Positioning device for outdoor mobile robots using optical sensors and lasers

We propose a novel method for positioning a mobile robot in an outdoor environment using lasers and optical sensors. Position estimation via a noncontact optical method is useful because the information from the wheel odometer and the global positioning system in a mobile robot is unreliable in some situations. Contact optical sensors such as computer mouse are designed to be in contact with a surface and do not function well in strong ambient light conditions. To mitigate the challenges of an outdoor environment, we developed an optical device with a bandpass filter and a pipe to restrict solar light and to detect translation. The use of two devices enables sensing of the mobile robot’s position, including posture. Furthermore, employing a collimated laser beam allows measurements against a surface to be invariable with the distance to the surface. In this paper, we describe motion estimation, device configurations, and several tests for performance evaluation. We also present the experimental positioning results from a vehicle equipped with our optical device on an outdoor path. Finally, we discuss an improvement in postural accuracy by combining an optical device with precise gyroscopes

A unique biosynthetic pathway for gangliosides exists in Xenopus laevis oocytes

AbstractIt was previously reported that monosialosylgangliopentaosyl ceramide (Ga1NAc-GM1b) was a major ganglioside in Xenopus laevis oocytes. Here we determined biosynthetic pathways for the ganglioside by detailed measurements of glycosyltransferase activities. CMP-NeuAc:asialo-GM1 α2–3 sialyltransferase (α2–3 ST) and UDP-Ga1NAc:GM1b β1–4 N-acetylgalactosaminyltransferase (β1–4 Ga1NAcT) exhibited much higher activity than CMP-NeuAc:Ga1NAc-GA1 α2–3 ST and UDP-Ga1NAc:asialo-GM1 β1–4 Ga1NAcT, respectively. These observations indicated the existence of a unique biosynthetic pathway in the oocytes as follows; asialo-GM1 → GM1b → Ga1NAc-GM1b

Multiple Hepatolithiasis Following Hepaticojejunostomy Successfully Treated with Left Hemihepatectomy and Double Hepaticojejunostomy Reconstruction

Surgical intervention for hepatolithiasis following hepaticojejunostomy (HJ) has rarely been reported. Herein, we present a case of post-HJ multiple hepatolithiasis treated with left hemihepatectomy with double HJ reconstruction. A 72-year-old woman who had undergone HJ for iatrogenic bile duct injury developed repeated cholangitis due to complicated hepatolithiasis accompanied by an atrophied left hepatic lobe and HJ stricture. Since endoscopic intervention was unsuccessful, the patient underwent left hemihepatectomy with HJ re-anastomoses of the common hepatic duct and left hepatic duct (double HJ technique). The double HJ technique with hepatectomy can be a useful option for treating complicated hepatolithiasis following HJ

Parabolic Jets from the Spinning Black Hole in M87

The M87 jet is extensively examined by utilizing general relativistic magnetohydrodynamic (GRMHD) simulations as well as the steady axisymmetric force-free electrodynamic (FFE) solution. Quasi-steady funnel jets are obtained in GRMHD simulations up to the scale of $\sim 100$ gravitational radius ($r_{\rm g}$) for various black hole (BH) spins. As is known, the funnel edge is approximately determined by the following equipartitions; i) the magnetic and rest-mass energy densities and ii) the gas and magnetic pressures. Our numerical results give an additional factor that they follow the outermost parabolic streamline of the FFE solution, which is anchored to the event horizon on the equatorial plane. We also identify the matter dominated, non-relativistic corona/wind play a dynamical role in shaping the funnel jet into the parabolic geometry. We confirm a quantitative overlap between the outermost parabolic streamline of the FFE jet and the edge of jet sheath in VLBI observations at $\sim 10^{1}$-$10^{5} \, r_{\rm g}$, suggesting that the M87 jet is likely powered by the spinning BH. Our GRMHD simulations also indicate a lateral stratification of the bulk acceleration (i.e., the spine-sheath structure) as well as an emergence of knotty superluminal features. The spin characterizes the location of the jet stagnation surface inside the funnel. We suggest that the limb-brightened feature could be associated with the nature of the BH-driven jet, if the Doppler beaming is a dominant factor. Our findings can be examined with (sub-)mm VLBI observations, giving a clue for the origin of the M87 jet.Comment: 29 pages, 23 figures, accepted for publication in Ap

Parabolic Jets from the Spinning Black Hole in M87

The M87 jet is extensively examined by utilizing general relativistic magnetohydrodynamic (GRMHD) simulations, as well as the steady axisymmetric force-free electrodynamic (FFE) solution. Quasi-steady funnel jets are obtained in GRMHD simulations up to the scale of ~100 gravitational radii (r(sub g)) for various black hole (BH) spins. As is known, the funnel edge is approximately determined by the following equipartitions: (i) the magnetic and rest-mass energy densities and (ii) the gas and magnetic pressures. Our numerical results give an additional factor that they follow the outermost parabolic streamline of the FFE solution, which is anchored to the event horizon on the equatorial plane. We also show that the matter-dominated, nonrelativistic corona/wind plays a dynamical role in shaping the funnel jet into the parabolic geometry. We confirm a quantitative overlap between the outermost parabolic streamline of the FFE jet and the edge of the jet sheath in very long baseline interferometry (VLBI) observations at ~(10(exp 1)10(exp 5))r(sub g), suggesting that the M87 jet is likely powered by the spinning BH. Our GRMHD simulations also indicate a lateral stratification of the bulk acceleration (i.e., the spine-sheath structure), as well as an emergence of knotty superluminal features. The spin characterizes the location of the jet stagnation surface inside the funnel. We suggest that the limb-brightened feature could be associated with the nature of the BH-driven jet, if the Doppler beaming is a dominant factor. Our findings can be examined with (sub)millimeter VLBI observations, giving a clue for the origin of the M87 jet

Readministration of gefitinib in a responder after treatment discontinuation due to gefinitib-related interstitial lung disease: a case report

<p>Abstract</p> <p>Introduction</p> <p>Gefitinib is a new molecular-targeted agent for the treatment of patients with advanced non-small cell lung cancer that fail to respond to conventional chemotherapy. Gefitinib is considered to be well tolerated and less toxic compared with conventional cytotoxic drugs. However, interstitial lung disease (ILD) has been reported as a serious adverse effect. The precise management of a gefitinib responder having severe adverse events remains unknown.</p> <p>Case Presentation</p> <p>We report the case of gefitinib readministration in a patient with lung adenocarcinoma who had once responded but in whom treatment had to be discontinued owing to gefinitib-related ILD. A dramatic response was achieved both at the time of initial treatment (250 mg/day) and at readministration of gefitinib (125 mg/day). The effectiveness of gefitinib therapy in our patient could be explained in part by the presence of an activating mutation of epidermal growth factor receptor (<it>EGFR</it>) gene, L858R in exon 21, which was identified in the primary tumor.</p> <p>Conclusion</p> <p>A reduced dose of gefitinib might be sufficient for patients having tumors with <it>EGFR </it>gene mutations, and that the currently approved dose may be excessively potent in some of these patients, thus resulting in the onset of adverse events.</p

Identification and characterization of an oocyte factor required for development of porcine nuclear transfer embryos.

Nuclear reprogramming of differentiated cells can be induced by oocyte factors. Despite numerous attempts, these factors and mechanisms responsible for successful reprogramming remain elusive. Here, we identify one such factor, necessary for the development of nuclear transfer embryos, using porcine oocyte extracts in which some reprogramming events are recapitulated. After incubating somatic nuclei in oocyte extracts from the metaphase II stage, the oocyte proteins that were specifically and abundantly incorporated into the nuclei were identified by mass spectrometry. Among 25 identified proteins, we especially focused on a multifunctional protein, DJ-1. DJ-1 is present at a high concentration in oocytes from the germinal vesicle stage until embryos at the four-cell stage. Inhibition of DJ-1 function compromises the development of nuclear transfer embryos but not that of fertilized embryos. Microarray analysis of nuclear transfer embryos in which DJ-1 function is inhibited shows perturbed expression of P53 pathway components. In addition, embryonic arrest of nuclear transfer embryos injected with anti-DJ-1 antibody is rescued by P53 inhibition. We conclude that DJ-1 is an oocyte factor that is required for development of nuclear transfer embryos. This study presents a means for identifying natural reprogramming factors in mammalian oocytes and a unique insight into the mechanisms underlying reprogramming by nuclear transfer

DOCK2 is involved in the host genetics and biology of severe COVID-19

「コロナ制圧タスクフォース」COVID-19疾患感受性遺伝子DOCK2の重症化機序を解明 --アジア最大のバイオレポジトリーでCOVID-19の治療標的を発見--. 京都大学プレスリリース. 2022-08-10.Identifying the host genetic factors underlying severe COVID-19 is an emerging challenge. Here we conducted a genome-wide association study (GWAS) involving 2, 393 cases of COVID-19 in a cohort of Japanese individuals collected during the initial waves of the pandemic, with 3, 289 unaffected controls. We identified a variant on chromosome 5 at 5q35 (rs60200309-A), close to the dedicator of cytokinesis 2 gene (DOCK2), which was associated with severe COVID-19 in patients less than 65 years of age. This risk allele was prevalent in East Asian individuals but rare in Europeans, highlighting the value of genome-wide association studies in non-European populations. RNA-sequencing analysis of 473 bulk peripheral blood samples identified decreased expression of DOCK2 associated with the risk allele in these younger patients. DOCK2 expression was suppressed in patients with severe cases of COVID-19. Single-cell RNA-sequencing analysis (n = 61 individuals) identified cell-type-specific downregulation of DOCK2 and a COVID-19-specific decreasing effect of the risk allele on DOCK2 expression in non-classical monocytes. Immunohistochemistry of lung specimens from patients with severe COVID-19 pneumonia showed suppressed DOCK2 expression. Moreover, inhibition of DOCK2 function with CPYPP increased the severity of pneumonia in a Syrian hamster model of SARS-CoV-2 infection, characterized by weight loss, lung oedema, enhanced viral loads, impaired macrophage recruitment and dysregulated type I interferon responses. We conclude that DOCK2 has an important role in the host immune response to SARS-CoV-2 infection and the development of severe COVID-19, and could be further explored as a potential biomarker and/or therapeutic target