A Scalable Distributed Approach to Mobile Robot Vision

This paper documents our progress during the first year of work on our original proposal entitled 'A Scalable Distributed Approach to Mobile Robot Vision'. We are pursuing a strategy for real-time visual identification and tracking of complex objects which does not rely on specialized image-processing hardware. In this system perceptual schemas represent objects as a graph of primitive features. Distributed software agents identify and track these features, using variable-geometry image subwindows of limited size. Active control of imaging parameters and selective processing makes simultaneous real-time tracking of many primitive features tractable. Perceptual schemas operate independently from the tracking of primitive features, so that real-time tracking of a set of image features is not hurt by latency in recognition of the object that those features make up. The architecture allows semantically significant features to be tracked with limited expenditure of computational resources, and allows the visual computation to be distributed across a network of processors. Early experiments are described which demonstrate the usefulness of this formulation, followed by a brief overview of our more recent progress (after the first year)

Screening for Chlamydia trachomatis in Low-Risk Obstetric Patients

Objective: The purpose of this study was to evaluate the prevalence of Chlamydia trachomatis in our rural obstetric population and assess the appropriateness of selective vs. universal prenatal screening

Performance of a quasi-steady, multi megawatt, coaxial plasma thruster

The Los Alamos National Laboratory Coaxial Thruster Experiment (CTX) has been upgraded to enable the quasisteady operation of magnetoplasmadynamic (MPD) type thrusters at power levels from 2 to 40 MW for 10 ms. Diagnostics include an eight position, three axis magnetic field probe to measure magnetic field fluctuations during the pulse; a triple Langmuir probe to measure ion density, electron temperature, and plasma potential; and a time-of-flight neutral particle spectrometer to measure specific impulse. Here we report on the experimental observations and associated analysis and interpretation of long-pulse, quasisteady, coaxial thruster performance in the CTX device

Diversity of Anaplasma phagocytophilum Strains, USA

We analyzed the structure of the expression site encoding the immunoprotective protein MSP2/P44 from multiple Anaplasma phagocytophilum strains in the United States. The sequence of p44ESup1 had diverged in Ap-variant 1 strains infecting ruminants. In contrast, no differences were detected between A. phagocytophilum strains infecting humans and domestic dogs

Genetically Predicted Glucose-Dependent Insulinotropic Polypeptide (GIP) Levels and Cardiovascular Disease Risk Are Driven by Distinct Causal Variants in the GIPR Region.

There is considerable interest in GIPR agonism to enhance the insulinotropic and extrapancreatic effects of GIP, thereby improving glycemic and weight control in type 2 diabetes (T2D) and obesity. Recent genetic epidemiological evidence has implicated higher GIPR-mediated GIP levels in raising coronary artery disease (CAD) risk, a potential safety concern for GIPR agonism. We therefore aimed to quantitatively assess whether the association between higher GIPR-mediated fasting GIP levels and CAD risk is mediated via GIPR or is instead the result of linkage disequilibrium (LD) confounding between variants at the GIPR locus. Using Bayesian multitrait colocalization, we identified a GIPR missense variant, rs1800437 (G allele; E354), as the putatively causal variant shared among fasting GIP levels, glycemic traits, and adiposity-related traits (posterior probability for colocalization [PPcoloc] > 0.97; PP explained by the candidate variant [PPexplained] = 1) that was independent from a cluster of CAD and lipid traits driven by a known missense variant in APOE (rs7412; distance to E354 ∼770 Kb; R 2 with E354 = 0.004; PPcoloc > 0.99; PPexplained = 1). Further, conditioning the association between E354 and CAD on the residual LD with rs7412, we observed slight attenuation in association, but it remained significant (odds ratio [OR] per copy of E354 after adjustment 1.03; 95% CI 1.02, 1.04; P = 0.003). Instead, E354's association with CAD was completely attenuated when conditioning on an additional established CAD signal, rs1964272 (R 2 with E354 = 0.27), an intronic variant in SNRPD2 (OR for E354 after adjustment for rs1964272: 1.01; 95% CI 0.99, 1.03; P = 0.06). We demonstrate that associations with GIP and anthropometric and glycemic traits are driven by genetic signals distinct from those driving CAD and lipid traits in the GIPR region and that higher E354-mediated fasting GIP levels are not associated with CAD risk. These findings provide evidence that the inclusion of GIPR agonism in dual GIPR/GLP1R agonists could potentiate the protective effect of GLP-1 agonists on diabetes without undue CAD risk, an aspect that has yet to be assessed in clinical trials

The polyphase resonant converter modulator for pulse power and plasma applications

This paper describes a new technique to generate high voltage pulses (100 kV and up) with high peak power (10 MW and up) and high average power (1 MW and up) from a low voltage input source (e.g. +/- 1.2 kV). This technology is presently being used to provide cathode pulse modulation for the Spallation Neutron Source (SNS) accelerator klystron RF amplifiers, which operate to 140 kV 11 MW peak power and 1.1 MW average power. The design of the modulator, referred to as the Polyphase Resonant Converter-Modulator takes advantage of high-power component advances, in response to the needs of the traction motor industry (in particular, railroad locomotives), such as Insulated Gate Bipolar Transistors (IGBT's) and self-clearing metallized hazy polypropylene capacitors. In addition, the use of amorphous nanocrystalline transformer core alloy permits high frequency voltage and current transformation with low loss and small size. Other unique concepts embodied in the converter-modulator topology are polyphase resonant voltage multiplication and resonant rectification. These techniques further reduce size and improve electrical efficiency. Because of the resonant conversion techniques, electronic 'crowbars' and other load protective networks are not required. A shorted load detunes the circuit resonance and little power transfer can occur. This yields a high-power, high-voltage system that is inherently self-protective. To provide regulated output voltages, Pulse Width Modulation (PWM) of the individual IGBT pulses is used. A Digital signal Processor (DSP) is used to control the IGBT's, with adaptive feed forward and feedback control algorithms that improve pulse fidelity. The converter-modulator has many attributes that make it attractive to various pulse power and plasma applications such as high power RF sources, neutral beam modulators, and various plasma applications. This paper will review the design as used for the SNS accelerator and speculate on related plasma applications

SGLT2 is not expressed in pancreatic α- and β-cells, and its inhibition does not directly affect glucagon and insulin secretion in rodents and humans.

OBJECTIVE: Sodium-glucose cotransporter 2 (SGLT2) inhibitors (SGLT2i), or gliflozins, are anti-diabetic drugs that lower glycemia by promoting glucosuria, but they also stimulate endogenous glucose and ketone body production. The likely causes of these metabolic responses are increased blood glucagon levels, and decreased blood insulin levels, but the mechanisms involved are hotly debated. This study verified whether or not SGLT2i affect glucagon and insulin secretion by a direct action on islet cells in three species, using multiple approaches. METHODS: We tested the in vivo effects of two selective SGLT2i (dapagliflozin, empagliflozin) and a SGLT1/2i (sotagliflozin) on various biological parameters (glucosuria, glycemia, glucagonemia, insulinemia) in mice. mRNA expression of SGLT2 and other glucose transporters was assessed in rat, mouse, and human FACS-purified α- and β-cells, and by analysis of two human islet cell transcriptomic datasets. Immunodetection of SGLT2 in pancreatic tissues was performed with a validated antibody. The effects of dapagliflozin, empagliflozin, and sotagliflozin on glucagon and insulin secretion were assessed using isolated rat, mouse and human islets and the in situ perfused mouse pancreas. Finally, we tested the long-term effect of SGLT2i on glucagon gene expression. RESULTS: SGLT2 inhibition in mice increased the plasma glucagon/insulin ratio in the fasted state, an effect correlated with a decline in glycemia. Gene expression analyses and immunodetections showed no SGLT2 mRNA or protein expression in rodent and human islet cells, but moderate SGLT1 mRNA expression in human α-cells. However, functional experiments on rat, mouse, and human (29 donors) islets and the in situ perfused mouse pancreas did not identify any direct effect of dapagliflozin, empagliflozin or sotagliflozin on glucagon and insulin secretion. SGLT2i did not affect glucagon gene expression in rat and human islets. CONCLUSIONS: The data indicate that the SGLT2i-induced increase of the plasma glucagon/insulin ratio in vivo does not result from a direct action of the gliflozins on islet cells