Guaranteed Performance of Nonlinear Pose Filter on SE(3)

This paper presents a novel nonlinear pose filter evolved directly on the Special Euclidean Group SE(3) with guaranteed characteristics of transient and steady-state performance. The above-mention characteristics can be achieved by trapping the position error and the error of the normalized Euclidean distance of the attitude in a given large set and guiding them to converge systematically to a small given set. The error vector is proven to approach the origin asymptotically from almost any initial condition. The proposed filter is able to provide a reliable pose estimate with remarkable convergence properties such that it can be fitted with measurements obtained from low-cost measurement units. Simulation results demonstrate high convergence capabilities and robustness considering large error in initialization and high level of uncertainties in measurements. Keywords: Pose, estimator, observer, attitude, position, estimate, special orthogonal group, special Euclidean group, prescribed performance, steady-state, transient response, homogeneous transformation matrix, complimentary filter, mapping, Parameterization, Representation, Robust, stability, uncertain, Gaussian, noise, vectorial measurement, vector measurement, translational velocity, angular velocity, singular value decomposition, rotational matrix, identity, deterministic, comparison, inertial frame, rigid body, three dimensional, 3D, space, Lie group, projection, landmark, feature, gyroscope, micro electromechanical systems, Inertial measurement units, sensor, IMUs, Fixed, moving, orientation, Roll, Pitch, Yaw, SVD, UAVs, QUAV, unmanned, underwater vehicle, robot, robotic System, spacecraft, quadrotor, quadcopter, overview, autonomous, xyz, axis, SO(3), SE(3).Comment: 2019 American Control Conference (ACC

Guaranteed Performance of Nonlinear Pose Filter on SE(3)

This paper presents a novel nonlinear pose filter evolved directly on the Special Euclidean Group SE(3) with guaranteed characteristics of transient and steady-state performance. The above-mention characteristics can be achieved by trapping the position error and the error of the normalized Euclidean distance of the attitude in a given large set and guiding them to converge systematically to a small given set. The error vector is proven to approach the origin asymptotically from almost any initial condition. The proposed filter is able to provide a reliable pose estimate with remarkable convergence properties such that it can be fitted with measurements obtained from low-cost measurement units. Simulation results demonstrate high convergence capabilities and robustness considering large error in initialization and high level of uncertainties in measurements. Keywords: Pose, estimator, observer, attitude, position, estimate, special orthogonal group, special Euclidean group, prescribed performance, steady-state, transient response, homogeneous transformation matrix, complimentary filter, mapping, Parameterization, Representation, Robust, stability, uncertain, Gaussian, noise, vectorial measurement, vector measurement, translational velocity, angular velocity, singular value decomposition, rotational matrix, identity, deterministic, comparison, inertial frame, rigid body, three dimensional, 3D, space, Lie group, projection, landmark, feature, gyroscope, micro electromechanical systems, Inertial measurement units, sensor, IMUs, Fixed, moving, orientation, Roll, Pitch, Yaw, SVD, UAVs, QUAV, unmanned, underwater vehicle, robot, robotic System, spacecraft, quadrotor, quadcopter, overview, autonomous, xyz, axis, SO(3), SE(3).Comment: 2019 American Control Conference (ACC

Hinge Region in DNA Packaging Terminase pUL15 of Herpes Simplex Virus: A Potential Allosteric Target for Antiviral Drugs

Approximately 80% of adults are infected with a member of the herpesviridae family. Herpesviruses establish life-long latent infections within neurons, which may reactivate into lytic infections due to stress or immune suppression. There are nine human herpesviruses (HHV) posing health concerns from benign conditions to life threatening encephalitis, including cancers associated with viral infections. The current treatment options for most HHV conditions mainly include several nucleoside and nucleotide analogs targeting viral DNA polymerase. Although these drugs help manage infections, their common mechanism of action may lead to the development of drug resistance, which is particularly devastating in immunocompromised patients. Therefore, new classes of drugs directed against novel targets in HHVs are necessary to alleviate this issue. We analyzed the conservation rates of all proteins in herpes simplex virus 1 (HHV-1), a representative of the HHV family and one of the most common viruses infecting the human population. Furthermore, we generated a full-length structure model of the most conserved HHV-1 protein, the DNA packaging terminase pUL15. A series of computational analyses were performed on the model to identify ATP and DNA binding sites and characterize the dynamics of the protein. Our study indicates that proteins involved in HHV-1 DNA packaging and cleavage are amongst the most conserved gene products of HHVs. Since the packaging protein pUL15 is the most conserved among all HHV-1 gene products, the virus will have a lower chance of developing resistance to small molecules targeting pUL15. A subsequent analysis of the structure of pUL15 revealed distinct ATP and DNA binding domains and the elastic network model identifies a functionally important hinge region between the two domains of pUL15. The atomic information on the active and allosteric sites in the ATP- and DNA-bound model of pUL15 presented in this study can inform the structure-based drug discovery of a new class of drugs to treat a wide range of HHVs

Effectiveness of nurse-coordinated, person-centered comprehensive assessment on improving quality of life of community-dwelling frail older people

OBJECTIVE: The objective of this systematic review is to determine the effectiveness of nurse-coordinated, person-centered comprehensive assessment on improving quality of life of community-dwelling, frail older people. INTRODUCTION: There is a growing need to meet the challenges of the increasingly frail and older population, and to provide proactive, holistic care close to home. A standardized assessment and care planning intervention could be implemented in primary care, which could be delivered by a primary or community healthcare nurse to address these challenges. However, it is not yet clear if an assessment and care planning intervention will improve outcomes for patients, such as quality of life. INCLUSION CRITERIA: This review will consider studies that evaluate nurse-coordinated, person-centered, comprehensive assessment delivered in partnership with community-dwelling, frail older people, and will compare the intervention to usual care. Studies that include people aged 60 years and older living at home or in supported living accommodation with a recognized level of frailty as assessed by use of frailty screening or assessment tools, will be considered. Studies that include outcomes of health-related quality of life, social functioning, and well-being will also be considered. METHODS: An initial limited search of PubMed and CINAHL has been undertaken to identify articles on the topic. The following sources will be searched for eligible papers: PubMED, CINAHL, Embase, PsycINFO, BNI, AMED, and OpenGrey. Retrieval of full-text studies, assessment of methodological quality, and data extraction will be performed independently by two reviewers. Meta-analysis will be performed, if possible, and a Grading of Recommendations, Assessment, Development and Evaluation (GRADE) Summary of Findings presented. SYSTEMATIC REVIEW REGISTRATION NUMBER: PROSPERO CRD42019137886

Ethanol reversal of tolerance to the respiratory depressant effects of morphine

Opioids are the most common drugs associated with unintentional drug overdose. Death results from respiratory depression. Prolonged use of opioids results in the development of tolerance but the degree of tolerance is thought to vary between different effects of the drugs. Many opioid addicts regularly consume alcohol (ethanol), and post-mortem analyses of opioid overdose deaths have revealed an inverse correlation between blood morphine and ethanol levels. In the present study, we determined whether ethanol reduced tolerance to the respiratory depressant effects of opioids. Mice were treated with opioids (morphine, methadone, or buprenorphine) for up to 6 days. Respiration was measured in freely moving animals breathing 5% CO(2) in air in plethysmograph chambers. Antinociception (analgesia) was measured as the latency to remove the tail from a thermal stimulus. Opioid tolerance was assessed by measuring the response to a challenge dose of morphine (10 mg/kg i.p.). Tolerance developed to the respiratory depressant effect of morphine but at a slower rate than tolerance to its antinociceptive effect. A low dose of ethanol (0.3 mg/kg) alone did not depress respiration but in prolonged morphine-treated animals respiratory depression was observed when ethanol was co-administered with the morphine challenge. Ethanol did not alter the brain levels of morphine. In contrast, in methadone- or buprenorphine-treated animals no respiratory depression was observed when ethanol was co-administered along with the morphine challenge. As heroin is converted to morphine in man, selective reversal of morphine tolerance by ethanol may be a contributory factor in heroin overdose deaths