Parallel navigation for 3-D autonomous vehicles

summary:In this paper, parallel navigation is proposed to track the target in three-dimensional space. Firstly, the polar kinematics models for the vehicle and the target are established. Secondly, parallel navigation is derived by using polar kinematics models. Thirdly, cell decomposition method is applied to implement obstacle avoidance. Fourthly, a brief study is given on the influence of uncertainties. Finally, simulations are conducted by MATLAB. Simulation results demonstrate the effectiveness of the parallel navigation

PA-X is a virulence factor in avian H9N2 influenza virus

H9N2 influenza viruses have been circulating worldwide in multiple avian species, and regularly infect pigs and humans. Recently, a novel protein, PA-X, produced from the PA gene by ribosomal frameshifting, was demonstrated to be an antivirulence factor in pandemic 2009 H1N1, highly pathogenic avian H5N1 and 1918 H1N1 viruses. However, a similar role of PA-X in the prevalent H9N2 avian influenza viruses has not been established. In this study, we compared the virulence and cytopathogenicity of H9N2 WT virus and H9N2 PA-X-deficient virus. Loss of PA-X in H9N2 virus reduced apoptosis and had a marginal effect on progeny virus output in human pulmonary adenocarcinoma (A549) cells. Without PA-X, PA was less able to suppress co-expressed GFP in human embryonic kidney 293T cells. Furthermore, absence of PA-X in H9N2 virus attenuated viral pathogenicity in mice, which showed no mortality, reduced progeny virus production, mild-to-normal lung histopathology, and dampened proinflammatory cytokine and chemokine response. Therefore, unlike previously reported H1N1 and H5N1 viruses, we show that PA-X protein in H9N2 virus is a pro-virulence factor in facilitating viral pathogenicity and that the pro- or antivirulence role of PA-X in influenza viruses is virus strain-dependent

Prevailing PA mutation K356R in avian influenza H9N2 virus increases mammalian replication and pathogenicity

Adaptation of the viral polymerase complex comprising PB1, PB2, and PA is necessary for efficient influenza A virus replication in new host species. We found that PA mutation K356R (PA-K356R) has become predominant since 2014 in avian H9N2 viruses in China as with seasonal human H1N1 viruses. The same mutation is also found in most human isolates of emergent avian H7N9 and H10N8 viruses whose six internal gene segments are derived from the H9N2 virus. We further demonstrated the mammalian adaptive functionality of the PA-K356R mutation. Avian H9N2 virus with the PA-K356R mutation in human A549 cells showed increased nuclear accumulation of PA and increased viral polymerase activity that resulted in elevated levels of viral transcription and virus output. The same mutant virus in mice also enhanced virus replication and caused lethal infection. In addition, combined mutation of PA-K356R and PB2-E627K, a well-known mammalian adaptive marker, in the H9N2 virus showed further cooperative increases in virus production and severity of infection in vitro and in vivo. In summary, PA-K356R behaves as a novel mammalian tropism mutation, which, along with other mutations such as PB2-E627K, might render avian H9N2 viruses adapted for human infection

Highly pathogenic avian influenza H5N6 viruses exhibit enhanced affinity for human type sialic acid receptor and in-contact transmission in model ferrets

Since May 2014, highly pathogenic avian influenza H5N6 virus has been reported to cause six severe human infections three of which were fatal. The biological properties of this subtype, in particular its relative pathogenicity and transmissibility in mammals, are not known. We characterized the virus receptor-binding affinity, pathogenicity, and transmissibility in mice and ferrets of four H5N6 isolates derived from waterfowl in China from 2013-2014. All four H5N6 viruses have acquired a binding affinity for human-like SA alpha 2,6Gal-linked receptor to be able to attach to human tracheal epithelial and alveolar cells. The emergent H5N6 viruses, which share high sequence similarity with the human isolate A/Guangzhou/39715/2014 (H5N6), were fully infective and highly transmissible by direct contact in ferrets but showed less-severe pathogenicity than the parental H5N1 virus. The present results highlight the threat of emergent H5N6 viruses to poultry and human health and the need to closely track their continual adaptation in humans

Neurovirulence of avian influenza virus is dependent on the interaction of viral NP protein with host factor FMRP in the murine brain

Avian influenza viruses (AIVs) are zoonotic viruses that exhibit a range infectivity and severity in the human host. Severe human cases of AIVs infection are often accompanied by neurological symptoms, however, the factors involved in the infection of the central nervous system (CNS) are not well known. In this study, we discovered that avian-like sialic acid (SA)-α2, 3 Gal receptor is highly presented in mammalian (human and mouse) brains. In the generation of a mouse-adapted neurotropic H9N2 AIV (SD16-MA virus) in BALB/c mice, we identified key adaptive mutations in its hemagglutinin (HA) and polymerase basic protein 2 (PB2) genes that conferred viral replication ability in mice brain. The SD16-MA virus showed binding affinity for avian-like SA-α2, 3 Gal receptor, enhanced viral RNP polymerase activity, increased viral protein production and transport that culminated in elevated progeny virus production and severe pathogenicity. We further established that host Fragile X Mental Retardation Protein (FMRP), a highly expressed protein in the brain that physically associated with viral nucleocapsid protein (NP) to facilitate RNP assembly and export, was an essential host factor for the neuronal replication of neurotropic AIVs (H9N2, H5N1 and H10N7 viruses). Our study identified a mechanistic process for AIVs to acquire neurovirulence in mice

Enhanced pathogenicity and neurotropism of mouse-adapted H10N7 influenza virus are mediated by novel PB2 and NA mutations

The H10 subtype of avian influenza viruses (AIVs) circulates globally in wild birds and poultry, and this subtype has been shown to be increasingly prevalent in China. Among the various H10 viruses, H10N7 AIVs have caused repeated mammal and human infections. To investigate their genetic adaptation in mammals, we generated a mouse-adapted avian H10N7 variant (A/mallard/Beijing/27/2011-MA; BJ27-MA) which exhibited increased virulence in mice compared to wild-type virus and acquired neurotropism. Sequencing showed the absence of the widely recognized mammalian adaptation markers of E627K and D701N in PB2 in the mouse-adapted strain; instead, five amino acid mutations were identified: E158G and M631L in PB2; G218E in haemagglutinin (H3 numbering); and K110E and S453I in neuraminidase (NA). The neurovirulence of the BJ27-MA virus necessitated the combined presence of the PB2 and NA mutations. Mutations M631L and E158G of PB2 and K110E of NA were required to mediate increased virus replication and severity of infection in mice and mammalian cells. PB2-M631L was functionally the most dominant mutation in that it strongly upregulated viral polymerase activity and played a critical role in the enhancement of virus replication and disease severity in mice. K110E mutation in NA, on the other hand, significantly promoted NA enzymatic activity. These results indicate that the novel mutations in PB2 and NA genes are critical for the adaptation of H10N7 AIV in mice, and they could serve as molecular signatures of virus transmission to mammalian hosts, including humans

Identification of avian polyomavirus and its pathogenicity to SPF chickens

The research aimed to study an Avian polyomavirus strain that was isolated in Shandong, China. To study the pathogenicity of APV in SPF chickens, and provide references for epidemiological research and disease prevention and control of APV. The genetic characterization of APV strain (termed APV-20) was analyzed and the pathogenicity of APV was investigated from two aspects: different age SPF chickens, and different infection doses. The results revealed that the APV-20 exhibits a nucleotide homology of 99% with the other three APV strains, and the evolution of APV In China was slow. In addition, the APV-20 infection in chickens caused depression, drowsiness, clustering, and fluffy feathers, but no deaths occurred in the infected chickens. The main manifestations of necropsy, and Hematoxylin and Eosin staining (HE) showed that one-day-old SPF chickens were the most susceptible, and there was a positive correlation between viral load and infection dose in the same tissue. This study showed that SPF chickens were susceptible to APV, and an experimental animal model was established. This study can provide a reference for the pathogenic mechanism of immune prevention and control of APV

No-Wait Job Shop Scheduling Using a Population-Based Iterated Greedy Algorithm

When no-wait constraint holds in job shops, a job has to be processed with no waiting time from the first to the last operation, and the start time of a job is greatly restricted. Using key elements of the iterated greedy algorithm, this paper proposes a population-based iterated greedy (PBIG) algorithm for finding high-quality schedules in no-wait job shops. Firstly, the Nawaz–Enscore–Ham (NEH) heuristic used for flow shop is extended in no-wait job shops, and an initialization scheme based on the NEH heuristic is developed to generate start solutions with a certain quality and diversity. Secondly, the iterated greedy procedure is introduced based on the destruction and construction perturbator and the insert-based local search. Furthermore, a population-based co-evolutionary scheme is presented by imposing the iterated greedy procedure in parallel and hybridizing both the left timetabling and inverse left timetabling methods. Computational results based on well-known benchmark instances show that the proposed algorithm outperforms two existing metaheuristics by a significant margin

Effect of elevated pressure on gas-solid flow properties in a powder feeding system

In view of the powder feeding system, a multi-physical coupling model of the gas-powder-piston was established based on the Euler-Euler two-fluid model. The numerical simulation method was applied to explore the effects of dense gas-solid flow characteristics under different operating pressures. The results show that gas-solid pulsations at different operating pressures are mainly concentrated in the upper part of the powder tank. An elevated operating pressure efficiently decreases the powder layer area (εp = 0.1) fluctuation. As the operating pressure increases from 0.5 MPa to 3.0 MPa, the rising time and fluctuation rate of pressure are reduced by 71.4% and 62.3%, respectively, and the pressure in the tank has a long stabilization period. Meanwhile, the variation of the instantaneous powder flow rate is more stable and its average value is closer to the theoretical. A high-pressure environment is more conducive to the stable transportation of powder

Discovery of Seismites in the Carboniferous Formation of the Shibei Sag (China) and Its Petroleum Geological Significance

To promote oil and gas exploration of the Carboniferous formation in the Shibei sag, the northeastern margin of Junggar Basin, recently drilled rocks from Well ZB6 with typical seismics were characterized. Through systematic core observation, the identification marks of seismites were described, a vertical sequence of seismites was established, and its oil and gas geological significance was analyzed. The results show that the seismites have typical identification marks, such as soft-sediment deformation structures (including five typical marks: liquefied stone vein, liquefied crinkled deformation structure, ball–pillow structure, flame structure and load cast, water release structure and liquefied breccia), brittle fracture structures (including three typical marks: seismic fractures, synsedimentary microfractures and seismic fracture rock) and special rock types, such as seismic grain-supported conglomerates. The stratigraphic succession reconstructed in Well ZB6 was characterized, from base to top, by (1) a basal non-seismic interval; (2) a seismic interval made up of a grain-supported conglomerate level, brittle fracture level, soft-sediment deformation level; and (3) a non-seismic interval. The discovery of seismites has oil and gas geological significance for improving reservoir performance and forming favorable source–reservoir–cap assemblages. The research describes the new reservoir genetic type and exploration direction of the Carboniferous formation in the Shibei sag (China), which has important guiding significance for the next step of oil and gas exploration