Autonomous Navigation and Mapping using LiDAR

The goal of this project was to make a fully autonomous robot, capable of mapping its surroundings and navigating through obstacles. This was done through the use of a chassis fitted with tracks and two motors, a lidar, a compass, and a Raspberry Pi. The robot also contains two batteries and is self powered. Encoders are used on the motors in order to track the distance traveled for more precise mapping and movements

In Vivo Expression of MHC Class I Genes Depends on the Presence of a Downstream Barrier Element

Regulation of MHC class I gene expression is critical to achieve proper immune surveillance. In this work, we identify elements downstream of the MHC class I promoter that are necessary for appropriate in vivo regulation: a novel barrier element that protects the MHC class I gene from silencing and elements within the first two introns that contribute to tissue specific transcription. The barrier element is located in intergenic sequences 3′ to the polyA addition site. It is necessary for stable expression in vivo, but has no effect in transient transfection assays. Accordingly, in both transgenic mice and stably transfected cell lines, truncation of the barrier resulted in transcriptional gene silencing, increased nucleosomal density and decreased histone H3K9/K14 acetylation and H3K4 di-methylation across the gene. Significantly, distinct sequences within the barrier element govern anti-silencing and chromatin modifications. Thus, this novel barrier element functions to maintain transcriptionally permissive chromatin organization and prevent transcriptional silencing of the MHC class I gene, ensuring it is poised to respond to immune signaling

Developing mixed methods research in sport and exercise psychology: Critical reflections on five points of controversy

© 2014 Elsevier Ltd. Objectives: To stimulate debate in sport and exercise psychology about the nature of mixed methods research as currently practiced and how this approach might develop in the future. Design: An exploration of five points of controversy relating to mixed methods research. Method: A presentation of critical reflections on the following. (1) Mixing methods as a non-debate, (2) Purists, pragmatists and mixing paradigms, (3) Integrating findings and representational forms, (4) Judgment criteria and mixed methods research, and (5) Power, politics and what counts in mixed methods research. Results: The examples provided of mixed methods research in action indicate that a number of problematic issues regarding both process and product have been neglected. Conclusions: Mixed methods research offers a number of conceptual, practical and pedagogical challenges that need to be addressed if this form of inquiry is to develop its full potential in sport and exercise psychology

Three Novel Downstream Promoter Elements Regulate MHC Class I Promoter Activity in Mammalian Cells

BACKGROUND: MHC CLASS I TRANSCRIPTION IS REGULATED BY TWO DISTINCT TYPES OF REGULATORY PATHWAYS: 1) tissue-specific pathways that establish constitutive levels of expression within a given tissue and 2) dynamically modulated pathways that increase or decrease expression within that tissue in response to hormonal or cytokine mediated stimuli. These sets of pathways target distinct upstream regulatory elements, have distinct basal transcription factor requirements, and utilize discrete sets of transcription start sites within an extended core promoter. METHODOLOGY/PRINCIPAL FINDINGS: We studied regulatory elements within the MHC class I promoter by cellular transfection and in vitro transcription assays in HeLa, HeLa/CIITA, and tsBN462 of various promoter constructs. We have identified three novel MHC class I regulatory elements (GLE, DPE-L1 and DPE-L2), located downstream of the major transcription start sites, that contribute to the regulation of both constitutive and activated MHC class I expression. These elements located at the 3' end of the core promoter preferentially regulate the multiple transcription start sites clustered at the 5' end of the core promoter. CONCLUSIONS/SIGNIFICANCE: Three novel downstream elements (GLE, DPE-L1, DPE-L2), located between +1 and +32 bp, regulate both constitutive and activated MHC class I gene expression by selectively increasing usage of transcription start sites clustered at the 5' end of the core promoter upstream of +1 bp. Results indicate that the downstream elements preferentially regulate TAF1-dependent, relative to TAF1-independent, transcription

Ein Beitrag zur Messung und Bewertung von gasfoermigen organischen Emissionen in Kaffeeroestereien mit katalytischer Nachverbrennung

Available from TIB Hannover: DW 1994 / FIZ - Fachinformationszzentrum Karlsruhe / TIB - Technische InformationsbibliothekSIGLEDEGerman

Iatrogenic causes of falls in hospitalised elderly patients: a case-control study

Objective: To explore risk factors associated with falls and to evaluate a strategy used by nurses to predict and prevent falls in a hospitalised cohort of elderly patients. Design: A case-control study of risk factors for falls in hospital. Setting: A district general hospital in the UK. Subjects: Altogether 181 patients in an acute integrated medical unit who had fallen were matched for age with 181 patients in the next bed who had not fallen. Results: It was found that 46% (84 of 181) of the fallers were taking one or more benzodiazepines compared with 27% (48 of 181) of the control patients (p<0.001). More fallers 20% (34 of 181) had their benzodiazepines prescribed during their current admission compared with 7% (13 of 181) of the control patients (p<0.001). Temazepam was the main benzodiazepine used by over 95% of cases and controls. Overall 25% (45 of 181) of the fallers had fallen before during the current admission. The logistic regression analysis showed that only a previous fall, benzodiazepine intake, and the need for maximum assistance were significant predictors of falling in hospital, odds ratios were 5.6 (95% confidence interval (CI) 2.7 to 11.6), 2.3 (95% CI 1.4 to 3.7), and 3.1 (95% CI 1.9 to 5.2) respectively. Most fallers had been identified at risk of falling (125; 69%) by ward staff and in 113 (90%) of those preventive measures had been undertaken. Falls were least likely to occur during visiting hours with a peak incidence during night-time. Conclusion: There is a need for evidenced based successful fall prevention strategies but our study also reinforces an urgent public health message that an alternative to benzodiazepines should be sought for night sedation for older patients