Two intracellular and cell type-specific bacterial symbionts in the placozoan Trichoplax H2

Placozoa is an enigmatic phylum of simple, microscopic, marine metazoans(1,2). Although intracellular bacteria have been found in all members of this phylum, almost nothing is known about their identity, location and interactions with their host(3-6). We used metagenomic and metatranscriptomic sequencing of single host individuals, plus metaproteomic and imaging analyses, to show that the placozoan Trichoplax sp. H2 lives in symbiosis with two intracellular bacteria. One symbiont forms an undescribed genus in the Midichloriaceae (Rickettsiales)(7,8) and has a genomic repertoire similar to that of rickettsial parasites(9,10), but does not seem to express key genes for energy parasitism. Correlative image analyses and three-dimensional electron tomography revealed that this symbiont resides in the rough endoplasmic reticulum of its host's internal fibre cells. The second symbiont belongs to the Margulisbacteria, a phylum without cultured representatives and not known to form intracellular associations(11-13). This symbiont lives in the ventral epithelial cells of Trichoplax, probably metabolizes algal lipids digested by its host and has the capacity to supplement the placozoan's nutrition. Our study shows that one of the simplest animals has evolved highly specific and intimate associations with symbiotic, intracellular bacteria and highlights that symbioses can provide access to otherwise elusive microbial dark matter

Wear and Friction Modeling on Lifeboat Launch Systems

The RNLI provides search and rescue cover along the UK and RoI coast using a variety of lifeboats and launch techniques. In locations where there is no natural harbour it is necessary to use a slipway to launch the lifeboat into the sea. Lifeboat slipway stations consist of an initial section where the boat is held on rollers followed by an inclined keelway lined with low friction composite materials, the lifeboat is released from the top of the slipway and proceeds under its own weight into the water. The lifeboat is later recovered using a winch line. It is common to manually apply grease to the composite slipway lining before each launch and recovery in order to ensure sufficiently low friction for successful operation. With the introduction of the Tamar class lifeboat it is necessary to upgrade existing boathouses and standardise slipway operational procedures to ensure consistent operation. The higher contact pressures associated with the new lifeboat have led to issues of high friction and wear on the composite slipway linings and the manual application of grease to reduce friction is to be restricted due to environmental impact and cost factors. This paper presents a multidisciplinary approach to modelling slipway panel wear and friction using tribometer testing in conjunction with finite element analysis and slipway condition surveys to incorporate common real-world effects such as panel misalignments. Finally, it is shown that a freshwater lubrication system is effective, reducing cost and environmental impacts while maintaining good friction and wear performance

Cavitation erosion damage of scroll steel plates by high-speed gas working fluid

A steel plate is one of the critical components of a scroll expander system that can experience cavitation micro-pitting while in service. The content of the present paper consists of two distinct but interrelated parts. The first part aims to highlight that the use of Computational Fluid Dynamics (CFD) simulations in conjunction with experimental measurements can constitute a quite promising tool for the prediction of cavitation erosion areas in scroll expander systems. For this purpose a three-dimensional CFD, steady state numerical simulation of the refrigerant working fluid is employed. Numerical results revealed the critical areas where cavitation bubbles are formed. These numerical critical areas are in direct qualitative agreement with the actual eroded regions by cavitation, which were found by microscopic observations across the steel plate on an after use, scroll expander system. The second part of the paper, aims to further investigate the behaviour and the durability of the steel plate of the studied scroll expander system subjected to cavitation erosion by using an ultrasonic experimental test rig. Scanning Electron Microscopy (SEM) and optical interferometer micrographs of the damaged surfaces were observed, showing the nature of the cavitation erosion mechanism and the morphological alterations of the steel plate samples. Experimental results are explained in terms of the cavitation erosion rates, roughness profile, accumulated strain energy, and hardness of the matrix. The experimental study can serve as a valuable input for future development of a CFD numerical model that predicts both cavitation bubbles formation as well as cavitation damage induced by the bubbles that implode on the steels plates

Next-Best Stereo: Extending Next-Best View Optimisation For Collaborative Sensors

This is the final version of the article. Available from the publisher via the DOI in this record.Most 3D reconstruction approaches passively optimise over all data, exhaustively matching pairs, rather than actively selecting data to process. This is costly both in terms of time and computer resources, and quickly becomes intractable for large datasets. This work proposes an approach to intelligently filter large amounts of data for 3D reconstructions of unknown scenes using monocular cameras. Our contributions are twofold: First, we present a novel approach to efficiently optimise the Next-Best View (NBV) in terms of accuracy and coverage using partial scene geometry. Second, we extend this to intelligently selecting stereo pairs by jointly optimising the baseline and vergence to find the NBV’s best stereo pair to perform reconstruction. Both contributions are extremely efficient, taking 0.8ms and 0.3ms per pose, respectively. Experimental evaluation shows that the proposed method allows efficient selection of stereo pairs for reconstruction, such that a dense model can be obtained with only a small number of images. Once a complete model has been obtained, the remaining computational budget is used to intelligently refine areas of uncertainty, achieving results comparable to state-of-the-art batch approaches on the Middlebury dataset, using as little as 3.8% of the views.The presentation of this paper was made possible by the BMVC 2016 student bursar

Expression of PEG11 and PEG11AS transcripts in normal and callipyge sheep

BACKGROUND: The callipyge mutation is located within an imprinted gene cluster on ovine chromosome 18. The callipyge trait exhibits polar overdominant inheritance due to the fact that only heterozygotes inheriting a mutant paternal allele (paternal heterozygotes) have a phenotype of muscle hypertrophy, reduced fat and a more compact skeleton. The mutation is a single A to G transition in an intergenic region that results in the increased expression of several genes within the imprinted cluster without changing their parent-of-origin allele-specific expression. RESULTS: There was a significant effect of genotype (p < 0.0001) on the transcript abundance of DLK1, PEG11, and MEG8 in the muscles of lambs with the callipyge allele. DLK1 and PEG11 transcript levels were elevated in the hypertrophied muscles of paternal heterozygous animals relative to animals of the other three genotypes. The PEG11 locus produces a single 6.5 kb transcript and two smaller antisense strand transcripts, referred to as PEG11AS, in skeletal muscle. PEG11AS transcripts were detectable over a 5.5 kb region beginning 1.2 kb upstream of the PEG11 start codon and spanning the entire open reading frame. Analysis of PEG11 expression by quantitative PCR shows a 200-fold induction in the hypertrophied muscles of paternal heterozygous animals and a 13-fold induction in homozygous callipyge animals. PEG11 transcripts were 14-fold more abundant than PEG11AS transcripts in the gluteus medius of paternal heterozygous animals. PEG11AS transcripts were expressed at higher levels than PEG11 transcripts in the gluteus medius of animals of the other three genotypes. CONCLUSIONS: The effect of the callipyge mutation has been to alter the expression of DLK1, GTL2, PEG11 and MEG8 in the hypertrophied skeletal muscles. Transcript abundance of DLK1 and PEG11 was highest in paternal heterozygous animals and exhibited polar overdominant gene expression patterns; therefore, both genes are candidates for causing skeletal muscle hypertrophy. There was unique relationship of PEG11 and PEG11AS transcript abundance in the paternal heterozygous animals that suggests a RNA interference mechanism may have a role in PEG11 gene regulation and polar overdominance in callipyge sheep

SeDAR: Reading Floorplans Like a Human—Using Deep Learning to Enable Human-Inspired Localisation

This is the final version. Available from Springer Verlag via the DOI in this record. The use of human-level semantic information to aid robotic tasks has recently become an important area for both Computer Vision and Robotics. This has been enabled by advances in Deep Learning that allow consistent and robust semantic understanding. Leveraging this semantic vision of the world has allowed human-level understanding to naturally emerge from many different approaches. Particularly, the use of semantic information to aid in localisation and reconstruction has been at the forefront of both fields. Like robots, humans also require the ability to localise within a structure. To aid this, humans have designed high-level semantic maps of our structures called floorplans. We are extremely good at localising in them, even with limited access to the depth information used by robots. This is because we focus on the distribution of semantic elements, rather than geometric ones. Evidence of this is that humans are normally able to localise in a floorplan that has not been scaled properly. In order to grant this ability to robots, it is necessary to use localisation approaches that leverage the same semantic information humans use. In this paper, we present a novel method for semantically enabled global localisation. Our approach relies on the semantic labels present in the floorplan. Deep Learning is leveraged to extract semantic labels from RGB images, which are compared to the floorplan for localisation. While our approach is able to use range measurements if available, we demonstrate that they are unnecessary as we can achieve results comparable to state-of-the-art without them.EPSRCInnovate UKNVIDIA Corporatio

Taking the Scenic Route to 3D: Optimising Reconstruction from Moving Cameras

This is the author accepted manuscript The final version is available from IEEE via the DOI in this record.Reconstruction of 3D environments is a problem that has been widely addressed in the literature. While many approaches exist to perform reconstruction, few of them take an active role in deciding where the next observations should come from. Furthermore, the problem of travelling from the camera’s current position to the next, known as pathplanning, usually focuses on minimising path length. This approach is ill-suited for reconstruction applications, where learning about the environment is more valuable than speed of traversal. We present a novel Scenic Route Planner that selects paths which maximise information gain, both in terms of total map coverage and reconstruction accuracy. We also introduce a new type of collaborative behaviour into the planning stage called opportunistic collaboration, which allows sensors to switch between acting as independent Structure from Motion (SfM) agents or as a variable baseline stereo pair. We show that Scenic Planning enables similar performance to state-of-the-art batch approaches using less than 0.00027% of the possible stereo pairs (3% of the views). Comparison against length-based pathplanning approaches show that our approach produces more complete and more accurate maps with fewer frames. Finally, we demonstrate the Scenic Pathplanner’s ability to generalise to live scenarios by mounting cameras on autonomous ground-based sensor platforms and exploring an environment.This work was funded by the SNSF Project SMILE grant CR-SII2_160811

On-chip quantum interference between silicon photon-pair sources

Large-scale integrated quantum photonic technologies1, 2 will require on-chip integration of identical photon sources with reconfigurable waveguide circuits. Relatively complex quantum circuits have been demonstrated already1, 2, 3, 4, 5, 6, 7, but few studies acknowledge the pressing need to integrate photon sources and waveguide circuits together on-chip8, 9. A key step towards such large-scale quantum technologies is the integration of just two individual photon sources within a waveguide circuit, and the demonstration of high-visibility quantum interference between them. Here, we report a silicon-on-insulator device that combines two four-wave mixing sources in an interferometer with a reconfigurable phase shifter. We configured the device to create and manipulate two-colour (non-degenerate) or same-colour (degenerate) path-entangled or path-unentangled photon pairs. We observed up to 100.0 ± 0.4% visibility quantum interference on-chip, and up to 95 ± 4% off-chip. Our device removes the need for external photon sources, provides a path to increasing the complexity of quantum photonic circuits and is a first step towards fully integrated quantum technologies

Fast path and polarisation manipulation of telecom wavelength single photons in lithium niobate waveguide devices

We demonstrate fast polarisation and path control of photons at 1550 nm in lithium niobate waveguide devices using the electro-optic effect. We show heralded single photon state engineering, quantum interference, fast state preparation of two entangled photons and feedback control of quantum interference. These results point the way to a single platform that will enable the integration of nonlinear single photon sources and fast reconfigurable circuits for future photonic quantum information science and technology.Comment: 6 page

Syntheses of Combretastatin A‐4 and Related Stilbenes by Using Aqueous Conditions

Combretastatin A-4 (CA4) is a potent anti-mitotic and vascular disrupting agent. Organic chemists have been working to optimize the synthesis of CA4 for the past 3 decades, with methods requiring hazardous solvents and harsh reaction conditions. Here, we report the synthesis of CA4 and a variety of stilbenes in an aqueous Wittig system. Potassium carbonate or lithium hydroxide were used as base in this Wittig reaction to give excellent yields of mixtures of E- and Z-stilbenes. The synthesis of CA4 was achieved using tetrahydropyran (THP) or silyl protected phenolic aldehydes. The THP groups were removed using dilute acid whilst the silyl groups fortuitously fell off during work up