Gravity Matching Aided Inertial Navigation Technique Based on Marginal Robust Unscented Kalman Filter

This paper is concerned with the topic of gravity matching aided inertial navigation technology using Kalman filter. The dynamic state space model for Kalman filter is constructed as follows: the error equation of the inertial navigation system is employed as the process equation while the local gravity model based on 9-point surface interpolation is employed as the observation equation. The unscented Kalman filter is employed to address the nonlinearity of the observation equation. The filter is refined in two ways as follows. The marginalization technique is employed to explore the conditionally linear substructure to reduce the computational load; specifically, the number of the needed sigma points is reduced from 15 to 5 after this technique is used. A robust technique based on Chi-square test is employed to make the filter insensitive to the uncertainties in the above constructed observation model. Numerical simulation is carried out, and the efficacy of the proposed method is validated by the simulation results

Gravity Matching Aided Inertial Navigation Technique Based on Marginal Robust Unscented Kalman Filter

This paper is concerned with the topic of gravity matching aided inertial navigation technology using Kalman filter. The dynamic state space model for Kalman filter is constructed as follows: the error equation of the inertial navigation system is employed as the process equation while the local gravity model based on 9-point surface interpolation is employed as the observation equation. The unscented Kalman filter is employed to address the nonlinearity of the observation equation. The filter is refined in two ways as follows. The marginalization technique is employed to explore the conditionally linear substructure to reduce the computational load; specifically, the number of the needed sigma points is reduced from 15 to 5 after this technique is used. A robust technique based on Chi-square test is employed to make the filter insensitive to the uncertainties in the above constructed observation model. Numerical simulation is carried out, and the efficacy of the proposed method is validated by the simulation results

NLRC5 knockdown in chicken macrophages alters response to LPS and poly (I:C) stimulation

<p>Abstract</p> <p>Background</p> <p>NLRC5 is a member of the CARD domain containing, nucleotide-binding oligomerization (NOD)-like receptor (NLR) family, which recognizes pathogen-associated molecular patterns (PAMPs) and initiates an innate immune response leading to inflammation and/or cell death. However, the specific role of <it>NLRC5 </it>as a modulator of the inflammatory immune response remains controversial. It has been reported to be a mediator of type I IFNs, NF-kB, and <it>MHC class I </it>gene. But no study on <it>NLRC5 </it>function has been reported to date in chickens. In the current study, we investigated the role of <it>NLRC5 </it>in the regulation of <it>IFNA</it>, <it>IFNB</it>, <it>IL-6</it>, and <it>MHC class I </it>in the chicken HD11 macrophage cell line, by using RNAi technology. HD11 cells were transfected with one of five siRNAs (s1, s2, s3, negative-siRNA, or a mixture of s1, s2, s3-siRNAs). After 24 hours, cells were exposed to LPS or poly (I:C) or a vehicle control. Gene expression of <it>NLRC5</it>, <it>IFNA</it>, <it>IFNB</it>, <it>IL-6</it>, and <it>MHC class I </it>at 2, 4, 6, and 8 hours post stimulation (hps) was quantified by qPCR.</p> <p>Results</p> <p>The expression of <it>NLRC5</it>, <it>IFNA</it>, <it>IFNB</it>, and <it>IL-6 </it>genes in negative irrelevant transfection controls was up-regulated at 2 hps after LPS treatment compared to the vehicle controls. S3-siRNA effectively knocked down <it>NLRC5 </it>expression at 4 hps, and the expression of <it>IFNA </it>and <it>IFNB </it>(but not <it>IL-6 </it>and <it>MHC class I</it>) was also down-regulated at 4 hps in s3-siRNA transfected cells, compared to negative irrelevant transfection controls. Stimulation by LPS appeared to relatively restore the decrease in <it>NLRC5</it>, <it>IFNA</it>, and <it>IFNB </it>expression, but the difference is not significant.</p> <p>Conclusions</p> <p>Functional characterization of chicken <it>NLRC5 </it>in an <it>in vitro </it>system demonstrated its importance in regulating intracellular molecules involved in inflammatory response. The knockdown of <it>NLRC5 </it>expression negatively mediates gene expression of <it>IFNA </it>and <it>IFNB </it>in the chicken HD11 cell line; therefore, <it>NLRC5 </it>likely has a role in positive regulation of <it>IFNA </it>and <it>IFNB </it>expression. No direct relationship was found between <it>NLRC5 </it>knockdown and <it>IL-6 </it>and <it>MHC class I </it>expression. Future studies will further clarify the roles of <it>NLRC5 </it>and other NLRs in infectious diseases of chickens and may increase the efficacy of antiviral vaccine design.</p

Cloning of neuraminidase (NA) gene and identification of its antiviral activity

Neuraminidase not only works as an antigen, inducing target-specific antibodies, but also plays a role of  enzyme activity and destroys the sialic acid receptor required by virus infection of the host cell surface which  protects the host from virus damage. In order to explore a new idea to use neuraminidase (NA) gene and  produce disease-resistant transgenic poultry, prokaryotic expression vector pGEX-NA was constructed to  make NA polyclone antibody. Eukaryotic expression vector pcDNA3.0-NA and pcDNA3.0/EGFP-NA was  constructed to reveal its subcelluar location by immunofluorescence and enhanced green fluorescent fusion  protein (EGFP). Chicken embryonic fibroblast (CEF) cells were transfected with pcDNA3.0-NA and selected by  G418 for two weeks, the transfected cells were challenged by Newcastle disease virus (NDV), the morphology of CEF cells were observed to detect the antiviral ability of NA gene. CEF cells were incubated by the cell  lysates extracted from the NIH 3T3 cells, which were transfected with pcDNA3.0-NA. The results show that  pGEX-NA could express NA protein in vitro and NA polyclone antibody worked very well; immunofluorescence and EGFP fusion protein revealed that NA protein located at the cytoplasm near the membrane; NDV-CEF  inhibition experiment showed the NA protein could resist and delayed CEF cells from NDV infection.Key words: Neuraminidase (NA), newcastle disease virus (NDV), antiviral activity, chicken embryonic fibroblast (CEF)

Identification of SNPs in MITF associated with beak color of duck

Introduction: Beak color—a pigment-related trait—is an important feature of duck breeds. Recently, little research has addressed genetic mechanism of the beak colors in poultry, whereas the process and the regulation factors of melanin deposition have been well described.Methods: To investigate the genetic mechanism of beak colors, we conducted an integrated analysis of genomic selection signatures to identify a candidate site associated with beak color. For this, we used black-billed (Yiyang I meat duck synthetic line H1, H2, H3&amp;HF) and yellow-billed ducks (Cherry Valley ducks and white feather Putian black duck). Quantitative real-time PCR and genotyping approaches were used to verify the function of the candidate site.Results: We identified 3,895 windows containing 509 genes. After GO and KEGG enrichment analysis, nine genes were selected. Ultimately, MITF was selected by comparing the genomic differentiation (FST). After loci information selection, 41 extreme significantly different loci were selected, which are all located in intron regions of MITF and are in almost complete linkage disequilibrium. Subsequently, the site ASM874695v1:10:g.17814522T &gt; A in MITF was selected as the marker site. Furthermore, we found that MITF expression is significantly higher in black-beaked ducks than in yellow-beaked ducks of the F2 generation (p &lt; 0.01). After genotyping, most yellow-billed individuals are found with homozygous variant; at the same time, there are no birds with homozygous variant in black-billed populations, while the birds with homozygous and heterozygous variant share the same proportion.Conclusion:MITF plays a very critical role in the melanogenesis and melanin deposition of duck beaks, which can effectively affect the beak color. The MITF site, ASM874695v1:10:g.17814522T &gt; A could be selected as a marker site for the duck beak color phenotype