Appearance-based localization for mobile robots using digital zoom and visual compass

This paper describes a localization system for mobile robots moving in dynamic indoor environments, which uses probabilistic integration of visual appearance and odometry information. The approach is based on a novel image matching algorithm for appearance-based place recognition that integrates digital zooming, to extend the area of application, and a visual compass. Ambiguous information used for recognizing places is resolved with multiple hypothesis tracking and a selection procedure inspired by Markov localization. This enables the system to deal with perceptual aliasing or absence of reliable sensor data. It has been implemented on a robot operating in an office scenario and the robustness of the approach demonstrated experimentally

Physiological Impact of Ergot Alkaloid Consumption in Ruminant Livestock

Ergot alkaloids in feeds and forages are a worldwide concern. Consumption of ergot alkaloids by ruminant livestock can range from extreme cases that threaten the life of the animal to more frequent and chronic outcomes where livestock productivity is decreased. Consumption of ergot alkaloids alters ruminant physiology such that it outwardly manifests in lower animal intake and gain, decreased reproductive efficiency, and a compromised circulatory system. This talk will cover current research that is improving our understanding of how ergot alkaloids alter cell and tissue physiology that results in the compromised growth and reproduction observed at the whole animal level

Use of anabolic implants in calves to increase weaning weight and backgrounding gains

The main component of the beef industry in South Carolina is cow/calf operations. Recent advances in implant technology are being utilized to help these producers increase weights at time of sale to feedlots. The objective of this study was to determine how the use of anabolic implants in steer calves at 4 mo of age and at weaning altered weight gain at two different farm locations in South Carolina. Steers ( year 1; n= 161, year 2 n=116) from Edisto REC and Simpson REC were randomly allotted into two treatment groups: 1) no implant or 2) implant at 4 mo of age plus implant at weaning. Weights were obtained at implanting, weaning, and the end of backgrounding. Real-time ultrasound measurements of the ribeye area and fat thickness were collected at the end of the backgrounding period. Data were analyzed with the treatment, location, year, and the interaction in the model. Implanting the steers increased (P\u3c0.001) average daily gains from implanting to weaning, weaning to the end of the backgrounding, and overall by 0.36, 0.15, 0.25 lb/hd/d respectively. Implanting also increased ribeye area by 0.34 in2. Weight and gains of the steers differed by location and year but there were no interactions between location, year, and implant treatment. The use of anabolic implants in steer calves at 4 mo of age and then again at weaning helped to increase weight gain, other desirable carcass traits and produced heavier steers for marketing

Use of anabolic implants in calves to increase weaning weight and backgrounding gains

The main component of the beef industry in South Carolina is cow/calf operations. Recent advances in implant technology are being utilized to help these producers increase weights at time of sale to feedlots. The objective of this study was to determine how the use of anabolic implants in steer calves at 4 mo of age and at weaning altered weight gain at two different farm locations in South Carolina. Steers ( year 1; n= 161, year 2 n=116) from Edisto REC and Simpson REC were randomly allotted into two treatment groups: 1) no implant or 2) implant at 4 mo of age plus implant at weaning. Weights were obtained at implanting, weaning, and the end of backgrounding. Real-time ultrasound measurements of the ribeye area and fat thickness were collected at the end of the backgrounding period. Data were analyzed with the treatment, location, year, and the interaction in the model. Implanting the steers increased (P\u3c0.001) average daily gains from implanting to weaning, weaning to the end of the backgrounding, and overall by 0.36, 0.15, 0.25 lb/hd/d respectively. Implanting also increased ribeye area by 0.34 in2. Weight and gains of the steers differed by location and year but there were no interactions between location, year, and implant treatment. The use of anabolic implants in steer calves at 4 mo of age and then again at weaning helped to increase weight gain, other desirable carcass traits and produced heavier steers for marketing

Lycopodiella inundata: insights into plant-fungal associations in early vascular plants

Recent studies have revealed that extant basal vascular plants associate with a wide range of Mucoromycotina and/or Glomeromycota fungi, paralleling the same in non-vascular liverworts and hornworts. This dispels the long-held paradigm that these early diverging lineages harbour Glomeromycota exclusively. Endophytes belonging to both fungal lineages have also been reported, for the first time, in a Devonian plant (Horneophyton ligneri). Together these discoveries point to much more diverse plant-fungus interactions in early vascular plants than previously assumed, however our understanding of these remains limited. In order to gain further insights into these key partnerships, especially those involving the early diverging Mucoromycotina, we are developing the lycophyte Lycopodiella inundata as an experimental system. L. inundata sporophytes have been shown to harbour solely Mucoromycotina fungi but equally fundamental, the identity of its gametophyte endophyte remains unknown. Using molecular and cytological approaches, we confirm that young L. inundata sporophytes are colonized exclusively by Mucoromycotina and show that the cytology of colonisation - consisting of both inter- and intracellular phases - closely resembles that in Haplomitriopsida liverwort-Mucoromycotina partnerships and the corm of H. ligneri. Our current isolation, resynthesis and molecular studies will provide further insights into both host and fungi specificity.This is a poster presented The Rhynie Chert – our earliest terrestrial ecosystem revisited. For more information on the conference consult the above links

Extending political participation in China: new opportunities for citizens in the policy process

Authoritarian political systems are portrayed as offering few opportunities for citizens to participate in politics – particularly in the policy process. This paper’s contribution is to set out new mechanisms that enable Authoritarian political systems are portrayed as offering few opportunities for citizens to participate in politics – particularly in the policy process. This paper’s contribution is to set out new mechanisms that enable Chinese citizens to evaluate government performance, contribute to decision-making, shape policy agendas and feed back on implementation. Based on fieldwork in the city of Hangzhou, we argue that the local party-state orchestrates citizen participation in the policy process, but members of the public nevertheless do have influence. Political participation is widening in China, but it is still controlled. It is not yet clearly part of a process of democratization, but it does establish the principle of citizen rights to oversee the government

Practical Implementations of Twirl Operations

Twirl operations, which convert impure singlet states into Werner states, play an important role in many schemes for entanglement purification. In this paper we describe strategies for implementing twirl operations, with an emphasis on methods suitable for ensemble quantum information processors such as nuclear magnetic resonance (NMR) quantum computers. We implement our twirl operation on a general two-spin mixed state using liquid state NMR techniques, demonstrating that we can obtain the singlet Werner state with high fidelity.Comment: 6 pages RevTex4 including 2 figures (fig 1 low quality to save space

Using structure-based organic chemistry online tutorials with automated correction for student practice and review

This article describes the development and implementation of an open-access organic chemistry question bank for online tutorials and assessments at University College Cork and Dublin Institute of Technology. SOCOT (structure-based organic chemistry online tutorials) may be used to supplement traditional small-group tutorials, thereby allowing students to develop essential problem-solving skills in organic chemistry. This online approach may be used for both formative and summative assessment. Students complete one problem set weekly or fortnightly, which consists of a number of questions of varying difficulty. A wide range of question types is possible; for example, prediction of reaction products, identification of reaction intermediates or reagents, and retrosynthetic analyses. Questions involving stereochemistry may be also be incorporated. The implementation is described, along with several sample questions and advice for creating questions. This approach is suitable for all levels of undergraduates, from introductory nonmajors to final-year chemistry students. Student feedback was overwhelmingly positive, and in particular, students found SOCOT to be a quite useful tool for review purposes. Our approach uses MarvinSketch, which is free for academic purposes, and the SMILES algorithm, which converts chemical structures into a text string and is compatible with any learning management system

The gene product Murr1 restricts HIV-1 replication in resting CD4(+) lymphocytes

Although human immunodeficiency virus-1 (HIV-1) infects quiescent and proliferating CD4(+) lymphocytes, the virus replicates poorly in resting T cells(1-6). Factors that block viral replication in these cells might help to prolong the asymptomatic phase of HIV infection(7); however, the molecular mechanisms that control this process are not fully understood. Here we show that Murr1, a gene product known previously for its involvement in copper regulation(8,9), inhibits HIV-1 growth in unstimulated CD4(+) T cells. This inhibition was mediated in part through its ability to inhibit basal and cytokine-stimulated nuclear factor (NF)-kappaB activity. Knockdown of Murr1 increased NF-kappaB activity and decreased IkappaB-alpha concentrations by facilitating phospho-IkappaB-alpha degradation by the proteasome. Murr1 was detected in CD4(+) T cells, and RNA-mediated interference of Murr1 in primary resting CD4(+) lymphocytes increased HIV-1 replication. Through its effects on the proteasome, Murr1 acts as a genetic restriction factor that inhibits HIV-1 replication in lymphocytes, which could contribute to the regulation of asymptomatic HIV infection and the progression of AIDS.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/62709/1/nature02171.pd