Efficient Autonomous Navigation for Planetary Rovers with Limited Resources

Rovers operating on Mars are in need of more and more autonomous features to ful ll their challenging mission requirements. However, the inherent constraints of space systems make the implementation of complex algorithms an expensive and difficult task. In this paper we propose a control architecture for autonomous navigation. Efficient implementations of autonomous features are built on top of the current ExoMars navigation method, enhancing the safety and traversing capabilities of the rover. These features allow the rover to detect and avoid hazards and perform long traverses by following a roughly safe path planned by operators on ground. The control architecture implementing the proposed navigation mode has been tested during a field test campaign on a planetary analogue terrain. The experiments evaluated the proposed approach, autonomously completing two long traverses while avoiding hazards. The approach only relies on the optical Localization Cameras stereobench, a sensor that is found in all rovers launched so far, and potentially allows for computationally inexpensive long-range autonomous navigation in terrains of medium difficulty

Molecular epidemiology of domestic and sylvatic Trypanosoma cruzi infection in rural northwestern Argentina

Genetic diversity of Trypanosoma cruzi populations and parasite transmission dynamics have been well documented throughout the Americas, but few studies have been conducted in the Gran Chaco ecoregion, one of the most highly endemic areas for Chagas disease, caused by T. cruzi. In this study, we assessed the distribution of T. cruzi lineages (identified by PCR strategies) in Triatoma infestans, domestic dogs, cats, humans and sylvatic mammals from two neighbouring rural areas with different histories of transmission and vector control in northern Argentina. Lineage II predominated amongst the 99 isolates characterised and lineage I amongst the six isolates obtained from sylvatic mammals. T. cruzi lineage IIe predominated in domestic habitats; it was found in 87% of 54 isolates from Tr. infestans, in 82% of 33 isolates from dogs, and in the four cats found infected. Domestic and sylvatic cycles overlapped in the study area in the late 1980s, when intense domestic transmission occurred, and still overlap marginally. The introduction of T. cruzi from sylvatic into domestic habitats is likely to occur very rarely in the current epidemiological context. The household distribution of T. cruzi lineages showed that Tr. infestans, dogs and cats from a given house compound shared the same parasite lineage in most cases. Based on molecular evidence, this result lends further support to the importance of dogs and cats as domestic reservoir hosts of T. cruzi. We believe that in Argentina, this is the first time that lineage IIc has been isolated from naturally infected domestic dogs and Tr. infestans.Fil: Cardinal, Marta Victoria. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Ecología, Genética y Evolución; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Ecología, Genética y Evolución de Buenos Aires. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Ecología, Genética y Evolución de Buenos Aires; ArgentinaFil: Lauricella, Marta A.. Dirección Nacional de Instituto de Investigación. Administración Nacional de Laboratorio e Instituto de Salud “Dr. C.G. Malbrán”. Instituto Nacional de Parasitología “Dr. M. Fatala Chabén”; ArgentinaFil: Ceballos, Leonardo A.. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Ecología, Genética y Evolución; ArgentinaFil: Lanati, Leonardo. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Ecología, Genética y Evolución; ArgentinaFil: Marcet, Paula Lorena. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Ecología, Genética y Evolución; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Ecología, Genética y Evolución de Buenos Aires. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Ecología, Genética y Evolución de Buenos Aires; ArgentinaFil: Levin, Mariano Jorge. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Instituto de Investigaciones en Ingeniería Genética y Biología Molecular "Dr. Héctor N. Torres"; ArgentinaFil: Kitron, Uriel D.. Emory University; Estados UnidosFil: Gurtler, Ricardo Esteban. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Ecología, Genética y Evolución; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Ecología, Genética y Evolución de Buenos Aires. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Ecología, Genética y Evolución de Buenos Aires; ArgentinaFil: Schijman, Alejandro Gabriel. Consejo Nacional de Investigaciones Científicas y Técnicas. Instituto de Investigaciones en Ingeniería Genética y Biología Molecular "Dr. Héctor N. Torres"; Argentin

Linajes de Trypanosoma cruzi en pacientes con enfermedad de Chagas y coinfección por VIH

Introducción. Las poblaciones naturales de T. cruzi han sido clasificadas en seis linajes filogenéticos o unidades de tipificación discreta: T. cruzi I, IIa, IIb, IIc, IId y IIe, que pueden jugar un rol en el tropismo tisular y patogénesis de la enfermedad de Chagas. El impacto de la infección por VIH en la diversidad genética de T. cruzi en pacientes coinfectados es un campo poco explorado en parasitología. Objetivo. Caracterizar linajes de poblaciones parasitarias naturales en muestras clínicas de pacientes coinfectados por T. cruzi y VIH. Materiales y Métodos. Se analizaron muestras de sangre y/o lesiones de 25 pacientes residentes en Argentina: 8 pediátricos nacidos de 7 madres coinfectadas, 3 adultos con Chagas indeterminado y VIH y 7 con encefalitis chagásica por SIDA. El diagnóstico molecular y seguimiento de tratamiento etiológico se realizó por PCR hacia secuencias del minicírculo y/o satélite. Los linajes de T. cruzi fueron identificados por PCR para fragmentos de genes para miniexón y ARN ribosomal 24s. La diversidad infra-linaje fue caracterizada por polimorfismo de fragmentos de restricción de las regiones variables del minicírculo. Resultados. De las 7 madres coinfectadas, 2 transmitieron tanto VIH como T. cruzi a sus hijos y 4 sólo transmitieron T. cruzi. El otro caso fue una mujer embarazada que al entrar en coma por presentar un cuadro de Chagas cerebral fue tratada con Benznidazol y no transmitió ni Chagas ni VIH a su hija. En los casos tratados se observó la negativización de la PCR. La mayoría de las poblaciones parasitarias sanguíneas fueron T. cruzi IId, con perfiles de minicírculos particulares de cada paciente, excepto en pares madre-niño infectados, en que resultaron idénticas. Se hallaron poblaciones mixtas con T. cruzi I-IId. En pacientes con reactivación chagásica se encontró tropismo diferencial de T. cruzi IIb y T. cruzi I en lesiones. En estos pacientes los perfiles de minicírculos mostraron patrones complejos sugiriendo poblaciones policlonales. Conclusiones. La elevada proporción de muestras PCR positivas es indicativa de cargas parasitarias más elevadas que en población chagásica sin VIH. Esta exacerbación estaría también implicada en la alta tasa de transmisión vertical. La prevalencia de linaje IId en sangre periférica concuerda con lo hallado en población chagásica en la región. La asociación de linajes infrecuentes en lesiones asociadas a encefalitis chagásica sugiere tropismo diferencial. El análisis directo de linajes parasitarios en muestras clínicas permitió detectar una mayor prevalencia de infecciones mixtas que la detectada a partir de aislamientos en cultivo.Background. Natural populations of T. cruzi have been classified into six phylogenetic lineages or discrete typing units, T. cruzi I, IIa, IIb, IIc, IId, and IIe, believed to play a role in tissue tropism and disease pathogenesis. The impact of HIV infection in the T. cruzi genetic diversity in coinfected patients is a scarcely explored field of parasitology. Objective. To characterize parasitic lineages in clinical samples from patients co-infected with T. cruzi and HIV Materials and Methods. We analyzed blood and lesions samples from 25 patients residing in Argentina, namely 8 infants born to 7 HIV - T. cruzi co-infected mothers, 3 indeterminate adult chagasic patients with HIV co-infection and 7 presenting cerebral Chagas due to AIDS. Molecular diagnosis and monitoring of etiological treatment was carried out by PCR targeted to kinetoplastid (kDNA) and/or satellite sequences. T. cruzi lineages were identified by means of PCR targeted to the intergenic spacer of miniexon gene and 24s ribosomal ARN genes. To characterize the infra-lineage diversity, restriction fragment length polymorphism (RFLP) of KDNA amplicons was carried out. Results. Out of the 7 co-infected mothers, two transmitted both HIV and T. cruzi to their siblings, four transmitted only T. cruzi. The remaining case was a pregnant woman with cerebral Chagas disease who entered into a coma being treated with benznidazole; she did not transmit congenital Chagas disease nor HIV to her newborn. Most bloodstream populations belonged to T. cruzi IId, with unique minicircle signatures for each patient´s strain, but identical signatures between strains from mothers and their congenitally infected infants. Mixtures of lineages T. cruzi I and T. cruzi IId were also detected. Differential tissue tropism of T. cruzi IIb and T. cruzi I was found in patients with cerebral chagas. Minicircle signatures showed complex patterns suggestive of polyclonal populations. Conclusions. The higher proportion of PCR positive samples suggests higher parasite loads that in chagasic population without HIV. The higher prevalence of T. cruzi IId in bloodstream is in agreement with previous findings in this region. The association of rare lineages at sites of encephalytis suggests differential tropism. The direct characterization of parasite lineages in clinical samples allowed identification of a higher prevalence of mixed infections, than previously assumed, from studies based on culture isolates.Fil: Bisio, Margarita María Catalina. Consejo Nacional de Investigaciones Científicas y Técnicas. Instituto de Investigaciones en Ingeniería Genética y Biología Molecular "Dr. Héctor N. Torres"; ArgentinaFil: Cura, Carolina Inés. Consejo Nacional de Investigaciones Científicas y Técnicas. Instituto de Investigaciones en Ingeniería Genética y Biología Molecular "Dr. Héctor N. Torres"; ArgentinaFil: Duffy, Tomás. Consejo Nacional de Investigaciones Científicas y Técnicas. Instituto de Investigaciones en Ingeniería Genética y Biología Molecular "Dr. Héctor N. Torres"; ArgentinaFil: Altcheh, Jaime Marcelo. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Gobierno de la Ciudad de Buenos Aires. Hospital General de Niños "Ricardo Gutiérrez"; ArgentinaFil: Giganti, Salvador Óscar. Servicios de Neurocirugía y Clínica Médica; ArgentinaFil: Begher, Sandra. Gobierno de la Ciudad de Buenos Aires. Hospital de Agudos "Ignacio Pirovano"; ArgentinaFil: Scapellato, Pablo Gustavo. Gobierno de la Ciudad de Buenos Aires. Hospital de Agudos "D. F. Santojanni"; ArgentinaFil: Burgos, Juan Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Instituto de Investigaciones en Ingeniería Genética y Biología Molecular "Dr. Héctor N. Torres"; ArgentinaFil: Levin, Mariano Jorge. Consejo Nacional de Investigaciones Científicas y Técnicas. Instituto de Investigaciones en Ingeniería Genética y Biología Molecular "Dr. Héctor N. Torres"; ArgentinaFil: Schreck, Ricardo. Servicios de Neurocirugía y Clínica Médica; ArgentinaFil: Freilij, Hector León. Gobierno de la Ciudad de Buenos Aires. Hospital General de Niños "Ricardo Gutiérrez"; ArgentinaFil: Schijman, Alejandro Gabriel. Consejo Nacional de Investigaciones Científicas y Técnicas. Instituto de Investigaciones en Ingeniería Genética y Biología Molecular "Dr. Héctor N. Torres"; Argentin

Dynamic path planning for reconfigurable rovers using a multi-layered grid

Autonomy on rovers is desirable in order to extend the traversed distance, and therefore, maximize the number of places visited during the mission. It depends heavily on the information that is available for the traversed surface on other planet. This information may come from the vehicle’s sensors as well as from orbital images. Besides, future exploration missions may consider the use of reconfigurable rovers, which are able to execute multiple locomotion modes to better adapt to different terrains. With these considerations, a path planning algorithm based on the Fast Marching Method is proposed. Environment information coming from different sources is used on a grid formed by two layers. First, the Global Layer with a low resolution, but high extension is used to compute the overall path connecting the rover and the desired goal, using a cost function that takes advantage of the rover locomotion modes. Second, the Local Layer with higher resolution but limited distance is used where the path is dynamically repaired because of obstacle presence. Finally, we show simulation and field test results based on several reconfigurable and non-reconfigurable rover prototypes and a experimental terrain

Molecular diagnosis and typing of Trypanosoma cruzi populations and lineages in cerebral Chagas disease in a patient with AIDS

Trypanosoma cruzi DNA was amplified from an intracranial biopsy and peripheral blood of an HIV patient with encephalitis; this episode was indicative of AIDS and congenital Chagas disease. The analysis of a microsatellite locus revealed a multiclonal parasite population at the brain lesion with a more complex minicircle signature than that profiled in blood using restriction fragment length polymorphism (RFLP)-PCR and low stringency single primer (LSSP) PCR. Interestingly, different sublineages of T. cruzi II were detected in blood and brain by means of spliced-leader and 24s ribosomal-DNA amplifications. Quantitative-competitive PCR monitored the decrease of parasitic load during treatment and secondary prophylaxis with benznidazole. The synergy between parasiticidal plus antiretroviral treatments probably allowed the patient a longer survival than usually achieved in similar episodes. This is the first case report demonstrating a differential distribution of natural parasite populations and sublineages in Chagas disease reactivation, showing the proliferation of cerebral variants not detectable in peripheral blood.Fil: Burgos, Juan Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Instituto de Investigaciones en Ingeniería Genética y Biología Molecular "Dr. Héctor N. Torres"; ArgentinaFil: Bergher, Sandra B.. Gobierno de la Ciudad de Buenos Aires. Hospital "Ignacio Pirovano"; ArgentinaFil: Freitas, Jorge M.. Universidade Federal de Minas Gerais; BrasilFil: Bisio, Margarita María Catalina. Consejo Nacional de Investigaciones Científicas y Técnicas. Instituto de Investigaciones en Ingeniería Genética y Biología Molecular "Dr. Héctor N. Torres"; ArgentinaFil: Altcheh, Jaime Marcelo. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Gobierno de la Ciudad de Buenos Aires. Hospital General de Niños "Ricardo Gutiérrez"; ArgentinaFil: Teijeiro, Ricardo. Gobierno de la Ciudad de Buenos Aires. Hospital "Ignacio Pirovano"; ArgentinaFil: Begher, Sandra B.. Gobierno de la Ciudad de Buenos Aires. Hospital "Ignacio Pirovano"; ArgentinaFil: Freilij, Hector León. Gobierno de la Ciudad de Buenos Aires. Hospital General de Niños "Ricardo Gutiérrez"; ArgentinaFil: Deccarlini, Florencia. Gobierno de la Ciudad de Buenos Aires. Hospital "Ignacio Pirovano"; ArgentinaFil: Levalle, Jorge. Gobierno de la Ciudad de Buenos Aires. Hospital "Ignacio Pirovano"; ArgentinaFil: Lopez Alcoba, Horacio. Gobierno de la Ciudad de Buenos Aires. Hospital "Ignacio Pirovano"; ArgentinaFil: Burgos, Juan Miguel. Consejo Nacional de Investigaciones Científicas y Técnicas. Instituto de Investigaciones en Ingeniería Genética y Biología Molecular "Dr. Héctor N. Torres"; Argentina. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Fisiología, Biología Molecular y Celular; ArgentinaFil: Levin, Mariano Jorge. Consejo Nacional de Investigaciones Científicas y Técnicas. Instituto de Investigaciones en Ingeniería Genética y Biología Molecular "Dr. Héctor N. Torres"; ArgentinaFil: Duffy, Tomás. Consejo Nacional de Investigaciones Científicas y Técnicas. Instituto de Investigaciones en Ingeniería Genética y Biología Molecular "Dr. Héctor N. Torres"; ArgentinaFil: Macedo, Andrea M.. Universidade Federal de Minas Gerais; BrasilFil: Schijman, Alejandro Gabriel. Consejo Nacional de Investigaciones Científicas y Técnicas. Instituto de Investigaciones en Ingeniería Genética y Biología Molecular "Dr. Héctor N. Torres"; Argentin

Agent Based Models and Opinion Dynamics as Markov Chains

This paper introduces a Markov chain approach that allows a rigorous analysis of agent based opinion dynamics as well as other related agent based models (ABM). By viewing the ABM dynamics as a micro description of the process, we show how the corresponding macro description is obtained by a projection construction. Then, well known conditions for lumpability make it possible to establish the cases where the macro model is still Markov. In this case we obtain a complete picture of the dynamics including the transient stage, the most interesting phase in applications. For such a purpose a crucial role is played by the type of probability distribution used to implement the stochastic part of the model which defines the updating rule and governs the dynamics. In addition, we show how restrictions in communication leading to the co-existence of different opinions follow from the emergence of new absorbing states. We describe our analysis in detail with some specific models of opinion dynamics. Generalizations concerning different opinion representations as well as opinion models with other interaction mechanisms are also discussed. We find that our method may be an attractive alternative to mean-field approaches and that this approach provides new perspectives on the modeling of opinion exchange dynamics, and more generally of other ABM.Comment: 26 pages, 12 figure

Incidence and Persistence of Major Depressive Disorder Among People Living with HIV in Uganda.

Data on the course of major depressive disorder (MDD) among people living with HIV (PLWH) are needed to inform refinement of screening and interventions for MDD. This paper describes the incidence and persistence rate of MDD in PLWH in Uganda. 1099 ART-naïve PLWH attending HIV clinics in Uganda were followed up for 12 months. MDD was assessed using the DSM IV based Mini-International Neuropsychiatric Interview with a prevalence for MDD at baseline of 14.0 % (95 % CI 11.7-16.3 %) reported. Multivariable logistic regression was used to determine predictors of incident and persistent MDD. Cumulative incidence of MDD was 6.1 per 100 person-years (95 % CI 4.6-7.8) with significant independent predictors of study site, higher baseline depression scores and increased stress. Persistence of MDD was 24.6 % (95 % CI 17.9-32.5 %) with independent significant predictors of study site, higher baseline depression scores, and increased weight. Risks of incident and persistent MDD observed in this study were high. Potentially modifiable factors of elevated baseline depressive scores and stress (only for incident MDD) were important predictors of incident and persistent MDD

A multistage FE updating procedure for damage identification in large-scale structures based on multiobjective evolutionary optimization

This study aims to develop a multistage scheme for damage detection for large structures based on experimental modal data and on finite element (FE) model updating methods applied on simple FE models. In the first stage, occurrence and approximate location of damage is performed by using damage functions in order to decrease the number of parameters to be updated. The goal in the second stage is to identify the specific damaged members and damage extent by considering only the members belonging to the regions detected as damage in the first stage. To improve identification, the optimization procedure is formulated in a multiobjective context solved by using evolutionary algorithms. Modal flexibilities and a damage location criterion dependent on frequencies and mode shapes are used as two objective functions of the multiobjective problem. The proposal is implemented in simulated case studies and in a case study of a real bridge experimentally tested with successful results

Mapping and modelling the geographical distribution and environmental limits of podoconiosis in Ethiopia

BACKGROUND Ethiopia is assumed to have the highest burden of podoconiosis globally, but the geographical distribution and environmental limits and correlates are yet to be fully investigated. In this paper we use data from a nationwide survey to address these issues. METHODOLOGY Our analyses are based on data arising from the integrated mapping of podoconiosis and lymphatic filariasis (LF) conducted in 2013, supplemented by data from an earlier mapping of LF in western Ethiopia in 2008-2010. The integrated mapping used woreda (district) health offices' reports of podoconiosis and LF to guide selection of survey sites. A suite of environmental and climatic data and boosted regression tree (BRT) modelling was used to investigate environmental limits and predict the probability of podoconiosis occurrence. PRINCIPAL FINDINGS Data were available for 141,238 individuals from 1,442 communities in 775 districts from all nine regional states and two city administrations of Ethiopia. In 41.9% of surveyed districts no cases of podoconiosis were identified, with all districts in Affar, Dire Dawa, Somali and Gambella regional states lacking the disease. The disease was most common, with lymphoedema positivity rate exceeding 5%, in the central highlands of Ethiopia, in Amhara, Oromia and Southern Nations, Nationalities and Peoples regional states. BRT modelling indicated that the probability of podoconiosis occurrence increased with increasing altitude, precipitation and silt fraction of soil and decreased with population density and clay content. Based on the BRT model, we estimate that in 2010, 34.9 (95% confidence interval [CI]: 20.2-51.7) million people (i.e. 43.8%; 95% CI: 25.3-64.8% of Ethiopia's national population) lived in areas environmentally suitable for the occurrence of podoconiosis. CONCLUSIONS Podoconiosis is more widespread in Ethiopia than previously estimated, but occurs in distinct geographical regions that are tied to identifiable environmental factors. The resultant maps can be used to guide programme planning and implementation and estimate disease burden in Ethiopia. This work provides a framework with which the geographical limits of podoconiosis could be delineated at a continental scale