Obstacle Avoidance Using Echo Sounder Sonar

Developing obstacle avoidance algorithms for low cost Autonomous Underwater Vehicles using single beam returned echo sounder sonar is a difficult task. In this paper, we propose an intelligent obstacle avoidance algorithm that maps the obstacle, avoids it with a guarantee that it will not get stuck and efficiently traverses a path towards the destination using navigation functions. We present a complete obstacle avoidance system with the help of hybrid automata, probabilistic mapping and navigation functions. Simulation results are presented showing the validity of our approach

The Soft-Collinear Bootstrap: N=4 Yang-Mills Amplitudes at Six and Seven Loops

Infrared divergences in scattering amplitudes arise when a loop momentum $\ell$ becomes collinear with a massless external momentum $p$. In gauge theories, it is known that the L-loop logarithm of a planar amplitude has much softer infrared singularities than the L-loop amplitude itself. We argue that planar amplitudes in N=4 super-Yang-Mills theory enjoy softer than expected behavior as $\ell \parallel p$ already at the level of the integrand. Moreover, we conjecture that the four-point integrand can be uniquely determined, to any loop-order, by imposing the correct soft-behavior of the logarithm together with dual conformal invariance and dihedral symmetry. We use these simple criteria to determine explicit formulae for the four-point integrand through seven-loops, finding perfect agreement with previously known results through five-loops. As an input to this calculation we enumerate all four-point dual conformally invariant (DCI) integrands through seven-loops, an analysis which is aided by several graph-theoretic theorems we prove about general DCI integrands at arbitrary loop-order. The six- and seven-loop amplitudes receive non-zero contributions from 229 and 1873 individual DCI diagrams respectively.Comment: 27 pages, 48 figures, detailed results including PDF and Mathematica files available at http://goo.gl/qIKe8 v2: minor corrections v3: figure 7 corrected, Lemma 2 remove

Hepatitis B virus genotypes circulating in Brazil: molecular characterization of genotype F isolates

<p>Abstract</p> <p>Background</p> <p>Hepatitis B virus (HBV) isolates have been classified in eight genotypes, A to H, which exhibit distinct geographical distributions. Genotypes A, D and F are predominant in Brazil, a country formed by a miscegenated population, where the proportion of individuals from Caucasian, Amerindian and African origins varies by region. Genotype F, which is the most divergent, is considered indigenous to the Americas. A systematic molecular characterization of HBV isolates from different parts of the world would be invaluable in establishing HBV evolutionary origins and dispersion patterns. A large-scale study is needed to map the region-by-region distribution of the HBV genotypes in Brazil.</p> <p>Results</p> <p>Genotyping by PCR-RFLP of 303 HBV isolates from HBsAg-positive blood donors showed that at least two of the three genotypes, A, D, and F, co-circulate in each of the five geographic regions of Brazil. No other genotypes were identified. Overall, genotype A was most prevalent (48.5%), and most of these isolates were classified as subgenotype A1 (138/153; 90.2%). Genotype D was the most common genotype in the South (84.2%) and Central (47.6%) regions. The prevalence of genotype F was low (13%) countrywide. Nucleotide sequencing of the S gene and a phylogenetic analysis of 32 HBV genotype F isolates showed that a great majority (28/32; 87.5%) belonged to subgenotype F2, cluster II. The deduced serotype of 31 of 32 F isolates was <it>adw4</it>. The remaining isolate showed a leucine-to-isoleucine substitution at position 127.</p> <p>Conclusion</p> <p>The presence of genotypes A, D and F, and the absence of other genotypes in a large cohort of HBV infected individuals may reflect the ethnic origins of the Brazilian population. The high prevalence of isolates from subgenotype A1 (of African origin) indicates that the African influx during the colonial slavery period had a major impact on the circulation of HBV genotype A currently found in Brazil. Although most genotype F isolates belonged to cluster II, the presence of some isolates belonging to clusters I (subgroup Ib) and IV suggests the existence of two or more founder viral populations of genotype F in Brazil.</p

The use of the Nursing Activities Score in clinical settings: an integrative review

ABSTRACT Objective analyze how studies have approached the results obtained from the application of the Nursing Activities Score (NAS) based on Donabedian’s model of healthcare organization and delivery. Method CINAHL and PubMed databases were searched for papers published between 2003 and March 2015. Results 36 articles that met the inclusion criteria were reviewed and double-coded by three independent coders and analyzed based on the three elements of Donabedian’s health care quality framework: structure, process and outcome. The most frequently addressed, but not always tested, variables were those that fell into the structure category. Conclusion variables that fell into the process category were used less frequently. Beside NAS, the most frequently used variables in the outcome category were mortality and length of stay. However, no study used a quality framework for healthcare or NAS to evaluate costs, and it is recommended that further research should explore this approach

Genome of the Avirulent Human-Infective Trypanosome—Trypanosoma rangeli

Background: Trypanosoma rangeli is a hemoflagellate protozoan parasite infecting humans and other wild and domestic mammals across Central and South America. It does not cause human disease, but it can be mistaken for the etiologic agent of Chagas disease, Trypanosoma cruzi. We have sequenced the T. rangeli genome to provide new tools for elucidating the distinct and intriguing biology of this species and the key pathways related to interaction with its arthropod and mammalian hosts.  Methodology/Principal Findings: The T. rangeli haploid genome is ,24 Mb in length, and is the smallest and least repetitive trypanosomatid genome sequenced thus far. This parasite genome has shorter subtelomeric sequences compared to those of T. cruzi and T. brucei; displays intraspecific karyotype variability and lacks minichromosomes. Of the predicted 7,613 protein coding sequences, functional annotations could be determined for 2,415, while 5,043 are hypothetical proteins, some with evidence of protein expression. 7,101 genes (93%) are shared with other trypanosomatids that infect humans. An ortholog of the dcl2 gene involved in the T. brucei RNAi pathway was found in T. rangeli, but the RNAi machinery is non-functional since the other genes in this pathway are pseudogenized. T. rangeli is highly susceptible to oxidative stress, a phenotype that may be explained by a smaller number of anti-oxidant defense enzymes and heatshock proteins.  Conclusions/Significance: Phylogenetic comparison of nuclear and mitochondrial genes indicates that T. rangeli and T. cruzi are equidistant from T. brucei. In addition to revealing new aspects of trypanosome co-evolution within the vertebrate and invertebrate hosts, comparative genomic analysis with pathogenic trypanosomatids provides valuable new information that can be further explored with the aim of developing better diagnostic tools and/or therapeutic targets