Conditions for stability of the extended Kalman filter and their application to the frequency tracking problem

The error dynamics of the extended Kalman filter (EKF), employed as an observer for a general nonlinear, stochastic discrete time system, are analyzed. Sufficient conditions for the boundedness of the errors of the EKF are determined. An expression for the bound on the errors is given in terms of the size of the nonlinearities of the system and the error covariance matrices used in the design of the EKF. The results are applied to the design of a stable EKF frequency tracker for a signal with time-varying frequency.This research was supported by the Co-operative Research Centre for Robust and Adaptive Systems ((CR)² ASys). The authors wish to acknowledge the funding of the activities of (CR)² ASys by the Australian Commonwealth Government under the Co-operative Research Centre Program.     

Reduced drug accumulation and multidrug resistance in human breast cancer cells without associated P-glycoprotein or MRP overexpression

MCF-7 human breast cancer cells selected in Adriamycin in the presence of verapamil developed a multidrug resistant phenotype, which was characterized by as much as 100,000-fold resistance to mitoxantrone, 667-fold resistance to daunorubicin, and 600-fold resistance to doxorubicin. Immunoblot and PCR analyses demonstrated no increase in MDR-1 or MRP expression in resistant cells, relative to parental cells. This phenotype is similar to one previously described in mitoxantrone-selected cells. The cells, designated MCF-7 AdVp, displayed a slower growth rate without alteration in topoisomerase II alpha level or activity. Increased efflux and reduced accumulation of daunomycin and rhodamine were observed when compared to parental cells. Depletion of ATP resulted in complete abrogation of efflux of both daunomycin and rhodamine. No apparent alterations in subcellular daunorubicin distribution were observed by confocal microscopy. No differences were noted in intracellular pH. Molecular cloning studies using DNA differential display identified increased expression of the alpha subunit of the amiloride-sensitive sodium channel in resistant cells. Quantitative PCR studies demonstrated an eightfold overexpression of the alpha subunit of the Na+ channel in the resistant subline. This channel may be linked to the mechanism of drug resistance in the AdVp cells. The results presented here support the hypothesis that a novel energy-dependent protein is responsible for the efflux in the AdVp cells. Further identification awaits molecular cloning studies.     

Epstein-Barr virus nuclear antigen 2 transactivates the long terminal repeat of human immunodeficiency virus type 1

Human immunodeficiency virus type 1 (HIV-1)-infected subjects show a high incidence of Epstein-Barr virus (EBV) infection. This suggests that EBV may function as a cofactor that affects HIV-1 activation and may play a major role in the progression of AIDS. To test this hypothesis, we generated two EBV-negative human B-cell lines that stably express the EBNA2 gene of EBV. These EBNA2-positive cell lines were transiently transfected with plasmids that carry either the wild type or deletion mutants of the HIV-1 long terminal repeat (LTR) fused to the chloramphenicol acetyltransferase (CAT) gene. There was a consistently higher HIV-1 LTR activation in EBNA2-expressing cells than in control cells, which suggested that EBNA2 proteins could activate the HIV-1 promoter, possibly by inducing nuclear factors binding to HIV-1 cis-regulatory sequences. To test this possibility, we used CAT-based plasmids carrying deletions of the NF-kappa B (pNFA-CAT), Sp1 (pSpA-CAT), or TAR (pTAR-CAT) region of the HIV-1 LTR and retardation assays in which nuclear proteins from EBNA2-expressing cells were challenged with oligonucleotides encompassing the NF-kappa B or Sp1 region of the HIV-1 LTR. We found that both the NF-kappa B and the Sp1 sites of the HIV-1 LTR are necessary for EBNA2 transactivation and that increased expression resulted from the induction of NF-kappa B-like factors. Moreover, experiments with the TAR-deleted pTAR-CAT and with the tat-expressing pAR-TAT plasmids indicated that endogenous Tat-like proteins could participate in EBNA2-mediated activation of the HIV-1 LTR and that EBNA2 proteins can synergize with the viral tat transactivator. Transfection experiments with plasmids expressing the EBNA1, EBNA3, and EBNALP genes did not cause a significant HIV-1 LTR activation. Thus, it appears that among the latent EBV genes tested, EBNA2 was the only EBV gene active on the HIV-1 LTR. The transactivation function of EBNA2 was also observed in the HeLa epithelial cell line, which suggests that EBV and HIV-1 infection of non-B cells may result in HIV-1 promoter activation. Therefore, a specific gene product of EBV, EBNA2, can transactivate HIV-1 and possibly contribute to the clinical progression of AIDS.     

Gasification reactivity of charcoal with CO2. Part I: Conversion and structural phenomena

The gasification reaction of fir charcoal with CO₂ was studied by isothermal thermogravimetric analysis under kinetic control. The derived reaction rate (r=dX/dt) as a function of the converted carbon mass (X) was compared with random pore model predictions and found to be much higher at elevated conversion levels than predicted by theory. Similar enhanced reaction rate behaviour was evidenced after removing the natural alkali catalyst from the charcoal by acid washing, suggesting that with untreated charcoal the late reaction rate contribution stems from both, catalytic and additional structure effects. Literature attributes the unpredicted late reaction rate behaviour to the disintegration of the porous char particle into small fragments, which, in line with percolation theory predictions, seems to occur only after a critical conversion level has been reached. However, our gasification data reveal a gradual rise in the charcoal reactivity thereafter, suggesting a breaking up (embrittlement) of the solid phase accompanied by the exposure of fresh surface area from fracturing. The original random pore model derivation given by Bhatia and Perlmutter is extended to account also for these peculiarities and the resulting kinetic relation described our reaction rate data well over the entire conversion range.     

A Multicriteria Decision Support Methodology for Annual Rehabilitation Programs of Water Networks

Abstract:   This article provides an overview of a multicriteria decision support methodology for annual rehabilitation programs of water networks. A first set of criteria is formulated for the purpose of comparing and ranking rehabilitation projects. Each proposed criterion is a measure of a particular impact of the condition of a pipe. The ELECTRE TRI method is implemented for defining rehabilitation priorities . Two reference profiles are used to define the limits of three categories associated with three increasing priority levels. With these two reference profiles, applying the ELECTRE TRI method to an asset stock ( a set of pipes that are candidates for rehabilitation ) means assigning each pipe to one of six possible priority groups. A second set of criteria, based on the concept of efficiency, is proposed for comparing alternative rehabilitation programs ( subsets of the asset stock ).     

BRAF Gene and Melanoma: Back to the Future

As widely acknowledged, 40–50% of all melanoma patients harbour an activating BRAF mutation (mostly BRAF V600E). The identification of the RAS–RAF–MEK–ERK (MAP kinase) signalling pathway and its targeting has represented a valuable milestone for the advanced and, more recently, for the completely resected stage III and IV melanoma therapy management. However, despite progress in BRAF-mutant melanoma treatment, the two different approaches approved so far for metastatic disease, immunotherapy and BRAF+MEK inhibitors, allow a 5-year survival of no more than 60%, and most patients relapse during treatment due to acquired mechanisms of resistance. Deep insight into BRAF gene biology is fundamental to describe the acquired resistance mechanisms (primary and secondary) and to understand the molecular pathways that are now being investigated in preclinical and clinical studies with the aim of improving outcomes in BRAF-mutant patients.     

A Survey of Optical Flow Techniques for Robotics Navigation Applications

Optical flow has been widely used by insects and birds to support navigation functions. Such information has appealing capabilities for application to ground and aerial robots, especially for navigation and collision avoidance in urban or indoor areas. The purpose of this paper is to provide a survey of existing optical flow techniques for robotics navigation applications. Detailed comparisons are made among different optical-flow-aided navigation solutions with emphasis on the sensor hardware as well as optical flow motion models. A summary of current research status and future research directions are further discussed.     

Epoxidized soybean oil modified using fatty acids as tougheners for thermosetting epoxy resins: Part 2—Effect of curing agent and epoxy molecular weight

A series of bio-rubber (BR) tougheners for thermosetting epoxy resins was prepared by grafting renewable fatty acids with different chain lengths onto epoxidized soybean oil at varying molar ratios. BR-toughened samples were prepared by blending BRs with diglycidyl ether of bisphenol A resins, Epon 828 and Epon 1001F, at different weight fractions and stoichiometrically cured using an amine curing agent, 4, 4′-methylene biscyclohexanamine (PACM). Fracture toughness properties of the unmodified and BR toughened polymer samples—including critical strain energy release rate (G_Ic), and critical stress intensity factor (K_Ic)—were measured to investigate the toughening effect of prepared BRs. It was found that the degree of phase separation and toughening were more controllable relative to similar polymers cured using the aromatic curing agent Epikure W, and the use of higher molecular epoxy resins produces a synergistic effect increasing the toughness much more than similar polymers made with lower molecular weight epoxy resins. Average BR domain sizes ranging from 200 to 900 nm were observed, and formulations with G_Ic, values K_Ic as high as 1.0 kJ/m² and 1.4 MPa m^1/2 were attained respectively for epoxy systems with T_g greater than 130°C.     

Epoxidized soybean oil modified using fatty acids as tougheners for thermosetting epoxy resins: Part 1

A series of bio-rubber (BR) reactive tougheners for thermosetting epoxy resins was prepared by grafting renewable saturated fatty acids of different chain lengths (C6-C14) onto epoxidized soybean oil (ESO) at varying molar ratios. The tunable nature of the BR systems derives from the architecture and functionality of naturally occurring molecules. Control of BR reactivity and molecular weight by varying the degree of grafting and the chain length of the fatty acid was demonstrated. The BR-toughened samples were prepared by blending BRs with diglycidyl ether of bisphenol A (DGEBA), Epon 828, and stoichiometrically curing the mixture using an aromatic amine hardener, diethyl toluene diamine (Epikure W). Fracture surface morphology studies showed that tuning of phase separated particle sizes was possible depending on the BR type and weight fraction. The resulting toughening effect was evaluated by measuring the fracture toughness of control and toughened polymer samples. The use of BRs significantly improved the critical strain energy release rate and critical stress intensity factor values of thermosetting polymer samples without significantly reducing T_g and modulus. In addition to toughening and adding renewable content to petroleum-based thermosetting epoxy systems these new tougheners have low viscosity compared to common alternatives and aid ease of processing.