Compliance with and tolerance of mefloquine and chloroquine + proguanil malaria chemoprophylaxis in French short-term travellers to sub-Saharan Africa

To compare the compliance with and tolerance of mefloquine (MQ) and chloroquine + proguanil (CQ-PRO) chemoprophylaxis, we conducted a study using a self-reported questionnaire in 2 groups of native French adult visitors to Senegal or Kenya. CQ (100 mg daily) + PRO (200 mg daily) prophylaxis was prescribed for all patients travelling to Senegal and for those going to Kenya when MQ was contraindicated; MQ (250 mg weekly) was prescribed for the other subjects. There were no significant differences in age, sex, exposition and measures of protection against mosquito bites, concomitant drug use or mean duration of chemoprophylaxis between the 2 groups, and compliance during travel was excellent in both. Chemoprophylaxis was more frequently interrupted prematurely in the MQ group. The rates of overall side-effects attributed to malaria chemoprophylaxis were 16% for MQ against 12% CQ-PRO (not significant). However, nonserious neuropsychiatric adverse events are more frequent with MQ: 11.5% compared to 2% with CQ-PRO. MQ should be used with caution.     

Incremental Learning of Skills in a Task-Parameterized Gaussian Mixture Model

Programming by demonstration techniques facilitate the programming of robots. Some of them allow the generalization of tasks through parameters, although they require new training when trajectories different from the ones used to estimate the model need to be added. One of the ways to re-train a robot is by incremental learning, which supplies additional information of the task and does not require teaching the whole task again. The present study proposes three techniques to add trajectories to a previously estimated task-parameterized Gaussian mixture model. The first technique estimates a new model by accumulating the new trajectory and the set of trajectories generated using the previous model. The second technique permits adding to the parameters of the existent model those obtained for the new trajectories. The third one updates the model parameters by running a modified version of the Expectation-Maximization algorithm, with the information of the new trajectories. The techniques were evaluated in a simulated task and a real one, and they showed better performance than that of the existent model.     

High level communication functionalities for wireless sensor networks

In this paper we show how to establish a reliable and efficient high level communication system in a randomly deployed network of sensors equipped with directional antennas. This high level communication system enables the programming of the sensor network using high level communication functionalities without the burden of taking care of their physical capacities (low range, unidirectional links, single frequency, presence of collisions, etc.). The high level communication functionalities we offer include point-to-point communication, point-to-area communication, and one-to-all communication. The basic idea to implement this system is to simulate a virtual network that emerges from the ad-hoc network using self-organization, self-discovery and collaborative methods. We also analyse the efficiency, scalability and robustness of the proposed protocols.     

Abatement of 4-Chlorophenol in Aqueous Phase by Ozonation Coupled with a Sequencing Batch Biofilm Reactor (SBBR)

The aim of this work was to assess the mineralization of 100 and 200 mg L^?1 4-chlorophenol (4-CP) solutions by ozonation-biological treatment. The results show that starting from a 4-CP initial concentration from 100 to 500 mg L^?1 and using an ozone flow rate of 5.44 and 7.57 g h^?1, 4-CP was completely removed. A kinetic constant around 9·10^?2 min^?1 was calculated for the ozone direct attack. The biodegradability (BOD₅/COD) of the pre-ozonated solutions increased from 0 until a range between 0.2–0.37. The combination of the ozonation and aerobic biological treatment in an aerobic sequencing batch biofilm reactor (SBBR) gave an abatement of more than 90% of the initial TOC.     

Discovery of novel non-cyclam polynitrogenated CXCR4 coreceptor inhibitors

HIV cell fusion and entry have been validated as targets for therapeutic intervention against infection. Bicyclams were the first low-molecular-weight compounds to show specific interaction with CXCR4. The most potent bicyclam was AMD3100, in which the two cyclam moieties are tethered by a 1,4-phenylenebis(methylene) bridge. It was withdrawn from clinical trials owing to its lack of oral bioavailability and cardiotoxicity. We have designed a combinatorial library of non-cyclam polynitrogenated compounds by preserving the main features of AMD3100. At least two nitrogen atoms on each side of the p-phenylene moiety, one in the benzylic position and the other(s) in the heterocyclic system were maintained, and the distances between them were similar to the nitrogen atom distances in cyclam. A selection of diverse compounds from this library were prepared, and their in vitro activity was tested in cell cultures against HIV strains. This led to the identification of novel potent CXCR4 coreceptor inhibitors without cytotoxicity at the tested concentrations.     

Architectural singularities of a class of pentapods

A pentapod is usually defined as a 5-degrees-of-freedom fully-parallel manipulator with an axial spindle as moving platform. This kind of manipulators has revealed as an interesting alternative to serial robots handling axisymmetric tools. Their particular geometry permits that, in one tool axis, high inclination angles could be attained, thus overcoming the orientation limits of the classical Stewart-Gough platform. This paper deals with pentapods with coplanar base attachments.In previous works changes in the location of the leg attachments that do not modify the singularity locus of the pentapod were studied. Such leg rearrangements reveal here as a powerful tool to shed light on the geometric structure of the singularity locus and, in particular, on architectural singularities.Indeed, a complete analysis of such singularities is carried out, providing both algebraic conditions, which complete previous results found in literature, and a geometrical interpretation that permits defining a measure of distance to architectural singularities. Such measure can be used as an index in the design process to obtain manipulators as far as possible from architectural singularities, leading to a better global behavior.