An evolutionary approach to visual sensing for vehicle navigation

This paper presents an evolutionary approach able to process a digital image and detect tracks left by preceding vehicles on ice and snow in Antarctica. Biologically inspired by a colony of ants able to interact and cooperate to determine the shortest path to the food, this approach is based on autonomous agents moving along the image pixels and iteratively improving an initial coarse solution. The unfriendly Antarctic environment makes this image analysis problem extremely challenging, since light reflections, abruptly varying brightness conditions, and different terrain slopes must be considered as well. The ant-based approach is compared to a more traditional Hough-based solution and the results are discussed.     

Effect of Particle Size on Monometallic and Bimetallic (Au,Pd)/C on the Liquid Phase Oxidation of Glycerol

The influence of metal particle size of monometallic and bimetallic supported catalysts (Au, Pd, Au–Pd)/C was studied using as a model reaction the liquid phase oxidation of glycerol. By tuning the metal particle size from 2 to 16 nm a progressive decrease of activity and simultaneously an increase in the selectivity to sodium glycerate was observed. Moreover, the influence of the temperature was studied and it was found that by increasing the temperature, only with a large particle size the formed glycerate was retained and not over-oxidized to tartronate.     

In-utero transplantation of parental CD34 haematopoietic progenitor cells in a patient with X-linked severe combined immunodeficiency (SCIDXI)

BACKGROUND: X-linked severe combined immunodeficiency (SCIDXI) is an inherited immune defect which leads to death in infancy from severe infections. The defect is caused by mutations of the IL-2RG gene that encodes for the common gamma chain shared by several cytokine receptors. The disease is characterised by lack of T and NK cells with normal numbers of B cells. SCIDXI can be cured by bone marrow transplantation (BMT) or prevented by abortion after prenatal diagnosis. METHODS: A male fetus was diagnosed as having SCIDXI by molecular, immunophenotypic, and functional analyses. The fetus was injected intraperitoneally under ultrasound guidance with CD34 haematopoietic progenitor cells purified from paternal bone marrow and T-cell depleted by E rosetting. Chimerism analysis was by HLA-DQ alpha typing and gamma-chain staining on cord blood. FINDINGS: A healthy 3.6 kg boy was delivered by caesarean section at 38 weeks of gestation with no clinical or laboratory signs of graft-versus-host disease. Engraftment of donor-derived CD2 cells was found at birth. At 3.5 months of age the infant is well and his T-cell counts and function are normal. INTERPRETATION: In-utero transplantation of haematopoietic progenitor cells allowed immune reconstitution of a fetus with SCIDXI and may be an alternative to elective abortion. Our report should encourage applications of this method to other inherited disorders curable by BMT.     

Alu and L1 sequence distributions in Xq24-q28 and their comparative utility in YAC contig assembly and verification

The contents of Alu- and L1-containing TaqI restriction fragments were assessed by Southern blot analyses across YAC contigs already assembled by other means and localized within Xq24-q28. Fingerprinting patterns of YACs in contigs were concordant, and using software based on that of M. V. Olson et al. (1986, Proc. Natl. Acad. Sci. USA 83: 7826) to analyze digitized data on fragment sizes, fingerprinting itself could establish matches among about 40% of a test group of 435 YACs. At 100-kb resolution, both repetitive elements were found throughout the region, with no apparent enrichment of Alu or L1 in DNA of G compared to that found in R bands. However, consistent with a random overall distribution, delimited regions of up to 100 kb contained clusters of repetitive elements. The local concentrations may help to account for the reported differential hybridization of Alu and L1 probes to segments of metaphase chromosomes.     

Defibrotide, a single-stranded polydeoxyribonucleotide acting as an adenosine receptor agonist

The binding of single-stranded polydeoxyribonucleotides to adenosine A1 and A2 receptors was investigated. Defibrotide, a natural substance with established anti-thrombotic and anti-ischaemic effects, displaced [3H]CHA (N6-cyclohexyl-adenosine) and [3H]NECA (5'-N-ethylcarboxamido-adenosine) concentration dependently, completely and competitively. Ki values of 371 +/- 68 and 688 +/- 115 micrograms/ml (mean +/- S.E.M. of 4-5 replications) were computed for adenosine A1 and A2 sites, respectively. Higher and lower molecular weight polydeoxyribonucleotides displayed comparable affinity, whereas a double-stranded polydeoxyribonucleotide and a polyanion with a negative charge comparable to that of defibrotide were inactive. Defibrotide did not affect the total number of binding sites in radioligand saturation experiments. Defibrotide relaxed the K(+)-contracted guinea-pig trachealis muscle (IC50 = 4001 micrograms/ml) about one-third as potently as the CHA-contracted preparation and as potently as the resting preparation. NECA, a mixed adenosine A1/A2 receptor agonist, behaved similarly. The effects were abolished by the adenosine A1/A2 receptor blocker 8-phenyltheophylline, but not by the selective A1 blocker, 1,3-dipropyl-8-(2-amino-4-chlorophenyl)-xanthine. These results demonstrate that defibrotide binds to adenosine receptors and triggers pharmacological responses comparable to those of a known agonist.     

Single-phase gold/palladium catalyst: The nature of synergistic effect

The liquid phase oxidation of glycerol with oxygen has been studied using mono and bimetallic catalysts based on Au and Pd metals supported on activated carbon, in order to study the effect of the metal on the distribution of the products and on activity of catalysts. It was found that by using bimetallic catalysts (Au–Pd) a strong synergistic effect was shown. By using a preformed nucleating centre we were able to obtain a single alloyed phase, which allowed us to address the synergistic effect to the presence of alloyed Au/Pd. The advantage of using this latter catalyst lies not only in the high activity but also in a prolonged catalyst life. Although a partial leaching of palladium and assembling of the particles have been revealed by ICP and HRTEM respectively, activity after 10 re-cycles decreased less than expected (about 10%).     

Amortized constant time state estimation in Pose SLAM and hierarchical SLAM using a mixed Kalman-information filter

The computational bottleneck in all information-based algorithms for simultaneous localization and mapping (SLAM) is the recovery of the state mean and covariance. The mean is needed to evaluate model Jacobians and the covariance is needed to generate data association hypotheses. In general, recovering the state mean and covariance requires the inversion of a matrix with the size of the state, which is computationally too expensive in time and memory for large problems. Exactly sparse state representations, such as that of Pose SLAM, alleviate the cost of state recovery either in time or in memory, but not in both. In this paper, we present an approach to state estimation that is linear both in execution time and in memory footprint at loop closure, and constant otherwise. The method relies on a state representation that combines the Kalman and the information-based approaches. The strategy is valid for any SLAM system that maintains constraints between marginal states at different time slices. This includes both Pose SLAM, the variant of SLAM where only the robot trajectory is estimated, and hierarchical techniques in which submaps are registered with a network of relative geometric constraints.     

A control structure for the locomotion of a legged robot ondifficult terrain

The control of a legged robot walking on difficult terrain demands the development of efficient and reliable algorithms to coordinate the movement of multiple legs according to a diversity of requirements. We present a control structure, implemented on a six-legged robot, in which the aspects of stability, mobility, ground accommodation, gait generation, and robot heading are integrated in a coherent and simple way     

Laser Doppler velocimetry with polarization-bistable VCSELs

We present a rate equation model of a single mode vertical-cavity surface-emitting laser (VCSEL) with two states of linear polarization, subject to Doppler-shifted optical feedback. Recent experimental work has shown that the polarization bistability often observed in VCSELs can be exploited to enhance the responsivity of these semiconductor lasers in speed-sensing applications. We review these experimental results briefly and use the rate equation model to explain the increased signal-to-noise ratio.