Online world modeling and path planning for an unmanned helicopter

Mission scenarios beyond line of sight or with limited ground control station access require capabilities for autonomous safe navigation and necessitate a continuous extension of existing and potentially outdated information about obstacles. The presented approach is a novel synthesis of techniques for 3D environment perception and global path planning. A locally bounded sensor fusion approach is used to extract sparse obstacles for global incremental path planning in an anytime fashion. During the flight, a stereo camera checks the field of view along the flight path ahead by analyzing depth images. A 3D occupancy grid is built incrementally. To reduce the high data rate and storage demands of grid-type maps, an approximated polygonal world model is created. For a compacted representation, it uses prisms and ground planes. This enables the system to constantly renew and update its knowledge about obstacles. An incremental heuristic path planner uses both a-priori information as well as incremental obstacle updates to assure a collision-free path at any time. Mapping results from flight tests show the functionality of onboard world modeling from real sensor data. Path planning feasibility is demonstrated within a simulation environment considering world model changes inside the vehicle’s field of view.     

Probing the Conformation States of Neurotensin Receptor 1 Variants by NMR Site-Directed Methyl Labeling

G protein-coupled receptors (GPCRs) are key players in mediating signal transduction across the cell membrane. However, due to their intrinsic instability, many GPCRs are not suitable for structural investigations. Various approaches have been developed in recent years to remedy this situation, ranging from the use of more native membrane mimetics to protein-stabilization methods. The latter approach typically results in GPCRs that contain various numbers of mutations. However, probing the functionality of such variants by in vitro and in vivo assays is often time consuming. In addition, to validate the suitability of such GPCRs for structural investigations, an assessment of their conformation state is required. NMR spectroscopy has been proven to be suitable to probe the conformation state of GPCRs in solution. Here, by using chemical labeling with an isotope-labeled methyl probe, we show that the activity and the conformation state of stabilized neurotensin receptor 1 variants obtained from directed evolution can be efficiently assayed in 2D NMR experiments. This strategy enables the quantification of the active and inactive conformation states and the derivation of an estimation of the basal as well as agonist-induced activity of the receptor. Furthermore, this assay can be used as a readout when re-introducing agonist-dependent signaling into a highly stabilized, and thus rigidified, receptor by mutagenesis. This approach will be useful in cases where low production yields do not permit the addition of labeled compounds to the growth medium and where 1D NMR spectra of selectively ¹⁹F-labeled receptors are not sufficient to resolve signal overlap for a more detailed analysis.     

Examining the consistency of products derived from various ocean color sensors in open ocean (Case 1) waters in the perspective of a multi-sensor approach

During its lifetime, a space-borne ocean color sensor provides world-wide information about important biogeochemical properties of the upper ocean every 2 to 4 days in cloudless regions. Merging simultaneous or complementary data from such sensors to obtain better spatial and temporal coverage is a recurring objective, but it can only be reached if the consistency of the sensor-specific products, as delivered by the various Space Agencies, has first been carefully examined. The goal of the present study is to provide a procedure for establishing a coherency of open ocean (Case-1 waters) data products, for which the various data processing methods are sufficiently similar. The development of the procedure includes a detailed comparison of the marine algorithms used (after atmospheric corrections) by space agencies for the production of standard products, such as the chlorophyll concentration, [Chl], and the diffuse attenuation coefficient, K_d. The MODIS-Aqua, SeaWiFS and MERIS [Chl] products agree over a wide range, between ∼ 0.1 and 3 mg m^− 3, whereas increasing divergences occur for oligotrophic waters ([Chl] (from 0.02 to 0.09 mg m^− 3). For the K_d(490) coefficient, different algorithms are in use, with differing results. Based on a semi-analytical reflectance model and hyperspectral approach, the present work proposes a harmonization of the algorithms allowing the products of the various sensors to be comparable, and ultimately, meaningfully merged (the merging procedures themselves are not examined). Additional potential products, obtained by using [Chl] as an intermediate tool, are also examined and proposed. These products include the thickness of the layer heated by the sun, the depth of the euphotic zone, and the Secchi disk depth. The physical limitations in the predictive skill of such downward extrapolations, made from information concerning only the upper layer, are stressed.     

Heat transport and void fraction in granulated debris

The paper discusses the boiling heat transfer from a porous bed with internal heat sources and refers to the configuration in a nuclear reactor after a partial core melt. The flow of coolant, the temperature and the local liquid/vapor distribution were investigated in a two-dimensional configuration. Experiments were conducted using monodisperse beds as well as a mixture of two different particle sizes with a total porosity below 20%. In some tests the bed was supported by a shell of porous material to create a gap along the bottom of the test container. Water was used for tests up to 9% of the critical pressure, while other tests were made with R134a up to 44% of the critical pressure. The maximum heating rate realized inductively was 730 kW/m². The experiments have been compared to analytical results with a one-dimensional approach.It is shown that in contrary to the situation in small cylindrical configurations the heat transfer was increased by large buoyancy driven convective flows. If there was a gap along the container bottom an additional flow of liquid improved the coolability of the bottom region even if the upper part of the particle bed was already overheated. In case of high density ratios (water at low pressure), the measurements indicated a strong enhancement of the coolant flow above a certain minimum heating rate resulting in decreasing vapor fraction values which were nearly independent of the system pressure. This was assumed to be caused by the appearance of vertical channels through which the vapor could flow through the particle bed.     

Short communication: Genomic prediction using imputed whole-genome sequence variants in Brown Swiss Cattle

The accuracy of genomic prediction determines response to selection. It has been hypothesized that accuracy of genomic breeding values can be increased by a higher density of variants. We used imputed whole-genome sequence data and various single nucleotide polymorphism (SNP) selection criteria to estimate genomic breeding values in Brown Swiss cattle. The extreme scenarios were 50K SNP chip data and whole-genome sequence data with intermediate scenarios using linkage disequilibrium-pruned whole-genome sequence variants, only variants predicted to be missense, or the top 50K variants from genome-wide association studies. We estimated genomic breeding values for 3 traits (somatic cell score, nonreturn rate in heifers, and stature) and found differences in accuracy levels between traits. However, among different SNP sets, accuracy was very similar. In our analyses, sequence data led to a marginal increase in accuracy for 1 trait and was lower than 50K for the other traits. We concluded that the inclusion of imputed whole-genome sequence data does not lead to increased accuracy of genomic prediction with the methods.     

Lanthanide-binding tags as versatile protein coexpression probes

Comprehensive proteomic analyses require new methodologies to accelerate the correlation of gene sequence with protein function. Key tools for such efforts include biophysical probes that integrate into the covalent architecture of proteins. Lanthanide-binding tags (LBTs) are expressible, multitasking fusion partners that are optimized to bind lanthanide ions and have several desirable attributes, which include long-lived luminescence, excellent X-ray scattering power for phase determination, and magnetic properties to facilitate NMR spectroscopic structure elucidation. Herein, we present peptide sequences with a 40-fold higher affinity for Tb(3+) ions and significantly brighter luminescence intensity compared with existing peptides. Incorporation of an LBT onto ubiquitin as a prototype fusion protein allows the use of powerful protein-visualization techniques, which include rapid luminescence detection of LBT-tagged proteins in SDS-PAGE gels, as well as determination of protein concentrations in complex mixtures. The LBT strategy is a new alternative for expressing fluorescent fusion proteins by routine molecular biological techniques.     

The impact of relative radiometric calibration on the accuracy of kNN-predictions of forest attributes

The k-nearest-neighbour (kNN) algorithm is widely applied for the estimation of forest attributes using remote sensing data. It requires a large amount of reference data to achieve satisfactory results. Usually, the number of available reference plots for the kNN-prediction is limited by the size of the area covered by a terrestrial reference inventory and remotely sensed imagery collected from one overflight. The applicability of kNN could be enhanced if adjacent images of different acquisition dates could be used in the same estimation procedure. Relative radiometric calibration is a prerequisite for this. This study focuses on two empirical calibration methods. They are tested on adjacent LANDSAT TM scenes in Austria. The first, quite conventional one is based on radiometric control points in the overlap area of two images and on the determination of transformation parameters by linear regression. The other, recently developed method exploits the kNN-cross-validation procedure. Performance and applicability of both methods as well as the impact of phenology are discussed.     

Effect of N-Vinyl-2-Pyrrolidone (NVP), a Bromodomain-Binding Small Chemical,on Osteoblast and Osteoclast Differentiation and Its Potential Application for Bone Regeneration

The human skeleton is a dynamic and remarkably organized organ system that provides mechanical support and performs a variety of additional functions. Bone tissue undergoes constant remodeling; an essential process to adapt architecture/resistance to growth and mechanical needs, but also to repair fractures and micro-damages. Despite bone’s ability to heal spontaneously, certain situations require an additional stimulation of bone regeneration, such as non-union fractures or after tumor resection. Among the growth factors used to increase bone regeneration, bone morphogenetic protein-2 (BMP2) is certainly the best described and studied. If clinically used in high quantities, BMP2 is associated with various adverse events, including fibrosis, overshooting bone formation, induction of inflammation and swelling. In previous studies, we have shown that it was possible to reduce BMP2 doses significantly, by increasing the response and sensitivity to it with small molecules called “BMP2 enhancers”. In the present study, we investigated the effect of N-Vinyl-2-pyrrolidone (NVP) on osteoblast and osteoclast differentiation in vitro and guided bone regeneration in vivo. We showed that NVP increases BMP2-induced osteoblast differentiation and decreases RANKL-induced osteoclast differentiation in a dose-dependent manner. Moreover, in a rabbit calvarial defect model, the histomorphometric analysis revealed that bony bridging and bony regenerated area achieved with NVP-loaded poly (lactic-co-glycolic acid (PLGA) membranes were significantly higher compared to unloaded membranes. Taken together, our results suggest that NVP sensitizes BMP2-dependent pathways, enhances BMP2 effect, and inhibits osteoclast differentiation. Thus, NVP could prove useful as “osteopromotive substance” in situations where a high rate of bone regeneration is required, and in the management of bone diseases associated with excessive bone resorption, like osteoporosis.     

Incidence of trichothecenes and zearalenone in poultry feed mixtures from Slovakia

A total of 50 samples of poultry feed mixtures of Slovakian origin were analyzed for eight toxicologically significant Fusarium mycotoxins, namely zearalenone (ZON), A-trichothecenes: diacetoxyscirpenol (DAS), T-2 toxin (T-2) and HT-2 toxin (HT-2) and B-trichothecenes: deoxynivalenol (DON), 3-acetyl-deoxynivalenol (3-ADON), 15-acetyl-deoxynivalenol (15-ADON) and nivalenol (NIV). The A-trichothecenes and the B-trichothecenes were detected by means of high pressure liquid chromatography with tandem mass spectrometry detection (HPLC-MS/MS) and gas chromatography electron capture detection (GC-ECD), respectively. Reversed phase-high performance liquid chromatography with a fluorescence detector (RP-HPLC-FLD) was used for ZON detection. The most frequent mycotoxin detected was T-2, which was found in 45 samples (90%) in relatively low concentrations ranging from 1 to 130 microg kg(-1) (average 13 microg kg(-1)), followed by ZON that was found in 44 samples (88%) in concentrations ranging from 3 to 86 microg kg(-1) (average 21 microg kg(-1)). HT-2 and DON were detected in 38 (76%) and 28 (56%) samples, respectively, in concentrations of 2 to 173 (average 18 microg kg(-1)) for HT-2 and 64 to 1230 microg kg(-1) sample (average 303 microg kg(-1)) for DON. The acetyl-derivatives of DON were in just four samples, while NIV was not detected in any of the samples investigated. In as many as 22 samples (44%), a combination of four simultaneously co-occurring mycotoxins, i.e. T-2, HT-2, ZON and DON, was revealed. Despite the limited number of samples investigated during this study poultry feed mixtures may represent a risk from a toxicological point of view and should be regarded as a potential source of the Fusarium mycotoxins in Central Europe. This is the first reported study dealing with zearalenone and trichothecene contamination of poultry mixed feeds from Slovakia.