Bayesian Optimisation for Safe Navigation under Localisation Uncertainty

In outdoor environments, mobile robots are required to navigate through terrain with varying characteristics, some of which might significantly affect the integrity of the platform. Ideally, the robot should be able to identify areas that are safe for navigation based on its own percepts about the environment while avoiding damage to itself. Bayesian optimisation (BO) has been successfully applied to the task of learning a model of terrain traversability while guiding the robot through more traversable areas. An issue, however, is that localisation uncertainty can end up guiding the robot to unsafe areas and distort the model being learnt. In this paper, we address this problem and present a novel method that allows BO to consider localisation uncertainty by applying a Gaussian process model for uncertain inputs as a prior. We evaluate the proposed method in simulation and in experiments with a real robot navigating over rough terrain and compare it against standard BO methods.Comment: To appear in the proceedings of the 18th International Symposium on Robotics Research (ISRR 2017

Does implementation matter if comprehension is lacking? A qualitative investigation into perceptions of advance care planning in people with cancer

Purpose: While advance care planning holds promise, uptake is variable and it is unclear how well people engage with or comprehend advance care planning. The objective of this study was to explore how people with cancer comprehended Advance Care Plans and examine how accurately advance care planning documentation represented patient wishes. Methods: This study used a qualitative descriptive design. Data collection comprised interviews and an examination of participants’ existing advance care planning documentation. Participants included those who had any diagnosis of cancer with an advance care plan recorded: Refusal of Treatment Certificate; Statement of Choices; and/or Enduring Power of Attorney (Medical Treatment) at one cancer treatment centre. Results: Fourteen participants were involved in the study. Twelve participants were female (86%). The mean age was 77 (range: 61-91) and participants had completed their advance care planning documentation between 8 and 72 weeks prior to the interview (mean 33 weeks). Three themes were evident from the data: Incomplete advance care planning understanding and confidence; Limited congruence for attitude and documentation; Advance care planning can enable peace of mind. Complete advance care planning understanding was unusual; most participants demonstrated partial comprehension of their own advance care plan, and some indicated very limited understanding. Participants’ attitudes and their written document congruence was limited, but advance care planning was seen as helpful. Conclusions: This study highlighted advance care planning was not a completely accurate representation of patient wishes. There is opportunity to improve how patients comprehend their own advance care planning documentation

de Sitter Thick Brane Solution in Weyl Geometry

In this paper, we consider a de Sitter thick brane model in a pure geometric Weyl integrable five-dimensional space-time, which is a generalization of Riemann geometry and is invariant under a so-called Weyl rescaling. We find a solution of this model via performing a conformal transformation to map the Weylian structure into a familiar Riemannian one with a conformal metric. The metric perturbations of the model are discussed. For gravitational perturbation, we get the effective modified P$\ddot{\text{o}}$schl-Teller potential in corresponding Schr$\ddot{\text{o}}$dinger equation for Kaluza-Klein (KK) modes of the graviton. There is only one bound state, which is a normalizable massless zero mode and represents a stable 4-dimensional graviton. Furthermore, there exists a mass gap between the massless mode and continuous KK modes. We also find that the model is stable under the scalar perturbation in the metric. The correction to the Newtonian potential on the brane is proportional to $e^{-3 r \beta/2}/r^2$, where $\beta$ is the de Sitter parameter of the brane. This is very different from the correction caused by a volcano-like effective potential.Comment: 24 pages, 13 figures, published versio

Transcriptional dynamics of colorectal cancer risk associated variation at 11q23.1 correlate with tuft cell abundance and marker expression in silico

Colorectal cancer (CRC) is characterised by heritable risk that is not well understood. Heritable, genetic variation at 11q23.1 is associated with increased colorectal cancer (CRC) risk, demonstrating eQTL effects on 3 cis- and 23 trans-eQTL targets. We sought to determine the relationship between 11q23.1 cis- and trans-eQTL target expression and test for potential cell-specificity. scRNAseq from 32,361 healthy colonic epithelial cells was aggregated and subject to weighted gene co-expression network analysis (WGCNA). One module (blue) included 19 trans-eQTL targets and was correlated with POU2AF2 expression only. Following unsupervised clustering of single cells, the expression of 19 trans-eQTL targets was greatest and most variable in cluster number 11, which transcriptionally resembled tuft cells. 14 trans-eQTL targets were found to demarcate this cluster, 11 of which were corroborated in a second dataset. Intra-cluster WGCNA and module preservation analysis then identified twelve 11q23.1 trans-eQTL targets to comprise a network that was specific to cluster 11. Finally, linear modelling and differential abundance testing showed 11q23.1 trans-eQTL target expression was predictive of cluster 11 abundance. Our findings suggest 11q23.1 trans-eQTL targets comprise a POU2AF2-related network that is likely tuft cell-specific and reduced expression of these genes correlates with reduced tuft cell abundance in silico

Are lay people good at recognising the symptoms of schizophrenia?

©2013 Erritty, Wydell. This is an open-access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.This article has been made available through the Brunel Open Access Publishing Fund.Aim: The aim of this study was to explore the general public’s perception of schizophrenia symptoms and the need to seekhelp for symptoms. The recognition (or ‘labelling’) of schizophrenia symptoms, help-seeking behaviours and public awareness of schizophrenia have been suggested as potentially important factors relating to untreated psychosis. Method: Participants were asked to rate to what extent they believe vignettes describing classic symptoms (positive and negative) of schizophrenia indicate mental illness. They were also asked if the individuals depicted in the vignettes required help or treatment and asked to suggest what kind of help or treatment. Results: Only three positive symptoms (i.e., Hallucinatory behaviour, Unusual thought content and Suspiciousness) of schizophrenia were reasonably well perceived (above 70%) as indicating mental illness more than the other positive or negative symptoms. Even when the participants recognised that the symptoms indicated mental illness, not everyone recommended professional help. Conclusion: There may be a need to improve public awareness of schizophrenia and psychosis symptoms, particularly regarding an awareness of the importance of early intervention for psychosis

Stratigraphy, palaeoenvironments and geochemistry across the Triassic–Jurassic boundary transition at Carnduff, County Antrim, Northern Ireland

The latest Triassic to earliest Jurassic transition has been widely studied due the occurrence of a major global extinction associated with a global hyperthermal event in this interval. Furthermore, a number of distinct geochemical events in the global carbon cycle can be recognised in the stable-isotope record across this boundary interval at many localities. Two fully-cored boreholes from East Antrim in Northern Ireland (Carnduff-1 and Carnduff-2) have penetrated sediments of latest Triassic to Early Jurassic age (Rhaetian to Early Sinemurian). Ammonites, foraminifera, ostracods and palynomorphs provide a robust chronology as well as insights to palaeoenvironmental conditions during this period. The sedimentary and palynological evidence support a largely marginal-marine setting for the sediments of the Triassic Penarth Group while a range of palaeontological evidence shows that the Early Jurassic Waterloo Mudstone Formation represents shallow-marine, shelf conditions that represent generally well-oxygenated bottom waters, with little evidence for dysoxia. Detailed ammonite biostratigraphy (ammonites first occur about 7.5 m up from the base of the Lias Group) indicates that the cores represent largely continuous sedimentation through the Hettangian and earliest Sinemurian (to Turneri Chronozone, Birchi Subchronozone). Stable-isotope analysis of both carbonate and organic carbon show a distinct carbon isotope excursion (CIE) in both fractions through the Cotham and Langport members (Lilstock Formation, Penarth Group, latest Triassic) which are considered to correlate with the distinctive ‘Initial’ CIE witnessed in SW England and probably the GSSP and other sites across the world

Snacking on whole almonds for 6 weeks improves endothelial function and lowers LDL cholesterol but does not affect liver fat and other cardiometabolic risk factors in healthy adults: the ATTIS study, a randomized controlled trial

Background There is convincing evidence that daily whole almond consumption lowers blood LDL cholesterol concentrations, but effects on other cardiometabolic risk factors such as endothelial function and liver fat are still to be determined. Objectives We aimed to investigate whether isoenergetic substitution of whole almonds for control snacks with the macronutrient profile of average snack intakes, had any impact on markers of cardiometabolic health in adults aged 30–70 y at above-average risk of cardiovascular disease (CVD). Methods The study was a 6-wk randomized controlled, parallel-arm trial. Following a 2-wk run-in period consuming control snacks (mini-muffins), participants consumed either whole roasted almonds (n = 51) or control snacks (n = 56), providing 20% of daily estimated energy requirements. Endothelial function (flow-mediated dilation), liver fat (MRI/magnetic resonance spectroscopy), and secondary outcomes as markers of cardiometabolic disease risk were assessed at baseline and end point. Results Almonds, compared with control, increased endothelium-dependent vasodilation (mean difference 4.1%-units of measurement; 95% CI: 2.2, 5.9), but there were no differences in liver fat between groups. Plasma LDL cholesterol concentrations decreased in the almond group relative to control (mean difference −0.25 mmol/L; 95% CI: −0.45, −0.04), but there were no group differences in triglycerides, HDL cholesterol, glucose, insulin, insulin resistance, leptin, adiponectin, resistin, liver function enzymes, fetuin-A, body composition, pancreatic fat, intramyocellular lipids, fecal SCFAs, blood pressure, or 24-h heart rate variability. However, the long-phase heart rate variability parameter, very-low-frequency power, was increased during nighttime following the almond treatment compared with control (mean difference 337 ms2; 95% CI: 12, 661), indicating greater parasympathetic regulation. Conclusions Whole almonds consumed as snacks markedly improve endothelial function, in addition to lowering LDL cholesterol, in adults with above-average risk of CVD. This trial was registered at clinicaltrials.gov as NCT02907684

Falkland Island peatland development processes and the pervasive presence of fire

Acknowledgments RJP secured funding for this research from the Quaternary Research Association, University of York and the Russian Science Foundation (19-14-00102). We thank Paul Brickle and other members of the South Atlantic Environmental Research Institute for their help with logistics, David Large for valuable discussions about Falkland Islands peat and all landowners for access permission. This work is dedicated to Richard J. Payne who was tragically killed while climbing Peak 6477, a previously unclimbed subsidiary peak of Nanda Devi (Garhwal Himalayas) in May 2019. CRediT authorship contribution statement Dmitri Mauquoy: Conceptualization, Investigation, Writing - original draft, Writing - review & editing. Richard J. Payne: Conceptualization, Investigation. Kirill V. Babeshko: Investigation, Writing - original draft, Writing - review & editing. Rebecca Bartlett: Investigation, Writing - original draft, Writing - review & editing. Ian Boomer: Investigation. Hannah Bowey: Investigation. Chris D. Evans: Conceptualization, Writing - original draft, Writing - review & editing. Fin Ring-Hrubesh: Investigation. David Muirhead: Methodology, Investigation, Writing - original draft, Writing - review & editing. Matthew O’Callaghan: Investigation. Natalia Piotrowska: Investigation. Graham Rush: Investigation. Thomas Sloan: Investigation. Craig Smeaton: Methodology, Investigation, Writing - original draft. Andrey N. Tsyganov: Investigation, Writing - original draft, Writing - review & editing. Yuri A. Mazei: Investigation, Writing - original draft, Writing - review & editing.Peer reviewedPostprin

Double-Stranded RNA Attenuates the Barrier Function of Human Pulmonary Artery Endothelial Cells

Circulating RNA may result from excessive cell damage or acute viral infection and can interact with vascular endothelial cells. Despite the obvious clinical implications associated with the presence of circulating RNA, its pathological effects on endothelial cells and the governing molecular mechanisms are still not fully elucidated. We analyzed the effects of double stranded RNA on primary human pulmonary artery endothelial cells (hPAECs). The effect of natural and synthetic double-stranded RNA (dsRNA) on hPAECs was investigated using trans-endothelial electric resistance, molecule trafficking, calcium (Ca2+) homeostasis, gene expression and proliferation studies. Furthermore, the morphology and mechanical changes of the cells caused by synthetic dsRNA was followed by in-situ atomic force microscopy, by vascular-endothelial cadherin and F-actin staining. Our results indicated that exposure of hPAECs to synthetic dsRNA led to functional deficits. This was reflected by morphological and mechanical changes and an increase in the permeability of the endothelial monolayer. hPAECs treated with synthetic dsRNA accumulated in the G1 phase of the cell cycle. Additionally, the proliferation rate of the cells in the presence of synthetic dsRNA was significantly decreased. Furthermore, we found that natural and synthetic dsRNA modulated Ca2+ signaling in hPAECs by inhibiting the sarco-endoplasmic Ca2+-ATPase (SERCA) which is involved in the regulation of the intracellular Ca2+ homeostasis and thus cell growth. Even upon synthetic dsRNA stimulation silencing of SERCA3 preserved the endothelial monolayer integrity. Our data identify novel mechanisms by which dsRNA can disrupt endothelial barrier function and these may be relevant in inflammatory processes

Effect of pasture versus indoor feeding systems on raw milk composition and quality over an entire lactation

peer-reviewedThe aim of this study was to investigate the effects of different feeding systems on milk quality and composition. Fifty-four multiparous and primiparous Friesian lactating cows were divided into 3 groups (n=18) to study the effects of 3 feeding systems over a full lactation. Group 1 was housed indoors and offered a total mixed ration diet (TMR), group 2 was maintained outdoors on a perennial ryegrass pasture (referred to as grass), and group 3 was also grazed outdoors on a perennial ryegrass/white clover pasture (referred to as clover). Bulk milk samples were collected from each group at morning and afternoon milkings once weekly from March 11 to October 28 in 2015. Milk from pasture-fed cows (grass and clover) had significantly higher concentrations of fat, protein, true protein, and casein. The pasture feeding systems induced significantly higher concentrations of saturated fatty acids C11:0, C13:0, C15:0, C17:0, C23:0, and unsaturated fatty acids C18:2n-6 trans, C18:3n-3, C20:1, and C20:4n-6 and a greater than 2-fold increase in the conjugated linoleic acid C18:2 cis-9,trans-11 content of milk compared with that of the TMR feeding system. The TMR feeding system resulted in milks with increased concentrations of C16:0, C18:2n-6 cis, C18:3n-6 cis, C22:0 C22:1n-9, and C18:2 cis-10,trans-12. Principal component analysis of average fatty acid profiles showed clear separation of milks from the grazed pasture-based diets to that of a TMR system throughout lactation, offering further insight into the ability to verify pasture-derived milk by fatty acid profiling