Multilayer Graph-Based Trajectory Planning for Race Vehicles in Dynamic Scenarios

Trajectory planning at high velocities and at the handling limits is a challenging task. In order to cope with the requirements of a race scenario, we propose a far-sighted two step, multi-layered graph-based trajectory planner, capable to run with speeds up to 212~km/h. The planner is designed to generate an action set of multiple drivable trajectories, allowing an adjacent behavior planner to pick the most appropriate action for the global state in the scene. This method serves objectives such as race line tracking, following, stopping, overtaking and a velocity profile which enables a handling of the vehicle at the limit of friction. Thereby, it provides a high update rate, a far planning horizon and solutions to non-convex scenarios. The capabilities of the proposed method are demonstrated in simulation and on a real race vehicle.Comment: Accepted at The 22nd IEEE International Conference on Intelligent Transportation Systems, October 27 - 30, 201

Foxp3 Interacts With c-Rel to Mediate NF-κ\kappaB Repression

Expression of the lineage-specific DNA-binding factor Foxp3 controls the development and function of naturally occurring regulatory T cells. Foxp3 has been shown to interact with a multitude of transcriptional regulators including NFAT, NF-$\kappa$B (p65), Runx1 and ROR$\lambda$t, as well as the histone modification enzymes TIP60, HDAC7 and HDAC9. The sum of these interactions is believed to cause the change in the transcriptional program of regulatory T cells. Here we show that Foxp3 directly or as part of a multimeric complex engages with the NF-$\kappa$B component c-Rel. We demonstrate that the N-terminal region of Foxp3 is required for the binding of c-Rel, but not NFAT. Conversely, deletion of the forkhead domain causes a loss of interaction with NFAT, but not c-Rel. Our findings are of particular interest, as c-Rel is crucial for the induction of Foxp3 in regulatory T cells during thymic development, but has to be repressed in mature regulatory T cells to maintain their suppressive phenotype.Organismic and Evolutionary Biolog

Comparative Genomics Reveals Key Gain-of-Function Events in Foxp3 during Regulatory T Cell Evolution

The immune system has the ability to suppress undesirable responses, such as those against commensal bacteria, food, and paternal antigens in placenta pregnancy. The lineage-specific transcription factor Foxp3 orchestrates the development and function of regulatory T cells underlying this immunological tolerance. Despite the crucial role of Foxp3 in supporting immune homeostasis, little is known about its origin, evolution, and species conservation. We explore these questions using comparative genomics, structural modeling, and functional analyses. Our data reveal that key gain-of-function events occurred during the evolution of Foxp3 in higher vertebrates. We identify key conserved residues in its forkhead domain and show a detailed analysis of the N-terminal region of Foxp3, which is only conserved in mammals. These components are under purifying selection, and our mutational analyses demonstrate that they are essential for Foxp3 function. Our study points to critical functional adaptations in immune tolerance among higher vertebrates, and suggests that Foxp3-mediated transcriptional mechanisms emerged during mammalian evolution as a stepwise gain of functional domains that enabled Foxp3 to interact with a multitude of interaction partners

Droplet Coalescence and Freezing on Hydrophilic, Hydrophobic, and Biphilic Surfaces

Frost and ice formation can have severe negative consequences, such as aircraft safety and reliability. At atmospheric pressure, water heterogeneously condenses and then freezes at low temperatures. To alter this freezing process, this research examines the effects of biphilic surfaces (surfaces which combine hydrophilic and hydrophobic regions) on heterogeneous water nucleation, growth, and freezing. Silicon wafers were coated with a self-assembled monolayer and patterned to create biphilic surfaces. Samples were placed on a freezing stage in an environmental chamber at atmospheric pressure, at a temperature of 295 K, and relative humidities of 30%, 60%, and 75%. Biphilic surfaces had a significant effect on droplet dynamics and freezing behavior. The addition of biphilic patterns decreased the temperature required for freezing by 6 K. Biphilic surfaces also changed the size and number of droplets on a surface at freezing and delayed the time required for a surface to freeze. The main mechanism affecting freezing characteristics was the coalescence behavior.Citation: A. Van Dyke, D. Collard, M. M. Derby and A. R. Betz, "Droplet Coalescence and Freezing on Hydrophilic, Hydrophobic, and Biphilic Surfaces," Applied Physics Letters, 107, Issue 14, 201

Telepsychiatric assessment of a mariner expressing suicidal ideation

This case report highlights the successful use of telepsychiatric consultation by secure video chat to remotely assess a mariner expressing suicidal ideation. As a result of this intervention, telemedicine providers initiated psychiatric stabilisation while the mariner was still aboard the vessel, determined that he was safe for repatriation under the care of qualified medical escorts, and facilitated admission to a psychiatric facility near his home in the United States. Mental health emergencies are a significant cause of morbidity and mortality among mariners. Telepsychiatry is a validated method of establishing a psychiatric diagnosis and disposition as well as assessing risk of suicidality and the potential for violent decompensation. It has the potential to be a valuable adjunct to any traditional maritime telemedicine service