Sensory processing and world modeling for an active ranging device

In this project, we studied world modeling and sensory processing for laser range data. World Model data representation and operation were defined. Sensory processing algorithms for point processing and linear feature detection were designed and implemented. The interface between world modeling and sensory processing in the Servo and Primitive levels was investigated and implemented. In the primitive level, linear features detectors for edges were also implemented, analyzed and compared. The existing world model representations is surveyed. Also presented is the design and implementation of the Y-frame model, a hierarchical world model. The interfaces between the world model module and the sensory processing module are discussed as well as the linear feature detectors that were designed and implemented

Identification of Rifampicin Resistance Mutations in Escherichia Coli, Including an Unusual Deletion Mutation

Rifampicin is an effective antibiotic against mycobacterial and other bacterial infections, but resistance readily emerges in laboratory and clinical settings. We screened Escherichia coli for rifampicin resistance and identified numerous mutations to the gene encoding the β chain of RNA polymerase (rpoB), including an unusual nine nucleotide deletion mutation. Structural modeling of the deletion mutant indicates locations of potential steric clashes with rifampicin. Sequence conservation in the region near the deletion mutation suggests a similar mutation may also confer resistance during the treatment of tuberculosis

Chromatic nearest neighbor searching: A query sensitive approach☆☆A preliminary version of this paper appeared in the Proceedings of the 7th Canadian Conference on Computational Geometry, 1995, pp. 261–266.

AbstractThe nearest neighbor problem is that of preprocessing a set P of n data points in Rd so that, given any query point q, the closest point in P to q can be determined efficiently. In the chromatic nearest neighbor problem, each point of P is assigned a color, and the problem is to determine the color of the nearest point to the query point. More generally, given k⩾1, the problem is to determine the color occurring most frequently among the k nearest neighbors. The chromatic version of the nearest neighbor problem is used in many applications in pattern recognition and learning. In this paper we present a simple algorithm for solving the chromatic k nearest neighbor problem. We provide a query sensitive analysis, which shows that if the color classes form spatially well separated clusters (as often happens in practice), then queries can be answered quite efficiently. We also allow the user to specify an error bound ε⩾0, and consider the same problem in the context of approximate nearest neighbor searching. We present empirical evidence that for well clustered data sets, this approach leads to significant improvements in efficiency

On the Area of Overlap of Translated Polygons

(Also cross-referenced as CAR-TR-699) Given two simple polygons P and Q in the plane and a translation vector t E R2, the area-oJ-overlap function of P and Q is the function Ar(t) = Area(P n (t + Q)), where t + Q denotes Q translated by t. This function has a number of applications in areas such as motion planning and object recognition. We present a number of mathematical results regarding this function. We also provide efficient algorithms for computing a representation of this function, and for tracing contour curves of constant area of o verlap

Biomarker discovery for colon cancer using a 761 gene RT-PCR assay

<p>Abstract</p> <p>Background</p> <p>Reverse transcription PCR (RT-PCR) is widely recognized to be the gold standard method for quantifying gene expression. Studies using RT-PCR technology as a discovery tool have historically been limited to relatively small gene sets compared to other gene expression platforms such as microarrays. We have recently shown that TaqMan^®RT-PCR can be scaled up to profile expression for 192 genes in fixed paraffin-embedded (FPE) clinical study tumor specimens. This technology has also been used to develop and commercialize a widely used clinical test for breast cancer prognosis and prediction, the Onco <it>type</it>DX™ assay. A similar need exists in colon cancer for a test that provides information on the likelihood of disease recurrence in colon cancer (prognosis) and the likelihood of tumor response to standard chemotherapy regimens (prediction). We have now scaled our RT-PCR assay to efficiently screen 761 biomarkers across hundreds of patient samples and applied this process to biomarker discovery in colon cancer. This screening strategy remains attractive due to the inherent advantages of maintaining platform consistency from discovery through clinical application.</p> <p>Results</p> <p>RNA was extracted from formalin fixed paraffin embedded (FPE) tissue, as old as 28 years, from 354 patients enrolled in NSABP C-01 and C-02 colon cancer studies. Multiplexed reverse transcription reactions were performed using a gene specific primer pool containing 761 unique primers. PCR was performed as independent TaqMan^®reactions for each candidate gene. Hierarchal clustering demonstrates that genes expected to co-express form obvious, distinct and in certain cases very tightly correlated clusters, validating the reliability of this technical approach to biomarker discovery.</p> <p>Conclusion</p> <p>We have developed a high throughput, quantitatively precise multi-analyte gene expression platform for biomarker discovery that approaches low density DNA arrays in numbers of genes analyzed while maintaining the high specificity, sensitivity and reproducibility that are characteristics of RT-PCR. Biomarkers discovered using this approach can be transferred to a clinical reference laboratory setting without having to re-validate the assay on a second technology platform.</p

Combinations of β-lactam or aminoglycoside antibiotics with plectasin are synergistic against methicillin-sensitive and methicillin-resistant Staphylococcus aureus.

Bacterial infections remain the leading killer worldwide which is worsened by the continuous emergence of antibiotic resistance. In particular, methicillin-sensitive (MSSA) and methicillin-resistant Staphylococcus aureus (MRSA) are prevalent and the latter can be difficult to treat. The traditional strategy of novel therapeutic drug development inevitably leads to emergence of resistant strains, rendering the new drugs ineffective. Therefore, rejuvenating the therapeutic potentials of existing antibiotics offers an attractive novel strategy. Plectasin, a defensin antimicrobial peptide, potentiates the activities of other antibiotics such as β-lactams, aminoglycosides and glycopeptides against MSSA and MRSA. We performed in vitro and in vivo investigations to test against genetically diverse clinical isolates of MSSA (n = 101) and MRSA (n = 115). Minimum inhibitory concentrations (MIC) were determined by the broth microdilution method. The effects of combining plectasin with β-lactams, aminoglycosides and glycopeptides were examined using the chequerboard method and time kill curves. A murine neutropenic thigh model and a murine peritoneal infection model were used to test the effect of combination in vivo. Determined by factional inhibitory concentration index (FICI), plectasin in combination with aminoglycosides (gentamicin, neomycin or amikacin) displayed synergistic effects in 76-78% of MSSA and MRSA. A similar synergistic response was observed when plectasin was combined with β-lactams (penicillin, amoxicillin or flucloxacillin) in 87-89% of MSSA and MRSA. Interestingly, no such interaction was observed when plectasin was paired with vancomycin. Time kill analysis also demonstrated significant synergistic activities when plectasin was combined with amoxicillin, gentamicin or neomycin. In the murine models, plectasin at doses as low as 8 mg/kg augmented the activities of amoxicillin and gentamicin in successful treatment of MSSA and MRSA infections. We demonstrated that plectasin strongly rejuvenates the therapeutic potencies of existing antibiotics in vitro and in vivo. This is a novel strategy that can have major clinical implications in our fight against bacterial infections

QCD ghost f(T)-gravity model

Within the framework of modified teleparallel gravity, we reconstruct a f(T) model corresponding to the QCD ghost dark energy scenario. For a spatially flat FRW universe containing only the pressureless matter, we obtain the time evolution of the torsion scalar T (or the Hubble parameter). Then, we calculate the effective torsion equation of state parameter of the QCD ghost f(T)-gravity model as well as the deceleration parameter of the universe. Furthermore, we fit the model parameters by using the latest observational data including SNeIa, CMB and BAO data. We also check the viability of our model using a cosmographic analysis approach. Moreover, we investigate the validity of the generalized second law (GSL) of gravitational thermodynamics for our model. Finally, we point out the growth rate of matter density perturbation. We conclude that in QCD ghost f(T)-gravity model, the universe begins a matter dominated phase and approaches a de Sitter regime at late times, as expected. Also this model is consistent with current data, passes the cosmographic test, satisfies the GSL and fits the data of the growth factor well as the LCDM model.Comment: 19 pages, 9 figures, 2 tables. arXiv admin note: substantial text overlap with arXiv:1111.726

Rhesus TRIM5α disrupts the HIV-1 capsid at the inter-hexamer interfaces

TRIM proteins play important roles in the innate immune defense against retroviral infection, including human immunodeficiency virus type-1 (HIV-1). Rhesus macaque TRIM5α (TRIM5αrh) targets the HIV-1 capsid and blocks infection at an early post-entry stage, prior to reverse transcription. Studies have shown that binding of TRIM5α to the assembled capsid is essential for restriction and requires the coiled-coil and B30.2/SPRY domains, but the molecular mechanism of restriction is not fully understood. In this study, we investigated, by cryoEM combined with mutagenesis and chemical cross-linking, the direct interactions between HIV-1 capsid protein (CA) assemblies and purified TRIM5αrh containing coiled-coil and SPRY domains (CC-SPRYrh). Concentration-dependent binding of CC-SPRYrh to CA assemblies was observed, while under equivalent conditions the human protein did not bind. Importantly, CC-SPRYrh, but not its human counterpart, disrupted CA tubes in a non-random fashion, releasing fragments of protofilaments consisting of CA hexamers without dissociation into monomers. Furthermore, such structural destruction was prevented by inter-hexamer crosslinking using P207C/T216C mutant CA with disulfide bonds at the CTD-CTD trimer interface of capsid assemblies, but not by intra-hexamer crosslinking via A14C/E45C at the NTD-NTD interface. The same disruption effect by TRIM5αrh on the inter-hexamer interfaces also occurred with purified intact HIV-1 cores. These results provide insights concerning how TRIM5α disrupts the virion core and demonstrate that structural damage of the viral capsid by TRIM5α is likely one of the important components of the mechanism of TRIM5α-mediated HIV-1 restriction. © 2011 Zhao et al