Improved heuristic drift elimination with magnetically-aided dominant directions (MiHDE) for pedestrian navigation in complex buildings

The main problem of pedestrian dead-reckoning (PDR) using only a body-attached inertial measurement unit is the accumulation of heading errors. The heading provided by magnetometers in indoor buildings is in general not reliable and therefore it is commonly not used. Recently, a new method was proposed called heuristic drift elimination (HDE) that minimises the heading error when navigating in buildings. It assumes that the majority of buildings have their corridors parallel to each other, or they intersect at right angles, and consequently most of the time the person walks along a straight path with a heading constrained to one of the four possible directions. In this article we study the performance of HDE-based methods in complex buildings, i.e. with pathways also oriented at 45°, long curved corridors, and wide areas where non-oriented motion is possible. We explain how the performance of the original HDE method can be deteriorated in complex buildings, and also, how severe errors can appear in the case of false matches with the building's dominant directions. Although magnetic compassing indoors has a chaotic behaviour, in this article we analyse large data-sets in order to study the potential use that magnetic compassing has to estimate the absolute yaw angle of a walking person. Apart from these analysis, this article also proposes an improved HDE method called Magnetically-aided Improved Heuristic Drift Elimination (MiHDE), that is implemented over a PDR framework that uses foot-mounted inertial navigation with an extended Kalman filter (EKF). The EKF is fed with the MiHDE-estimated orientation error, gyro bias corrections, as well as the confidence over that corrections. We experimentally evaluated the performance of the proposed MiHDE-based PDR method, comparing it with the original HDE implementation. Results show that both methods perform very well in ideal orthogonal narrow-corridor buildings, and MiHDE outperforms HDE for non-ideal trajectories (e.g. curved paths) and also makes it robust against potential false dominant direction matchings

Glucose consumption rate-dependent transcriptome profiling of Escherichia coli provides insight on performance as microbial factories

peer reviewedBACKGROUND: The modification of glucose import capacity is an engineering strategy that has been shown to improve the characteristics of Escherichia coli as a microbial factory. A reduction in glucose import capacity can have a positive effect on production strain performance, however, this is not always the case. In this study, E. coli W3110 and a group of four isogenic derivative strains, harboring single or multiple deletions of genes encoding phosphoenolpyruvate:sugar phosphotransferase system (PTS)-dependent transporters as well as non-PTS transporters were characterized by determining their transcriptomic response to reduced glucose import capacity. RESULTS: These strains were grown in bioreactors with M9 mineral salts medium containing 20 g/L of glucose, where they displayed specific growth rates ranging from 0.67 to 0.27 h-1, and specific glucose consumption rates (qs) ranging from 1.78 to 0.37 g/g h. RNA-seq analysis revealed a transcriptional response consistent with carbon source limitation among all the mutant strains, involving functions related to transport and metabolism of alternate carbon sources and characterized by a decrease in genes encoding glycolytic enzymes and an increase in gluconeogenic functions. A total of 107 and 185 genes displayed positive and negative correlations with qs, respectively. Functions displaying positive correlation included energy generation, amino acid biosynthesis, and sugar import. CONCLUSION: Changes in gene expression of E. coli strains with impaired glucose import capacity could be correlated with qs values and this allowed an inference of the physiological state of each mutant. In strains with lower qs values, a gene expression pattern is consistent with energy limitation and entry into the stationary phase. This physiological state could explain why these strains display a lower capacity to produce recombinant protein, even when they show very low rates of acetate production. The comparison of the transcriptomes of the engineered strains employed as microbial factories is an effective approach for identifying favorable phenotypes with the potential to improve the synthesis of biotechnological products. © 2022. The Author(s)

The dependence of oxygen and nitrogen abundances on stellar mass from the CALIFA survey

Context. The study of the integrated properties of star-forming galaxies is central to understand their formation and evolution. Some of these properties are extensive and therefore their analysis require totally covering and spatially resolved observations. Among these properties, metallicity can be defined in spiral discs by means of integral field spectroscopy (IFS) of individual H ii regions. The simultaneous analysis of the abundances of primary elements, as oxygen, and secondary, as nitrogen, also provides clues about the star formation history and the processes that shape the build-up of spiral discs. Aims. Our main aim is to analyse simultaneously O/H and N/O abundance ratios in H ii regions in different radial positions of the discs in a large sample of spiral galaxies to obtain the slopes and the characteristic abundance ratios that can be related to their integrated properties. Methods. We analysed the optical spectra of individual selected H ii regions extracted from a sample of 350 spiral galaxies of the CALIFA survey. We calculated total O/H abundances and, for the first time, N/O ratios using the semi-empirical routine Hii-Chi-mistry, which, according to Pérez-Montero (2014, MNRAS, 441, 2663), is consistent with the direct method and reduces the uncertainty in the O/H derivation using [N ii] lines owing to the dispersion in the O/H-N/O relation. Then we performed linear fittings to the abundances as a function of the de-projected galactocentric distances. Results. The analysis of the radial distribution both for O/H and N/O in the non-interacting galaxies reveals that both average slopes are negative, but a non-negligible fraction of objects have a flat or even a positive gradient (at least 10% for O/H and 4% for N/O). The slopes normalised to the effective radius appear to have a slight dependence on the total stellar mass and the morphological type, as late low-mass objects tend to have flatter slopes. No clear relation is found, however, to explain the presence of inverted gradients in this sample, and there is no dependence between the average slopes and the presence of a bar. The relation between the resulting O/H and N/O linear fittings at the effective radius is much tighter (correlation coefficient ρ = 0.80) than between O/H and N/O slopes (ρ = 0.39) or for O/H and N/O in the individual H ii regions (ρ = 0.37). These O/H and N/O values at the effective radius also correlate very tightly (less than 0.03 dex of dispersion) with total luminosity and stellar mass. The relation with other integrated properties, such as star formation rate, colour, or morphology, can be understood only in light of the found relation with mass.E.P.M., J.M.V., C.K., S.P., and J.I.P. acknowledge support from the Spanish MICINN through grants AYA2010-21887-C04-01 and AYA2013-47742-C4-1-P and the Junta de Andalucia for grant EXC/2011 FQM-7058. R.G.B., R.G.D., and E.P. acknowledge support from grants AYA2014-57490-P and JA-FQM-2828. Support for L.G. is provided by the Ministry of Economy, Development, and Tourism's Millennium Science Initiative through grant IC120009, awarded to The Millennium Institute of Astrophysics, MAS. L.G. acknowledges support by CONICYT through FONDECYT grant 3140566Peer Reviewe

Search for direct production of charginos and neutralinos in events with three leptons and missing transverse momentum in √s = 7 TeV pp collisions with the ATLAS detector

A search for the direct production of charginos and neutralinos in final states with three electrons or muons and missing transverse momentum is presented. The analysis is based on 4.7 fb−1 of proton–proton collision data delivered by the Large Hadron Collider and recorded with the ATLAS detector. Observations are consistent with Standard Model expectations in three signal regions that are either depleted or enriched in Z-boson decays. Upper limits at 95% confidence level are set in R-parity conserving phenomenological minimal supersymmetric models and in simplified models, significantly extending previous results