced only in Star by Mn treatment. Leaf Mn concentrations increased in all cultivars, exhibiting the lowest levels in Camellia and Cargo. Brigitta and Duke exhibited higher ß-carotene levels, while Cargo exhibited a reduction under toxic Mn. In Legacy, lutein levels increased under Mn toxicity. Traditionally established cultivars exhibited higher antioxidant activity than the new cultivars under Mn toxicity. The Legacy and Duke cultivars increased VcMTP4 expression with Mn exposure time. A multivariate analysis separated Legacy and Duke from Camellia; Star and Cargo; and Brigitta. Our study demonstrated that Mn toxicity differentially affects physiological, biochemical, and molecular features in the new and traditionally established cultivars, with Legacy, Duke, Camellia, and Cargo as the Mn-resistant cultivars differing in their Mn-resistance mechanisms and Star as the Mn-sensitive cultivar.

Age-related mechanism and its relationship with secondary metabolism and abscisic acid in Aristotelia chilensis plants subjected to drought stress.

Drought stress is the most important stress factor for plants, being the main cause of agricultural crop loss in the world. Plants have developed complex mechanisms for preventing water loss and oxidative stress such as synthesis of abscisic acid (ABA) and non-enzymatic antioxidant compounds such as anthocyanins, which might help plants to cope with abiotic stress as antioxidants and for scavenging reactive oxygen species. A. chilensis (Mol.) is a pioneer species, colonizing and growing on stressed and disturbed environments. In this research, an integrated analysis of secondary metabolism in Aristotelia chilensis was done to relate ABA effects on anthocyanins biosynthesis, by comparing between young and fully-expanded leaves under drought stress. Plants were subjected to drought stress for 20 days, and physiological, biochemical, and molecular analyses were performed. The relative growth rate and plant water status were reduced in stressed plants, with young leaves significantly more affected than fully-expanded leaves beginning from the 5th day of drought stress. A. chilensis plants increased their ABA and total anthocyanin content and showed upregulation of gene expression when they were subjected to severe drought (day 20), with these effects being higher in fully-expanded leaves. Multivariate analysis indicated a significant positive correlation between transcript levels for NCED1 (9-cis-epoxycarotenoid dioxygenase) and UFGT (UDP glucose: flavonoid-3-O-glucosyltransferase) with ABA and total anthocyanin, respectively. Thus, this research provides a more comprehensive analysis of the mechanisms that allow plants to cope with drought stress. This is highlighted by the differences between young and fully-expanded leaves, showing different sensibility to stress due to their ability to synthesize anthocyanins. In addition, this ability to synthesize different and high amounts of anthocyanins could be related to higher NCED1 and MYB expression and ABA levels, enhancing drought stress tolerance.

Cardiac geometry in children receiving chronic peritoneal dialysis: findings from the International Pediatric Peritoneal Dialysis Network (IPPN) registry.

BACKGROUND AND OBJECTIVES: Left ventricular hypertrophy (LVH) is an independent risk factor and an intermediate end point of dialysis-associated cardiovascular comorbidity. We utilized a global pediatric registry to assess the prevalence, incidence, and predictors of LVH as well as its evolution in the longitudinal follow-up in dialyzed children. DESIGN, SETTING, PARTICIPANTS, & MEASUREMENTS: Cross-sectional echocardiographic, clinical, and biochemical data were evaluated in 507 children on peritoneal dialysis (PD), and longitudinal data were evaluated in 128 patients. The 95(th) percentile of LV mass index relative to height age was used to define LVH. RESULTS: The overall LVH prevalence was 48.1%. In the prospective analysis, the incidence of LVH developing de novo in patients with normal baseline LV mass was 29%, and the incidence of regression from LVH to normal LV mass 40% per year on PD. Transformation to and regression from concentric LV geometry occurred in 36% and 28% of the patients, respectively. Hypertension, high body mass index, use of continuous ambulatory peritoneal dialysis, renal disease other than hypo/dysplasia, and hyperparathyroidism were identified as independent predictors of LVH. The use of renin-angiotensin system (RAS) antagonists and high total fluid output (sum of urine and ultrafiltration) were protective from concentric geometry. The risk of LVH at 1 year was increased by higher systolic BP standard deviation score and reduced in children with renal hypo/dysplasia. CONCLUSIONS: Using height-adjusted left ventricular mass index reference data, LVH is highly prevalent but less common than previously diagnosed in children on PD. Renal hypo/dysplasia is protective from LVH, likely because of lower BP and polyuria. Hypertension, fluid overload, and hyperparathyroidism are modifiable determinants of LVH.