View-Invariant Regions and Mobile Robot Self-Localization

This paper addresses the problem of mobile robot self-localization given a polygonal map and a set of observed edge segments. The standard approach to this problem uses interpretation tree search with pruning heuristics to match observed edges to map edges. Our approach introduces a preprocessing step in which the map is decomposed into 'view-invariant regions' (VIRs). The VIR decomposition captures information about map edge visibility, and can be used for a variety of robot navigation tasks. Basing self-localization search on VIRs greatly reduces the branching factor of the search tree and thereby simplifies the search task. In this paper we define the VIR decomposition and give algorithms for its computation and for self-localization search. We present results of simulations comparing standard and VIR-based search, and discuss the application of the VIR decomposition to other problems in robot navigation

Gene Expression in Experimental Aortic Coarctation and Repair: Candidate Genes for Therapeutic Intervention?

Coarctation of the aorta (CoA) is a constriction of the proximal descending thoracic aorta and is one of the most common congenital cardiovascular defects. Treatments for CoA improve life expectancy, but morbidity persists, particularly due to the development of chronic hypertension (HTN). Identifying the mechanisms of morbidity is difficult in humans due to confounding variables such as age at repair, follow-up duration, coarctation severity and concurrent anomalies. We previously developed an experimental model that replicates aortic pathology in humans with CoA without these confounding variables, and mimics correction at various times using dissolvable suture. Here we present the most comprehensive description of differentially expressed genes (DEGs) to date from the pathology of CoA, which were obtained using this model. Aortic samples (n=4/group) from the ascending aorta that experiences elevated blood pressure (BP) from induction of CoA, and restoration of normal BP after its correction, were analyzed by gene expression microarray, and enriched genes were converted to human orthologues. 51 DEGs with \u3e6 fold-change (FC) were used to determine enriched Gene Ontology terms, altered pathways, and association with National Library of Medicine Medical Subject Headers (MeSH) IDs for HTN, cardiovascular disease (CVD) and CoA. The results generated 18 pathways, 4 of which (cell cycle, immune system, hemostasis and metabolism) were shared with MeSH ID’s for HTN and CVD, and individual genes were associated with the CoA MeSH ID. A thorough literature search further uncovered association with contractile, cytoskeletal and regulatory proteins related to excitation-contraction coupling and metabolism that may explain the structural and functional changes observed in our experimental model, and ultimately help to unravel the mechanisms responsible for persistent morbidity after treatment for CoA

Sub-barrier fusion of the oxygen isotopes: A more complete picture

We have measured the sub-barrier fusion cross sections for 16,17,18O on 16O and we present the data and the experimental method in detail. The data were analyzed with a one-dimensional potential barrier inversion model, a two-dimensional incoming wave boundary condition model, and a two-dimensional Wentzel-Kramers-Brillouin model. We find that a multidimensional model is necessary to describe the enhanced fusion cross sections in oxygen and the two-dimensional incoming wave boundary condition model suggests that a complete description of the fusion, inelastic, and elastic cross sections is possible

Emergence of a STAT3 mutated NK clone in LGL leukemia

AbstractLarge granular lymphocyte (LGL) leukemia is a chronic clonal lymphoproliferative disorder. Here, a T-LGL leukemia patient developed NK-LGL leukemia with residual leukemic T-LGL. TCRVβ usage and CDR3 sequence drifts were observed with disease progression. A STAT3 S614R mutation was identified in NK but not T-cells in the mixed leukemic stage. Multiple, non-dominant T-cell clones with distinct STAT3 mutations were present throughout. Our results suggest that T and NK-LGL leukemia may share common pathogenesis mechanisms and that STAT3 mutation alone is insufficient to bring about clonal expansion. Mutational and immunological monitoring may provide diagnostic and therapeutic significance in LGL leukemia

The Climate CoLab: Large scale model-based collaborative planning

The Climate CoLab is a system to help thousands of people around the world collectively develop plans for what humans should do about global climate change. This paper shows how the system combines three design elements (model-based planning, on-line debates, and electronic voting) in a synergistic way. The paper also reports early usage experience showing that: (a) the system is attracting a continuing stream of new and returning visitors from all over the world, and (b) the nascent community can use the platform to generate interesting and high quality plans to address climate change. These initial results indicate significant progress towards an important goal in developing a collective intelligence system - the formation of a large and diverse community collectively engaged in solving a single problem.Cisco Systems, Inc.Argosy FoundationMIT Energy InitiativeMIT Sloan Sustainability Initiativ

Stability of Monomer-Dimer Piles

We measure how strong, localized contact adhesion between grains affects the maximum static critical angle, theta_c, of a dry sand pile. By mixing dimer grains, each consisting of two spheres that have been rigidly bonded together, with simple spherical monomer grains, we create sandpiles that contain strong localized adhesion between a given particle and at most one of its neighbors. We find that tan(theta_c) increases from 0.45 to 1.1 and the grain packing fraction, Phi, decreases from 0.58 to 0.52 as we increase the relative number fraction of dimer particles in the pile, nu_d, from 0 to 1. We attribute the increase in tan(theta_c(nu_d)) to the enhanced stability of dimers on the surface, which reduces the density of monomers that need to be accomodated in the most stable surface traps. A full characterization and geometrical stability analysis of surface traps provides a good quantitative agreement between experiment and theory over a wide range of nu_d, without any fitting parameters.Comment: 11 pages, 12 figures consisting of 21 eps files, submitted to PR

Hereditary angioedema (HAE) in children and adolescents : a consensus on therapeutic strategies

Hereditary angioedema due to C1 inhibitor (C1 esterase inhibitor) deficiency (types I and II HAE-C1-INH) is a rare disease that usually presents during childhood or adolescence with intermittent episodes of potentially life-threatening angioedema. Diagnosis as early as possible is important to avoid ineffective therapies and to properly treat swelling attacks. At a consensus meeting in June 2011, pediatricians and dermatologists from Germany, Austria, and Switzerland reviewed the currently available literature, including published international consensus recommendations for HAE therapy across all age groups. Published recommendations cannot be unconditionally adopted for pediatric patients in German-speaking countries given the current approval status of HAE drugs. This article provides an overview and discusses drugs available for HAE therapy, their approval status, and study results obtained in adult and pediatric patients. Recommendations for developing appropriate treatment strategies in the management of HAE in pediatric patients in German-speaking countries are provided.Conclusion Currently, plasma-derived C1 inhibitor concentrate is considered the best available option for the treatment of acute HAE-C1-INH attacks in pediatric patients in German-speaking countries, as well as for short-term and long-term prophylaxis

Vortex transport and voltage noise in disordered superconductors

We study, by means of three-dimensional Monte Carlo simulations, the current-voltage (IV) characteristics and the voltage noise spectrum at low temperatures of driven magnetic flux lines interacting with randomly placed point or columnar defects, as well as with periodically arranged linear pinning centers. Near the depinning current J_c, the voltage noise spectrum S(w) universally follows a 1/w^a power law. For currents J > J_c, distinct peaks appear in S(w) which are considerably more pronounced for extended as compared to point defects, and reflect the spatial distribution of the correlated pinning centers.Comment: 8 pages, latex, Elsevier style file and figures include

Role of hypoxia inducible factor-1α (HIF-1α) in innate defense against uropathogenic Escherichia coli infection

Uropathogenic E. coli (UPEC) is the primary cause of urinary tract infections (UTI) affecting approximately 150 million people worldwide. Here, we revealed the importance of transcriptional regulator hypoxia-inducible factor-1 α subunit (HIF-1α) in innate defense against UPEC-mediated UTI. The effects of AKB-4924, a HIF-1α stabilizing agent, were studied using human uroepithelial cells (5637) and a murine UTI model. UPEC adherence and invasion were significantly reduced in 5637 cells when HIF-1α protein was allowed to accumulate. Uroepithelial cells treated with AKB-4924 also experienced reduced cell death and exfoliation upon UPEC challenge. In vivo, fewer UPEC were recovered from the urine, bladders and kidneys of mice treated transurethrally with AKB-4924, whereas increased bacteria were recovered from bladders of mice with a HIF-1α deletion. Bladders and kidneys of AKB-4924 treated mice developed less inflammation as evidenced by decreased pro-inflammatory cytokine release and neutrophil activity. AKB-4924 impairs infection in uroepithelial cells and bladders, and could be correlated with enhanced production of nitric oxide and antimicrobial peptides cathelicidin and β-defensin-2. We conclude that HIF-1α transcriptional regulation plays a key role in defense of the urinary tract against UPEC infection, and that pharmacological HIF-1α boosting could be explored further as an adjunctive therapy strategy for serious or recurrent UTI