Real time inverse kinematics of a general 5-axis CNC machine

In most of the previous investigations, the kinematics model of five-axis computer-numerical control (CNC) centers was formulated just at the position level, and the differential kinematic relationships (velocity, acceleration and jerk of the five joints of a five-axis center) that are necessary for several purposes, especially for investigating the relationship between the limits of a machine’s drives and the feed rate maximization (the productivity maximization), have been overlooked. Therefore, this paper addresses the differential kinematic modelling and analysis for the five-axis CNC centers. In particular, the differential kinematic equations are formulated in a parametric domain so that they are useful for investigating the kinematic behaviors of the five-axis centers in real time

Two new species of Dixonius from Vietnam and Laos with a discussion of the taxonomy of Dixonius (Squamata, Gekkonidae)

Integrated analyses using maximum likelihood (ML), Bayesian inference (BI), principal component analysis (PCA), discriminate analysis of principal components (DAPC), multiple factor analysis (MFA), and analysis of variance (ANOVA) recovered two new diagnosable species of gekkonid lizards in the genus Dixonius, one from the Central Highlands, Gia Lai Province, Vietnam and another from the Vientiane Province, Laos. Phylogenetic analyses based on the mitochondrial NADH dehydrogenase subunit 2 gene (ND2) and adjacent tRNAs showed that Dixonius gialaiensis sp. nov. is the sister species of D. minhlei from Dong Nai Province, Vietnam and is nested within a clade that also includes the sister species D. siamensis and D. somchanhae. Dixonius muangfuangensis sp. nov. is the sister species to D. lao from Khammouane Province, Laos and is embedded in a clade with D. vietnamensis, D. taoi, and undescribed species from Thailand. Multivariate (PCA, DAPC, and MFA) and univariate (ANOVA) analyses using combinations of 15 meristic (scale counts), six morphometric (measurements), and five categorical (color pattern and morphology) characters from 44 specimens encompassing all eight species of Dixonius from Vietnam and Laos clearly illustrate Dixonius gialaiensis sp. nov. and Dixonius muangfuangensis sp. nov. are statistically different and discretely diagnosable from all closely related species of Dixonius. These integrative analyses also highlight additional taxonomic issues that remain unresolved within Dixonius and the need for additional studies. The discovery of these new species further emphasizes the underappreciated herpetological diversity of the genus Dixonius and illustrates the continued need for field work in these regions

Logging intensity drives variability in carbon stocks in lowland forests in Vietnam

Forest degradation in the tropics is generating large carbon (C) emissions. In tropical Asia, logging is the main driver of forest degradation. For effective implementation of REDD+ projects in logged forests in Southeast Asia, the impacts of logging on forest C stocks need to be assessed. Here, we assess C stocks in logged lowland forests in central Vietnam and explore correlations between logging intensity, soil, topography and living aboveground carbon (AGC) stocks. We present an approach to estimate historical logging intensities for the prevalent situation when complete records on logging history are unavailable. Landsat analysis and participatory mapping were used to quantify the density of historical disturbances, used as a proxy of logging intensities in the area. Carbon in AGC, dead wood, belowground carbon (BGC) and soil (SOC) was measured in twenty-four 0.25 ha plots that vary in logging intensity, and data on recent logging, soil properties, elevation and slope were also collected. Heavily logged forests stored only half the amount of AGC of stems ≥10 cm dbh as lightly logged forests, mainly due to a reduction in the number of large (≥60 cm dbh) trees. Carbon in AGC of small trees (5–10 cm dbh), dead wood and BGC comprised only small fractions of total C stocks, while SOC in the topsoil of 0–30 cm depth stored ~50% of total C stocks. Combining logging intensities with soil and topographic data showed that logging intensity was the main factor explaining the variability in AGC. Our research shows large reductions in AGC in medium and heavily logged forests. It highlights the critical importance of conserving big trees to maintain high forest C stocks and accounting for SOC in total C stock estimates

HIV-Associated TB in An Giang Province, Vietnam, 2001–2004: Epidemiology and TB Treatment Outcomes

BACKGROUND: Mortality is high in HIV-infected TB patients, but few studies from Southeast Asia have documented the benefits of interventions, such as co-trimoxazole (CTX), in reducing mortality during TB treatment. To help guide policy in Vietnam, we studied the epidemiology of HIV-associated TB in one province and examined factors associated with outcomes, including the impact of CTX use. METHODOLOGY/PRINCIPAL FINDINGS: We retrospectively abstracted data for all HIV-infected persons diagnosed with TB from 2001-2004 in An Giang, a province in southern Vietnam in which TB patients receive HIV counseling and testing. We used standard WHO definitions to classify TB treatment outcomes. We conducted multivariate analysis to identify risk factors for the composite outcome of death, default, or treatment failure during TB treatment. From 2001-2004, 637 HIV-infected TB patients were diagnosed in An Giang. Of these, 501 (79%) were male, 321 (50%) were aged 25-34 years, and the most common self-reported HIV risk factor was sex with a commercial sex worker in 221 (35%). TB was classified as smear-positive in 531 (83%). During TB treatment, 167 (26%) patients died, 9 (1%) defaulted, and 6 (1%) failed treatment. Of 454 patients who took CTX, 116 (26%) had an unsuccessful outcome compared with 33 (70%) of 47 patients who did not take CTX (relative risk, 0.4; 95% confidence interval [CI], 0.3-0.5). Adjusting for male sex, rural residence, TB smear status and disease location, and the occurrence of adverse events during TB treatment in multivariate analysis, the benefit of CTX persisted (adjusted odds ratio for unsuccessful outcome 0.1; CI, 0.1-0.3). CONCLUSIONS/SIGNIFICANCE: In An Giang, Vietnam, HIV-associated TB was associated with poor TB treatment outcomes. Outcomes were significantly better in those taking CTX. This finding suggests that Vietnam should consider applying WHO recommendations to prescribe CTX to all HIV-infected TB patients

Is Chytridiomycosis an Emerging Infectious Disease in Asia?

The disease chytridiomycosis, caused by the fungus Batrachochytrium dendrobatidis (Bd), has caused dramatic amphibian population declines and extinctions in Australia, Central and North America, and Europe. Bd is associated with >200 species extinctions of amphibians, but not all species that become infected are susceptible to the disease. Specifically, Bd has rapidly emerged in some areas of the world, such as in Australia, USA, and throughout Central and South America, causing population and species collapse. The mechanism behind the rapid global emergence of the disease is poorly understood, in part due to an incomplete picture of the global distribution of Bd. At present, there is a considerable amount of geographic bias in survey effort for Bd, with Asia being the most neglected continent. To date, Bd surveys have been published for few Asian countries, and infected amphibians have been reported only from Indonesia, South Korea, China and Japan. Thus far, there have been no substantiated reports of enigmatic or suspected disease-caused population declines of the kind that has been attributed to Bd in other areas. In order to gain a more detailed picture of the distribution of Bd in Asia, we undertook a widespread, opportunistic survey of over 3,000 amphibians for Bd throughout Asia and adjoining Papua New Guinea. Survey sites spanned 15 countries, approximately 36° latitude, 111° longitude, and over 2000 m in elevation. Bd prevalence was very low throughout our survey area (2.35% overall) and infected animals were not clumped as would be expected in epizootic events. This suggests that Bd is either newly emerging in Asia, endemic at low prevalence, or that some other ecological factor is preventing Bd from fully invading Asian amphibians. The current observed pattern in Asia differs from that in many other parts of the world

Mycobacterium tuberculosis Lineage Influences Innate Immune Response and Virulence and Is Associated with Distinct Cell Envelope Lipid Profiles

The six major genetic lineages of Mycobacterium tuberculosis are strongly associated with specific geographical regions, but their relevance to bacterial virulence and the clinical consequences of infection are unclear. Previously, we found that in Vietnam, East Asian/Beijing and Indo-Oceanic strains were significantly more likely to cause disseminated tuberculosis with meningitis than those from the Euro-American lineage. To investigate this observation we characterised 7 East Asian/Beijing, 5 Indo-Oceanic and 6 Euro-American Vietnamese strains in bone-marrow-derived macrophages, dendritic cells and mice. East Asian/Beijing and Indo-Oceanic strains induced significantly more TNF-α and IL-1β from macrophages than the Euro-American strains, and East Asian/Beijing strains were detectable earlier in the blood of infected mice and grew faster in the lungs. We hypothesised that these differences were induced by lineage-specific variation in cell envelope lipids. Whole lipid extracts from East Asian/Beijing and Indo-Oceanic strains induced higher concentrations of TNF-α from macrophages than Euro-American lipids. The lipid extracts were fractionated and compared by thin layer chromatography to reveal a distinct pattern of lineage-associated profiles. A phthiotriol dimycocerosate was exclusively produced by East Asian/Beijing strains, but not the phenolic glycolipid previously associated with the hyper-virulent phenotype of some isolates of this lineage. All Indo-Oceanic strains produced a unique unidentified lipid, shown to be a phenolphthiocerol dimycocerosate dependent upon an intact pks15/1 for its production. This was described by Goren as the ‘attenuation indictor lipid’ more than 40 years ago, due to its association with less virulent strains from southern India. Mutation of pks15/1 in a representative Indo-Oceanic strain prevented phenolphthiocerol dimycocerosate synthesis, but did not alter macrophage cytokine induction. Our findings suggest that the early interactions between M. tuberculosis and host are determined by the lineage of the infecting strain; but we were unable to show these differences are driven by lineage-specific cell-surface expressed lipids

A matrix approach to tropical marine ecosystem service assessments in South east Asia

Ecosystem service assessments are increasingly used to support natural resource management, but there is a bias in their application towards terrestrial systems and higher income countries. Tropical marine applications are particularly scarce, especially in SE Asia. Given the growing coastal population and expansion in blue economy sectors in SE Asia, evidence to support effective marine planning, such as ecosystem service assessments, is urgently needed. Data deficiencies for marine systems, especially (but not only) in lower income countries is a significant obstacle for ecosystem service assessments. To overcome this, we develop an ecosystem service potential matrix which combines evidence taken from an extensive literature review together with expert opinion. The matrix includes both natural and modified habitats as the service providing units. The ecosystem service potential for habitats are scored at the macro level (e.g. mangrove) due to insufficient evidence to score micro-habitats (e.g. fringe, basin or riverine mangroves). The majority of evidence is available for biogenic habitats (mangroves, coral reefs and seagrass meadows) with comparatively little for sedimentary habitats. While provisioning, regulating and cultural services are scored, published evidence is more readily available for provisioning and regulating services. Confidence scores, indicating the uncertainty in the ecosystem service potential scores are included in the matrix. To our knowledge this is the first attempt to systematically capture the provision of ecosystem services from tropical marine habitats. Although initially developed for four marine biosphere reserves and protected areas in SE Asia, the generic nature of the evidence included suggests that the matrix constitutes a valuable baseline for marine ecosystem service assessments within SE Asia and provides a robust foundation for development in future work