In this article we describe the architecture, algorithms and real-world benchmarks performed by
Johnny Jackanapes
, an autonomous service robot for domestic environments.
Johnny
serves as a research ...and development platform to explore, develop and integrate capabilities required for real-world domestic service applications. We present a control architecture which allows to cope with various and changing domestic service robot tasks. A software architecture supporting the rapid integration of functionality into a complete system is as well presented. Further, we describe novel and robust algorithms centered around multi-modal human robot interaction, semantic scene understanding and SLAM. Evaluation of the complete system has been performed during the last years in the RoboCup@Home competition where
Johnnys
outstanding performance led to successful participation. The results and lessons learned of these benchmarks are explained in more detail.
Group A Streptococcus (GAS) is a major human pathogen responsible for superficial infections through to life-threatening invasive disease and the autoimmune sequelae acute rheumatic fever (ARF). ...Despite a significant global economic and health burden, there is no licensed vaccine available to prevent GAS disease. Several pre-clinical vaccines that target conserved GAS antigens are in development. Assays that measure antigen-specific antibodies are essential for vaccine research. The aim of this study was to develop a multiplex beadbased immunoassay that can detect and quantify antibody responses to multiple GAS antigen targets in small volume blood samples. This builds on our existing triplex assay comprised of antigens used in clinical serology for the diagnosis of ARF (SLO, DNase B and SpnA). Five additional conserved putative GAS vaccine antigens (Spy0843, SCPA, SpyCEP, SpyAD and the Group A carbohydrate), were coupled to spectrally unique beads to form an 8-plex antigen panel. After optimisation of the assay protocol, standard curves were generated, and assessments of assay specificity, precision and reproducibility were conducted. A broad range of antibody (IgG) titres were able to be quickly and accurately quantified from a single serum dilution. Assay utility was assessed using a panel of 62 clinical samples including serum from adults with GAS bacteraemia and children with ARF. Circulating IgG to all eight antigens was elevated in patients with GAS disease (n = 23) compared to age-matched controls (n = 39) (P < 0.05). The feasibility of using dried blood samples to quantify antigen-specific IgG was also demonstrated. In summary, a robust and reproducible 8-plex assay has been developed that simultaneously quantifies IgG antibodies to GAS vaccine and diagnostic antigens.
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•An 8-plex assay, that measures IgG responses to Group A Streptococcus (GAS) antigens, was developed, optimised and evaluated.•Vaccine antigens (Spy0843, SCPA, SpyCEP, SpyAD, GAC), and antigens from a previous triplex (SLO, DNaseB, SpnA) were included.•The assay will be a useful tool for profiling responses to diagnostic and vaccine antigens to support GAS vaccine research.
Abstract Background The controlled recruitment of monocytes from the circulation to the site of injury and their differentiation into tissue macrophages are critical events in the reconstitution of ...tissue integrity. Subsets of monocytes/macrophages have been implicated in the pathogenesis of atherosclerosis and tumor vascularity; however, the significance of monocyte heterogeneity in physiologic neovascularization is just emerging. Materials and methods A cranial-based, peninsular-shaped myocutaneous flap was surgically created on the dorsum of wild-type mice (C57BL6) and populations of mice with genetic deletion of subset-specific chemokine ligand-receptor axes important in monocyte trafficking and function (CCL2−/− and CX3 CR1−/− ) ( n = 36 total; 12 mice per group, nine with flap and three unoperated controls). Planimetric analysis of digital photographic images was utilized to determine flap surface viability in wild-type and knockout mice. Real-time myocutaneous flap perfusion and functional revascularization was determined by laser speckle contrast imaging. Image analysis of CD-31 immunostained sections confirmed flap microvascular density and anatomy. Macrophage quantification and localization in flap tissues was determined by F4/80 gene and protein expression. Quantitative reverse transcription-polymerase chain reaction was performed on nonoperative back skin and postoperative flap tissue specimens to determine local gene expression. Results Myocutaneous flaps created on wild type and CX3 CR1−/− mice were engrafted to the recipient site, resulting in viability. In contrast, distal full thickness cutaneous necrosis and resultant flap dehiscence was evident by d 10 in CCL2−/− mice. Over 10 d, laser speckle contrast imaging documented immediate graded flap ischemia in all three groups of mice, functional flap revascularization in wild type and CX3 CR1−/− mice, and lack of distal flap reperfusion in CCL2−/− mice. Immunostaining of serial histologic specimens confirmed marked increases in microvascular density and number of macrophages in wild type mice, intermediate increases in CX3 CR1−/− mice, and no significant change in vessel count or macrophage quantity in CCL2−/− mice over the study interval. Finally, quantitative reverse transcriptase polymerase chain reaction demonstrated that the loss of function of chemokine ligand and receptor genes influenced the transcription of local genes involved in monocyte chemotaxis and wound angiogenesis. Conclusions In a graded-ischemia wound healing model, monocyte recruitment was severely impaired in CCL2−/− mice, resulting in failure of flap revascularization and concomitant cutaneous necrosis. Analysis of CX3 CR1-deficient mice revealed adequate monocyte recruitment and revascularization for flap survival; however, the myeloid cell response and magnitude of neovascularization were dampened compared with wild type mice.
The cingulum bundle (CB) connects gray matter structures of the limbic system and as such has been implicated in the etiology of schizophrenia. There is growing evidence to suggest that the CB is ...actually comprised of a conglomeration of discrete sub-connections. The present study aimed to use Diffusion Tensor tractography to subdivide the CB into its constituent sub-connections, and to investigate the structural integrity of these sub-connections in patients with schizophrenia and matched healthy controls. Diffusion Tensor Imaging scans were acquired from 24 patients diagnosed with chronic schizophrenia and 26 matched healthy controls. Deterministic tractography was used in conjunction with FreeSurfer-based regions-of-interest to subdivide the CB into 5 sub-connections (I1 to I5). The patients with schizophrenia exhibited subnormal levels of FA in two cingulum sub-connections, specifically the fibers connecting the rostral and caudal anterior cingulate gyrus (I1) and the fibers connecting the isthmus of the cingulate with the parahippocampal cortex (I4). Furthermore, while FA in the I1 sub-connection was correlated with the severity of patients' positive symptoms (specifically hallucinations and delusions), FA in the I4 sub-connection was correlated with the severity of patients' negative symptoms (specifically affective flattening and anhedonia/asociality). These results support the notion that the CB is a conglomeration of structurally interconnected yet functionally distinct sub-connections, of which only a subset are abnormal in patients with schizophrenia. Furthermore, while acknowledging the fact that the present study only investigated the CB, these results suggest that the positive and negative symptoms of schizophrenia may have distinct neurobiological underpinnings.
Background
New Zealand's (NZ) complete absence of community transmission of influenza and respiratory syncytial virus (RSV) after May 2020, likely due to COVID‐19 elimination measures, provided a ...rare opportunity to assess the impact of border restrictions on common respiratory viral infections over the ensuing 2 years.
Methods
We collected the data from multiple surveillance systems, including hospital‐based severe acute respiratory infection surveillance, SHIVERS‐II, ‐III and ‐IV community cohorts for acute respiratory infection (ARI) surveillance, HealthStat sentinel general practice (GP) based influenza‐like illness surveillance and SHIVERS‐V sentinel GP‐based ARI surveillance, SHIVERS‐V traveller ARI surveillance and laboratory‐based surveillance. We described the data on influenza, RSV and other respiratory viral infections in NZ before, during and after various stages of the COVID related border restrictions.
Results
We observed that border closure to most people, and mandatory government‐managed isolation and quarantine on arrival for those allowed to enter, appeared to be effective in keeping influenza and RSV infections out of the NZ community. Border restrictions did not affect community transmission of other respiratory viruses such as rhinovirus and parainfluenza virus type‐1. Partial border relaxations through quarantine‐free travel with Australia and other countries were quickly followed by importation of RSV in 2021 and influenza in 2022.
Conclusion
Our findings inform future pandemic preparedness and strategies to model and manage the impact of influenza and other respiratory viral threats.
•With LRO-LAMP Lyman-α maps we have detected two fresh craters in lunar south pole PSRs.•We estimate the ages of these craters to be 75–420Myr and 16Myr, respectively.•This is the first time that FUV ...measurements have been used to detect fresh craters.•Detecting fresh craters within PSRs is significant as so little is known about PSRs surface properties.
The upper 25–100nm of the lunar regolith within the permanently shaded regions (PSRs) of the Moon has been demonstrated to have significantly higher surface porosity than the average lunar regolith by observations that the Lyman-α albedo measured by the Lunar Reconnaissance Orbiter (LRO) Lyman Alpha Mapping Project (LAMP) is lower in the PSRs than the surrounding region. We find that two areas within the lunar south polar PSRs have significantly brighter Lyman-α albedos and correlate with the ejecta blankets of two small craters (<2km diameter). This higher albedo is likely due to the ejecta blankets having significantly lower surface porosity than the surrounding PSRs. Furthermore, the ejecta blankets have much higher Circular Polarization Ratios (CPR), as measured by LRO Mini-RF, indicating increased surface roughness compared to the surrounding terrain. These combined observations suggest the detection of two craters that are very young on geologic timescales. From these observations we derive age limits for the two craters of 7–420million years (Myr) based on dust transport processes and the radar brightness of the disconnected halos of the ejecta blankets.
The TCR:CD3 complex transduces signals that are critical for optimal T cell development and adaptive immunity. In resting T cells, the CD3ε cytoplasmic tail associates with the plasma membrane via a ...proximal basic-rich stretch (BRS). In this study, we show that mice lacking a functional CD3ε-BRS exhibited substantial reductions in thymic cellularity and limited CD4- CD8- double-negative (DN) 3 to DN4 thymocyte transition, because of enhanced DN4 TCR signaling resulting in increased cell death and TCR downregulation in all subsequent populations. Furthermore, positive, but not negative, T cell selection was affected in mice lacking a functional CD3ε-BRS, which led to limited peripheral T cell function and substantially reduced responsiveness to influenza infection. Collectively, these results indicate that membrane association of the CD3ε signaling domain is required for optimal thymocyte development and peripheral T cell function.
The electrostatic potential around a molecule is often used to describe reactions, binding, and catalysis mechanisms or to serve as a descriptor in structure−activity relationships and molecular ...similarity studies. Often, very accurate descriptions of this property are needed that traditionally can be obtained, at least for small molecules, by quantum chemical calculations. The aim of this paper is to extend ab initio-quality quantum chemical accuracy to larger molecules such as proteins. The additive fuzzy density fragmentation (AFDF) principle and the adjustable density matrix assembler (ADMA) method are used to divide large molecules into fuzzy fragments, for which quantum chemical calculations can be done directly using smaller, “custom-made” parent molecules including all the local interactions within a preset distance limit. In the next step, the obtained density matrices of electron density fragments are combined to approximate the global density matrix and the electron density of the whole molecules. These ADMA electron densities are then used to calculate ab inito-quality electrostatic potentials of the large molecules. The accuracy of the method is analyzed in detail by two test cases of a penta- and a hexapetide, and the efficiency of the technique is demonstrated by the calculation of the electrostatic potential of the protein crambin.
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