Dual MIMU Pedestrian Navigation by Inequality Constraint Kalman Filtering.

The foot-mounted inertial navigation system is an important method of pedestrian navigation as it, in principle, does not rely any external assistance. A real-time range decomposition constraint method is proposed in this paper to combine the information of dual foot-mounted inertial navigation systems. It is well known that low-cost inertial pedestrian navigation aided with both ZUPT (zero velocity update) and the range decomposition constraint performs better than those in their own respective methods. This paper recommends that the separation distance between the position estimates of the two foot-mounted inertial navigation systems be restricted by an ellipsoidal constraint that relates to the maximum step length and the leg height. The performance of the proposed method is studied by utilizing experimental data, and the results indicate that the method can effectively correct the dual navigation systems' position over the traditional spherical constraint.

A Pose-Only Solution to Visual Reconstruction and Navigation.

Visual navigation and three-dimensional (3D) scene reconstruction are essential for robotics to interact with the surrounding environment. Large-scale scenarios and computational robustness are great challenges facing the research community to achieve this goal. This paper raises a pose-only imaging geometry representation and algorithms that might help solve these challenges. The pose-only representation, equivalent to the classical multiple-view geometry, is discovered to be linearly related to camera global translations, which allows for efficient and robust camera motion estimation. As a result, the spatial feature coordinates can be analytically reconstructed and do not require nonlinear optimization. Comprehensive experiments demonstrate that the computational efficiency of recovering the scene and associated camera poses is significantly improved by 2-4 orders of magnitude.

Improved iterative calibration for triaxial accelerometers based on the optimal observation.

This paper presents an improved iterative nonlinear calibration method in the gravitational field for both low-grade and high-grade triaxial accelerometers. This calibration method assumes the probability density function of a Gaussian distribution for the raw outputs of triaxial accelerometers. A nonlinear criterion function is derived as the maximum likelihood estimation for the calibration parameters and inclination vectors, which is solved by the iterative estimation. First, the calibration parameters, including the scale factors, misalignments, biases and squared coefficients are estimated by the linear least squares method according to the multi-position raw outputs of triaxial accelerometers and the initial inclination vectors. Second, the sequence quadric program method is utilized to solve the nonlinear constrained optimization to update the inclination vectors according to the estimated calibration parameters and raw outputs of the triaxial accelerometers. The initial inclination vectors are supplied by normalizing raw outputs of triaxial accelerometers at different positions without any a priori knowledge. To overcome the imperfections of models, the optimal observation scheme is designed according to some maximum sensitivity principle. Simulation and experiments show good estimation accuracy for calibration parameters and inclination vectors.

Evaluation on the phenotypic diversity of Calamansi (Citrus microcarpa) germplasm in Hainan island.

Calamansi or Philippine lime (Citrofortunella macrocarpa) is an important crop for local economic in Hainan Island. There is no study about Calamansi germplasm evaluation and cultivar development. In this study, Calamansi data were collected from 151 of Calamansi seedling trees, and 37 phenotypic traits were analyzed to investigate their genetic diversities. The cluster analysis and principal component analysis were conducted aiming to provide a theoretical basis for the Calamansi genetic improvement. The results of the diversity analysis revealed: (1) the diversity indexes for qualitative traits were ranged from 0.46-1.39, and the traits with the highest genetic diversity level were fruit shaped and pulp colored (H' > 1.20); and the diversity indexes for quantitative traits ranged from 0.67-2.10, with the exception of a lower in fruit juice rate (1.08) and lower in number of petals (0.67). (2) The clustering analysis of phenotypic traits have arranged the samples into 4 categories: the first group characterized by fewer flesh Segment number per fruit (SNF) and more Oil cell number (OCN); the second group had 7 samples, all characterized with larger Crown breadth (CB), higher Yield per tree (YPT), the lager leaf, the higher Ascorbic acid (AA), and less Seed number per fruit (SNPF); the third group had 25 samples characterized by smaller Tree foot diameter (TFD),smaller Fruit shape index (FSI) and higher Total soluble solids (TSS) contain; the fourth group had 87 samples, they were characterized by shorter Petiole length (PEL), larger fruit, higher Juice ratio (JR), multiple Stamen number (SN) and longer Pistil length (PIL). (3) The principal component analysis showed the values of the first 9 major components characteristic vectors were all greater than 3, the cumulative contribution rate reach 72.20%, including the traits of single fruit weight, fruit diameter, tree height, tree canopy width etc. Finally, based on the comprehensive main component value of all samples, the Calamansi individuals with higher testing scores were selected for further observation. This study concludes that Calamansi seedling populations in the Hainan Island holds great genetic diversity in varies traits, and can be useful for the Calamansi variety improvements.

SE(n)++: An Efficient Solution to Multiple Pose Estimation Problems.

In robotic applications, many pose problems involve solving the homogeneous transformation based on the special Euclidean group SE(n) . However, due to the nonconvexity of SE(n) , many of these solvers treat rotation and translation separately, and the computational efficiency is still unsatisfactory. A new technique called the SE(n)++ is proposed in this article that exploits a novel mapping from SE(n) to SO(n + 1) . The mapping transforms the coupling between rotation and translation into a unified formulation on the Lie group and gives better analytical results and computational performances. Specifically, three major pose problems are considered in this article, that is, the point-cloud registration, the hand-eye calibration, and the SE(n) synchronization. Experimental validations have confirmed the effectiveness of the proposed SE(n)++ method in open datasets.

Metabolic Engineering of Aspartic Acid Supply Modules for Enhanced Production of Bacitracin in Bacillus licheniformis.

Bacitracin, a type of cyclic dodecapeptide antibiotic mainly produced by Bacillus, is widely used in fields of veterinary drug and feed additive. Modularization of metabolic pathways based on the concept of synthetic biology has been widely used in the efficient synthesis of target products. Here, we want to improve bacitracin production through strengthening aspartic acid (Asp) supply in B. licheniformis DW2. First, exogenous Asp addition assays implied that strengthening Asp supply benefited bacitracin production. Second, Asp synthetic pathways were strengthened via overexpressing aspartate dehydrogenase AspD and asparaginase AnsB, attaining recombinant strain DW2-ASP2, and bacitracin yield produced by DW2-ASP2 was 862.81 U/mL, increased by 14.05% compared with that of DW2 (756.49 U/mL). Then, to improve precursor oxaloacetate (OAA) accumulation for Asp synthesis, pyruvate carboxylase PycA and carbonic anhydrase EcaA were co-overexpressed in DW2-ASP2, and malic enzyme gene malS was deleted to weak overflow metabolism of tricarboxylic acid, and the attained strain DW2-ASP7 showed further increased bacitracin production from 862.81 to 989.23 U/mL. Subsequently, transporter YveA was identified as an Asp exporter, and bacitracin yield was increased to 1025.26 U/mL via deleting yveA, attaining strain DW2-ASP9. Finally, Asp ammonia-lyase gene aspA was disrupted to weaken Asp degradation, and bacitracin yield of attained strain DW2-ASP10 reached 1059.86 U/mL, increased by 40.10% compared to DW2. Taken together, this research demonstrated that metabolic engineering of Asp metabolic modules is an efficient strategy for enhancing bacitracin production, and these strategies could also be applied in the production of other peptide-related metabolites.

Revealing the essentiality of multiple archaeal pcna genes using a mutant propagation assay based on an improved knockout method.

Organisms belonging to the Crenarchaeota lineage contain three proliferating cell nuclear antigen (PCNA) subunits, while those in the Euryarchaeota have only one, as for Eukarya. To study the mechanism of archaeal sliding clamps, we sought to generate knockouts for each pcna gene in Sulfolobus islandicus, a hyperthermophilic crenarchaeon, but failed with two conventional knockout methods. Then, a new knockout scheme, known as marker insertion and target gene deletion (MID), was developed, with which transformants were obtained for each pMID-pcna plasmid. We found that mutant cells persisted in transformant cultures during incubation of pMID-pcna3 and pMID-araS-pcna1 transformants under counter selection. Studying the propagation of mutant cells by semiquantitative PCR analysis of the deleted target gene allele (Δpcna1 or Δpcna3) revealed that mutant cells could no longer be propagated, demonstrating that these pcna genes are absolutely required for host cell viability. Because the only prerequisite for this assay is the generation of a MID transformant, this approach can be applied generally to any micro-organisms proficient in homologous recombination.

[Separation and purification of flavonoids from Smilax glabra by macroporous adsorption resin].

OBJECTIVE: To investigate the process of separating and purifying flavonoids from Smilax glabra. METHOD: With the yield of flavonoids as index, the optimum process of separating and purifying flavonoids from S. glabra Roxb was screened by static and dynamic adsorption tests. RESULT: The static saturated adsorption capacity of D101 macroporous resin to flavonoids of S. glabra was 45.6 mg x g(-1) (dry resin). The optimum conditions of dynamic adsorption and elution were as that the pH, the concentration, the adsorption velocity of the extracting solution, and the adsorption capacity were 6.00 +/- 0.20, 4.2 mg x mL(-1), 2 mL x min(-1) and 15 mL, respectively. The adsorbed resin column was washed by 100 mL 60% ethanol with pH value of 8.00 +/- 0.20 at the eluting velocity of 3 mL x min(-1) after washed by 100 mL distilled water. CONCLUSION: The flavonoids of S. glabra was able to be easily separated and purified by D101 macroporous resin under the optimum conditions above, and the recovery rate was higher than 90%. The content of obtained flavonoids reached 62.6%, which was 2 times of the content before purification.

[The optimum condition on baicalin extraction from Scutellaria baicalensis].

OBJECTIVE: To optimize the extraction process of baicalin from Scutellaria Baicalensis Georgi with ethanol. METHODS: The extraction process of baicalin from Scutellaria Baicalensis Georgi was optimized with the aid of orthogonal experiments. RESULTS: The optimal parameters were obtained as follows: extracting temperature, extracting time, ethanol concentration and mechanical stirring speed were 80 degrees C, 1 h, 60% and 400 r/min, respectively. The extracting rate of baicalin was 83.90%. CONCLUSION: Comparing ethanol circumfluence, boiling water, ultrasonic wave and semi-bionic on extracting baicalin from Scutellaria baicalensis Georgi, the ethanol circumfluence extraction is better than other technological conditions on extracting baicalin.

The effect of microwave irradiation on enzymatic hydrolysis of rice straw.

A series of experiments involving microwave irradiation were carried out to evaluate the effect of microwave irradiation on enzymatic hydrolysis of rice straw. Compared with microwave irradiation free hydrolysis, rice straw pretreated by combining microwave irradiation with alkali could increase the initial hydrolysis rate but the hydrolysis yield remained unchanged. When the enzyme solution was treated by microwave irradiation, the initial hydrolysis rate increased slightly, but the yield was decreased remarkably. Its optimal hydrolysis conditions were temperature (45 degrees C), pH (4.8) and enzyme loading (20 mg g(-1) substrate), which was determined by an orthogonal experiment. When intermittent microwave irradiation was used, initial hydrolysis rate was greatly accelerated but the yield was decreased slightly. Its optimal hydrolysis conditions were temperature (50 degrees C), pH (4.8) and enzyme loading (20 mg g(-1) substrate), which was determined by another orthogonal experiment.

Immobilization of Candida rugosa lipase on a pH-sensitive support for enantioselective hydrolysis of ketoprofen ester.

Candida rugosa lipase (Lipase OF) was immobilized by covalent binding to a pH-sensitive support showing reversibly soluble-insoluble characteristics with pH change. The immobilized lipase could carry out the enantioselective hydrolysis of ketoprofen ester in a soluble form yet be recovered after precipitation by simply adjusting pH. Its activity and enantioselectivity for hydrolysis of 2-chloroethyl ester of ketoprofen were enhanced 1.5-fold and 8.7-fold compared with those of free lipase. After eight catalytic cycles, the immobilized enzyme was still 46% active and its enantioselectivity remained unchanged.

The methodology and pharmacokinetics study of intraventricular administration of vancomycin in patients with intracranial infections after craniotomy.

OBJECTIVE: The purpose of the study was to investigate the pharmacokinetics of combined intravenous (i.v.) and intracerebroventricular (i.c.v.) vancomycin for patients with intracranial infections after craniotomy and to provide the basis for establishing the intracranial local administration criterion. METHODS: Fourteen postoperative intracranial infection cases with surgical cavity/ventricular drainages were given vancomycin (1.0 g, i.v. drip for 2 hours, quaque 12 h, and a simultaneous i.c.v. injection of 10 mg). Their blood and cerebral spinal fluid (CSF) specimens were collected at each time point before and after administrations. The concentrations and biochemical properties were measured. RESULTS: The 1-hour serum vancomycin concentration reached a peak of 46.38 ± 33.39 mg/L; the trough concentration of 48 hours was 8.10 ± 7.11 mg/L; the CSF vancomycin concentration reached a peak of 382.17 ± 421.00 mg/L at 0.25 hours, and the 48-hour trough concentration was 30.82 ± 29.53 mg/L. The inhibitory quotient was calculated at 15.4 by the minimum inhibitory concentration 2 mg/L of target bacteria and had reached the range of 10 to 20 recommended by Infectious Diseases Society of America guidelines. The pH value and osmotic pressure of CSF were found to have no significant changes before and after administration. There was no increasement of seizures and ototoxicity in our study. Before the drug administration and 1 week later, the changes of creatine had no statistically significant, with P > .05. CONCLUSIONS: The combined i.v. and i.c.v. administration may improve CSF vancomycin concentrations without side effects at the same dosage. Our finding suggests that it can be an option for the treatment of severe intracranial infections after craniotomy; however, its safety and effectiveness need to be confirmed by further large-scale studies.

Coproduction of xylose, lignosulfonate and ethanol from wheat straw.

A novel integrated process to coproduce xylose, lignosulfonate and ethanol from wheat straw was investigated. Firstly, wheat straw was treated by dilute sulfuric acid and xylose was recovered from its hydrolyzate. Its optimal conditions were 1.0wt% sulfuric acid, 10% (w/v) wheat straw loading, 100°C, and 2h. Then the acid treated wheat straw was treated by sulfomethylation reagent and its hydrolyzate containing lignosulfonate was directly recovered. Its optimal conditions were 150°C, 15% (w/v) acid treated wheat straw loading, and 5h. Finally, the two-step treated wheat straw was converted to ethanol through enzymatic hydrolysis and microbial fermentation. Under optimal conditions, 1kg wheat straw could produce 0.225kg xylose with 95% purity, 4.16kg hydrolyzate of sulfomethylation treatment containing 5.5% lignosulfonate, 0.183kg ethanol and 0.05kg lignin residue. Compared to present technology, this process is a potential economically profitable wheat straw biorefinery.

Efficient expression of codon-adapted human acetaldehyde dehydrogenase 2 cDNA with 6xHis tag in Pichia pastoris.

Human mitochondrial acetaldehyde dehydrogenase 2 (ALDH2) catalyzes the oxidation of acetaldehyde to acetic acid. Therefore, ALDH2 has therapeutic potential in detoxification of acetaldehyde. Furthermore, ALDH2 catalyzes nitroglycerin to nitrate and 1, 2-glyceryldinitrate during therapy for angina pectoris, myocardial infarction, and heart failure. Large quantities of ALDH2 will be needed for potential clinical practice. In this study, Pichia pastoris was used as a platform for expression of human ALDH2. Based on the ALDH2*1 cDNA sequence, we designed ALDH2 cDNA by choosing the P. pastoris preferred codons and by decreasing the G + C content level. The sequence was synthesized using the overlap extension PCR method. The cDNA and 6xHis tags were subcloned into the plasmid pPIC9K. The recombinant protein was expressed in P. pastoris GS115 and purified using Ni(2+)-Sepharose affinity chromatography. The amount of secreted protein in the culture was 80 mg/L in shake-flask cultivation and 260 mg/L in high-density bioreactor fermentation. Secreted ALDH2 was easily purified from the culture supernatant by using Ni(2+)-Sepharose affinity chromatography. After purification of the fermentation supernatant, the enzyme had a specific activity of 1.2 U/mg protein. The yield was about 16 mg/L in a shake flask culture of P. pastoris GS115 which contained the original human ALDH2*1 cDNA.