Theory and practice of reversing control on multiply-articulated vehicles

A path-tracking controller is presented for automating the reversing of multiply-articulated vehicles. This uses a state feedback approach and steers the wheels of the front axle to ensure that the rearmost vehicle unit tracks a specified path. Linear closed-loop analysis is performed and shows that the controller is stable for vehicles with up to six trailers. The controller is implemented on three full-size experimental heavy vehicles: a ‘tractor–semitrailer’, a ‘B-double’ vehicle and a ‘B-triple’ vehicle, which have one trailer, two trailers and three trailers respectively. Experimental results are presented and the controller performance is evaluated. All test vehicles were able to track the paths to within 400 mm of the desired path. This research was funded by the Engineering and Physical Sciences Research Council (EPSRC) and Volvo Trucks through an Industrial CASE award. The authors would like to acknowledge Leo Laine and Carl-Johan Hoel from Volvo Trucks for their collaboration and contributions to the research.This is the author accepted manuscript. The final version is available from Sage via http://dx.doi.org/10.1177/095440701559691

Nitrogen Oxide Concentrations in Natural Waters on Early Earth

A key challenge in origins-of-life studies is estimating the abundances of species relevant to the chemical pathways proposed to have contributed to the emergence of life on early Earth. Dissolved nitrogen oxide anions (NO$_{X}^{-}$), in particular nitrate (NO$_{3}^{-}$) and nitrite (NO$_{2}^{-}$), have been invoked in diverse origins-of-life chemistry, from the oligomerization of RNA to the emergence of protometabolism. Recent work has calculated the supply of NO$_{X}^{-}$ from the prebiotic atmosphere to the ocean, and reported steady-state [NO$_{X}^{-}$] to be high across all plausible parameter space. These findings rest on the assumption that NO$_{X}^{-}$ is stable in natural waters unless processed at a hydrothermal vent. Here, we show that NO$_{X}^{-}$ is unstable in the reducing environment of early Earth. Sinks due to UV photolysis and reactions with reduced iron (Fe$^{2+}$) suppress [NO$_{X}^{-}$] by several orders of magnitude relative to past predictions. For pH$=6.5-8$ and $T=0-50^\circ$C, we find that it is most probable that NO$_{X}^{-}$]$<1~\mu$M in the prebiotic ocean. On the other hand, prebiotic ponds with favorable drainage characteristics may have sustained [NO$_{X}^{-}$]$\geq 1~\mu$M. As on modern Earth, most NO$_{X}^{-}$ on prebiotic Earth should have been present as NO$_{3}^{-}$, due to its much greater stability. These findings inform the kind of prebiotic chemistries that would have been possible on early Earth. We discuss the implications for proposed prebiotic chemistries, and highlight the need for further studies of NO$_{X}^{-}$ kinetics to reduce the considerable uncertainties in predicting [NO$_{X}^{-}$] on early Earth.Comment: In review for publication at Geochemistry, Geophysics, and Geosystems (G-cubed). Comments, questions, and criticism solicited; please contact corresponding author at [email protected]. SI at: https://web-cert.mit.edu/sukrit/Public/nox_si.pdf. GitHub at: https://github.com/sukritranjan/no

The Transformative Impact of Extracellular Vesicles on Developing Sperm

Objective: To review the role of extracellular vesicles (EVs) released from the male reproductive tract and their impact on developing sperm. We discuss how sperm exiting the seminiferous tubules, although developmentally mature, require further modification. Acquisition of various functions including increased motility, transfer of cargoes and ability to undertake the acrosome reaction is mediated through the interaction between sperm and EVs. Methods: A review of the literature identified that EVs are released from different portions of the male reproductive tract, notably the epididymis and prostate. These EVs interact with sperm as they pass from the seminiferous tubules to the epididymis and vas deferens prior to ejaculation. Results: EVs are small lipid-bound particles carrying bespoke RNA, protein and lipid cargoes. These cargoes are loaded based on the state of the parent cell and are used to communicate with recipient cells. In sperm, these cargoes are essential for post-testicular modification. Conclusions: Interactions between developing sperm and EVs are important for the subsequent function of sperm. Prior to ejaculation, these interactions confer important changes for the post-testicular modification and development of sperm. Little is known about the interaction between EVs from the testes and the spermatogonial stem cell niche or developing sperm within the seminiferous tubules. However, the numerous roles of EVs in the post-testicular modification of sperm have led many to suspect that they may also play important roles in developing sperm within the testes

Extracellular vesicles in urological malignancies

Extracellular vesicles (EVs) are small lipid bound structures released from cells containing bioactive cargoes. Both the type of cargo and amount loaded varies compared to that of the parent cell. The characterisation of EVs in cancers of the male urogenital tract has identified several cargoes with promising diagnostic and disease monitoring potential. EVs released by cancers of the male urogenital tract promote cell-to-cell communication, migration, cancer progression and manipulate the immune system promoting metastasis by evading the immune response. Their use as diagnostic biomarkers represents a new area of screening and disease detection, potentially reducing the need for invasive biopsies. Many validated EV cargoes have been found to have superior sensitivity and specificity than current diagnostic tools currently in use. The use of EVs to improve disease monitoring and develop novel therapeutics will enable clinicians to individualise patient management in the exciting era of personalised medicine

Context-dependent use of visual cues in the shell selection behaviour of the hermit crab Pagurus bernhardus

Animals avoid predator attack in different ways; some carry defensive structures to reduce predation, with the classic example being hermit crabs and their use of a mollusc shell as a portable refugium. During shell selection, various shell characteristics are investigated by the crab to determine their suitability. Here we consider the role of visual cues. Previous research suggests that some hermit crabs are more likely to initially choose a conspicuous shell but also to move to backgrounds against which they are less conspicuous, suggesting a short-term/long-term trade-off. Across experiments in which we manipulated shell and background colour, we show initially that Pagurus bernhardus prefer black shells over white but this preference was lost in the absence of visual cues. We then show that the strength of preference was dependent on background colour. We repeated this last experiment with red and yellow shells against red or yellow backgrounds to investigate whether this preference extended to chromatic hues. A preference for darker (red) shells was expressed, but preference alteration with background was not observed. P. bernhardus therefore discriminate between shells in terms of shell and background colour, and discrimination may be rooted in a preference for darker shaded shells.PostprintPeer reviewe

Constraints on the Emplacement and Uplift History of the Pine Mountain Thrust Sheet, Eastern Kentucky: Evidence from Coal Rank Trends

In this paper coal rank trends on both sides of the Pine Mountain thrust in eastern Kentucky are used to place constraints on thrust evolution. Vitrinite reflectance () measurements on a single Pennsylvanian coal horizon (Fire Clay coal) in eastern Kentucky increase from 0.5% in the north to about 1.0% toward the SE in front of the Pine Mountain thrust. The same horizon in the hangingwall of the thrust displays lower Rmax values (0.8-0.85%). The reflectance isograds are subparallel to the thrust within approximately 10 km of the trace of the fault. We attribute thermal maturation to (1) pre-orogenic maturation by burial to a depth of about 2 km followed by (2) maturation due to conductive relaxation in the footwall after thrusting. Isotherms would not have been offset unless the thrust velocity was \u3e\u3e 10km / Mα. Assuming no erosion, the emergent thrust would have been approximately 3 km thick. In order to explain the relatively low reflectance values observed in the footwall, rapid uplift (\u3e3 km/Ma) after thrust emplacement is required. Alternatively, if erosion kept pace with thrusting, the thrust sheet would have been substantially thinner (\u3c1 \u3ekm), and thermal equilibrium would be rapidly attained in the footwall. Localized frictional heating may have caused elevated reflectance values observed in sheared coals from outcrop scale faults