Dimensionality reduction for point feature SLAM problems with spherical covariance matrices

© 2014 Elsevier Ltd. All rights reserved. The main contribution of this paper is the dimensionality reduction for multiple-step 2D point feature based Simultaneous Localization and Mapping (SLAM), which is an extension of our previous work on one-step SLAM (Wang et al.; 2013). It has been proved that SLAM with multiple robot poses and a number of point feature positions as variables is equivalent to an optimization problem with only the robot orientations as variables, when the associated uncertainties can be described using spherical covariance matrices. This reduces the dimension of original problem from 3m+2n to m only (where m is the number of poses and n is the number of features). The optimization problem after dimensionality reduction can be solved numerically using the unconstrained optimization algorithms. While dimensionality reduction may not provide computational saving for all nonlinear optimization problems, for some SLAM problems we can achieve benefits such as improvement on time consumption and convergence. For the special case of two-step SLAM when the orientation information from odometry is not incorporated, an algorithm that can guarantee to obtain the globally optimal solution (in the maximum likelihood sense) is derived. Simulation and experimental datasets are used to verify the equivalence between the reduced nonlinear optimization problem and the original full optimization problem, as well as the proposed new algorithm for obtaining the globally optimal solution for two-step SLAM

Region Spherical Harmonic Magnetic Modeling from Near-Surface and Satellite-Altitude Anomlaies

The compiled near-surface data and satellite crustal magnetic measured data are modeled with a regionally concentrated spherical harmonic presentation technique over Australia and Antarctica. Global crustal magnetic anomaly studies have used a spherical harmonic analysis to represent the Earth's magnetic crustal field. This global approach, however is best applied where the data are uniformly distributed over the entire Earth. Satellite observations generally meet this requirement, but unequally distributed data cannot be easily adapted in global modeling. Even for the satellite observations, due to the errors spread over the globe, data smoothing is inevitable in the global spherical harmonic presentations. In addition, global high-resolution modeling requires a great number of global spherical harmonic coefficients for the regional presentation of crustal magnetic anomalies, whereas a lesser number of localized spherical coefficients will satisfy. We compared methods in both global and regional approaches and for a case where the errors were propagated outside the region of interest. For observations from the upcoming Swarm constellation, the regional modeling will allow the production a lesser number of spherical coefficients that are relevant to the region of interes

A New Crucial Protein Interaction Element That Targets the Adenovirus E4-ORF1 Oncoprotein to Membrane Vesicles

Human adenovirus type 9 exclusively elicits mammary tumors in experimental animals, and the primary oncogenic determinant of this virus is the E4-ORF1 oncogene, as opposed to the well-known E1A and E1Boncogenes. The tumorigenic potential of E4-ORF1, as well as its ability to oncogenically stimulate phosphatidylinositol 3-kinase (PI3K), depends on a carboxyl-terminal PDZ domain-binding motif (PBM) that mediates interactions with several different membrane-associated cellular PDZ proteins, including MUPP1, PATJ, MAGI-1, ZO-2, and Dlg1. Nevertheless, because certain E4-ORF1 mutations that alter neither the sequence nor the function of the PBM abolish E4-ORF1-induced PI3K activation and cellular transformation, we reasoned that E4-ORF1 must possess an additional crucial protein element. In the present study, we identified seven E4-ORF1 amino acid residues that define this new element, designated domain 2, and showed that it mediates binding to a 70-kDa cellular phosphoprotein. We also discovered that domain 2 or the PBM independently promotes E4-ORF1 localization to cytoplasmic membrane vesicles and that this activity of domain 2 depends on E4-ORF1 trimerization. Consistent with the latter observation, molecular-modeling analyses predicted that E4-ORF1 trimerization brings together six out of seven domain 2 residues at each of the three subunit interfaces. These findings importantly demonstrate that PI3K activation and cellular transformation induced by E4-ORF1 require two separate protein interaction elements, domain 2 and the PBM, each of which targets E4-ORF1 to vesicle membranes in cells

Reaction of Ph2C(X)(CO2H) (X = OH, NH2) with [VO(OR)3] (R = Et, nPr): Structure, magnetic susceptibility and ROP capability

Reaction of [VO(OR)3] (R = Et, nPr) with 2,2′-diphenylglycine afforded the alkoxide-bridged dimers {[VO(OR)(μ-OR)][Ph2C(NH2)(CO2)]}2, whereas use of benzilic acid, in the presence of alkali metals, afforded 16-membered metallocycles {V8(O)4M(OR)8[Ph2C(OH)(CO2)]12} (M = <1 Na, K). For the ring systems, magnetic susceptibility data is consistent with mixed-valence vanadium with an average oxidation state of 3.5. The dimer and ring systems are capable of the ring opening polymerisation (ROP) of ϵ-caprolactone under N2, air, or as melts affording mostly low to medium molecular weight cyclic and linear products

Functionally distinct monomers and trimers produced by a viral oncoprotein

While the process of homo-oligomer formation and disassembly into subunits represents a common strategy to regulate protein activity, reports of proteins in which the subunit and homo-oligomer perform independent functions are scarce. Tumorigenesis induced by the adenovirus E4-ORF1 oncoprotein depends on its binding to a select group of cellular PDZ proteins, including MUPP1, MAGI-1, ZO-2 and Dlg1. We report here that in cells E4-ORF1 exists as both a monomer and trimer and that monomers specifically bind and sequester MUPP1, MAGI-1 and ZO-2 within insoluble complexes whereas trimers specifically bind Dlg1 and promote its translocation to the plasma membrane. This work exposes a novel strategy wherein the oligomerization state of a protein not only determines the capacity to bind separate related targets but also couples the interactions to different functional consequences

Laser Pulse Production for NASA's Global Ecosystem Dynamics Investigation (GEDI) Lidar

The Lasers and Electro-Optics Branch at Goddard Space Flight Center has been tasked with building the Lasers for the Global Ecosystems Dynamics Investigation (GEDI) Lidar Mission, to be installed on the Japanese Experiment Module (JEM) on the International Space Station (ISS). GEDI will use three NASA-developed lasers, each coupled with a Beam Dithering Unit (BDU) to produce three sets of staggered footprints on the Earth's surface to accurately measure global biomass. We will report on the design, assembly progress, test results, and delivery process of this laser system

Persistence of Supplemented Bifidobacterium longum subsp. infantis EVC001 in Breastfed Infants.

Attempts to alter intestinal dysbiosis via administration of probiotics have consistently shown that colonization with the administered microbes is transient. This study sought to determine whether provision of an initial course of Bifidobacterium longum subsp. infantis (B.&nbsp;infantis) would lead to persistent colonization of the probiotic organism in breastfed infants. Mothers intending to breastfeed were recruited and provided with lactation support. One group of mothers fed B.&nbsp;infantis EVC001 to their infants from day 7 to day 28 of life (n = 34), and the second group did not administer any probiotic (n = 32). Fecal samples were collected during the first 60&nbsp;postnatal days in both groups. Fecal samples were assessed by 16S rRNA gene sequencing, quantitative PCR, mass spectrometry, and endotoxin measurement. B.&nbsp;infantis-fed infants had significantly higher populations of fecal Bifidobacteriaceae, in particular B.&nbsp;infantis, while EVC001 was fed, and this difference persisted more than 30&nbsp;days after EVC001 supplementation ceased. Fecal milk oligosaccharides were significantly lower in B.&nbsp;infantis EVC001-fed infants, demonstrating higher consumption of human milk oligosaccharides by B. infantis EVC001. Concentrations of acetate and lactate were significantly higher and fecal pH was significantly lower in infants fed EVC001, demonstrating alterations in intestinal fermentation. Infants colonized by Bifidobacteriaceae at high levels had 4-fold-lower fecal endotoxin levels, consistent with observed lower levels of Gram-negative Proteobacteria and Bacteroidetes. IMPORTANCE The gut microbiome in early life plays an important role for long-term health and is shaped in large part by diet. Probiotics may contribute to improvements in health, but they have not been shown to alter the community composition of the gut microbiome. Here, we found that breastfed infants could be stably colonized at high levels by provision of B.&nbsp;infantis EVC001, with significant changes to the overall microbiome composition persisting more than a month later, whether the infants were born vaginally or by caesarean section. This observation is consistent with previous studies demonstrating the capacity of this subspecies to utilize human milk glycans as a nutrient and underscores the importance of pairing a probiotic organism with a specific substrate. Colonization by B.&nbsp;infantis EVC001 resulted in significant changes to fecal microbiome composition and was associated with improvements in fecal biochemistry. The combination of human milk and an infant-associated Bifidobacterium sp. shows, for the first time, that durable changes to the human gut microbiome are possible and are associated with improved gut function