INTEGRATION OF THE SIMULATION ENVIRONMENT FOR AUTONOMOUS ROBOTS WITH ROBOTICS MIDDLEWARE

Robotic simulators have long been used to test code and designs before any actual hardware is tested to ensure safety and efficiency. Many current robotics simulators are either closed source (calling into question the fidelity of their simulations) or are very complicated to install and use. There is a need for software that provides good quality simulation as well as being easy to use. Another issue arises when moving code from the simulator to actual hardware. In many cases, the code must be changed drastically to accommodate the final hardware on the robot, which can possibly invalidate aspects of the simulation. This defense describes methods and techniques for developing high fidelity graphical and physical simulation of autonomous robotic vehicles that is simple to use as well as having minimal distinction between simulated hardware, and actual hardware. These techniques and methods were proven by the development of the Simulation Environment for Autonomous Robots (SEAR) described here. SEAR is a 3-dimensional open source robotics simulator written by Adam Harris in Java that provides high fidelity graphical and physical simulations of user-designed vehicles running user-defined code in user-designed virtual terrain. Multiple simulated sensors are available and include a GPS, triple axis accelerometer, triple axis gyroscope, a compass with declination calculation, LIDAR, and a class of distance sensors that includes RADAR, SONAR, Ultrasonic and infrared. Several of these sensors have been validated against real-world sensors and other simulation software

Post-transcriptional Repair of a Split Heat Shock Protein 90 Gene by mRNA trans-Splicing*♦

Heat shock protein 90 participates in diverse biological processes ranging from protein folding, cell cycle, signal transduction and development to evolution in all eukaryotes. It is also critically involved in regulating growth of protozoa such as Dictyostelium discoideum, Leishmania donovani, Plasmodium falciparum, Trypanosoma cruzi, and Trypanosoma evansi. Selective inhibition of Hsp90 has also been explored as an intervention strategy against important human diseases such as cancer, malaria, or trypanosomiasis. Giardia lamblia, a simple protozoan parasite of humans and animals, is an important cause of diarrheal disease with significant morbidity and some mortality in tropical countries. Here we show that the G. lamblia cytosolic hsp90 (glhsp90) is split in two similar sized fragments located 777 kb apart on the same scaffold. Intrigued by this unique arrangement, which appears to be specific for the Giardiinae, we have investigated the biosynthesis of GlHsp90. We used genome sequencing to confirm the split nature of the giardial hsp90. However, a specific antibody raised against the peptide detected a product with a mass of about 80 kDa, suggesting a post-transcriptional rescue of the genomic defect. We show evidence for the joining of the two independent Hsp90 transcripts in-trans to one long mature mRNA presumably by RNA splicing. The splicing junction carries hallmarks of classical cis-spliced introns, suggesting that the regular cis-splicing machinery may be sufficient for repair of the open reading frame. A complementary 26-nt sequence in the “intron” regions adjacent to the splice sites may assist in positioning the two pre-mRNAs for processing. This is the first example of post-transcriptional rescue of a split gene by trans-splicing

Introducing Archigos: A Dataset of Political Leaders

Scholars for a long time theorized about the role of political leaders, but empirical research has been limited by the lack of systematic data about individual leaders. Archigos is a new dataset with information on leaders in 188 countries from 1875 to 2004. We provide an overview of the main features of this data. Archigos specifically identifies the effective leaders of each independent state; it codes when and how leaders came into power, their age, and their gender, as well as their personal fate one year after they lost office. We illustrate the utility of the Archigos dataset by demonstrating how leader attributes predict other features of interest in International Relations and Comparative Politics. Crisis interactions differ depending on whether leaders face each other for the first time or have had prior interactions. Irregular leader changes can help identify political change in autocracies not apparent from data that consider only the democratic nature of institutions. Finally, transitions to democracy in the third wave are more likely to fail in instances where autocratic rulers were punished after leaving office. Our examples illustrate new empirical findings that simply could not be explored in existing data sources. Although selective, our overview demonstrates how Archigos bears considerable promise in providing answers to new and old research questions and opens up new avenues for research on individual leaders as decisionmakers. </jats:p

Energy levels of Z = 11−21 nuclei (IV)

Compilation of experimentally determined properties of energy levels of Z = 11−21 nuclei with special emphasis on nuclear spectroscopy

Analysis of Outcomes in Ischemic vs Nonischemic Cardiomyopathy in Patients With Atrial Fibrillation A Report From the GARFIELD-AF Registry

IMPORTANCE Congestive heart failure (CHF) is commonly associated with nonvalvular atrial fibrillation (AF), and their combination may affect treatment strategies and outcomes

Safety and efficacy of non-steroidal anti-inflammatory drugs to reduce ileus after colorectal surgery

Background: Ileus is common after elective colorectal surgery, and is associated with increased adverse events and prolonged hospital stay. The aim was to assess the role of non-steroidal anti-inflammatory drugs (NSAIDs) for reducing ileus after surgery. Methods: A prospective multicentre cohort study was delivered by an international, student- and trainee-led collaborative group. Adult patients undergoing elective colorectal resection between January and April 2018 were included. The primary outcome was time to gastrointestinal recovery, measured using a composite measure of bowel function and tolerance to oral intake. The impact of NSAIDs was explored using Cox regression analyses, including the results of a centre-specific survey of compliance to enhanced recovery principles. Secondary safety outcomes included anastomotic leak rate and acute kidney injury. Results: A total of 4164 patients were included, with a median age of 68 (i.q.r. 57\u201375) years (54\ub79 per cent men). Some 1153 (27\ub77 per cent) received NSAIDs on postoperative days 1\u20133, of whom 1061 (92\ub70 per cent) received non-selective cyclo-oxygenase inhibitors. After adjustment for baseline differences, the mean time to gastrointestinal recovery did not differ significantly between patients who received NSAIDs and those who did not (4\ub76 versus 4\ub78 days; hazard ratio 1\ub704, 95 per cent c.i. 0\ub796 to 1\ub712; P = 0\ub7360). There were no significant differences in anastomotic leak rate (5\ub74 versus 4\ub76 per cent; P = 0\ub7349) or acute kidney injury (14\ub73 versus 13\ub78 per cent; P = 0\ub7666) between the groups. Significantly fewer patients receiving NSAIDs required strong opioid analgesia (35\ub73 versus 56\ub77 per cent; P &lt; 0\ub7001). Conclusion: NSAIDs did not reduce the time for gastrointestinal recovery after colorectal surgery, but they were safe and associated with reduced postoperative opioid requirement

Safety of hospital discharge before return of bowel function after elective colorectal surgery

Background: Ileus is common after colorectal surgery and is associated with an increased risk of postoperative complications. Identifying features of normal bowel recovery and the appropriateness for hospital discharge is challenging. This study explored the safety of hospital discharge before the return of bowel function. Methods: A prospective, multicentre cohort study was undertaken across an international collaborative network. Adult patients undergoing elective colorectal resection between January and April 2018 were included. The main outcome of interest was readmission to hospital within 30 days of surgery. The impact of discharge timing according to the return of bowel function was explored using multivariable regression analysis. Other outcomes were postoperative complications within 30 days of surgery, measured using the Clavien\u2013Dindo classification system. Results: A total of 3288 patients were included in the analysis, of whom 301 (9\ub72 per cent) were discharged before the return of bowel function. The median duration of hospital stay for patients discharged before and after return of bowel function was 5 (i.q.r. 4\u20137) and 7 (6\u20138) days respectively (P &lt; 0\ub7001). There were no significant differences in rates of readmission between these groups (6\ub76 versus 8\ub70 per cent; P = 0\ub7499), and this remained the case after multivariable adjustment for baseline differences (odds ratio 0\ub790, 95 per cent c.i. 0\ub755 to 1\ub746; P = 0\ub7659). Rates of postoperative complications were also similar in those discharged before versus after return of bowel function (minor: 34\ub77 versus 39\ub75 per cent; major 3\ub73 versus 3\ub74 per cent; P = 0\ub7110). Conclusion: Discharge before return of bowel function after elective colorectal surgery appears to be safe in appropriately selected patients