The largest hyper-rectangle in a three dimensional orthogonal polyhedron

Given a three dimensional orthogonal polyhedron P, we present a simple and efficient algorithm for finding the three dimensional orthogonal hyper-rectangle R of maximum volume, such that R is completely contained in P. Our algorithm finds out the three dimensional hyper-rectangle of maximum volume by using space sweep technique and enumerating all possible such rectangles. The presented algorithm runs in O(($n^2$+K)logn) time using O(n) space, where n is the number of vertices of the given polyhedron P and K is the number of reported three dimensional orthogonal hyper-rectangles for a problem instance, which is O($n^3$) in the worst case

RAFCON: a Graphical Tool for Task Programming and Mission Control

There are many application fields for robotic systems including service robotics, search and rescue missions, industry and space robotics. As the scenarios in these areas grow more and more complex, there is a high demand for powerful tools to efficiently program heterogeneous robotic systems. Therefore, we created RAFCON, a graphical tool to develop robotic tasks and to be used for mission control by remotely monitoring the execution of the tasks. To define the tasks, we use state machines which support hierarchies and concurrency. Together with a library concept, even complex scenarios can be handled gracefully. RAFCON supports sophisticated debugging functionality and tightly integrates error handling and recovery mechanisms. A GUI with a powerful state machine editor makes intuitive, visual programming and fast prototyping possible. We demonstrated the capabilities of our tool in the SpaceBotCamp national robotic competition, in which our mobile robot solved all exploration and assembly challenges fully autonomously. It is therefore also a promising tool for various RoboCup leagues.Comment: 8 pages, 5 figure

Structural and Electrical properties of ZnO Nanorod based dye sensitized solar cell

ThePreparation of nanorod involves simple and novel design of sol-gel process. Further, by using the prepared nanorods,working electrode will be prepared and it will be sensitized with ruthenium dye. A platinum coated FTO electrode will beused as a counter electrode. Dye sensitized solar cell will be assembled by using the working electrode and counterelectrode. FE-SEM and UV characteristics have been carried out at 250ᵒC, 350ᵒC&450ᵒC. The size and band gap ofnanorod at these temperatures has been found out to be 1μm and 2.95eV, 200nm and 2.86eV, 100nm and 2.79eVrespectively. The power conversion efficiency and the fill factor have been obtained as 2.72% and 0.722 respectively

Methods to summarize change among land categories across time intervals

Time-series maps have become more detailed in terms of numbers of categories and time points. Our paper proposes methods for raster datasets where detailed analysis of all categorical transitions would be initially overwhelming. We create two measurements: Incidents and States. The former is the number of times a pixel’s category changes across time intervals; the latter is the number of categories that a pixel represents across time points. The combinations of Incidents and States summarize change trajectories. We also describe categorical transitions in terms of annual flow matrices, which quantify the additional information generated by intermediate time points within the temporal extent. Our approach summarizes change at the pixel and landscape levels in ways that communicate where and how categories transition over time. These methods are useful to detect hotspots of change and to consider whether the apparent changes are real or due to map error

Record Maximum Oscillation Frequency in C-face Epitaxial Graphene Transistors

The maximum oscillation frequency (fmax) quantifies the practical upper bound for useful circuit operation. We report here an fmax of 70 GHz in transistors using epitaxial graphene grown on the C-face of SiC. This is a significant improvement over Si-face epitaxial graphene used in the prior high frequency transistor studies, exemplifying the superior electronics potential of C-face epitaxial graphene. Careful transistor design using a high {\kappa} dielectric T-gate and self-aligned contacts, further contributed to the record-breaking fmax

The efficacy of whole human genome capture on ancient dental calculus and dentin

Objectives: Dental calculus is among the richest known sources of ancient DNA in the archaeological record. Although most DNA within calculus is microbial, it has been shown to contain sufficient human DNA for the targeted retrieval of whole mitochondrial genomes. Here, we explore whether calculus is also a viable substrate for whole human genome recovery using targeted enrichment techniques. Materials and methods: Total DNA extracted from 24 paired archaeological human dentin and calculus samples was subjected to whole human genome enrichment using in-solution hybridization capture and high-throughput sequencing. Results: Total DNA from calculus exceeded that of dentin in all cases, and although the proportion of human DNA was generally lower in calculus, the absolute human DNA content of calculus and dentin was not significantly different. Whole genome enrichment resulted in up to fourfold enrichment of the human endogenous DNA content for both dentin and dental calculus libraries, albeit with some loss in complexity. Recovering more on-target reads for the same sequencing effort generally improved the quality of downstream analyses, such as sex and ancestry estimation. For nonhuman DNA, comparison of phylum-level microbial community structure revealed few differences between precapture and postcapture libraries, indicating that off-target sequences in human genome-enriched calculus libraries may still be useful for oral microbiome reconstruction. Discussion: While ancient human dental calculus does contain endogenous human DNA sequences, their relative proportion is low when compared with other skeletal tissues. Whole genome enrichment can help increase the proportion of recovered human reads, but in this instance enrichment efficiency was relatively low when compared with other forms of capture. We conclude that further optimization is necessary before the method can be routinely applied to archaeological samples

Ancient Microbes from Halite Fluid Inclusions: Optimized Surface Sterilization and DNA Extraction

Fluid inclusions in evaporite minerals (halite, gypsum, etc.) potentially preserve genetic records of microbial diversity and changing environmental conditions of Earth's hydrosphere for nearly one billion years. Here we describe a robust protocol for surface sterilization and retrieval of DNA from fluid inclusions in halite that, unlike previously published methods, guarantees removal of potentially contaminating surface-bound DNA. The protocol involves microscopic visualization of cell structures, deliberate surface contamination followed by surface sterilization with acid and bleach washes, and DNA extraction using Amicon centrifugal filters. Methods were verified on halite crystals of four different ages from Saline Valley, California (modern, 36 ka, 64 ka, and 150 ka), with retrieval of algal and archaeal DNA, and characterization of the algal community using ITS1 sequences. The protocol we developed opens up new avenues for study of ancient microbial ecosystems in fluid inclusions, understanding microbial evolution across geological time, and investigating the antiquity of life on earth and other parts of the solar system

The genetic architecture of membranous nephropathy and its potential to improve non-invasive diagnosis

Membranous Nephropathy (MN) is a rare autoimmune cause of kidney failure. Here we report a genome-wide association study (GWAS) for primary MN in 3,782 cases and 9,038 controls of East Asian and European ancestries. We discover two previously unreported loci, NFKB1 (rs230540, OR = 1.25, P = 3.4 × 10-12) and IRF4 (rs9405192, OR = 1.29, P = 1.4 × 10-14), fine-map the PLA2R1 locus (rs17831251, OR = 2.25, P = 4.7 × 10-103) and report ancestry-specific effects of three classical HLA alleles: DRB1*1501 in East Asians (OR = 3.81, P = 2.0 × 10-49), DQA1*0501 in Europeans (OR = 2.88, P = 5.7 × 10-93), and DRB1*0301 in both ethnicities (OR = 3.50, P = 9.2 × 10-23 and OR = 3.39, P = 5.2 × 10-82, respectively). GWAS loci explain 32% of disease risk in East Asians and 25% in Europeans, and correctly re-classify 20-37% of the cases in validation cohorts that are antibody-negative by the serum anti-PLA2R ELISA diagnostic test. Our findings highlight an unusual genetic architecture of MN, with four loci and their interactions accounting for nearly one-third of the disease risk

Passagierdampfer als Hilfskreuzer: kurze Geschichte der Entwicklung einer Schiffsgattung

To date there is no cohesive historical account of the international development of the auxiliary cruiser, and the scattered investigations of various single aspects of this ship category do not add up to a comprehensive survey. These were the circumstances discovered by the author as, upon request of the editor of this publication, he undertook to provide an introduction to the report by Captain Meyer of the only voyage of the "Kaiser Wilhelm der Grosse" as an auxiliary cruiser (see the following article). The first task was thus to gain an overall impression of this history. "Auxiliary cruisers", as defined here, were passenger steamships kept ready for battle by large shipping companies in countries with significant naval power. These ships were technically equipped for the installation of weapons, and their conversion could be carried out within a few days. The auxiliary cruiser was first to put into service by the Russians, who felt threatened by the British Royal Navy after the Russian-Turkish Balkan War. At that time a newly established shipping company, later called the "Russian Voluntary Fleet", bought three steamships from the Hamburg-America Line and had them converted for combat purposes. By the turn of the century, this originally Russian idea had been adopted by all of the world's Iarge navies . This brief study also touches on the various attempt worldwide to incorporate the legal status of the ship type "auxiliary cruiser" into international public and military law. Because of geopolitically based conflicts of interest between the naval powers, these endeavours were only partially successful. ln conclusion the author examines the auxiliary cruiser concept of the Imperial German Navy, whose goal it was to interfere with and impair the enemy's overseas commerce. The express Iiners originally designated for this purpose, however, were for various reasons inconceivably ill-suited to it. As early as 1915 the German Navy proceeded to commission cargo vessels as auxiliary cruisers, as they were inconspicuous and easier to supply. This was then the mode of operation employed by the navy during World War II