Rapid exploration with multi-rotors: A frontier selection method for high speed flight

Exploring and mapping previously unknown environments while avoiding collisions with obstacles is a fundamental task for autonomous robots. In scenarios where this needs to be done rapidly, multi-rotors are a good choice for the task, as they can cover ground at potentially very high velocities. Flying at high velocities, however, implies the ability to rapidly plan trajectories and to react to new information quickly. In this paper, we propose an extension to classical frontier -based exploration that facilitates exploration at high speeds. The extension consists of a reactive mode in which the multi-rotor rapidly selects a goal frontier from its field of view. The goal frontier is selected in a way that minimizes the change in velocity necessary to reach it. While this approach can increase the total path length, it significantly reduces the exploration time, since the multi-rotor can fly at consistently higher speeds

Analysis of Sequence Variation and Risk Association of Human Papillomavirus 52 Variants Circulating in Korea

<div><p>Introduction</p><p>Human papillomavirus (HPV) 52 is a carcinogenic, high-risk genotype frequently detected in cervical cancer cases from East Asia, including Korea.</p><p>Materials and Methods</p><p>Sequences of HPV52 detected in 91 cervical samples collected from women attending Seoul St. Mary’s Hospital were analyzed. HPV52 genomic sequences were obtained by polymerase chain reaction (PCR)-based sequencing and analyzed using Seq-Scape software, and phylogenetic trees were constructed using MEGA6 software.</p><p>Results</p><p>Of the 91 cervical samples, 40 were normal, 22 were low-grade lesions, 21 were high-grade lesions and 7 were squamous cell carcinomas. Four HPV52 variant lineages (A, B, C and D) were identified. Lineage B was the most frequently detected lineage, followed by lineage C. By analyzing the two most frequently detected lineages (B and C), we found that distinct variations existed in each lineage. We also found that a lineage B-specific mutation K93R (A379G) was associated with an increased risk of cervical neoplasia.</p><p>Conclusions</p><p>To our knowledge, we are the first to reveal the predominance of the HPV52 lineages, B and C, in Korea. We also found these lineages harbored distinct genetic alterations that may affect oncogenicity. Our findings increase our understanding on the heterogeneity of HPV52 variants, and may be useful for the development of new diagnostic assays and therapeutic vaccines.</p></div

HPV52 variant lineage distribution of study samples.

<p>(A) Lineages A (sublineages: A1 and A2), B (sublineage: B2), C (sublineage: C2) and D were detected. (B) A phylogenetic tree was constructed from 57 HPV52 variants using concatenated L1, LCR, E6 and E7. A maximum-likelihood tree was constructed using the program, MEGA6. Bootstrap values of key nodes generated by 1,000 resamplings are shown. The length of the scale bar represents 0.005 substitutions per nucleotide position. To root the tree, HPV67 prototype sequences (NCBI accession no. NC_004710) were set as outgroup. The GenBank accession no. of study samples are KY077824-KY077901.</p

DataSheet_1_A survey of Fusarium species and ADON genotype on Canadian wheat grain.pdf

IntroductionWheat is a staple food that is important to global food security, but in epidemic years, fungal pathogens can threaten production, quality, and safety of wheat grain. Globally, one of the most important fungal diseases of wheat is Fusarium head blight (FHB). This disease can be caused by several different Fusarium species with known differences in aggressiveness and mycotoxin-production potential, with the trichothecene toxin deoxynivalenol (DON) and its derivatives being of particular concern. In North America, the most predominant species causing FHB is F. graminearum, which has two distinct sub-populations that are commonly classified into two main chemotypes/genotypes based on their propensity to form trichothecene derivatives, namely 15-acetyldeoxynivalenol (15-ADON) and 3-acetyldeoxynivalenol (3-ADON).Materials and methodsWe used a panel of 13 DNA markers to perform species and ADON genotype identification for 55, 444 wheat kernels from 7, 783 samples originating from across Canada from 2014 to 2020.Results and discussionBased on single-seed analyses, we demonstrate the relationships between Fusarium species and trichothecene chemotype with sample year, sample location, wheat species (hexaploid and durum wheat), severity of Fusarium damaged kernels (FDK), and accumulation of DON. Results indicate that various Fusarium species are present across wheat growing regions in Canada; however, F. graminearum is the most common species and 3-ADON the most common genotype. We observed an increase in the occurrence of the 3-ADON genotype, particularly in the western Prairie regions. Our data provides important information on special-temporal trends in Fusarium species and chemotypes that can aid with the implementation of integrated disease management strategies to control the detrimental effects of this devastating disease.</p