Praziquantel: its use in control of schistosomiasis in sub-Saharan Africa and current research needs

Treatment with praziquantel (PZQ) has become virtually the sole basis of schistosomiasis control in sub-Saharan Africa and elsewhere, and the drug is reviewed here in the context of the increasing rate that it is being used for this purpose. Attention is drawn to our relative lack of knowledge about the mechanisms of action of PZQ at the molecular level, the need for more work to be done on schistosome isolates that have been collected recently from endemic areas rather than those maintained in laboratory conditions for long periods, and our reliance for experimental work mainly on Schistosoma mansoni, little work having been done on S. haematobium. There is no evidence that resistance to PZQ has been induced in African schistosomes as a result of its large-scale use on that continent to date, but there is also no assurance that PZQ and/or schistosomes are in any way unique and that resistant organisms will not be selected as a result of widespread drug usage. The failure of PZQ to produce complete cures in populations given a routine treatment should therefore solicit considerable concern. With few alternatives to PZQ currently available and/or on the horizon, methods to monitor drug-susceptibility in African schistosomes need to be devised and used to help ensure that this drug remains effective for as long a time as possibl

Determining The Effects of Fulvic acid on Biofilm/Planktonic Streptococcus Mutans Growth

poster abstractFulvic acid, a major organic compound extract of Shilajit has been the focus of dental research for the past few years. Shilajit, a sticky tar-like substance of dark brownish color, was used during the ancient times, thousands of years ago and continues to be the traditional method today in India to aid with curing bone/cartilage diseases. Shilajit has also been proven to have anti-inflammatory and pain suppressing effects. This experiment determined the minimum inhibitory concentration (MIC), which is the lowest concentration of fulvic acid, an active component of shilajit that inhibits the visible growth of S. mutans. This experiment also determined the minimum bactericidal concentration (MBC) which is the lowest concentration of fulvic acid that kills S. mutans. A 3-day procedure to determine the growth vs inhibition of the S. mutans was conducted and bacterial readings were recorded using a spectrophotometer after treating S. mutans with 10% formaldehyde, crystal violet stain, and iso-propanol with 30-45 minute incubations between each. The experiment determined that very high concentrations of fulvic acid killed S. mutans, while less concentrated fulvic acid inhibited the growth of S. mutans bacterial cells. A solution comprised of a 5% concentration of fulvic acid killed all of the S. mutans; 5.00%, 2.50%, and 1.25% fulvic acid concentrations had bacterial absorbance of 0.000, 0.009, and 0.027, respectively, as compared to the control group’s normal bacterial growth absorbance of 0.254. Additionally, solutions ranging from a two-fold dilution of fulvic acid to six-fold dilution of fulvic acid inhibited the growth of S. mutans. A similar trend was also observed in planktonic and biofilm formation. For all of the above, in the seventh and eighth dilution (0.078% and 0.039% respectively) of the fulvic acid, the growth of S. mutans bacteria was similar to the control group due to the level of dilution. Overall it was observed that fulvic acid is able to kill bacteria in strong concentrations. Additionally it is able to inhibit further growth of bacteria in lower concentrations, but once the solution becomes too dilute, it does not have an effect on bacterial growth. This contributes greatly to the field of oral health because this data can be utilized for further research on oral bacterial growth inhibitors. Furthermore, the data collected here is a significant starting point for research on the specific minimum concentrations necessary to inhibit oral bacteria growth, because this can be used to determine the smallest amounts of fulvic acid, the bacteria the human body can handle

High-Dimensional Lattice Planning with Optimal Motion Primitives

Lattice-based planning techniques simplify the motion planning problem for autonomous vehicles by limiting available motions to a pre-computed set of primitives. These primitives are then combined online to generate more complex maneuvers. A set of motion primitives t-span a lattice if, given a real number t at least 1, any configuration in the lattice can be reached via a sequence of motion primitives whose cost is no more than a factor of t from optimal. Computing a minimal t-spanning set balances a trade-off between computed motion quality and motion planning performance. In this work, we formulate this problem for an arbitrary lattice as a mixed integer linear program. We also propose an A*-based algorithm to solve the motion planning problem using these primitives. Finally, we present an algorithm that removes the excessive oscillations from planned motions -- a common problem in lattice-based planning. Our method is validated for autonomous driving in both parking lot and highway scenarios.Comment: 12 pages, 9 figures, 2 tables, to be submitted to IEEE Transactions on Intelligent Transportation System

Real-Time Navigation for Autonomous Surface Vehicles In Ice-Covered Waters

Vessel transit in ice-covered waters poses unique challenges in safe and efficient motion planning. When the concentration of ice is high, it may not be possible to find collision-free trajectories. Instead, ice can be pushed out of the way if it is small or if contact occurs near the edge of the ice. In this work, we propose a real-time navigation framework that minimizes collisions with ice and distance travelled by the vessel. We exploit a lattice-based planner with a cost that captures the ship interaction with ice. To address the dynamic nature of the environment, we plan motion in a receding horizon manner based on updated vessel and ice state information. Further, we present a novel planning heuristic for evaluating the cost-to-go, which is applicable to navigation in a channel without a fixed goal location. The performance of our planner is evaluated across several levels of ice concentration both in simulated and in real-world experiments.Comment: 7 pages, 8 figure

Optimizing Task Waiting Times in Dynamic Vehicle Routing

We study the problem of deploying a fleet of mobile robots to service tasks that arrive stochastically over time and at random locations in an environment. This is known as the Dynamic Vehicle Routing Problem (DVRP) and requires robots to allocate incoming tasks among themselves and find an optimal sequence for each robot. State-of-the-art approaches only consider average wait times and focus on high-load scenarios where the arrival rate of tasks approaches the limit of what can be handled by the robots while keeping the queue of unserviced tasks bounded, i.e., stable. To ensure stability, these approaches repeatedly compute minimum distance tours over a set of newly arrived tasks. This paper is aimed at addressing the missing policies for moderate-load scenarios, where quality of service can be improved by prioritizing long-waiting tasks. We introduce a novel DVRP policy based on a cost function that takes the $p$-norm over accumulated wait times and show it guarantees stability even in high-load scenarios. We demonstrate that the proposed policy outperforms the state-of-the-art in both mean and $95^{th}$ percentile wait times in moderate-load scenarios through simulation experiments in the Euclidean plane as well as using real-world data for city scale service requests.Comment: Accepted for publication in IEEE Robotics and Automation Letters (RA-L

Thermodynamic and Economic Assessment of Two Semi-Closed CO 2 Cycles for Emission Abatement and Power Augmentation at Compressor Stations

ABSTRACT Concerns about the effects of greenhouse gas emissions on the Earth's climate have lead to a considerable focus by the public and governments on the levels of emissions that are generated by industrial activities. In Canada, it has been recognized that gas transmission systems are rated second in overall CO2 production in the Natural Gas Industry (next to gas processing). Most of the gas transmission systems are powered by gas turbines at compressor stations resulting in significant CO2 emissions (at the rate of ~ 6 kilo tonnes/ per MW-year). This can be reduced if the CO2 can be separated from the gas turbine exhaust stream and directed for reuse or sequestration. This paper presents results of techno-thermodynamic assessment of two power cycle adjustments to increase CO2 concentrations in the exhaust gas from turbines. The working fluid in the two semi-closed cycles are made rich in CO2, thus making it easy to capture the CO2 from the flue gas by means of physical absorption techniques rather than by the conventional expensive amine adsorption methods. Additionally, the CO2 rich working fluid is shown to give rise to a higher exhaust gas temperature from the gas turbine semi-closed cycles, allowing a steam bottom cycle to be effective in augmenting the power delivered by the entire system by 50%, hence contributing to reducing emission by increasing the overall thermal efficiency of the system

Evaluation of air toxic emissions from advanced and conventional coal-fired power plants

This paper evaluates the air toxics measurements at three advanced power systems and a base case conventional fossil fuel power plant. The four plants tested include a pressurized fluidized bed combustor, integrated gasification combined cycle, circulating fluidized bed combustor, and a conventional coal-fired plant

Renal Heme Oxygenase-1 Induction with Hemin Augments Renal Hemodynamics, Renal Autoregulation, and Excretory Function

Heme oxygenases (HO-1; HO-2) catalyze conversion of heme to free iron, carbon monoxide, and biliverdin/bilirubin. To determine the effects of renal HO-1 induction on blood pressure and renal function, normal control rats (n=7) and hemin-treated rats (n=6) were studied. Renal clearance studies were performed on anesthetized rats to assess renal function; renal blood flow (RBF) was measured using a transonic flow probe placed around the left renal artery. Hemin treatment significantly induced renal HO-1. Mean arterial pressure and heart rate were not different (115±5 mmHg versus 112±4 mmHg and 331±16 versus 346±10 bpm). However, RBF was significantly higher (9.1±0.8 versus 7.0±0.5 mL/min/g, P<0.05), and renal vascular resistance was significantly lower (13.0±0.9 versus 16.6±1.4 [mmHg/(mL/min/g)], P<0.05). Likewise, glomerular filtration rate was significantly elevated (1.4±0.2 versus 1.0±0.1 mL/min/g, P<0.05), and urine flow and sodium excretion were also higher (18.9±3.9 versus 8.2±1.0 μL/min/g, P<0.05 and 1.9±0.6 versus 0.2±0.1 μmol/min/g, P<0.05, resp.). The plateau of the autoregulation relationship was elevated, and renal vascular responses to acute angiotensin II infusion were attenuated in hemin-treated rats reflecting the vasodilatory effect of HO-1 induction. We conclude that renal HO-1 induction augments renal function which may contribute to the antihypertensive effects of HO-1 induction observed in hypertension models

Praziquantel: its use in control of schistosomiasis in sub-Saharan Africa and current research needs

Treatment with praziquantel (PZQ) has become virtually the sole basis of schistosomiasis control in sub-Saharan Africa and elsewhere, and the drug is reviewed here in the context of the increasing rate that it is being used for this purpose. Attention is drawn to our relative lack of knowledge about the mechanisms of action of PZQ at the molecular level, the need for more work to be done on schistosome isolates that have been collected recently from endemic areas rather than those maintained in laboratory conditions for long periods, and our reliance for experimental work mainly on Schistosoma mansoni, little work having been done on S. haematobium. There is no evidence that resistance to PZQ has been induced in African schistosomes as a result of its large-scale use on that continent to date, but there is also no assurance that PZQ and/or schistosomes are in any way unique and that resistant organisms will not be selected as a result of widespread drug usage. The failure of PZQ to produce complete cures in populations given a routine treatment should therefore solicit considerable concern. With few alternatives to PZQ currently available and/or on the horizon, methods to monitor drug-susceptibility in African schistosomes need to be devised and used to help ensure that this drug remains effective for as long a time as possibl