Converting a remote control car into an automatic guided vehicle

Published ArticleRecently, a lot of research has been published in the field of Automatic Guided Vehicles. One of the crucial starting points is to decide what base to use for the vehicle. The development of the base seldom forms part of the research and usually researchers try to obtain an existing base to start from. In this paper the possibility to use a remote control car as an Automatic Guided Vehicle base will be investigated

“Have milk, maas or yoghurt every day”: a food-based dietary guideline for South Africa

A national working group recently reached consensus that a guideline  message for milk consumption should form part of the set of revised food-based dietary guidelines (FBDGs) for South Africa. The message was formulated as: “Have milk, maas or yoghurt every day”. This paper provides scientific support for this FBDG, based on the nutrition and healthprofile of South Africans; addresses concerns about possible detrimental effects of milk consumption, such as lactose intolerance, saturated fat and trans-fat content, milk allergies and dental caries in children; and  identifies barriers to increased consumption. The guideline refers to milk, maas and yoghurt, and not all dairy products. This is based on the nutrient contribution of these products to a healthy diet. Milk (and some dairy products) has a low sodium-to-potassium ratio, as well as bioactive peptides, which may protect against the development of noncommunicable diseases. There is some evidence that the calcium in milk and dairy plays an important role in the regulation of body weight and bone mineral content in children. Available data show that milk and calcium intake in South Africans is low. Identified barriers include perceptions about lactose intolerance, taste, price, lack of knowledge on the nutritive value of milk and milk products, and possibly cultural taboos. As a result, increasing the consumption of milk, maas and yoghurt of South Africans will require active, multifaceted and multilevel promotion

The effect of current Schistosoma mansoni infection on the immunogenicity of a candidate TB vaccine, MVA85A, in BCG-vaccinated adolescents: An open-label trial.

INTRODUCTION: Helminth infection may affect vaccine immunogenicity and efficacy. Adolescents, a target population for tuberculosis booster vaccines, often have a high helminth burden. We investigated effects of Schistosoma mansoni (Sm) on the immunogenicity and safety of MVA85A, a model candidate tuberculosis vaccine, in BCG-vaccinated Ugandan adolescents. METHODS: In this phase II open label trial we enrolled 36 healthy, previously BCG-vaccinated adolescents, 18 with no helminth infection detected, 18 with Sm only. The primary outcome was immunogenicity measured by Ag85A-specific interferon gamma ELISpot assay. Tuberculosis and schistosome-specific responses were also assessed by whole-blood stimulation and multiplex cytokine assay, and by antibody ELISAs. RESULTS: Ag85A-specific cellular responses increased significantly following immunisation but with no differences between the two groups. Sm infection was associated with higher pre-immunisation Ag85A-specific IgG4 but with no change in antibody levels following immunisation. There were no serious adverse events. Most reactogenicity events were of mild or moderate severity and resolved quickly. CONCLUSIONS: The significant Ag85A-specific T cell responses and lack of difference between Sm-infected and uninfected participants is encouraging for tuberculosis vaccine development. The implications of pre-existing Ag85A-specific IgG4 antibodies for protective immunity against tuberculosis among those infected with Sm are not known. MVA85A was safe in this population. TRIAL REGISTRATION: ClinicalTrials.gov NCT02178748

The candidate TB vaccine, MVA85A, induces highly durable Th1 responses

BACKGROUND: Vaccination against tuberculosis (TB) should provide long-term protective immunity against Mycobacterium tuberculosis ( M.tb ). The current TB vaccine, Bacille Calmette-Guerin (BCG), protects against disseminated childhood TB, but protection against lung TB in adolescents and adults is variable and mostly poor. One potential reason for the limited durability of protection may be waning of immunity through gradual attrition of BCG-induced T cells. We determined if a MVA85A viral-vector boost could enhance the durability of mycobacteria-specific T cell responses above those induced by BCG alone. METHODS: We describe a long-term follow-up study of persons previously vaccinated with MVA85A. We performed a medical history and clinical examination, a tuberculin skin test and measured vaccine-specific T cell responses in persons previously enrolled as adults, adolescents, children or infants into three different Phase II trials, between 2005 and 2011. RESULTS: Of 252 potential participants, 183 (72.6%) consented and completed the study visit. Vaccine-induced Ag85A-specific CD4+ T cell responses were remarkably persistent in healthy, HIV-uninfected adults, adolescents, children and infants, up to 6 years after MVA85A vaccination. Specific CD4+ T cells expressed surface markers consistent with either CD45RA−CCR7+ central memory or CD45RA−CCR7− effector memory T cells. Similarly durable Ag85A-specific CD4+ T cell responses were detected in HIV-infected persons who were on successful antiretroviral therapy when MVA85A was administered. By contrast, Ag85A-specific CD4+ T cell frequencies in untreated MVA85A-vaccinated HIV-infected persons were mostly undetectable 3-5 years after vaccination. CONCLUSION: MVA85A induces remarkably durable T cell responses in immunocompetent persons. However, results from a recent phase IIb trial of MVA85A, conducted in infants from the same geographic area and study population, showed no vaccine efficacy, suggesting that these durable T cell responses do not enhance BCG-induced protection against TB in infants

A multi-resolution, non-parametric, Bayesian framework for identification of spatially-varying model parameters

This paper proposes a hierarchical, multi-resolution framework for the identification of model parameters and their spatially variability from noisy measurements of the response or output. Such parameters are frequently encountered in PDE-based models and correspond to quantities such as density or pressure fields, elasto-plastic moduli and internal variables in solid mechanics, conductivity fields in heat diffusion problems, permeability fields in fluid flow through porous media etc. The proposed model has all the advantages of traditional Bayesian formulations such as the ability to produce measures of confidence for the inferences made and providing not only predictive estimates but also quantitative measures of the predictive uncertainty. In contrast to existing approaches it utilizes a parsimonious, non-parametric formulation that favors sparse representations and whose complexity can be determined from the data. The proposed framework in non-intrusive and makes use of a sequence of forward solvers operating at various resolutions. As a result, inexpensive, coarse solvers are used to identify the most salient features of the unknown field(s) which are subsequently enriched by invoking solvers operating at finer resolutions. This leads to significant computational savings particularly in problems involving computationally demanding forward models but also improvements in accuracy. It is based on a novel, adaptive scheme based on Sequential Monte Carlo sampling which is embarrassingly parallelizable and circumvents issues with slow mixing encountered in Markov Chain Monte Carlo schemes

Sub-threshold resonances in few-neutron systems

Three- and four-neutron systems are studied within the framework of the hyperspherical approach with a local S-wave nn-potential. Possible bound and resonant states of these systems are sought as zeros of three- and four-body Jost functions in the complex momentum plane. It is found that zeros closest to the origin correspond to sub-threshold (nnn) (1/2-) and (nnnn) (0+) resonant states. The positions of these zeros turned out to be sensitive to the choice of the $nn$--potential. For the Malfliet- Tjon potential they are E(nnn)=-4.9-i6.9 (MeV) and E(nnnn)=-2.6-i9.0 (MeV). Movement of the zeros with an artificial increase of the potential strength also shows an extreme sensitivity to the choice of potential. Thus, to generate ^3n and ^4n bound states, the Yukawa potential needs to be multiplied by 2.67 and 2.32 respectively, while for the Malfliet-Tjon potential the required multiplicative factors are 4.04 and 3.59.Comment: Latex, 22 pages, no PS-figures, submitted to J.Phys.

Discovery of the optical counterpart and early optical observations of GRB990712

We present the discovery observations of the optical counterpart of the gamma-ray burster GRB990712 taken 4.16 hours after the outburst and discuss its light curve observed in the V, R and I bands during the first ~35 days after the outburst. The observed light curves were fitted with a power-law decay for the optical transient (OT), plus an additional component which was treated in two different ways. First, the additional component was assumed to be an underlying galaxy of constant brightness. The resulting slope of the decay is 0.97+/-0.05 and the magnitudes of the underlying galaxy are: V = 22.3 +/- 0.05, R = 21.75 +/- 0.05 and I = 21.35 +/- 0.05. Second, the additional component was assumed to be a galaxy plus an underlying supernova with a time-variable brightness identical to that of GRB980425, appropriately scaled to the redshift of GRB990712. The resulting slope of the decay is similar, but the goodness-of-fit is worse which would imply that either this GRB is not associated with an underlying supernova or the underlying supernova is much fainter than the supernova associated with GRB980425. The galaxy in this case is fainter: V = 22.7 +/- 0.05, R = 22.25 +/- 0.05 and I = 22.15 +/- 0.05; and the OT plus the underlying supernova at a given time is brighter. Measurements of the brightnesses of the OT and the galaxy by late-time HST observation and ground-based observations can thus assess the presence of an underlying supernova.Comment: To appear in Ap

ZIF-8-derived Fe-C catalysts: relationship between structure and catalytic activity toward the oxygen reduction reaction

The oxygen reduction reaction (ORR) activity of carbonized ZIF-8 (CZ) and its Fe-doped derivatives, CZ-A (doped with ammonium iron (II) sulphate) and CZ-B (doped with iron (II) acetate), were examined in both acidic (0.5 M H2SO4) and basic (0.1 M KOH) electrolytes using a rotating disk electrode setup. These data show that the ORR activity of the Fe-doped catalysts is higher than that of pure CZ, with a higher activity in basic than acidic electrolyte. Extensive materials characterization highlights important differences in the sample crystallinity, morphology, porosity, and chemical composition as a function of the deployed precursor. The performance of the prepared catalysts is also impacted by the Fe precursor selection, highlighting the importance of such synthetic parameters in controlling the density and identify of Fe-Nx active sites. These results demonstrate the potential application of Fe-doped carbonized ZIF-8 catalysts for the ORR in basic electrolyte and offer important knowledge for the future design of non-precious metal fuel cell electrocatalysts

Functional conservation of the Drosophila hybrid incompatibility gene Lhr

<p>Abstract</p> <p>Background</p> <p>Hybrid incompatibilities such as sterility and lethality are commonly modeled as being caused by interactions between two genes, each of which has diverged separately in one of the hybridizing lineages. The gene <it>Lethal hybrid rescue </it>(<it>Lhr</it>) encodes a rapidly evolving heterochromatin protein that causes lethality of hybrid males in crosses between <it>Drosophila melanogaster </it>females and <it>D. simulans </it>males. Previous genetic analyses showed that hybrid lethality is caused by <it>D. simulans Lhr </it>but not by <it>D. melanogaster Lhr</it>, confirming a critical prediction of asymmetry in the evolution of a hybrid incompatibility gene.</p> <p>Results</p> <p>Here we have examined the functional properties of <it>Lhr </it>orthologs from multiple Drosophila species, including interactions with other heterochromatin proteins, localization to heterochromatin, and ability to complement hybrid rescue in <it>D. melanogaster</it>/<it>D. simulans </it>hybrids. We find that these properties are conserved among most <it>Lhr </it>orthologs, including <it>Lhr </it>from <it>D. melanogaster</it>, <it>D. simulans </it>and the outgroup species <it>D. yakuba</it>.</p> <p>Conclusions</p> <p>We conclude that evolution of the hybrid lethality properties of <it>Lhr </it>between <it>D. melanogaster </it>and <it>D. simulans </it>did not involve extensive loss or gain of functions associated with protein interactions or localization to heterochromatin.</p