Abstract
Current collaborative augmented reality (AR) systems establish a common localization coordinate frame among users by exchanging and comparing maps comprised of feature points. However, relative positioning through map sharing struggles in dynamic or feature-sparse environments. It also requires that users exchange identical regions of the map, which may not be possible if they are separated by walls or facing different directions. In this paper, we present Cappella11Like its musical inspiration, Cappella utilizes collaboration among agents to forgo the need for instrumentation, an infrastructure-free 6-degrees-of-freedom (6DOF) positioning system for multi-user AR applications that uses motion estimates and range measurements between users to establish an accurate relative coordinate system. Cappella uses visual-inertial odometry (VIO) in conjunction with ultra-wideband (UWB) ranging radios to estimate the relative position of each device in an ad hoc manner. The system leverages a collaborative particle filtering formulation that operates on sporadic messages exchanged between nearby users. Unlike visual landmark sharing approaches, this allows for collaborative AR sessions even if users do not share the same field of view, or if the environment is too dynamic for feature matching to be reliable. We show that not only is it possible to perform collaborative positioning without infrastructure or global coordinates, but that our approach provides nearly the same level of accuracy as fixed infrastructure approaches for AR teaming applications. Cappella consists of an open source UWB firmware and reference mobile phone application that can display the location of team members in real time using mobile AR. We evaluate Cappella across mul-tiple buildings under a wide variety of conditions, including a contiguous 30,000 square foot region spanning multiple floors, and find that it achieves median geometric error in 3D of less than 1 meter.

Abstract
The evaluation of the diffusion properties of optical clearing agents in biological tissues, which are necessary to characterize the transparency mechanisms, has been traditionally made using ex vivo tissues. With the objective of performing such evaluation in vivo, this study was made to evaluate and compare those properties for propylene glycol in skeletal muscle, as obtained with the collimated transmittance and diffuse reflectance kinetics. The diffusion time and the diffusion coefficient of propylene glycol in the muscle that were calculated both from transmittance and reflectance kinetics presented a deviation of 0.8%, a result that opens the possibility to use such a method in vivo. © 2022 IEEE.

Abstract
The direct calculation of the absorption coefficient spectra of various tissues from spectral measurements allowed to retrieve the contents of melanin and lipofuscin. In the rabbit brain cortex, 1.8 times higher melanin content is explained by the neuron degeneration process. Similar melanin and lipofuscin contents were found in the rabbit pancreas as a result of the tissue aging process. The conversion of 83 % of the melanin in the human normal kidney into lipofuscin in the cancer kidney indicates that lipofuscin can be considered a kidney cancer marker in humans. © 2022 IEEE.

Abstract
The increase of tissue transparency through sequential optical immersion clearing treatments and treatment reversibility have high interest for clinical applications. To evaluate the clearing reversibility in a broad spectral range and the magnitude of the transparency created by a second treatment, the present study consisted on measuring the spectral collimated transmittance of lung tissues during a sequence of two treatments with electronic cigarette (e-cig) fluid, which was intercalated with an immersion in saline. The saline immersion clearly reverted the clearing effect in the lung tissue in the spectral range between 220 and 1000 nm. By a later application of a second treatment with the e-cig fluid, the magnitude of the optical clearing effect was observed to be about the double as the one observed in the first treatment, showing that the molecules of the optical clearing agent might have converted some bound water into mobile water during the first treatment.

Abstract
The recent increasing interest in the application of radiology contrasting agents to create transparency in biological tissues implies that the diffusion properties of those agents need evaluation. The comparison of those properties with the ones obtained for other optical clearing agents allows to perform an optimized agent selection to create optimized transparency in clinical applications. In this study, the evaluation and comparison of the diffusion properties of gadobutrol and glycerol in skeletal muscle was made, showing that although gadobutrol has a higher molar mass than glycerol, its low viscosity allows for a faster diffusion in the muscle. The characterization of the tissue dehydration and refractive index matching mechanisms of optical clearing was made in skeletal muscle, namely by the estimation of the diffusion coefficients for water, glycerol and gadobutrol. The estimated tortuosity values of glycerol (2.2) and of gadobutrol (1.7) showed a longer path-length for glycerol in the muscle.

Abstract
The pancreas is a highly important organ, since it produces insulin and prevents the occurrence of diabetes. Although rare, pancreatic cancer is highly lethal, with a small life expectancy after being diagnosed. The pancreas is one of the organs less studied in the field of biophotonics. With the objective of acquiring information that can be used in the development of future applications to diagnose and treat pancreas diseases, the spectral optical properties of the rabbit pancreas were evaluated in a broad-spectral range, between 200 and 1000 nm. The method used to obtain such optical properties is simple, based almost on direct calculations from spectral measurements. The optical properties obtained show similar wavelength dependencies to the ones obtained for other tissues, but a further analysis on the spectral absorption coefficient showed that the pancreas tissues contain pigments, namely melanin, and lipofuscin. Using a simple calculation, it was possible to retrieve similar contents of these pigments from the absorption spectrum of the pancreas, which indicates that they accumulate in the same proportion as a result of the aging process. Such pigment accumulation was camouflaging the real contents of DNA, hemoglobin, and water, which were precisely evaluated after subtracting the pigment absorption.