Customized Co-Simulation Environment for Autonomous Driving Algorithm Development and Evaluation

Increasing the implemented SAE level of autonomy in road vehicles requires extensive simulations and verifications in a realistic simulation environment before proving ground and public road testing. The level of detail in the simulation environment helps ensure the safety of a real-world implementation and reduces algorithm development cost by allowing developers to complete most of the validation in the simulation environment. Considering sensors like camera, LIDAR, radar, and V2X used in autonomous vehicles, it is essential to create a simulation environment that can provide these sensor simulations as realistically as possible. While sensor simulations are of crucial importance for perception algorithm development, the simulation environment will be incomplete for the simulation of holistic AV operation without being complemented by a realistic vehicle dynamic model and traffic cosimulation. Therefore, this paper investigates existing simulation environments, identifies use case scenarios, and creates a cosimulation environment to satisfy the simulation requirements for autonomous driving function development using the Carla simulator based on the Unreal game engine for the environment, Sumo or Vissim for traffic co-simulation, Carsim or Matlab, Simulink for vehicle dynamics co-simulation and Autoware or the author or user routines for autonomous driving algorithm co-simulation. As a result of this work, a model-based vehicle dynamics simulation with realistic sensor simulation and traffic simulation is presented. A sensor fusion methodology is implemented in the created simulation environment as a use case scenario. The results of this work will be a valuable resource for researchers who need a comprehensive co-simulation environment to develop connected and autonomous driving algorithms

Update on central precocious puberty: from etiologies to outcomes

Introduction: Precocious puberty (PP) is one of the most common reasons for referral to pediatric endocrinologists. Gonadotropin-releasing hormone analogs (GnRHas) are the gold standard for the treatment of central precocious puberty (CPP) and have an impressive record of safety and efficacy. However, ongoing refinements in diagnosis and management continue to lead to important advancements in clinical care. Areas covered: The aim of this review is to cover current considerations and controversies regarding the diagnosis of CPP, as well as new findings in regards to etiology and treatment modalities. Expert opinion: There is emerging evidence of monogenic etiologies of CPP and significant progress in the expansion of newer formulations of GnRHas. Despite these exciting developments, areas of uncertainty in the diagnosis and treatment of CPP remain. While long-term outcomes of patients treated for CPP are encouraging, only short-term follow-up is available with respect to the newer extended release GnRHa preparations, and how they compare with historically used formulations is unknown. A particular shortage of information exists pertaining to CPP in boys and regarding the psychological implications of PP in girls, and more research is needed. Continued investigation will yield new insights into the underlying genetics and optimal treatment strategies for CPP

Impact of antibiotic treatments on the expression of the R plasmid tra genes and on the host innate immune activity during pRAS1 bearing Aeromonas hydrophila infection in zebrafish (Danio rerio)

<p>Abstract</p> <p>Background</p> <p>The transfer of R plasmids between bacteria has been well studied under laboratory conditions and the transfer frequency has been found to vary between plasmids and under various physical conditions. For the first time, we here study the expression of the selected plasmid mobility genes <it>traD, virB11 </it>and <it>virD4 </it>in the 45 kb <it>IncU </it>plasmid, pRAS1, conferring resistance to tetracycline, trimethoprim and sulphonamide, using an <it>in vivo </it>zebrafish infection- treatment model.</p> <p>Results</p> <p>Three days after oral infection of adult zebrafish with <it>Aeromonas hydrophila </it>harboring pRAS1, elevated expression of pro-inflammatory cytokine (TNF α, IL-1β and IL-8) and complement C3 genes in the intestine coincided with disease symptoms. Tetracycline, trimethoprim and an ineffective concentration of flumequine given 48 h prior to sampling, strongly increased expression of plasmid mobility genes, whereas an effective dosage of flumequine resulted in lower levels of mRNA copies of these genes relative to placebo treatment. Following effective treatment with flumequine, and ineffective treatments with a low concentration of flumequine, with trimethoprim or with sulphonamide, the intestinal expression of immune genes was strongly induced compared to placebo treated control fish.</p> <p>Conclusions</p> <p>Treatment of zebrafish infected with an antibiotic resistant (Tc^R, Tm^R, Su^R) <it>A. hydrophila </it>with ineffective concentrations of flumequine or the ineffective antimicrobials tetracycline and trimethoprim strongly induced expression of genes mediating conjugative transfer of the R-plasmid pRAS1. Simultaneously, there was a strong induction of selected inflammatory and immune response genes, which was again evident in fish subjected to ineffective treatment protocols. Our findings point to the essential role of therapeutic practices in escalation or control of antibiotic resistance transfer, and suggest that antibiotic substances, even in sub-inhibitory concentrations, may stimulate innate defenses against bacterial infections.</p

Biomedical and societal impacts of in vitro embryo models of mammalian development.

In recent years, a diverse array of in vitro cell-derived models of mammalian development have been described that hold immense potential for exploring fundamental questions in developmental biology, particularly in the case of the human embryo where ethical and technical limitations restrict research. These models open up new avenues toward biomedical advances in in vitro fertilization, clinical research, and drug screening with potential to impact wider society across many diverse fields. These technologies raise challenging questions with profound ethical, regulatory, and social implications that deserve due consideration. Here, we discuss the potential impacts of embryo-like models, and their biomedical potential and current limitations

Expression profiling of circulating non-red blood cells in embryonic blood

<p>Abstract</p> <p>Background</p> <p>In addition to erythrocytes, embryonic blood contains other differentiated cell lineages and potential progenitor or stem cells homed to changing niches as the embryo develops. Using chicken as a model system, we have isolated an enriched pool of circulating non red blood cells (nRBCs) from E4 and E6 embryos; a transition period when definitive hematopoietic lineages are being specified in the peri-aortic region.</p> <p>Results</p> <p>Transcriptome analysis of both nRBC and RBC enriched populations was performed using chicken Affymetrix gene expression arrays. Comparison of transcript profiles of these two populations, with verification by RT-PCR, reveals in nRBCs an expression signature indicative of hematopoietic stem cells (HSCs) and progenitor cells of myeloid and lymphoid lineages, as well as a number of previously undescribed genes possibly involved in progenitor and stem cell maintenance.</p> <p>Conclusion</p> <p>This data indicates that early circulating embryonic blood contains a full array of hematopoietic progenitors and stem cells. Future studies on their heterogeneity and differentiation potentials may provide a useful alternative to ES cells and perinatal blood.</p

Hardware-in-the-Loop and Road Testing of RLVW and GLOSA Connected Vehicle Applications

This paper presents an evaluation of two different Vehicle to Infrastructure (V2I) applications, namely Red Light Violation Warning (RLVW) and Green Light Optimized Speed Advisory (GLOSA). The evaluation method is to first develop and use Hardware-in-the-Loop (HIL) simulator testing, followed by extension of the HIL testing to road testing using an experimental connected vehicle. The HIL simulator used in the testing is a state-of-the-art simulator that consists of the same hardware like the road side unit and traffic cabinet as is used in real intersections and allows testing of numerous different traffic and intersection geometry and timing scenarios realistically. First, the RLVW V2I algorithm is tested in the HIL simulator and then implemented in an On-Board-Unit (OBU) in our experimental vehicle and tested at real world intersections. This same approach of HIL testing followed by testing in real intersections using our experimental vehicle is later extended to the GLOSA application. The GLOSA application that is tested in this paper has both an optimal speed advisory for passing at the green light and also includes a red light violation warning system. The paper presents the HIL and experimental vehicle evaluation systems, information about RLVW and GLOSA and HIL simulation and road testing results and their interpretations

Virtual and Real Data Populated Intersection Visualization and Testing Tool for V2X Application Development

The capability afforded by Vehicle-to-Vehicle communication improves situational awareness and provides advantages for many of the traffic problems caused by reduced visibility or No-Line-of-Sight situations, being useful for both autonomous and non-autonomous driving. Additionally, with the traffic light Signal Phase and Timing and Map Datainformation and other advisory information provided with Vehicle-to-Infrastructure (V2I) communication, outcomes which benefit the driver in the long run, such as reducing fuel consumption with speed regulation or decreasing traffic congestion through optimal speed advisories, providing red light violation warning messages and intersection motion assist messages for collision-free intersection maneuvering are all made possible. However, developing applications to obtain these benefits requires an intensive development process within a lengthy testing period. Understanding the intersection better is a large part of this development process. Being able to see what information is broadcasted and how this information translates into the real world would both benefit the development of these highly useful applications and also ensure faster evaluation, when presented visually, using an easy to use and interactive tool. Moreover, recordings of this broadcasted information can be modified and used for repeated testing. Modification of the data makes it flexible and allows us to use it for a variety of testing scenarios at a virtually populated intersection. Based on this premise, this paper presents and demonstrates visualization tools to project SPaT, MAP and Basic Safety Message information into easy to read real-world based graphs. Also, it provides information about the modification of the real-world data to allow creation of a virtually populated intersection, along with the capability to also inject virtual vehicles at this intersection

The culturable intestinal microbiota of triploid and diploid juvenile Atlantic salmon (Salmo salar) - a comparison of composition and drug resistance

<p>Abstract</p> <p>Background</p> <p>With the increased use of ploidy manipulation in aquaculture and fisheries management this investigation aimed to determine whether triploidy influences culturable intestinal microbiota composition and bacterial drug resistance in Atlantic salmon (<it>Salmo salar</it>). The results could provide answers to some of the physiological differences observed between triploid and diploid fish, especially in terms of fish health.</p> <p>Results</p> <p>No ploidy effect was observed in the bacterial species isolated, however, triploids were found to contain a significant increase in total gut microbiota levels, with increases in <it>Pseudomonas </it>spp., <it>Pectobacterium carotovorum</it>, <it>Psychrobacter </it>spp., <it>Bacillus </it>spp., and <it>Vibrio </it>spp., (12, 42, 9, 10, and 11% more bacteria in triploids than diploids, respectively), whereas a decrease in <it>Carnobacterium </it>spp., within triploids compared to diploids was close to significant (8% more bacteria in diploids). With the exception of gentamicin, where no bacterial resistance was observed, bacterial isolates originating from triploid hosts displayed increased resistance to antibacterials, three of which were significant (tetracycline, trimethoprim, and sulphonamide).</p> <p>Conclusion</p> <p>Results indicate that triploidy influences both the community and drug resistance of culturable intestinal microbiota in juvenile salmon. These results demonstrate differences that are likely to contribute to the health of triploid fish and have important ramifications on the use of antibacterial drugs within aquaculture.</p