RIDI: Robust IMU Double Integration

This paper proposes a novel data-driven approach for inertial navigation, which learns to estimate trajectories of natural human motions just from an inertial measurement unit (IMU) in every smartphone. The key observation is that human motions are repetitive and consist of a few major modes (e.g., standing, walking, or turning). Our algorithm regresses a velocity vector from the history of linear accelerations and angular velocities, then corrects low-frequency bias in the linear accelerations, which are integrated twice to estimate positions. We have acquired training data with ground-truth motions across multiple human subjects and multiple phone placements (e.g., in a bag or a hand). The qualitatively and quantitatively evaluations have demonstrated that our algorithm has surprisingly shown comparable results to full Visual Inertial navigation. To our knowledge, this paper is the first to integrate sophisticated machine learning techniques with inertial navigation, potentially opening up a new line of research in the domain of data-driven inertial navigation. We will publicly share our code and data to facilitate further research

Stability and Convergence of Product Formulas for Operator Matrices

We present easy to verify conditions implying stability estimates for operator matrix splittings which ensure convergence of the associated Trotter, Strang and weighted product formulas. The results are applied to inhomogeneous abstract Cauchy problems and to boundary feedback systems.Comment: to appear in Integral Equations and Operator Theory (ISSN: 1420-8989

Control of spin in quantum dots with non-Fermi liquid correlations

Spin effects in the transport properties of a quantum dot with spin-charge separation are investigated. It is found that the non-linear transport spectra are dominated by spin dynamics. Strong spin polarization effects are observed in a magnetic field. They can be controlled by varying gate and bias voltages. Complete polarization is stable against interactions. When polarization is not complete, it is power-law enhanced by non-Fermi liquid effects.Comment: 4 pages, 4 figure

Testing in the incremental design and development of complex products

Testing is an important aspect of design and development which consumes significant time and resource in many companies. However, it has received less research attention than many other activities in product development, and especially, very few publications report empirical studies of engineering testing. Such studies are needed to establish the importance of testing and inform the development of pragmatic support methods. This paper combines insights from literature study with findings from three empirical studies of testing. The case studies concern incrementally developed complex products in the automotive domain. A description of testing practice as observed in these studies is provided, confirming that testing activities are used for multiple purposes depending on the context, and are intertwined with design from start to finish of the development process, not done after it as many models depict. Descriptive process models are developed to indicate some of the key insights, and opportunities for further research are suggested

Topical and Systemic Cannabidiol Improves Trinitrobenzene Sulfonic Acid Colitis in Mice

Background/Aims: Compounds of Cannabis sativa are known to exert anti-inflammatory properties, some of them without inducing psychotropic side effects. Cannabidiol (CBD) is such a side effect-free phytocannabinoid that improves chemically induced colitis in rodents when given intraperitoneally. Here, we tested the possibility whether rectal and oral application of CBD would also ameliorate colonic inflammation, as these routes of application may represent a more appropriate way for delivering drugs in human colitis. Methods: Colitis was induced in CD1 mice by trinitrobenzene sulfonic acid. Individual groups were either treated with CBD intraperitoneally (10 mg/kg), orally (20 mg/kg) or intrarectally (20 mg/kg). Colitis was evaluated by macroscopic scoring, histopathology and the myeloperoxidase (MPO) assay. Results: Intraperitoneal treatment of mice with CBD led to improvement of colonic inflammation. Intrarectal treatment with CBD also led to a significant improvement of disease parameters and to a decrease in MPO activity while oral treatment, using the same dose as per rectum, had no ameliorating effect on colitis. Conclusion: The data of this study indicate that in addition to intraperitoneal application, intrarectal delivery of cannabinoids may represent a useful therapeutic administration route for the treatment of colonic inflammation. Copyright (C) 2012 S. Karger AG, Base

Beta decay of r-process waiting-point nuclei in a self-consistent approach

Beta-decay rates for spherical neutron-rich r-process waiting-point nuclei are calculated within a fully self-consistent Quasiparticle Random-Phase Approximation, formulated in the Hartree-Fock-Bogolyubov canonical single-particle basis. The same Skyrme force is used everywhere in the calculation except in the proton-neutron particle-particle channel, where a finite-range force is consistently employed. In all but the heaviest nuclei, the resulting half-lives are usually shorter by factors of 2 to 5 than those of calculations that ignore the proton-neutron particle-particle interaction. The shorter half-lives alter predictions for the abundance distribution of r-process elements and for the time it takes to synthesize them.Comment: 14 pages RevTex, 10 eps figures, submitted to Phys. Rev.

Beta-decay in odd-A and even-even proton-rich Kr isotopes

Beta-decay properties of proton-rich odd-A and even-even Krypton isotopes are studied in the framework of a deformed selfconsistent Hartree-Fock calculation with density-dependent Skyrme forces, including pairing correlations between like nucleons in BCS approximation. Residual spin-isospin interactions are consistently included in the particle-hole and particle-particle channels and treated in Quasiparticle Random Phase Approximation. The similarities and differences in the treatment of even-even and odd-A nuclei are stressed. Comparison to available experimental information is done for Gamow-Teller strength distributions, summed strengths, and half-lives. The dependence of these observables on deformation is particularly emphasized in a search for signatures of the shape of the parent nucleus.Comment: 29 pages, 16 figure

Caveolin-1 protects B6129 mice against Helicobacter pylori gastritis.

Caveolin-1 (Cav1) is a scaffold protein and pathogen receptor in the mucosa of the gastrointestinal tract. Chronic infection of gastric epithelial cells by Helicobacter pylori (H. pylori) is a major risk factor for human gastric cancer (GC) where Cav1 is frequently down-regulated. However, the function of Cav1 in H. pylori infection and pathogenesis of GC remained unknown. We show here that Cav1-deficient mice, infected for 11 months with the CagA-delivery deficient H. pylori strain SS1, developed more severe gastritis and tissue damage, including loss of parietal cells and foveolar hyperplasia, and displayed lower colonisation of the gastric mucosa than wild-type B6129 littermates. Cav1-null mice showed enhanced infiltration of macrophages and B-cells and secretion of chemokines (RANTES) but had reduced levels of CD25+ regulatory T-cells. Cav1-deficient human GC cells (AGS), infected with the CagA-delivery proficient H. pylori strain G27, were more sensitive to CagA-related cytoskeletal stress morphologies ("humming bird") compared to AGS cells stably transfected with Cav1 (AGS/Cav1). Infection of AGS/Cav1 cells triggered the recruitment of p120 RhoGTPase-activating protein/deleted in liver cancer-1 (p120RhoGAP/DLC1) to Cav1 and counteracted CagA-induced cytoskeletal rearrangements. In human GC cell lines (MKN45, N87) and mouse stomach tissue, H. pylori down-regulated endogenous expression of Cav1 independently of CagA. Mechanistically, H. pylori activated sterol-responsive element-binding protein-1 (SREBP1) to repress transcription of the human Cav1 gene from sterol-responsive elements (SREs) in the proximal Cav1 promoter. These data suggested a protective role of Cav1 against H. pylori-induced inflammation and tissue damage. We propose that H. pylori exploits down-regulation of Cav1 to subvert the host's immune response and to promote signalling of its virulence factors in host cells

Study Of Non Point Source Heavy Metal Cadmium Level In Mangrove Plant Sediment At Likupang: Addressed To The Conservation Of The Bunaken National Park

Recognize close to Bunaken National Park and largely influenced by the mouth of the Likupang River, having a compact rooting system makes trapped particles suspended in the water column into the sediment. This study aims to determine the spatial distribution of Cadmium metal levels in Mangrove sediments. Sediment samples were taken spatially at point 1 (N 01 ° 40,314 'E 125 ° 04,032') area close to the mainland, point 2 (N 01 ° 40,336 'E 125 ° 03,999') at the center of Mangrove root are present, and point 3 (N 01 ° 40,328 'E 125 ° 03,973') leading to the sea. Sediment samples were analyzed with AAS in the BARISTAND laboratory in Manado with Indonesian National Standards (SNI). The results obtained with the average value in ppm at each point are first point 1, level 0.04, second point, level 5.88, and the third point, level 3.88. The concentration at point second and the third are above the CCME Criteria. This study result at point 2 as the center of concentration of Mangrove roots obtained the highest value, followed at point 3 at a point near the sea and then the lowest at point 1 close to the coast. Keywords: Sediment; Mangrove root; Cadmium ABSTRAKBerada berdekatan dengan TN Bunaken serta besar dipengaruhi oleh muara sungai Likupang, memilki sistem perakaran yang kompak menjadikan terperangkapnya partikel tersuspensi di kolom air menjadi sedimen. Penelitian ini bertujuan untuk mengetahui distribusi spasial kandungan logam Cadmium pada sedimen Mangrove. Sampel sediment diambil secara spatial yaitu titik 1 (N 01°40.314’ E 125°04.032’) yang dekat dengan daratan, titik 2 (N 01°40.336’ E 125°03.999’)pada bagian pusat adanya konsentrasi perakaran, dan titik 3 (N 01°40.328’ E 125°03.973’) berada pada kearah laut.  Sampel sedimen di analsis dengan AAS di laboratorium BARISTAND di Manado dengan standard SNI.  Hasil yang diperoleh dengan nilai rata rata dalam ppm ditiap titik adalah :  titik 1, nilai 0,04, titik 2, nilai 5,88, dan titik 3, nilai 3,88, pada titik 2, dan 3 sudah melebihi baku mutu yang direkomendasikan oleh CCME yaitu 0,7 ppm. Dari penelitian ini disimpukan pada titik 2 sebagai pusat konsentrasinya perakaran Mangrove diperoleh nilai paling tinggi, diikuti pada titik 3 pada titik arah dekat dengan laut kemudian terendah pada titik 1 yang dekat dengan arah pantai.Kata kunci: Sediment; Mangrove root; Cadmiu

Evolution of the Antiretroviral Restriction Factor TRIMCyp in Old World Primates

The retroviral restriction factor TRIMCyp, which is a fusion protein derived from the TRIM5 gene, blocks replication at a post-entry step. Among Old World primates, TRIMCyp has been found in four species of Asian macaques, but not in African monkeys. To further define the evolutionary origin of Old World TRIMCyp, we examined two species of baboons (genus Papio) and three additional macaque species, including M. sylvanus, which is the only macaque species found outside Asia, and represents the earliest diverging branch of the macaque lineage. None of four P. cynocephalus anubis, one P. hamadryas, and 36 M. sylvanus had either TRIMCyp mRNA or the genetic features required for its expression. M. sylvanus genomic sequences indicated that the lack of TRIMCyp in this species was not due to genetic homogeneity among specimens studied and revealed the existence of four TRIM5α alleles, all distinct from M. mulatta and Papio counterparts. Together with existing data on macaque evolution, our findings indicate that TRIMCyp evolved in the ancestors of Asian macaques approximately 5–6 million years before present (ybp), likely as a result of a retroviral threat. TRIMCyp then became fixed in the M. nemestrina lineage after it diverged from M. nigra, approximately 2 million ybp. The macaque lineage is unique among primates studied so far due to the presence and diversity of both TRIM5 and TRIMCyp restriction factors. Studies of these antiviral proteins may provide valuable information about natural antiviral mechanisms, and give further insight into the factors that shaped the evolution of macaque species