First results in terrain mapping for a roving planetary explorer

To perform planetary exploration without human supervision, a complete autonomous rover must be able to model its environment while exploring its surroundings. Researchers present a new algorithm to construct a geometric terrain representation from a single range image. The form of the representation is an elevation map that includes uncertainty, unknown areas, and local features. By virtue of working in spherical-polar space, the algorithm is independent of the desired map resolution and the orientation of the sensor, unlike other algorithms that work in Cartesian space. They also describe new methods to evaluate regions of the constructed elevation maps to support legged locomotion over rough terrain

Effect of jet fuel aromatics on in-flame soot distribution and particle morphology in a small-bore compression ignition engine

This study reports the effect of fuel aromatic content on soot particle development inside the cylinder of an optically accessible engine. A custom-made set of fuels of 4%, 14% and 24% aromatic content was carefully studied under pilot-main injection conditions. Time-resolved imaging of cool frame, OH* chemiluminescence signals and soot luminosity were performed to visualise the overall reaction development. Planar laser induced fluorescence imaging of HCHO and incandescence imaging of soot were also performed to obtain detailed understanding of reactions and soot distributions. Soot is analysed at a particle level. Using the thermophoresis-based particle sampling method, soot aggregates were collected from multiple in-bowl locations. The subsequent transmission electron microscope (TEM) imaging of the collected soot particles enables structural analysis of soot particles as well as sub-nano-scale carbon layers. The results showed that the aromatic content has little impact on reactions and flame development among the tested fuels. However, the soot formation starts to occur earlier, and its growth rate is much higher for a higher aromatic fuel. As a result, both the peak soot and remaining soot is measured higher for a higher aromatic fuel. The carbon-layer fringe analysis shows more mature, graphitised structures with higher aromatics at both formation-dominant and oxidation-dominant stages. The most noticeable trend is observed from larger soot aggregates for a higher aromatic fuel while the overall shapes are similar

Quantitative Screening of Cervical Cancers for Low-Resource Settings: Pilot Study of Smartphone-Based Endoscopic Visual Inspection After Acetic Acid Using Machine Learning Techniques

Background: Approximately 90% of global cervical cancer (CC) is mostly found in low- and middle-income countries. In most cases, CC can be detected early through routine screening programs, including a cytology-based test. However, it is logistically difficult to offer this program in low-resource settings due to limited resources and infrastructure, and few trained experts. A visual inspection following the application of acetic acid (VIA) has been widely promoted and is routinely recommended as a viable form of CC screening in resource-constrained countries. Digital images of the cervix have been acquired during VIA procedure with better quality assurance and visualization, leading to higher diagnostic accuracy and reduction of the variability of detection rate. However, a colposcope is bulky, expensive, electricity-dependent, and needs routine maintenance, and to confirm the grade of abnormality through its images, a specialist must be present. Recently, smartphone-based imaging systems have made a significant impact on the practice of medicine by offering a cost-effective, rapid, and noninvasive method of evaluation. Furthermore, computer-aided analyses, including image processing-based methods and machine learning techniques, have also shown great potential for a high impact on medicinal evaluations

Radiating dipoles in photonic crystals

The radiation dynamics of a dipole antenna embedded in a Photonic Crystal are modeled by an initially excited harmonic oscillator coupled to a non--Markovian bath of harmonic oscillators representing the colored electromagnetic vacuum within the crystal. Realistic coupling constants based on the natural modes of the Photonic Crystal, i.e., Bloch waves and their associated dispersion relation, are derived. For simple model systems, well-known results such as decay times and emission spectra are reproduced. This approach enables direct incorporation of realistic band structure computations into studies of radiative emission from atoms and molecules within photonic crystals. We therefore provide a predictive and interpretative tool for experiments in both the microwave and optical regimes.Comment: Phys. Rev. E, accepte

On the equivalence of the Langevin and auxiliary field quantization methods for absorbing dielectrics

Recently two methods have been developed for the quantization of the electromagnetic field in general dispersing and absorbing linear dielectrics. The first is based upon the introduction of a quantum Langevin current in Maxwell's equations [T. Gruner and D.-G. Welsch, Phys. Rev. A 53, 1818 (1996); Ho Trung Dung, L. Kn\"{o}ll, and D.-G. Welsch, Phys. Rev. A 57, 3931 (1998); S. Scheel, L. Kn\"{o}ll, and D.-G. Welsch, Phys. Rev. A 58, 700 (1998)], whereas the second makes use of a set of auxiliary fields, followed by a canonical quantization procedure [A. Tip, Phys. Rev. A 57, 4818 (1998)]. We show that both approaches are equivalent.Comment: 7 pages, RevTeX, no figure

C5 Extract Induces Apoptosis in B16F10 Murine Melanoma Cells through Extrinsic and Intrinsic Apoptotic Pathways and Sub-G1 Phase Arrest

Purpose: To investigate the anti-cancer activities of C5 extract (C5E), a new herbal preparation from Korea, on B16F10 cells.Methods: The anti-proliferative effects of C5E were assessed by culturing B16F10 cells in the presence or absence of C5E. Cell cycle progression was analyzed by PI staining using flow cytometry. The quantities of apoptosis-inducing proteins were measured by Western blot.Results: C5E inhibited the proliferation of B16F10 cells but not human keratinocytes. C5E induced S phase arrest by interfering with cell regulatory factors such as cyclins B1, D1, D3, and E, and cyclindependent kinase 2, in B16F10 cells. Furthermore, immunoblot analysis confirmed that treatment with C5E induced apoptosis and cleaved caspase-3, poly (ADP-ribose) polymerase, via extrinsic pathway, whereas Bcl-2 expression was down-regulated. In addition, the suppression of cell proliferation by C5E is through down-regulation of p-Akt, up-regulation of phosphatase and tensin homolog protein expression via phosphoinositol 3 kinase survival signaling pathways in B16F10 cells. The combined cytotoxic effects of C5E and vinblastine generated 10 % increase in activity in contrast to the sum of the inhibitory effects of the individual agents.Conclusion: C5E shows promising anti-cancer activity and can be a useful adjuvant with vinblastine in combination therapeutic treatment of skin cancer.Keywords: Melanoma, Apoptosis, Anti-cancer, p53, Vinblastine, Cell cycle arrest, Caspas

Multipole interaction between atoms and their photonic environment

Macroscopic field quantization is presented for a nondispersive photonic dielectric environment, both in the absence and presence of guest atoms. Starting with a minimal-coupling Lagrangian, a careful look at functional derivatives shows how to obtain Maxwell's equations before and after choosing a suitable gauge. A Hamiltonian is derived with a multipolar interaction between the guest atoms and the electromagnetic field. Canonical variables and fields are determined and in particular the field canonically conjugate to the vector potential is identified by functional differentiation as minus the full displacement field. An important result is that inside the dielectric a dipole couples to a field that is neither the (transverse) electric nor the macroscopic displacement field. The dielectric function is different from the bulk dielectric function at the position of the dipole, so that local-field effects must be taken into account.Comment: 17 pages, to be published in Physical Review

The Role of Repeated Exposure to Multimodal Input in Incidental Acquisition of Foreign Language Vocabulary

Prior research has reported incidental vocabulary acquisition with complete beginners in a foreign language (FL), within 8 exposures to auditory and written FL word forms presented with a picture depicting their meaning. However, important questions remain about whether acquisition occurs with fewer exposures to FL words in a multimodal situation and whether there is a repeated exposure effect. Here we report a study where the number of exposures to FL words in an incidental learning phase varied between 2, 4, 6, and 8 exposures. Following the incidental learning phase, participants completed an explicit learning task where they learned to recognize written translation equivalents of auditory FL word forms, half of which had occurred in the incidental learning phase. The results showed that participants performed better on the words they had previously been exposed to, and that this incidental learning effect occurred from as little as 2 exposures to the multimodal stimuli. In addition, repeated exposure to the stimuli was found to have a larger impact on learning during the first few exposures and decrease thereafter, suggesting that the effects of repeated exposure on vocabulary acquisition are not necessarily constant

The C-Fern (Ceratopteris richardii) Genome: Insights Into Plant Genome Evolution With the First Partial Homosporous Fern Genome Assembly

Ferns are notorious for possessing large genomes and numerous chromosomes. Despite decades of speculation, the processes underlying the expansive genomes of ferns are unclear, largely due to the absence of a sequenced homosporous fern genome. The lack of this crucial resource has not only hindered investigations of evolutionary processes responsible for the unusual genome characteristics of homosporous ferns, but also impeded synthesis of genome evolution across land plants. Here, we used the model fern species Ceratopteris richardii to address the processes (e.g., polyploidy, spread of repeat elements) by which the large genomes and high chromosome numbers typical of homosporous ferns may have evolved and have been maintained. We directly compared repeat compositions in species spanning the green plant tree of life and a diversity of genome sizes, as well as both short- and long-read-based assemblies of Ceratopteris. We found evidence consistent with a single ancient polyploidy event in the evolutionary history of Ceratopteris based on both genomic and cytogenetic data, and on repeat proportions similar to those found in large flowering plant genomes. This study provides a major stepping-stone in the understanding of land plant evolutionary genomics by providing the first homosporous fern reference genome, as well as insights into the processes underlying the formation of these massive genomes