Distributed Multirobot Exploration and Mapping

Efficient exploration of unknown environments is a fundamental problem in mobile robotics. We present an approach to distributed multirobot mapping and exploration. Our system enables teams of robots to efficiently explore environments from different, unknown locations. In order to ensure consistency when combining their data into shared maps, the robots actively seek to verify their relative locations. Using shared maps, they coordinate their exploration strategies to maximize the efficiency of exploration. This system was evaluated under extremely realistic real-world conditions. An outside evaluation team found the system to be highly efficient and robust. The maps generated by our approach are consistently more accurate than those generated by manually measuring the locations and extensions of rooms and objects.     

Effects of forage level and canola seed supplementation on site and extent of digestion of organic matter, carbohydrates, and energy by steers

The objective of this study was to determine the effects of fat supplementation from canola seed (CS) on ruminal fermentation and postruminal digestion of OM, carbohydrates, and energy of diets containing different levels of forage. Six ruminally and duodenally cannulated beef steers (354 kg +/- 18) were given ad libitum access to six isonitrogenous diets that were offered twice daily in a 6 x 6 Latin square design. Treatments were arranged as a 2 x 3 factorial with two forage levels (70 vs 30% of dietary DM as corn silage) and three forms of CS supplementation including no CS or CS added at 10% of dietary DM as whole CS treated with alkaline hydrogen peroxide or untreated crushed CS. Fat from CS provided 5% of dietary DM. The remaining dietary ingredients were corn, canola meal, molasses, and urea. No interactions (P > .05) between dietary forage level and CS supplementation were observed for ruminal characteristics or digestion of OM, carbohydrates, and energy in the rumen, postruminally, or in the total tract. Fat supplementation from CS did not affect (P > .05) DMI. With few exceptions, fat supplementation did not affect (P > .05) ruminal, postruminal, or total tract digestibilities of OM, structural and nonstructural carbohydrates, and GE. Ruminal disappearance of GE was decreased (P < .05) when diets were supplemented with fat from whole treated CS, and total tract digestibilities of OM and GE were decreased (P < .05) when diets were supplemented with fat from CS in either form. Ruminal pH, concentrations of NH3 N and total VFA, and molar proportions of acetate, propionate, and butyrate were not affected (P > .05) by fat supplementation. Results suggest that fat supplementation from CS (at 5% of dietary DM) as whole treated or untreated crushed had no negative effects on ruminal fermentation of OM, carbohydrates, or energy when steers were given ad libitum access to diets containing high or low forage.     

Reliability of a k-out-of-n: G system with common-mode outages

This paper presents the model of a k-out-of-n: G system with common mode outages. The objective is to analytically derive the mean operating mode between failures for a non-repairable component system. The average system failure time and the system availability are also considered. Then, the model is extended to a system with repairable components and unrestricted repair, in which service times are exponentially distributed.     

Self-Organization of Microlens Arrays Caused by the Spin-Coating-Assisted Hydrophobic Effect

A simple, low-cost, low-temperature, and shape-controllable approach has been demonstrated to fabricate polymer microlens arrays (MLAs). By using microcontact printing of the self-assembled monolayers and then spin coating, the microlenses were able to organize themselves on the patterned glass substrate. High-quality MLAs made of NOA65 prepolymer with lens-diameters of 50, 75, and 100 mum have been fabricated by this method. Lens shapes can be controlled by changing the spin rates of the prepolymer coating. Optical measurements have revealed an excellent light-collecting capability from the fabricated MLAs. It is anticipated that the technique will be ideally suited to low-cost and high-volume production     

Synthesis and characterization of a novel proton‐exchange membrane for fuel cells operating at high temperatures and low humidities

The synthesis of a p‐toluidine/formaldehyde (PTF) resin was performed, and the effects of the molar ratio of the individual monomers and the polymerization conditions on the structure of the PTF resin were studied. Fourier transform infrared and ¹³C‐NMR spectra were used to characterize the PTF. Wide‐angle X‐ray diffraction patterns revealed the crystalline structures of various PTFs. Polarized optical microscopy revealed that the molar ratio of the monomers had a strong effect on the crystalline morphologies. A longer polymerization time turned out a polymer with a higher intrinsic viscosity and molecular weight, which led to differences in the proton conductivity. All of the PTFs showed a higher proton conductivity than a commercial Nafion membrane at 90–100°C and 0% relative humidity. The proton conductivity of the PTF series could be improved by sulfonation with sulfuric acid and could be maintained after blending with polyurethane. Pure methanol could be used as a fuel source because of the insolubility and nonwetting properties of PTF in methanol to increase the output current density for a PTF membrane electrode assembly. © 2007 Wiley Periodicals, Inc. J Appl Polym Sci 2008     

Monoclonal antibody-based competitive ELISA for simultaneous detection of rinderpest virus and peste des petits ruminants virus antibodies

An experimental competitive enzyme-linked immunosorbent assay (morbillivirus cELISA) using a recombinant N antigen (rRPV N) expressed in a baculovirus and a ruminant morbillivirus (RPV and PPRV)-specific monoclonal antibody (P-13A9) was developed for simultaneous detection of rinderpest virus (RPV) and peste des petits ruminants virus (PPRV) antibodies and its diagnostic performance was evaluated. A set of known reference antisera against RPV and PPRV belonging to different lineages, experimental sera from cattle vaccinated for a RPV of Asian lineage, and field sera from cattle and sheep/goat populations known to be positive (West Africa) and negative (Korea) for RPV and PPRV were used for the evaluation. Morbillivirus cELISA results on the panel of experimental RPV and PPRV antisera showed high correlation (r=0.97) between the whole virus and the rRPV N antigens, suggesting that the rRPV N contains a ruminant morbillivirus-specific antigenic determinant recognized by the P-13A9 and it may be suitable as an ELISA antigen in place of the whole virus. Morbillivirus cELISA detected anti-RPV and anti-PPRV antibodies in all reference RPV and PPRV antisera containing VN titers >/=1:8, suggesting that the assay can simultaneously detect antibodies against RPV and PPRV. Anti-RPV antibody was detected by morbillivirus cELISA in vaccinated cattle as early as the VNT and continued to be detectable by both the cELISA and the VNT until termination of the study. When applied to field samples from Africa, morbillivirus cELISA showed good agreement with a RP cELISA kit (kappa value of 0.86) in bovine sera and with a peste des petits ruminant cELISA kit (kappa value of 0.81) in caprine/ovine sera. Usefulness of morbillivirus cELISA using the rRPV N protein was discussed.     

Monolithic integration of microlensed resonant photodetectors andvertical cavity lasers

Monolithic integration of high performance microlensed resonant photodetectors and vertical cavity lasers (VCLs) from a single epitaxial growth is presented. The VCLs have sub-200 μA threshold currents. Adjacent detectors have the same operating wavelength and responsivities of ~0.4 A/W with ~6 nm optical bandwidths     

Identification of urinary dipeptidase as the released form of renal dipeptidase

Beckwith-Wiedemann syndrome (BWS) comprises of a number of childhood abnormalities, often associated with one or more tumors. Thirty-eight patients were investigated to determine clinical and/or biological signs associated with a tumor presence. Our patients exhibited a higher incidence of tumor development (21%) than that previously reported, underlying the care with which such patients should be followed, when particular clinical features are observed: visceromegaly affecting three organs (liver, kidney, spleen), and also family history with sign of BWS such as macroglossia, omphalocele, hemihypertrophy, embryonic tumor), high body weight at birth (> or = +2 standard deviations and diastasis recti.     

Salmonella meningitis: clinical experience of third-generation cephalosporins

Fifteen paediatric patients with Salmonella meningitis were retrospectively reviewed. Presenting symptoms and signs included fever, vomiting, seizures, poor activity, diarrhoea and bulging anterior fontanelle in most patients. Seven out of eight patients with prolonged fever for > 10 days had neurologic sequelae; therefore, prolonged fever is a significant prognostic factor of a poor outcome (p < 0.005). All 15 patients had a brain ultrasound or computed tomography in the acute stage and 11 patients had abnormal findings. The 14 surviving patients were treated with a third-generation cephalosporin for at least 3 weeks. Seven patients (47%) made complete recoveries; two of them were treated solely with a third-generation cephalosporin. Only one mortality (6%) occurred and there were no relapses. In conclusion, high frequencies of prolonged fever, neuroimaging abnormalities and neurologic sequelae were seen in patients with Salmonella meningitis treated with third-generation cephalosporins.     

The role of apoptosis in the modulation of colon carcinogenesis by dietary fat and by the organoselenium compound 1,4-phenylenebis(methylene)selenocyanate

Studies in laboratory animals have demonstrated that dietary supplements of organoselenium, 1,4-phenylenebis(methylene)selenocyanate (p-XSC) inhibit colon carcinogenesis. Diverse chemopreventive agents and clinically used anticancer drugs have been shown to induce apoptosis in colonic tumors. Inducing apoptosis is a key mechanism for the effectiveness of some chemopreventive agents; however, failure of apoptosis is now believed to contribute to the development of human cancer. In this study, we determined the number of apoptotic bodies in the colon tumors of rats fed a low-fat (LF) or a high-fat (HF) diet with or without p-XSC treatment. At 5 weeks of age, male F344 rats were divided into four groups, which were then maintained on one of the following diets: LF, 5% corn oil; HF, 23.5% corn oil; and LF and HF supplemented with 20 ppm p-XSC. In addition, the LF or HF diet with p-XSC supplements was administered either during the initiation stage or postinitiation. At 7 weeks of age, all rats except those intended for vehicle (normal saline) treatment were given 15 mg/kg of body weight of azoxymethane once weekly for 2 weeks. The animals were sacrificed 38 weeks after carcinogen treatment, and their colonic tumors were examined for appearance of apoptosis. The LF diet significantly increased the percentage of apoptosis as compared to the HF diet; the percentage of apoptosis in LF and HF diets were 12.4 and 2.9. The colon tumors that were present in the groups fed p-XSC together with a LF or a HF diet after carcinogen administration (postinitiation period) had a higher number of apoptotic bodies than those that were present in the animals fed p-XSC before carcinogen treatment (initiation period). The extent of apoptosis was weak when p-XSC was given with a HF diet (4.4%) during the initiation phase, but it was high significant when p-XSC was administered with LF diet (25.2%). Taken together, our data suggest that administration of LF diet supplemented with p-XSC increases apoptosis as compared to a HF diet alone.