Low-Cost Multiple-MAV SLAM Using Open Source Software

We demonstrate a multiple micro aerial vehicle (MAV) system capable of supporting autonomous exploration and navigation in unknown environments using only a sensor commonly found in low-cost, commercially available MAVs—a front-facing monocular camera. We adapt a popular open source monocular SLAM library, ORB-SLAM, to support multiple inputs and present a system capable of effective cross-map alignment that can be theoretically generalized for use with other monocular SLAM libraries. Using our system, a single central ground control station is capable of supporting up to five MAVs simultaneously without a loss in mapping quality as compared to single-MAV ORB-SLAM. We conduct testing using both benchmark datasets and real-world trials to demonstrate the capability and real-time effectiveness

Controls on Timing of Hydrothermal Fluid Flow in South-Central Kansas, North-Central Oklahoma, and the Tri-State Mineral District

Paleozoic sedimentary rocks in the southern midcontinent of the United States have been affected by multiple events of deformation and fluid flow, resulting in petroleum migration, thermal alteration, Mississippi Valley-type mineralization, and a complex diagenetic history. This record is a hidden history of how cratonal settings respond to tectonic and non-tectonic drivers. The aim of this contribution is to better understand the controls on fluid migration in Paleozoic strata to evaluate whether hydrothermal activity is forced by tectonic or non-tectonic processes.  This paper summarizes and vets the distribution of published dates related to thermal events in the southern midcontinent. In addition, we present new U-Pb dates obtained by laser ablation–inductively coupled plasma–mass spectrometry (LA-ICP-MS) on calcite cements that were formed from hydrothermal fluids. These are from three samples from the Berexco Wellington KGS 1-32 core in Sumner County, Kansas; an ore sample from the Tri-State Mineral District, Neck City, Missouri; and a core sample from the Blackbird 4-33 well in Osage County, Oklahoma. Previous studies of these calcite samples provided evidence for hydrothermal fluid flow, with one of the Wellington samples possibly recording vertical hydrothermal fluid flow out of the basement.  The sample from the Tri-State Mineral District (Missouri) yields a mid-Cretaceous age of 115.6±3.1 Ma. This age falls into the timing of the Sevier Orogeny along the west coast and the development of its foreland basin in the midcontinent. Calcites from the Mississippian interval in the Wellington KGS 1-32 core yield dates of 305±10.5 Ma and 305.1±9.1 Ma. Calcite in Mississippian strata from the Blackbird 4-33 core yields a date of 308.6±2.5 Ma. These dates from Mississippian calcite cements indicate hydrothermal fluid flow in the Late Pennsylvanian that coincides with the timing of the Marathon-Ouachita Orogeny or the Ancestral Rocky Mountains Orogeny. A calcite sample from the Ordovician Arbuckle Group from the Berexco Wellington KGS 1-32 core yielded an age of 5.6±1.6 Ma, coinciding with a time after high elevation uplift of the Rocky Mountains was already far advanced. We propose that this hydrothermal fluid flow may have been associated with increased meteoric recharge and increased regional fluid pressure in a basement aquifer that activated local seismic events far into the continental interior.  The distribution of ages of hydrothermal fluid flow confirms a syntectonic driver during the Ouachita Orogeny and Ancestral Rocky Mountains Orogeny deformation. Continuation of hydrothermal fluid flow well into the Permian and tailing off early in the Triassic indicates a post-tectonic driver, where uplifted areas continued to provide the recharge from gravity-driven fluid flow, until the mountains were mostly beveled by the early part of the Triassic. A dearth of Triassic and Jurassic hydrothermal events suggests Gulf of Mexico rifting and extension were less important. Rejuvenation of hydrothermal fluid flow in the Cretaceous and continuing into the Paleogene indicates that elevation and regional flexure from both the Sevier and Laramide events continued to drive hydrothermal fluid flow far from the main sites of mountainous uplift and deformation. Finally, hydrothermal fluid flow associated with more recent uplift of the Rocky Mountains may have been activated by recharge events that pressurized a regional basement aquifer and triggered seismic activity

Controls on Timing of Hydrothermal Fluid Flow in South-Central Kansas, North-Central Oklahoma, and the Tri-State Mineral District

Paleozoic sedimentary rocks in the southern midcontinent of the United States have been affected by multiple events of deformation and fluid flow, resulting in petroleum migration, thermal alteration, Mississippi Valley-type mineralization, and a complex diagenetic history. This record is a hidden history of how cratonal settings respond to tectonic and non-tectonic drivers. The aim of this contribution is to better understand the controls on fluid migration in Paleozoic strata to evaluate whether hydrothermal activity is forced by tectonic or non-tectonic processes.  This paper summarizes and vets the distribution of published dates related to thermal events in the southern midcontinent. In addition, we present new U-Pb dates obtained by laser ablation–inductively coupled plasma–mass spectrometry (LA-ICP-MS) on calcite cements that were formed from hydrothermal fluids. These are from three samples from the Berexco Wellington KGS 1-32 core in Sumner County, Kansas; an ore sample from the Tri-State Mineral District, Neck City, Missouri; and a core sample from the Blackbird 4-33 well in Osage County, Oklahoma. Previous studies of these calcite samples provided evidence for hydrothermal fluid flow, with one of the Wellington samples possibly recording vertical hydrothermal fluid flow out of the basement.  The sample from the Tri-State Mineral District (Missouri) yields a mid-Cretaceous age of 115.6±3.1 Ma. This age falls into the timing of the Sevier Orogeny along the west coast and the development of its foreland basin in the midcontinent. Calcites from the Mississippian interval in the Wellington KGS 1-32 core yield dates of 305±10.5 Ma and 305.1±9.1 Ma. Calcite in Mississippian strata from the Blackbird 4-33 core yields a date of 308.6±2.5 Ma. These dates from Mississippian calcite cements indicate hydrothermal fluid flow in the Late Pennsylvanian that coincides with the timing of the Marathon-Ouachita Orogeny or the Ancestral Rocky Mountains Orogeny. A calcite sample from the Ordovician Arbuckle Group from the Berexco Wellington KGS 1-32 core yielded an age of 5.6±1.6 Ma, coinciding with a time after high elevation uplift of the Rocky Mountains was already far advanced. We propose that this hydrothermal fluid flow may have been associated with increased meteoric recharge and increased regional fluid pressure in a basement aquifer that activated local seismic events far into the continental interior.  The distribution of ages of hydrothermal fluid flow confirms a syntectonic driver during the Ouachita Orogeny and Ancestral Rocky Mountains Orogeny deformation. Continuation of hydrothermal fluid flow well into the Permian and tailing off early in the Triassic indicates a post-tectonic driver, where uplifted areas continued to provide the recharge from gravity-driven fluid flow, until the mountains were mostly beveled by the early part of the Triassic. A dearth of Triassic and Jurassic hydrothermal events suggests Gulf of Mexico rifting and extension were less important. Rejuvenation of hydrothermal fluid flow in the Cretaceous and continuing into the Paleogene indicates that elevation and regional flexure from both the Sevier and Laramide events continued to drive hydrothermal fluid flow far from the main sites of mountainous uplift and deformation. Finally, hydrothermal fluid flow associated with more recent uplift of the Rocky Mountains may have been activated by recharge events that pressurized a regional basement aquifer and triggered seismic activity

High angular resolution mm- and submm-observations of dense molecular gas in M82

Researchers observed CO(7-6), CO(3-2), HCN(3-2) and HCO+(3-2) line emission toward the starburst nucleus of M82 and have obtained an upper limit to H13CN(3-2). These are the first observations of the CO(7-6), HCN(3-2) and HCO+(3-2) lines in any extragalactic source. Researchers took the CO(7-6) spectrum in January 1988 at the Infrared Telescope Facility (IRTF) with the Max Planck Institute for Extraterrestrial Physics/Univ. of California, Berkeley 800 GHz Heterodyne Receiver. In March 1989 researchers used the Institute for Radio Astronomy in the Millimeter range (IRAM) 30 m telescope to observe the CO(3-2) line with the new MPE 350 GHz Superconductor Insulator Superconductor (SIS) receiver and the HCN(3-2) and HCO+(3-2) lines with the (IRAM) 230 GHz SIS receiver (beam 12" FWHM, Blundell et al. 1988). The observational parameters are summarized

CD146, a novel target of CD44-signaling, suppresses breast tumor cell invasion.

We have previously validated three novel CD44-downstream positively regulated transcriptional targets, including Cortactin, Survivin and TGF-β2, and further characterized the players underlying their separate signaling pathways. In the present study, we identified CD146 as a potential novel target, negatively regulated by CD44. While the exact function of CD146 in breast cancer (BC) is not completely understood, substantial evidence from our work and others support the hypothesis that CD146 is a suppressor of breast tumor progression. Therefore, using molecular and pharmacological approaches both in vitro and in breast tissues of human samples, the present study validated CD146 as a novel target of CD44-signaling suppressed during BC progression. Our results revealed that CD44 activation could cause a substantial decrease of CD146 expression with an equally notable converse effect upon CD44-siRNA inhibition. More interestingly, activation of CD44 decreased cellular CD146 and increased soluble CD146 through CD44-dependent activation of MMP. Here, we provide a possible mechanism by which CD146 suppresses BC progression as a target of CD44-downstream signaling, regulating neovascularization and cancer cell motility

IKK/NF-κB regulates skeletal myogenesis via a signaling switch to inhibit differentiation and promote mitochondrial biogenesis

Nuclear factor κB (NF-κB) is involved in multiple skeletal muscle disorders, but how it functions in differentiation remains elusive given that both anti- and promyogenic activities have been described. In this study, we resolve this by showing that myogenesis is controlled by opposing NF-κB signaling pathways. We find that myogenesis is enhanced in MyoD-expressing fibroblasts deficient in classical pathway components RelA/p65, inhibitor of κB kinase β (IKKβ), or IKKγ. Similar increases occur in myoblasts lacking RelA/p65 or IKKβ, and muscles from RelA/p65 or IKKβ mutant mice also contain higher fiber numbers. Moreover, we show that during differentiation, classical NF-κB signaling decreases, whereas the induction of alternative members IKKα, RelB, and p52 occurs late in myogenesis. Myotube formation does not require alternative signaling, but it is important for myotube maintenance in response to metabolic stress. Furthermore, overexpression or knockdown of IKKα regulates mitochondrial content and function, suggesting that alternative signaling stimulates mitochondrial biogenesis. Together, these data reveal a unique IKK/NF-κB signaling switch that functions to both inhibit differentiation and promote myotube homeostasis

Silent progression in disease activity-free relapsing multiple sclerosis.

ObjectiveRates of worsening and evolution to secondary progressive multiple sclerosis (MS) may be substantially lower in actively treated patients compared to natural history studies from the pretreatment era. Nonetheless, in our recently reported prospective cohort, more than half of patients with relapsing MS accumulated significant new disability by the 10th year of follow-up. Notably, "no evidence of disease activity" at 2 years did not predict long-term stability. Here, we determined to what extent clinical relapses and radiographic evidence of disease activity contribute to long-term disability accumulation.MethodsDisability progression was defined as an increase in Expanded Disability Status Scale (EDSS) of 1.5, 1.0, or 0.5 (or greater) from baseline EDSS = 0, 1.0-5.0, and 5.5 or higher, respectively, assessed from baseline to year 5 (±1 year) and sustained to year 10 (±1 year). Longitudinal analysis of relative brain volume loss used a linear mixed model with sex, age, disease duration, and HLA-DRB1*15:01 as covariates.ResultsRelapses were associated with a transient increase in disability over 1-year intervals (p = 0.012) but not with confirmed disability progression (p = 0.551). Relative brain volume declined at a greater rate among individuals with disability progression compared to those who remained stable (p < 0.05).InterpretationLong-term worsening is common in relapsing MS patients, is largely independent of relapse activity, and is associated with accelerated brain atrophy. We propose the term silent progression to describe the insidious disability that accrues in many patients who satisfy traditional criteria for relapsing-remitting MS. Ann Neurol 2019;85:653-666

Delayed Stellar Mass Assembly in the Low Surface Brightness Dwarf Galaxy KDG215

We present HI spectral line and optical broadband images of the nearby low surface brightness dwarf galaxy KDG215. The HI images, acquired with the Karl G. Jansky Very Large Array (VLA), reveal a dispersion dominated ISM with only weak signatures of coherent rotation. The HI gas reaches a peak mass surface density of 6 M$_{\odot}$ pc$^{-2}$ at the location of the peak surface brightness in the optical and the UV. Although KDG215 is gas-rich, the H$\alpha$ non-detection implies a very low current massive star formation rate. In order to investigate the recent evolution of this system, we have derived the recent and lifetime star formation histories from archival Hubble Space Telescope images. The recent star formation history shows a peak star formation rate $\sim$1 Gyr ago, followed by a decreasing star formation rate to the present day quiescent state. The cumulative star formation history indicates that a significant fraction of the stellar mass assembly in KDG215 has occurred within the last 1.25 Gyr. KDG215 is one of only a few known galaxies which demonstrates such a delayed star formation history. While the ancient stellar population (predominantly red giants) is prominent, the look-back time by which 50% of the mass of all stars ever formed had been created is among the youngest of any known galaxy.Comment: Accepted for publication in the Astrophysical Journal Letter

Impact of p38 mitogen-activated protein kinase inhibition on immunostimulatory properties of human 6-sulfo LacNAc dendritic cells

p38 Mitogen-activated protein kinase (MAPK) plays a crucial role in the induction and regulation of innate and adaptive immunity. Furthermore, p38 MAPK can promote tumor invasion, metastasis, and angiogenesis. Based on these properties, p38 MAPK inhibitors emerged as interesting candidates for the treatment of immune-mediated disorders and cancer. However, the majority of p38 MAPK inhibitor-based clinical trials failed due to poor efficacy or toxicity. Further studies investigating the influence of p38 MAPK inhibitors on immunomodulatory capabilities of human immune cells may improve their therapeutic potential. Here, we explored the impact of the p38 MAPK inhibitor SB203580 on the pro-inflammatory properties of native human 6-sulfo LacNAc dendritic cells (slanDCs). SB203580 did not modulate maturation of slanDCs and their capacity to promote T-cell proliferation. However, SB203580 significantly reduced the production of pro-inflammatory cytokines by activated slanDCs. Moreover, inhibition of p38 MAPK impaired the ability of slanDCs to differentiate naïve CD4(+) T cells into T helper 1 cells and to stimulate interferon-γ secretion by natural killer cells. These results provide evidence that SB203580 significantly inhibits various important immunostimulatory properties of slanDCs. This may have implications for the design of p38 MAPK inhibitor-based treatment strategies for immune-mediated disorders and cancer

Galaxy Formation Theory

We review the current theory of how galaxies form within the cosmological framework provided by the cold dark matter paradigm for structure formation. Beginning with the pre-galactic evolution of baryonic material we describe the analytical and numerical understanding of how baryons condense into galaxies, what determines the structure of those galaxies and how internal and external processes (including star formation, merging, active galactic nuclei etc.) determine their gross properties and evolution. Throughout, we highlight successes and failings of current galaxy formation theory. We include a review of computational implementations of galaxy formation theory and assess their ability to provide reliable modelling of this complex phenomenon. We finish with a discussion of several "hot topics" in contemporary galaxy formation theory and assess future directions for this field.Comment: 58 pages, to appear in Physics Reports. This version includes minor corrections and a handful of additional reference