Construction Method of the Topographical Features Model for Underwater Terrain Navigation

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Wang Lihui

2015-09-01

Full Text Available Terrain database is the reference basic for autonomous underwater vehicle (AUV to implement underwater terrain navigation (UTN functions, and is the important part of building topographical features model for UTN. To investigate the feasibility and correlation of a variety of terrain parameters as terrain navigation information metrics, this paper described and analyzed the underwater terrain features and topography parameters calculation method. Proposing a comprehensive evaluation method for terrain navigation information, and constructing an underwater navigation information analysis model, which is associated with topographic features. Simulation results show that the underwater terrain features, are associated with UTN information directly or indirectly, also affect the terrain matching capture probability and the positioning accuracy directly.

The utilization of cranial models created using rapid prototyping techniques in the development of models for navigation training.

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Waran, V; Pancharatnam, Devaraj; Thambinayagam, Hari Chandran; Raman, Rajagopal; Rathinam, Alwin Kumar; Balakrishnan, Yuwaraj Kumar; Tung, Tan Su; Rahman, Z A

2014-01-01

Navigation in neurosurgery has expanded rapidly; however, suitable models to train end users to use the myriad software and hardware that come with these systems are lacking. Utilizing three-dimensional (3D) industrial rapid prototyping processes, we have been able to create models using actual computed tomography (CT) data from patients with pathology and use these models to simulate a variety of commonly performed neurosurgical procedures with navigation systems. To assess the possibility of utilizing models created from CT scan dataset obtained from patients with cranial pathology to simulate common neurosurgical procedures using navigation systems. Three patients with pathology were selected (hydrocephalus, right frontal cortical lesion, and midline clival meningioma). CT scan data following an image-guidance surgery protocol in DIACOM format and a Rapid Prototyping Machine were taken to create the necessary printed model with the corresponding pathology embedded. The ability in registration, planning, and navigation of two navigation systems using a variety of software and hardware provided by these platforms was assessed. We were able to register all models accurately using both navigation systems and perform the necessary simulations as planned. Models with pathology utilizing 3D rapid prototyping techniques accurately reflect data of actual patients and can be used in the simulation of neurosurgical operations using navigation systems. Georg Thieme Verlag KG Stuttgart · New York.

Modeling 3D Objects for Navigation Purposes Using Laser Scanning

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Cezary Specht

2016-07-01

Full Text Available The paper discusses the creation of 3d models and their applications in navigation. It contains a review of available methods and geometric data sources, focusing mostly on terrestrial laser scanning. It presents detailed description, from field survey to numerical elaboration, how to construct accurate model of a typical few storey building as a hypothetical reference in complex building navigation. Hence, the paper presents fields where 3d models are being used and their potential new applications.

Hidden Markov Model-based Pedestrian Navigation System using MEMS Inertial Sensors

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Zhang Yingjun

2015-02-01

Full Text Available In this paper, a foot-mounted pedestrian navigation system using MEMS inertial sensors is implemented, where the zero-velocity detection is abstracted into a hidden Markov model with 4 states and 15 observations. Moreover, an observations extraction algorithm has been developed to extract observations from sensor outputs; sample sets are used to train and optimize the model parameters by the Baum-Welch algorithm. Finally, a navigation system is developed, and the performance of the pedestrian navigation system is evaluated using indoor and outdoor field tests, and the results show that position error is less than 3% of total distance travelled.

Navigating the flow: individual and continuum models for homing in flowing environments.

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Painter, Kevin J; Hillen, Thomas

2015-11-06

Navigation for aquatic and airborne species often takes place in the face of complicated flows, from persistent currents to highly unpredictable storms. Hydrodynamic models are capable of simulating flow dynamics and provide the impetus for much individual-based modelling, in which particle-sized individuals are immersed into a flowing medium. These models yield insights on the impact of currents on population distributions from fish eggs to large organisms, yet their computational demands and intractability reduce their capacity to generate the broader, less parameter-specific, insights allowed by traditional continuous approaches. In this paper, we formulate an individual-based model for navigation within a flowing field and apply scaling to derive its corresponding macroscopic and continuous model. We apply it to various movement classes, from drifters that simply go with the flow to navigators that respond to environmental orienteering cues. The utility of the model is demonstrated via its application to 'homing' problems and, in particular, the navigation of the marine green turtle Chelonia mydas to Ascension Island. © 2015 The Author(s).

IMPLEMENTATION OF INTERTIAL NAVIGATION SYSTEM MODEL DURING AIRCRAFT TESTING

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2016-01-01

Full Text Available The flight subset control is required during the aviation equipment test flights. In order to achieve this objective the complex consisting of strap down inertial navigation system (SINS and user equipment of satellite navigation systems (SNS can be used. Such combination needs to be used for error correction in positioning which is accumulated in SINS with time. This article shows the research results of the inertial navigation system (INS model. The results of the position- ing error calculation for various INS classes are given. Each of the examined INS has a different accumulated error for the same time lag. The methods of combining information of INS and SRNS are covered. The results obtained can be applied for upgrading the aircraft flight and navigation complexes. In particular, they can allow to continuously determine speed, coordinates, angular situation and repositioning rate of change of axes of the instrument frame.

Models for map building and navigation

International Nuclear Information System (INIS)

Penna, M.A.; Jian Wu

1993-01-01

In this paper the authors present several models for solving map building and navigation problems. These models are motivated by biological processes, and presented in the context of artificial neural networks. Since the nodes, weights, and threshold functions of the models all have physical meanings, they can easily predict network topologies and avoid traditional trial-and-error training. On one hand, this makes their models useful in constructing solutions to engineering problems (problems such as those that occur in robotics, for example). On the other hand, this might also contribute to the ability of their models to explain some biological processes, few of which are completely understood at this time

Effects of Chinese herbal medicine Yinsiwei compound on spatial learning and memory ability and the ultrastructure of hippocampal neurons in a rat model of sporadic Alzheimer disease.

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Diwu, Yong-chang; Tian, Jin-zhou; Shi, Jing

2011-02-01

To study the effects of Chinese herbal medicine Yinsiwei compound (YSW) on spatial learning and memory ability in rats with sporadic Alzheimer disease (SAD) and the ultrastructural basis of the hippocampal neurons. A rat model of SAD was established by intracerebroventricular injection of streptozotocin. The rats were divided into six groups: sham-operation group, model group, donepezil control group, and YSW low, medium and high dose groups. Drug interventions were started on the 21st day after modeling and each treatment group was given the corresponding drugs by gavage for two months. Meanwhile, the model group and the sham-operation group were given the same volume of distilled water by gavage once a day for two months. The Morris water maze was adopted to test spatial learning and memory ability of the rats. The place navigation test and the spatial probe test were conducted. The escape latency, total swimming distance and swimming time in the target quadrant of the rats were recorded. Also, the hippocampus tissues of rats were taken out and the ultrastructure of hippocampus neurons were observed by an electron microscope. In the place navigation test, compared with the model group, the mean escape latency and the total swimming distance of the donepezil group and the YSW low, medium and high dose groups were significantly shortened (Pmicroscope also confirmed the efficacy of the drug treatment. Chinese herbal medicine YSW compound can improve spatial learning and memory impairment of rats with SAD. The ultrastructural basis may be that it can protect the microtubule structures of hippocampal neurons and prevent nerve axons from being damaged.

An alternative ionospheric correction model for global navigation satellite systems

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Hoque, M. M.; Jakowski, N.

2015-04-01

The ionosphere is recognized as a major error source for single-frequency operations of global navigation satellite systems (GNSS). To enhance single-frequency operations the global positioning system (GPS) uses an ionospheric correction algorithm (ICA) driven by 8 coefficients broadcasted in the navigation message every 24 h. Similarly, the global navigation satellite system Galileo uses the electron density NeQuick model for ionospheric correction. The Galileo satellite vehicles (SVs) transmit 3 ionospheric correction coefficients as driver parameters of the NeQuick model. In the present work, we propose an alternative ionospheric correction algorithm called Neustrelitz TEC broadcast model NTCM-BC that is also applicable for global satellite navigation systems. Like the GPS ICA or Galileo NeQuick, the NTCM-BC can be optimized on a daily basis by utilizing GNSS data obtained at the previous day at monitor stations. To drive the NTCM-BC, 9 ionospheric correction coefficients need to be uploaded to the SVs for broadcasting in the navigation message. Our investigation using GPS data of about 200 worldwide ground stations shows that the 24-h-ahead prediction performance of the NTCM-BC is better than the GPS ICA and comparable to the Galileo NeQuick model. We have found that the 95 percentiles of the prediction error are about 16.1, 16.1 and 13.4 TECU for the GPS ICA, Galileo NeQuick and NTCM-BC, respectively, during a selected quiet ionospheric period, whereas the corresponding numbers are found about 40.5, 28.2 and 26.5 TECU during a selected geomagnetic perturbed period. However, in terms of complexity the NTCM-BC is easier to handle than the Galileo NeQuick and in this respect comparable to the GPS ICA.

Modelling of Influence of Hypersonic Conditions on Gyroscopic Inertial Navigation Sensor Suspension

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Korobiichuk Igor

2017-06-01

Full Text Available The upcoming hypersonic technologies pose a difficult task for air navigation systems. The article presents a designed model of elastic interaction of penetrating acoustic radiation with flat isotropic suspension elements of an inertial navigation sensor in the operational conditions of hypersonic flight. It has been shown that the acoustic transparency effect in the form of a spatial-frequency resonance becomes possible with simultaneous manifestation of the wave coincidence condition in the acoustic field and equality of the natural oscillation frequency of a finite-size plate and a forced oscillation frequency of an infinite plate. The effect can lead to additional measurement errors of the navigation system. Using the model, the worst and best case suspension oscillation frequencies can be determined, which will help during the design of a navigation system.

Exploring User Engagement in Information Networks: Behavioural – based Navigation Modelling, Ideas and Directions

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Vesna Kumbaroska

2017-04-01

Full Text Available Revealing an endless array of user behaviors in an online environment is a very good indicator of the user’s interests either in the process of browsing or in purchasing. One such behavior is the navigation behavior, so detected user navigation patterns are able to be used for practical purposes such as: improving user engagement, turning most browsers into buyers, personalize content or interface, etc. In this regard, our research represents a connection between navigation modelling and user engagement. A usage of the Generalized Stochastic Petri Nets concept for stochastic behavioral-based modelling of the navigation process is proposed for measuring user engagement components. Different types of users are automatically identified and clustered according to their navigation behaviors, thus the developed model gives great insight into the navigation process. As part of this study, Peterson’s model for measuring the user engagement is explored and a direct calculation of its components is illustrated. At the same time, asssuming that several user sessions/visits are initialized in a certain time frame, following the Petri Nets dynamics is indicating that the proposed behavioral – based model could be used for user engagement metrics calculation, thus some basic ideas are discussed, and initial directions are given.

Detecting memory and structure in human navigation patterns using Markov chain models of varying order.

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Singer, Philipp; Helic, Denis; Taraghi, Behnam; Strohmaier, Markus

2014-01-01

One of the most frequently used models for understanding human navigation on the Web is the Markov chain model, where Web pages are represented as states and hyperlinks as probabilities of navigating from one page to another. Predominantly, human navigation on the Web has been thought to satisfy the memoryless Markov property stating that the next page a user visits only depends on her current page and not on previously visited ones. This idea has found its way in numerous applications such as Google's PageRank algorithm and others. Recently, new studies suggested that human navigation may better be modeled using higher order Markov chain models, i.e., the next page depends on a longer history of past clicks. Yet, this finding is preliminary and does not account for the higher complexity of higher order Markov chain models which is why the memoryless model is still widely used. In this work we thoroughly present a diverse array of advanced inference methods for determining the appropriate Markov chain order. We highlight strengths and weaknesses of each method and apply them for investigating memory and structure of human navigation on the Web. Our experiments reveal that the complexity of higher order models grows faster than their utility, and thus we confirm that the memoryless model represents a quite practical model for human navigation on a page level. However, when we expand our analysis to a topical level, where we abstract away from specific page transitions to transitions between topics, we find that the memoryless assumption is violated and specific regularities can be observed. We report results from experiments with two types of navigational datasets (goal-oriented vs. free form) and observe interesting structural differences that make a strong argument for more contextual studies of human navigation in future work.

Detecting memory and structure in human navigation patterns using Markov chain models of varying order.

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Philipp Singer

Full Text Available One of the most frequently used models for understanding human navigation on the Web is the Markov chain model, where Web pages are represented as states and hyperlinks as probabilities of navigating from one page to another. Predominantly, human navigation on the Web has been thought to satisfy the memoryless Markov property stating that the next page a user visits only depends on her current page and not on previously visited ones. This idea has found its way in numerous applications such as Google's PageRank algorithm and others. Recently, new studies suggested that human navigation may better be modeled using higher order Markov chain models, i.e., the next page depends on a longer history of past clicks. Yet, this finding is preliminary and does not account for the higher complexity of higher order Markov chain models which is why the memoryless model is still widely used. In this work we thoroughly present a diverse array of advanced inference methods for determining the appropriate Markov chain order. We highlight strengths and weaknesses of each method and apply them for investigating memory and structure of human navigation on the Web. Our experiments reveal that the complexity of higher order models grows faster than their utility, and thus we confirm that the memoryless model represents a quite practical model for human navigation on a page level. However, when we expand our analysis to a topical level, where we abstract away from specific page transitions to transitions between topics, we find that the memoryless assumption is violated and specific regularities can be observed. We report results from experiments with two types of navigational datasets (goal-oriented vs. free form and observe interesting structural differences that make a strong argument for more contextual studies of human navigation in future work.

Exploitation of Semantic Building Model in Indoor Navigation Systems

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Anjomshoaa, A.; Shayeganfar, F.; Tjoa, A. Min

2009-04-01

There are many types of indoor and outdoor navigation tools and methodologies available. A majority of these solutions are based on Global Positioning Systems (GPS) and instant video and image processing. These approaches are ideal for open world environments where very few information about the target location is available, but for large scale building environments such as hospitals, governmental offices, etc the end-user will need more detailed information about the surrounding context which is especially important in case of people with special needs. This paper presents a smart indoor navigation solution that is based on Semantic Web technologies and Building Information Model (BIM). The proposed solution is also aligned with Google Android's concepts to enlighten the realization of results. Keywords: IAI IFCXML, Building Information Model, Indoor Navigation, Semantic Web, Google Android, People with Special Needs 1 Introduction Built environment is a central factor in our daily life and a big portion of human life is spent inside buildings. Traditionally the buildings are documented using building maps and plans by utilization of IT tools such as computer-aided design (CAD) applications. Documenting the maps in an electronic way is already pervasive but CAD drawings do not suffice the requirements regarding effective building models that can be shared with other building-related applications such as indoor navigation systems. The navigation in built environment is not a new issue, however with the advances in emerging technologies like GPS, mobile and networked environments, and Semantic Web new solutions have been suggested to enrich the traditional building maps and convert them to smart information resources that can be reused in other applications and improve the interpretability with building inhabitants and building visitors. Other important issues that should be addressed in building navigation scenarios are location tagging and end-user communication

A Neurocomputational Model of Goal-Directed Navigation in Insect-Inspired Artificial Agents.

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Goldschmidt, Dennis; Manoonpong, Poramate; Dasgupta, Sakyasingha

2017-01-01

Despite their small size, insect brains are able to produce robust and efficient navigation in complex environments. Specifically in social insects, such as ants and bees, these navigational capabilities are guided by orientation directing vectors generated by a process called path integration. During this process, they integrate compass and odometric cues to estimate their current location as a vector, called the home vector for guiding them back home on a straight path. They further acquire and retrieve path integration-based vector memories globally to the nest or based on visual landmarks. Although existing computational models reproduced similar behaviors, a neurocomputational model of vector navigation including the acquisition of vector representations has not been described before. Here we present a model of neural mechanisms in a modular closed-loop control-enabling vector navigation in artificial agents. The model consists of a path integration mechanism, reward-modulated global learning, random search, and action selection. The path integration mechanism integrates compass and odometric cues to compute a vectorial representation of the agent's current location as neural activity patterns in circular arrays. A reward-modulated learning rule enables the acquisition of vector memories by associating the local food reward with the path integration state. A motor output is computed based on the combination of vector memories and random exploration. In simulation, we show that the neural mechanisms enable robust homing and localization, even in the presence of external sensory noise. The proposed learning rules lead to goal-directed navigation and route formation performed under realistic conditions. Consequently, we provide a novel approach for vector learning and navigation in a simulated, situated agent linking behavioral observations to their possible underlying neural substrates.

Ratbot automatic navigation by electrical reward stimulation based on distance measurement in unknown environments.

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Gao, Liqiang; Sun, Chao; Zhang, Chen; Zheng, Nenggan; Chen, Weidong; Zheng, Xiaoxiang

2013-01-01

Traditional automatic navigation methods for bio-robots are constrained to configured environments and thus can't be applied to tasks in unknown environments. With no consideration of bio-robot's own innate living ability and treating bio-robots in the same way as mechanical robots, those methods neglect the intelligence behavior of animals. This paper proposes a novel ratbot automatic navigation method in unknown environments using only reward stimulation and distance measurement. By utilizing rat's habit of thigmotaxis and its reward-seeking behavior, this method is able to incorporate rat's intrinsic intelligence of obstacle avoidance and path searching into navigation. Experiment results show that this method works robustly and can successfully navigate the ratbot to a target in the unknown environment. This work might put a solid base for application of ratbots and also has significant implication of automatic navigation for other bio-robots as well.

Amblypygids: Model Organisms for the Study of Arthropod Navigation Mechanisms in Complex Environments?

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Daniel D Wiegmann

2016-03-01

Full Text Available Navigation is an ideal behavioral model for the study of sensory system integration and the neural substrates associated with complex behavior. For this broader purpose, however, it may be profitable to develop new model systems that are both tractable and sufficiently complex to ensure that information derived from a single sensory modality and path integration are inadequate to locate a goal. Here, we discuss some recent discoveries related to navigation by amblypygids, nocturnal arachnids that inhabit the tropics and sub-tropics. Nocturnal displacement experiments under the cover of a tropical rainforest reveal that these animals possess navigational abilities that are reminiscent, albeit on a smaller spatial scale, of true-navigating vertebrates. Specialized legs, called antenniform legs, which possess hundreds of olfactory and tactile sensory hairs, and vision appear to be involved. These animals also have enormous mushroom bodies, higher-order brain regions that, in insects, integrate contextual cues and may be involved in spatial memory. In amblypygids, the complexity of a nocturnal rainforest may impose navigational challenges that favor the integration of information derived from multimodal cues. Moreover, the movement of these animals is easily studied in the laboratory and putative neural integration sites of sensory information can be manipulated. Thus, amblypygids could serve as a model system for the discovery of neural substrates associated with a unique and potentially sophisticated navigational capability. The diversity of habitats in which amblypygids are found also offers an opportunity for comparative studies of sensory integration and ecological selection pressures on navigation mechanisms.

Dahl (S × R) rat congenic strain analysis confirms and defines a chromosome 17 spatial navigation quantitative trait locus to <10 Mbp.

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Herrera, Victoria L; Pasion, Khristine A; Tan, Glaiza A; Ruiz-Opazo, Nelson

2013-01-01

A quantitative trait locus (QTL) linked with ability to find a platform in the Morris Water Maze (MWM) was located on chromosome 17 (Nav-5 QTL) using intercross between Dahl S and Dahl R rats. We developed two congenic strains, S.R17A and S.R17B introgressing Dahl R-chromosome 17 segments into Dahl S chromosome 17 region spanning putative Nav-5 QTL. Performance analysis of S.R17A, S.R17B and Dahl S rats in the Morris water maze (MWM) task showed a significantly decreased spatial navigation performance in S.R17B congenic rats when compared with Dahl S controls (P = 0.02). The S.R17A congenic segment did not affect MWM performance delimiting Nav-5 to the chromosome 17 65.02-74.66 Mbp region. Additional fine mapping is necessary to identify the specific gene variant accounting for Nav-5 effect on spatial learning and memory in Dahl rats.

Dahl (S × R rat congenic strain analysis confirms and defines a chromosome 17 spatial navigation quantitative trait locus to <10 Mbp.

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Victoria L Herrera

Full Text Available A quantitative trait locus (QTL linked with ability to find a platform in the Morris Water Maze (MWM was located on chromosome 17 (Nav-5 QTL using intercross between Dahl S and Dahl R rats. We developed two congenic strains, S.R17A and S.R17B introgressing Dahl R-chromosome 17 segments into Dahl S chromosome 17 region spanning putative Nav-5 QTL. Performance analysis of S.R17A, S.R17B and Dahl S rats in the Morris water maze (MWM task showed a significantly decreased spatial navigation performance in S.R17B congenic rats when compared with Dahl S controls (P = 0.02. The S.R17A congenic segment did not affect MWM performance delimiting Nav-5 to the chromosome 17 65.02-74.66 Mbp region. Additional fine mapping is necessary to identify the specific gene variant accounting for Nav-5 effect on spatial learning and memory in Dahl rats.

A model of ant route navigation driven by scene familiarity.

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Bart Baddeley

2012-01-01

Full Text Available In this paper we propose a model of visually guided route navigation in ants that captures the known properties of real behaviour whilst retaining mechanistic simplicity and thus biological plausibility. For an ant, the coupling of movement and viewing direction means that a familiar view specifies a familiar direction of movement. Since the views experienced along a habitual route will be more familiar, route navigation can be re-cast as a search for familiar views. This search can be performed with a simple scanning routine, a behaviour that ants have been observed to perform. We test this proposed route navigation strategy in simulation, by learning a series of routes through visually cluttered environments consisting of objects that are only distinguishable as silhouettes against the sky. In the first instance we determine view familiarity by exhaustive comparison with the set of views experienced during training. In further experiments we train an artificial neural network to perform familiarity discrimination using the training views. Our results indicate that, not only is the approach successful, but also that the routes that are learnt show many of the characteristics of the routes of desert ants. As such, we believe the model represents the only detailed and complete model of insect route guidance to date. What is more, the model provides a general demonstration that visually guided routes can be produced with parsimonious mechanisms that do not specify when or what to learn, nor separate routes into sequences of waypoints.

MODELING OF BEHAVIORAL ACTIVITY OF AIR NAVIGATION SYSTEM'S HUMAN-OPERATOR IN FLIGHT EMERGENCIES

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Volodymyr Kharchenko

2012-09-01

Full Text Available  The Air Navigation System is presented as a complex socio-technical system. The influence on decision-making by Air Navigation System's human-operator of the professional factors as well as the factors of non-professional nature has been defined. Logic determined and stochastic models of decision-making by the Air Navigation System's human-operator in flight emergencies have been developed. The scenarios of developing a flight situation in case of selecting either the positive or negative pole in accordance with the reflexive theory have been obtained. The informational support system of the operator in the unusual situations on the basis of Neural Network model of evaluating the efficiency of the potential alternative of flight completion has been built.

Group navigation and the "many-wrongs principle" in models of animal movement.

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Codling, E A; Pitchford, J W; Simpson, S D

2007-07-01

Traditional studies of animal navigation over both long and short distances have usually considered the orientation ability of the individual only, without reference to the implications of group membership. However, recent work has suggested that being in a group can significantly improve the ability of an individual to align toward and reach a target direction or point, even when all group members have limited navigational ability and there are no leaders. This effect is known as the "many-wrongs principle" since the large number of individual navigational errors across the group are suppressed by interactions and group cohesion. In this paper, we simulate the many-wrongs principle using a simple individual-based model of movement based on a biased random walk that includes group interactions. We study the ability of the group as a whole to reach a target given different levels of individual navigation error, group size, interaction radius, and environmental turbulence. In scenarios with low levels of environmental turbulence, simulation results demonstrate a navigational benefit from group membership, particularly for small group sizes. In contrast, when movement takes place in a highly turbulent environment, simulation results suggest that the best strategy is to navigate as individuals rather than as a group.

Formal safety assessment based on relative risks model in ship navigation

Energy Technology Data Exchange (ETDEWEB)

Hu Shenping [Merchant Marine College, Shanghai Maritime University, 1550, Pudong Dadao, Shanghai 200135 (China)]. E-mail: sphu@mmc.shmtu.edu.cn; Fang Quangen [Merchant Marine College, Shanghai Maritime University, 1550, Pudong Dadao, Shanghai 200135 (China)]. E-mail: qgfang@mmc.shmtu.edu.cn; Xia Haibo [Merchant Marine College, Shanghai Maritime University, 1550, Pudong Dadao, Shanghai 200135 (China)]. E-mail: hbxia@mmc.shmtu.edu.cn; Xi Yongtao [Merchant Marine College, Shanghai Maritime University, 1550, Pudong Dadao, Shanghai 200135 (China)]. E-mail: xiyt@mmc.shmtu.edu.cn

2007-03-15

Formal safety assessment (FSA) is a structured and systematic methodology aiming at enhancing maritime safety. It has been gradually and broadly used in the shipping industry nowadays around the world. On the basis of analysis and conclusion of FSA approach, this paper discusses quantitative risk assessment and generic risk model in FSA, especially frequency and severity criteria in ship navigation. Then it puts forward a new model based on relative risk assessment (MRRA). The model presents a risk-assessment approach based on fuzzy functions and takes five factors into account, including detailed information about accident characteristics. It has already been used for the assessment of pilotage safety in Shanghai harbor, China. Consequently, it can be proved that MRRA is a useful method to solve the problems in the risk assessment of ship navigation safety in practice.

Formal safety assessment based on relative risks model in ship navigation

International Nuclear Information System (INIS)

Hu Shenping; Fang Quangen; Xia Haibo; Xi Yongtao

2007-01-01

Formal safety assessment (FSA) is a structured and systematic methodology aiming at enhancing maritime safety. It has been gradually and broadly used in the shipping industry nowadays around the world. On the basis of analysis and conclusion of FSA approach, this paper discusses quantitative risk assessment and generic risk model in FSA, especially frequency and severity criteria in ship navigation. Then it puts forward a new model based on relative risk assessment (MRRA). The model presents a risk-assessment approach based on fuzzy functions and takes five factors into account, including detailed information about accident characteristics. It has already been used for the assessment of pilotage safety in Shanghai harbor, China. Consequently, it can be proved that MRRA is a useful method to solve the problems in the risk assessment of ship navigation safety in practice

A Semantic Navigation Model for Video Games

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van Driel, Leonard; Bidarra, Rafael

Navigational performance of artificial intelligence (AI) characters in computer games is gaining an increasingly important role in the perception of their behavior. While recent games successfully solve some complex navigation problems, there is little known or documented on the underlying approaches, often resembling a primitive conglomerate of ad-hoc algorithms for specific situations.

Multi-Flight-Phase GPS Navigation Filter Applications to Terrestrial Vehicle Navigation and Positioning

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Park, Young W.; Montez, Moises N.

1994-01-01

A candidate onboard space navigation filter demonstrated excellent performance (less than 8 meter level RMS semi-major axis accuracy) in performing orbit determination of a low-Earth orbit Explorer satellite using single-frequency real GPS data. This performance is significantly better than predicted by other simulation studies using dual-frequency GPS data. The study results revealed the significance of two new modeling approaches evaluated in the work. One approach introduces a single-frequency ionospheric correction through pseudo-range and phase range averaging implementation. The other approach demonstrates a precise axis-dependent characterization of dynamic sample space uncertainty to compute a more accurate Kalman filter gain. Additionally, this navigation filter demonstrates a flexibility to accommodate both perturbational dynamic and observational biases required for multi-flight phase and inhomogeneous application environments. This paper reviews the potential application of these methods and the filter structure to terrestrial vehicle and positioning applications. Both the single-frequency ionospheric correction method and the axis-dependent state noise modeling approach offer valuable contributions in cost and accuracy improvements for terrestrial GPS receivers. With a modular design approach to either 'plug-in' or 'unplug' various force models, this multi-flight phase navigation filter design structure also provides a versatile GPS navigation software engine for both atmospheric and exo-atmospheric navigation or positioning use, thereby streamlining the flight phase or application-dependent software requirements. Thus, a standardized GPS navigation software engine that can reduce the development and maintenance cost of commercial GPS receivers is now possible.

Enabling Persistent Autonomy for Underwater Gliders with Ocean Model Predictions and Terrain Based Navigation

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Andrew eStuntz

2016-04-01

Full Text Available Effective study of ocean processes requires sampling over the duration of long (weeks to months oscillation patterns. Such sampling requires persistent, autonomous underwater vehicles, that have a similarly long deployment duration. The spatiotemporal dynamics of the ocean environment, coupled with limited communication capabilities, make navigation and localization difficult, especially in coastal regions where the majority of interesting phenomena occur. In this paper, we consider the combination of two methods for reducing navigation and localization error; a predictive approach based on ocean model predictions and a prior information approach derived from terrain-based navigation. The motivation for this work is not only for real-time state estimation, but also for accurately reconstructing the actual path that the vehicle traversed to contextualize the gathered data, with respect to the science question at hand. We present an application for the practical use of priors and predictions for large-scale ocean sampling. This combined approach builds upon previous works by the authors, and accurately localizes the traversed path of an underwater glider over long-duration, ocean deployments. The proposed method takes advantage of the reliable, short-term predictions of an ocean model, and the utility of priors used in terrain-based navigation over areas of significant bathymetric relief to bound uncertainty error in dead-reckoning navigation. This method improves upon our previously published works by 1 demonstrating the utility of our terrain-based navigation method with multiple field trials, and 2 presenting a hybrid algorithm that combines both approaches to bound navigational error and uncertainty for long-term deployments of underwater vehicles. We demonstrate the approach by examining data from actual field trials with autonomous underwater gliders, and demonstrate an ability to estimate geographical location of an underwater glider to 2

Paediatric patient navigation models of care in Canada: An environmental scan.

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Luke, Alison; Doucet, Shelley; Azar, Rima

2018-05-01

(1) To provide other organizations with useful information when implementing paediatric navigation programs and (2) to inform the implementation of a navigation care centre in New Brunswick for children with complex health conditions. This environmental scan consisted of a literature review of published and grey literature for paediatric patient navigation programs across Canada. Additional programs were found following discussions with program coordinators and navigators. Interviews were conducted with key staff from each program and included questions related to patient condition; target population and location; method delivery; navigator background; and navigator roles. Data analysis included analysis of interviews and identification of common themes across the different programs. We interviewed staff from 19 paediatric navigation programs across Canada. Programs varied across a number of different themes, including: condition and disease type, program location (e.g., hospital or clinic), navigator background (e.g., registered nurse or peer/lay navigator) and method of delivery (e.g., phone or face-to-face). Overall, navigator roles are similar across all programs, including advocacy, education, support and assistance in accessing resources from both within and outside the health care system. This scan offers a road map of Canadian paediatric navigation programs. Knowledge learned from this scan will inform stakeholders who are either involved in the delivery of paediatric patient navigation programs or planning to implement such a program. Specifically, our scan informed the development of a navigation centre for children with complex health conditions in New Brunswick.

Progressive impairment of directional and spatially precise trajectories by TgF344-AD Rats in the Morris Water Task

OpenAIRE

Thompson, Shannon; Harvey, Ryan; Clark, Benjamin; Drake, Emma; Berkowitz, Laura

2018-01-01

Spatial navigation is impaired in early stages of Alzheimers disease (AD), and may be a defining behavioral marker of preclinical AD. Nevertheless, limitations of diagnostic criteria for AD and within animal models of AD make characterization of preclinical AD difficult. A new rat model (TgF344-AD) of AD overcomes many of these limitations, though spatial navigation has not been comprehensively assessed. Using the hidden and cued platform variants of the Morris water task, a longitudinal asse...

Parsimonious Ways to Use Vision for Navigation

Directory of Open Access Journals (Sweden)

Paul Graham

2012-05-01

Full Text Available The use of visual information for navigation appears to be a universal strategy for sighted animals, amongst which, one particular group of expert navigators are the ants. The broad interest in studies of ant navigation is in part due to their small brains, thus biomimetic engineers expect to be impressed by elegant control solutions, and psychologists might hope for a description of the minimal cognitive requirements for complex spatial behaviours. In this spirit, we have been taking an interdisciplinary approach to the visual guided navigation of ants in their natural habitat. Behavioural experiments and natural image statistics show that visual navigation need not depend on the remembering or recognition of objects. Further modelling work suggests how simple behavioural routines might enable navigation using familiarity detection rather than explicit recall, and we present a proof of concept that visual navigation using familiarity can be achieved without specifying when or what to learn, nor separating routes into sequences of waypoints. We suggest that our current model represents the only detailed and complete model of insect route guidance to date. What's more, we believe the suggested mechanisms represent useful parsimonious hypotheses for the visually guided navigation in larger-brain animals.

[Establishment of rat model of psychical erectile dysfunction].

Science.gov (United States)

Wang, Qiu-lin; Wang, Shu-ren; Duan, Jin

2006-01-01

To set up a method of establishing the animal model of psychical erectile dysfunction with emotional stress. All thirty-six male rats with normal sexual function were divided into three groups, i. e. normal group, model group and demasculinized group randomly according to their weights. The rats in the model group were suspended upside down in midair over the water and irritated repeatedly. Two weeks later, the sexual abilities of all rats, i. e. the times of mounting and intromitting the estrus female rats, the latent period of mounting, intromission and ejaculation, were recorded, and the number of rats that had sexual activities was also counted. And the hemorheology indices of the rats were measured. Compared with the normal rats, the latency of mounting [(152.5 +/- 24.6) s vs (42.4 +/- 9.6) s] and intromission [(437.0 +/- 67.7) s vs (130.8 +/- 39.1) s] of the model rats were longer (P 0.05). The hemorheology indices, e. g. blood viscosity, hematocrit (Hct) and red cell aggregation (RCA), of the model rats was significant higher than that of the normal and demasculinized rats (P erectile dysfunction can be made ideally with psychical stress.

Effectiveness of maritime safety control in different navigation zones using a spatial sequential DEA model: Yangtze River case.

Science.gov (United States)

Wu, Bing; Wang, Yang; Zhang, Jinfen; Savan, Emanuel Emil; Yan, Xinping

2015-08-01

This paper aims to analyze the effectiveness of maritime safety control from the perspective of safety level along the Yangtze River with special considerations for navigational environments. The influencing variables of maritime safety are reviewed, including ship condition, maritime regulatory system, human reliability and navigational environment. Because the former three variables are generally assumed to be of the same level of safety, this paper focuses on studying the impact of navigational environments on the level of safety in different waterways. An improved data envelopment analysis (DEA) model is proposed by treating the navigational environment factors as inputs and ship accident data as outputs. Moreover, because the traditional DEA model cannot provide an overall ranking of different decision making units (DMUs), the spatial sequential frontiers and grey relational analysis are incorporated into the DEA model to facilitate a refined assessment. Based on the empirical study results, the proposed model is able to solve the problem of information missing in the prior models and evaluate the level of safety with a better accuracy. The results of the proposed DEA model are further compared with an evidential reasoning (ER) method, which has been widely used for level of safety evaluations. A sensitivity analysis is also conducted to better understand the relationship between the variation of navigational environments and level of safety. The sensitivity analysis shows that the level of safety varies in terms of traffic flow. It indicates that appropriate traffic control measures should be adopted for different waterways to improve their safety. This paper presents a practical method of conducting maritime level of safety assessments under dynamic navigational environment. Copyright © 2015 Elsevier Ltd. All rights reserved.

Autonomous Robot Navigation based on Visual Landmarks

DEFF Research Database (Denmark)

Livatino, Salvatore

2005-01-01

The use of landmarks for robot navigation is a popular alternative to having a geometrical model of the environment through which to navigate and monitor self-localization. If the landmarks are defined as special visual structures already in the environment then we have the possibility of fully a...... automatically learn and store visual landmarks, and later recognize these landmarks from arbitrary positions and thus estimate robot position and heading.......The use of landmarks for robot navigation is a popular alternative to having a geometrical model of the environment through which to navigate and monitor self-localization. If the landmarks are defined as special visual structures already in the environment then we have the possibility of fully...... autonomous navigation and self-localization using automatically selected landmarks. The thesis investigates autonomous robot navigation and proposes a new method which benefits from the potential of the visual sensor to provide accuracy and reliability to the navigation process while relying on naturally...

A Spatial Cognitive Map and a Human-Like Memory Model Dedicated to Pedestrian Navigation in Virtual Urban Environments

Science.gov (United States)

Thomas, Romain; Donikian, Stéphane

Many articles dealing with agent navigation in an urban environment involve the use of various heuristics. Among them, one is prevalent: the search of the shortest path between two points. This strategy impairs the realism of the resulting behaviour. Indeed, psychological studies state that such a navigation behaviour is conditioned by the knowledge the subject has of its environment. Furthermore, the path a city dweller can follow may be influenced by many factors like his daily habits, or the path simplicity in term of minimum of direction changes. It appeared interesting to us to investigate how to mimic human navigation behavior with an autonomous agent. The solution we propose relies on an architecture based on a generic model of informed environment, a spatial cognitive map model merged with a human-like memory model, representing the agent's temporal knowledge of the environment, it gained along its experiences of navigation.

Indoor Pedestrian Navigation Based on Hybrid Route Planning and Location Modeling

DEFF Research Database (Denmark)

Schougaard, Kari Rye; Grønbæk, Kaj; Scharling, Tejs

2012-01-01

This paper introduces methods and services called PerPosNav for development of custom indoor pedestrian navigation applications to be deployed on a variety of platforms. PerPosNav combines symbolic and geometry based modeling of buildings, and in turn combines graph-based and geometric route...

X-Ray Detection and Processing Models for Spacecraft Navigation and Timing

Science.gov (United States)

Sheikh, Suneel; Hanson, John

2013-01-01

The current primary method of deepspace navigation is the NASA Deep Space Network (DSN). High-performance navigation is achieved using Delta Differential One-Way Range techniques that utilize simultaneous observations from multiple DSN sites, and incorporate observations of quasars near the line-of-sight to a spacecraft in order to improve the range and angle measurement accuracies. Over the past four decades, x-ray astronomers have identified a number of xray pulsars with pulsed emissions having stabilities comparable to atomic clocks. The x-ray pulsar-based navigation and time determination (XNAV) system uses phase measurements from these sources to establish autonomously the position of the detector, and thus the spacecraft, relative to a known reference frame, much as the Global Positioning System (GPS) uses phase measurements from radio signals from several satellites to establish the position of the user relative to an Earth-centered fixed frame of reference. While a GPS receiver uses an antenna to detect the radio signals, XNAV uses a detector array to capture the individual xray photons from the x-ray pulsars. The navigation solution relies on detailed xray source models, signal processing, navigation and timing algorithms, and analytical tools that form the basis of an autonomous XNAV system. Through previous XNAV development efforts, some techniques have been established to utilize a pulsar pulse time-of-arrival (TOA) measurement to correct a position estimate. One well-studied approach, based upon Kalman filter methods, optimally adjusts a dynamic orbit propagation solution based upon the offset in measured and predicted pulse TOA. In this delta position estimator scheme, previously estimated values of spacecraft position and velocity are utilized from an onboard orbit propagator. Using these estimated values, the detected arrival times at the spacecraft of pulses from a pulsar are compared to the predicted arrival times defined by the pulsar s pulse

Differential Arc expression in the hippocampus and striatum during the transition from attentive to automatic navigation on a plus maze

Science.gov (United States)

Gardner, Robert S.; Suarez, Daniel F.; Robinson-Burton, Nadira K.; Rudnicky, Christopher J.; Gulati, Asish; Ascoli, Giorgio A.; Dumas, Theodore C.

2016-01-01

The strategies utilized to effectively perform a given task change with practice and experience. During a spatial navigation task, with relatively little training, performance is typically attentive enabling an individual to locate the position of a goal by relying on spatial landmarks. These (place) strategies require an intact hippocampus. With task repetition, performance becomes automatic; the same goal is reached using a fixed response or sequence of actions. These (response) strategies require an intact striatum. The current work aims to understand the activation patterns across these neural structures during this experience-dependent strategy transition. This was accomplished by region-specific measurement of activity-dependent immediate early gene expression among rats trained to different degrees on a dual-solution task (i.e., a task that can be solved using either place or response navigation). As expected, rats increased their reliance on response navigation with extended task experience. In addition, dorsal hippocampal expression of the immediate early gene Arc was considerably reduced in rats that used a response strategy late in training (as compared with hippocampal expression in rats that used a place strategy early in training). In line with these data, vicarious trial and error, a behavior linked to hippocampal function, also decreased with task repetition. Although Arc mRNA expression in dorsal medial or lateral striatum alone did not correlate with training stage, the ratio of expression in the medial striatum to that in the lateral striatum was relatively high among rats that used a place strategy early in training as compared with the ratio among over-trained response rats. Altogether, these results identify specific changes in the activation of dissociated neural systems that may underlie the experience-dependent emergence of response-based automatic navigation. PMID:26976088

Aqueous extract of lavender (Lavandula angustifolia) improves the spatial performance of a rat model of Alzheimer's disease.

Science.gov (United States)

Kashani, Masoud Soheili; Tavirani, Mostafa Rezaei; Talaei, Sayyed Alireza; Salami, Mahmoud

2011-04-01

Alzheimer's disease (AD) is one of the most important neurodegenerative disorders. It is characterized by dementia including deficits in learning and memory. The present study aimed to evaluate the effects of aqueous extract of lavender (Lavandula angustifolia) on spatial performance of AD rats. Male Wistar rats were first divided into control and AD groups. Rat model of AD was established by intracerebroventricular injection of 10 μg Aβ1-42 20 d prior to administration of the lavender extract. Rats in both groups were then introduced to 2 stages of task learning (with an interval of 20 d) in Morris water maze, each followed by one probe test. After the first stage of spatial learning, control and AD animals received different doses (50, 100 and 200 mg/kg) of the lavender extract. In the first stage of experiment, the latency to locate the hidden platform in AD group was significantly higher than that in control group. However, in the second stage of experiment, control and AD rats that received distilled water (vehicle) showed similar performance, indicating that the maze navigation itself could improve the spatial learning of AD animals. Besides, in the second stage of experiment, control and AD rats that received lavender extract administration at different doses (50, 100, and 200 mg/ kg) spent less time locating the platform (except for the AD rats with 50 mg/kg extract treatment), as compared with their counterparts with vehicle treatment, respectively. In addition, lavender extract significantly improved the performance of control and AD rats in the probe test, only at the dose of 200 mg/kg, as compared with their counterparts with vehicle treatment. The lavender extract can effectively reverse spatial learning deficits in AD rats.

Economic Models for Inland Navigation in the Context of Climate Change

International Nuclear Information System (INIS)

Demirel, E.

2011-01-01

The inland navigation market of North-Western Europe faces potential problems due to climate change. Different measures may be taken by governments, carriers, and customers to cope with the negative effects of climate change. The effects of climate change on the inland navigation market may also be different for regions with different demand for transport by inland navigation. The research carried out in this dissertation can be seen as an investigation into adaptation strategies and the interaction-effects of imbalance and climate change on the inland navigation market. This gives rise to the following two main research questions for this dissertation: (1) What is the optimal barge-size adjustment for barge operators to cope with climate change, and what are the implications of climate change for investments in inland waterway infrastructure by the public sector?; (2) What is the impact of climate change on freight prices in the inland navigation market in the presence of direction dependent freight imbalances? There is still a gap in the scientific literature on the transport economic aspects of inland navigation in general. This dissertation contributes to this literature by approaching the field in a climate change context. In addition, the incorporation of imperfect information to the backhaul literature can be seen as a contribution to the economic theory. We show that imbalance leads to different impacts of climate change in different regions (even though the climate change may be the same for these regions). As a contribution to decision making, the adaptation strategies that are evaluated from a welfare economic perspective can be mentioned. Both private decision making (choice of barge size) and public decision making (choice of amount to invest in infrastructure) are supported, by providing the optimal values to be chosen for the instruments available. By taking the imbalance issue into account, this study gives insights into how to achieve a fair

Economic Models for Inland Navigation in the Context of Climate Change

Energy Technology Data Exchange (ETDEWEB)

Demirel, E.

2011-04-06

The inland navigation market of North-Western Europe faces potential problems due to climate change. Different measures may be taken by governments, carriers, and customers to cope with the negative effects of climate change. The effects of climate change on the inland navigation market may also be different for regions with different demand for transport by inland navigation. The research carried out in this dissertation can be seen as an investigation into adaptation strategies and the interaction-effects of imbalance and climate change on the inland navigation market. This gives rise to the following two main research questions for this dissertation: (1) What is the optimal barge-size adjustment for barge operators to cope with climate change, and what are the implications of climate change for investments in inland waterway infrastructure by the public sector?; (2) What is the impact of climate change on freight prices in the inland navigation market in the presence of direction dependent freight imbalances? There is still a gap in the scientific literature on the transport economic aspects of inland navigation in general. This dissertation contributes to this literature by approaching the field in a climate change context. In addition, the incorporation of imperfect information to the backhaul literature can be seen as a contribution to the economic theory. We show that imbalance leads to different impacts of climate change in different regions (even though the climate change may be the same for these regions). As a contribution to decision making, the adaptation strategies that are evaluated from a welfare economic perspective can be mentioned. Both private decision making (choice of barge size) and public decision making (choice of amount to invest in infrastructure) are supported, by providing the optimal values to be chosen for the instruments available. By taking the imbalance issue into account, this study gives insights into how to achieve a fair

Model-based software engineering for an optical navigation system for spacecraft

Science.gov (United States)

Franz, T.; Lüdtke, D.; Maibaum, O.; Gerndt, A.

2018-06-01

The project Autonomous Terrain-based Optical Navigation (ATON) at the German Aerospace Center (DLR) is developing an optical navigation system for future landing missions on celestial bodies such as the moon or asteroids. Image data obtained by optical sensors can be used for autonomous determination of the spacecraft's position and attitude. Camera-in-the-loop experiments in the Testbed for Robotic Optical Navigation (TRON) laboratory and flight campaigns with unmanned aerial vehicle (UAV) are performed to gather flight data for further development and to test the system in a closed-loop scenario. The software modules are executed in the C++ Tasking Framework that provides the means to concurrently run the modules in separated tasks, send messages between tasks, and schedule task execution based on events. Since the project is developed in collaboration with several institutes in different domains at DLR, clearly defined and well-documented interfaces are necessary. Preventing misconceptions caused by differences between various development philosophies and standards turned out to be challenging. After the first development cycles with manual Interface Control Documents (ICD) and manual implementation of the complex interactions between modules, we switched to a model-based approach. The ATON model covers a graphical description of the modules, their parameters and communication patterns. Type and consistency checks on this formal level help to reduce errors in the system. The model enables the generation of interfaces and unified data types as well as their documentation. Furthermore, the C++ code for the exchange of data between the modules and the scheduling of the software tasks is created automatically. With this approach, changing the data flow in the system or adding additional components (e.g., a second camera) have become trivial.

Model-based software engineering for an optical navigation system for spacecraft

Science.gov (United States)

Franz, T.; Lüdtke, D.; Maibaum, O.; Gerndt, A.

2017-09-01

The project Autonomous Terrain-based Optical Navigation (ATON) at the German Aerospace Center (DLR) is developing an optical navigation system for future landing missions on celestial bodies such as the moon or asteroids. Image data obtained by optical sensors can be used for autonomous determination of the spacecraft's position and attitude. Camera-in-the-loop experiments in the Testbed for Robotic Optical Navigation (TRON) laboratory and flight campaigns with unmanned aerial vehicle (UAV) are performed to gather flight data for further development and to test the system in a closed-loop scenario. The software modules are executed in the C++ Tasking Framework that provides the means to concurrently run the modules in separated tasks, send messages between tasks, and schedule task execution based on events. Since the project is developed in collaboration with several institutes in different domains at DLR, clearly defined and well-documented interfaces are necessary. Preventing misconceptions caused by differences between various development philosophies and standards turned out to be challenging. After the first development cycles with manual Interface Control Documents (ICD) and manual implementation of the complex interactions between modules, we switched to a model-based approach. The ATON model covers a graphical description of the modules, their parameters and communication patterns. Type and consistency checks on this formal level help to reduce errors in the system. The model enables the generation of interfaces and unified data types as well as their documentation. Furthermore, the C++ code for the exchange of data between the modules and the scheduling of the software tasks is created automatically. With this approach, changing the data flow in the system or adding additional components (e.g., a second camera) have become trivial.

3-D world modeling based on combinatorial geometry for autonomous robot navigation

International Nuclear Information System (INIS)

Goldstein, M.; Pin, F.G.; De Saussure, G.; Weisbin, C.R.

1987-01-01

In applications of robotics to surveillance and mapping at nuclear facilities the scene to be described is three-dimensional. Using range data a 3-D model of the environment can be built. First, each measured point on the object surface is surrounded by a solid sphere with a radius determined by the range to that point. Then the 3-D shapes of the visible surfaces are obtained by taking the (Boolean) union of the spheres. Using this representation distances to boundary surfaces can be efficiently calculated. This feature is particularly useful for navigation purposes. The efficiency of the proposed approach is illustrated by a simulation of a spherical robot navigating in a 3-D room with static obstacles

Towards Safe Navigation by Formalizing Navigation Rules

Directory of Open Access Journals (Sweden)

Arne Kreutzmann

2013-06-01

Full Text Available One crucial aspect of safe navigation is to obey all navigation regulations applicable, in particular the collision regulations issued by the International Maritime Organization (IMO Colregs. Therefore, decision support systems for navigation need to respect Colregs and this feature should be verifiably correct. We tackle compliancy of navigation regulations from a perspective of software verification. One common approach is to use formal logic, but it requires to bridge a wide gap between navigation concepts and simple logic. We introduce a novel domain specification language based on a spatio-temporal logic that allows us to overcome this gap. We are able to capture complex navigation concepts in an easily comprehensible representation that can direcly be utilized by various bridge systems and that allows for software verification.

Using a sand wave model for optimal monitoring of navigation depth

NARCIS (Netherlands)

Knaapen, Michiel; Hulscher, Suzanne J.M.H.; Tiessen, Meinard C.H.; van den Berg, J.; Parker, G.; García, M.H.

2005-01-01

In the Euro Channel to Rotterdam Harbor, sand waves reduce the navigable depth to an unacceptable level. To avoid the risk of grounding, the navigation depth is monitored and sand waves that reduce the navigation depth unacceptably are dredged. After the dredging, the sand waves slowly regain their

Navigation by environmental geometry: the use of zebrafish as a model.

Science.gov (United States)

Lee, Sang Ah; Vallortigara, Giorgio; Flore, Michele; Spelke, Elizabeth S; Sovrano, Valeria A

2013-10-01

Sensitivity to environmental shape in spatial navigation has been found, at both behavioural and neural levels, in virtually every species tested, starting early in development. Moreover, evidence that genetic deletions can cause selective deficits in such navigation behaviours suggests a genetic basis to navigation by environmental geometry. Nevertheless, the geometric computations underlying navigation have not been specified in any species. The present study teases apart the geometric components within the traditionally used rectangular enclosure and finds that zebrafish selectively represent distance and directional relationships between extended boundary surfaces. Similar behavioural results in geometric navigation tasks with human children provide prima facie evidence for similar underlying cognitive computations and open new doors for probing the genetic foundations that give rise to these computations.

Path-finding in real and simulated rats

DEFF Research Database (Denmark)

Tamosiunaite, Minija; Ainge, James; Kulvicius, Tomas

2008-01-01

without affecting the path characteristic two additional mechanisms are implemented: a gradual drop of the learned weights (weight decay) and path length limitation, which prevents learning if the reward is not found after some expected time. Both mechanisms limit the memory of the system and thereby......A large body of experimental evidence suggests that the hippocampal place field system is involved in reward based navigation learning in rodents. Reinforcement learning (RL) mechanisms have been used to model this, associating the state space in an RL-algorithm to the place-field map in a rat...... convergence of RL-algorithms is also influenced by the state space characteristics, different PF-sizes and densities, leading to a different degree of overlap, were also investigated. The model rat learns finding a reward opposite to its starting point. We observed that the combination of biased straight...

A neural model of motion processing and visual navigation by cortical area MST.

Science.gov (United States)

Grossberg, S; Mingolla, E; Pack, C

1999-12-01

Cells in the dorsal medial superior temporal cortex (MSTd) process optic flow generated by self-motion during visually guided navigation. A neural model shows how interactions between well-known neural mechanisms (log polar cortical magnification, Gaussian motion-sensitive receptive fields, spatial pooling of motion-sensitive signals and subtractive extraretinal eye movement signals) lead to emergent properties that quantitatively simulate neurophysiological data about MSTd cell properties and psychophysical data about human navigation. Model cells match MSTd neuron responses to optic flow stimuli placed in different parts of the visual field, including position invariance, tuning curves, preferred spiral directions, direction reversals, average response curves and preferred locations for stimulus motion centers. The model shows how the preferred motion direction of the most active MSTd cells can explain human judgments of self-motion direction (heading), without using complex heading templates. The model explains when extraretinal eye movement signals are needed for accurate heading perception, and when retinal input is sufficient, and how heading judgments depend on scene layouts and rotation rates.

Enhancing the care navigation model: potential roles for health sciences librarians

Science.gov (United States)

Huber, Jeffrey T.; Shapiro, Robert M.; Burke, Heather J.; Palmer, Aaron

2014-01-01

This study analyzed the overlap between roles and activities that health care navigators perform and competencies identified by the Medical Library Association's (MLA's) educational policy statement. Roles and activities that health care navigators perform were gleaned from published literature. Once common roles and activities that health care navigators perform were identified, MLA competencies were mapped against those roles and activities to identify areas of overlap. The greatest extent of correspondence occurred in patient empowerment and support. Further research is warranted to determine the extent to which health sciences librarians might assume responsibility for roles and activities that health care navigators perform. PMID:24415921

ENU mutagenesis to generate genetically modified rat models.

Science.gov (United States)

van Boxtel, Ruben; Gould, Michael N; Cuppen, Edwin; Smits, Bart M G

2010-01-01

The rat is one of the most preferred model organisms in biomedical research and has been extremely useful for linking physiology and pathology to the genome. However, approaches to genetically modify specific genes in the rat germ line remain relatively scarce. To date, the most efficient approach for generating genetically modified rats has been the target-selected N-ethyl-N-nitrosourea (ENU) mutagenesis-based technology. Here, we describe the detailed protocols for ENU mutagenesis and mutant retrieval in the rat model organism.

Comparative advantage between traditional and smart navigation systems

Science.gov (United States)

Shin, Jeongkyu; Kim, Pan-Jun; Kim, Seunghwan

2013-03-01

The smart navigation system that refers to real-time traffic data is believed to be superior to traditional navigation systems. To verify this belief, we created an agent-based traffic model and examined the effect of changing market share of the traditional shortest-travel-time algorithm based navigation and the smart navigation system. We tested our model on the grid and actual metropolitan road network structures. The result reveals that the traditional navigation system have better performance than the smart one as the market share of the smart navigation system exceeds a critical value, which is contrary to conventional expectation. We suggest that the superiority inversion between agent groups is strongly related to the traffic weight function form, and is general. We also found that the relationship of market share, traffic flow density and travel time is determined by the combination of congestion avoidance behavior of the smartly navigated agents and the inefficiency of shortest-travel-time based navigated agents. Our results can be interpreted with the minority game and extended to the diverse topics of opinion dynamics. This work was supported by the Original Technology Research Program for Brain Science through the National Research Foundation of Korea funded by the Ministry of Education, Science and Technology(No. 2010-0018847).

Oxidative stress of crystalline lens in rat menopausal model

OpenAIRE

Acer, Semra; Pekel, Gökhan; Küçükatay, Vural; Karabulut, Aysun; Yağcı, Ramazan; Çetin, Ebru Nevin; Akyer, Şahika Pınar; Şahin, Barbaros

2016-01-01

ABSTRACT Purpose: To evaluate lenticular oxidative stress in rat menopausal models. Methods: Forty Wistar female albino rats were included in this study. A total of thirty rats underwent oophorectomy to generate a menopausal model. Ten rats that did not undergo oophorectomy formed the control group (Group 1). From the rats that underwent oophorectomy, 10 formed the menopause control group (Group 2), 10 were administered a daily injection of methylprednisolone until the end of the study (Gro...

Neurobiologically inspired mobile robot navigation and planning

Directory of Open Access Journals (Sweden)

Mathias Quoy

2007-11-01

Full Text Available After a short review of biologically inspired navigation architectures, mainly relying on modeling the hippocampal anatomy, or at least some of its functions, we present a navigation and planning model for mobile robots. This architecture is based on a model of the hippocampal and prefrontal interactions. In particular, the system relies on the definition of a new cell type “transition cells” that encompasses traditional “place cells”.

Accelerating navigation in the VecGeom geometry modeller

Science.gov (United States)

Wenzel, Sandro; Zhang, Yang; pre="for the"> VecGeom Developers,

2017-10-01

The VecGeom geometry library is a relatively recent effort aiming to provide a modern and high performance geometry service for particle detector simulation in hierarchical detector geometries common to HEP experiments. One of its principal targets is the efficient use of vector SIMD hardware instructions to accelerate geometry calculations for single track as well as multi-track queries. Previously, excellent performance improvements compared to Geant4/ROOT could be reported for elementary geometry algorithms at the level of single shape queries. In this contribution, we will focus on the higher level navigation algorithms in VecGeom, which are the most important components as seen from the simulation engines. We will first report on our R&D effort and developments to implement SIMD enhanced data structures to speed up the well-known “voxelised” navigation algorithms, ubiquitously used for particle tracing in complex detector modules consisting of many daughter parts. Second, we will discuss complementary new approaches to improve navigation algorithms in HEP. These ideas are based on a systematic exploitation of static properties of the detector layout as well as automatic code generation and specialisation of the C++ navigator classes. Such specialisations reduce the overhead of generic- or virtual function based algorithms and enhance the effectiveness of the SIMD vector units. These novel approaches go well beyond the existing solutions available in Geant4 or TGeo/ROOT, achieve a significantly superior performance, and might be of interest for a wide range of simulation backends (GeantV, Geant4). We exemplify this with concrete benchmarks for the CMS and ALICE detectors.

Self-motivated visual scanning predicts flexible navigation in a virtual environment

Directory of Open Access Journals (Sweden)

Elisabeth Jeannette Ploran

2014-01-01

Full Text Available The ability to navigate flexibly (e.g., reorienting oneself based on distal landmarks to reach a learned target from a new position may rely on visual scanning during both initial experiences with the environment and subsequent test trials. Reliance on visual scanning during navigation harkens back to the concept of vicarious trial and error, a description of the side-to-side head movements made by rats as they explore previously traversed sections of a maze in an attempt to find a reward. In the current study, we examined if visual scanning predicted the extent to which participants would navigate to a learned location in a virtual environment defined by its position relative to distal landmarks. Our results demonstrated a significant positive relationship between the amount of visual scanning and participant accuracy in identifying the trained target location from a new starting position as long as the landmarks within the environment remain consistent with the period of original learning. Our findings indicate that active visual scanning of the environment is a deliberative attentional strategy that supports the formation of spatial representations for flexible navigation.

Navigation in space by X-ray pulsars

CERN Document Server

Emadzadeh, Amir Abbas

2011-01-01

This book covers modeling of X-ray pulsar signals and explains how X-ray pulsar signals can be used to solve the relative navigation problem. It formulates the problem, proposes a recursive solution and analyzes different aspects of the navigation system.

Indoor Semantic Modelling for Routing: The Two-Level Routing Approach for Indoor Navigation

Directory of Open Access Journals (Sweden)

Liu Liu

2017-11-01

Full Text Available Humans perform many activities indoors and they show a growing need for indoor navigation, especially in unfamiliar buildings such as airports, museums and hospitals. Complexity of such buildings poses many challenges for building managers and visitors. Indoor navigation services play an important role in supporting these indoor activities. Indoor navigation covers extensive topics such as: 1 indoor positioning and localization; 2 indoor space representation for navigation model generation; 3 indoor routing computation; 4 human wayfinding behaviours; and 5 indoor guidance (e.g., textual directories. So far, a large number of studies of pedestrian indoor navigation have presented diverse navigation models and routing algorithms/methods. However, the major challenge is rarely referred to: how to represent the complex indoor environment for pedestrians and conduct routing according to the different roles and sizes of users. Such complex buildings contain irregular shapes, large open spaces, complicated obstacles and different types of passages. A navigation model can be very complicated if the indoors are accurately represented. Although most research demonstrates feasible indoor navigation models and related routing methods in regular buildings, the focus is still on a general navigation model for pedestrians who are simplified as circles. In fact, pedestrians represent different sizes, motion abilities and preferences (e.g., described in user profiles, which should be reflected in navigation models and be considered for indoor routing (e.g., relevant Spaces of Interest and Points of Interest. In order to address this challenge, this thesis proposes an innovative indoor modelling and routing approach – two-level routing. It specially targets the case of routing in complex buildings for distinct users. The conceptual (first level uses general free indoor spaces: this is represented by the logical network whose nodes represent the spaces and edges

Application of the spherical harmonic gravity model in high precision inertial navigation systems

International Nuclear Information System (INIS)

Wang, Jing; Yang, Gongliu; Zhou, Xiao; Li, Xiangyun

2016-01-01

The spherical harmonic gravity model (SHM) may, in general, be considered as a suitable alternative to the normal gravity model (NGM), because it represents the Earth’s gravitational field more accurately. However, the high-resolution SHM has never been used in current inertial navigation systems (INSs) due to its extremely complex expression. In this paper, the feasibility and accuracy of a truncated SHM are discussed for application in a real-time free-INS with a precision demand better than 0.8 nm h −1 . In particular, the time and space complexity are analyzed mathematically to verify the feasibility of the SHM. Also, a test on a typical navigation computer shows a storable range of cut-off degrees. To further evaluate the appropriate degree and accuracy of the truncated SHM, analyses of covariance and truncation error are proposed. Finally, a SHM of degree 12 is demonstrated to be the appropriate model for routine INSs in the precision range of 0.4–0.75 nm h −1 . Flight simulations and road tests show its outstanding performance over the traditional NGM. (paper)

[Effect of leptin on long-term spatial memory of rats with white matter damage in developing brain].

Science.gov (United States)

Feng, Er-Cui; Jiang, Li

2017-12-01

To investigate the neuroprotective effect of leptin by observing its effect on spatial memory of rats with white matter damage in developing brain. A total of 80 neonatal rats were randomly divided into 3 groups: sham-operation (n=27), model (n=27) and leptin intervention (n=27). The rats in the model and leptin intervention groups were used to prepare a model of white matter damage in developing brain, and the rats in the leptin intervention group were given leptin (100 μg/kg) diluted with normal saline immediately after modelling for 4 consecutive days. The survival rate of the rats was observed and the change in body weight was monitored. When the rats reached the age of 21 days, the Morris water maze test was used to evaluate spatial memory. There was no significant difference in the survival rate of rats between the three groups (P>0.05). Within 10 days after birth, the leptin intervention group had similar body weight as the sham-operation group and significantly lower body weight than the model group (P0.05). The results of place navigation showed that from the second day of experiment, there was a significant difference in the latency period between the three groups (Pmemory impairment of rats with white matter damage in developing brain. It thus exerts a neuroprotective effect, and is worthy of further research.

Improving Canada's Marine Navigation System through e-Navigation

Directory of Open Access Journals (Sweden)

Daniel Breton

2016-06-01

The conclusion proposed is that on-going work with key partners and stakeholders can be used as the primary mechanism to identify e-Navigation related innovation and needs, and to prioritize next steps. Moving forward in Canada, implementation of new e-navigation services will continue to be stakeholder driven, and used to drive improvements to Canada's marine navigation system.

Representing User Navigation in XML Retrieval with Structural Summaries

DEFF Research Database (Denmark)

Ali, M. S.; Consens, Mariano P.; Larsen, Birger

This poster presents a novel way to represent user navigation in XML retrieval using collection statistics from XML summaries. Currently, developing user navigation models in XML retrieval is costly and the models are specific to collected user assessments. We address this problem by proposing...

Steroid-associated osteonecrosis animal model in rats

Directory of Open Access Journals (Sweden)

Li-Zhen Zheng

2018-04-01

Full Text Available Summary: Objective: Established preclinical disease models are essential for not only studying aetiology and/or pathophysiology of the relevant diseases but more importantly also for testing prevention and/or treatment concept(s. The present study proposed and established a detailed induction and assessment protocol for a unique and cost-effective preclinical steroid-associated osteonecrosis (SAON in rats with pulsed injections of lipopolysaccharide (LPS and methylprednisolone (MPS. Methods: Sixteen 24-week-old male Sprague–Dawley rats were used to induce SAON by one intravenous injection of LPS (0.2 mg/kg and three intraperitoneal injections of MPS (100 mg/kg with a time interval of 24 hour, and then, MPS (40 mg/kg was intraperitoneally injected three times a week from week 2 until sacrifice. Additional 12 rats were used as normal controls. Two and six weeks after induction, animals were scanned by metabolic dual energy X-ray absorptiometry for evaluation of tissue composition; serum was collected for bone turnover markers, Microfil perfusion was performed for angiography, the liver was collected for histopathology and bilateral femora and bilateral tibiae were collected for histological examination. Results: Three rats died after LPS injection, i.e., with 15.8% (3/19 mortality. Histological evaluation showed 100% incidence of SAON at week 2. Dual energy X-ray absorptiometry showed significantly higher fat percent and lower lean mass in SAON group at week 6. Micro-computed tomography (Micro-CT showed significant bone degradation at proximal tibia 6 weeks after SAON induction. Angiography illustrated significantly less blood vessels in the proximal tibia and significantly more leakage particles in the distal tibia 2 weeks after SAON induction. Serum amino-terminal propeptide of type I collagen and osteocalcin were significantly lower at both 2 and 6 weeks after SAON induction, and serum carboxy-terminal telopeptide was significantly

Lost in Virtual Space: Studies in Human and Ideal Spatial Navigation

Science.gov (United States)

Stankiewicz, Brian J.; Legge, Gordon E.; Mansfield, J. Stephen; Schlicht, Erik J.

2006-01-01

The authors describe 3 human spatial navigation experiments that investigate how limitations of perception, memory, uncertainty, and decision strategy affect human spatial navigation performance. To better understand the effect of these variables on human navigation performance, the authors developed an ideal-navigator model for indoor navigation…

Navigating on handheld displays: Dynamic versus Static Keyhole Navigation

NARCIS (Netherlands)

Mehra, S.; Werkhoven, P.; Worring, M.

2006-01-01

Handheld displays leave little space for the visualization and navigation of spatial layouts representing rich information spaces. The most common navigation method for handheld displays is static peephole navigation: The peephole is static and we move the spatial layout behind it (scrolling). A

X-ray Pulsar Navigation Algorithms and Testbed for SEXTANT

Science.gov (United States)

Winternitz, Luke M. B.; Hasouneh, Monther A.; Mitchell, Jason W.; Valdez, Jennifer E.; Price, Samuel R.; Semper, Sean R.; Yu, Wayne H.; Ray, Paul S.; Wood, Kent S.; Arzoumanian, Zaven;

The Navigation Metaphor in Security Economics

DEFF Research Database (Denmark)

Pieters, Wolter; Barendse, Jeroen; Ford, Margaret

2016-01-01

The navigation metaphor for cybersecurity merges security architecture models and security economics. By identifying the most efficient routes for gaining access to assets from an attacker's viewpoint, an organization can optimize its defenses along these routes. The well-understood concept of na...... of navigation makes it easier to motivate and explain security investment to a wide audience, encouraging strategic security decisions....

Modelling and Experiment Based on a Navigation System for a Cranio-Maxillofacial Surgical Robot

Directory of Open Access Journals (Sweden)

Xingguang Duan

2018-01-01

Full Text Available In view of the characteristics of high risk and high accuracy in cranio-maxillofacial surgery, we present a novel surgical robot system that can be used in a variety of surgeries. The surgical robot system can assist surgeons in completing biopsy of skull base lesions, radiofrequency thermocoagulation of the trigeminal ganglion, and radioactive particle implantation of skull base malignant tumors. This paper focuses on modelling and experimental analyses of the robot system based on navigation technology. Firstly, the transformation relationship between the subsystems is realized based on the quaternion and the iterative closest point registration algorithm. The hand-eye coordination model based on optical navigation is established to control the end effector of the robot moving to the target position along the planning path. The closed-loop control method, “kinematics + optics” hybrid motion control method, is presented to improve the positioning accuracy of the system. Secondly, the accuracy of the system model was tested by model experiments. And the feasibility of the closed-loop control method was verified by comparing the positioning accuracy before and after the application of the method. Finally, the skull model experiments were performed to evaluate the function of the surgical robot system. The results validate its feasibility and are consistent with the preoperative surgical planning.

Modelling and Experiment Based on a Navigation System for a Cranio-Maxillofacial Surgical Robot

Science.gov (United States)

Duan, Xingguang; Gao, Liang; Li, Jianxi; Li, Haoyuan; Guo, Yanjun

2018-01-01

In view of the characteristics of high risk and high accuracy in cranio-maxillofacial surgery, we present a novel surgical robot system that can be used in a variety of surgeries. The surgical robot system can assist surgeons in completing biopsy of skull base lesions, radiofrequency thermocoagulation of the trigeminal ganglion, and radioactive particle implantation of skull base malignant tumors. This paper focuses on modelling and experimental analyses of the robot system based on navigation technology. Firstly, the transformation relationship between the subsystems is realized based on the quaternion and the iterative closest point registration algorithm. The hand-eye coordination model based on optical navigation is established to control the end effector of the robot moving to the target position along the planning path. The closed-loop control method, “kinematics + optics” hybrid motion control method, is presented to improve the positioning accuracy of the system. Secondly, the accuracy of the system model was tested by model experiments. And the feasibility of the closed-loop control method was verified by comparing the positioning accuracy before and after the application of the method. Finally, the skull model experiments were performed to evaluate the function of the surgical robot system. The results validate its feasibility and are consistent with the preoperative surgical planning. PMID:29599948

Theoretical Limits of Lunar Vision Aided Navigation with Inertial Navigation System

Science.gov (United States)

2015-03-26

THEORETICAL LIMITS OF LUNAR VISION AIDED NAVIGATION WITH INERTIAL NAVIGATION SYSTEM THESIS David W. Jones, Capt, USAF AFIT-ENG-MS-15-M-020 DEPARTMENT...Government and is not subject to copyright protection in the United States. AFIT-ENG-MS-15-M-020 THEORETICAL LIMITS OF LUNAR VISION AIDED NAVIGATION WITH...DISTRIBUTION UNLIMITED. AFIT-ENG-MS-15-M-020 THEORETICAL LIMITS OF LUNAR VISION AIDED NAVIGATION WITH INERTIAL NAVIGATION SYSTEM THESIS David W. Jones

Iconic memory-based omnidirectional route panorama navigation.

Science.gov (United States)

Yagi, Yasushi; Imai, Kousuke; Tsuji, Kentaro; Yachida, Masahiko

2005-01-01

A route navigation method for a mobile robot with an omnidirectional image sensor is described. The route is memorized from a series of consecutive omnidirectional images of the horizon when the robot moves to its goal. While the robot is navigating to the goal point, input is matched against the memorized spatio-temporal route pattern by using dual active contour models and the exact robot position and orientation is estimated from the converged shape of the active contour models.

Model Basis for the Navigation Aid Analysis Tool

National Research Council Canada - National Science Library

Morris, Peter

1999-01-01

...), a self-contained software product that computes the probability of being in a given system state, most commonly, the incident state, for a user-constructed scenario of surface marine navigation...

Parametric Covariance Model for Horizon-Based Optical Navigation

Science.gov (United States)

Hikes, Jacob; Liounis, Andrew J.; Christian, John A.

2016-01-01

This Note presents an entirely parametric version of the covariance for horizon-based optical navigation measurements. The covariance can be written as a function of only the spacecraft position, two sensor design parameters, the illumination direction, the size of the observed planet, the size of the lit arc to be used, and the total number of observed horizon points. As a result, one may now more clearly understand the sensitivity of horizon-based optical navigation performance as a function of these key design parameters, which is insight that was obscured in previous (and nonparametric) versions of the covariance. Finally, the new parametric covariance is shown to agree with both the nonparametric analytic covariance and results from a Monte Carlo analysis.

Collective animal navigation and migratory culture: from theoretical models to empirical evidence

Science.gov (United States)

Dell, Anthony I.

2018-01-01

Animals often travel in groups, and their navigational decisions can be influenced by social interactions. Both theory and empirical observations suggest that such collective navigation can result in individuals improving their ability to find their way and could be one of the key benefits of sociality for these species. Here, we provide an overview of the potential mechanisms underlying collective navigation, review the known, and supposed, empirical evidence for such behaviour and highlight interesting directions for future research. We further explore how both social and collective learning during group navigation could lead to the accumulation of knowledge at the population level, resulting in the emergence of migratory culture. This article is part of the theme issue ‘Collective movement ecology’. PMID:29581394

Modeling and Assessment of Precise Time Transfer by Using BeiDou Navigation Satellite System Triple-Frequency Signals

Science.gov (United States)

Zhang, Pengfei; Zhang, Rui; Liu, Jinhai; Lu, Xiaochun

2018-01-01

This study proposes two models for precise time transfer using the BeiDou Navigation Satellite System triple-frequency signals: ionosphere-free (IF) combined precise point positioning (PPP) model with two dual-frequency combinations (IF-PPP1) and ionosphere-free combined PPP model with a single triple-frequency combination (IF-PPP2). A dataset with a short baseline (with a common external time frequency) and a long baseline are used for performance assessments. The results show that IF-PPP1 and IF-PPP2 models can both be used for precise time transfer using BeiDou Navigation Satellite System (BDS) triple-frequency signals, and the accuracy and stability of time transfer is the same in both cases, except for a constant system bias caused by the hardware delay of different frequencies, which can be removed by the parameter estimation and prediction with long time datasets or by a priori calibration. PMID:29596330

Study of the Navigation Method for a Snake Robot Based on the Kinematics Model with MEMS IMU

Science.gov (United States)

Dou, Lihua; Su, Zhong; Liu, Ning

2018-01-01

A snake robot is a type of highly redundant mobile robot that significantly differs from a tracked robot, wheeled robot and legged robot. To address the issue of a snake robot performing self-localization in the application environment without assistant orientation, an autonomous navigation method is proposed based on the snake robot’s motion characteristic constraints. The method realized the autonomous navigation of the snake robot with non-nodes and an external assistant using its own Micro-Electromechanical-Systems (MEMS) Inertial-Measurement-Unit (IMU). First, it studies the snake robot’s motion characteristics, builds the kinematics model, and then analyses the motion constraint characteristics and motion error propagation properties. Second, it explores the snake robot’s navigation layout, proposes a constraint criterion and the fixed relationship, and makes zero-state constraints based on the motion features and control modes of a snake robot. Finally, it realizes autonomous navigation positioning based on the Extended-Kalman-Filter (EKF) position estimation method under the constraints of its motion characteristics. With the self-developed snake robot, the test verifies the proposed method, and the position error is less than 5% of Total-Traveled-Distance (TDD). In a short-distance environment, this method is able to meet the requirements of a snake robot in order to perform autonomous navigation and positioning in traditional applications and can be extended to other familiar multi-link robots. PMID:29547515

Study of the Navigation Method for a Snake Robot Based on the Kinematics Model with MEMS IMU.

Science.gov (United States)

Zhao, Xu; Dou, Lihua; Su, Zhong; Liu, Ning

2018-03-16

A snake robot is a type of highly redundant mobile robot that significantly differs from a tracked robot, wheeled robot and legged robot. To address the issue of a snake robot performing self-localization in the application environment without assistant orientation, an autonomous navigation method is proposed based on the snake robot's motion characteristic constraints. The method realized the autonomous navigation of the snake robot with non-nodes and an external assistant using its own Micro-Electromechanical-Systems (MEMS) Inertial-Measurement-Unit (IMU). First, it studies the snake robot's motion characteristics, builds the kinematics model, and then analyses the motion constraint characteristics and motion error propagation properties. Second, it explores the snake robot's navigation layout, proposes a constraint criterion and the fixed relationship, and makes zero-state constraints based on the motion features and control modes of a snake robot. Finally, it realizes autonomous navigation positioning based on the Extended-Kalman-Filter (EKF) position estimation method under the constraints of its motion characteristics. With the self-developed snake robot, the test verifies the proposed method, and the position error is less than 5% of Total-Traveled-Distance (TDD). In a short-distance environment, this method is able to meet the requirements of a snake robot in order to perform autonomous navigation and positioning in traditional applications and can be extended to other familiar multi-link robots.

The physiological response of obese rat model with rambutan peel extract treatment

Directory of Open Access Journals (Sweden)

Sri Rahayu Lestari

2014-09-01

Full Text Available Objective: To determine body weight gain, expression of Igf-1 and Igf-1 receptor on obese rat model treated with rambutan peel extract (RPE as a physiological response. Methods: Normal and obese rat feed with normal and high calorie diet around 1 2 weeks and continued to treat with ellagic acid, RPE 15, 30 and 60 mg/kg body weight respectively. Physiological responses observed were weight gain and expression of Igf-1 with its receptor. Body weight of rat was weighed once per week. Expression of Igf-1 and igf-1R observed with fluorescence immunohistochemistry. The intensity of Igf-1 and Igf-1R expression was analysis using FSX-BSW software. Results: The lowest weight gain was obtained on obese rat model treated with RPE 30 mg/kg body weight. The expression of Igf-1 and Igf-1R were reduced on obese rat model treated with RPE compared with obese rat model of non treatment (P<0.05. The low expression of Igf-1 and Igf-1R was found on obese rat model treated with ellagic acid and RPE 30 mg/kg body weight. Conclusions: The RPE was effecting to the physiological response on obese rat model. The RPE 30 mg/kg body weight inhibited body weight gain and decreased the expression of Igf-1 and Igf- 1R of obese rat model.

Proxemics models for human-aware navigation in robotics: Grounding interaction and personal space models in experimental data from psychology

OpenAIRE

Barnaud , Marie-Lou; Morgado , Nicolas; Palluel-Germain , Richard; Diard , Julien; Spalanzani , Anne

2014-01-01

International audience; In order to navigate in a social environment, a robot must be aware of social spaces, which include proximity and interaction-based constraints. Previous models of interaction and personal spaces have been inspired by studies in social psychology but not systematically grounded and validated with respect to experimental data. We propose to implement personal and interaction space models in order to replicate a classical psychology experiment. Our robotic simulations ca...

Modeling and Assessment of Precise Time Transfer by Using BeiDou Navigation Satellite System Triple-Frequency Signals

Directory of Open Access Journals (Sweden)

Rui Tu

2018-03-01

Full Text Available This study proposes two models for precise time transfer using the BeiDou Navigation Satellite System triple-frequency signals: ionosphere-free (IF combined precise point positioning (PPP model with two dual-frequency combinations (IF-PPP1 and ionosphere-free combined PPP model with a single triple-frequency combination (IF-PPP2. A dataset with a short baseline (with a common external time frequency and a long baseline are used for performance assessments. The results show that IF-PPP1 and IF-PPP2 models can both be used for precise time transfer using BeiDou Navigation Satellite System (BDS triple-frequency signals, and the accuracy and stability of time transfer is the same in both cases, except for a constant system bias caused by the hardware delay of different frequencies, which can be removed by the parameter estimation and prediction with long time datasets or by a priori calibration.

33 CFR 2.36 - Navigable waters of the United States, navigable waters, and territorial waters.

Science.gov (United States)

2010-07-01

... 33 Navigation and Navigable Waters 1 2010-07-01 2010-07-01 false Navigable waters of the United States, navigable waters, and territorial waters. 2.36 Section 2.36 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY GENERAL JURISDICTION Jurisdictional Terms § 2.36 Navigable waters...

High accuracy navigation information estimation for inertial system using the multi-model EKF fusing adams explicit formula applied to underwater gliders.

Science.gov (United States)

Huang, Haoqian; Chen, Xiyuan; Zhang, Bo; Wang, Jian

2017-01-01

The underwater navigation system, mainly consisting of MEMS inertial sensors, is a key technology for the wide application of underwater gliders and plays an important role in achieving high accuracy navigation and positioning for a long time of period. However, the navigation errors will accumulate over time because of the inherent errors of inertial sensors, especially for MEMS grade IMU (Inertial Measurement Unit) generally used in gliders. The dead reckoning module is added to compensate the errors. In the complicated underwater environment, the performance of MEMS sensors is degraded sharply and the errors will become much larger. It is difficult to establish the accurate and fixed error model for the inertial sensor. Therefore, it is very hard to improve the accuracy of navigation information calculated by sensors. In order to solve the problem mentioned, the more suitable filter which integrates the multi-model method with an EKF approach can be designed according to different error models to give the optimal estimation for the state. The key parameters of error models can be used to determine the corresponding filter. The Adams explicit formula which has an advantage of high precision prediction is simultaneously fused into the above filter to achieve the much more improvement in attitudes estimation accuracy. The proposed algorithm has been proved through theory analyses and has been tested by both vehicle experiments and lake trials. Results show that the proposed method has better accuracy and effectiveness in terms of attitudes estimation compared with other methods mentioned in the paper for inertial navigation applied to underwater gliders. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Acoustic noise improves motor learning in spontaneously hypertensive rats, a rat model of attention deficit hyperactivity disorder.

Science.gov (United States)

Söderlund, Göran B W; Eckernäs, Daniel; Holmblad, Olof; Bergquist, Filip

2015-03-01

The spontaneously hypertensive (SH) rat model of ADHD displays impaired motor learning. We used this characteristic to study if the recently described acoustic noise benefit in learning in children with ADHD is also observed in the SH rat model. SH rats and a Wistar control strain were trained in skilled reach and rotarod running under either ambient noise or in 75 dBA white noise. In other animals the effect of methylphenidate (MPH) on motor learning was assessed with the same paradigms. To determine if acoustic noise influenced spontaneous motor activity, the effect of acoustic noise was also determined in the open field activity paradigm. We confirm impaired motor learning in the SH rat compared to Wistar SCA controls. Acoustic noise restored motor learning in SH rats learning the Montoya reach test and the rotarod test, but had no influence on learning in Wistar rats. Noise had no effect on open field activity in SH rats, but increased corner time in Wistar. MPH completely restored rotarod learning and performance but did not improve skilled reach in the SH rat. It is suggested that the acoustic noise benefit previously reported in children with ADHD is shared by the SH rat model of ADHD, and the effect is in the same range as that of stimulant treatment. Acoustic noise may be useful as a non-pharmacological alternative to stimulant medication in the treatment of ADHD. Copyright © 2014 The Authors. Published by Elsevier B.V. All rights reserved.

Image processing and applications based on visualizing navigation service

Science.gov (United States)

Hwang, Chyi-Wen

2015-07-01

When facing the "overabundant" of semantic web information, in this paper, the researcher proposes the hierarchical classification and visualizing RIA (Rich Internet Application) navigation system: Concept Map (CM) + Semantic Structure (SS) + the Knowledge on Demand (KOD) service. The aim of the Multimedia processing and empirical applications testing, was to investigating the utility and usability of this visualizing navigation strategy in web communication design, into whether it enables the user to retrieve and construct their personal knowledge or not. Furthermore, based on the segment markets theory in the Marketing model, to propose a User Interface (UI) classification strategy and formulate a set of hypermedia design principles for further UI strategy and e-learning resources in semantic web communication. These research findings: (1) Irrespective of whether the simple declarative knowledge or the complex declarative knowledge model is used, the "CM + SS + KOD navigation system" has a better cognition effect than the "Non CM + SS + KOD navigation system". However, for the" No web design experience user", the navigation system does not have an obvious cognition effect. (2) The essential of classification in semantic web communication design: Different groups of user have a diversity of preference needs and different cognitive styles in the CM + SS + KOD navigation system.

Navigating actions through the rodent parietal cortex

Directory of Open Access Journals (Sweden)

Jonathan R. Whitlock

2014-05-01

Full Text Available The posterior parietal cortex (PPC participates in a manifold of cognitive functions, including visual attention, working memory, spatial processing and movement planning. Given the vast interconnectivity of PPC with sensory and motor areas, it is not surprising that neuronal recordings show that PPC often encodes mixtures of spatial information as well as the movements required to reach a goal. Recent work sought to discern the relative strength of spatial versus motor signaling in PPC by recording single unit activity in PPC of freely behaving rats during selective changes in either the spatial layout of the local environment or in the pattern of locomotor behaviors executed during navigational tasks. The results revealed unequivocally a predominant sensitivity of PPC neurons to locomotor action structure, with subsets of cells even encoding upcoming movements more than 1 second in advance. In light of these and other recent findings in the field, I propose that one of the key contributions of PPC to navigation is the synthesis of goal-directed behavioral sequences, and that the rodent PPC may serve as an apt system to investigate cellular mechanisms for spatial motor planning as traditionally studied in humans and monkeys.

The effect of pre-eclampsia-like syndrome induced by L-NAME on learning and memory and hippocampal glucocorticoid receptor expression: A rat model.

Science.gov (United States)

Zhu, Hao; Zhu, Weimin; Hu, Rong; Wang, Huijun; Ma, Duan; Li, Xiaotian

2017-02-01

We aimed to study the impacts of pre-eclampsia on the cognitive and learning capabilities of adolescent rat offspring and to explore the possible underlying mechanisms at the molecular level. Pregnant rats were subcutaneously injected with saline solution (control) (n = 16) or NG-nitro-L-arginine methyl ester (L-NAME) (n = 16) from the 13th day of gestation until parturition. The brain tissues from fetal rats delivered by cesarean section were examined in both groups with hematoxylin and eosin (H&E) staining. Rats born vaginally in both groups were subjected to the Morris water maze test when 8-week-old and their hippocampi were analyzed for glucocorticoid receptor (GR) expression. A pre-eclampsia-like model was successfully built in pregnant rats by infusion of the NO synthase inhibitor L-NAME, including phenotypes as maternal hypertension and proteinuria, high stillbirth rate, and fetal growth retardation. Neuroepithelial cell proliferation was found in the hippocampus of fetal rats in the L-NAME group. Grown to 8-week-old, the L-NAME group showed significantly longer escape latency than the control group in the beginning as well as in the end of navigation trials. At the same time, the swimming distance achieved by the L-NAME group was significantly longer than that of the control group. Such differences in cognitive and learning capabilities between the two groups were not gender dependent. Besides, the 8-week-old rats in the L-NAME group had increased GR expression in the hippocampus than the control group. Pre-eclampsia would impair cognitive and learning capabilities in adolescent offspring, and the upregulated expression of hippocampal GR may be involved in the underlying mechanisms.

Error Analysis of Inertial Navigation Systems Using Test Algorithms

OpenAIRE

Vaispacher, Tomáš; Bréda, Róbert; Adamčík, František

2015-01-01

Content of this contribution is an issue of inertial sensors errors, specification of inertial measurement units and generating of test signals for Inertial Navigation System (INS). Given the different levels of navigation tasks, part of this contribution is comparison of the actual types of Inertial Measurement Units. Considering this comparison, there is proposed the way of solving inertial sensors errors and their modelling for low – cost inertial navigation applications. The last part is ...

Structure-Activity Relationship Models for Rat Carcinogenesis and Assessing the Role Mutagens Play in Model Predictivity

Science.gov (United States)

Carrasquer, C. Alex; Batey, Kaylind; Qamar, Shahid; Cunningham, Albert R.; Cunningham, Suzanne L.

2016-01-01

We previously demonstrated that fragment based cat-SAR carcinogenesis models consisting solely of mutagenic or non-mutagenic carcinogens varied greatly in terms of their predictive accuracy. This led us to investigate how well the rat cancer cat-SAR model predicted mutagens and non-mutagens in their learning set. Four rat cancer cat-SAR models were developed: Complete Rat, Transgender Rat, Male Rat, and Female Rat, with leave-one-out (LOO) validation concordance values of 69%, 74%, 67%, and 73%, respectively. The mutagenic carcinogens produced concordance values in the range of 69–76% as compared to only 47–53% for non-mutagenic carcinogens. As a surrogate for mutagenicity comparisons between single site and multiple site carcinogen SAR models was analyzed. The LOO concordance values for models consisting of 1-site, 2-site, and 4+-site carcinogens were 66%, 71%, and 79%, respectively. As expected, the proportion of mutagens to non-mutagens also increased, rising from 54% for 1-site to 80% for 4+-site carcinogens. This study demonstrates that mutagenic chemicals, in both SAR learning sets and test sets, are influential in assessing model accuracy. This suggests that SAR models for carcinogens may require a two-step process in which mutagenicity is first determined before carcinogenicity can be accurately predicted. PMID:24697549

Growing Homophilic Networks Are Natural Navigable Small Worlds.

Science.gov (United States)

Malkov, Yury A; Ponomarenko, Alexander

2016-01-01

Navigability, an ability to find a logarithmically short path between elements using only local information, is one of the most fascinating properties of real-life networks. However, the exact mechanism responsible for the formation of navigation properties remained unknown. We show that navigability can be achieved by using only two ingredients present in the majority of networks: network growth and local homophily, giving a persuasive answer how the navigation appears in real-life networks. A very simple algorithm produces hierarchical self-similar optimally wired navigable small world networks with exponential degree distribution by using only local information. Adding preferential attachment produces a scale-free network which has shorter greedy paths, but worse (power law) scaling of the information extraction locality (algorithmic complexity of a search). Introducing saturation of the preferential attachment leads to truncated scale-free degree distribution that offers a good tradeoff between these parameters and can be useful for practical applications. Several features of the model are observed in real-life networks, in particular in the brain neural networks, supporting the earlier suggestions that they are navigable.

Growing Homophilic Networks Are Natural Navigable Small Worlds.

Directory of Open Access Journals (Sweden)

Yury A Malkov

Full Text Available Navigability, an ability to find a logarithmically short path between elements using only local information, is one of the most fascinating properties of real-life networks. However, the exact mechanism responsible for the formation of navigation properties remained unknown. We show that navigability can be achieved by using only two ingredients present in the majority of networks: network growth and local homophily, giving a persuasive answer how the navigation appears in real-life networks. A very simple algorithm produces hierarchical self-similar optimally wired navigable small world networks with exponential degree distribution by using only local information. Adding preferential attachment produces a scale-free network which has shorter greedy paths, but worse (power law scaling of the information extraction locality (algorithmic complexity of a search. Introducing saturation of the preferential attachment leads to truncated scale-free degree distribution that offers a good tradeoff between these parameters and can be useful for practical applications. Several features of the model are observed in real-life networks, in particular in the brain neural networks, supporting the earlier suggestions that they are navigable.

77 FR 42637 - Navigation and Navigable Waters; Technical, Organizational, and Conforming Amendments; Corrections

Science.gov (United States)

2012-07-20

... DEPARTMENT OF HOMELAND SECURITY Coast Guard 33 CFR Parts 84 and 115 [Docket No. USCG-2012-0306] RIN 1625-AB86 Navigation and Navigable Waters; Technical, Organizational, and Conforming Amendments...), the Coast Guard published a final rule entitled ``Navigation and Navigable Waters; Technical...

Study of the Navigation Method for a Snake Robot Based on the Kinematics Model with MEMS IMU

Directory of Open Access Journals (Sweden)

Xu Zhao

2018-03-01

Full Text Available A snake robot is a type of highly redundant mobile robot that significantly differs from a tracked robot, wheeled robot and legged robot. To address the issue of a snake robot performing self-localization in the application environment without assistant orientation, an autonomous navigation method is proposed based on the snake robot’s motion characteristic constraints. The method realized the autonomous navigation of the snake robot with non-nodes and an external assistant using its own Micro-Electromechanical-Systems (MEMS Inertial-Measurement-Unit (IMU. First, it studies the snake robot’s motion characteristics, builds the kinematics model, and then analyses the motion constraint characteristics and motion error propagation properties. Second, it explores the snake robot’s navigation layout, proposes a constraint criterion and the fixed relationship, and makes zero-state constraints based on the motion features and control modes of a snake robot. Finally, it realizes autonomous navigation positioning based on the Extended-Kalman-Filter (EKF position estimation method under the constraints of its motion characteristics. With the self-developed snake robot, the test verifies the proposed method, and the position error is less than 5% of Total-Traveled-Distance (TDD. In a short-distance environment, this method is able to meet the requirements of a snake robot in order to perform autonomous navigation and positioning in traditional applications and can be extended to other familiar multi-link robots.

Oxidative stress of crystalline lens in rat menopausal model.

Science.gov (United States)

Acer, Semra; Pekel, Gökhan; Küçükatay, Vural; Karabulut, Aysun; Yağcı, Ramazan; Çetin, Ebru Nevin; Akyer, Şahika Pınar; Şahin, Barbaros

2016-01-01

To evaluate lenticular oxidative stress in rat menopausal models. Forty Wistar female albino rats were included in this study. A total of thirty rats underwent oophorectomy to generate a menopausal model. Ten rats that did not undergo oophorectomy formed the control group (Group 1). From the rats that underwent oophorectomy, 10 formed the menopause control group (Group 2), 10 were administered a daily injection of methylprednisolone until the end of the study (Group 3), and the remaining 10 rats were administered intraperitoneal streptozocin to induce diabetes mellitus (Group 4). Total oxidant status (TOS), total antioxidant capacity (TAC), and oxidative stress index (OSI) measurements of the crystalline lenses were analyzed. The mean OSI was the lowest in group 1 and highest in group 4. Nevertheless, the difference between the groups was not statistically significant in terms of OSI (p >0.05). The mean TOS values were similar between the groups (p >0.05), whereas the mean TAC of group 1 was significantly higher than that of the other groups (p <0.001). Our results indicate that menopause may not promote cataract formation.

Thrombolytic and anticoagulation treatment in a rat embolic stroke model

DEFF Research Database (Denmark)

Rasmussen, Rune Skovgaard; Overgaard, K; Meden, P

2003-01-01

OBJECTIVES: The effects of pentasaccharide (PENTA), given alone or combined with thrombolysis using recombinant tissue plasminogen activator (rt-PA), on infarct size and clinical outcome were evaluated in a rat embolic stroke model. MATERIALS AND METHODS: Ninety-two rats were embolized unilateral...... alone or combined with rt-PA did not significantly increase mortality or tendency for hemorrhage.......OBJECTIVES: The effects of pentasaccharide (PENTA), given alone or combined with thrombolysis using recombinant tissue plasminogen activator (rt-PA), on infarct size and clinical outcome were evaluated in a rat embolic stroke model. MATERIALS AND METHODS: Ninety-two rats were embolized unilaterally...

A Discussion on e-Navigation and Implementation in Turkey

Directory of Open Access Journals (Sweden)

Y.V. Aydogdu

2014-03-01

Full Text Available Electronic navigation, which has great important for ship management, has taken a step with technological improvements. In the result of these enhancements, new systems appeared as well as existing systems and these systems began to be integrated each other or used data of obtaining from the others like that AIS, Radar, ECDIS etc. All these and likely future systems have been put together under the roof of enhanced navigation (e-navigation is defined by organizations such as International Maritime Organization (IMO, International Association of Marine Aids to Navigation and Lighthouse Authorities (IALA, General Lighthouse Authority (GLA etc. Especially IALA guidelines serve as model future applications in Turkish waterways. In this study aim to redefine e-navigation concept based on maritime safety awareness, maritime service portfolio (MSC 85/26 and discuss possible applications.

Radar and electronic navigation

CERN Document Server

Sonnenberg, G J

2013-01-01

Radar and Electronic Navigation, Sixth Edition discusses radar in marine navigation, underwater navigational aids, direction finding, the Decca navigator system, and the Omega system. The book also describes the Loran system for position fixing, the navy navigation satellite system, and the global positioning system (GPS). It reviews the principles, operation, presentations, specifications, and uses of radar. It also describes GPS, a real time position-fixing system in three dimensions (longitude, latitude, altitude), plus velocity information with Universal Time Coordinated (UTC). It is accur

Image-based path planning for automated virtual colonoscopy navigation

Science.gov (United States)

Hong, Wei

2008-03-01

Virtual colonoscopy (VC) is a noninvasive method for colonic polyp screening, by reconstructing three-dimensional models of the colon using computerized tomography (CT). In virtual colonoscopy fly-through navigation, it is crucial to generate an optimal camera path for efficient clinical examination. In conventional methods, the centerline of the colon lumen is usually used as the camera path. In order to extract colon centerline, some time consuming pre-processing algorithms must be performed before the fly-through navigation, such as colon segmentation, distance transformation, or topological thinning. In this paper, we present an efficient image-based path planning algorithm for automated virtual colonoscopy fly-through navigation without the requirement of any pre-processing. Our algorithm only needs the physician to provide a seed point as the starting camera position using 2D axial CT images. A wide angle fisheye camera model is used to generate a depth image from the current camera position. Two types of navigational landmarks, safe regions and target regions are extracted from the depth images. Camera position and its corresponding view direction are then determined using these landmarks. The experimental results show that the generated paths are accurate and increase the user comfort during the fly-through navigation. Moreover, because of the efficiency of our path planning algorithm and rendering algorithm, our VC fly-through navigation system can still guarantee 30 FPS.

ENU mutagenesis to generate genetically modified rat models

NARCIS (Netherlands)

van Boxtel, R.; Gould, M.; Cuppen, E.; Smits, B.M.

2010-01-01

The rat is one of the most preferred model organisms in biomedical research and has been extremely useful for linking physiology and pathology to the genome. However, approaches to genetically modify specific genes in the rat germ line remain relatively scarce. To date, the most efficient approach

Futility Disputes: A Review of the Literature and Proposed Model for Dispute Navigation Through Trust Building.

Science.gov (United States)

Leland, Brian D; Torke, Alexia M; Wocial, Lucia D; Helft, Paul R

2017-10-01

Futility disputes in the intensive care unit setting have received significant attention in the literature over the past several years. Although the idea of improving communication in an attempt to resolve these challenging situations has been regularly discussed, the concept and role of trust building as the means by which communication improves and disputes are best navigated is largely absent. We take this opportunity to review the current literature on futility disputes and argue the important role of broken trust in these encounters, highlighting current evidence establishing the necessity and utility of trust in both medical decision-making and effective communication. Finally, we propose a futility dispute navigation model built upon improved communication through trust building.

Optimizing Dredge-and-Dump Activities for River Navigability Using a Hydro-Morphodynamic Model

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Andries J. Paarlberg

2015-07-01

Full Text Available Worldwide, significant dredging activities of riverbed sediment are employed to ensure that freight transportation on rivers can continue year-round. Imbalances of sediment budget may produce relevant impacts regarding river morphology and related environmental services. This study shows that hydro-morphodynamic modeling tools can be used to optimize dredge-and-dump activities and, at the same time, mitigate problems deriving from these activities in rivers. As a case study, we focused on dredging activities on the Lower Parana River, Argentina. Navigation on this river is of crucial importance to the economies of the bordering countries, hence, each year significant dredging activities are employed. To estimate dredging loads under different strategies, a 25 km river reach of the Parana River was modeled using the Delft3D-modelling suite by Deltares. The Netherlands, to simulate flow-sediment interactions in a quasi-steady and uncoupled approach. Impacts of dredging activities were explicitly included. Different dredge-and-dump strategies included variations in dredging over-depth (clearance and variations in dumping locations. Our results indicate that dredge-and-dump strategies can be targeted to stimulate natural processes that improve the depth and stability of the navigation channel and to counteract unwanted bed level responses in the long-medium term. A ~40% reduction in dredging effort could be achieved by moving the dredged material to distant locations in the secondary channel rather than dumping to the side of the waterway in the main channel.

Temporal and spatial strategies in an active place avoidance task on Carousel: a study of effects of stability of arena rotation speed in rats

Czech Academy of Sciences Publication Activity Database

Bahník, Štěpán; Stuchlík, Aleš

2015-01-01

Roč. 3, Sep 22 (2015), e1257 ISSN 2167-8359 R&D Projects: GA MŠk(CZ) LH14053 Institutional support: RVO:67985823 Keywords : spatial navigation * interval timing * substratal idiothetic navigation * inertial idiothetic navigation * rats Subject RIV: FH - Neurology Impact factor: 2.183, year: 2015

Sex-specific effects on spatial learning and memory, and sex-independent effects on blood pressure of a <3.3 Mbp rat chromosome 2 QTL region in Dahl salt-sensitive rats.

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Victoria L Herrera

Full Text Available Epidemiological studies have consistently found that hypertension is associated with poor cognitive performance. We hypothesize that a putative causal mechanism underlying this association is due to genetic loci affecting both blood pressure and cognition. Consistent with this notion, we reported several blood pressure (BP quantitative trait loci (QTLs that co-localized with navigational performance (Nav-QTLs influencing spatial learning and memory in Dahl rats. The present study investigates a chromosome 2 region harboring BP-f4 and Nav-8 QTLs. We developed two congenic strains, S.R2A and S.R2B introgressing Dahl R-chromosome 2 segments into Dahl S chromosome 2 region spanning BP-f4 and Nav-8 QTLs. Radiotelemetric blood pressure analysis identified only S.R2A congenic rats with lower systolic blood pressure (females: -26.0 mmHg, P = 0.003; males: -30.9 mmHg, P<1×10(-5, diastolic blood pressure (females: -21.2 mmHg, P = 0.01; males: -25.7 mmHg, P<1×10(-5, and mean arterial pressure (females: -23.9 mmHg, P = 0.004; males: -28.0 mmHg, P<1×10(-5 compared with corresponding Dahl S controls, confirming the presence of BP-f4 QTL on rat chromosome 2. The S.R2B congenic segment did not affect blood pressure. Testing of S.R2A, S.R2B, and Dahl S male rats in the Morris water maze (MWM task revealed significantly decreased spatial navigation performance in S.R2A male congenic rats when compared with Dahl S male controls (P<0.05. The S.R2B congenic segment did not affect performance of the MWM task in males. The S.R2A female rats did not differ in spatial navigation when compared with Dahl S female controls, indicating that the Nav-8 effect on spatial navigation is male-specific. Our results suggest the existence of a single QTL on chromosome 2 176.6-179.9 Mbp region which affects blood pressure in both males and females and cognition solely in males.

Sex-specific effects on spatial learning and memory, and sex-independent effects on blood pressure of a <3.3 Mbp rat chromosome 2 QTL region in Dahl salt-sensitive rats.

Science.gov (United States)

Herrera, Victoria L; Pasion, Khristine A; Tan, Glaiza A; Moran, Ann Marie; Ruiz-Opazo, Nelson

2013-01-01

Epidemiological studies have consistently found that hypertension is associated with poor cognitive performance. We hypothesize that a putative causal mechanism underlying this association is due to genetic loci affecting both blood pressure and cognition. Consistent with this notion, we reported several blood pressure (BP) quantitative trait loci (QTLs) that co-localized with navigational performance (Nav)-QTLs influencing spatial learning and memory in Dahl rats. The present study investigates a chromosome 2 region harboring BP-f4 and Nav-8 QTLs. We developed two congenic strains, S.R2A and S.R2B introgressing Dahl R-chromosome 2 segments into Dahl S chromosome 2 region spanning BP-f4 and Nav-8 QTLs. Radiotelemetric blood pressure analysis identified only S.R2A congenic rats with lower systolic blood pressure (females: -26.0 mmHg, P = 0.003; males: -30.9 mmHg, P<1×10(-5)), diastolic blood pressure (females: -21.2 mmHg, P = 0.01; males: -25.7 mmHg, P<1×10(-5)), and mean arterial pressure (females: -23.9 mmHg, P = 0.004; males: -28.0 mmHg, P<1×10(-5)) compared with corresponding Dahl S controls, confirming the presence of BP-f4 QTL on rat chromosome 2. The S.R2B congenic segment did not affect blood pressure. Testing of S.R2A, S.R2B, and Dahl S male rats in the Morris water maze (MWM) task revealed significantly decreased spatial navigation performance in S.R2A male congenic rats when compared with Dahl S male controls (P<0.05). The S.R2B congenic segment did not affect performance of the MWM task in males. The S.R2A female rats did not differ in spatial navigation when compared with Dahl S female controls, indicating that the Nav-8 effect on spatial navigation is male-specific. Our results suggest the existence of a single QTL on chromosome 2 176.6-179.9 Mbp region which affects blood pressure in both males and females and cognition solely in males.

Structured Kernel Subspace Learning for Autonomous Robot Navigation.

Science.gov (United States)

Kim, Eunwoo; Choi, Sungjoon; Oh, Songhwai

2018-02-14

This paper considers two important problems for autonomous robot navigation in a dynamic environment, where the goal is to predict pedestrian motion and control a robot with the prediction for safe navigation. While there are several methods for predicting the motion of a pedestrian and controlling a robot to avoid incoming pedestrians, it is still difficult to safely navigate in a dynamic environment due to challenges, such as the varying quality and complexity of training data with unwanted noises. This paper addresses these challenges simultaneously by proposing a robust kernel subspace learning algorithm based on the recent advances in nuclear-norm and l 1 -norm minimization. We model the motion of a pedestrian and the robot controller using Gaussian processes. The proposed method efficiently approximates a kernel matrix used in Gaussian process regression by learning low-rank structured matrix (with symmetric positive semi-definiteness) to find an orthogonal basis, which eliminates the effects of erroneous and inconsistent data. Based on structured kernel subspace learning, we propose a robust motion model and motion controller for safe navigation in dynamic environments. We evaluate the proposed robust kernel learning in various tasks, including regression, motion prediction, and motion control problems, and demonstrate that the proposed learning-based systems are robust against outliers and outperform existing regression and navigation methods.

The characterization of obese polycystic ovary syndrome rat model suitable for exercise intervention.

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Chuyan Wu

Full Text Available To develop a new polycystic ovary syndrome (PCOS rat model suitable for exercise intervention.Thirty six rats were randomly divided into three experimental groups: PCOS rats with high-fat diet (PF, n = 24, PCOS rats with ordinary diet (PO, n = 6, and control rats with ordinary diet (CO, n = 6. Two kinds of PCOS rat model were made by adjustment diet structure and testosterone injection for 28 days. After a successful animal model, PF model rats were randomly assigned to three groups: exercise with a continuation of high-fat diet (PF-EF, n = 6, sedentary with a continuation of high-fat diet (PF-SF, n = 6, exercise with an ordinary diet (PF-EO, n = 6. Fasting blood glucose (FBG and insulin (FINS, estrogen (E2, progesterone (P, and testosterone (T in serum were determined by RIA, and ovarian morphology was evaluated by Image-Pro plus 6.0.Body weight, Lee index, FINS increased significantly in PF rat model. Serum levels of E2 and T were significantly higher in PF and PO than in CO. Ovary organ index and ovarian areas were significant lower in PF than in CO. After intervention for 2 weeks, the levels of 1 h postprandial blood glucose (PBG1, 2 h postprandial blood glucose (PBG2, FINS and the serum levels of T decreased significantly in PF-EF rats and PF-EO rats. The ratio of FBG/FINS was significant higher in PF-EO rats than in PF-SF rats. Ovarian morphology showed that the numbers of preantral follicles and atretic follicles decreased significantly, and the numbers of antral follicles and corpora lutea increased significantly in the rats of PF-EF and PF-EO.By combination of high-fat diet and testosterone injection, the obese PCOS rat model is conformable with the lifestyle habits of fatty foods and insufficient exercise, and has metabolic and reproductive characteristics of human PCOS. This model can be applied to study exercise intervention.

Oxidative stress of crystalline lens in rat menopausal model

Directory of Open Access Journals (Sweden)

Semra Acer

Full Text Available ABSTRACT Purpose: To evaluate lenticular oxidative stress in rat menopausal models. Methods: Forty Wistar female albino rats were included in this study. A total of thirty rats underwent oophorectomy to generate a menopausal model. Ten rats that did not undergo oophorectomy formed the control group (Group 1. From the rats that underwent oophorectomy, 10 formed the menopause control group (Group 2, 10 were administered a daily injection of methylprednisolone until the end of the study (Group 3, and the remaining 10 rats were administered intraperitoneal streptozocin to induce diabetes mellitus (Group 4. Total oxidant status (TOS, total antioxidant capacity (TAC, and oxidative stress index (OSI measurements of the crystalline lenses were analyzed. Results: The mean OSI was the lowest in group 1 and highest in group 4. Nevertheless, the difference between the groups was not statistically significant in terms of OSI (p >0.05. The mean TOS values were similar between the groups (p >0.05, whereas the mean TAC of group 1 was significantly higher than that of the other groups (p <0.001. Conclusions: Our results indicate that menopause may not promote cataract formation.

Intelligent personal navigator supported by knowledge-based systems for estimating dead reckoning navigation parameters

Science.gov (United States)

Moafipoor, Shahram

Personal navigators (PN) have been studied for about a decade in different fields and applications, such as safety and rescue operations, security and emergency services, and police and military applications. The common goal of all these applications is to provide precise and reliable position, velocity, and heading information of each individual in various environments. In the PN system developed in this dissertation, the underlying assumption is that the system does not require pre-existing infrastructure to enable pedestrian navigation. To facilitate this capability, a multisensor system concept, based on the Global Positioning System (GPS), inertial navigation, barometer, magnetometer, and a human pedometry model has been developed. An important aspect of this design is to use the human body as navigation sensor to facilitate Dead Reckoning (DR) navigation in GPS-challenged environments. The system is designed predominantly for outdoor environments, where occasional loss of GPS lock may happen; however, testing and performance demonstration have been extended to indoor environments. DR navigation is based on a relative-measurement approach, with the key idea of integrating the incremental motion information in the form of step direction (SD) and step length (SL) over time. The foundation of the intelligent navigation system concept proposed here rests in exploiting the human locomotion pattern, as well as change of locomotion in varying environments. In this context, the term intelligent navigation represents the transition from the conventional point-to-point DR to dynamic navigation using the knowledge about the mechanism of the moving person. This approach increasingly relies on integrating knowledge-based systems (KBS) and artificial intelligence (AI) methodologies, including artificial neural networks (ANN) and fuzzy logic (FL). In addition, a general framework of the quality control for the real-time validation of the DR processing is proposed, based on a

Noninvasive measurement of renal blood flow by magnetic resonance imaging in rats.

Science.gov (United States)

Romero, Cesar A; Cabral, Glauber; Knight, Robert A; Ding, Guangliang; Peterson, Edward L; Carretero, Oscar A

2018-01-01

Renal blood flow (RBF) provides important information regarding renal physiology and nephropathies. Arterial spin labeling-magnetic resonance imaging (ASL-MRI) is a noninvasive method of measuring blood flow without exogenous contrast media. However, low signal-to-noise ratio and respiratory motion artifacts are challenges for RBF measurements in small animals. Our objective was to evaluate the feasibility and reproducibility of RBF measurements by ASL-MRI using respiratory-gating and navigator correction methods to reduce motion artifacts. ASL-MRI images were obtained from the kidneys of Sprague-Dawley (SD) rats on a 7-Tesla Varian MRI system with a spin-echo imaging sequence. After 4 days, the study was repeated to evaluate its reproducibility. RBF was also measured in animals under unilateral nephrectomy and in renal artery stenosis (RST) to evaluate the sensitivity in high and low RBF models, respectively. RBF was also evaluated in Dahl salt-sensitive (SS) rats and spontaneous hypertensive rats (SHR). In SD rats, the cortical RBFs (cRBF) were 305 ± 59 and 271.8 ± 39 ml·min -1 ·100 g tissue -1 in the right and left kidneys, respectively. Retest analysis revealed no differences ( P = 0.2). The test-retest reliability coefficient was 92 ± 5%. The cRBFs before and after the nephrectomy were 296.8 ± 30 and 428.2 ± 45 ml·min -1 ·100 g tissue -1 ( P = 0.02), respectively. The kidneys with RST exhibited a cRBF decrease compared with sham animals (86 ± 17.6 vs. 198 ± 33.7 ml·min -1 ·100 g tissue -1 ; P < 0.01). The cRBFs in SD, Dahl-SS, and SHR rats were not different ( P = 0.35). We conclude that ASL-MRI performed with navigator correction and respiratory gating is a feasible and reliable noninvasive method for measuring RBF in rats.

Model of geophysical fields representation in problems of complex correlation-extreme navigation

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Volodymyr KHARCHENKO

2015-09-01

Full Text Available A model of the optimal representation of spatial data for the task of complex correlation-extreme navigation is developed based on the criterion of minimum deviation of the correlation functions of the original and the resulting fields. Calculations are presented for one-dimensional case using the approximation of the correlation function by Fourier series. It is shown that in the presence of different geophysical map data fields their representation is possible by single template with optimal sampling without distorting the form of the correlation functions.

A novel model of invasive fungal rhinosinusitis in rats.

Science.gov (United States)

Zhang, Fang; An, Yunfang; Li, Zeqing; Zhao, Changqing

2013-01-01

Invasive fungal rhinosinusitis (IFRS) is a life-threatening inflammatory disease that affects immunocompromised patients, but animal models of the disease are scarce. This study aimed to develop an IFRS model in neutropenic rats. The model was established in three consecutive steps: unilateral nasal obstruction with Merocel sponges, followed by administration of cyclophosphamide (CPA), and, finally, nasal inoculation with Aspergillus fumigatus. Fifty healthy Wistar rats were randomly divided into five groups, with group I as the controls, group II undergoing unilateral nasal obstruction alone, group III undergoing nasal obstruction with fungal inoculation, group IV undergoing nasal obstruction with administration of CPA, and group V undergoing nasal obstruction with administration of CPA and fungal inoculation. Hematology, histology, and mycology investigations were performed. The changes in the rat absolute neutrophil counts (ANCs) were statistically different across the groups. The administration of CPA decreased the ANCs, whereas nasal obstruction with fungal inoculation increased the ANCs, and nasal obstruction did not change them. Histological examination of the rats in group V revealed the hyphal invasion of sinus mucosa and bone, thrombosis, and tissue infarction. No pathology indicative of IFRS was observed in the remaining groups. Positive rates of fungal culture in tissue homogenates from the maxillary sinus (62.5%) and lung (25%) were found in group V, whereas groups I, II, III, and IV showed no fungal culture in the homogenates. A rat IFRS model was successfully developed through nasal obstruction, CPA-induced neutropenia, and fungal inoculation. The disease model closely mimics the pathophysiology of anthropic IFRS.

Ballistic Aspects of Feasibility for Prospective Satellite Navigation Technologies

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L. N. Lysenko

2015-01-01

Full Text Available When modeling the operating processes of ballistics and navigation support it is expedient to make decomposition of the general problem of coordinate-time and navigation support into the typical options of its engineering implementation.As the satellite navigation technologies the paper considers inter-satellite measurement and autonomous navigation mode of differential correction. It also assesses the possibility of their application to improve the accuracy of navigation determinations.Technologies using inter-satellite measurement tools such as GLONASS / GPS equipment, equipment of inter-satellite radio link, astro-optical space based devices are an independent class of navigation technologies.However, each of these options has both advantages and disadvantages that affect the eva luation of the appropriateness and feasibility of their use.The paper separately considers the problem of increasing survivability of space systems and conservation of ground control complex due to introduction of requirements to ensure the independent functioning of spacecraft and application of technologies of ballistics and navigation support, supposing to involve minimum means of automated ground control complex for these purposes.Currently, there is a completely developed theory of autonomous navigation based on astronomical positional gauges, which are used as onboard optical sensors of orientation and stabilization systems.To date, the differential navigation mode is, virtually, the only approach that can allow the olution of tasks in terms of increased accuracy, but with some restrictions.The implementation of differential mode of treatment is carried out through the creation of differential subsystems of the satellite navigation systems. These subsystems are usually divided into wide-range, regional and local ones.Analysis of ballistic aspects to implement discussed navigation technologies allowed us to identify constraints for improving accuracy to define

33 CFR 66.05-100 - Designation of navigable waters as State waters for private aids to navigation.

Science.gov (United States)

2010-07-01

... as State waters for private aids to navigation. 66.05-100 Section 66.05-100 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY AIDS TO NAVIGATION PRIVATE AIDS TO NAVIGATION State Aids to Navigation § 66.05-100 Designation of navigable waters as State waters for private aids to...

Unified Simulation and Analysis Framework for Deep Space Navigation Design

Science.gov (United States)

Anzalone, Evan; Chuang, Jason; Olsen, Carrie

2013-01-01

As the technology that enables advanced deep space autonomous navigation continues to develop and the requirements for such capability continues to grow, there is a clear need for a modular expandable simulation framework. This tool's purpose is to address multiple measurement and information sources in order to capture system capability. This is needed to analyze the capability of competing navigation systems as well as to develop system requirements, in order to determine its effect on the sizing of the integrated vehicle. The development for such a framework is built upon Model-Based Systems Engineering techniques to capture the architecture of the navigation system and possible state measurements and observations to feed into the simulation implementation structure. These models also allow a common environment for the capture of an increasingly complex operational architecture, involving multiple spacecraft, ground stations, and communication networks. In order to address these architectural developments, a framework of agent-based modules is implemented to capture the independent operations of individual spacecraft as well as the network interactions amongst spacecraft. This paper describes the development of this framework, and the modeling processes used to capture a deep space navigation system. Additionally, a sample implementation describing a concept of network-based navigation utilizing digitally transmitted data packets is described in detail. This developed package shows the capability of the modeling framework, including its modularity, analysis capabilities, and its unification back to the overall system requirements and definition.

Rat models of spinal cord injury: from pathology to potential therapies

Science.gov (United States)

2016-01-01

ABSTRACT A long-standing goal of spinal cord injury research is to develop effective spinal cord repair strategies for the clinic. Rat models of spinal cord injury provide an important mammalian model in which to evaluate treatment strategies and to understand the pathological basis of spinal cord injuries. These models have facilitated the development of robust tests for assessing the recovery of locomotor and sensory functions. Rat models have also allowed us to understand how neuronal circuitry changes following spinal cord injury and how recovery could be promoted by enhancing spontaneous regenerative mechanisms and by counteracting intrinsic inhibitory factors. Rat studies have also revealed possible routes to rescuing circuitry and cells in the acute stage of injury. Spatiotemporal and functional studies in these models highlight the therapeutic potential of manipulating inflammation, scarring and myelination. In addition, potential replacement therapies for spinal cord injury, including grafts and bridges, stem primarily from rat studies. Here, we discuss advantages and disadvantages of rat experimental spinal cord injury models and summarize knowledge gained from these models. We also discuss how an emerging understanding of different forms of injury, their pathology and degree of recovery has inspired numerous treatment strategies, some of which have led to clinical trials. PMID:27736748

Cannabis exacerbates depressive symptoms in rat model induced by reserpine.

Science.gov (United States)

Khadrawy, Yasser A; Sawie, Hussein G; Abdel-Salam, Omar M E; Hosny, Eman N

2017-05-01

Cannabis sativa is one of the most widely recreational drugs and its use is more prevalent among depressed patients. Some studies reported that Cannabis has antidepressant effects while others showed increased depressive symptoms in Cannabis users. Therefore, the present study aims to investigate the effect of Cannabis extract on the depressive-like rats. Twenty four rats were divided into: control, rat model of depression induced by reserpine and depressive-like rats treated with Cannabis sativa extract (10mg/kg expressed as Δ9-tetrahydrocannabinol). The depressive-like rats showed a severe decrease in motor activity as assessed by open field test (OFT). This was accompanied by a decrease in monoamine levels and a significant increase in acetylcholinesterase activity in the cortex and hippocampus. Na + ,K + -ATPase activity increased in the cortex and decreased in the hippocampus of rat model. In addition, a state of oxidative stress was evident in the two brain regions. This was indicated from the significant increase in the levels of lipid peroxidation and nitric oxide. No signs of improvement were observed in the behavioral and neurochemical analyses in the depressive-like rats treated with Cannabis extract. Furthermore, Cannabis extract exacerbated the lipid peroxidation in the cortex and hippocampus. According to the present findings, it could be concluded that Cannabis sativa aggravates the motor deficits and neurochemical changes induced in the cortex and hippocampus of rat model of depression. Therefore, the obtained results could explain the reported increase in the depressive symptoms and memory impairment among Cannabis users. Copyright © 2017 Elsevier B.V. All rights reserved.

Navigation Problems in Blind-to-Blind Pedestrians Tele-assistance Navigation

OpenAIRE

Balata , Jan; Mikovec , Zdenek; Maly , Ivo

2015-01-01

International audience; We raise a question whether it is possible to build a large-scale navigation system for blind pedestrians where a blind person navigates another blind person remotely by mobile phone. We have conducted an experiment, in which we observed blind people navigating each other in a city center in 19 sessions. We focused on problems in the navigator’s attempts to direct the traveler to the destination. We observed 96 problems in total, classified them on the basis of the typ...

Gut Microbial Diversity in Rat Model Induced by Rhubarb

Science.gov (United States)

Peng, Ying; Wu, Chunfu; Yang, Jingyu; Li, Xiaobo

2014-01-01

Rhubarb is often used to establish chronic diarrhea and spleen (Pi)-deficiency syndrome animal models in China. In this study, we utilized the enterobacterial repetitive intergenic consensus-polymerase chain reaction (ERIC-PCR) method to detect changes in bacterial diversity in feces and the bowel mucosa associated with this model. Total microbial genomic DNA from the small bowel (duodenum, jejunum, and ileum), large bowel (proximal colon, distal colon, and rectum), cecum, and feces of normal and rhubarb-exposed rats were used as templates for the ERIC-PCR analysis. We found that the fecal microbial composition did not correspond to the bowel bacteria mix. More bacterial diversity was observed in the ileum of rhubarb-exposed rats (Panalysis with the SPSS software, the Canonical Discriminant Function Formulae for model rats was established. PMID:25048267

Wavefront Propagation and Fuzzy Based Autonomous Navigation

Directory of Open Access Journals (Sweden)

Adel Al-Jumaily

2005-06-01

Full Text Available Path planning and obstacle avoidance are the two major issues in any navigation system. Wavefront propagation algorithm, as a good path planner, can be used to determine an optimal path. Obstacle avoidance can be achieved using possibility theory. Combining these two functions enable a robot to autonomously navigate to its destination. This paper presents the approach and results in implementing an autonomous navigation system for an indoor mobile robot. The system developed is based on a laser sensor used to retrieve data to update a two dimensional world model of therobot environment. Waypoints in the path are incorporated into the obstacle avoidance. Features such as ageing of objects and smooth motion planning are implemented to enhance efficiency and also to cater for dynamic environments.

Vision/INS Integrated Navigation System for Poor Vision Navigation Environments

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Youngsun Kim

2016-10-01

Full Text Available In order to improve the performance of an inertial navigation system, many aiding sensors can be used. Among these aiding sensors, a vision sensor is of particular note due to its benefits in terms of weight, cost, and power consumption. This paper proposes an inertial and vision integrated navigation method for poor vision navigation environments. The proposed method uses focal plane measurements of landmarks in order to provide position, velocity and attitude outputs even when the number of landmarks on the focal plane is not enough for navigation. In order to verify the proposed method, computer simulations and van tests are carried out. The results show that the proposed method gives accurate and reliable position, velocity and attitude outputs when the number of landmarks is insufficient.

Generation and characterization of rat liver stem cell lines and their engraftment in a rat model of liver failure

Science.gov (United States)

Kuijk, Ewart W.; Rasmussen, Shauna; Blokzijl, Francis; Huch, Meritxell; Gehart, Helmuth; Toonen, Pim; Begthel, Harry; Clevers, Hans; Geurts, Aron M.; Cuppen, Edwin

2016-01-01

The rat is an important model for liver regeneration. However, there is no in vitro culture system that can capture the massive proliferation that can be observed after partial hepatectomy in rats. We here describe the generation of rat liver stem cell lines. Rat liver stem cells, which grow as cystic organoids, were characterized by high expression of the stem cell marker Lgr5, by the expression of liver progenitor and duct markers, and by low expression of hepatocyte markers, oval cell markers, and stellate cell markers. Prolonged cultures of rat liver organoids depended on high levels of WNT-signalling and the inhibition of BMP-signaling. Upon transplantation of clonal lines to a Fah−/− Il2rg−/− rat model of liver failure, the rat liver stem cells engrafted into the host liver where they differentiated into areas with FAH and Albumin positive hepatocytes. Rat liver stem cell lines hold potential as consistent reliable cell sources for pharmacological, toxicological or metabolic studies. In addition, rat liver stem cell lines may contribute to the development of regenerative medicine in liver disease. To our knowledge, the here described liver stem cell lines represent the first organoid culture system in the rat. PMID:26915950

Expected Navigation Flight Performance for the Magnetospheric Multiscale (MMS) Mission

Science.gov (United States)

Olson, Corwin; Wright, Cinnamon; Long, Anne

2012-01-01

The Magnetospheric Multiscale (MMS) mission consists of four formation-flying spacecraft placed in highly eccentric elliptical orbits about the Earth. The primary scientific mission objective is to study magnetic reconnection within the Earth s magnetosphere. The baseline navigation concept is the independent estimation of each spacecraft state using GPS pseudorange measurements (referenced to an onboard Ultra Stable Oscillator) and accelerometer measurements during maneuvers. State estimation for the MMS spacecraft is performed onboard each vehicle using the Goddard Enhanced Onboard Navigation System, which is embedded in the Navigator GPS receiver. This paper describes the latest efforts to characterize expected navigation flight performance using upgraded simulation models derived from recent analyses.

Wendan decoction improves learning and memory deficits in a rat model of schizophrenia

Institute of Scientific and Technical Information of China (English)

Cuiping Yang; Changchun Cai; Xiaojin Yang; Yanping Yang; Zhigang Zhou; Jianhua Liu; Heping Ye; Hongjiao Wan

2012-01-01

An experimental model of schizophrenia was established using dizocilpine (MK-801). Rats were intragastrically administered with Wendan decoction or clozapine for 21 days prior to establishing the model. The results revealed that the latency of schizophrenia model rats to escape from the hidden platform in the Morris water maze was significantly shortened after administration of Wendan decoction or clozapine. In addition, the treated rats crossed the platform significantly more times than the untreated model rats. Moreover, the rate of successful long-term potentiation induction in the Wendan decoction group and clozapine group were also obviously increased compared with the model group, and the population spike peak latency was significantly shortened. These experimental findings suggest that Wendan decoction can improve the learning and memory ability of schizophrenic rats to the same extent as clozapine treatment.

Supporting Indoor Navigation Using Access Rights to Spaces Based on Combined Use of IndoorGML and LADM Models

Directory of Open Access Journals (Sweden)

Abdullah Alattas

2017-11-01

Full Text Available The aim of this research is to investigate the combined use of IndoorGML and the Land Administration Domain Model (LADM to define the accessibility of the indoor spaces based on the ownership and/or the functional right for use. The users of the indoor spaces create a relationship with the space depending on the type of the building and the function of the spaces. The indoor spaces of each building have different usage functions and associated users. By defining the user types of the indoor spaces, LADM makes it possible to establish a relationship between the indoor spaces and the users. LADM assigns rights, restrictions, and responsibilities to each indoor space, which indicates the accessible spaces for each type of user. The three-dimensional (3D geometry of the building will be impacted by assigning such functional rights, and will provide additional knowledge to path computation for an individual or a group of users. As a result, the navigation process will be more appropriate and simpler because the navigation path will avoid all of the non-accessible spaces based on the rights of the party. The combined use of IndoorGML and LADM covers a broad range of information classes: (indoor 3D cell spaces, connectivity, spatial units/boundaries, (access/use rights and restrictions, parties/persons/actors, and groups of them. The new specialized classes for individual students, individual staff members, groups of students, groups of staff members are able to represent cohorts of education programmes and the organizational structure (organogram: faculty, department, group. The model is capable to represent the access times to lecture rooms (based on education/teaching schedules, use rights of meeting rooms, opening hours of offices, etc. The two original standard models remain independent in our approach, we do not propose yet another model, but applications can fully benefit of the potential of the combined use, which is an important contribution

Phenotypic Characterization of LEA Rat: A New Rat Model of Nonobese Type 2 Diabetes

Directory of Open Access Journals (Sweden)

Tadashi Okamura

2013-01-01

Full Text Available Animal models have provided important information for the genetics and pathophysiology of diabetes. Here we have established a novel, nonobese rat strain with spontaneous diabetes, Long-Evans Agouti (LEA rat derived from Long-Evans (LE strain. The incidence of diabetes in the males was 10% at 6 months of age and 86% at 14 months, while none of the females developed diabetes. The blood glucose level in LEA male rats was between 200 and 300 mg/dl at 120 min according to OGTT. The glucose intolerance in correspondence with the impairment of insulin secretion was observed in male rats, which was the main cause of diabetes in LEA rats. Histological examination revealed that the reduction of β-cell mass was caused by progressive fibrosis in pancreatic islets in age-dependent manner. The intracytoplasmic hyaline droplet accumulation and the disappearance of tubular epithelial cell layer associated with thickening of basement membrane were evident in renal proximal tubules. The body mass index and glycaemic response to exogenous insulin were comparable to those of control rats. The unique characteristics of LEA rat are a great advantage not only to analyze the progression of diabetes, but also to disclose the genes involved in type 2 diabetes mellitus.

Close but no cigar: Spatial precision deficits following medial temporal lobe lesions provide novel insight into theoretical models of navigation and memory.

Science.gov (United States)

Kolarik, Branden S; Baer, Trevor; Shahlaie, Kiarash; Yonelinas, Andrew P; Ekstrom, Arne D

2018-01-01

Increasing evidence suggests that the human hippocampus contributes to a range of different behaviors, including episodic memory, language, short-term memory, and navigation. A novel theoretical framework, the Precision and Binding Model, accounts for these phenomenon by describing a role for the hippocampus in high-resolution, complex binding. Other theories like Cognitive Map Theory, in contrast, predict a specific role for the hippocampus in allocentric navigation, while Declarative Memory Theory predicts a specific role in delay-dependent conscious memory. Navigation provides a unique venue for testing these predictions, with past results from research with humans providing inconsistent findings regarding the role of the human hippocampus in spatial navigation. Here, we tested five patients with lesions primarily restricted to the hippocampus and those extending out into the surrounding medial temporal lobe cortex on a virtual water maze task. Consistent with the Precision and Binding Model, we found partially intact allocentric memory in all patients, with impairments in the spatial precision of their searches for a hidden target. We found similar impairments at both immediate and delayed testing. Our findings are consistent with the Precision and Binding Model of hippocampal function, arguing for its role across domains in high-resolution, complex binding. Remembering goal locations in one's environment is a critical skill for survival. How this information is represented in the brain is still not fully understood, but is believed to rely in some capacity on structures in the medial temporal lobe. Contradictory findings from studies of both humans and animals have been difficult to reconcile with regard to the role of the MTL, specifically the hippocampus. By assessing impairments observed during navigation to a goal in patients with medial temporal lobe damage we can better understand the role these structures play in such behavior. Utilizing virtual reality

Persistent estrus rat models of polycystic ovary disease: an update.

Science.gov (United States)

Singh, Krishna B

2005-10-01

To critically review published articles on polycystic ovary (PCO) disease in rat models, with a focus on delineating its pathophysiology. Review of the English-language literature published from 1966 to March 2005 was performed through PubMed search. Keywords or phrases used were persistent estrus, chronic anovulation, polycystic ovary, polycystic ovary disease, and polycystic ovary syndrome. Articles were also located via bibliographies of published literature. University Health Sciences Center. Articles on persistent estrus and PCO in rats were selected and reviewed regarding the methods for induction of PCO disease. Changes in the reproductive cycle, ovarian morphology, hormonal parameters, and factors associated with the development of PCO disease in rat models were analyzed. Principal methods for inducing PCO in the rat include exposure to constant light, anterior hypothalamic and amygdaloidal lesions, and the use of androgens, estrogens, antiprogestin, and mifepristone. The validated rat PCO models provide useful information on morphologic and hormonal disturbances in the pathogenesis of chronic anovulation in this condition. These studies have aimed to replicate the morphologic and hormonal characteristics observed in the human PCO syndrome. The implications of these studies to human condition are discussed.

Indoor wayfinding and navigation

CERN Document Server

2015-01-01

Due to the widespread use of navigation systems for wayfinding and navigation in the outdoors, researchers have devoted their efforts in recent years to designing navigation systems that can be used indoors. This book is a comprehensive guide to designing and building indoor wayfinding and navigation systems. It covers all types of feasible sensors (for example, Wi-Fi, A-GPS), discussing the level of accuracy, the types of map data needed, the data sources, and the techniques for providing routes and directions within structures.

MRI and morphological observation in C6 glioma model rats and significance

International Nuclear Information System (INIS)

Zhou Ying; Yuan Bo; Wang Hao; Lu Jin; Yuan Changji; Ma Yue; Tong Dan; Zhang Kun; Gao Feng; Wu Xiaogang

2013-01-01

Objective: To establish stable and reliable rat C6 glioma model, and to perform MRI dynamic observation and pathomorphological observation in model animal brain, and to provide experimental basis for pharmaceutical research on anti-glioma drugs. Methods: The C6 glioma cells were cultured and 20 μL cultural fluid containing 1×10 6 C6 cells was sterotactically implanted into the left caudate nuclei in 10 male Wistar rats, respectively. The changes in the behavior of the rats after implantation were observed and recorded. MRI dynamic scanning was performed in 10 rats 2, 3 and 4 weeks after implantation and the brain tissues were taken for general and pathological examination when the 10 rats were naturally dead. The survival period of tumor-bearing rats was calculated. Results: 2 weeks after implantation the rats showed decreased activities and food intake, fur lackluster, and conjunctival congestion and so on; 3 weeks later, some rats appeared nerve symptoms such as body twitch, body hemiplegy, body distortion, rotation and so on. All the 10 rats died in 8-30 d. The median survival period of the tumor-bearing rats was 18 d, the average survival period was (18.3±7.3) d. The pathological examination showed that the tumor cells were arranged irregularly closely and karyokinesis was easy to see; tumor vascular tissue proliferation and tumor invasive growth into surrounding normal tissues were found. The expression of glial fibrillary acidic protein (GFAP) was positive in the tumors. Conclusion: A stable animal model of intracranial glioma is successfully established by stereotactic implantation of C6 cells into the rat caudate nucleus. The results of MRI dynamic observation and pathohistological observation on the model animal brain tissue. Can provide experimental basis for selecting the appropriate time window to perform the pharmaceutical research on anti-glioma drugs. (authors)

Control algorithms for autonomous robot navigation

International Nuclear Information System (INIS)

Jorgensen, C.C.

1985-01-01

This paper examines control algorithm requirements for autonomous robot navigation outside laboratory environments. Three aspects of navigation are considered: navigation control in explored terrain, environment interactions with robot sensors, and navigation control in unanticipated situations. Major navigation methods are presented and relevance of traditional human learning theory is discussed. A new navigation technique linking graph theory and incidental learning is introduced

Hormone-induced rat model of polycystic ovary syndrome: A systematic review.

Science.gov (United States)

Noroozzadeh, Mahsa; Behboudi-Gandevani, Samira; Zadeh-Vakili, Azita; Ramezani Tehrani, Fahimeh

2017-12-15

Despite polycystic ovary syndrome (PCOS) being one of the most common endocrine disorders affecting reproductive-aged women, the etiopathogenesis and mechanisms of this syndrome remain unclear. Considering the ethical limitations in human studies, animal models that reflect many features of PCOS are crucial resources to investigate this syndrome. We aimed to introduce the most suitable rat model of PCOS that closely mimics the endocrine, ovarian and metabolic disturbances of human PCOS phenotype, while maintaining normal reproductive system morphology in adulthood, in order to further more detailed investigations about PCOS. We searched Pubmed, Science direct, and Web of science between 1990 and 2016, for relevant English manuscripts, using keywords including the "Polycystic Ovary Syndrome AND Rat Model" to generate a subset of citations relevant to our research. Included were those articles that compared at least both ovarian histology or estrous cycle and reproductive hormonal profiles in hormone-induced rat model of PCOS and controls. Differences in the findings between hormone-induced PCOS rats appear to be a result of the degree of transplacental transfer of the steroid administered into the fetus, dose and type of hormone, route of administration and timing and duration of exposure. We conclude that prenatal hormone-induced rat model with a lower dose and shorter time of exposure during the critical period of fetal development that exhibits endocrine, ovarian and metabolic disturbances similar to PCOS in women, while maintaining normal reproductive system morphology in adulthood is more suitable than postnatal hormone-induced rat model to facilitate studies regarding PCOS. Copyright © 2017 Elsevier Inc. All rights reserved.

Navigation studies based on the ubiquitous positioning technologies

Science.gov (United States)

Ye, Lei; Mi, Weijie; Wang, Defeng

2007-11-01

This paper summarized the nowadays positioning technologies, such as absolute positioning methods and relative positioning methods, indoor positioning and outdoor positioning, active positioning and passive positioning. Global Navigation Satellite System (GNSS) technologies were introduced as the omnipresent out-door positioning technologies, including GPS, GLONASS, Galileo and BD-1/2. After analysis of the shortcomings of GNSS, indoor positioning technologies were discussed and compared, including A-GPS, Cellular network, Infrared, Electromagnetism, Computer Vision Cognition, Embedded Pressure Sensor, Ultrasonic, RFID (Radio Frequency IDentification), Bluetooth, WLAN etc.. Then the concept and characteristics of Ubiquitous Positioning was proposed. After the ubiquitous positioning technologies contrast and selection followed by system engineering methodology, a navigation system model based on Incorporate Indoor-Outdoor Positioning Solution was proposed. And this model was simulated in the Galileo Demonstration for World Expo Shanghai project. In the conclusion, the prospects of ubiquitous positioning based navigation were shown, especially to satisfy the public location information acquiring requirement.

Internet-Based Indoor Navigation Services

OpenAIRE

Zeinalipour-Yazti, Demetrios; Laoudias, Christos; Georgiou, Kyriakos

2017-01-01

Smartphone advances are leading to a class of Internet-based Indoor Navigation services. IIN services rely on geolocation databases that store indoor models, comprising floor maps and points of interest, along with wireless, light, and magnetic signals for localizing users. Developing IIN services creates new information management challenges - such as crowdsourcing indoor models, acquiring and fusing big data velocity signals, localization algorithms, and custodians' location privacy. Here, ...

4D Dynamic Required Navigation Performance Final Report

Science.gov (United States)

Finkelsztein, Daniel M.; Sturdy, James L.; Alaverdi, Omeed; Hochwarth, Joachim K.

2011-01-01

New advanced four dimensional trajectory (4DT) procedures under consideration for the Next Generation Air Transportation System (NextGen) require an aircraft to precisely navigate relative to a moving reference such as another aircraft. Examples are Self-Separation for enroute operations and Interval Management for in-trail and merging operations. The current construct of Required Navigation Performance (RNP), defined for fixed-reference-frame navigation, is not sufficiently specified to be applicable to defining performance levels of such air-to-air procedures. An extension of RNP to air-to-air navigation would enable these advanced procedures to be implemented with a specified level of performance. The objective of this research effort was to propose new 4D Dynamic RNP constructs that account for the dynamic spatial and temporal nature of Interval Management and Self-Separation, develop mathematical models of the Dynamic RNP constructs, "Required Self-Separation Performance" and "Required Interval Management Performance," and to analyze the performance characteristics of these air-to-air procedures using the newly developed models. This final report summarizes the activities led by Raytheon, in collaboration with GE Aviation and SAIC, and presents the results from this research effort to expand the RNP concept to a dynamic 4D frame of reference.

77 FR 42419 - Airworthiness Directives; Honeywell International, Inc. Global Navigation Satellite Sensor Units

Science.gov (United States)

2012-07-19

... Airworthiness Directives; Honeywell International, Inc. Global Navigation Satellite Sensor Units AGENCY: Federal.... Model KGS200 Mercury\\2\\ wide area augmentation system (WAAS) global navigation satellite sensor units... similar Honeywell global positioning system (GPS) sensor and the same software as the Model KGS200 Mercury...

Zero velocity interval detection based on a continuous hidden Markov model in micro inertial pedestrian navigation

Science.gov (United States)

Sun, Wei; Ding, Wei; Yan, Huifang; Duan, Shunli

2018-06-01

Shoe-mounted pedestrian navigation systems based on micro inertial sensors rely on zero velocity updates to correct their positioning errors in time, which effectively makes determining the zero velocity interval play a key role during normal walking. However, as walking gaits are complicated, and vary from person to person, it is difficult to detect walking gaits with a fixed threshold method. This paper proposes a pedestrian gait classification method based on a hidden Markov model. Pedestrian gait data are collected with a micro inertial measurement unit installed at the instep. On the basis of analyzing the characteristics of the pedestrian walk, a single direction angular rate gyro output is used to classify gait features. The angular rate data are modeled into a univariate Gaussian mixture model with three components, and a four-state left–right continuous hidden Markov model (CHMM) is designed to classify the normal walking gait. The model parameters are trained and optimized using the Baum–Welch algorithm and then the sliding window Viterbi algorithm is used to decode the gait. Walking data are collected through eight subjects walking along the same route at three different speeds; the leave-one-subject-out cross validation method is conducted to test the model. Experimental results show that the proposed algorithm can accurately detect different walking gaits of zero velocity interval. The location experiment shows that the precision of CHMM-based pedestrian navigation improved by 40% when compared to the angular rate threshold method.

Efficient Reactive Navigation with Exact Collision Determination for 3D Robot Shapes

Directory of Open Access Journals (Sweden)

Mariano Jaimez

2015-05-01

Full Text Available This paper presents a reactive navigator for wheeled mobile robots moving on a flat surface which takes into account both the actual 3D shape of the robot and the 3D surrounding obstacles. The robot volume is modelled by a number of prisms consecutive in height, and the detected obstacles, which can be provided by different kinds of range sensor, are segmented into these heights. Then, the reactive navigation problem is tackled by a number of concurrent 2D navigators, one for each prism, which are consistently and efficiently combined to yield an overall solution. Our proposal for each 2D navigator is based on the concept of the “Parameterized Trajectory Generator” which models the robot shape as a polygon and embeds its kinematic constraints into different motion models. Extensive testing has been conducted in office-like and real house environments, covering a total distance of 18.5 km, to demonstrate the reliability and effectiveness of the proposed method. Moreover, additional experiments are performed to highlight the advantages of a 3D-aware reactive navigator. The implemented code is available under an open-source licence.

A Leapfrog Navigation System

Science.gov (United States)

Opshaug, Guttorm Ringstad

There are times and places where conventional navigation systems, such as the Global Positioning System (GPS), are unavailable due to anything from temporary signal occultations to lack of navigation system infrastructure altogether. The goal of the Leapfrog Navigation System (LNS) is to provide localized positioning services for such cases. The concept behind leapfrog navigation is to advance a group of navigation units teamwise into an area of interest. In a practical 2-D case, leapfrogging assumes known initial positions of at least two currently stationary navigation units. Two or more mobile units can then start to advance into the area of interest. The positions of the mobiles are constantly being calculated based on cross-range distance measurements to the stationary units, as well as cross-ranges among the mobiles themselves. At some point the mobile units stop, and the stationary units are released to move. This second team of units (now mobile) can then overtake the first team (now stationary) and travel even further towards the common goal of the group. Since there always is one stationary team, the position of any unit can be referenced back to the initial positions. Thus, LNS provides absolute positioning. I developed navigation algorithms needed to solve leapfrog positions based on cross-range measurements. I used statistical tools to predict how position errors would grow as a function of navigation unit geometry, cross-range measurement accuracy and previous position errors. Using this knowledge I predicted that a 4-unit Leapfrog Navigation System using 100 m baselines and 200 m leap distances could travel almost 15 km before accumulating absolute position errors of 10 m (1sigma). Finally, I built a prototype leapfrog navigation system using 4 GPS transceiver ranging units. I placed the 4 units in the vertices a 10m x 10m square, and leapfrogged the group 20 meters forwards, and then back again (40 m total travel). Average horizontal RMS position

Robot navigation in unknown terrains: Introductory survey of non-heuristic algorithms

Energy Technology Data Exchange (ETDEWEB)

Rao, N.S.V. [Oak Ridge National Lab., TN (US); Kareti, S.; Shi, Weimin [Old Dominion Univ., Norfolk, VA (US). Dept. of Computer Science; Iyengar, S.S. [Louisiana State Univ., Baton Rouge, LA (US). Dept. of Computer Science

1993-07-01

A formal framework for navigating a robot in a geometric terrain by an unknown set of obstacles is considered. Here the terrain model is not a priori known, but the robot is equipped with a sensor system (vision or touch) employed for the purpose of navigation. The focus is restricted to the non-heuristic algorithms which can be theoretically shown to be correct within a given framework of models for the robot, terrain and sensor system. These formulations, although abstract and simplified compared to real-life scenarios, provide foundations for practical systems by highlighting the underlying critical issues. First, the authors consider the algorithms that are shown to navigate correctly without much consideration given to the performance parameters such as distance traversed, etc. Second, they consider non-heuristic algorithms that guarantee bounds on the distance traversed or the ratio of the distance traversed to the shortest path length (computed if the terrain model is known). Then they consider the navigation of robots with very limited computational capabilities such as finite automata, etc.

Generation of muscular dystrophy model rats with a CRISPR/Cas system.

Science.gov (United States)

Nakamura, Katsuyuki; Fujii, Wataru; Tsuboi, Masaya; Tanihata, Jun; Teramoto, Naomi; Takeuchi, Shiho; Naito, Kunihiko; Yamanouchi, Keitaro; Nishihara, Masugi

2014-07-09

Duchenne muscular dystrophy (DMD) is an X-linked lethal muscle disorder caused by mutations in the Dmd gene encoding Dystrophin. DMD model animals, such as mdx mice and canine X-linked muscular dystrophy dogs, have been widely utilized in the development of a treatment for DMD. Here, we demonstrate the generation of Dmd-mutated rats using a clustered interspaced short palindromic repeats (CRISPR)/Cas system, an RNA-based genome engineering technique that is also adaptive to rats. We simultaneously targeted two exons in the rat Dmd gene, which resulted in the absence of Dystrophin expression in the F0 generation. Dmd-mutated rats exhibited a decline in muscle strength, and the emergence of degenerative/regenerative phenotypes in the skeletal muscle, heart, and diaphragm. These mutations were heritable by the next generation, and F1 male rats exhibited similar phenotypes in their skeletal muscles. These model rats should prove to be useful for developing therapeutic methods to treat DMD.

Long-term BPA infusions. Evaluation in the rat brain tumor and rat spinal cord models

International Nuclear Information System (INIS)

Coderre, J.A.; Micca, P.L.; Nawrocky, M.M.; Joel, D.D.; Morris, G.M.

2000-01-01

In the BPA-based dose escalation clinical trial, the observations of tumor recurrence in areas of extremely high calculated tumor doses suggest that the BPA distribution is non-uniform. Longer (6-hour) i.v. infusions of BPA are evaluated in the rat brain tumor and spinal cord models to address the questions of whether long-term infusions are more effective against the tumor and whether long-term infusions are detrimental in the central nervous system. In the rat spinal cord, the 50% effective doses (ED 50 ) for myeloparesis were not significantly different after a single i.p. injection of BPA-fructose or a 6 hour i.v. infusion. In the rat 9L gliosarcoma brain tumor model, BNCT following 2-hr or 6-hr infusions of BPA-F produced similar levels of long term survival. (author)

Design Issues for MEMS-Based Pedestrian Inertial Navigation Systems

Directory of Open Access Journals (Sweden)

P. S. Marinushkin

2015-01-01

Full Text Available The paper describes design issues for MEMS-based pedestrian inertial navigation systems. By now the algorithms to estimate navigation parameters for strap-down inertial navigation systems on the basis of plural observations have been already well developed. At the same time mathematical and software processing of information in the case of pedestrian inertial navigation systems has its specificity, due to the peculiarities of their functioning and exploitation. Therefore, there is an urgent task to enhance existing fusion algorithms for use in pedestrian navigation systems. For this purpose the article analyzes the characteristics of the hardware composition and configuration of existing systems of this class. The paper shows advantages of various technical solutions. Relying on their main features it justifies a choice of the navigation system architecture and hardware composition enabling improvement of the estimation accuracy of user position as compared to the systems using only inertial sensors. The next point concerns the development of algorithms for complex processing of heterogeneous information. To increase an accuracy of the free running pedestrian inertial navigation system we propose an adaptive algorithm for joint processing of heterogeneous information based on the fusion of inertial info rmation with magnetometer measurements using EKF approach. Modeling of the algorithm was carried out using a specially developed functional prototype of pedestrian inertial navigation system, implemented as a hardware/software complex in Matlab environment. The functional prototype tests of the developed system demonstrated an improvement of the navigation parameters estimation compared to the systems based on inertial sensors only. It enables to draw a conclusion that the synthesized algorithm provides satisfactory accuracy for calculating the trajectory of motion even when using low-grade inertial MEMS sensors. The developed algorithm can be

Optimal motion planning using navigation measure

Science.gov (United States)

Vaidya, Umesh

2018-05-01

We introduce navigation measure as a new tool to solve the motion planning problem in the presence of static obstacles. Existence of navigation measure guarantees collision-free convergence at the final destination set beginning with almost every initial condition with respect to the Lebesgue measure. Navigation measure can be viewed as a dual to the navigation function. While the navigation function has its minimum at the final destination set and peaks at the obstacle set, navigation measure takes the maximum value at the destination set and is zero at the obstacle set. A linear programming formalism is proposed for the construction of navigation measure. Set-oriented numerical methods are utilised to obtain finite dimensional approximation of this navigation measure. Application of the proposed navigation measure-based theoretical and computational framework is demonstrated for a motion planning problem in a complex fluid flow.

Striatal grafts in a rat model of Huntington's disease

DEFF Research Database (Denmark)

Guzman, R; Meyer, M; Lövblad, K O

1999-01-01

Survival and integration into the host brain of grafted tissue are crucial factors in neurotransplantation approaches. The present study explored the feasibility of using a clinical MR scanner to study striatal graft development in a rat model of Huntington's disease. Rat fetal lateral ganglionic...... time-points graft location could not be further verified. Measures for graft size and ventricle size obtained from MR images highly correlated with measures obtained from histologically processed sections (R = 0.8, P fetal rat lateral ganglionic...

Integrated navigation method of a marine strapdown inertial navigation system using a star sensor

International Nuclear Information System (INIS)

Wang, Qiuying; Diao, Ming; Gao, Wei; Zhu, Minghong; Xiao, Shu

2015-01-01

This paper presents an integrated navigation method of the strapdown inertial navigation system (SINS) using a star sensor. According to the principle of SINS, its own navigation information contains an error that increases with time. Hence, the inertial attitude matrix from the star sensor is introduced as the reference information to correct the SINS increases error. For the integrated navigation method, the vehicle’s attitude can be obtained in two ways: one is calculated from SINS; the other, which we have called star sensor attitude, is obtained as the product between the SINS position and the inertial attitude matrix from the star sensor. Therefore, the SINS position error is introduced in the star sensor attitude error. Based on the characteristics of star sensor attitude error and the mathematical derivation, the SINS navigation errors can be obtained by the coupling calculation between the SINS attitude and the star sensor attitude. Unlike several current techniques, the navigation process of this method is non-radiating and invulnerable to jamming. The effectiveness of this approach was demonstrated by simulation and experimental study. The results show that this integrated navigation method can estimate the attitude error and the position error of SINS. Therefore, the SINS navigation accuracy is improved. (paper)

Method and Tool for Design Process Navigation and Automatic Generation of Simulation Models for Manufacturing Systems

Science.gov (United States)

Nakano, Masaru; Kubota, Fumiko; Inamori, Yutaka; Mitsuyuki, Keiji

Manufacturing system designers should concentrate on designing and planning manufacturing systems instead of spending their efforts on creating the simulation models to verify the design. This paper proposes a method and its tool to navigate the designers through the engineering process and generate the simulation model automatically from the design results. The design agent also supports collaborative design projects among different companies or divisions with distributed engineering and distributed simulation techniques. The idea was implemented and applied to a factory planning process.

The navigation metaphor in security economics

NARCIS (Netherlands)

Pieters, Wolter; Barendse, Jeroen; Ford, Margaret; Heath, Claude P.R.; Probst, Christian W.; Verbij, Ruud

2016-01-01

The navigation metaphor for cybersecurity merges security architecture models and security economics. By identifying the most efficient routes for gaining access to assets from an attacker's viewpoint, an organization can optimize its defenses along these routes. The well-understood concept of

Conflict between place and response navigation strategies: effects on vicarious trial and error (VTE) behaviors.

Science.gov (United States)

Schmidt, Brandy; Papale, Andrew; Redish, A David; Markus, Etan J

2013-02-15

Navigation can be accomplished through multiple decision-making strategies, using different information-processing computations. A well-studied dichotomy in these decision-making strategies compares hippocampal-dependent "place" and dorsal-lateral striatal-dependent "response" strategies. A place strategy depends on the ability to flexibly respond to environmental cues, while a response strategy depends on the ability to quickly recognize and react to situations with well-learned action-outcome relationships. When rats reach decision points, they sometimes pause and orient toward the potential routes of travel, a process termed vicarious trial and error (VTE). VTE co-occurs with neurophysiological information processing, including sweeps of representation ahead of the animal in the hippocampus and transient representations of reward in the ventral striatum and orbitofrontal cortex. To examine the relationship between VTE and the place/response strategy dichotomy, we analyzed data in which rats were cued to switch between place and response strategies on a plus maze. The configuration of the maze allowed for place and response strategies to work competitively or cooperatively. Animals showed increased VTE on trials entailing competition between navigational systems, linking VTE with deliberative decision-making. Even in a well-learned task, VTE was preferentially exhibited when a spatial selection was required, further linking VTE behavior with decision-making associated with hippocampal processing.

[Establishment of rat model with diabetes mellitus and concomitant periodontitis and the carotid artery lesions in the model rats].

Science.gov (United States)

Ren, X Y; Wang, C; Liu, X; Li, H; Gao, J H; Ge, X J

2017-12-09

Objectives: To establish SD rat model with type 2 diabetes mellitus (DM) and concomitant chronic periodontitis (CP) and to evaluate the influence of periodontitis on the vascular lesions of type 2 diabetes rats. Methods: Totally 241 clean level SD rats were randomly divided into four groups, group A (normal control, NC, n= 27), group B (DM, n= 34), group C (CP, n= 90) and group D (DM+CP, n= 90). The rats of DM group were fed with high-fat and high-sugar diet for 8 to 10 weeks, and then were multiply injected with small dose streptozotocin under the condition of ice bath. Blood sugar levels after the injection were dynamically monitored at 72 h, 1 week, 2 weeks and 4 weeks, respectively. The CP model was established by means of ligation. Bilateral maxillary first and second molars were selected and ligated using 0.2 mm orthodontic wires binding with 4-0 surgical suture soaked with Porphyromonas gingivalis (Pg) suspension. After a period of 14 weeks, all the rats were put to death. Maxillary samples were subjected to methylene blue staining to observe alveolar bone loss. Bilateral carotid artery specimens were collected. The left carotid artery specimens were used to detect the prevalence of Pg using quantitative real-time PCR. The right carotid artery specimens were used to observe pathological changes. Results: Blood sugar levels of rats in group B and D increased and changed sharply after Streptozotocin injection with in 1 week. Symptoms of 'more drink, more food and body weight loss' appeared. The fasting blood glucose (FBG) was more than 7.8 mmol/L and (or) the random blood glucose (RBG) was more than 17.8 mmol/L. Both FBG and RBG became stable after 2 to 3 weeks. Levels of HbA1C in group B and D ([7.32±0.45]%, [9.41±0.45]%) were significantly higher than that of group A ([4.02±0.45]%) ( Pdiabetes vascular lesions.

Interference and deception detection technology of satellite navigation based on deep learning

Science.gov (United States)

Chen, Weiyi; Deng, Pingke; Qu, Yi; Zhang, Xiaoguang; Li, Yaping

2017-10-01

Satellite navigation system plays an important role in people's daily life and war. The strategic position of satellite navigation system is prominent, so it is very important to ensure that the satellite navigation system is not disturbed or destroyed. It is a critical means to detect the jamming signal to avoid the accident in a navigation system. At present, the detection technology of jamming signal in satellite navigation system is not intelligent , mainly relying on artificial decision and experience. For this issue, the paper proposes a method based on deep learning to monitor the interference source in a satellite navigation. By training the interference signal data, and extracting the features of the interference signal, the detection sys tem model is constructed. The simulation results show that, the detection accuracy of our detection system can reach nearly 70%. The method in our paper provides a new idea for the research on intelligent detection of interference and deception signal in a satellite navigation system.

Validation of infrared thermography in serotonin-induced itch model in rats

DEFF Research Database (Denmark)

Dagnæs-Hansen, Frederik; Jasemian, Yousef; Gazerani, Parisa

The number of scratching bouts is generally used as a standard method in animal models of itch. The aim of the present study was to validate the application of infrared thermography (IR-Th) in a serotonin-induced itch model in rats. Adult Sprague-Dawley male rats (n = 24) were used in 3 consecuti...

Lunar Navigation Architecture Design Considerations

Science.gov (United States)

D'Souza, Christopher; Getchius, Joel; Holt, Greg; Moreau, Michael

2009-01-01

The NASA Constellation Program is aiming to establish a long-term presence on the lunar surface. The Constellation elements (Orion, Altair, Earth Departure Stage, and Ares launch vehicles) will require a lunar navigation architecture for navigation state updates during lunar-class missions. Orion in particular has baselined earth-based ground direct tracking as the primary source for much of its absolute navigation needs. However, due to the uncertainty in the lunar navigation architecture, the Orion program has had to make certain assumptions on the capabilities of such architectures in order to adequately scale the vehicle design trade space. The following paper outlines lunar navigation requirements, the Orion program assumptions, and the impacts of these assumptions to the lunar navigation architecture design. The selection of potential sites was based upon geometric baselines, logistical feasibility, redundancy, and abort support capability. Simulated navigation covariances mapped to entry interface flightpath- angle uncertainties were used to evaluate knowledge errors. A minimum ground station architecture was identified consisting of Goldstone, Madrid, Canberra, Santiago, Hartebeeshoek, Dongora, Hawaii, Guam, and Ascension Island (or the geometric equivalent).

Spatial memory tasks in rodents: what do they model?

Science.gov (United States)

Morellini, Fabio

2013-10-01

The analysis of spatial learning and memory in rodents is commonly used to investigate the mechanisms underlying certain forms of human cognition and to model their dysfunction in neuropsychiatric and neurodegenerative diseases. Proper interpretation of rodent behavior in terms of spatial memory and as a model of human cognitive functions is only possible if various navigation strategies and factors controlling the performance of the animal in a spatial task are taken into consideration. The aim of this review is to describe the experimental approaches that are being used for the study of spatial memory in rats and mice and the way that they can be interpreted in terms of general memory functions. After an introduction to the classification of memory into various categories and respective underlying neuroanatomical substrates, I explain the concept of spatial memory and its measurement in rats and mice by analysis of their navigation strategies. Subsequently, I describe the most common paradigms for spatial memory assessment with specific focus on methodological issues relevant for the correct interpretation of the results in terms of cognitive function. Finally, I present recent advances in the use of spatial memory tasks to investigate episodic-like memory in mice.

A Rat Excised Larynx Model of Vocal Fold Scar

Science.gov (United States)

Welham, Nathan V.; Montequin, Douglas W.; Tateya, Ichiro; Tateya, Tomoko; Choi, Seong Hee; Bless, Diane M.

2009-01-01

Purpose: To develop and evaluate a rat excised larynx model for the measurement of acoustic, aerodynamic, and vocal fold vibratory changes resulting from vocal fold scar. Method: Twenty-four 4-month-old male Sprague-Dawley rats were assigned to 1 of 4 experimental groups: chronic vocal fold scar, chronic vocal fold scar treated with 100-ng basic…

The Navigation Metaphor in Security Economics

NARCIS (Netherlands)

Pieters, W.; Barendse, Jeroen; Ford, Margaret; Heath, Claude P R; Probst, Christian W.; Verbij, Ruud

2016-01-01

The navigation metaphor for cybersecurity merges security architecture models and security economics. By identifying the most efficient routes for gaining access to assets from an attacker's viewpoint, an organization can optimize its defenses along these routes. The well-understood concept of

Lodenafil treatment in the monocrotaline model of pulmonary hypertension in rats

OpenAIRE

Polonio, Igor Bastos; Acencio, Milena Marques Pagliareli; Pazetti, Rogério; Almeida, Francine Maria de; Silva, Bárbara Soares da; Pereira, Karina Aparecida Bonifácio; Souza, Rogério

2014-01-01

We assessed the effects of lodenafil on hemodynamics and inflammation in the rat model of monocrotaline-induced pulmonary hypertension (PH). Thirty male Sprague-Dawley rats were randomly divided into three groups: control; monocrotaline (experimental model); and lodenafil (experimental model followed by lodenafil treatment, p.o., 5 mg/kg daily for 28 days) Mean pulmonary artery pressure (mPAP) was obtained by right heart catheterization. We investigated right ventricular hypertrophy (RVH) and...

Satellite Imagery Assisted Road-Based Visual Navigation System

Science.gov (United States)

Volkova, A.; Gibbens, P. W.

2016-06-01

There is a growing demand for unmanned aerial systems as autonomous surveillance, exploration and remote sensing solutions. Among the key concerns for robust operation of these systems is the need to reliably navigate the environment without reliance on global navigation satellite system (GNSS). This is of particular concern in Defence circles, but is also a major safety issue for commercial operations. In these circumstances, the aircraft needs to navigate relying only on information from on-board passive sensors such as digital cameras. An autonomous feature-based visual system presented in this work offers a novel integral approach to the modelling and registration of visual features that responds to the specific needs of the navigation system. It detects visual features from Google Earth* build a feature database. The same algorithm then detects features in an on-board cameras video stream. On one level this serves to localise the vehicle relative to the environment using Simultaneous Localisation and Mapping (SLAM). On a second level it correlates them with the database to localise the vehicle with respect to the inertial frame. The performance of the presented visual navigation system was compared using the satellite imagery from different years. Based on comparison results, an analysis of the effects of seasonal, structural and qualitative changes of the imagery source on the performance of the navigation algorithm is presented. * The algorithm is independent of the source of satellite imagery and another provider can be used

Improvement of insulin secretion in rat models of diabetes after ACEI/ARB therapy

International Nuclear Information System (INIS)

Tian Jingyan; Li Fengying; Liu Yun; Long Hongmei; Li Weiyi; Wang Xiao; Zhang Hongli; Li Guo; Luo Min

2009-01-01

Objective To study the effect of ACEI/ARB therapy on the secretion of insulin and glucagon as well as serum lipid peroxidation marker 8-iso PGF-2α levels in streptozoticin (STZ) induced diabetic rat models.Methods Twenty-four rat models of STZ induced diabetes were prepared (random blood sugar>16.7 mmol/L). Of which, 8 models were fed enalaprial 5mg/kg/d, 8 models were fed losartan 10μg/kg/d and 8 models left unterated. Fasting serum insulin,glucagon (with RIA) and 8-iso PGF-2α (with ELISA) levels were measured in these models and 8 control rats three weeks later. Intravenous glucose tolerance test (IVGTT) were performed in 12 rats (3 animals in each group) six weeks later. Results: Serum levels of insulin in the treated models were higher than those in the non-treated models but without significance (P>0.05). Serum levels of glucagon and 8-iso PGF-2α levels in the treated models were significantly lower than those in the non-treated models (P 6 x ) in the treated models. Conclusion: ACEI/ARB treatment could improve the secretion of insulin in rat models of diabetes, which might be beneficial for controlling the progression of the disease. This phenomenon is consistent with the result of clinical study. (authors)

E-navigation Services for Non-SOLAS Ships

Directory of Open Access Journals (Sweden)

Kwang An

2016-06-01

Full Text Available It is clearly understood that the main benefits of e-navigation are improved safety and better protection of the environment through the promotion of standards of navigational system and a reduction in human error. In order to meet the expectations on the benefit of e-navigation, e-navigation services should be more focused on non-SOLAS ships. The purpose of this paper is to present necessary e-navigation services for non-SOLAS ships in order to prevent marine accidents in Korean coastal waters. To meet the objectives of the study, an examination on the present navigation and communication system for non-SOLAS ships was performed. Based on the IMO's e-navigation Strategy Implementation Plan (SIP and Korea's national SIP for e-navigation, future trends for the development and implementation of e-navigation were discussed. Consequently, Electronic Navigational Chart (ENC download and ENC up-date service, ENC streaming service, route support service and communication support service based on Maritime Cloud were presented as essential e-navigation services for non-SOLAS ships. This study will help for the planning and designing of the Korean e-navigation system. It is expected that the further researches on the navigation support systems based on e-navigation will be carried out in order to implement the essential e-navigation services for non-SOLAS ships.

A System for Fast Navigation of Autonomous Vehicles

Science.gov (United States)

1991-09-01

AD-A243 523 4, jj A System for Fast Navigation of Autonomous Vehicles Sanjiv Singh, Dai Feng, Paul Keller, Gary Shaffer, Wen Fan Shi, Dong Hun Shin...FUNDING NUMBERS A System for Fast Navigation of Autonomous Vehicles 6. AUTHOR(S) S. Singh, D. Feng, P. Keller, G. Shaffer, W.F. Shi, D.H. Shin, J. West...common in the control of autonomous vehicles to establish the necessary kinematic models but to ignore an explicit representation of the vehicle dynamics

Mars Atmospheric Entry Integrated Navigation with Partial Intermittent Measurements

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Tai-shan Lou

2017-01-01

Full Text Available Signal degradation suffered by the vehicle is a combination brownout and blackout during Mars atmospheric entry. The communications brownout means that signal fades and blackout means that the signal is lost completely. The communications brownout and blackout periods are analyzed and predicted with an altitude and velocity profiles. In the brownout period, the range measurements between the vehicle and the orbiters are modeled as intermittent measurements with the radio signal arrival probabilities, which are distributed as a Rayleigh distribution of the electron number density around the entry vehicle. A new integrated navigation strategy during the Mars atmospheric entry phase is proposed to consider the probabilities of the radio measurements in the communications brownout and blackout periods under the IMU/beacon scenario based on the information filter with intermittent measurements. Numerical navigation simulations are designed to show the performance of the proposed navigation strategy under the integrated navigation scenario.

Navigating the MESSENGER Spacecraft through End of Mission

Science.gov (United States)

Bryan, C. G.; Williams, B. G.; Williams, K. E.; Taylor, A. H.; Carranza, E.; Page, B. R.; Stanbridge, D. R.; Mazarico, E.; Neumann, G. A.; O'Shaughnessy, D. J.; McAdams, J. V.; Calloway, A. B.

2015-12-01

The MErcury Surface, Space ENvironment, GEochemistry, and Ranging (MESSENGER) spacecraft orbited the planet Mercury from March 2011 until the end of April 2015, when it impacted the planetary surface after propellant reserves used to maintain the orbit were depleted. This highly successful mission was led by the principal investigator, Sean C. Solomon, of Columbia University. The Johns Hopkins University Applied Physics Laboratory (JHU/APL) designed and assembled the spacecraft and served as the home for spacecraft operations. Spacecraft navigation for the entirety of the mission was provided by the Space Navigation and Flight Dynamics Practice (SNAFD) of KinetX Aerospace. Orbit determination (OD) solutions were generated through processing of radiometric tracking data provided by NASA's Deep Space Network (DSN) using the MIRAGE suite of orbital analysis tools. The MESSENGER orbit was highly eccentric, with periapsis at a high northern latitude and periapsis altitude in the range 200-500 km for most of the orbital mission phase. In a low-altitude "hover campaign" during the final two months of the mission, periapsis altitudes were maintained within a narrow range between about 35 km and 5 km. Navigating a spacecraft so near a planetary surface presented special challenges. Tasks required to meet those challenges included the modeling and estimation of Mercury's gravity field and of solar and planetary radiation pressure, and the design of frequent orbit-correction maneuvers. Superior solar conjunction also presented observational modeling issues. One key to the overall success of the low-altitude hover campaign was a strategy to utilize data from an onboard laser altimeter as a cross-check on the navigation team's reconstructed and predicted estimates of periapsis altitude. Data obtained from the Mercury Laser Altimeter (MLA) on a daily basis provided near-real-time feedback that proved invaluable in evaluating alternative orbit estimation strategies, and

Infrared Thermography in Serotonin-Induced Itch Model in Rats

DEFF Research Database (Denmark)

Jasemian, Yousef; Gazerani, Parisa; Dagnæs-Hansen, Frederik

2012-01-01

The study validated the application of infrared thermography in a serotonin-induced itch model in rats since the only available method in animal models of itch is the count of scratching bouts. Twenty four adult Sprague-Dawley male rats were used in 3 experiments: 1) local vasomotor response...... with no scratching reflex was investigated. Serotonin elicited significant scratching and lowered the local temperature at the site of injection. A negative dose-temperature relationship of serotonin was found by thermography. Vasoregulation at the site of serotonin injection took place in the absence of scratching...

METHODOLOGY FOR ANALYSIS OF DECISION MAKING IN AIR NAVIGATION SYSTEM

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Volodymyr Kharchenko

2011-03-01

Full Text Available Abstract. In the research of Air Navigation System as a complex socio-technical system the methodologyof analysis of human-operator's decision-making has been developed. The significance of individualpsychologicalfactors as well as the impact of socio-psychological factors on the professional activities of ahuman-operator during the flight situation development from normal to catastrophic were analyzed. On thebasis of the reflexive theory of bipolar choice the expected risks of decision-making by the Air NavigationSystem's operator influenced by external environment, previous experience and intentions were identified.The methods for analysis of decision-making by the human-operator of Air Navigation System usingstochastic networks have been developed.Keywords: Air Navigation System, bipolar choice, human operator, decision-making, expected risk, individualpsychologicalfactors, methodology of analysis, reflexive model, socio-psychological factors, stochastic network.

Indoor navigation by image recognition

Science.gov (United States)

Choi, Io Teng; Leong, Chi Chong; Hong, Ka Wo; Pun, Chi-Man

2017-07-01

With the progress of smartphones hardware, it is simple on smartphone using image recognition technique such as face detection. In addition, indoor navigation system development is much slower than outdoor navigation system. Hence, this research proves a usage of image recognition technique for navigation in indoor environment. In this paper, we introduced an indoor navigation application that uses the indoor environment features to locate user's location and a route calculating algorithm to generate an appropriate path for user. The application is implemented on Android smartphone rather than iPhone. Yet, the application design can also be applied on iOS because the design is implemented without using special features only for Android. We found that digital navigation system provides better and clearer location information than paper map. Also, the indoor environment is ideal for Image recognition processing. Hence, the results motivate us to design an indoor navigation system using image recognition.

Efficacy of Polaprezinc for Acute Radiation Proctitis in a Rat Model

International Nuclear Information System (INIS)

Doi, Hiroshi; Kamikonya, Norihiko; Takada, Yasuhiro; Fujiwara, Masayuki; Tsuboi, Keita; Inoue, Hiroyuki; Tanooka, Masao; Nakamura, Takeshi; Shikata, Toshiyuki; Tsujimura, Tohru; Hirota, Shozo

2011-01-01

Purpose: The purpose of the present study was to standardize the experimental rat model of radiation proctitis and to examine the efficacy of polaprezinc on radiation proctitis. Methods and Materials: A total of 54 female Wistar rats (5 weeks old) were used. The rats were divided into three groups: those treated with polaprezinc (PZ+), those treated with base alone, exclusive of polaprezinc (PZ-), and those treated without any medication (control). All the rats were irradiated to the rectum. Polaprezinc was prepared as an ointment. The ointment was administered rectally each day after irradiation. All rats were killed on the 10th day after irradiation. The mucosal changes were evaluated endoscopically and pathologically. The results were graded from 0 to 4 and compared according to milder or more severe status, as applicable. Results: According to the endoscopic findings, the proportion of mild changes in the PZ+, PZ-, and control group was 71.4%, 25.0%, and 14.3% respectively. On pathologic examination, the proportion of low-grade findings in the PZ+, PZ-, and control group was 80.0%, 58.3%, and 42.9% for mucosal damage, 85.0%, 41.7%, and 42.9% for a mild degree of inflammation, and 50.0%, 33.3%, and 4.8% for a shallow depth of inflammation, respectively. The PZ+ group tended to have milder mucosal damage than the other groups, according to all criteria used. In addition, significant differences were observed between the PZ+ and control groups regarding the endoscopic findings, degree of inflammation, and depth of inflammation. Conclusions: This model was confirmed to be a useful experimental rat model for radiation proctitis. The results of the present study have demonstrated the efficacy of polaprezinc against acute radiation-induced rectal disorders using the rat model.

Autonomous Robot Navigation in Human-Centered Environments Based on 3D Data Fusion

Directory of Open Access Journals (Sweden)

Rüdiger Dillmann

2007-01-01

Full Text Available Efficient navigation of mobile platforms in dynamic human-centered environments is still an open research topic. We have already proposed an architecture (MEPHISTO for a navigation system that is able to fulfill the main requirements of efficient navigation: fast and reliable sensor processing, extensive global world modeling, and distributed path planning. Our architecture uses a distributed system of sensor processing, world modeling, and path planning units. In this arcticle, we present implemented methods in the context of data fusion algorithms for 3D world modeling and real-time path planning. We also show results of the prototypic application of the system at the museum ZKM (center for art and media in Karlsruhe.

Autonomous Robot Navigation in Human-Centered Environments Based on 3D Data Fusion

Science.gov (United States)

Steinhaus, Peter; Strand, Marcus; Dillmann, Rüdiger

2007-12-01

Efficient navigation of mobile platforms in dynamic human-centered environments is still an open research topic. We have already proposed an architecture (MEPHISTO) for a navigation system that is able to fulfill the main requirements of efficient navigation: fast and reliable sensor processing, extensive global world modeling, and distributed path planning. Our architecture uses a distributed system of sensor processing, world modeling, and path planning units. In this arcticle, we present implemented methods in the context of data fusion algorithms for 3D world modeling and real-time path planning. We also show results of the prototypic application of the system at the museum ZKM (center for art and media) in Karlsruhe.

A goggle navigation system for cancer resection surgery

Science.gov (United States)

Xu, Junbin; Shao, Pengfei; Yue, Ting; Zhang, Shiwu; Ding, Houzhu; Wang, Jinkun; Xu, Ronald

2014-02-01

We describe a portable fluorescence goggle navigation system for cancer margin assessment during oncologic surgeries. The system consists of a computer, a head mount display (HMD) device, a near infrared (NIR) CCD camera, a miniature CMOS camera, and a 780 nm laser diode excitation light source. The fluorescence and the background images of the surgical scene are acquired by the CCD camera and the CMOS camera respectively, co-registered, and displayed on the HMD device in real-time. The spatial resolution and the co-registration deviation of the goggle navigation system are evaluated quantitatively. The technical feasibility of the proposed goggle system is tested in an ex vivo tumor model. Our experiments demonstrate the feasibility of using a goggle navigation system for intraoperative margin detection and surgical guidance.

Real-time Risk Assessment for Aids to Navigation Using Fuzzy-FSA on Three-Dimensional Simulation System

Directory of Open Access Journals (Sweden)

Jinbiao Chen

2014-06-01

Full Text Available The risk level of the Aids to Navigation (AtoNs can reflect the ship navigation safety level in the channel to some extent. In order to appreciate the risk level of the aids to navigation (AtoNs in a navigation channel and to provide some decision-making suggestions for the AtoNs Maintenance and Management Department, the risk assessment index system of the AtoNs was built considering the advanced experience of IALA. Under the Formal Safety Assessment frame, taking the advantages of the fuzzy comprehensive evaluation method, the fuzzy-FSA model of risk assessment for aids to navigation was established. The model was implemented for the assessment of aids to navigation in Shanghai area based on the aids to navigation three-dimensional simulation system. The real-time data were extracted from the existing information system of aids to navigation, and the real-time risk assessment for aids to navigation of the chosen channel was performed on platform of the three-dimensional simulation system, with the risk assessment software. Specifically, the deep-water channel of the Yangtze River estuary was taken as an example to illustrate the general assessment procedure. The method proposed presents practical significance and application prospect on the maintenance and management of the aids to navigation.

Ideal Experimental Rat Models for Liver Diseases.

Science.gov (United States)

Lee, Sang Woo; Kim, Sung Hoon; Min, Seon Ok; Kim, Kyung Sik

2011-05-01

There are many limitations for conducting liver disease research in human beings due to the high cost and potential ethical issues. For this reason, conducting a study that is difficult to perform in humans using appropriate animal models, can be beneficial in ascertaining the pathological physiology, and in developing new treatment modalities. However, it is difficult to determine the appropriate animal model which is suitable for research purposes, since every patient has different and diverse clinical symptoms, adverse reactions, and complications due to the pathological physiology. Also, it is not easy to reproduce identically various clinical situations in animal models. Recently, the Guide for the Care and Use of Laboratory Animals has tightened up the regulations, and therefore it is advisable to select the appropriate animals and decide upon the appropriate quantities through scientific and systemic considerations before conducting animal testing. Therefore, in this review article the authors examined various white rat animal testing models and determined the appropriate usable rat model, and the pros and cons of its application in liver disease research. The authors believe that this review will be beneficial in selecting proper laboratory animals for research purposes.

Navigation Lights - USACE IENC

Data.gov (United States)

Department of Homeland Security — These inland electronic Navigational charts (IENCs) were developed from available data used in maintenance of Navigation channels. Users of these IENCs should be...

Surface navigation on Mars with a Navigation Satellite

Science.gov (United States)

Vijayaraghavan, A.; Thurman, Sam W.; Kahn, Robert D.; Hastrup, Rolf C.

Radiometric navigation data from the Deep Space Network (DSN) stations on the earth to transponders and other surface elements such as rovers and landers on Mars, can determine their positions to only within a kilometer in inertial space. The positional error is mostly in the z-component of the surface element parallel to the Martian spin-axis. However, with Doppler and differenced-Doppler data from a Navigation Satellite in orbit around Mars to two or more of such transponders on the planetary surface, their positions can be determined to within 15 meters (or 20 meters for one-way Doppler beacons on Mars) in inertial space. In this case, the transponders (or other vehicles) on Mars need not even be capable of directly communicating to the earth. When the Navigation Satellite data is complemented by radiometric observations from the DSN stations also, directly to the surface elements on Mars, their positions can be determined to within 3 meters in inertial space. The relative positions of such surface elements on Mars (relative to one another) in Mars-fixed coordinates, however, can be determined to within 5 meters from simply range and Doppler data from the DSN stations to the surface elements. These results are obtained from covariance studies assuming X-band data noise levels and data-arcs not exceeding 10 days. They are significant in the planning and deployment of a Mars-based navigation network necessary to support real-time operations during critical phases of manned exploration of Mars.

Effects of aspirin and enoxaparin in a rat model of liver fibrosis.

Science.gov (United States)

Li, Chen-Jie; Yang, Zhi-Hui; Shi, Xiao-Liu; Liu, De-Liang

2017-09-21

To examine the effects of aspirin and enoxaparin on liver function, coagulation index and histopathology in a rat model of liver fibrosis. METHODS Forty-five male Sprague-Dawley rats were randomly divided into the control group (n = 5) and model group (n = 40). Thioacetamide (TAA) was used to induce liver fibrosis in the model group. TAA-induced fibrotic rats received TAA continuously (n = 9), TAA + low-dose aspirin (n = 9), TAA + high-dose aspirin (n = 9) or TAA + enoxaparin (n = 9) for 4 wk. All rats were euthanized after 4 wk, and both hematoxylin-eosin and Masson staining were performed to observe pathological changes in liver tissue. Liver fibrosis was assessed according to the METAVIR score. Compared with untreated cirrhotic controls, a significant improvement in fibrosis grade was observed in the low-dose aspirin, high-dose aspirin and enoxaparin treated groups, especially in the high-dose aspirin treated group. Alanine aminotransferase and total bilirubin were higher, albumin was lower and both prothrombin time and international normalized ratio were prolonged in the four treatment groups compared to controls. No significant differences among the four groups were observed. Aspirin and enoxaparin can alleviate liver fibrosis in this rat model.

Polar Cooperative Navigation Algorithm for Multi-Unmanned Underwater Vehicles Considering Communication Delays

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Zheping Yan

2018-03-01

Full Text Available To solve the navigation accuracy problems of multi-Unmanned Underwater Vehicles (multi-UUVs in the polar region, a polar cooperative navigation algorithm for multi-UUVs considering communication delays is proposed in this paper. UUVs are important pieces of equipment in ocean engineering for marine development. For UUVs to complete missions, precise navigation is necessary. It is difficult for UUVs to establish true headings because of the rapid convergence of Earth meridians and the severe polar environment. Based on the polar grid navigation algorithm, UUV navigation in the polar region can be accomplished with the Strapdown Inertial Navigation System (SINS in the grid frame. To save costs, a leader-follower type of system is introduced in this paper. The leader UUV helps the follower UUVs to achieve high navigation accuracy. Follower UUVs correct their own states based on the information sent by the leader UUV and the relative position measured by ultra-short baseline (USBL acoustic positioning. The underwater acoustic communication delay is quantized by the model. In this paper, considering underwater acoustic communication delay, the conventional adaptive Kalman filter (AKF is modified to adapt to polar cooperative navigation. The results demonstrate that the polar cooperative navigation algorithm for multi-UUVs that considers communication delays can effectively navigate the sailing of multi-UUVs in the polar region.

Comparison of blood biochemics between acute myocardial infarction models with blood stasis and simple acute myocardial infarction models in rats

International Nuclear Information System (INIS)

Qu Shaochun; Yu Xiaofeng; Wang Jia; Zhou Jinying; Xie Haolin; Sui Dayun

2010-01-01

Objective: To construct the acute myocardial infarction models in rats with blood stasis and study the difference on blood biochemics between the acute myocardial infarction models with blood stasis and the simple acute myocardial infarction models. Methods: Wistar rats were randomly divided into control group, acute blood stasis model group, acute myocardial infarction sham operation group, acute myocardial infarction model group and of acute myocardial infarction model with blood stasis group. The acute myocardial infarction models under the status of the acute blood stasis in rats were set up. The serum malondialdehyde (MDA), nitric oxide (NO), free fatty acid (FFA), tumor necrosis factor-α (TNF-α) levels were detected, the activities of serum superoxide dismutase (SOD), glutathione peroxidase (GSH-Px) and the levels of prostacycline (PGI2), thromboxane A 2 (TXA 2 ) and endothelin (ET) in plasma were determined. Results: There were not obvious differences in MDA, SOD, GSH-Px and FFA between the acute myocardial infarction models with blood stasis in rats and the simple acute myocardial infarction models (P 2 and NO, and the increase extents of TXA 2 , ET and TNF-α in the acute myocardial infarction models in rats with blood stasis were higher than those in the simple acute myocardial infarction models (P 2 and NO, are significant when the acute myocardial infarction models in rats with blood stasis and the simple acute myocardial infarction models are compared. The results show that it is defective to evaluate pharmacodynamics of traditional Chinese drug with only simple acute myocardial infarction models. (authors)

An improved experimental model for peripheral neuropathy in rats

Directory of Open Access Journals (Sweden)

Q.M. Dias

2013-03-01

Full Text Available A modification of the Bennett and Xie chronic constriction injury model of peripheral painful neuropathy was developed in rats. Under tribromoethanol anesthesia, a single ligature with 100% cotton glace thread was placed around the right sciatic nerve proximal to its trifurcation. The change in the hind paw reflex threshold after mechanical stimulation observed with this modified model was compared to the change in threshold observed in rats subjected to the Bennett and Xie or the Kim and Chung spinal ligation models. The mechanical threshold was measured with an automated electronic von Frey apparatus 0, 2, 7, and 14 days after surgery, and this threshold was compared to that measured in sham rats. All injury models produced significant hyperalgesia in the operated hind limb. The modified model produced mean ± SD thresholds in g (19.98 ± 3.08, 14.98 ± 1.86, and 13.80 ± 1.00 at 2, 7, and 14 days after surgery, respectively similar to those obtained with the spinal ligation model (20.03 ± 1.99, 13.46 ± 2.55, and 12.46 ± 2.38 at 2, 7, and 14 days after surgery, respectively, but less variable when compared to the Bennett and Xie model (21.20 ± 8.06, 18.61 ± 7.69, and 18.76 ± 6.46 at 2, 7, and 14 days after surgery, respectively. The modified method required less surgical skill than the spinal nerve ligation model.

An improved experimental model for peripheral neuropathy in rats

International Nuclear Information System (INIS)

Dias, Q.M.; Rossaneis, A.C.; Fais, R.S.; Prado, W.A.

2013-01-01

A modification of the Bennett and Xie chronic constriction injury model of peripheral painful neuropathy was developed in rats. Under tribromoethanol anesthesia, a single ligature with 100% cotton glace thread was placed around the right sciatic nerve proximal to its trifurcation. The change in the hind paw reflex threshold after mechanical stimulation observed with this modified model was compared to the change in threshold observed in rats subjected to the Bennett and Xie or the Kim and Chung spinal ligation models. The mechanical threshold was measured with an automated electronic von Frey apparatus 0, 2, 7, and 14 days after surgery, and this threshold was compared to that measured in sham rats. All injury models produced significant hyperalgesia in the operated hind limb. The modified model produced mean ± SD thresholds in g (19.98 ± 3.08, 14.98 ± 1.86, and 13.80 ± 1.00 at 2, 7, and 14 days after surgery, respectively) similar to those obtained with the spinal ligation model (20.03 ± 1.99, 13.46 ± 2.55, and 12.46 ± 2.38 at 2, 7, and 14 days after surgery, respectively), but less variable when compared to the Bennett and Xie model (21.20 ± 8.06, 18.61 ± 7.69, and 18.76 ± 6.46 at 2, 7, and 14 days after surgery, respectively). The modified method required less surgical skill than the spinal nerve ligation model

An improved experimental model for peripheral neuropathy in rats

Directory of Open Access Journals (Sweden)

Q.M. Dias

Full Text Available A modification of the Bennett and Xie chronic constriction injury model of peripheral painful neuropathy was developed in rats. Under tribromoethanol anesthesia, a single ligature with 100% cotton glace thread was placed around the right sciatic nerve proximal to its trifurcation. The change in the hind paw reflex threshold after mechanical stimulation observed with this modified model was compared to the change in threshold observed in rats subjected to the Bennett and Xie or the Kim and Chung spinal ligation models. The mechanical threshold was measured with an automated electronic von Frey apparatus 0, 2, 7, and 14 days after surgery, and this threshold was compared to that measured in sham rats. All injury models produced significant hyperalgesia in the operated hind limb. The modified model produced mean ± SD thresholds in g (19.98 ± 3.08, 14.98 ± 1.86, and 13.80 ± 1.00 at 2, 7, and 14 days after surgery, respectively similar to those obtained with the spinal ligation model (20.03 ± 1.99, 13.46 ± 2.55, and 12.46 ± 2.38 at 2, 7, and 14 days after surgery, respectively, but less variable when compared to the Bennett and Xie model (21.20 ± 8.06, 18.61 ± 7.69, and 18.76 ± 6.46 at 2, 7, and 14 days after surgery, respectively. The modified method required less surgical skill than the spinal nerve ligation model.

An improved experimental model for peripheral neuropathy in rats

Energy Technology Data Exchange (ETDEWEB)

Dias, Q.M.; Rossaneis, A.C.; Fais, R.S.; Prado, W.A. [Departamento de Farmacologia, Faculdade de Medicina de Ribeirão Preto, Universidade de São Paulo, Ribeirão Preto, SP (Brazil)

2013-03-15

A modification of the Bennett and Xie chronic constriction injury model of peripheral painful neuropathy was developed in rats. Under tribromoethanol anesthesia, a single ligature with 100% cotton glace thread was placed around the right sciatic nerve proximal to its trifurcation. The change in the hind paw reflex threshold after mechanical stimulation observed with this modified model was compared to the change in threshold observed in rats subjected to the Bennett and Xie or the Kim and Chung spinal ligation models. The mechanical threshold was measured with an automated electronic von Frey apparatus 0, 2, 7, and 14 days after surgery, and this threshold was compared to that measured in sham rats. All injury models produced significant hyperalgesia in the operated hind limb. The modified model produced mean ± SD thresholds in g (19.98 ± 3.08, 14.98 ± 1.86, and 13.80 ± 1.00 at 2, 7, and 14 days after surgery, respectively) similar to those obtained with the spinal ligation model (20.03 ± 1.99, 13.46 ± 2.55, and 12.46 ± 2.38 at 2, 7, and 14 days after surgery, respectively), but less variable when compared to the Bennett and Xie model (21.20 ± 8.06, 18.61 ± 7.69, and 18.76 ± 6.46 at 2, 7, and 14 days after surgery, respectively). The modified method required less surgical skill than the spinal nerve ligation model.

Error Analysis System for Spacecraft Navigation Using the Global Positioning System (GPS)

Science.gov (United States)

Truong, S. H.; Hart, R. C.; Hartman, K. R.; Tomcsik, T. L.; Searl, J. E.; Bernstein, A.

1997-01-01

The Flight Dynamics Division (FDD) at the National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) is currently developing improved space-navigation filtering algorithms to use the Global Positioning System (GPS) for autonomous real-time onboard orbit determination. In connection with a GPS technology demonstration on the Small Satellite Technology Initiative (SSTI)/Lewis spacecraft, FDD analysts and programmers have teamed with the GSFC Guidance, Navigation, and Control Branch to develop the GPS Enhanced Orbit Determination Experiment (GEODE) system. The GEODE system consists of a Kalman filter operating as a navigation tool for estimating the position, velocity, and additional states required to accurately navigate the orbiting Lewis spacecraft by using astrodynamic modeling and GPS measurements from the receiver. A parallel effort at the FDD is the development of a GPS Error Analysis System (GEAS) that will be used to analyze and improve navigation filtering algorithms during development phases and during in-flight calibration. For GEAS, the Kalman filter theory is extended to estimate the errors in position, velocity, and other error states of interest. The estimation of errors in physical variables at regular intervals will allow the time, cause, and effect of navigation system weaknesses to be identified. In addition, by modeling a sufficient set of navigation system errors, a system failure that causes an observed error anomaly can be traced and accounted for. The GEAS software is formulated using Object Oriented Design (OOD) techniques implemented in the C++ programming language on a Sun SPARC workstation. The Phase 1 of this effort is the development of a basic system to be used to evaluate navigation algorithms implemented in the GEODE system. This paper presents the GEAS mathematical methodology, systems and operations concepts, and software design and implementation. Results from the use of the basic system to evaluate

Semiotic resources for navigation

DEFF Research Database (Denmark)

Due, Brian Lystgaard; Lange, Simon Bierring

2018-01-01

This paper describes two typical semiotic resources blind people use when navigating in urban areas. Everyone makes use of a variety of interpretive semiotic resources and senses when navigating. For sighted individuals, this especially involves sight. Blind people, however, must rely on everything...... else than sight, thereby substituting sight with other modalities and distributing the navigational work to other semiotic resources. Based on a large corpus of fieldwork among blind people in Denmark, undertaking observations, interviews, and video recordings of their naturally occurring practices...... of walking and navigating, this paper shows how two prototypical types of semiotic resources function as helpful cognitive extensions: the guide dog and the white cane. This paper takes its theoretical and methodological perspective from EMCA multimodal interaction analysis....

Olfaction Contributes to Pelagic Navigation in a Coastal Shark.

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Nosal, Andrew P; Chao, Yi; Farrara, John D; Chai, Fei; Hastings, Philip A

2016-01-01

How animals navigate the constantly moving and visually uniform pelagic realm, often along straight paths between distant sites, is an enduring mystery. The mechanisms enabling pelagic navigation in cartilaginous fishes are particularly understudied. We used shoreward navigation by leopard sharks (Triakis semifasciata) as a model system to test whether olfaction contributes to pelagic navigation. Leopard sharks were captured alongshore, transported 9 km offshore, released, and acoustically tracked for approximately 4 h each until the transmitter released. Eleven sharks were rendered anosmic (nares occluded with cotton wool soaked in petroleum jelly); fifteen were sham controls. Mean swimming depth was 28.7 m. On average, tracks of control sharks ended 62.6% closer to shore, following relatively straight paths that were significantly directed over spatial scales exceeding 1600 m. In contrast, tracks of anosmic sharks ended 37.2% closer to shore, following significantly more tortuous paths that approximated correlated random walks. These results held after swimming paths were adjusted for current drift. This is the first study to demonstrate experimentally that olfaction contributes to pelagic navigation in sharks, likely mediated by chemical gradients as has been hypothesized for birds. Given the similarities between the fluid three-dimensional chemical atmosphere and ocean, further research comparing swimming and flying animals may lead to a unifying paradigm explaining their extraordinary navigational abilities.

Dual-EKF-Based Real-Time Celestial Navigation for Lunar Rover

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Li Xie

2012-01-01

Full Text Available A key requirement of lunar rover autonomous navigation is to acquire state information accurately in real-time during its motion and set up a gradual parameter-based nonlinear kinematics model for the rover. In this paper, we propose a dual-extended-Kalman-filter- (dual-EKF- based real-time celestial navigation (RCN method. The proposed method considers the rover position and velocity on the lunar surface as the system parameters and establishes a constant velocity (CV model. In addition, the attitude quaternion is considered as the system state, and the quaternion differential equation is established as the state equation, which incorporates the output of angular rate gyroscope. Therefore, the measurement equation can be established with sun direction vector from the sun sensor and speed observation from the speedometer. The gyro continuous output ensures the algorithm real-time operation. Finally, we use the dual-EKF method to solve the system equations. Simulation results show that the proposed method can acquire the rover position and heading information in real time and greatly improve the navigation accuracy. Our method overcomes the disadvantage of the cumulative error in inertial navigation.

Step training in a rat model for complex aneurysmal vascular microsurgery

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Martin Dan

2015-12-01

Full Text Available Introduction: Microsurgery training is a key step for the young neurosurgeons. Both in vascular and peripheral nerve pathology, microsurgical techniques are useful tools for the proper treatment. Many training models have been described, including ex vivo (chicken wings and in vivo (rat, rabbit ones. Complex microsurgery training include termino-terminal vessel anastomosis and nerve repair. The aim of this study was to describe a reproducible complex microsurgery training model in rats. Materials and methods: The experimental animals were Brown Norway male rats between 10-16 weeks (average 13 and weighing between 250-400g (average 320g. We performed n=10 rat hind limb replantations. The surgical steps and preoperative management are carefully described. We evaluated the vascular patency by clinical assessment-color, temperature, capillary refill. The rats were daily inspected for any signs of infections. The nerve regeneration was assessed by foot print method. Results: There were no case of vascular compromise or autophagia. All rats had long term survival (>90 days. The nerve regeneration was clinically completed at 6 months postoperative. The mean operative time was 183 minutes, and ischemia time was 25 minutes.

The JCR:LA-cp rat: a novel rodent model of cystic medial necrosis.

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Pung, Yuh Fen; Chilian, William M; Bennett, Martin R; Figg, Nichola; Kamarulzaman, Mohd Hamzah

2017-03-01

Although there are multiple rodent models of the metabolic syndrome, very few develop vascular complications. In contrast, the JCR:LA-cp rat develops both metabolic syndrome and early atherosclerosis in predisposed areas. However, the pathology of the normal vessel wall has not been described. We examined JCR:LA control (+/+) or cp/cp rats fed normal chow diet for 6 or 18 mo. JCR:LA-cp rats developed multiple features of advanced cystic medial necrosis including "cysts," increased collagen formation and proteoglycan deposition around cysts, apoptosis of vascular smooth muscle cells, and spotty medial calcification. These appearances began within 6 mo and were extensive by 18 mo. JCR:LA-cp rats had reduced medial cellularity, increased medial thickness, and vessel hypoxia that was most marked in the adventitia. In conclusion, the normal chow-fed JCR:LA-cp rat represents a novel rodent model of cystic medial necrosis, associated with multiple metabolic abnormalities, vascular smooth muscle cell apoptosis, and vessel hypoxia. NEW & NOTEWORTHY Triggers for cystic medial necrosis (CMN) have been difficult to study due to lack of animal models to recapitulate the pathologies seen in humans. Our study is the first description of CMN in the rat. Thus the JCR:LA-cp rat represents a useful model to investigate the underlying molecular changes leading to the development of CMN. Copyright © 2017 the American Physiological Society.

Allothetic and idiothetic sensor fusion in rat-inspired robot localization

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Weitzenfeld, Alfredo; Fellous, Jean-Marc; Barrera, Alejandra; Tejera, Gonzalo

2012-06-01

We describe a spatial cognition model based on the rat's brain neurophysiology as a basis for new robotic navigation architectures. The model integrates allothetic (external visual landmarks) and idiothetic (internal kinesthetic information) cues to train either rat or robot to learn a path enabling it to reach a goal from multiple starting positions. It stands in contrast to most robotic architectures based on SLAM, where a map of the environment is built to provide probabilistic localization information computed from robot odometry and landmark perception. Allothetic cues suffer in general from perceptual ambiguity when trying to distinguish between places with equivalent visual patterns, while idiothetic cues suffer from imprecise motions and limited memory recalls. We experiment with both types of cues in different maze configurations by training rats and robots to find the goal starting from a fixed location, and then testing them to reach the same target from new starting locations. We show that the robot, after having pre-explored a maze, can find a goal with improved efficiency, and is able to (1) learn the correct route to reach the goal, (2) recognize places already visited, and (3) exploit allothetic and idiothetic cues to improve on its performance. We finally contrast our biologically-inspired approach to more traditional robotic approaches and discuss current work in progress.

Cloud-Induced Uncertainty for Visual Navigation

Science.gov (United States)

2014-12-26

can occur due to interference, jamming, or signal blockage in urban canyons. In GPS-denied environments, a GP- S/INS navigation system is forced to rely...physics-based approaches use equations that model fluid flow, thermodynamics, water condensation , and evapora- tion to generate clouds [4]. The drawback

Social Network Structures of Breast Cancer Patients and the Contributing Role of Patient Navigators.

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Gunn, Christine M; Parker, Victoria A; Bak, Sharon M; Ko, Naomi; Nelson, Kerrie P; Battaglia, Tracy A

2017-08-01

Minority women in the U.S. continue to experience inferior breast cancer outcomes compared with white women, in part due to delays in care delivery. Emerging cancer care delivery models like patient navigation focus on social barriers, but evidence demonstrating how these models increase social capital is lacking. This pilot study describes the social networks of newly diagnosed breast cancer patients and explores the contributing role of patient navigators. Twenty-five women completed a one hour interview about their social networks related to cancer care support. Network metrics identified important structural attributes and influential individuals. Bivariate associations between network metrics, type of network, and whether the network included a navigator were measured. Secondary analyses explored associations between network structures and clinical outcomes. We identified three types of networks: kin-based, role and/or affect-based, or heterogeneous. Network metrics did not vary significantly by network type. There was a low prevalence of navigators included in the support networks (25%). Network density scores were significantly higher in those networks without a navigator. Network metrics were not predictive of clinical outcomes in multivariate models. Patient navigators were not frequently included in support networks, but provided distinctive types of support. If navigators can identify patients with poorly integrated (less dense) social networks, or who have unmet tangible support needs, the intensity of navigation services could be tailored. Services and systems that address gaps and variations in patient social networks should be explored for their potential to reduce cancer health disparities. This study used a new method to identify the breadth and strength of social support following a diagnosis of breast cancer, especially examining the role of patient navigators in providing support. While navigators were only included in one quarter of patient

33 CFR 401.54 - Interference with navigation aids.

Science.gov (United States)

2010-07-01

... 33 Navigation and Navigable Waters 3 2010-07-01 2010-07-01 false Interference with navigation aids. 401.54 Section 401.54 Navigation and Navigable Waters SAINT LAWRENCE SEAWAY DEVELOPMENT CORPORATION... with navigation aids. (a) Aids to navigation shall not be interfered with or used as moorings. (b) No...

Heading-vector navigation based on head-direction cells and path integration.

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Kubie, John L; Fenton, André A

2009-05-01

Insect navigation is guided by heading vectors that are computed by path integration. Mammalian navigation models, on the other hand, are typically based on map-like place representations provided by hippocampal place cells. Such models compute optimal routes as a continuous series of locations that connect the current location to a goal. We propose a "heading-vector" model in which head-direction cells or their derivatives serve both as key elements in constructing the optimal route and as the straight-line guidance during route execution. The model is based on a memory structure termed the "shortcut matrix," which is constructed during the initial exploration of an environment when a set of shortcut vectors between sequential pairs of visited waypoint locations is stored. A mechanism is proposed for calculating and storing these vectors that relies on a hypothesized cell type termed an "accumulating head-direction cell." Following exploration, shortcut vectors connecting all pairs of waypoint locations are computed by vector arithmetic and stored in the shortcut matrix. On re-entry, when local view or place representations query the shortcut matrix with a current waypoint and goal, a shortcut trajectory is retrieved. Since the trajectory direction is in head-direction compass coordinates, navigation is accomplished by tracking the firing of head-direction cells that are tuned to the heading angle. Section 1 of the manuscript describes the properties of accumulating head-direction cells. It then shows how accumulating head-direction cells can store local vectors and perform vector arithmetic to perform path-integration-based homing. Section 2 describes the construction and use of the shortcut matrix for computing direct paths between any pair of locations that have been registered in the shortcut matrix. In the discussion, we analyze the advantages of heading-based navigation over map-based navigation. Finally, we survey behavioral evidence that nonhippocampal

Laser-based Relative Navigation Using GPS Measurements for Spacecraft Formation Flying

Science.gov (United States)

Lee, Kwangwon; Oh, Hyungjik; Park, Han-Earl; Park, Sang-Young; Park, Chandeok

2015-12-01

This study presents a precise relative navigation algorithm using both laser and Global Positioning System (GPS) measurements in real time. The measurement model of the navigation algorithm between two spacecraft is comprised of relative distances measured by laser instruments and single differences of GPS pseudo-range measurements in spherical coordinates. Based on the measurement model, the Extended Kalman Filter (EKF) is applied to smooth the pseudo-range measurements and to obtain the relative navigation solution. While the navigation algorithm using only laser measurements might become inaccurate because of the limited accuracy of spacecraft attitude estimation when the distance between spacecraft is rather large, the proposed approach is able to provide an accurate solution even in such cases by employing the smoothed GPS pseudo-range measurements. Numerical simulations demonstrate that the errors of the proposed algorithm are reduced by more than about 12% compared to those of an algorithm using only laser measurements, as the accuracy of angular measurements is greater than 0.001° at relative distances greater than 30 km.

Creation of Consistent Burn Wounds: A Rat Model

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Elijah Zhengyang Cai

2014-07-01

Full Text Available Background Burn infliction techniques are poorly described in rat models. An accurate study can only be achieved with wounds that are uniform in size and depth. We describe a simple reproducible method for creating consistent burn wounds in rats. Methods Ten male Sprague-Dawley rats were anesthetized and dorsum shaved. A 100 g cylindrical stainless-steel rod (1 cm diameter was heated to 100℃ in boiling water. Temperature was monitored using a thermocouple. We performed two consecutive toe-pinch tests on different limbs to assess the depth of sedation. Burn infliction was limited to the loin. The skin was pulled upwards, away from the underlying viscera, creating a flat surface. The rod rested on its own weight for 5, 10, and 20 seconds at three different sites on each rat. Wounds were evaluated for size, morphology and depth. Results Average wound size was 0.9957 cm2 (standard deviation [SD] 0.1845 (n=30. Wounds created with duration of 5 seconds were pale, with an indistinct margin of erythema. Wounds of 10 and 20 seconds were well-defined, uniformly brown with a rim of erythema. Average depths of tissue damage were 1.30 mm (SD 0.424, 2.35 mm (SD 0.071, and 2.60 mm (SD 0.283 for duration of 5, 10, 20 seconds respectively. Burn duration of 5 seconds resulted in full-thickness damage. Burn duration of 10 seconds and 20 seconds resulted in full-thickness damage, involving subjacent skeletal muscle. Conclusions This is a simple reproducible method for creating burn wounds consistent in size and depth in a rat burn model.

Characterization of dystrophin deficient rats: a new model for Duchenne muscular dystrophy.

Science.gov (United States)

Larcher, Thibaut; Lafoux, Aude; Tesson, Laurent; Remy, Séverine; Thepenier, Virginie; François, Virginie; Le Guiner, Caroline; Goubin, Helicia; Dutilleul, Maéva; Guigand, Lydie; Toumaniantz, Gilles; De Cian, Anne; Boix, Charlotte; Renaud, Jean-Baptiste; Cherel, Yan; Giovannangeli, Carine; Concordet, Jean-Paul; Anegon, Ignacio; Huchet, Corinne

2014-01-01

A few animal models of Duchenne muscular dystrophy (DMD) are available, large ones such as pigs or dogs being expensive and difficult to handle. Mdx (X-linked muscular dystrophy) mice only partially mimic the human disease, with limited chronic muscular lesions and muscle weakness. Their small size also imposes limitations on analyses. A rat model could represent a useful alternative since rats are small animals but 10 times bigger than mice and could better reflect the lesions and functional abnormalities observed in DMD patients. Two lines of Dmd mutated-rats (Dmdmdx) were generated using TALENs targeting exon 23. Muscles of animals of both lines showed undetectable levels of dystrophin by western blot and less than 5% of dystrophin positive fibers by immunohistochemistry. At 3 months, limb and diaphragm muscles from Dmdmdx rats displayed severe necrosis and regeneration. At 7 months, these muscles also showed severe fibrosis and some adipose tissue infiltration. Dmdmdx rats showed significant reduction in muscle strength and a decrease in spontaneous motor activity. Furthermore, heart morphology was indicative of dilated cardiomyopathy associated histologically with necrotic and fibrotic changes. Echocardiography showed significant concentric remodeling and alteration of diastolic function. In conclusion, Dmdmdx rats represent a new faithful small animal model of DMD.

Postictal in situ MRS brain lactate in the rat kindling model.

Science.gov (United States)

Maton, B M; Najm, I M; Wang, Y; Lüders, H O; Ng, T C

1999-12-10

To determine the temporal and spatial extent of the lactate (Lact) changes as correlated with seizure characteristics and EEG changes in the rat kindling model. Prior studies using MRS have detected cerebral Lact postictally in animal models of seizures and in patients with intractable focal epilepsy. We performed MRS in sham control rats (n = 4) and in rats stimulated in the right hippocampus at two different stages of the kindling and at three time points after the seizures: 3 hours (n = 4 and 2). Lact/creatine (Cr) and N-acetylaspartate (NAA)/Cr ratios were measured in six contiguous voxels (three left, three right) covering the hippocampi, anterior and posterior regions, and compared with EEG and ictal behavior. Lact/Cr ratios were measured at a very low level in the sham control rats and in the >3-hour group. In the epilepsy.

Transit navigation through Northern Sea Route from satellite data and CMIP5 simulations

Science.gov (United States)

Khon, Vyacheslav C.; Mokhov, Igor I.; Semenov, Vladimir A.

2017-02-01

Rapid Arctic sea ice decline over the last few decades opens new perspectives for Arctic marine navigation. Further warming in the Arctic will promote the Northern Sea Route (NSR) as an alternative to the conventional Suez or Panama Canal routes for intercontinental shipping. Here we use both satellite data and CMIP5 ensemble of climate models to estimate the NSR transit window allowing intercontinental navigation between Atlantic and Pacific regions. To this end, we introduce a novel approach to calculate start and end dates of the navigation season along the NSR. We show that modern climate models are able to reproduce the mean time of the NSR transit window and its trend over the last few decades. The selected models demonstrate that the rate of increase of the NSR navigation season will slow down over the next few decades with the RCP4.5 scenario. By the end of the 21st century ensemble-mean estimates show an increase of the NSR transit window by about 4 and 6.5 months according to RCP4.5 and 8.5, respectively. Estimated trends for the end date of the navigation season are found to be stronger compared to those for the start date.

DEVELOPMENT AND TESTING OF GEO-PROCESSING MODELS FOR THE AUTOMATIC GENERATION OF REMEDIATION PLAN AND NAVIGATION DATA TO USE IN INDUSTRIAL DISASTER REMEDIATION

Directory of Open Access Journals (Sweden)

G. Lucas

2015-08-01

Full Text Available This paper introduces research done on the automatic preparation of remediation plans and navigation data for the precise guidance of heavy machinery in clean-up work after an industrial disaster. The input test data consists of a pollution extent shapefile derived from the processing of hyperspectral aerial survey data from the Kolontár red mud disaster. Three algorithms were developed and the respective scripts were written in Python. The first model aims at drawing a parcel clean-up plan. The model tests four different parcel orientations (0, 90, 45 and 135 degree and keeps the plan where clean-up parcels are less numerous considering it is an optimal spatial configuration. The second model drifts the clean-up parcel of a work plan both vertically and horizontally following a grid pattern with sampling distance of a fifth of a parcel width and keep the most optimal drifted version; here also with the belief to reduce the final number of parcel features. The last model aims at drawing a navigation line in the middle of each clean-up parcel. The models work efficiently and achieve automatic optimized plan generation (parcels and navigation lines. Applying the first model we demonstrated that depending on the size and geometry of the features of the contaminated area layer, the number of clean-up parcels generated by the model varies in a range of 4% to 38% from plan to plan. Such a significant variation with the resulting feature numbers shows that the optimal orientation identification can result in saving work, time and money in remediation. The various tests demonstrated that the model gains efficiency when 1/ the individual features of contaminated area present a significant orientation with their geometry (features are long, 2/ the size of pollution extent features becomes closer to the size of the parcels (scale effect. The second model shows only 1% difference with the variation of feature number; so this last is less interesting for

Spatial navigation by congenitally blind individuals.

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Schinazi, Victor R; Thrash, Tyler; Chebat, Daniel-Robert

2016-01-01

Spatial navigation in the absence of vision has been investigated from a variety of perspectives and disciplines. These different approaches have progressed our understanding of spatial knowledge acquisition by blind individuals, including their abilities, strategies, and corresponding mental representations. In this review, we propose a framework for investigating differences in spatial knowledge acquisition by blind and sighted people consisting of three longitudinal models (i.e., convergent, cumulative, and persistent). Recent advances in neuroscience and technological devices have provided novel insights into the different neural mechanisms underlying spatial navigation by blind and sighted people and the potential for functional reorganization. Despite these advances, there is still a lack of consensus regarding the extent to which locomotion and wayfinding depend on amodal spatial representations. This challenge largely stems from methodological limitations such as heterogeneity in the blind population and terminological ambiguity related to the concept of cognitive maps. Coupled with an over-reliance on potential technological solutions, the field has diffused into theoretical and applied branches that do not always communicate. Here, we review research on navigation by congenitally blind individuals with an emphasis on behavioral and neuroscientific evidence, as well as the potential of technological assistance. Throughout the article, we emphasize the need to disentangle strategy choice and performance when discussing the navigation abilities of the blind population. For further resources related to this article, please visit the WIREs website. © 2015 The Authors. WIREs Cognitive Science published by Wiley Periodicals, Inc.

Golf cart prototype development and navigation simulation using ROS and Gazebo

Directory of Open Access Journals (Sweden)

Shimchik Ilya

2016-01-01

Full Text Available This paper presents our approach to development of an autonomous golf cart, which will navigate in inaccessible by regular vehicles private areas. For this purpose, we have built a virtual golf course terrain and golf cart model in Gazebo, selected and modernized ROS-based packages in order to use them with Ackermann steering vehicle simulation. To verify our simulation and algorithms, we navigated the golf cart model from one golf hole to another within a virtual 3D golf course. For the real world algorithms’ verification, we developed a small-size vehicle prototype based on Traxxas radio-controlled car model, which is equipped with an on-board controller and sensors. The autonomous navigation of Traxxas-based vehicle prototype has been tested in indoor environment, where it utilized sensory data about environment and vehicle states, and performed localization, optimal trajectory computation and dynamic obstacles’ recognition with adjusting the route in real time.

Surgical navigation in urology: European perspective.

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Rassweiler, Jens; Rassweiler, Marie-Claire; Müller, Michael; Kenngott, Hannes; Meinzer, Hans-Peter; Teber, Dogu

2014-01-01

Use of virtual reality to navigate open and endoscopic surgery has significantly evolved during the last decade. Current status of seven most interesting projects inside the European Association of Urology section of uro-technology is summarized with review of literature. Marker-based endoscopic tracking during laparoscopic radical prostatectomy using high-definition technology reduces positive margins. Marker-based endoscopic tracking during laparoscopic partial nephrectomy by mechanical overlay of three-dimensional-segmented virtual anatomy is helpful during planning of trocar placement and dissection of renal hilum. Marker-based, iPAD-assisted puncture of renal collecting system shows more benefit for trainees with reduction of radiation exposure. Three-dimensional laser-assisted puncture of renal collecting system using Uro-Dyna-CT realized in an ex-vivo model enables minimal radiation time. Electromagnetic tracking for puncture of renal collecting system using a sensor at the tip of ureteral catheter worked in an in-vivo model of porcine ureter and kidney. Attitude tracking for ultrasound-guided puncture of renal tumours by accelerometer reduces the puncture error from 4.7 to 1.8 mm. Feasibility of electromagnetic and optical tracking with the da Vinci telemanipulator was shown in vitro as well as using in-vivo model of oesophagectomy. Target registration error was 11.2 mm because of soft-tissue deformation. Intraoperative navigation is helpful during percutaneous puncture collecting system and biopsy of renal tumour using various tracking techniques. Early clinical studies demonstrate advantages of marker-based navigation during laparoscopic radical prostatectomy and partial nephrectomy. Combination of different tracking techniques may further improve this interesting addition to video-assisted surgery.

Monte Carlo-based dose reconstruction in a rat model for scattered ionizing radiation investigations.

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Kirkby, Charles; Ghasroddashti, Esmaeel; Kovalchuk, Anna; Kolb, Bryan; Kovalchuk, Olga

2013-09-01

In radiation biology, rats are often irradiated, but the precise dose distributions are often lacking, particularly in areas that receive scatter radiation. We used a non-dedicated set of resources to calculate detailed dose distributions, including doses to peripheral organs well outside of the primary field, in common rat exposure settings. We conducted a detailed dose reconstruction in a rat through an analog to the conventional human treatment planning process. The process consisted of: (i) Characterizing source properties of an X-ray irradiator system, (ii) acquiring a computed tomography (CT) scan of a rat model, and (iii) using a Monte Carlo (MC) dose calculation engine to generate the dose distribution within the rat model. We considered cranial and liver irradiation scenarios where the rest of the body was protected by a lead shield. Organs of interest were the brain, liver and gonads. The study also included paired scenarios where the dose to adjacent, shielded rats was determined as a potential control for analysis of bystander effects. We established the precise doses and dose distributions delivered to the peripheral organs in single and paired rats. Mean doses to non-targeted organs in irradiated rats ranged from 0.03-0.1% of the reference platform dose. Mean doses to the adjacent rat peripheral organs were consistent to within 10% those of the directly irradiated rat. This work provided details of dose distributions in rat models under common irradiation conditions and established an effective scenario for delivering only scattered radiation consistent with that in a directly irradiated rat.

Physiologically Based Pharmacokinetic Model for Terbinafine in Rats and Humans

Science.gov (United States)

Hosseini-Yeganeh, Mahboubeh; McLachlan, Andrew J.

2002-01-01

The aim of this study was to develop a physiologically based pharmacokinetic (PB-PK) model capable of describing and predicting terbinafine concentrations in plasma and tissues in rats and humans. A PB-PK model consisting of 12 tissue and 2 blood compartments was developed using concentration-time data for tissues from rats (n = 33) after intravenous bolus administration of terbinafine (6 mg/kg of body weight). It was assumed that all tissues except skin and testis tissues were well-stirred compartments with perfusion rate limitations. The uptake of terbinafine into skin and testis tissues was described by a PB-PK model which incorporates a membrane permeability rate limitation. The concentration-time data for terbinafine in human plasma and tissues were predicted by use of a scaled-up PB-PK model, which took oral absorption into consideration. The predictions obtained from the global PB-PK model for the concentration-time profile of terbinafine in human plasma and tissues were in close agreement with the observed concentration data for rats. The scaled-up PB-PK model provided an excellent prediction of published terbinafine concentration-time data obtained after the administration of single and multiple oral doses in humans. The estimated volume of distribution at steady state (Vss) obtained from the PB-PK model agreed with the reported value of 11 liters/kg. The apparent volume of distribution of terbinafine in skin and adipose tissues accounted for 41 and 52%, respectively, of the Vss for humans, indicating that uptake into and redistribution from these tissues dominate the pharmacokinetic profile of terbinafine. The PB-PK model developed in this study was capable of accurately predicting the plasma and tissue terbinafine concentrations in both rats and humans and provides insight into the physiological factors that determine terbinafine disposition. PMID:12069977

Sensor Fusion Based Model for Collision Free Mobile Robot Navigation

Science.gov (United States)

Almasri, Marwah; Elleithy, Khaled; Alajlan, Abrar

2015-01-01

Autonomous mobile robots have become a very popular and interesting topic in the last decade. Each of them are equipped with various types of sensors such as GPS, camera, infrared and ultrasonic sensors. These sensors are used to observe the surrounding environment. However, these sensors sometimes fail and have inaccurate readings. Therefore, the integration of sensor fusion will help to solve this dilemma and enhance the overall performance. This paper presents a collision free mobile robot navigation based on the fuzzy logic fusion model. Eight distance sensors and a range finder camera are used for the collision avoidance approach where three ground sensors are used for the line or path following approach. The fuzzy system is composed of nine inputs which are the eight distance sensors and the camera, two outputs which are the left and right velocities of the mobile robot’s wheels, and 24 fuzzy rules for the robot’s movement. Webots Pro simulator is used for modeling the environment and the robot. The proposed methodology, which includes the collision avoidance based on fuzzy logic fusion model and line following robot, has been implemented and tested through simulation and real time experiments. Various scenarios have been presented with static and dynamic obstacles using one robot and two robots while avoiding obstacles in different shapes and sizes. PMID:26712766

Sensor Fusion Based Model for Collision Free Mobile Robot Navigation

Directory of Open Access Journals (Sweden)

Marwah Almasri

2015-12-01

Full Text Available Autonomous mobile robots have become a very popular and interesting topic in the last decade. Each of them are equipped with various types of sensors such as GPS, camera, infrared and ultrasonic sensors. These sensors are used to observe the surrounding environment. However, these sensors sometimes fail and have inaccurate readings. Therefore, the integration of sensor fusion will help to solve this dilemma and enhance the overall performance. This paper presents a collision free mobile robot navigation based on the fuzzy logic fusion model. Eight distance sensors and a range finder camera are used for the collision avoidance approach where three ground sensors are used for the line or path following approach. The fuzzy system is composed of nine inputs which are the eight distance sensors and the camera, two outputs which are the left and right velocities of the mobile robot’s wheels, and 24 fuzzy rules for the robot’s movement. Webots Pro simulator is used for modeling the environment and the robot. The proposed methodology, which includes the collision avoidance based on fuzzy logic fusion model and line following robot, has been implemented and tested through simulation and real time experiments. Various scenarios have been presented with static and dynamic obstacles using one robot and two robots while avoiding obstacles in different shapes and sizes.

Modeling the distribution of Norway rats (Rattus norvegicus on offshore islands in the Falkland Islands

Directory of Open Access Journals (Sweden)

Michael A. Tabak

2015-01-01

Full Text Available Non-native rats (Rattus spp. threaten native island species worldwide. Efforts to eradicate them from islands have increased in frequency and become more ambitious in recent years. However, the long-term success of some eradication efforts has been compromised by the ability of rats, particularly Norway rats (Rattus norvegicus which are good swimmers, to recolonize islands following eradications. In the Falkland Islands, an archipelago in the South Atlantic Ocean, the distance of 250 m between islands (once suggested as the minimum separation distance for an effective barrier to recolonization has shown to be insufficient. Norway rats are present on about half of the 503 islands in the Falklands. Bird diversity is lower on islands with rats and two vulnerable passerine species, Troglodytes cobbi (the only endemic Falkland Islands passerine and Cinclodes antarcticus, have greatly reduced abundances and/or are absent on islands with rats. We used logistic regression models to investigate the potential factors that may determine the presence of Norway rats on 158 islands in the Falkland Islands. Our models included island area, distance to the nearest rat-infested island, island location, and the history of island use by humans as driving variables. Models best supported by data included only distance to the nearest potential source of rats and island area, but the relative magnitude of the effect of distance and area on the presence of rats varied depending on whether islands were in the eastern or western sector of the archipelago. The human use of an island was not a significant parameter in any models. A very large fraction (72% of islands within 500 m of the nearest potential rat source had rats, but 97% of islands farther than 1,000 m away from potential rat sources were free of rats.

Radiation-induced hydronephrosis in the rat: a new experimental model

International Nuclear Information System (INIS)

Knowles, J.F.

1985-01-01

An experimental model for investigating the effects of localized X-irradiation on a single ureter or the bladder trigone in rats is described. Obstruction of the urinary tract in the irradiated region gives rise to hydroureter and hydronephrosis and the development of these, as detected urographically, gives a clear-cut end point. After irradiation of the ureter with a single dose of 37.4 gy many rats died of gut lesions but after 23.4 Gy only one such death occurred while 14 of 16 rats developed hydronephrosis. Irradiation of the bladder trigone was not associated with intercurrent deaths, even after 40 Gy, and after 25 Gy 9 of 11 rats developed hydronephrosis. (author)

Heterogeneous stock rat: a unique animal model for mapping genes influencing bone fragility.

Science.gov (United States)

Alam, Imranul; Koller, Daniel L; Sun, Qiwei; Roeder, Ryan K; Cañete, Toni; Blázquez, Gloria; López-Aumatell, Regina; Martínez-Membrives, Esther; Vicens-Costa, Elia; Mont, Carme; Díaz, Sira; Tobeña, Adolf; Fernández-Teruel, Alberto; Whitley, Adam; Strid, Pernilla; Diez, Margarita; Johannesson, Martina; Flint, Jonathan; Econs, Michael J; Turner, Charles H; Foroud, Tatiana

2011-05-01

Previously, we demonstrated that skeletal mass, structure and biomechanical properties vary considerably among 11 different inbred rat strains. Subsequently, we performed quantitative trait loci (QTL) analysis in four inbred rat strains (F344, LEW, COP and DA) for different bone phenotypes and identified several candidate genes influencing various bone traits. The standard approach to narrowing QTL intervals down to a few candidate genes typically employs the generation of congenic lines, which is time consuming and often not successful. A potential alternative approach is to use a highly genetically informative animal model resource capable of delivering very high resolution gene mapping such as Heterogeneous stock (HS) rat. HS rat was derived from eight inbred progenitors: ACI/N, BN/SsN, BUF/N, F344/N, M520/N, MR/N, WKY/N and WN/N. The genetic recombination pattern generated across 50 generations in these rats has been shown to deliver ultra-high even gene-level resolution for complex genetic studies. The purpose of this study is to investigate the usefulness of the HS rat model for fine mapping and identification of genes underlying bone fragility phenotypes. We compared bone geometry, density and strength phenotypes at multiple skeletal sites in HS rats with those obtained from five of the eight progenitor inbred strains. In addition, we estimated the heritability for different bone phenotypes in these rats and employed principal component analysis to explore relationships among bone phenotypes in the HS rats. Our study demonstrates that significant variability exists for different skeletal phenotypes in HS rats compared with their inbred progenitors. In addition, we estimated high heritability for several bone phenotypes and biologically interpretable factors explaining significant overall variability, suggesting that the HS rat model could be a unique genetic resource for rapid and efficient discovery of the genetic determinants of bone fragility. Copyright �

Real-time precision pedestrian navigation solution using Inertial Navigation System and Global Positioning System

OpenAIRE

Yong-Jin Yoon; King Ho Holden Li; Jiahe Steven Lee; Woo-Tae Park

2015-01-01

Global Positioning System and Inertial Navigation System can be used to determine position and velocity. A Global Positioning System module is able to accurately determine position without sensor drift, but its usage is limited in heavily urbanized environments and heavy vegetation. While high-cost tactical-grade Inertial Navigation System can determine position accurately, low-cost micro-electro-mechanical system Inertial Navigation System sensors are plagued by significant errors. Global Po...

General developmental health in the VPA-rat model of autism

DEFF Research Database (Denmark)

Favre, Mônica R; Rinaldi Barkat, Tania; Lamendola, Deborah

2013-01-01

Autism is a neurodevelopmental condition diagnosed by impaired social interaction, abnormal communication and, stereotyped behaviors. While post-mortem and imaging studies have provided good insights into the neurobiological symptomology of autism, animal models can be used to study...... with VPA during early pregnancy show an increased risk for giving birth to an autistic child. In rats, early embryonic exposure, around the time of neural tube closure, leads to autism-like anatomical and behavioral abnormalities in the offspring. Considering the increasing use of the VPA rat model, we...

Depressive-like symptoms in a reserpine-induced model of fibromyalgia in rats.

Science.gov (United States)

Blasco-Serra, Arantxa; Escrihuela-Vidal, Francesc; González-Soler, Eva M; Martínez-Expósito, Fernando; Blasco-Ausina, M Carmen; Martínez-Bellver, Sergio; Cervera-Ferri, Ana; Teruel-Martí, Vicent; Valverde-Navarro, Alfonso A

2015-11-01

Since the pathogenesis of fibromyalgia is unknown, treatment options are limited, ineffective and in fact based on symptom relief. A recently proposed rat model of fibromyalgia is based on central depletion of monamines caused by reserpine administration. This model showed widespread musculoskeletal pain and depressive-like symptoms, but the methodology used to measure such symptoms has been criticized. Evidence relates the high prevalence of pain and depression in fibromyalgia to common pathogenic pathways, most probably focused on the monoaminergic system. The present study aims at a validation of the reserpine model of fibromyalgia. For this purpose, rats undergoing this model have been tested for depressive-like symptoms with a Novelty-Suppressed Feeding Test adaptation. Animals administered with reserpine and subjected to forced food deprivation performed a smaller number of incursions to the center of the open field, evidenced by a decrease in the per-minute rate of the rats' approaching, smelling or touching the food. They also took more time to eat from the central food than control rats. These NSFT findings suggest the presence of depressive-like disorders in this animal model of fibromyalgia. Copyright © 2015 Elsevier Inc. All rights reserved.

Prefrontal-hippocampal interactions for spatial navigation.

Science.gov (United States)

Ito, Hiroshi T

2018-04-01

Animals have the ability to navigate to a desired location by making use of information about environmental landmarks and their own movements. While decades of neuroscience research have identified neurons in the hippocampus and parahippocampal structures that represent an animal's position in space, it is still largely unclear how an animal can choose the next movement direction to reach a desired goal. As the goal destination is typically located somewhere outside of the range of sensory perception, the animal is required to rely on the internal metric of space to estimate the direction and distance of the destination to plan a next action. Therefore, the hippocampal spatial map should interact with action-planning systems in other cortical regions. In accordance with this idea, several recent studies have indicated the importance of functional interactions between the hippocampus and the prefrontal cortex for goal-directed navigation. In this paper, I will review these studies and discuss how an animal can estimate its future positions correspond to a next movement. Investigation of the navigation problem may further provide general insights into internal models of the brain for action planning. Copyright © 2017 Elsevier Ireland Ltd and Japan Neuroscience Society. All rights reserved.

Navigating oceans and cultures: Polynesian and European navigation systems in the late eighteenth century

Science.gov (United States)

Walker, M.

2012-05-01

Significant differences in the rotation of the celestial dome between the tropical and temperate zones did not stop the peoples of either the tropical Pacific or temperate Europe from using geocentric astronomy to guide exploration of the oceans. Although the differences in the night sky contributed to differences between the Pacific Island and European systems for navigation at sea, the two navigation systems exhibit substantial similarities. Both systems define positions on the surface of the Earth using two coordinates that vary at right angles to each other and use stars, and to a lesser extent the sun, to determine directions. This essay explores similarities and differences in the use of geocentric astronomy for navigation at sea by the peoples of Polynesia and Europe in the late eighteenth century. Captain Cook's orders to discover the unknown southern continent after observing the transit of Venus combined with differences in language and culture to obscure the deeper similarities between the navigation systems used by Cook and the Polynesians. Although it was a further 200 years before anthropologists studied Pacific navigation, collaborations in voyaging with communities in Oceania demonstrated the effectiveness of Pacific navigation systems, revived interest in traditional voyaging in island communities around the Pacific, and potentially open the way for further collaborations in other areas.

Protective effects of Naringin in a rat model of spinal cord ischemia ...

African Journals Online (AJOL)

generation and downregulating inflammatory markers in an SCI rat model. Keywords: Naringin ... intestinal microflora to yield a metabolite called naringenin ... disease (PD). Moreover .... CAT was significantly reduced in SCII rats compared ...

Characterization of a frozen shoulder model using immobilization in rats.

Science.gov (United States)

Kim, Du Hwan; Lee, Kil-Ho; Lho, Yun-Mee; Ha, Eunyoung; Hwang, Ilseon; Song, Kwang-Soon; Cho, Chul-Hyun

2016-12-08

The objective of this study was to investigate serial changes for histology of joint capsule and range of motion of the glenohumeral joint after immobilization in rats. We hypothesized that a rat shoulder contracture model using immobilization would be capable of producing effects on the glenohumeral joint similar to those seen in patients with frozen shoulder. Sixty-four Sprague-Dawley rats were randomly divided into one control group (n = 8) and seven immobilization groups (n = 8 per group) that were immobilized with molding plaster for 3 days, or for 1, 2, 3, 4, 5, or 6 weeks. At each time point, eight rats were euthanized for histologic evaluation of the axillary recess and for measurement of the abduction angle. Infiltration of inflammatory cells was found in the synovial tissue until 2 weeks after immobilization. However, inflammatory cells were diminished and fibrosis was dominantly observed in the synovium and subsynovial tissue 3 weeks after immobilization. From 1 week after immobilization, the abduction angle of all immobilization groups at each time point was significantly lower than that of the control group. Our study demonstrated that a rat frozen shoulder model using immobilization generates the pathophysiologic process of inflammation leading to fibrosis on the glenohumeral joint similar to that seen in patients with frozen shoulder. This model was attained within 3 weeks after immobilization. It may serve as a useful tool to investigate pathogenesis at the molecular level and identify potential target genes that are involved in the development of frozen shoulder.

Aerosol Infection Model of Tuberculosis in Wistar Rats

Directory of Open Access Journals (Sweden)

Sheshagiri Gaonkar

2010-01-01

Full Text Available We explored suitability of a rat tuberculosis aerosol infection model for investigating the pharmacodynamics of new antimycobacterial agents. Infection of rats via the aerosol route led to a reproducible course of M. tuberculosis infection in the lungs. The pulmonary bacterial load increased logarithmically during the first six weeks, thereafter, the infection stabilized for the next 12 weeks. We observed macroscopically visible granulomas in the lungs with demonstrable acid-fast bacilli and associated histopathology. Rifampicin (RIF at a dose range of 30 to 270 mg/kg exhibited a sharp dose response while isoniazid (INH at a dose range of 10 to 90 mg/kg and ethambutol (EMB at 100 to 1000 mg/kg showed shallow dose responses. Pyrazinamide (PZA had no dose response between 300 and 1000 mg/kg dose range. In a separate time kill study at fixed drug doses (RIF 90 mg/kg, INH 30 mg/kg, EMB 300 mg/kg, and PZA 300 mg/kg the bactericidal effect of all the four drugs increased with longer duration of treatment from two weeks to four weeks. The observed infection profile and therapeutic outcomes in this rat model suggest that it can be used as an additional, pharmacologically relevant efficacy model to develop novel antitubercular compounds at the interface of discovery and development.

Establishment of an induced rat model of malignant pleural mesothelioma

International Nuclear Information System (INIS)

Han Dan; Wu Beihai; Yang Hongsheng; Song Guangyi

2004-01-01

Objective: To establish a convenient and practical malignant pleural mesothelioma (MPM) model induced by crocidolite in Da Yao, which has a high induction rate and can be used for imaging and multiple experimental studies and is similar to human MPM. Methods 40 mg of crocidolite suspension was injected into the right chest cavity in 100 Wistar rats in the test group, while same amount of sterilized saline water was injected in 20 rats in the control group. The animals were observed daily , and weighted once a month. CT scanning was performed regularly. When the rats were dead or dying, they were dissected immediately and pathological changes were recorded after CT examination. The experiment lasted for 2 years. Results: The overall induction rate was 71.6%. The survival time of the first MPM rat was 285 days. The mean living span of rats with MPM was (469 ± 21) days. The pathological features of the induced MPMs were multiple morphologically and there were some CT features in different periods. CT imaging could show some MPM features and find the tumour earlier. Conclusion: The cause, positions, tissues and clinical condition of induced tumors were the same as humans. The model had a higher similarity with human MPM in differentiation degree and histological type, and the model can be used to study the mechanism of MPM, to discuss the measures of prevention, and to guide clinical diagnosis and treatment. Multi-morphology of the history from the induced tumors could make up the shortage, which was the difficulty in getting all periods of tissue samples in clinical research and being used in imaging and many kinds of researches. It was a valuable animal model to study MPM. (authors)

Absence of “Warm-Up” during Active Avoidance Learning in a Rat Model of Anxiety Vulnerability: Insights from Computational Modeling

Science.gov (United States)

Myers, Catherine E.; Smith, Ian M.; Servatius, Richard J.; Beck, Kevin D.

2014-01-01

Avoidance behaviors, in which a learned response causes omission of an upcoming punisher, are a core feature of many psychiatric disorders. While reinforcement learning (RL) models have been widely used to study the development of appetitive behaviors, less attention has been paid to avoidance. Here, we present a RL model of lever-press avoidance learning in Sprague-Dawley (SD) rats and in the inbred Wistar Kyoto (WKY) rat, which has been proposed as a model of anxiety vulnerability. We focus on “warm-up,” transiently decreased avoidance responding at the start of a testing session, which is shown by SD but not WKY rats. We first show that a RL model can correctly simulate key aspects of acquisition, extinction, and warm-up in SD rats; we then show that WKY behavior can be simulated by altering three model parameters, which respectively govern the tendency to explore new behaviors vs. exploit previously reinforced ones, the tendency to repeat previous behaviors regardless of reinforcement, and the learning rate for predicting future outcomes. This suggests that several, dissociable mechanisms may contribute independently to strain differences in behavior. The model predicts that, if the “standard” inter-session interval is shortened from 48 to 24 h, SD rats (but not WKY) will continue to show warm-up; we confirm this prediction in an empirical study with SD and WKY rats. The model further predicts that SD rats will continue to show warm-up with inter-session intervals as short as a few minutes, while WKY rats will not show warm-up, even with inter-session intervals as long as a month. Together, the modeling and empirical data indicate that strain differences in warm-up are qualitative rather than just the result of differential sensitivity to task variables. Understanding the mechanisms that govern expression of warm-up behavior in avoidance may lead to better understanding of pathological avoidance, and potential pathways to modify these processes. PMID

Rats Fed a Diet Rich in Fats and Sugars Are Impaired in the Use of Spatial Geometry.

Science.gov (United States)

Tran, Dominic M D; Westbrook, R Frederick

2015-12-01

A diet rich in fats and sugars is associated with cognitive deficits in people, and rodent models have shown that such a diet produces deficits on tasks assessing spatial learning and memory. Spatial navigation is guided by two distinct types of information: geometrical, such as distance and direction, and featural, such as luminance and pattern. To clarify the nature of diet-induced spatial impairments, we provided rats with standard chow supplemented with sugar water and a range of energy-rich foods eaten by people, and then we assessed their place- and object-recognition memory. Rats exposed to this diet performed comparably with control rats fed only chow on object recognition but worse on place recognition. This impairment on the place-recognition task was present after only a few days on the diet and persisted across tests. Critically, this spatial impairment was specific to the processing of distance and direction. © The Author(s) 2015.

Usability Testing of Two Ambulatory EHR Navigators.

Science.gov (United States)

Hultman, Gretchen; Marquard, Jenna; Arsoniadis, Elliot; Mink, Pamela; Rizvi, Rubina; Ramer, Tim; Khairat, Saif; Fickau, Keri; Melton, Genevieve B

2016-01-01

Despite widespread electronic health record (EHR) adoption, poor EHR system usability continues to be a significant barrier to effective system use for end users. One key to addressing usability problems is to employ user testing and user-centered design. To understand if redesigning an EHR-based navigation tool with clinician input improved user performance and satisfaction. A usability evaluation was conducted to compare two versions of a redesigned ambulatory navigator. Participants completed tasks for five patient cases using the navigators, while employing a think-aloud protocol. The tasks were based on Meaningful Use (MU) requirements. The version of navigator did not affect perceived workload, and time to complete tasks was longer in the redesigned navigator. A relatively small portion of navigator content was used to complete the MU-related tasks, though navigation patterns were highly variable across participants for both navigators. Preferences for EHR navigation structures appeared to be individualized. This study demonstrates the importance of EHR usability assessments to evaluate group and individual performance of different interfaces and preferences for each design.

An IMM-Aided ZUPT Methodology for an INS/DVL Integrated Navigation System.

Science.gov (United States)

Yao, Yiqing; Xu, Xiaosu; Xu, Xiang

2017-09-05

Inertial navigation system (INS)/Doppler velocity log (DVL) integration is the most common navigation solution for underwater vehicles. Due to the complex underwater environment, the velocity information provided by DVL always contains some errors. To improve navigation accuracy, zero velocity update (ZUPT) technology is considered, which is an effective algorithm for land vehicles to mitigate the navigation error during the pure INS mode. However, in contrast to ground vehicles, the ZUPT solution cannot be used directly for underwater vehicles because of the existence of the water current. In order to leverage the strengths of the ZUPT method and the INS/DVL solution, an interactive multiple model (IMM)-aided ZUPT methodology for the INS/DVL-integrated underwater navigation system is proposed. Both the INS/DVL and INS/ZUPT models are constructed and operated in parallel, with weights calculated according to their innovations and innovation covariance matrices. Simulations are conducted to evaluate the proposed algorithm. The results indicate that the IMM-aided ZUPT solution outperforms both the INS/DVL solution and the INS/ZUPT solution in the underwater environment, which can properly distinguish between the ZUPT and non-ZUPT conditions. In addition, during DVL outage, the effectiveness of the proposed algorithm is also verified.

Morphofunctional analysis of experimental model of esophageal achalasia in rats.

Science.gov (United States)

Sabirov, A G; Raginov, I S; Burmistrov, M V; Chelyshev, Y A; Khasanov, R Sh; Moroshek, A A; Grigoriev, P N; Zefirov, A L; Mukhamedyarov, M A

2010-10-01

We carried out a detailed analysis of rat model of esophageal achalasia previously developed by us. Manifest morphological and functional disorders were observed in experimental achalasia: hyperplasia of the squamous epithelium, reduced number of nerve fibers, excessive growth of fibrous connective tissue in the esophageal wall, high contractile activity of the lower esophageal sphincter, and reduced motility of the longitudinal muscle layer. Changes in rat esophagus observed in experimental achalasia largely correlate with those in esophageal achalasia in humans. Hence, our experimental model can be used for the development of new methods of disease treatment.

Particle Filter for Fault Diagnosis and Robust Navigation of Underwater Robot

DEFF Research Database (Denmark)

Zhao, Bo; Skjetne, Roger; Blanke, Mogens

2014-01-01

A particle filter based robust navigation with fault diagnosis is designed for an underwater robot, where 10 failure modes of sensors and thrusters are considered. The nominal underwater robot and its anomaly are described by a switchingmode hidden Markov model. By extensively running a particle...... filter on the model, the fault diagnosis and robust navigation are achieved. Closed-loop full-scale experimental results show that the proposed method is robust, can diagnose faults effectively, and can provide good state estimation even in cases where multiple faults occur. Comparing with other methods...

75 FR 50884 - Navigation and Navigable Waters; Technical, Organizational, and Conforming Amendments, Sector...

Science.gov (United States)

2010-08-18

... 3 and 165 to reflect changes in Coast Guard internal organizational structure. Sector Portland and... 1625-ZA25 Navigation and Navigable Waters; Technical, Organizational, and Conforming Amendments, Sector... Waters; Technical, Organizational, and Conforming Amendments, Sector Columbia River.'' 2. On page 48564...

Pharmacokinetic-pharmacodynamic modeling of diclofenac in normal and Freund's complete adjuvant-induced arthritic rats

Science.gov (United States)

Zhang, Jing; Li, Pei; Guo, Hai-fang; Liu, Li; Liu, Xiao-dong

2012-01-01

Aim: To characterize pharmacokinetic-pharmacodynamic modeling of diclofenac in Freund's complete adjuvant (FCA)-induced arthritic rats using prostaglandin E2 (PGE2) as a biomarker. Methods: The pharmacokinetics of diclofenac was investigated using 20-day-old arthritic rats. PGE2 level in the rats was measured using an enzyme immunoassay. A pharmacokinetic-pharmacodynamic (PK-PD) model was developed to illustrate the relationship between the plasma concentration of diclofenac and the inhibition of PGE2 production. The inhibition of diclofenac on lipopolysaccharide (LPS)-induced PGE2 production in blood cells was investigated in vitro. Results: Similar pharmacokinetic behavior of diclofenac was found both in normal and FCA-induced arthritic rats. Diclofenac significantly decreased the plasma levels of PGE2 in both normal and arthritic rats. The inhibitory effect on PGE2 levels in the plasma was in proportion to the plasma concentration of diclofenac. No delay in the onset of inhibition was observed, suggesting that the effect compartment was located in the central compartment. An inhibitory effect sigmoid Imax model was selected to characterize the relationship between the plasma concentration of diclofenac and the inhibition of PGE2 production in vivo. The Imax model was also used to illustrate the inhibition of diclofenac on LPS-induced PGE2 production in blood cells in vitro. Conclusion: Arthritis induced by FCA does not alter the pharmacokinetic behaviors of diclofenac in rats, but the pharmacodynamics of diclofenac is slightly affected. A PK-PD model characterizing an inhibitory effect sigmoid Imax can be used to fit the relationship between the plasma PGE2 and diclofenac levels in both normal rats and FCA-induced arthritic rats. PMID:22842736

Navigation Study, Colorado Locks, Colorado River, Matagorda, Texas

National Research Council Canada - National Science Library

McCollum, Randy

2000-01-01

A 1:70 physical navigation model was built to replicate the Matagorda Locks, approximately one mile of the GIWW east of the locks, approximately one-half mile of the Colorado River north of the GIWW...

Hybrid extended particle filter (HEPF) for integrated inertial navigation and global positioning systems

International Nuclear Information System (INIS)

Aggarwal, Priyanka; Syed, Zainab; El-Sheimy, Naser

2009-01-01

Navigation includes the integration of methodologies and systems for estimating time-varying position, velocity and attitude of moving objects. Navigation incorporating the integrated inertial navigation system (INS) and global positioning system (GPS) generally requires extensive evaluations of nonlinear equations involving double integration. Currently, integrated navigation systems are commonly implemented using the extended Kalman filter (EKF). The EKF assumes a linearized process, measurement models and Gaussian noise distributions. These assumptions are unrealistic for highly nonlinear systems like land vehicle navigation and may cause filter divergence. A particle filter (PF) is developed to enhance integrated INS/GPS system performance as it can easily deal with nonlinearity and non-Gaussian noises. In this paper, a hybrid extended particle filter (HEPF) is developed as an alternative to the well-known EKF to achieve better navigation data accuracy for low-cost microelectromechanical system sensors. The results show that the HEPF performs better than the EKF during GPS outages, especially when simulated outages are located in periods with high vehicle dynamics

Royal Jelly Prevents Osteoporosis in Rats: Beneficial Effects in Ovariectomy Model and in Bone Tissue Culture Model

Directory of Open Access Journals (Sweden)

Saburo Hidaka

2006-01-01

Full Text Available Royal jelly (RJ has been used worldwide for many years as medical products, health foods and cosmetics. Since RJ contains testosterone and has steroid hormone-type activities, we hypothesized that it may have beneficial effects on osteoporosis. We used both an ovariectomized rat model and a tissue culture model. Rats were divided into eight groups as follows: sham-operated (Sham, ovariectomized (OVX, OVX given 0.5% (w/w raw RJ, OVX given 2.0% (w/w RJ, OVX given 0.5% (w/w protease-treated RJ (pRJ, OVX given 2.0% (w/w pRJ, OVX given 17β-estradiol and OVX given its vehicle, respectively. The Ovariectomy decreased tibial bone mineral density (BMD by 24%. Administration of 17β-estradiol to OVX rats recovered the tibial BMD decrease by 100%. Administration of 2.0% (w/w RJ and 0.5–2.0% (w/w pRJ to OVX rats recovered it by 85% or more. These results indicate that both RJ and pRJ are almost as effective as 17β-estradiol in preventing the development of bone loss induced by ovariectomy in rats. In tissue culture models, both RJ and pRJ increased calcium contents in femoral-diaphyseal and femoral-metaphyseal tissue cultures obtained from normal male rats. However, in a mouse marrow culture model, they neither inhibited the parathyroid hormone (PTH-induced calcium loss nor affected the formation of osteoclast-like cells induced by PTH in mouse marrow culture system. Therefore, our results suggest that both RJ and pRJ may prevent osteoporosis by enhancing intestinal calcium absorption, but not by directly antagonizing the action of PTH.

Getting Lost Through Navigation

DEFF Research Database (Denmark)

Debus, Michael S.

2017-01-01

In this presentation, I argued two things. First, that it is navigation that lies at the core of contemporary (3D-) videogames and that its analysis is of utmost importance. Second, that this analysis needs a more rigorous differentiation between specific acts of navigation. Considering the Oxford...... in videogames is a configurational rather than an interpretational one (Eskelinen 2001). Especially in the case of game spaces, navigation appears to be of importance (Wolf 2009; Flynn 2008). Further, it does not only play a crucial role for the games themselves, but also for the experience of the player...

Inertial navigation without accelerometers

Science.gov (United States)

Boehm, M.

The Kennedy-Thorndike (1932) experiment points to the feasibility of fiber-optic inertial velocimeters, to which state-of-the-art technology could furnish substantial sensitivity and accuracy improvements. Velocimeters of this type would obviate the use of both gyros and accelerometers, and allow inertial navigation to be conducted together with vehicle attitude control, through the derivation of rotation rates from the ratios of the three possible velocimeter pairs. An inertial navigator and reference system based on this approach would probably have both fewer components and simpler algorithms, due to the obviation of the first level of integration in classic inertial navigators.

Robust Pedestrian Navigation for Challenging Applications

OpenAIRE

Gilliéron, PY; Renaudin, V

2009-01-01

Presentation of a concept for robust indoor navigation. The concept is based on three key elements: - the use of an absolute geographical reference - the hybridisation of complementary technologies - specific motion models. This concept is illustrated by the means of two applications: the urban displacement of blind people and the indoor guidance of fire-fighters

A human motion model based on maps for navigation systems

Directory of Open Access Journals (Sweden)

Kaiser Susanna

2011-01-01

Full Text Available Abstract Foot-mounted indoor positioning systems work remarkably well when using additionally the knowledge of floor-plans in the localization algorithm. Walls and other structures naturally restrict the motion of pedestrians. No pedestrian can walk through walls or jump from one floor to another when considering a building with different floor-levels. By incorporating known floor-plans in sequential Bayesian estimation processes such as particle filters (PFs, long-term error stability can be achieved as long as the map is sufficiently accurate and the environment sufficiently constraints pedestrians' motion. In this article, a new motion model based on maps and floor-plans is introduced that is capable of weighting the possible headings of the pedestrian as a function of the local environment. The motion model is derived from a diffusion algorithm that makes use of the principle of a source effusing gas and is used in the weighting step of a PF implementation. The diffusion algorithm is capable of including floor-plans as well as maps with areas of different degrees of accessibility. The motion model more effectively represents the probability density function of possible headings that are restricted by maps and floor-plans than a simple binary weighting of particles (i.e., eliminating those that crossed walls and keeping the rest. We will show that the motion model will help for obtaining better performance in critical navigation scenarios where two or more modes may be competing for some of the time (multi-modal scenarios.

Particle Filter Based Fault-tolerant ROV Navigation using Hydro-acoustic Position and Doppler Velocity Measurements

DEFF Research Database (Denmark)

Zhao, Bo; Blanke, Mogens; Skjetne, Roger

2012-01-01

This paper presents a fault tolerant navigation system for a remotely operated vehicle (ROV). The navigation system uses hydro-acoustic position reference (HPR) and Doppler velocity log (DVL) measurements to achieve an integrated navigation. The fault tolerant functionality is based on a modied...... particle lter. This particle lter is able to run in an asynchronous manner to accommodate the measurement drop out problem, and it overcomes the measurement outliers by switching observation models. Simulations with experimental data show that this fault tolerant navigation system can accurately estimate...

Characterization of SV-40 Tag rats as a model to study prostate cancer

International Nuclear Information System (INIS)

Harper, Curt E; Patel, Brijesh B; Cook, Leah M; Wang, Jun; Shirai, Tomoyuki; Eltoum, Isam A; Lamartiniere, Coral A

2009-01-01

Prostate cancer is the second most frequently diagnosed cancer in men. Animal models that closely mimic clinical disease in humans are invaluable tools in the fight against prostate cancer. Recently, a Simian Virus-40 T-antigen (SV-40 Tag) targeted probasin promoter rat model was developed. This model, however, has not been extensively characterized; hence we have investigated the ontogeny of prostate cancer and determined the role of sex steroid receptor and insulin-like growth factor-1 (IGF-1) signaling proteins in the novel SV-40 Tag rat. The SV-40 Tag rat was histopathologically characterized for time to tumor development, incidence and multiplicity and in the ventral, dorsal, lateral and anterior lobes of the prostate. Immunoassay techniques were employed to measure cell proliferation, apoptosis, and sex steroid receptor and growth factor signaling-related proteins. Steroid hormone concentrations were measured via coated well enzyme linked immunosorbent assay (ELISA) kits. Prostatic intraepithelial neoplasia (PIN) and well-differentiated prostate cancer developed as early as 2 and 10 weeks of age, respectively in the ventral prostate (VP) followed by in the dorsolateral (DLP). At 8 weeks of age, testosterone and dihydrotestosterone (DHT) concentrations in SV-40 Tag rats were increased when compared to non-transgenic rats. High cell proliferation and apoptotic indices were found in VP and DLP of transgenic rats. Furthermore, we observed increased protein expression of androgen receptor, IGF-1, IGF-1 receptor, and extracellular signal-regulated kinases in the prostates of SV-40 Tag rats. The rapid development of PIN and prostate cancer in conjunction with the large prostate size makes the SV-40 Tag rat a useful model for studying prostate cancer. This study provides evidence of the role of sex steroid and growth factor proteins in prostate cancer development and defines appropriate windows of opportunity for preclinical trials and aids in the rational design of

Radiation-induced cognitive dysfunction: an experimental model in the old rat

Energy Technology Data Exchange (ETDEWEB)

Lamproglou, Ioannis; Chen, QI Ming; Boisserie, Gilbert; Mazeron, Jean-Jacques; Poisson, Michel; Baillet, Francois; Le Poncin, Monique; Delattre, Jean-Yves

1995-01-01

Purpose: To develop a model of radiation-induced behavioral dysfunction. Methods and Materials: A course of whole brain radiation therapy (30 Gy/10 fractions/12 days) was administered to 26 Wistar rats ages 16-27 months, while 26 control rats received sham irradiation. Sequential behavioral studies including one-way avoidance, two-way avoidance, and a standard operant conditioning method (press-lever avoidance) were undertaken. In addition, rats were studied in a water maze 7 months postradiation therapy. Results: Prior to radiation therapy, both groups were similar. No difference was found 1 and 3 months postradiation therapy. At 6-7 months postradiation therapy, irradiated rats had a much lower percentage of avoidance than controls for one-way avoidance (23% vs. 55%, p {<=} 0.001) and two-way avoidance (18% vs. 40%, p {<=} 0.01). Seven months postradiation therapy the reaction time was increased (press-lever avoidance, 11.20 s vs. 8.43 s, p {<=} 0.05) and the percentage of correct response was lower (water maze, 53% vs. 82%) in irradiated rats compared with controls. Pathological examination did not demonstrate abnormalities of the irradiated brains at the light microscopic level. Conclusion: Behavioral dysfunction affecting mainly memory can be demonstrated following conventional radiation therapy in old rats. This model can be used to study the pathogenesis of radiation-induced cognitive changes.

Radiation-induced cognitive dysfunction: an experimental model in the old rat

International Nuclear Information System (INIS)

Lamproglou, Ioannis; Chen, QI Ming; Boisserie, Gilbert; Mazeron, Jean-Jacques; Poisson, Michel; Baillet, Francois; Le Poncin, Monique; Delattre, Jean-Yves

1995-01-01

Purpose: To develop a model of radiation-induced behavioral dysfunction. Methods and Materials: A course of whole brain radiation therapy (30 Gy/10 fractions/12 days) was administered to 26 Wistar rats ages 16-27 months, while 26 control rats received sham irradiation. Sequential behavioral studies including one-way avoidance, two-way avoidance, and a standard operant conditioning method (press-lever avoidance) were undertaken. In addition, rats were studied in a water maze 7 months postradiation therapy. Results: Prior to radiation therapy, both groups were similar. No difference was found 1 and 3 months postradiation therapy. At 6-7 months postradiation therapy, irradiated rats had a much lower percentage of avoidance than controls for one-way avoidance (23% vs. 55%, p ≤ 0.001) and two-way avoidance (18% vs. 40%, p ≤ 0.01). Seven months postradiation therapy the reaction time was increased (press-lever avoidance, 11.20 s vs. 8.43 s, p ≤ 0.05) and the percentage of correct response was lower (water maze, 53% vs. 82%) in irradiated rats compared with controls. Pathological examination did not demonstrate abnormalities of the irradiated brains at the light microscopic level. Conclusion: Behavioral dysfunction affecting mainly memory can be demonstrated following conventional radiation therapy in old rats. This model can be used to study the pathogenesis of radiation-induced cognitive changes

Radiation-induced cognitive dysfunction: An experimental model in the old rat

International Nuclear Information System (INIS)

Lamproglou, I.; Chen, Q.M.; Poisson, M.

1995-01-01

To develop a model of radiation-induced behavioral dysfunction. A course of whole brain radiation therapy (30 Gy/10 fractions/12 days) was administered to 26 Wistar rats ages 16-27 months, while 26 control rats received sham irradiation. Sequential behavioral studies including one-way avoidance, two-way avoidance, and a standard operant conditioning method (press-lever avoidance) were undertaken. In addition, rats were studied in a water maze 7 months postradiation therapy. Prior to radiation therapy, both groups were similar. No difference was found 1 and 3 months postradiation therapy. At 6-7 months postradiation therapy, irradiated rats had a much lower percentage of avoidance than controls for one-way avoidance (23% vs. 55%, p ≤ 0.001) and two-way avoidance (18% vs. 40%, p ≤ 0.01). Seven months postradiation therapy the reaction time was increased (press-lever avoidance, 11.20 s vs. 8.43 s, p ≤ 0.05) and the percentage of correct response was lower (water maze, 53% vs. 82%) in irradiated rats compared with controls. Pathological examination did not demonstrate abnormalities of the irradiated brains at the light microscopic level. Behavioral dysfunction affecting mainly memory can be demonstrated following conventional radiation therapy in old rats. This model can be used to study the pathogenesis of radiation-induced cognitive changes. 15 refs., 3 figs., 1 tab

Prevention of injury by resveratrol in a rat model of adenine-induced ...

African Journals Online (AJOL)

phosphorous, and fibroblast growth factor-23 (FGF-23) in rat urine samples after 2 months of adenine ... parathyroid hormone, phosphorous and FGF-23 levels (p < 0.002). In rats ... cartilage degradation in animal models of arthritis. [11].

Attention and executive functions in a rat model of chronic epilepsy.

Science.gov (United States)

Faure, Jean-Baptiste; Marques-Carneiro, José E; Akimana, Gladys; Cosquer, Brigitte; Ferrandon, Arielle; Herbeaux, Karine; Koning, Estelle; Barbelivien, Alexandra; Nehlig, Astrid; Cassel, Jean-Christophe

2014-05-01

Temporal lobe epilepsy is a relatively frequent, invalidating, and often refractory neurologic disorder. It is associated with cognitive impairments that affect memory and executive functions. In the rat lithium-pilocarpine temporal lobe epilepsy model, memory impairment and anxiety disorder are classically reported. Here we evaluated sustained visual attention in this model of epilepsy, a function not frequently explored. Thirty-five Sprague-Dawley rats were subjected to lithium-pilocarpine status epilepticus. Twenty of them received a carisbamate treatment for 7 days, starting 1 h after status epilepticus onset. Twelve controls received lithium and saline. Five months later, attention was assessed in the five-choice serial reaction time task, a task that tests visual attention and inhibitory control (impulsivity/compulsivity). Neuronal counting was performed in brain regions of interest to the functions studied (hippocampus, prefrontal cortex, nucleus basalis magnocellularis, and pedunculopontine tegmental nucleus). Lithium-pilocarpine rats developed motor seizures. When they were able to learn the task, they exhibited attention impairment and a tendency toward impulsivity and compulsivity. These disturbances occurred in the absence of neuronal loss in structures classically related to attentional performance, although they seemed to better correlate with neuronal loss in hippocampus. Globally, rats that received carisbamate and developed motor seizures were as impaired as untreated rats, whereas those that did not develop overt motor seizures performed like controls, despite evidence for hippocampal damage. This study shows that attention deficits reported by patients with temporal lobe epilepsy can be observed in the lithium-pilocarpine model. Carisbamate prevents the occurrence of motor seizures, attention impairment, impulsivity, and compulsivity in a subpopulation of neuroprotected rats. Wiley Periodicals, Inc. © 2014 International League Against Epilepsy.

78 FR 41304 - Navigation and Navigable Waters; Technical, Organizational, and Conforming Amendments; Correction

Science.gov (United States)

2013-07-10

... DEPARTMENT OF HOMELAND SECURITY Coast Guard 33 CFR Part 105 [Docket No. USCG-2013-0397] RIN 1625-AC06 Navigation and Navigable Waters; Technical, Organizational, and Conforming Amendments; Correction AGENCY: Coast Guard, DHS. ACTION: Final rule; correction. SUMMARY: The Coast Guard published a final rule...

Chemotaxis of C. elegans in 3D media: a model for navigation of undulatory microswimmers

Science.gov (United States)

Patel, Amar; Bilbao, Alejandro; Rahman, Mizanur; Vanapalli, Siva; Blawzdziewicz, Jerzy

2017-11-01

While the natural environment of C. elegans consists of complex 3D media (e.g., decomposing organic matter and water), most studies of chemotactic behavior of this nematode are limited to 2D. We present a 3D chemotaxis model that combines a realistic geometrical representation of body movements associated with 3D maneuvers, an analysis of mechanical interactions of the nematode body with the surrounding medium to determine nematode trajectories, and a simple memory-function description of chemosensory apparatus that controls the frequency, magnitude, and timing of turning maneuvers. We show that two main chemotaxis strategies of C. elegans moving in 2D, i.e., the biased random walk and gradual turn, are effective also in 3D, provided that 2D turns are supplemented by the roll maneuvers that enable 3D reorientation. Optimal choices of chemosensing and gait-control parameters are discussed; we show that the nematode can maintain efficient chemotaxis in burrowing and swimming by adjusting the undulation frequency alone, without changing the chemotactic component of the body control. Understanding how C. elegans efficiently navigates in 3D media may help in developing self-navigating artificial microswimmers. Supported by NSF Grant No. CBET 1603627.

Restricted Navigation Areas - USACE IENC

Data.gov (United States)

Department of Homeland Security — These inland electronic Navigational charts (IENCs) were developed from available data used in maintenance of Navigation channels. Users of these IENCs should be...

NFC Internal: An Indoor Navigation System

Science.gov (United States)

Ozdenizci, Busra; Coskun, Vedat; Ok, Kerem

2015-01-01

Indoor navigation systems have recently become a popular research field due to the lack of GPS signals indoors. Several indoors navigation systems have already been proposed in order to eliminate deficiencies; however each of them has several technical and usability limitations. In this study, we propose NFC Internal, a Near Field Communication (NFC)-based indoor navigation system, which enables users to navigate through a building or a complex by enabling a simple location update, simply by touching NFC tags those are spread around and orient users to the destination. In this paper, we initially present the system requirements, give the design details and study the viability of NFC Internal with a prototype application and a case study. Moreover, we evaluate the performance of the system and compare it with existing indoor navigation systems. It is seen that NFC Internal has considerable advantages and significant contributions to existing indoor navigation systems in terms of security and privacy, cost, performance, robustness, complexity, user preference and commercial availability. PMID:25825976

Three dimensional computed tomography lung modeling is useful in simulation and navigation of lung cancer surgery.

Science.gov (United States)

Ikeda, Norihiko; Yoshimura, Akinobu; Hagiwara, Masaru; Akata, Soichi; Saji, Hisashi

2013-01-01

The number of minimally invasive operations, such as video-assisted thoracoscopic surgery (VATS) lobectomy or segmentectomy, has enormously increased in recent years. These operations require extreme knowledge of the anatomy of pulmonary vessels and bronchi in each patient, and surgeons must carefully dissect the branches of pulmonary vessels during operation. Thus, foreknowledge of the anatomy of each patient would greatly contribute to the safety and accuracy of the operation. The development of multi-detector computed tomography (MDCT) has promoted three dimensional (3D) images of lung structures. It is possible to see the vascular and bronchial structures from the view of the operator; therefore, it is employed for preoperative simulation as well as navigation during operation. Due to advances in software, even small vessels can be accurately imaged, which is useful in performing segmentectomy. Surgical simulation and navigation systems based on high quality 3D lung modeling, including vascular and bronchial structures, can be used routinely to enhance the safety operation, education of junior staff, as well as providing a greater sense of security to the operators.

Cardioprotective Effect of the Compound Yangshen Granule in Rat Models with Acute Myocardial Infarction

Directory of Open Access Journals (Sweden)

Xie Ming

2012-01-01

Full Text Available The protective effect of Compound Yangshen Granules was observed in myocardial infarction rat model. Rats were randomly divided into 6 groups: the model group, the control group (sham operated, the positive drug group, and small, medium, and large dosage of the Yangshen granule groups, respectively. The rats in the 3 Yangshen granule groups were orally administrated with 0.7 g/kg, 1.4 g/kg, and 2.8 g/kg for 7 consecutive days, whereas the rats of the positive drug group treated with 0.14 g/kg of Danshen Dropping Pills, and rats in the control and model groups orally administrated with saline. The rat model of acute myocardial infarction was established with ligation of coronary artery. Electrocardiograms at different time points, the blood rheology, myocardial enzymes, infarct size, and myocardial morphologic changes were measured. The results demonstrated that the granules could improve blood rheology, decrease st-segment of electrocardiograms and the activities of LDH and CK in serum, reduce myocardial infarction size, and alleviate myocardial histopathologic changes. In addition, the effect of the granules depended on the dose administrated orally. The results suggest that the Yangshen granules could produce cardioprotection effect and have potential benefits in the prevention of ischemic heart disease.

Establishment of reproducible osteosarcoma rat model using orthotopic implantation technique.

Science.gov (United States)

Yu, Zhe; Sun, Honghui; Fan, Qingyu; Long, Hua; Yang, Tongtao; Ma, Bao'an

2009-05-01

In experimental musculoskeletal oncology, there remains a need for animal models that can be used to assess the efficacy of new and innovative treatment methodologies for bone tumors. Rat plays a very important role in the bone field especially in the evaluation of metabolic bone diseases. The objective of this study was to develop a rat osteosarcoma model for evaluation of new surgical and molecular methods of treatment for extremity sarcoma. One hundred male SD rats weighing 125.45+/-8.19 g were divided into 5 groups and anesthetized intraperitoneally with 10% chloral hydrate. Orthotopic implantation models of rat osteosarcoma were performed by injecting directly into the SD rat femur with a needle for inoculation with SD tumor cells. In the first step of the experiment, 2x10(5) to 1x10(6) UMR106 cells in 50 microl were injected intraosseously into median or distal part of the femoral shaft and the tumor take rate was determined. The second stage consisted of determining tumor volume, correlating findings from ultrasound with findings from necropsia and determining time of survival. In the third stage, the orthotopically implanted tumors and lung nodules were resected entirely, sectioned, and then counter stained with hematoxylin and eosin for histopathologic evaluation. The tumor take rate was 100% for implants with 8x10(5) tumor cells or more, which was much less than the amount required for subcutaneous implantation, with a high lung metastasis rate of 93.0%. Ultrasound and necropsia findings matched closely (r=0.942; p<0.01), which demonstrated that Doppler ultrasonography is a convenient and reliable technique for measuring cancer at any stage. Tumor growth curve showed that orthotopically implanted tumors expanded vigorously with time-lapse, especially in the first 3 weeks. The median time of survival was 38 days and surgical mortality was 0%. The UMR106 cell line has strong carcinogenic capability and high lung metastasis frequency. The present rat

External Aiding Methods for IMU-Based Navigation

Science.gov (United States)

2016-11-26

Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 3.2.1 Startup Bias...Figure Page 1 Three Distributions Implemented for Error Parameters in SAIMUN . . . . . . . . . . . . 5 2 Accelerometer Output Corrupted by Startup ...external aiding, simulate the error sources encountered in the acquisition of measurement data, emulate the navigation software, and perform a range of

75 FR 48564 - Navigation and Navigable Waters; Technical, Organizational, and Conforming Amendments, Sector...

Science.gov (United States)

2010-08-11

... DEPARTMENT OF HOMELAND SECURITY Coast Guard 33 CFR Parts 3 and 165 [Docket No. USCG-2010-0351] RIN 1625-ZA25 Navigation and Navigable Waters; Technical, Organizational, and Conforming Amendments, Sector Columbia River, WA AGENCY: Coast Guard, DHS. ACTION: Final rule. SUMMARY: This rule makes non-substantive...

Sex differences in navigation strategy and efficiency.

Science.gov (United States)

Boone, Alexander P; Gong, Xinyi; Hegarty, Mary

2018-05-22

Research on human navigation has indicated that males and females differ in self-reported navigation strategy as well as objective measures of navigation efficiency. In two experiments, we investigated sex differences in navigation strategy and efficiency using an objective measure of strategy, the dual-solution paradigm (DSP; Marchette, Bakker, & Shelton, 2011). Although navigation by shortcuts and learned routes were the primary strategies used in both experiments, as in previous research on the DSP, individuals also utilized route reversals and sometimes found the goal location as a result of wandering. Importantly, sex differences were found in measures of both route selection and navigation efficiency. In particular, males were more likely to take shortcuts and reached their goal location faster than females, while females were more likely to follow learned routes and wander. Self-report measures of strategy were only weakly correlated with objective measures of strategy, casting doubt on their usefulness. This research indicates that the sex difference in navigation efficiency is large, and only partially related to an individual's navigation strategy as measured by the dual-solution paradigm.

Celestial Navigation in the USA, Fiji, and Tunisia

Science.gov (United States)

Holbrook, Jarita C.

2015-05-01

Today there are many coastal communities that are home to navigators who use stars for position finding at night; I was, however, unaware of this fact when I began researching celestial navigation practices in 1997. My project focused on three communities: the Moce Islanders of Fiji, the Kerkennah Islanders in Tunisia, and the U.S. Navy officers and students at the United States Naval Academy, Annapolis, Maryland. My goal was to answer the question of why people continue to navigate by the stars, but also to understand the role of technology in their navigation practices. Using anthropology techniques of ethnography including participant observation, formal and informal interviews, audio and videotaping, I gathered data over five years at the three communities. I began by learning the details of how they use the stars for navigation. Next, I learned about who did the navigation and where they learned to navigate. I gathered opinions on various navigation aids and instruments, and opinions about the future of using the stars for navigation. I listened to the stories that they told about navigating. In the United States I worked in English, in Fiji, in Fijian and English, and in Tunisia, French and English. For the formal interviews I worked with translators. The navigators use stars for navigating today but the future of their techniques is not certain. Though practiced today, these celestial navigation traditions have undergone and continue to undergo changes. New navigational technologies are part of the stimulation for change, thus 'a meeting of different worlds' is symbolized by peoples encounters with these technologies.

Volumetric abnormalities of the brain in a rat model of recurrent headache.

Science.gov (United States)

Jia, Zhihua; Tang, Wenjing; Zhao, Dengfa; Hu, Guanqun; Li, Ruisheng; Yu, Shengyuan

2018-01-01

Voxel-based morphometry is used to detect structural brain changes in patients with migraine. However, the relevance of migraine and structural changes is not clear. This study investigated structural brain abnormalities based on voxel-based morphometry using a rat model of recurrent headache. The rat model was established by infusing an inflammatory soup through supradural catheters in conscious male rats. Rats were subgrouped according to the frequency and duration of the inflammatory soup infusion. Tactile sensory testing was conducted prior to infusion of the inflammatory soup or saline. The periorbital tactile thresholds in the high-frequency inflammatory soup stimulation group declined persistently from day 5. Increased white matter volume was observed in the rats three weeks after inflammatory soup stimulation, brainstem in the in the low-frequency inflammatory soup-infusion group and cortex in the high-frequency inflammatory soup-infusion group. After six weeks' stimulation, rats showed gray matter volume changes. The brain structural abnormalities recovered after the stimulation was stopped in the low-frequency inflammatory soup-infused rats and persisted even after the high-frequency inflammatory soup stimulus stopped. The changes of voxel-based morphometry in migraineurs may be the result of recurrent headache. Cognition, memory, and learning may play an important role in the chronification of migraines. Reducing migraine attacks has the promise of preventing chronicity of migraine.

Nautical Navigation Aids (NAVAID) Locations

Data.gov (United States)

Department of Homeland Security — Structures intended to assist a navigator to determine position or safe course, or to warn of dangers or obstructions to navigation. This dataset includes lights,...

Genital mycoplasmosis in rats: a model for intrauterine infection.

Science.gov (United States)

Brown, M B; Peltier, M; Hillier, M; Crenshaw, B; Reyes, L

2001-09-01

Microbial infections of the chorioamnion and amniotic fluid have devastating effects on pregnancy outcome and neonatal morbidity and mortality. The mechanisms by which bacterial pathogens cause adverse effects are best addressed by an animal model of the disease with a naturally-occurring pathogen. Intrauterine infection in humans as well as genital mycoplasmosis in humans and rodents is reviewed. We describe a genital infection in rats, which provides a model for the role of infection in pregnancy, pregnancy wastage, low birth weight, and fetal infection. Infection of Sprague-Dawley rats with Mycoplasma pulmonis either vaginally or intravenously resulted in decreased litter size, increased adverse pregnancy outcome, and in utero transmission of the microorganism to the fetus. Mycoplasma pulmonis is an ideal model to study maternal genital infection during pregnancy, the impact of infections on pregnancy outcome, fetal infection, and maternal-fetal immune interactions.

An Imaging Sensor-Aided Vision Navigation Approach that Uses a Geo-Referenced Image Database.

Science.gov (United States)

Li, Yan; Hu, Qingwu; Wu, Meng; Gao, Yang

2016-01-28

In determining position and attitude, vision navigation via real-time image processing of data collected from imaging sensors is advanced without a high-performance global positioning system (GPS) and an inertial measurement unit (IMU). Vision navigation is widely used in indoor navigation, far space navigation, and multiple sensor-integrated mobile mapping. This paper proposes a novel vision navigation approach aided by imaging sensors and that uses a high-accuracy geo-referenced image database (GRID) for high-precision navigation of multiple sensor platforms in environments with poor GPS. First, the framework of GRID-aided vision navigation is developed with sequence images from land-based mobile mapping systems that integrate multiple sensors. Second, a highly efficient GRID storage management model is established based on the linear index of a road segment for fast image searches and retrieval. Third, a robust image matching algorithm is presented to search and match a real-time image with the GRID. Subsequently, the image matched with the real-time scene is considered to calculate the 3D navigation parameter of multiple sensor platforms. Experimental results show that the proposed approach retrieves images efficiently and has navigation accuracies of 1.2 m in a plane and 1.8 m in height under GPS loss in 5 min and within 1500 m.

Design of all-weather celestial navigation system

Science.gov (United States)

Sun, Hongchi; Mu, Rongjun; Du, Huajun; Wu, Peng

2018-03-01

In order to realize autonomous navigation in the atmosphere, an all-weather celestial navigation system is designed. The research of celestial navigation system include discrimination method of comentropy and the adaptive navigation algorithm based on the P value. The discrimination method of comentropy is studied to realize the independent switching of two celestial navigation modes, starlight and radio. Finally, an adaptive filtering algorithm based on P value is proposed, which can greatly improve the disturbance rejection capability of the system. The experimental results show that the accuracy of the three axis attitude is better than 10″, and it can work all weather. In perturbation environment, the position accuracy of the integrated navigation system can be increased 20% comparing with the traditional method. It basically meets the requirements of the all-weather celestial navigation system, and it has the ability of stability, reliability, high accuracy and strong anti-interference.

An on-line monitoring system for navigation equipment

Science.gov (United States)

Wang, Bo; Yang, Ping; Liu, Jing; Yang, Zhengbo; Liang, Fei

2017-10-01

Civil air navigation equipment is the most important infrastructure of Civil Aviation, which is closely related to flight safety. In addition to regular flight inspection, navigation equipment's patrol measuring, maintenance measuring, running measuring under special weather conditions are the important means of ensuring aviation flight safety. According to the safety maintenance requirements of Civil Aviation Air Traffic Control navigation equipment, this paper developed one on-line monitoring system with independent intellectual property rights for navigation equipment, the system breakthroughs the key technologies of measuring navigation equipment on-line including Instrument Landing System (ILS) and VHF Omni-directional Range (VOR), which also meets the requirements of navigation equipment ground measurement set by the ICAO DOC 8071, it provides technical means of the ground on-line measurement for navigation equipment, improves the safety of navigation equipment operation, and reduces the impact of measuring navigation equipment on airport operation.

Altered explorative strategies and reactive coping style in the FSL rat model of depression

Directory of Open Access Journals (Sweden)

Salvatore eMagara

2015-04-01

Full Text Available Modeling depression in animals is based on the observation of behaviors interpreted as analogue to human symptoms. Typical tests used in experimental depression research are designed to evoke an either-or outcome. It is known that explorative and coping strategies are relevant for depression, however these aspects are generally not considered in animal behavioral testing. Here we investigate the Flinders Sensitive Line (FSL, a rat model of depression, compared to the Sprague-Dawley (SD rat in three independent tests where the animals are allowed to express a more extensive behavioral repertoire. The multivariate concentric square field™ (MCSF and the novel cage tests evoke exploratory behaviors in a novel environment and the home cage change test evokes social behaviors in the re-establishment of a social hierarchy. In the MCSF test, FSL rats exhibited less exploratory drive and more risk-assessment behavior compared to SD rats. When re-exposed to the arena, FSL, but not SD rats, increased their exploratory behavior compared to the first trial and displayed risk-assessment behavior to the same extent as SD rats. Thus, the behavior of FSL rats was more similar to that of SDs when the rats were familiar with the arena. In the novel cage test FSL rats exhibited a reactive coping style, consistent with the reduced exploration observed in the MCSF. Reactive coping is associated with less aggressive behavior. Accordingly, FSL rats displayed less aggressive behavior in the home cage change test. Taken together, our data show that FSL rats express altered explorative behavior and reactive coping style. Reduced interest is a core symptom of depression, and individuals with a reactive coping style are more vulnerable to the disease. Our results support the use of FSL rats as an animal model of depression and increase our understanding of the FSL rat beyond the behavioral dimensions targeted by the traditional depression-related tests.

Fuzzy Adaptive Cubature Kalman Filter for Integrated Navigation Systems.

Science.gov (United States)

Tseng, Chien-Hao; Lin, Sheng-Fuu; Jwo, Dah-Jing

2016-07-26

This paper presents a sensor fusion method based on the combination of cubature Kalman filter (CKF) and fuzzy logic adaptive system (FLAS) for the integrated navigation systems, such as the GPS/INS (Global Positioning System/inertial navigation system) integration. The third-degree spherical-radial cubature rule applied in the CKF has been employed to avoid the numerically instability in the system model. In processing navigation integration, the performance of nonlinear filter based estimation of the position and velocity states may severely degrade caused by modeling errors due to dynamics uncertainties of the vehicle. In order to resolve the shortcoming for selecting the process noise covariance through personal experience or numerical simulation, a scheme called the fuzzy adaptive cubature Kalman filter (FACKF) is presented by introducing the FLAS to adjust the weighting factor of the process noise covariance matrix. The FLAS is incorporated into the CKF framework as a mechanism for timely implementing the tuning of process noise covariance matrix based on the information of degree of divergence (DOD) parameter. The proposed FACKF algorithm shows promising accuracy improvement as compared to the extended Kalman filter (EKF), unscented Kalman filter (UKF), and CKF approaches.

Fuzzy Adaptive Cubature Kalman Filter for Integrated Navigation Systems

Directory of Open Access Journals (Sweden)

Chien-Hao Tseng

2016-07-01

Full Text Available This paper presents a sensor fusion method based on the combination of cubature Kalman filter (CKF and fuzzy logic adaptive system (FLAS for the integrated navigation systems, such as the GPS/INS (Global Positioning System/inertial navigation system integration. The third-degree spherical-radial cubature rule applied in the CKF has been employed to avoid the numerically instability in the system model. In processing navigation integration, the performance of nonlinear filter based estimation of the position and velocity states may severely degrade caused by modeling errors due to dynamics uncertainties of the vehicle. In order to resolve the shortcoming for selecting the process noise covariance through personal experience or numerical simulation, a scheme called the fuzzy adaptive cubature Kalman filter (FACKF is presented by introducing the FLAS to adjust the weighting factor of the process noise covariance matrix. The FLAS is incorporated into the CKF framework as a mechanism for timely implementing the tuning of process noise covariance matrix based on the information of degree of divergence (DOD parameter. The proposed FACKF algorithm shows promising accuracy improvement as compared to the extended Kalman filter (EKF, unscented Kalman filter (UKF, and CKF approaches.

Establishment of a rat model of early-stage liver failure and Th17/Treg imbalance

OpenAIRE

LI Dong; LU Zhonghua; GAN Jianhe

2016-01-01

ObjectiveTo investigate the methods for establishing a rat model of early-stage liver failure and the changes in Th17, Treg, and Th17/Treg after dexamethasone and thymosin interventions. MethodsA total of 64 rats were randomly divided into carbon tetrachloride (CCl4) group and endotoxin ［lipopolysaccharide (LPS)］/D-galactosamine (D-GalN) combination group to establish the rat model of early-stage liver failure. The activities of the rats and changes in liver function and whole blood Th17 and ...

A Novel Newborn Rat Kernicterus Model Created by Injecting a Bilirubin Solution into the Cisterna Magna

Science.gov (United States)

Song, Sijie; Hu, Ying; Gu, Xianfang; Si, Feifei; Hua, Ziyu

2014-01-01

Background Kernicterus still occurs around the world; however, the mechanism of bilirubin neurotoxicity remains unclear, and effective treatment strategies are lacking. To solve these problems, several kernicterus (or acute bilirubin encephalopathy) animal models have been established, but these models are difficult and expensive. Therefore, the present study was performed to establish a novel kernicterus model that is simple and affordable by injecting unconjugated bilirubin solution into the cisterna magna (CM) of ordinary newborn Sprague-Dawley (SD) rats. Methods On postnatal day 5, SD rat pups were randomly divided into bilirubin and control groups. Then, either bilirubin solution or ddH2O (pH = 8.5) was injected into the CM at 10 µg/g (bodyweight). For model characterization, neurobehavioral outcomes were observed, mortality was calculated, and bodyweight was recorded after bilirubin injection and weaning. Apoptosis in the hippocampus was detected by H&E staining, TUNEL, flow cytometry and Western blotting. When the rats were 28 days old, learning and memory ability were evaluated using the Morris water maze test. Results The bilirubin-treated rats showed apparently abnormal neurological manifestations, such as clenched fists, opisthotonos and torsion spasms. Bodyweight gain in the bilirubin-treated rats was significantly lower than that in the controls (Pbilirubin-treated rats were both dramatically higher than those of the controls (P = 0.004 and 0.017, respectively). Apoptosis and necrosis in the hippocampal nerve cells in the bilirubin-treated rats were observed. The bilirubin-treated rats performed worse than the controls on the Morris water maze test. Conclusion By injecting bilirubin into the CM, we successfully created a new kernicterus model using ordinary SD rats; the model mimics both the acute clinical manifestations and the chronic sequelae. In particular, CM injection is easy to perform; thus, more stable models for follow-up study are

Improved GPS-based Satellite Relative Navigation Using Femtosecond Laser Relative Distance Measurements

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Hyungjik Oh

2016-03-01

Full Text Available This study developed an approach for improving Carrier-phase Differential Global Positioning System (CDGPS based realtime satellite relative navigation by applying laser baseline measurement data. The robustness against the space operational environment was considered, and a Synthetic Wavelength Interferometer (SWI algorithm based on a femtosecond laser measurement model was developed. The phase differences between two laser wavelengths were combined to measure precise distance. Generated laser data were used to improve estimation accuracy for the float ambiguity of CDGPS data. Relative navigation simulations in real-time were performed using the extended Kalman filter algorithm. The GPS and laser-combined relative navigation accuracy was compared with GPS-only relative navigation solutions to determine the impact of laser data on relative navigation. In numerical simulations, the success rate of integer ambiguity resolution increased when laser data was added to GPS data. The relative navigational errors also improved five-fold and two-fold, relative to the GPS-only error, for 250 m and 5 km initial relative distances, respectively. The methodology developed in this study is suitable for application to future satellite formation-flying missions.

32 CFR 644.3 - Navigation Projects.

Science.gov (United States)

2010-07-01

... 32 National Defense 4 2010-07-01 2010-07-01 true Navigation Projects. 644.3 Section 644.3 National... HANDBOOK Project Planning Civil Works § 644.3 Navigation Projects. (a) Land to be acquired in fee. All... construction and borrow areas. (3) In navigation-only projects, the right to permanently flood should be...

Juvenile Osprey Navigation during Trans-Oceanic Migration.

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Travis W Horton

Full Text Available To compensate for drift, an animal migrating through air or sea must be able to navigate. Although some species of bird, fish, insect, mammal, and reptile are capable of drift compensation, our understanding of the spatial reference frame, and associated coordinate space, in which these navigational behaviors occur remains limited. Using high resolution satellite-monitored GPS track data, we show that juvenile ospreys (Pandion haliaetus are capable of non-stop constant course movements over open ocean spanning distances in excess of 1500 km despite the perturbing effects of winds and the lack of obvious landmarks. These results are best explained by extreme navigational precision in an exogenous spatio-temporal reference frame, such as positional orientation relative to Earth's magnetic field and pacing relative to an exogenous mechanism of keeping time. Given the age (<1 year-old of these birds and knowledge of their hatching site locations, we were able to transform Enhanced Magnetic Model coordinate locations such that the origin of the magnetic coordinate space corresponded with each bird's nest. Our analyses show that trans-oceanic juvenile osprey movements are consistent with bicoordinate positional orientation in transformed magnetic coordinate or geographic space. Through integration of movement and meteorological data, we propose a new theoretical framework, chord and clock navigation, capable of explaining the precise spatial orientation and temporal pacing performed by juvenile ospreys during their long-distance migrations over open ocean.

Risk Assessment of Nautical Navigational Environment Based on Grey Fixed Weight Cluster

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Yanfei Tian

2017-06-01

Full Text Available In order to set up a mathematical model suitable for nautical navigational environment risk evaluation and systematically master the navigational environment risk characteristics of the Qiongzhou Strait in a quantitative way, a risk assessment model with approach steps is set up based on the grey fixed weight cluster (GFWC. The evaluation index system is structured scientifically through both literature review and expert investigation. The relative weight of each index is designed to be obtained via fuzzy analytic hierarchy process (FAHP; Index membership degree of every grey class is proposed to be achieved by fuzzy statistics (FS to avoid the difficulty of building whiten weight functions. By using the model, nautical navigational environment risk of the Qiongzhou Strait is determined at a “moderate” level according to the principle of maximum membership degree. The comprehensive risk evaluation of the Qiongzhou Strait nautical navigational environment can provide theoretical reference for implementing targeted risk control measures. It shows that the constructed GFWC risk assessment model as well as the presented steps are workable in case of incomplete information. The proposed strategy can excavate the collected experts’ knowledge mathematically, quantify the weight of each index and risk level, and finally lead to a comprehensive risk evaluation result. Besides, the adoptions of probability and statistic theory, fuzzy theory, aiming at solving the bottlenecks in case of uncertainty, will give the model a better adaptability and executability.

14 CFR 121.349 - Communication and navigation equipment for operations under VFR over routes not navigated by...

Science.gov (United States)

2010-01-01

... 14 Aeronautics and Space 3 2010-01-01 2010-01-01 false Communication and navigation equipment for... § 121.349 Communication and navigation equipment for operations under VFR over routes not navigated by... receiver providing visual and aural signals; and (iii) One ILS receiver; and (3) Any RNAV system used to...

Quantum imaging for underwater arctic navigation

Science.gov (United States)

Lanzagorta, Marco

2017-05-01

The precise navigation of underwater vehicles is a difficult task due to the challenges imposed by the variable oceanic environment. It is particularly difficult if the underwater vehicle is trying to navigate under the Arctic ice shelf. Indeed, in this scenario traditional navigation devices such as GPS, compasses and gyrocompasses are unavailable or unreliable. In addition, the shape and thickness of the ice shelf is variable throughout the year. Current Arctic underwater navigation systems include sonar arrays to detect the proximity to the ice. However, these systems are undesirable in a wartime environment, as the sound gives away the position of the underwater vehicle. In this paper we briefly describe the theoretical design of a quantum imaging system that could allow the safe and stealthy navigation of underwater Arctic vehicles.

Establishment of a rat and guinea pig aortic interposition graft model reveals model-specific patterns of intimal hyperplasia.

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Gregory, Elaine K; Vercammen, Janet M; Flynn, Megan E; Kibbe, Melina R

2016-12-01

Although the aortic interposition bypass model has been widely used to evaluate biomaterials for bypass grafting, there is no comprehensive description of the procedure or of the distribution of intimal hyperplasia that results. The objectives of this study were to (1) review and summarize approaches of aortic interposition grafting in animal models, (2) determine the pertinent anatomy for this procedure, (3) validate this model in the rat and guinea pig, and (4) compare the distribution of intimal hyperplasia that develops in each species. A literature search was performed in PubMed from 1980 to the present to analyze the use of anesthesia, anticoagulation, antiplatelet agents, graft material, suture, and anastomotic techniques. Using 10-week-old male Sprague-Dawley rats and Hartley guinea pigs, we established pertinent aortic anatomy, developed comparable models, and assessed complications for each model. At 30 days, the graft and associated aorta were explanted, intimal formation was assessed morphometrically, and cellularity was assessed via nuclear counting. We reviewed 30 articles and summarized the pertinent procedural findings. Upon establishing both animal models, key anatomic differences between the species that affect this model were noted. Guinea pigs have a much larger cecum, increased retroperitoneal fat, and lack the iliolumbar vessels compared with the rat. Surgical outcomes for the rat model included a 53% technical success rate and a 32% technical error rate. Surgical outcomes for the guinea pig model included a 69% technical success rate and a 31% technical error rate. These two species demonstrated unique distribution of intimal hyperplasia at 30 days. Intimal hyperplasia in the rat model was greatest at two areas, the proximal graft (5400 μm 2 ; P guinea pig model developed similar intimal hyperplasia throughout the graft (4500-5100 μm 2 ; P guinea pig, and describe a unique distribution of intimal formation that results in both species

Modeling the systemic retention of beryllium in rat. Extrapolation to human

International Nuclear Information System (INIS)

Montero Prieto, M.; Vidania Munoz, R. de

1994-01-01

In this work, we analyzed different approaches, assayed in order to numerically describe the systemic behaviour of Beryllium. The experimental results used in this work, were previously obtained by Furchner et al. (1973), using Sprague-Dawley rats, and others animal species. Furchner's work includes the obtained model for whole body retention in rats, but not for each target organ. In this work we present the results obtained by modeling the kinetic behaviour of Beryllium in several target organs. The results of this kind of models were used in order to establish correlations among the estimated kinetic constants. The parameters of the model were extrapolated to humans and, finally, compared with others previously published. (Author) 12 refs

Modeling of systematic retention of beryllium in rats. Extrapolation to humans

International Nuclear Information System (INIS)

Montero Prieto, M.; Vidania Munoz, R. de.

1994-01-01

In this work, we analyzed different approaches, assayed in order to numerically describe the systemic behaviour of Beryllium. The experimental results used in this work, were previously obtained by Furchner et al. (1973), using Sprague-Dawley rats, and other animal species. Furchner's work includes the obtained model for whole body retention in rats but not for each target organ. In this work we present the results obtained by modeling the kinetic behaviour of Beryllium in several target organs. The results of this kind of models were used in order to establish correlations among the estimated kinetic constants. The parameters of the model were extrapolated to humans and, finally, compared with other previously published

Characterization of the Prediabetic State in a Novel Rat Model of Type 2 Diabetes, the ZFDM Rat.

Science.gov (United States)

Gheni, Ghupurjan; Yokoi, Norihide; Beppu, Masayuki; Yamaguchi, Takuro; Hidaka, Shihomi; Kawabata, Ayako; Hoshino, Yoshikazu; Hoshino, Masayuki; Seino, Susumu

2015-01-01

We recently established a novel animal model of obese type 2 diabetes (T2D), the Zucker fatty diabetes mellitus (ZFDM) rat strain harboring the fatty mutation (fa) in the leptin receptor gene. Here we performed a phenotypic characterization of the strain, focusing mainly on the prediabetic state. At 6-8 weeks of age, fa/fa male rats exhibited mild glucose intolerance and severe insulin resistance. Although basal insulin secretion was remarkably high in the isolated pancreatic islets, the responses to both glucose stimulation and the incretin GLP-1 were retained. At 10-12 weeks of age, fa/fa male rats exhibited marked glucose intolerance as well as severe insulin resistance similar to that at the earlier age. In the pancreatic islets, the insulin secretory response to glucose stimulation was maintained but the response to the incretin was diminished. In nondiabetic Zucker fatty (ZF) rats, the insulin secretory responses to both glucose stimulation and the incretin in the pancreatic islets were similar to those of ZFDM rats. As islet architecture was destroyed with age in ZFDM rats, a combination of severe insulin resistance, diminished insulin secretory response to incretin, and intrinsic fragility of the islets may cause the development of T2D in this strain.

Dual-Model Reverse CKF Algorithm in Cooperative Navigation for USV

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Bo Xu

2014-01-01

Full Text Available As one of the most promising research directions, cooperative location with high precision and low-cost IMU is becoming an emerging research topic in many positioning fields. Low-cost MEMS/DVL is a preferred solution for dead-reckoning in multi-USV cooperative network. However, large misalignment angles and large gyro drift coexist in low-cost MEMS that leads to the poor observability. Based on cubature Kalman filter (CKF algorithm that has access to high accuracy and relative small computation, dual-model filtering scheme is proposed. It divides the whole process into two subsections that cut off the coupling relations and improve the observability of MEMS errors: it first estimates large misalignment angle and then estimates the gyro drift. Furthermore, to improve the convergence speed of large misalignment angle estimated in the first subsection, “time reversion” concept is introduced. It uses a short period time to forward and backward several times to improve convergence speed effectively. Finally, simulation analysis and experimental verification is conducted. Simulation and experimental results show that the algorithm can effectively improve the cooperative navigation performance.

NFC Internal: An Indoor Navigation System

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Busra Ozdenizci

2015-03-01

Full Text Available Indoor navigation systems have recently become a popular research field due to the lack of GPS signals indoors. Several indoors navigation systems have already been proposed in order to eliminate deficiencies; however each of them has several technical and usability limitations. In this study, we propose NFC Internal, a Near Field Communication (NFC-based indoor navigation system, which enables users to navigate through a building or a complex by enabling a simple location update, simply by touching NFC tags those are spread around and orient users to the destination. In this paper, we initially present the system requirements, give the design details and study the viability of NFC Internal with a prototype application and a case study. Moreover, we evaluate the performance of the system and compare it with existing indoor navigation systems. It is seen that NFC Internal has considerable advantages and significant contributions to existing indoor navigation systems in terms of security and privacy, cost, performance, robustness, complexity, user preference and commercial availability.

WNIN/GR-Ob - an insulin-resistant obese rat model from inbred WNIN strain.

Science.gov (United States)

Harishankar, N; Vajreswari, A; Giridharan, N V

2011-09-01

WNIN/GR-Ob is a mutant obese rat strain with impaired glucose tolerance (IGT) developed at the National Institute of Nutrition (NIN), Hyderabad, India, from the existing 80 year old Wistar rat (WNIN) stock colony. The data presented here pertain to its obese nature along with IGT trait as evidenced by physical, physiological and biochemical parameters. The study also explains its existence, in three phenotypes: homozygous lean (+/+), heterozygous carrier (+/-) and homozygous obese (-/-). Thirty animals (15 males and 15 females) from each phenotype (+/+, +/-, -/-) and 24 lean and obese (6 males and 6 females) rats were taken for growth and food intake studies respectively. Twelve adult rats from each phenotype were taken for body composition measurement by total body electrical conductivity (TOBEC); 12 rats of both genders from each phenotype at different ages were taken for clinical chemistry parameters. Physiological indices of insulin resistance were calculated according to the homeostasis model assessment for insulin resistance (HOMA-IR) and also by studying U¹⁴C 2-deoxy glucose uptake (2DG). WNINGR-Ob mutants had high growth, hyperphagia, polydipsia, polyurea, glycosuria, and significantly lower lean body mass, higher fat mass as compared with carrier and lean rats. These mutants, at 50 days of age displayed abnormal response to glucose load (IGT), hyperinsulinaemia, hypertriglyceridaemia, hypercholesterolaemia and hyperleptinaemia. Basal and insulin-stimulated glucose uptakes by diaphragm were significantly decreased in obese rats as compared with lean rats. Obese rats of the designated WNIN/GR-Ob strain showed obesity with IGT, as adjudged by physical, physiological and biochemical indices. These indices varied among the three phenotypes, being lowest in lean, highest in obese and intermediate in carrier phenotypes thereby suggesting that obesity is inherited as autosomal incomplete dominant trait in this strain. This mutant obese rat model is easy to

Topiramate as a neuroprotective agent in a rat model of spinal cord injury

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Firat Narin

2017-01-01

Full Text Available Topiramate (TPM is a widely used antiepileptic and antimigraine agent which has been shown to exert neuroprotective effects in various experimental traumatic brain injury and stroke models. However, its utility in spinal cord injury has not been studied extensively. Thus, we evaluated effects of TPM on secondary cellular injury mechanisms in an experimental rat model of traumatic spinal cord injury (SCI. After rat models of thoracic contusive SCI were established by free weight-drop method, TPM (40 mg/kg was given at 12-hour intervals for four times orally. Post TPM treatment, malondialdehyde and protein carbonyl levels were significantly reduced and reduced glutathione levels were increased, while immunoreactivity for endothelial nitric oxide synthase, inducible nitric oxide synthase, and apoptotic peptidase activating factor 1 was diminished in SCI rats. In addition, TPM treatment improved the functional recovery of SCI rats. This study suggests that administration of TPM exerts neuroprotective effects on SCI.

Establishment of SHG-44 human glioma model in brain of wistar rat with stereotactic technique

International Nuclear Information System (INIS)

Hong Xinyu; Luo Yi'nan; Fu Shuanglin; Wang Zhanfeng; Bie Li; Cui Jiale

2004-01-01

Objective: To establish solid intracerebral human glioma model in Wistar rat with xenograft methods. Methods: The SHG-44 cells were injected into brain right caudate nucleus of previous immuno-inhibitory Wistar rats with stereotactic technique. The MRI scans were performed at 1 week and 2 weeks later after implantation. After 2 weeks the rats were killed and pathological examination and immunohistologic stain for human GFAP were used. Results: The MRI scan after 1 week of implantation showed the glioma was growing, pathological histochemical examination demonstrated the tumor was glioma. Human GFAP stain was positive. The growth rate of glioma model was about 60%. Conclusion: Solid intracerebral human glioma model in previous immuno-inhibitory Wistar rat is successfully established

Inland Electronic Navigational Charts (IENC)

Data.gov (United States)

Army Corps of Engineers, Department of the Army, Department of Defense — These Inland Electronic Navigational Charts (IENCs) were developed from available data used in maintenance of Navigation channels. Users of these IENCs should be...

[Effect of tongluo xingnao effervescent tablet on learning and memory of AD rats and expression of insulin-degrading enzyme in hippocampus].

Science.gov (United States)

Zhang, Yin-Jie; Dai, Yuan; Hu, Yong; Ma, Yun-Tong; Xu, Shi-Jun; Wang, Yong-Yan

2013-09-01

To study the effect of Tongluo Xingnao effervescent tablet on learning and memory of dementia rats induced by injection of Abeta25-35 in hippocampus and expression of insulin-degrading enzyme in hippocampus, in order to provide basis for preventing and treating senile dementia. The dementia rat model was established by injecting Abeta25-35 in hippocampus. The rats were divided into the model control group, the Aricept (1.4 mg x kg(-1)) group, and Tongluo Xingnao effervescent tablet high dose (7.56 g x kg(-1)), middle dose (3.78 g x kg(-1)) and low dose (1.59 g x kg(-1)) groups. A sham operation group was established by injecting normal saline in hippocampus. The rats were orally given drugs for 90 days, once a day. Their learning and memory were tested by using Morris water maze. Immunohistochemistry and image analysis were utilized for a quantitative analysis on the expression of insulin-degrading enzyme in hippocampus. Tongluo Xingnao effervescent tablet could significantly shorten the escape latency of rats in the directional navigation test, prolong the retention time in the first quadrant dwell, decrease the retention time in the third quadrant dwell, increase the frequency of crossing the platform, show a more notable statistical significance than the model control group (P tablet has the effects of improving learning and memory capacity of AD rats and promoting the expression of insulin-degrading enzyme in hippocampus. Its effect in promoting intelligence will be related to increased insulin-degrading enzyme in hippocampus.

Orthotopic model of canine osteosarcoma in athymic rats for evaluation of stereotactic radiotherapy.

Science.gov (United States)

Schwartz, Anthony L; Custis, James T; Harmon, Joseph F; Powers, Barbara E; Chubb, Laura S; LaRue, Susan M; Ehrhart, Nicole P; Ryan, Stewart D

2013-03-01

To develop an orthotopic model of canine osteosarcoma in athymic rats as a model for evaluating the effects of stereotactic radiotherapy (SRT) on osteosarcoma cells. 26 athymic nude rats. 3 experiments were performed. In the first 2 experiments, rats were injected with 1 × 10(6) Abrams canine osteosarcoma cells into the proximal aspect of the tibia (n = 12) or distal aspect of the femur (6). Tumor engraftment and progression were monitored weekly via radiography, luciferase imaging, and measurement of urine pyridinoline concentration for 5 weeks and histologic evaluation after euthanasia. In the third experiment, 8 rats underwent canine osteosarcoma cell injection into the distal aspect of the femur and SRT was administered to the affected area in three 12-Gy fractions delivered on consecutive days (total radiation dose, 36 Gy). Percentage tumor necrosis and urinary pyridinoline concentrations were used to assess local tumor control. The short-term effect of SRT on skin was also evaluated. Tumors developed in 10 of 12 tibial sites and all 14 femoral sites. Administration of SRT to rats with femoral osteosarcoma was feasible and successful. Mean tumor necrosis of 95% was achieved histologically, and minimal adverse skin effects were observed. The orthotopic model of canine osteosarcoma in rats developed in this study was suitable for evaluating the effects of local tumor control and can be used in future studies to evaluate optimization of SRT duration, dose, and fractionation schemes. The model could also allow evaluation of other treatments in combination with SRT, such as chemotherapy or bisphosphonate, radioprotectant, or parathyroid hormone treatment.

Low Cost Integrated Navigation System for Unmanned Vessel

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Yang Changsong

2017-11-01

Full Text Available Large errors of low-cost MEMS inertial measurement unit (MIMU lead to huge navigation errors, even wrong navigation information. An integrated navigation system for unmanned vessel is proposed. It consists of a low-cost MIMU and Doppler velocity sonar (DVS. This paper presents an integrated navigation method, to improve the performance of navigation system. The integrated navigation system is tested using simulation and semi-physical simulation experiments, whose results show that attitude, velocity and position accuracy has improved awfully, giving exactly accurate navigation results. By means of the combination of low-cost MIMU and DVS, the proposed system is able to overcome fast drift problems of the low cost IMU.

Vascularized anal autotransplantation model in rats: preliminary report.

Science.gov (United States)

Araki, J; Mihara, M; Narushima, M; Iida, T; Sato, T; Koshima, I

2011-11-01

Ostomy has served as an effective surgery for various anorectal disfunctions. However, it must also be noted that those patients suffered greatly from stresses caused by their stoma. Many alternative therapies have been developed, but none have solved this critical issue. Meanwhile, due to the improvements in operative methods and immunosuppressive therapy, allotranplantation has gained great popularity in recent years. Therefore, we began development of an anal transplantation model. The operation was performed in six adult Wistar rats that were divided into two groups. Group 1 underwent vascular anastomoses, while group 2 did not Group 1 grafts survived, fully recovering anal function. However, many of the group 2 grafts did not survive; those that did survive showed major defects in their anus, never recovering anal function. We succeeded in establishing the rat anal transplantation model utilizing super-microsurgery. While research in anal transplantation was behind compared to that in other fields, we hope that this model will bring significant possibilities for the future. Copyright © 2011 Elsevier Inc. All rights reserved.

Establishing a Near Term Lunar Farside Gravity Model via Inexpensive Add-on Navigation Payload

Science.gov (United States)

Folta, David; Mesarch, Michael; Miller, Ronald; Bell, David; Jedrey, Tom; Butman, Stanley; Asmar, Sami

2007-01-01

The Space Communications and Navigation, Constellation Integration Project (SCIP) is tasked with defining, developing, deploying and operating an evolving multi-decade communications and navigation (C/N) infrastructure including services and subsystems that will support both robotic and human exploration activities at the Moon. This paper discusses an early far side gravitational mapping service and related telecom subsystem that uses an existing spacecraft (WIND) and the Lunar Reconnaissance Orbiter (LRO) to collect data that would address several needs of the SCIP. An important aspect of such an endeavor is to vastly improve the current lunar gravity model while demonstrating the navigation and stationkeeping of a relay spacecraft. We describe a gravity data acquisition activity and the trajectory design of the relay orbit in an Earth-Moon L2 co-linear libration orbit. Several phases of the transfer from an Earth-Sun to the Earth-Moon region are discussed along with transfers within the Earth-Moon system. We describe a proposed, but not integrated, add-on to LRO scheduled to be launched in October of 2008. LRO provided a real host spacecraft against which we designed the science payload and mission activities. From a strategic standpoint, LRO was a very exciting first flight opportunity for gravity science data collection. Gravity Science data collection requires the use of one or more low altitude lunar polar orbiters. Variations in the lunar gravity field will cause measurable variations in the orbit of a low altitude lunar orbiter. The primary means to capture these induced motions is to monitor the Doppler shift of a radio signal to or from the low altitude spacecraft, given that the signal is referenced to a stable frequency reference. For the lunar far side, a secondary orbiting radio signal platform is required. We provide an in-depth look at link margins, trajectory design, and hardware implications. Our approach posed minimum risk to a host mission while

Observability of satellite launcher navigation with INS, GPS, attitude sensors and reference trajectory

Science.gov (United States)

Beaudoin, Yanick; Desbiens, André; Gagnon, Eric; Landry, René

2018-01-01

The navigation system of a satellite launcher is of paramount importance. In order to correct the trajectory of the launcher, the position, velocity and attitude must be known with the best possible precision. In this paper, the observability of four navigation solutions is investigated. The first one is the INS/GPS couple. Then, attitude reference sensors, such as magnetometers, are added to the INS/GPS solution. The authors have already demonstrated that the reference trajectory could be used to improve the navigation performance. This approach is added to the two previously mentioned navigation systems. For each navigation solution, the observability is analyzed with different sensor error models. First, sensor biases are neglected. Then, sensor biases are modelled as random walks and as first order Markov processes. The observability is tested with the rank and condition number of the observability matrix, the time evolution of the covariance matrix and sensitivity to measurement outlier tests. The covariance matrix is exploited to evaluate the correlation between states in order to detect structural unobservability problems. Finally, when an unobservable subspace is detected, the result is verified with theoretical analysis of the navigation equations. The results show that evaluating only the observability of a model does not guarantee the ability of the aiding sensors to correct the INS estimates within the mission time. The analysis of the covariance matrix time evolution could be a powerful tool to detect this situation, however in some cases, the problem is only revealed with a sensitivity to measurement outlier test. None of the tested solutions provide GPS position bias observability. For the considered mission, the modelling of the sensor biases as random walks or Markov processes gives equivalent results. Relying on the reference trajectory can improve the precision of the roll estimates. But, in the context of a satellite launcher, the roll

Development of field navigation system; Field navigation system no kaihatsu

Energy Technology Data Exchange (ETDEWEB)

Ibara, S; Minode, M; Nishioka, K [Daihatsu Motor Co. Ltd., Osaka (Japan)

1995-04-20

This paper describes the following matters on a field navigation system developed for the purpose of covering a field of several kilometer square. This system consists of a center system and a vehicle system, and the center system comprises a map information computer and a communication data controlling computer; since the accuracy for a vehicle position detected by a GPS is not sufficient, an attempt of increasing the accuracy of vehicle position detection is made by means of a hybrid system; the hybrid system uses a satellite navigation method of differential system in which the error components in the GPS are transmitted from the center, and also uses a self-contained navigation method which performs an auxiliary function when the accuracy in the GPS has dropped; corrected GPS values, emergency messages to all of the vehicles and data of each vehicle position are communicated by wireless transmission in two ways between the center and vehicles; and accommodation of the map data adopted a system that can respond quickly to any change in roads and facilities. 3 refs., 13 figs., 1 tab.

Quantifying navigational information: The catchment volumes of panoramic snapshots in outdoor scenes.

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Trevor Murray

Full Text Available Panoramic views of natural environments provide visually navigating animals with two kinds of information: they define locations because image differences increase smoothly with distance from a reference location and they provide compass information, because image differences increase smoothly with rotation away from a reference orientation. The range over which a given reference image can provide navigational guidance (its 'catchment area' has to date been quantified from the perspective of walking animals by determining how image differences develop across the ground plane of natural habitats. However, to understand the information available to flying animals there is a need to characterize the 'catchment volumes' within which panoramic snapshots can provide navigational guidance. We used recently developed camera-based methods for constructing 3D models of natural environments and rendered panoramic views at defined locations within these models with the aim of mapping navigational information in three dimensions. We find that in relatively open woodland habitats, catchment volumes are surprisingly large extending for metres depending on the sensitivity of the viewer to image differences. The size and the shape of catchment volumes depend on the distance of visual features in the environment. Catchment volumes are smaller for reference images close to the ground and become larger for reference images at some distance from the ground and in more open environments. Interestingly, catchment volumes become smaller when only above horizon views are used and also when views include a 1 km distant panorama. We discuss the current limitations of mapping navigational information in natural environments and the relevance of our findings for our understanding of visual navigation in animals and autonomous robots.

Quantifying navigational information: The catchment volumes of panoramic snapshots in outdoor scenes.

Science.gov (United States)

Murray, Trevor; Zeil, Jochen

2017-01-01

Panoramic views of natural environments provide visually navigating animals with two kinds of information: they define locations because image differences increase smoothly with distance from a reference location and they provide compass information, because image differences increase smoothly with rotation away from a reference orientation. The range over which a given reference image can provide navigational guidance (its 'catchment area') has to date been quantified from the perspective of walking animals by determining how image differences develop across the ground plane of natural habitats. However, to understand the information available to flying animals there is a need to characterize the 'catchment volumes' within which panoramic snapshots can provide navigational guidance. We used recently developed camera-based methods for constructing 3D models of natural environments and rendered panoramic views at defined locations within these models with the aim of mapping navigational information in three dimensions. We find that in relatively open woodland habitats, catchment volumes are surprisingly large extending for metres depending on the sensitivity of the viewer to image differences. The size and the shape of catchment volumes depend on the distance of visual features in the environment. Catchment volumes are smaller for reference images close to the ground and become larger for reference images at some distance from the ground and in more open environments. Interestingly, catchment volumes become smaller when only above horizon views are used and also when views include a 1 km distant panorama. We discuss the current limitations of mapping navigational information in natural environments and the relevance of our findings for our understanding of visual navigation in animals and autonomous robots.

Compact autonomous navigation system (CANS)

Science.gov (United States)

Hao, Y. C.; Ying, L.; Xiong, K.; Cheng, H. Y.; Qiao, G. D.

2017-11-01

Autonomous navigation of Satellite and constellation has series of benefits, such as to reduce operation cost and ground station workload, to avoid the event of crises of war and natural disaster, to increase spacecraft autonomy, and so on. Autonomous navigation satellite is independent of ground station support. Many systems are developed for autonomous navigation of satellite in the past 20 years. Along them American MANS (Microcosm Autonomous Navigation System) [1] of Microcosm Inc. and ERADS [2] [3] (Earth Reference Attitude Determination System) of Honeywell Inc. are well known. The systems anticipate a series of good features of autonomous navigation and aim low cost, integrated structure, low power consumption and compact layout. The ERADS is an integrated small 3-axis attitude sensor system with low cost and small volume. It has the Earth center measurement accuracy higher than the common IR sensor because the detected ultraviolet radiation zone of the atmosphere has a brightness gradient larger than that of the IR zone. But the ERADS is still a complex system because it has to eliminate many problems such as making of the sapphire sphere lens, birefringence effect of sapphire, high precision image transfer optical fiber flattener, ultraviolet intensifier noise, and so on. The marginal sphere FOV of the sphere lens of the ERADS is used to star imaging that may be bring some disadvantages., i.e. , the image energy and attitude measurements accuracy may be reduced due to the tilt image acceptance end of the fiber flattener in the FOV. Besides Japan, Germany and Russia developed visible earth sensor for GEO [4] [5]. Do we have a way to develop a cheaper/easier and more accurate autonomous navigation system that can be used to all LEO spacecraft, especially, to LEO small and micro satellites? To return this problem we provide a new type of the system—CANS (Compact Autonomous Navigation System) [6].

Assessment of efficacy of polaprezinc suppositories against radiation-induced rectal disorders using an experimental rat model

International Nuclear Information System (INIS)

Doi, Hiroshi; Kamikonya, Norihiko; Takada, Yasuhiro

2009-01-01

The purpose/objective of this study was to establish an experimental rat model and examine the efficacy of polaprezinc suppositories against radiation-induced rectal disorders. Female Wister rats (6 weeks old) were used in the present study. The rats were divided into three groups. Group A was irradiated and medicated with polaprezinc suppositories. Group B was irradiated without any medication. Group C had no irradiation or medication. The rat was taped by the tail in the vertical position under anesthesia. Lead shielding was used to cover the rats except the area of the lower pelvis. They were irradiated at 22 Gy by a single fraction. Polaprezinc suppositories were inserted daily into the rat anus for 7 days after irradiation. All rats were evaluated by colonoscopy on the 7th day after irradiation, sacrificed on the 10th day, and evaluated for mucosal damage. In the clinical findings, the endoscopic findings, and the histological findings, the rats not administered polaprezinc suppositories tended to show more severe mucosal damage but there were no significant differences. Our study showed that this model was a useful experimental rat model for radiation-induced rectal disorders and polaprezinc suppositories demonstrated good efficacy against radiation proctitis. (author)

Influence of manual therapy on functional mobility after joint injury in a rat model.

Science.gov (United States)

Ruhlen, Rachel L; Snider, Eric J; Sargentini, Neil J; Worthington, Bart D; Singh, Vineet K; Pazdernik, Vanessa K; Johnson, Jane C; Degenhardt, Brian F

2013-10-01

Animal models can be used to investigate manual therapy mechanisms, but testing manipulation in animal models is problematic because animals cannot directly report their pain. To develop a rat model of inflammatory joint injury to test the efficacy of manual therapy in reducing nociception and restoring function. The authors induced acute inflammatory joint injury in rats by injecting carrageenan into the ankle and then measured voluntary running wheel activity in treated and untreated rats. Treatments included manual therapy applied to the ankle and knee of the injured limb and several analgesic medications (eg, morphine, ketorolac, prednisone). Intra-articular injection of carrageenan to the ankle produced significant swelling (diameter of the ankle increased by 64% after injection; P=.004) and a robust reduction in voluntary running wheel activity (running distance reduced by 91% compared with controls; Pmanual therapy nor analgesic medications increased running wheel activity relative to untreated rats. Voluntary running wheel activity appears to be an appropriate functional measure to evaluate the impact of an acute inflammatory joint injury. However, efforts to treat the injury did not restore running relative to untreated rats.

Emergency operation procedure navigation to avoid commission errors

International Nuclear Information System (INIS)

Gofuku, Akio; Ito, Koji

2004-01-01

New types of operation control system equipped with a large screen and CRT-based operation panels have been installed in newly constructed nuclear power plants. The operators can share important information of plant conditions by the large screen. The operation control system can know the operations by operators through the computers connected to the operation panels. The software switches placed in the CRT-based operation panels have a problem such that operators may make an error to manipulate an irrelevant software switch with their current operation. This study develops an operation procedure navigation technique to avoid this kind of commission errors. The system lies between CRT-based operation panels and plant control systems and checks an operation by operators if it follows the operation procedure of operation manuals. When the operation is a right one, the operation is executed as if the operation command is directly transmitted to control systems. If the operation does not follow the operation procedure, the system warns the commission error to operators. This paper describes the operation navigation technique, format of base operation model, and a proto-type operation navigation system for a three loop pressurized water reactor plant. The validity of the proto-type system is demonstrated by the operation procedure navigation for a steam generator tube rupture accident. (author)

Comparison of Allogeneic and Syngeneic Rat Glioma Models by Using MRI and Histopathologic Evaluation.

Science.gov (United States)

Biasibetti, Elena; Valazza, Alberto; Capucchio, Maria T; Annovazzi, Laura; Battaglia, Luigi; Chirio, Daniela; Gallarate, Marina; Mellai, Marta; Muntoni, Elisabetta; Peira, Elena; Riganti, Chiara; Schiffer, Davide; Panciani, Pierpaolo; Lanotte, Michele

2017-03-01

Research in neurooncology traditionally requires appropriate in vivo animal models, on which therapeutic strategies are tested before human trials are designed and proceed. Several reproducible animal experimental models, in which human physiologic conditions can be mimicked, are available for studying glioblastoma multiforme. In an ideal rat model, the tumor is of glial origin, grows in predictable and reproducible patterns, closely resembles human gliomas histopathologically, and is weakly or nonimmunogenic. In the current study, we used MRI and histopathologic evaluation to compare the most widely used allogeneic rat glioma model, C6-Wistar, with the F98-Fischer syngeneic rat glioma model in terms of percentage tumor growth or regression and growth rate. In vivo MRI demonstrated considerable variation in tumor volume and frequency between the 2 rat models despite the same stereotactic implantation technique. Faster and more reproducible glioma growth occurred in the immunoresponsive environment of the F98-Fischer model, because the immune response is minimized toward syngeneic cells. The marked inability of the C6-Wistar allogeneic system to generate a reproducible model and the episodes of spontaneous tumor regression with this system may have been due to the increased humoral and cellular immune responses after tumor implantation.

Navigating Tensions Between Conceptual and Metaconceptual Goals in the Use of Models

Science.gov (United States)

Delgado, Cesar

2015-04-01

Science education involves learning about phenomena at three levels: concrete (facts and generalizations), conceptual (concepts and theories), and metaconceptual (epistemology) (Snir et al. in J Sci Educ Technol 2(2):373-388, 1993). Models are key components in science, can help build conceptual understanding, and may also build metaconceptual understanding. Technology can transform teaching and learning by turning models into interactive simulations that learners can investigate. This paper identifies four characteristics of models and simulations that support conceptual learning but misconstrue models and science at a metaconceptual level. Ahistorical models combine the characteristics of several historical models; they conveniently compile ideas but misrepresent the history of science (Gilbert in Int J Sci Math Educ 2(2):115-130, 2004). Teleological models explain behavior in terms of a final cause; they can lead to useful heuristics but imply purpose in processes driven by chance and probability (Talanquer in Int J Sci Educ 29(7):853-870, 2007). Epistemological overreach occurs when models or simulations imply greater certainty and knowledge about phenomena than warranted; conceptualizing nature as being well known (e.g., having a mathematical structure) poses the danger of conflating model and reality or data and theory. Finally, models are inevitably ontologically impoverished. Real-world deviations and many variables are left out of models, as models' role is to simplify. Models and simulations also lose much of the sensory data present in phenomena. Teachers, designers, and professional development designers and facilitators must thus navigate the tension between conceptual and metaconceptual learning when using models and simulations. For each characteristic, examples are provided, along with recommendations for instruction and design. Prompts for explicit reflective activities around models are provided for each characteristic

Target Tracking with Sensor Navigation Using Coupled RSS and AoA Measurements

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Slavisa Tomic

2017-11-01

Full Text Available This work addresses the problem of tracking a signal-emitting mobile target in wireless sensor networks (WSNs with navigated mobile sensors. The sensors are properly equipped to acquire received signal strength (RSS and angle of arrival (AoA measurements from the received signal, while the target transmit power is assumed not known. We start by showing how to linearize the highly non-linear measurement model. Then, by employing a Bayesian approach, we combine the linearized observation model with prior knowledge extracted from the state transition model. Based on the maximum a posteriori (MAP principle and the Kalman filtering (KF framework, we propose new MAP and KF algorithms, respectively. We also propose a simple and efficient mobile sensor navigation procedure, which allows us to further enhance the estimation accuracy of our algorithms with a reduced number of sensors. Model flaws, which result in imperfect knowledge about the path loss exponent (PLE and the true mobile sensors’ locations, are taken into consideration. We have carried out an extensive simulation study, and our results confirm the superiority of the proposed algorithms, as well as the effectiveness of the proposed navigation routine.

Novel Rat Model of Repetitive Portal Venous Embolization Mimicking Human Non-Cirrhotic Idiopathic Portal Hypertension

DEFF Research Database (Denmark)

Klein, Sabine; Hinüber, Christian; Hittatiya, Kanishka

2016-01-01

BACKGROUND: Non-cirrhotic idiopathic portal hypertension (NCIPH) is characterized by splenomegaly, anemia and portal hypertension, while liver function is preserved. However, no animal models have been established yet. This study assessed a rat model of NCIPH and characterized the hemodynamics......, and compared it to human NCIPH. METHODS: Portal pressure (PP) was measured invasively and coloured microspheres were injected in the ileocecal vein in rats. This procedure was performed weekly for 3 weeks (weekly embolization). Rats without and with single embolization served as controls. After four weeks (one...... in the weekly embolization group. Fibrotic markers αSMA and Desmin were upregulated in weekly embolized rats. DISCUSSION: This study establishes a model using repetitive embolization via portal veins, comparable with human NCIPH and may serve to test new therapies....

The Effects of Methylphenidate on Goal-Directed Behavior in a Rat Model of ADHD

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Joman Y. Natsheh

2015-11-01

Full Text Available Although attentional and motor alterations in Attention Deficit Hyperactivity Disorder (ADHD have been well characterized, less is known about how this disorder impacts goal-directed behavior. To investigate whether there is a misbalance between goal-directed and habitual behaviors in an animal model of ADHD, we tested adult [P75-P105] Spontaneously Hypertensive Rats (SHR (ADHD rat model and Wistar-Kyoto rats (WKY, the normotensive control strain, on an instrumental conditioning paradigm with two phases: a free-operant training phase in which rats separately acquired two distinct action-outcome contingencies, and a choice test conducted in extinction prior to which one of the food outcomes was devalued through specific satiety. To assess the effects of Methylphenidate, a commonly used ADHD medication, on goal-directed behavior, we injected rats with either Methylphenidate or saline prior to the choice test. Both rat strains acquired an instrumental response, with SHR responding at greater rates over the course of training. During the choice test WKY demonstrated goal-directed behavior, responding more frequently on the lever that delivered, during training, the still-valued outcome. In contrast, SHR showed no goal-directed behavior, responding equally on both levers. However, methylphenidate administration prior to the choice test restored goal-directed behavior in SHR, and disrupted this behavior in WKY rats. This study provides the first experimental evidence for selective impairment in goal-directed behavior in rat models of ADHD, and how methylphenidate acts differently on SHR and WKY animals to restore or impair this behavior, respectively.

[The replacement therapy of rPTH(1-84) in established rat model of hypothyroidism].

Science.gov (United States)

Ding, Zhiwei; Li, Tiancheng; Liu, Yuhe; Xiao, Shuifang

2015-12-01

To investigate the replacement therapy of rPTH(1-84) (recombinant human parathyroid hormone (1-84)) to hypothyroidism in established rat model. Rat model of hypothyroidism was established by resecting parathyroids. A total of 30 rats with removal of parathyroids were divided into 6 groups randomly, 5 in each group, and applied respectively with saline injection (negative control group), calcitriol treatment (positive control group) and quadripartite PTH administration with dose of 20, 40, 80 and 160 µg/kg (experimental groups). Saline and rPTH(1-84) were injected subcutaneously daily. Calcitriol was gavaged once a day. Sham-operation was conducted in 5 rats of negative control group. To verify the authenticity of the rat model with hypothyroidism, the serum was insolated centrifugally from rat blood that was obtained from angular vein at specific time to measure calcium and phosphorus concentration. Urine in 12 hours was collected by metabolic cages and the calcium concentration was measured. After 10-week drug treatment, the experiment was terminated and bilateral femoral bone and L2-5 lumbar vertebra were removed from rats. Bone mineral density (BMD)of bilateral femoral bone and lumbar vertebra was analyzed by dual X-ray absorptiometry (DXA). The concentration of bone alkaline phosphatase (BALP) in serum was determined by radioimmunoassay. The rat model with hypothyroidism was obtained by excising parathyroid gland and was verified by monitoring calcium and phosphorus concentration subsequently. Administration of rPTH(1-84) in the dose of 80 or 160 µg/kg made serum calcium and phosphorus back to normal levels, with no significant difference between the doses (P>0.05). The BMD in each group of rats with rPTH(1-84) administration was increased significantly (P0.05). Calcium and phosphorus return to normal level by administration of rPTH(1-84) in the dose of 80 µg/kg or 160 µg/kg, with increase in BMD. Calcitriol can return the level of calcium to normal and

Adaptive Landmark-Based Navigation System Using Learning Techniques

DEFF Research Database (Denmark)

Zeidan, Bassel; Dasgupta, Sakyasingha; Wörgötter, Florentin

2014-01-01

The goal-directed navigational ability of animals is an essential prerequisite for them to survive. They can learn to navigate to a distal goal in a complex environment. During this long-distance navigation, they exploit environmental features, like landmarks, to guide them towards their goal. In...... hexapod robots. As a result, it allows the robots to successfully learn to navigate to distal goals in complex environments.......The goal-directed navigational ability of animals is an essential prerequisite for them to survive. They can learn to navigate to a distal goal in a complex environment. During this long-distance navigation, they exploit environmental features, like landmarks, to guide them towards their goal....... Inspired by this, we develop an adaptive landmark-based navigation system based on sequential reinforcement learning. In addition, correlation-based learning is also integrated into the system to improve learning performance. The proposed system has been applied to simulated simple wheeled and more complex...

Effects of Astragalus polysaccharides on memory impairment in a diabetic rat model

Directory of Open Access Journals (Sweden)

Dun C

2016-07-01

Full Text Available Changping Dun,1 Junqian Liu,1 Fucheng Qiu,1 Xueda Wu,2 Yakun Wang,3 Yongyan Zhao,4 Ping Gu1 1Department of Neurology, the First Hospital of Hebei Medical University, 2Department of Cardiac Surgery, the Second Hospital of Hebei Medical University, 3Department of Endocrinology, the Fourth Hospital of Hebei Medical University, Shijiazhuang, 4Department of Nursing, Maternal and Child Health Hospital of Tangshan City, Tangshan, People’s Republic of China Objective: Astragalus polysaccharides (APS are active constituents of Astragalus membranaceus. In this study, we aimed to investigate the effects of APS on memory impairment in a diabetic rat model and their mechanisms. Methods: A diabetic model was established in 50 male Wistar rats with streptozotocin intraperitoneal injection. A blood glucose level higher than 16.7 mmol/L obtained 72 hours after the injection was regarded as a successful diabetic model. The modeled rats were divided into model group, high, medium, and low doses of APS, and piracetam groups (positive control. A group of ten rats without streptozotocin-induced diabetes were used as a normal control. After respective consecutive 8-week treatments, the levels of blood fasting plasma glucose, insulin, hemoglobin A1c, memory performance, hippocampal malondialdehyde, and superoxide dismutase were determined. Results: After the 8-week APS treatment, serum fasting plasma glucose, hemoglobin A1c, and insulin levels were decreased compared with those of the model group (P<0.05. Importantly, memory impairment in the diabetic model was reversed by APS treatments. In addition, hippocampal malondialdehyde concentration was lowered, whereas that of superoxide dismutase was higher after APS treatments. Conclusion: APS are important active components responsible for memory improvement in rats with streptozotocin-induced diabetes. The potential mechanism of action is associated with the effects of APS on glucose and lipid metabolism, and

Transcriptional alterations in the left ventricle of three hypertensive rat models.

Science.gov (United States)

Cerutti, Catherine; Kurdi, Mazen; Bricca, Giampiero; Hodroj, Wassim; Paultre, Christian; Randon, Jacques; Gustin, Marie-Paule

2006-11-27

Left ventricular hypertrophy (LVH) is commonly associated with hypertension and represents an independent cardiovascular risk factor. The aim of this study was to test the hypothesis that the cardiac overload related to hypertension is associated to a specific gene expression pattern independently of genetic background. Gene expression levels were obtained with microarrays for 15,866 transcripts from RNA of left ventricles from 12-wk-old rats of three hypertensive models [spontaneously hypertensive rat (SHR), Lyon hypertensive rat (LH), and heterozygous TGR(mRen2)27 rat] and their respective controls. More than 60% of the detected transcripts displayed significant changes between the three groups of normotensive rats, showing large interstrain variability. Expression data were analyzed with respect to hypertension, LVH, and chromosomal distribution. Only four genes had significantly modified expression in the three hypertensive models among which a single gene, coding for sialyltransferase 7A, was consistently overexpressed. Correlation analysis between expression data and left ventricular mass index (LVMI) over all rats identified a larger set of genes whose expression was continuously related with LVMI, including known genes associated with cardiac remodeling. Positioning the detected transcripts along the chromosomes pointed out high-density regions mostly located within blood pressure and cardiac mass quantitative trait loci. Although our study could not detect a unique reprogramming of cardiac cells involving specific genes at early stage of LVH, it allowed the identification of some genes associated with LVH regardless of genetic background. This study thus provides a set of potentially important genes contained within restricted chromosomal regions involved in cardiovascular diseases.

Effect of sodium aescinate treatment on PCOS rat model with insulin resistance.

Science.gov (United States)

Chen, L; Hu, L M; Wang, Y F; Yang, H Y; Huang, X Y; Zhou, W; Sun, H X

2017-01-01

Recent studies indicated that insulin resistance may contribute to the pathogenesis of polycystic ovary syndrome (PCOS); however, the specific mechanism is still unclear. To investigate the effect of sodium aescinate (SA) on PCOS-IR rat models. Sixty rats were randomly divided into the five groups: un-treated rats (n = 12), PCOS-IR group (n = 12), PCOS-IR group plus 50 mg/kg SA (n = 12), PCOS-IR group plus 10 mg/kg SA (n = 12), PCOS-IR group plus 150 mg/kg metformin (n = 12). On day 21, rats were sacrificed, and H(and)E staining was performed for histopathologic examination of the ovaries; moreover, the serum level of follicle-stimulating hormone (FSH), testosterone, and luteotropic hormone (LH) were measured, and the expression as well as phosphorylation of PI3K, Akt and Gsk-3β were examined using western blot assay. High dosage of SA treatment improved the morphological features of the ovaries in PCOS rats, and also induced significant decrease in serum expression of testosterone and LH/FSH ratio and significant decrease in the expression of p-PI3K, p-Akt and p-Gsk-3β. Our results demonstrated that SA treatment could alleviate the symptom of PCOS in rat model through regulating the PI3K/Akt/GSK3-β pathway (Fig. 4, Ref. 22).

The cerebellum: a new key structure in the navigation system

Directory of Open Access Journals (Sweden)

Christelle eRochefort

2013-03-01

Full Text Available Early investigations of cerebellar function focused on motor learning, in particular on eyeblink conditioning and adaptation of the vestibulo-ocular reflex, and led to the general view that cerebellar Long Term Depression (LTD at parallel fiber-Purkinje cell synapses is the neural correlate of cerebellar motor learning. Thereafter, while the full complexity of cerebellar plasticities was being unraveled, cerebellar involvement in more cognitive tasks - including spatial navigation - was further investigated. However, cerebellar implication in spatial navigation remains a matter of debate because motor deficits frequently associated with cerebellar damage often prevent the dissociation between its role in spatial cognition from its implication in motor function. Here, we review recent findings from behavioral and electrophysiological analyses of cerebellar mutant mouse models, which show that the cerebellum might participate in the construction of hippocampal spatial representation map (i.e. place cells and thereby in goal-directed navigation. These recent advances in cerebellar research point toward a model in which computation from the cerebellum could be required for spatial representation and would involve the integration of multi-source self-motion information to: 1 transform the reference frame of vestibular signals and 2 distinguish between self- and externally-generated vestibular signals. We eventually present herein anatomical and functional connectivity data supporting a cerebello-hippocampal interaction. Whilst a direct cerebello-hippocampal projection has been suggested, recent investigations rather favor a multi-synaptic pathway involving posterior parietal and retrosplenial cortices, two regions critically involved in spatial navigation.

Honeybees as a model for the study of visually guided flight, navigation, and biologically inspired robotics.

Science.gov (United States)

Srinivasan, Mandyam V

2011-04-01

Research over the past century has revealed the impressive capacities of the honeybee, Apis mellifera, in relation to visual perception, flight guidance, navigation, and learning and memory. These observations, coupled with the relative ease with which these creatures can be trained, and the relative simplicity of their nervous systems, have made honeybees an attractive model in which to pursue general principles of sensorimotor function in a variety of contexts, many of which pertain not just to honeybees, but several other animal species, including humans. This review begins by describing the principles of visual guidance that underlie perception of the world in three dimensions, obstacle avoidance, control of flight speed, and orchestrating smooth landings. We then consider how navigation over long distances is accomplished, with particular reference to how bees use information from the celestial compass to determine their flight bearing, and information from the movement of the environment in their eyes to gauge how far they have flown. Finally, we illustrate how some of the principles gleaned from these studies are now being used to design novel, biologically inspired algorithms for the guidance of unmanned aerial vehicles.

Spatial navigation by congenitally blind individuals

OpenAIRE

Schinazi, Victor R.; Thrash, Tyler; Chebat, Daniel?Robert

2015-01-01

Spatial navigation in the absence of vision has been investigated from a variety of perspectives and disciplines. These different approaches have progressed our understanding of spatial knowledge acquisition by blind individuals, including their abilities, strategies, and corresponding mental representations. In this review, we propose a framework for investigating differences in spatial knowledge acquisition by blind and sighted people consisting of three longitudinal models (i.e., convergen...

Anti-inflammatory activity of methyl palmitate and ethyl palmitate in different experimental rat models

Energy Technology Data Exchange (ETDEWEB)

Saeed, Noha M. [Department of Pharmacology and Toxicology, Faculty of Pharmacy, Egyptian Russian University, Cairo (Egypt); El-Demerdash, Ebtehal [Department of Pharmacology and Toxicology, Faculty of Pharmacy, Ain Shams University, Cairo (Egypt); Abdel-Rahman, Hanaa M. [Department of Pharmacology and Toxicology, Faculty of Pharmacy, Egyptian Russian University, Cairo (Egypt); Algandaby, Mardi M. [Department of Biology (Botany), Faculty of Science, King Abdulaziz University, Jeddah (Saudi Arabia); Al-Abbasi, Fahad A. [Department of Biochemistry, Faculty of Science, King Abdulaziz University, Jeddah (Saudi Arabia); Abdel-Naim, Ashraf B., E-mail: abnaim@pharma.asu.edu.eg [Department of Pharmacology and Toxicology, Faculty of Pharmacy, Ain Shams University, Cairo (Egypt)

2012-10-01

Methyl palmitate (MP) and ethyl palmitate (EP) are naturally occurring fatty acid esters reported as inflammatory cell inhibitors. In the current study, the potential anti-inflammatory activity of MP and EP was evaluated in different experimental rat models. Results showed that MP and EP caused reduction of carrageenan-induced rat paw edema in addition to diminishing prostaglandin E2 (PGE2) level in the inflammatory exudates. In lipopolysaccharide (LPS)-induced endotoxemia in rats, MP and EP reduced plasma levels of tumor necrosis factor-α (TNF-α) and interleukin-6 (IL-6). MP and EP decreased NF-κB expression in liver and lung tissues and ameliorated histopathological changes caused by LPS. Topical application of MP and EP reduced ear edema induced by croton oil in rats. In the same animal model, MP and EP reduced neutrophil infiltration, as indicated by decreased myeloperoxidase (MPO) activity. In conclusion, this study demonstrates the effectiveness of MP and EP in combating inflammation in several experimental models. -- Highlights: ► Efficacy of MP and EP in combating inflammation was displayed in several models. ► MP and EP reduced carrageenan-induced rat paw edema and prostaglandin E2 level. ► MP and EP decreased TNF-α and IL-6 levels in experimental endotoxemia. ► MP and EP reduced NF-κB expression and histological changes in rat liver and lung. ► MP and EP reduced croton oil-induced ear edema and neutrophil infiltration.

Combating Combination of Hypertension and Diabetes in Different Rat Models

Directory of Open Access Journals (Sweden)

Talma Rosenthal

2010-03-01

Full Text Available Rat experimental models are used extensively for studying physiological mechanisms and treatments of hypertension and diabetes co-existence. Each one of these conditions is a major risk factor for cardiovascular disease (CVD, and the combination of the two conditions is a potent enhancer of CVD. Five major animal models that advanced our understanding of the mechanisms and therapeutic approaches in humans are discussed in this review: Zucker, Goto-Kakizaki, SHROB, SHR/NDmcr-cp and Cohen Rosenthal diabetic hypertensive (CRDH rats. The use of various drugs, such as angiotensin-converting enzyme (ACE inhibitors (ACEIs, various angiotensin receptor blockers (ARBs, and calcium channel blockers (CCBs, to combat the effects of concomitant pathologies on the combination of diabetes and hypertension, as well as the non-pharmacological approach are reviewed in detail for each rat model. Results from experiments on these models indicate that classical factors contributing to the pathology of hypertension and diabetes combination—Including hypertension, hyperglycemia, hyperinsulinemia and hyperlipidemia—can now be treated, although these treatments do not completely prevent renal complications. Animal studies have focused on several mechanisms involved in hypertension/diabetes that remain to be translated into clinical medicine, including hypoxia, oxidative stress, and advanced glycation. Several target molecules have been identified that need to be incorporated into a treatment modality. The challenge continues to be the identification and interpretation of the clinical evidence from the animal models and their application to human treatment.

Interactive navigation-guided ophthalmic plastic surgery: navigation enabling of telescopes and their use in endoscopic lacrimal surgeries

Directory of Open Access Journals (Sweden)

Ali MJ

2016-11-01

Full Text Available Mohammad Javed Ali,1 Swati Singh,1 Milind N Naik,1 Swathi Kaliki,2 Tarjani Vivek Dave1 1The Institute of Dacryology, 2The Operation Eyesight Universal Institute for Eye Cancer, L.V. Prasad Eye Institute, Hyderabad, India Purpose: The aims of this study were to report the preliminary experience of using telescopes, which were enabled for navigation guidance, and their utility in complex endoscopic lacrimal surgeries. Methods: Navigation enabling of the telescope was achieved by using the AxiEM™ malleable neuronavigation shunt stylet. Image-guided dacryolocalization was performed in five patients using the intraoperative image-guided StealthStation™ system in the electromagnetic mode. The “look ahead” protocol software was used to assist the surgeon in assessing the intraoperative geometric location of the endoscope and what lies ahead in real time. All patients underwent navigation-guided powered endoscopic dacryocystorhinostomy. The utility of uninterrupted navigation guidance throughout the surgery with the endoscope as the navigating tool was noted. Results: Intraoperative geometric localization of the lacrimal sac and the nasolacrimal duct could be easily deciphered. Constant orientation of the lacrimal drainage system and the peri-lacrimal anatomy was possible without the need for repeated point localizations throughout the surgery. The “look ahead” features could accurately alert the surgeon of anatomical structures that exists at 5, 10 and 15 mm in front of the endoscope. Good securing of the shunt stylet with the telescope was found to be essential for constant and accurate navigation. Conclusion: Navigation-enabled endoscopes provide the surgeon with the advantage of sustained stereotactic anatomical awareness at all times during the surgery. Keywords: telescope, endoscope, image guidance, navigation, lacrimal surgery, powered endoscopic DCR

Vibrotactile in-vehicle navigation system

NARCIS (Netherlands)

Erp, J.B.F. van; Veen, H.J. van

2004-01-01

A vibrotactile display, consisting ofeight vibrating elements or tactors mounted in a driver's seat, was tested in a driving simulator. Participants drove with visual, tactile and multimodal navigation displays through a built-up area. Workload and the reaction time to navigation messages were

[Experimental study on establishment of a simple model of rats crush injury-crush syndrome].

Science.gov (United States)

Chen, Xi; Liu, Yuehong; Xu, Wei; Qin, Tingwu; Zhao, Luping; Liu, Shuping; Zhang, Yi; Tan, Hong; Zhou, Yu

2013-01-01

To establish a repeatable, simple, and effective model of rat crush injury and crush syndrome. A total of 42 female Sprague Dawley rats (2-month-old, (CS) so as to lay a foundation for further study on CS. weighing 160-180 g) were divided randomly into the control group (n=6) and experimental group (n=36). The rats of the experimental group were used to establish the crush injury and CS model in both lower limbs by self-made crush injury mould. The survival rate and hematuria rate were observed after decompression. The biochemical indexes of blood were measured at 2, 4, 8, 12, 24, and 48 hours after decompression. The samples of muscle, kidney, and heart were harvested for morphological observation. There was no treatment in the control group, and the same tests were performed. Seven rats died and 15 rats had hematuria during compression in the experimental group. Swelling of the lower limb and muscle tissue was observed in the survival rats after reperfusion. The liver function test results showed that the levels of alanine transaminase and aspartate aminotransferase in the experimental group were significantly higher than those in the control group (P congestion and swelling, renal tubular epithelial cell degeneration, edema, necrosis, and myoglobin tube type were found in the kidneys; and myocardial structure had no obvious changes. The method of the crush injury and CS model by self-made crush injury mould is a simple and effective procedure and the experimental result is stable. It is a simple method to establish an effective model of rats crush injury and CS.

The attack navigator

DEFF Research Database (Denmark)

Probst, Christian W.; Willemson, Jan; Pieters, Wolter

2016-01-01

The need to assess security and take protection decisions is at least as old as our civilisation. However, the complexity and development speed of our interconnected technical systems have surpassed our capacity to imagine and evaluate risk scenarios. This holds in particular for risks...... that are caused by the strategic behaviour of adversaries. Therefore, technology-supported methods are needed to help us identify and manage these risks. In this paper, we describe the attack navigator: a graph-based approach to security risk assessment inspired by navigation systems. Based on maps of a socio...

Computer-assisted navigational surgery enhances safety in dental implantology.

Science.gov (United States)

Ng, F C; Ho, K H; Wexler, A

2005-06-01

Dental implants are increasingly used to restore missing dentition. These titanium implants are surgically installed in the edentulous alveolar ridge and allowed to osteointegrate with the bone during the healing phase. After osseo-integration, the implant is loaded with a prosthesis to replace the missing tooth. Conventional implant treatment planning uses study models, wax-ups and panoramic x-rays to prefabricate surgical stent to guide the preparation of the implant site. The drilling into the alveolar ridge is invariably a "blind" procedure as the part of the drill in bone is not visible. Stereotactic systems were first introduced into neurosurgery in 1986. Since then, computer-assisted navigational technology has brought major advances to neuro-, midface and orthopaedic surgeries, and more recently, to implant placement. This paper illustrates the use of real-time computer-guided navigational technology in enhancing safety in implant surgical procedures. Real-time computer-guided navigational technology enhances accuracy and precision of the surgical procedure, minimises complications and facilitates surgery in challenging anatomical locations.

Low-level lead exposure effects on spatial reference memory and working memory in rats

Institute of Scientific and Technical Information of China (English)

Xinhua Yang; Ping Zhou; Yonghui Li

2009-01-01

BACKGROUND: Studies have demonstrated that lead exposure can result in cognitive dysfunction and behavior disorders. However, lead exposure impairments vary under different experimental conditions.OBJECTIVE: To detect changes in spatial learning and memory following low-level lead exposure in rats, in Morris water maze test under the same experimental condition used to analyze lead exposure effects on various memory types and learning processes.DESIGN AND SETTING: The experiment was conducted at the Animal Laboratory, Institute of Psychology, Chinese Academy of Science between February 2005 and March 2006. One-way analysis of variance (ANOVA) and behavioral observations were performed.MATERIALS: Sixteen male, healthy, adult, Sprague Dawley rats were randomized into normal control and lead exposure groups (n = 8).METHODS: Rats in the normal control group were fed distilled water, and those in the lead exposure group were fed 250 mL of 0.05% lead acetate once per day. At day 28, all rats performed the Morris water maze test, consisting of four phases: space navigation, probe test, working memory test, and visual cue test.MAIN OUTCOME MEASURES: Place navigation in the Morris water maze was used to evaluate spatial learning and memory, probe trials for spatial reference memory, working memory test for spatial working memory, and visual cue test for non-spatial cognitive function. Perkin-Elmer Model 300 Atomic Absorption Spectrometer was utilized to determine blood lead levels in rats.RESULTS: (1) In the working memory test, the time to reach the platform remained unchanged between the control and lead exposure groups (F(1,1) = 0.007, P = 0.935). A visible decrease in escape latencies was observed in each group (P = 0.028). However, there was no significant difference between the two groups (F(1,1) = 1.869, P = 0.193). The working memory probe test demonstrated no change between the two groups in the time spent in the target quadrant during the working memory probe test

ANALYSIS OF FREE ROUTE AIRSPACE AND PERFORMANCE BASED NAVIGATION IMPLEMENTATION IN THE EUROPEAN AIR NAVIGATION SYSTEM

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Svetlana Pavlova

2014-12-01

Full Text Available European Air Traffic Management system requires continuous improvements as air traffic is increasingday by day. For this purpose it was developed by international organizations Free Route Airspace and PerformanceBased Navigation concepts that allow to offer a required level of safety, capacity, environmental performance alongwith cost-effectiveness. The aim of the article is to provide detailed analysis of Free Route Airspace and PerformanceBased Navigation implementation status within European region including Ukrainian air navigation system.

Lodenafil treatment in the monocrotaline model of pulmonary hypertension in rats.

Science.gov (United States)

Polonio, Igor Bastos; Acencio, Milena Marques Pagliareli; Pazetti, Rogério; Almeida, Francine Maria de; Silva, Bárbara Soares da; Pereira, Karina Aparecida Bonifácio; Souza, Rogério

2014-01-01

We assessed the effects of lodenafil on hemodynamics and inflammation in the rat model of monocrotaline-induced pulmonary hypertension (PH). Thirty male Sprague-Dawley rats were randomly divided into three groups: control; monocrotaline (experimental model); and lodenafil (experimental model followed by lodenafil treatment, p.o., 5 mg/kg daily for 28 days) Mean pulmonary artery pressure (mPAP) was obtained by right heart catheterization. We investigated right ventricular hypertrophy (RVH) and IL-1 levels in lung fragments. The number of cases of RVH was significantly higher in the monocrotaline group than in the lodenafil and control groups, as were mPAP and IL-1 levels. We conclude that lodenafil can prevent monocrotaline-induced PH, RVH, and inflammation.

Lodenafil treatment in the monocrotaline model of pulmonary hypertension in rats*

Science.gov (United States)

Polonio, Igor Bastos; Acencio, Milena Marques Pagliareli; Pazetti, Rogério; de Almeida, Francine Maria; da Silva, Bárbara Soares; Pereira, Karina Aparecida Bonifácio; Souza, Rogério

2014-01-01

We assessed the effects of lodenafil on hemodynamics and inflammation in the rat model of monocrotaline-induced pulmonary hypertension (PH). Thirty male Sprague-Dawley rats were randomly divided into three groups: control; monocrotaline (experimental model); and lodenafil (experimental model followed by lodenafil treatment, p.o., 5 mg/kg daily for 28 days) Mean pulmonary artery pressure (mPAP) was obtained by right heart catheterization. We investigated right ventricular hypertrophy (RVH) and IL-1 levels in lung fragments. The number of cases of RVH was significantly higher in the monocrotaline group than in the lodenafil and control groups, as were mPAP and IL-1 levels. We conclude that lodenafil can prevent monocrotaline-induced PH, RVH, and inflammation. PMID:25210965

Neuroprotective effect of curcumin in an experimental rat model of subarachnoid hemorrhage.

Science.gov (United States)

Kuo, Chang-Po; Lu, Chueng-He; Wen, Li-Li; Cherng, Chen-Hwan; Wong, Chih-Shung; Borel, Cecil O; Ju, Da-Tong; Chen, Chun-Mei; Wu, Ching-Tang

2011-12-01

Subarachnoid hemorrhage (SAH) causes a high mortality rate and morbidity. It was suggested that oxidant stress plays an important role in neuronal injury after SAH. Therefore, we assessed the effect of curcumin on reducing cerebral vasospasm and neurologic injury in a SAH model in rat. A double-hemorrhage model was used to induce SAH in rats. Groups of animals were treated with intraperitoneal injection of 20 mg/kg curcumin (curcumin group, n = 24) or dimethyl sulfoxide (vehicle group, n = 33), normal saline (SAH group, n = 34) or normal saline (sham group, n = 22), 3 h after SAH induction and daily for 6 days. Glutamate was measured before SAH induction and once daily for 7 days. Glutamate transporter-1, wall thickness and the perimeter of the basilar artery, neurologic scores, neuronal degeneration, malondialdehyde, superoxide dismutase, and catalase activities were assessed. Changes of glutamate levels were lower in the curcumin group versus the SAH and vehicle groups, especially on day 1 (56 folds attenuation vs. vehicle). Correspondingly, glutamate transporter-1 was preserved after SAH in curcumin-treated rats. In the hippocampus and the cortex, malondialdehyde was attenuated (30% and 50%, respectively). Superoxide dismutase (35% and 64%) and catalase (34% and 38%) activities were increased in the curcumin rats compared with the SAH rats. Mortality rate (relative risk: 0.59), wall thickness (30%) and perimeter (31%) of the basilar artery, neuron degeneration scores (39%), and neurologic scores (31%) were improved in curcumin-treated rats. Curcumin in multiple doses is effective against glutamate neurotoxicity and oxidative stress and improves the mortality rate in rats with SAH.

Metabolic Disorders and Diabetic Complications in Spontaneously Diabetic Torii Leprfa Rat: A New Obese Type 2 Diabetic Model

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Yusuke Kemmochi

2013-01-01

Full Text Available Spontaneously Diabetic Torii Leprfa (SDT fatty rat, established by introducing the fa allele of the Zucker fatty rat into SDT rat genome, is a new model of obese type 2 diabetes. Both male and female SDT fatty rats show overt obesity, and hyperglycemia and hyperlipidemia are observed at a young age as compared with SDT rats. With early incidence of diabetes mellitus, diabetic complications, such as nephropathy, retinopathy, and neuropathy, in SDT fatty rats were seen at younger ages compared to those in the SDT rats. In this paper, we overview pathophysiological features in SDT fatty rats and also describe new insights regarding the hematology, blood pressure, renal complications, and sexual dysfunction. The SDT fatty rats showed an increase of leukocytes, especially the monocyte count, prominent hypertension associated with salt drinking, end-stage renal disease with aging, and hypogonadism. Unlike other diabetic models, the characteristic of SDT fatty rat is to present an incidence of diabetes in females, hypertension, and retinopathy. SDT fatty rat is a useful model for analysis of various metabolic disorders and the evaluation of drugs related to metabolic disease.

Edaravone injection ameliorates cognitive deficits in rat model of Alzheimer's disease.

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Yang, Rui; Wang, Qingjun; Li, Fang; Li, Jian; Liu, Xuewen

2015-11-01

Oxidative stress plays important role in the pathogenesis of Alzheimer's disease (AD). Edaravone is a potent free radical scavenger that exerts antioxidant effects. Therefore, in this study we aimed to investigate neuroprotective effects of edaravone for AD. Wistar rats were randomly divided into three groups (n = 15): control group, model group, and treatment group, which were injected with phosphate buffered saline, Aβ1-40, and Aβ1-40 together with 5 mg/kg edaravone, respectively, into the right hippocampal dentate gyrus. Spatial learning and memory of the rats were examined by Morris water maze test. 4-Hydroxynonenal (4-HNE) level in rat hippocampus was analyzed by immunohistochemistry. Acetylcholinesterase (AChE) and choline acetylase (ChAT) activities were assayed by commercial kits. We found that edaravone ameliorated spatial learning and memory deficits in the rats. 4-HNE level in the hippocampus as well as AChE and ChAT activities in the hippocampus was significantly lower in treatment group than in model group. In conclusion, edaravone may be developed as a novel agent for the treatment of AD for improving cholinergic system and protecting neurons from oxidative toxicity.

Spatial navigation: implications for animal models, drug development and human studies

Czech Academy of Sciences Publication Activity Database

Stuchlík, Aleš; Kubík, Štěpán; Vlček, Kamil; Valeš, Karel

2014-01-01

Roč. 63, Suppl.1 (2014), S237-S249 ISSN 0862-8408 R&D Projects: GA ČR(CZ) GBP304/12/G069; GA ČR(CZ) GAP303/12/1464; GA MZd(CZ) NT13386; GA MZd(CZ) NT13403; GA ČR(CZ) GA14-03627S Grant - others:Rada Programu interní podpory projektů mezinárodní spolupráce AV ČR(CZ) M200111204; EC(XE) PIR06-GA/2009-256581 Institutional support: RVO:67985823 Keywords : behavior * rat * animal models Subject RIV: FH - Neurology Impact factor: 1.293, year: 2014

Visual Semantic Navigation Based on Deep Learning for Indoor Mobile Robots

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Li Wang

2018-01-01

Full Text Available In order to improve the environmental perception ability of mobile robots during semantic navigation, a three-layer perception framework based on transfer learning is proposed, including a place recognition model, a rotation region recognition model, and a “side” recognition model. The first model is used to recognize different regions in rooms and corridors, the second one is used to determine where the robot should be rotated, and the third one is used to decide the walking side of corridors or aisles in the room. Furthermore, the “side” recognition model can also correct the motion of robots in real time, according to which accurate arrival to the specific target is guaranteed. Moreover, semantic navigation is accomplished using only one sensor (a camera. Several experiments are conducted in a real indoor environment, demonstrating the effectiveness and robustness of the proposed perception framework.

Analgesic synergism of gabapentin and carbamazepine in rat model ...

African Journals Online (AJOL)

Analgesic synergism of gabapentin and carbamazepine in rat model of diabetic neuropathic pain. Sinan Mohammed Abdullah AL-Mahmood, Shahrin Tarmizi Bin Che Abdullah, Nik Nur Fatnoon Nik Ahmad, Abdul Hadi Bin Mohamed, Tariq Abdul Razak ...

Validation of infrared thermography in serotonin-induced itch model in rats

DEFF Research Database (Denmark)

Dagnæs-Hansen, Frederik; Jasemian, Yousef; Gazerani, Parisa

The number of scratching bouts is generally used as a standard method in animal models of itch. The aim of the present study was to validate the application of infrared thermography (IR-Th) in a serotonin-induced itch model in rats. Adult Sprague-Dawley male rats (n = 24) were used in 3 consecutive...... experiments. The first experiment evaluated vasomotor response (IR-Th) and scratching behavior (number of bouts) induced by intradermal serotonin (10 μl, 2%). Isotonic saline (control: 10 μl, 0.9%) and Methysergide (antagonist: 10 μl, 0.047 mg/ml) were used. The second experiment evaluated the dose......-response effect of intradermal serotonin (1%, 2% and 4%) on local temperature. The third experiment evaluated the anesthetized rats to test the local vasomotor responses in absent of scratching. Serotonin elicited significant scratching and lowered the local temperature at the site of injection. A dose...

GPS navigation algorithms for Autonomous Airborne Refueling of Unmanned Air Vehicles

Science.gov (United States)

Khanafseh, Samer Mahmoud

Unmanned Air Vehicles (UAVs) have recently generated great interest because of their potential to perform hazardous missions without risking loss of life. If autonomous airborne refueling is possible for UAVs, mission range and endurance will be greatly enhanced. However, concerns about UAV-tanker proximity, dynamic mobility and safety demand that the relative navigation system meets stringent requirements on accuracy, integrity, and continuity. In response, this research focuses on developing high-performance GPS-based navigation architectures for Autonomous Airborne Refueling (AAR) of UAVs. The AAR mission is unique because of the potentially severe sky blockage introduced by the tanker. To address this issue, a high-fidelity dynamic sky blockage model was developed and experimentally validated. In addition, robust carrier phase differential GPS navigation algorithms were derived, including a new method for high-integrity reacquisition of carrier cycle ambiguities for recently-blocked satellites. In order to evaluate navigation performance, world-wide global availability and sensitivity covariance analyses were conducted. The new navigation algorithms were shown to be sufficient for turn-free scenarios, but improvement in performance was necessary to meet the difficult requirements for a general refueling mission with banked turns. Therefore, several innovative methods were pursued to enhance navigation performance. First, a new theoretical approach was developed to quantify the position-domain integrity risk in cycle ambiguity resolution problems. A mechanism to implement this method with partially-fixed cycle ambiguity vectors was derived, and it was used to define tight upper bounds on AAR navigation integrity risk. A second method, where a new algorithm for optimal fusion of measurements from multiple antennas was developed, was used to improve satellite coverage in poor visibility environments such as in AAR. Finally, methods for using data-link extracted

Applications of navigation for orthognathic surgery.

Science.gov (United States)

Bobek, Samuel L

2014-11-01

Stereotactic surgical navigation has been used in oral and maxillofacial surgery for orbital reconstruction, reduction of facial fractures, localization of foreign bodies, placement of implants, skull base surgery, tumor removal, temporomandibular joint surgery, and orthognathic surgery. The primary goals in adopting intraoperative navigation into these different surgeries were to define and localize operative anatomy, to localize implant position, and to orient the surgical wound. Navigation can optimize the functional and esthetic outcomes in patients with dentofacial deformities by identifying pertinent anatomic structures, transferring the surgical plan to the patient, and verifying the surgical result. This article discusses the principles of navigation-guided orthognathic surgery. Copyright © 2014 Elsevier Inc. All rights reserved.

[Effects of Electroacupuncture Intervention on Oxygen Free Radicals and Expression of Apoptosis-related Proteins in Rats with Ischemic Learning and Memory Disorder].

Science.gov (United States)

Hou, Zhi-tao; Sun, Zhong-ren; Liu, Song-tao; Xiong, Sheng-biao; Liu, Yi-tian; Han, Xiao-xia; Sun, Hong-fang; Han, Yu-sheng; Yin, Hong-na; Xu, Jin-qiao; Li, Dong-dong

2015-12-01

To observe the effect of electroacupuncture (EA) therapy on levels of oxygen free radicals (OFR) and hippocampal apoptosis-related protein expression in ischemic learning-memory disorder rats so as to investigate its mechanisms underlying improvement of ischemic learning-memory impairment. A total of 60 SD rats were randomly divided into sham operation (sham), model, medication, and EA groups, with 15 rats in each group. The learning-memory disorder model was made by occlusion of bilateral carotid arteries. EA (2- 3 Hz, 2 mA) was applied to "Zhi San Zhen" ["Shenting" (GV 24) and bilateral "Benshen" (GB 13)] for 30 min, once a day for 3 weeks. The rats of the medication group were treated by lavage of Aricept (0.03 mg . kg(-1) . d(-1)), once daily for 3 weeks. The rats' learning-memory ability was detected by Morris water maze tests and the state of hippocampal apoptosis cells was observed by light microscope after TUNEL staining and the expression of hippocampal Bcl-2, Bax and Caspase-3 proteins was detected by immunohistochemistry. Serum and hippocampal superoxide dismutase (SOD) and glutathione peroxidase (GSH-Px) activity and malondialdehyde (MDA) contents were detected by chemical colorimetric analysis. Compared with the sham group, the escape latencies (place-navigation) after modeling were evidently prolonged, and the times of target-platform crossing in 90 sec (spatial probe test) considerably reduced in the model group (Plearning-memory ability. After the treatment for 21 d, the increased escape latency and the reduced target-platform crossing time in both EA and medication groups were reversed in comparison with the model group (Pmemory ability, and the effect of the EA group was significantly superior to that of the medication group (Plearning-memory ability in ischemic learning-memory disorder rats which may be associated with its effects in reducing blood and hippocampal OFR contents and hippocampal cellular apoptosis.

An automatic rat brain extraction method based on a deformable surface model.

Science.gov (United States)

Li, Jiehua; Liu, Xiaofeng; Zhuo, Jiachen; Gullapalli, Rao P; Zara, Jason M

2013-08-15

The extraction of the brain from the skull in medical images is a necessary first step before image registration or segmentation. While pre-clinical MR imaging studies on small animals, such as rats, are increasing, fully automatic imaging processing techniques specific to small animal studies remain lacking. In this paper, we present an automatic rat brain extraction method, the Rat Brain Deformable model method (RBD), which adapts the popular human brain extraction tool (BET) through the incorporation of information on the brain geometry and MR image characteristics of the rat brain. The robustness of the method was demonstrated on T2-weighted MR images of 64 rats and compared with other brain extraction methods (BET, PCNN, PCNN-3D). The results demonstrate that RBD reliably extracts the rat brain with high accuracy (>92% volume overlap) and is robust against signal inhomogeneity in the images. Copyright © 2013 Elsevier B.V. All rights reserved.

Test Bed for Safety Assessment of New e-Navigation Systems

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Axel Hahn

2014-12-01

Full Text Available New e-navigation strains require new technologies, new infrastructures and new organizational structures on bridge, on shore as well as in the cloud. Suitable engineering and safety/risk assessment methods facilitate these efforts. Understanding maritime transportation as a sociotechnical system allows the application of system-engineering methods. Formal, simulation based and in situ verification and validation of e-navigation technologies are important methods to obtain system safety and reliability. The modelling and simulation toolset HAGGIS provides methods for system specification and formal risk analysis. It provides a modelling framework for processes, fault trees and generic hazard specification and a physical world and maritime traffic simulation system. HAGGIS is accompanied by the physical test bed LABSKAUS which implements a physical test bed. The test bed provides reference ports and waterways in combination with an experimental Vessel Traffic Services (VTS system and a mobile integrated bridge: This enables in situ experiments for technological evaluation, testing, ground research and demonstration. This paper describes an integrated seamless approach for developing new e-navigation technologies starting with simulation based assessment and ending in physical real world demonstrations

Automated Functional Testing based on the Navigation of Web Applications

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Boni García

2011-08-01

Full Text Available Web applications are becoming more and more complex. Testing such applications is an intricate hard and time-consuming activity. Therefore, testing is often poorly performed or skipped by practitioners. Test automation can help to avoid this situation. Hence, this paper presents a novel approach to perform automated software testing for web applications based on its navigation. On the one hand, web navigation is the process of traversing a web application using a browser. On the other hand, functional requirements are actions that an application must do. Therefore, the evaluation of the correct navigation of web applications results in the assessment of the specified functional requirements. The proposed method to perform the automation is done in four levels: test case generation, test data derivation, test case execution, and test case reporting. This method is driven by three kinds of inputs: i UML models; ii Selenium scripts; iii XML files. We have implemented our approach in an open-source testing framework named Automatic Testing Platform. The validation of this work has been carried out by means of a case study, in which the target is a real invoice management system developed using a model-driven approach.

Schedule-induced polydipsia: a rat model of obsessive-compulsive disorder.

Science.gov (United States)

Platt, Brian; Beyer, Chad E; Schechter, Lee E; Rosenzweig-Lipson, Sharon

2008-04-01

Obsessive-compulsive disorder (OCD) is difficult to model in animals due to the involvement of both mental (obsessions) and physical (compulsions) symptoms. Due to limitations of using animals to evaluate obsessions, OCD models are limited to evaluation of the compulsive and repetitive behaviors of animals. Of these, models of adjunctive behaviors offer the most value in regard to predicting efficacy of anti-OCD drugs in the clinic. Adjunctive behaviors are those that are maintained indirectly by the variables that control another behavior, rather than directly by their own typical controlling variables. Schedule-induced polydipsia (SIP) is an adjunctive model in which rats exhibit exaggerated drinking behavior (polydipsia) when presented with food pellets under a fixed-time schedule. The polydipsic response is an excessive manifestation of a normal behavior (drinking), providing face validity to the model. Furthermore, clinically effective drugs for the treatment of OCD decrease SIP. This protocol describes a rat SIP model of OCD and provides preclinical data for drugs that decrease polydipsia and are clinically effective in the treatment of OCD.

Collective navigation of complex networks: Participatory greedy routing.

Science.gov (United States)

Kleineberg, Kaj-Kolja; Helbing, Dirk

2017-06-06

Many networks are used to transfer information or goods, in other words, they are navigated. The larger the network, the more difficult it is to navigate efficiently. Indeed, information routing in the Internet faces serious scalability problems due to its rapid growth, recently accelerated by the rise of the Internet of Things. Large networks like the Internet can be navigated efficiently if nodes, or agents, actively forward information based on hidden maps underlying these systems. However, in reality most agents will deny to forward messages, which has a cost, and navigation is impossible. Can we design appropriate incentives that lead to participation and global navigability? Here, we present an evolutionary game where agents share the value generated by successful delivery of information or goods. We show that global navigability can emerge, but its complete breakdown is possible as well. Furthermore, we show that the system tends to self-organize into local clusters of agents who participate in the navigation. This organizational principle can be exploited to favor the emergence of global navigability in the system.

Shaofu Zhuyu Decoction Regresses Endometriotic Lesions in a Rat Model

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Guanghui Zhu

2018-01-01

Full Text Available The current therapies for endometriosis are restricted by various side effects and treatment outcome has been less than satisfactory. Shaofu Zhuyu Decoction (SZD, a classic traditional Chinese medicinal (TCM prescription for dysmenorrhea, has been widely used in clinical practice by TCM doctors to relieve symptoms of endometriosis. The present study aimed to investigate the effects of SZD on a rat model of endometriosis. Forty-eight female Sprague-Dawley rats with regular estrous cycles went through autotransplantation operation to establish endometriosis model. Then 38 rats with successful ectopic implants were randomized into two groups: vehicle- and SZD-treated groups. The latter were administered SZD through oral gavage for 4 weeks. By the end of the treatment period, the volume of the endometriotic lesions was measured, the histopathological properties of the ectopic endometrium were evaluated, and levels of proliferating cell nuclear antigen (PCNA, CD34, and hypoxia inducible factor- (HIF- 1α in the ectopic endometrium were detected with immunohistochemistry. Furthermore, apoptosis was assessed using the terminal deoxynucleotidyl transferase (TdT deoxyuridine 5′-triphosphate (dUTP nick-end labeling (TUNEL assay. In this study, SZD significantly reduced the size of ectopic lesions in rats with endometriosis, inhibited cell proliferation, increased cell apoptosis, and reduced microvessel density and HIF-1α expression. It suggested that SZD could be an effective therapy for the treatment and prevention of endometriosis recurrence.

Navigating the fifth dimension: new concepts in interactive multimodality and multidimensional image navigation

Science.gov (United States)

Ratib, Osman; Rosset, Antoine; Dahlbom, Magnus; Czernin, Johannes

2005-04-01

Display and interpretation of multi dimensional data obtained from the combination of 3D data acquired from different modalities (such as PET-CT) require complex software tools allowing the user to navigate and modify the different image parameters. With faster scanners it is now possible to acquire dynamic images of a beating heart or the transit of a contrast agent adding a fifth dimension to the data. We developed a DICOM-compliant software for real time navigation in very large sets of 5 dimensional data based on an intuitive multidimensional jog-wheel widely used by the video-editing industry. The software, provided under open source licensing, allows interactive, single-handed, navigation through 3D images while adjusting blending of image modalities, image contrast and intensity and the rate of cine display of dynamic images. In this study we focused our effort on the user interface and means for interactively navigating in these large data sets while easily and rapidly changing multiple parameters such as image position, contrast, intensity, blending of colors, magnification etc. Conventional mouse-driven user interface requiring the user to manipulate cursors and sliders on the screen are too cumbersome and slow. We evaluated several hardware devices and identified a category of multipurpose jogwheel device that is used in the video-editing industry that is particularly suitable for rapidly navigating in five dimensions while adjusting several display parameters interactively. The application of this tool will be demonstrated in cardiac PET-CT imaging and functional cardiac MRI studies.

Experimental rat lung tumor model with intrabronchial tumor cell implantation.

Science.gov (United States)

Gomes Neto, Antero; Simão, Antônio Felipe Leite; Miranda, Samuel de Paula; Mourão, Lívia Talita Cajaseiras; Bezerra, Nilfácio Prado; Almeida, Paulo Roberto Carvalho de; Ribeiro, Ronaldo de Albuquerque

2008-01-01

The objective of this study was to develop a rat lung tumor model for anticancer drug testing. Sixty-two female Wistar rats weighing 208 +/- 20 g were anesthetized intraperitoneally with 2.5% tribromoethanol (1 ml/100 g live weight), tracheotomized and intubated with an ultrafine catheter for inoculation with Walker's tumor cells. In the first step of the experiment, a technique was established for intrabronchial implantation of 10(5) to 5 x 10(5) tumor cells, and the tumor take rate was determined. The second stage consisted of determining tumor volume, correlating findings from high-resolution computed tomography (HRCT) with findings from necropsia and determining time of survival. The tumor take rate was 94.7% for implants with 4 x 10(5) tumor cells, HRCT and necropsia findings matched closely (r=0.953; p<0.0001), the median time of survival was 11 days, and surgical mortality was 4.8%. The present rat lung tumor model was shown to be feasible: the take rate was high, surgical mortality was negligible and the procedure was simple to perform and easily reproduced. HRCT was found to be a highly accurate tool for tumor diagnosis, localization and measurement and may be recommended for monitoring tumor growth in this model.

Ocular changes in TgF344-AD rat model of Alzheimer's disease.

Science.gov (United States)

Tsai, Yuchun; Lu, Bin; Ljubimov, Alexander V; Girman, Sergey; Ross-Cisneros, Fred N; Sadun, Alfredo A; Svendsen, Clive N; Cohen, Robert M; Wang, Shaomei

2014-01-29

Alzheimer's disease (AD) is the most common neurodegenerative disorder characterized by progressive decline in learning, memory, and executive functions. In addition to cognitive and behavioral deficits, vision disturbances have been reported in early stage of AD, well before the diagnosis is clearly established. To further investigate ocular abnormalities, a novel AD transgenic rat model was analyzed. Transgenic (Tg) rats (TgF344-AD) heterozygous for human mutant APPswe/PS1ΔE9 and age-matched wild type (WT) rats, as well as 20 human postmortem retinal samples from both AD and healthy donors were used. Visual function in the rodent was analyzed using the optokinetic response and luminance threshold recording from the superior colliculus. Immunohistochemistry on retinal and brain sections was used to detect various markers including amyloid-β (Aβ) plaques. As expected, Aβ plaques were detected in the hippocampus, cortex, and retina of Tg rats. Plaque-like structures were also found in two AD human whole-mount retinas. The choroidal thickness was significantly reduced in both Tg rat and in AD human eyes when compared with age-matched controls. Tg rat eyes also showed hypertrophic retinal pigment epithelial cells, inflammatory cells, and upregulation of complement factor C3. Although visual acuity was lower in Tg than in WT rats, there was no significant difference in the retinal ganglion cell number and retinal vasculature. In this study, we observed pathological changes in the choroid and in RPE cells in the TgF344-AD rat model; choroidal thinning was observed further in human AD retina. Along with Ab deposition, the inflammatory response was manifested by microglial recruitment and complement activation. Further studies are needed to elucidate the significance and mechanisms of these pathological changes [corrected].

A voxelization approach to navigate through nested geometries

CERN Document Server

Harrison, Brent Andrew

2016-01-01

High energy physics experiment software typically implements a detailed description of the geometry of the relevant detector. As modern detectors increase in complexity, modelling them becomes more challenging. Typically such models are built as a nested hierarchy of O(10000) volumes reaching a depth of 10 - 20. It is desirable to develop data structures and algorithms which allow fast and efficient navigation though a given detector geometry model. We investigate the feasibility of voxelisation techniques to this end.

Alterations of the tunica vasculosa lentis in the rat model of retinopathy of prematurity.

Science.gov (United States)

Favazza, Tara L; Tanimoto, Naoyuki; Munro, Robert J; Beck, Susanne C; Garcia Garrido, Marina; Seide, Christina; Sothilingam, Vithiyanjali; Hansen, Ronald M; Fulton, Anne B; Seeliger, Mathias W; Akula, James D

2013-08-01

To study the relationship between retinal and tunica vasculosa lentis (TVL) disease in retinopathy of prematurity (ROP). Although the clinical hallmark of ROP is abnormal retinal blood vessels, the vessels of the anterior segment, including the TVL, are also altered. ROP was induced in Long-Evans pigmented and Sprague Dawley albino rats; room-air-reared (RAR) rats served as controls. Then, fluorescein angiographic images of the TVL and retinal vessels were serially obtained with a scanning laser ophthalmoscope near the height of retinal vascular disease, ~20 days of age, and again at 30 and 64 days of age. Additionally, electroretinograms (ERGs) were obtained prior to the first imaging session. The TVL images were analyzed for percent coverage of the posterior lens. The tortuosity of the retinal arterioles was determined using Retinal Image multiScale Analysis (Gelman et al. in Invest Ophthalmol Vis Sci 46:4734-4738, 2005). In the youngest ROP rats, the TVL was dense, while in RAR rats, it was relatively sparse. By 30 days, the TVL in RAR rats had almost fully regressed, while in ROP rats, it was still pronounced. By the final test age, the TVL had completely regressed in both ROP and RAR rats. In parallel, the tortuous retinal arterioles in ROP rats resolved with increasing age. ERG components indicating postreceptoral dysfunction, the b-wave, and oscillatory potentials were attenuated in ROP rats. These findings underscore the retinal vascular abnormalities and, for the first time, show abnormal anterior segment vasculature in the rat model of ROP. There is delayed regression of the TVL in the rat model of ROP. This demonstrates that ROP is a disease of the whole eye.

Experiences of cancer patients in a patient navigation program: a qualitative systematic review.

Science.gov (United States)

Tan, Clarice Hwee Hoon; Wilson, Sally; McConigley, Ruth

2015-03-12

A patient navigation program is a model of care which entails trained personnel providing individualized and assistive care to adult oncology patients to help the patients overcome barriers. A further aim of the program is to achieve continuity of care as patients experience the complex healthcare system. Patient navigation is a new model of care in many institutions, and as such the experiences of patients in the patient navigation program remains inconclusive. The review seeks to understand the experiences of adult patients in patient navigation programs and how patient navigators impact the challenges patients encounter in the cancer care continuum. Participants of interest were adult cancer patients more than 18 years of age who are receiving or have received cancer care and are in a patient navigation program or had been in a hospital patient navigation program. Types of intervention(s)/phenomena of interest: The phenomenon of interest was the experiences of adult cancer patients who used patient navigation programs in hospital including how patient navigators impact on the challenges patients encounter in the cancer care continuum. Types of studies: This review considered studies that focused on qualitative data including, but not limited to, designs such as phenomenology, grounded theory, action research and exploratory studies. The review includes patient navigation programs within a hospital setting. Types of outcome: The review sought to understand the experiences of patients with cancer in patient navigation programs in the hospital. A three-step search strategy was used. An initial search to identify keywords was undertaken in PubMed and Science Direct followed by an expanded search using all identified keywords and index terms specific to each included database. The reference lists of included papers were then searched for any other relevant studies. Each paper was assessed independently by two reviewers for methodological quality using the Joanna

Target relative navigation results from hardware-in-the-loop tests using the sinplex navigation system

NARCIS (Netherlands)

Steffes, S.; Dumke, M.; Heise, D.; Sagliano, M.; Samaan, M.; Theil, S.; Boslooper, E.C.; Oosterling, J.A.J.; Schulte, J.; Skaborn, D.; Söderholm, S.; Conticello, S.; Esposito, M.; Yanson, Y.; Monna, B.; Stelwagen, F.; Visee, R.

2014-01-01

The goal of the SINPLEX project is to develop an innovative solution to significantly reduce the mass of the navigation subsystem for exploration missions which include landing and/or rendezvous and capture phases. The system mass is reduced while still maintaining good navigation performance as

Time and Motion Study of a Community Patient Navigator

Directory of Open Access Journals (Sweden)

Sara S. Phillips

2014-04-01

Full Text Available Research on patient navigation has focused on validating the utility of navigators by defining their roles and analyzing their effects on patient outcomes, patient satisfaction, and cost effectiveness. Patient navigators are increasingly used outside the research context, and their roles without research responsibilities may look very different. This pilot study captured the activities of a community patient navigator for uninsured women with a positive screening test for breast cancer, using a time and motion approach over a period of three days. We followed the actions of this navigator minute by minute to assess the relative ratios of actions performed and to identify areas for time efficiency improvement to increase direct time with patients. This novel approach depicts the duties of a community patient navigator no longer fettered by navigation logs, research team meetings, surveys, and the consent process. We found that the community patient navigator was able to spend more time with patients in the clinical context relative to performing paperwork or logging communication with patients as a result of her lack of research responsibilities. By illuminating how community patient navigation functions as separate from the research setting, our results will inform future hiring and training of community patient navigators, system design and operations for improving the efficiency and efficacy of navigators, and our understanding of what community patient navigators do in the absence of research responsibilities.

The concentration of kynurenine in rat model of asthma.

Directory of Open Access Journals (Sweden)

Barbara Mroczko

2008-06-01

Full Text Available Asthma is a chronic inflammatory disease that involves the immune system activation. Evidence is accumulating about the role of kynurenine pathway in the immune system regulation. The kynurenine pathway includes several metabolites of tryptophan, among others kynurenine (KYN. To study the immunological system regulation in asthma a simple and sensitive models of asthma are required. In the present study we induced rat model of asthma using ovalbumin (OVA sensitization followed by challenge with OVA. The development of asthma has been confirmed by plasma total IgE measurement and the histological examination. The concentration of KYN has been determined in plasma, lungs and liver by high-performance liquid chromatography (HPLC. In OVA sensitized rats the concentration of total IgE was statistically significantly increased as compared to VEH sensitized control groups (437.6 +/- 97.7 kU/l vs 159.2 +/- 22.7 kU/l, respectively; p< 0.01. In asthmatic animals, the number of eosinophils, neutrophils and mast cells increased considerably, and epithelial lesion and the increase in airway epithelium goblet cells and edema of bronchial mucosa were present. We did not observe any significant changes in the concentration of KYN in plasma, lungs or liver between studied groups. In conclusion, the concentration of KYN remains unchanged in asthmatic animals as compared to control groups. Further studies using rat model of asthma are warranted to establish the role of kynurenine pathway regulation in asthma.

The Fischer 344 rat as a model of presbycusis.

Science.gov (United States)

Syka, Josef

2010-06-01

Due to the rising number of the aged human population all over the world, presbycusis is a phenomenon that deserves the increasing attention of the medical community as regards to prevention and treatment. This requires finding appropriate animal models for human presbycusis that will be useful in future experiments. Among the available rat strains, the Fischer 344 (F344) strain promises to serve as a model producing prompt and profound presbycusis. Hearing thresholds begin to increase in this strain during the first year of life; toward the end of the second year, the thresholds are very high. The threshold shifts progress independently in both ears. The rapid deterioration of distortion product otoacoustic emissions, with the majority of outer hair cells (OHC) being present and morphologically intact, is apparently produced by the disruption of prestin. The age-related changes within inner ear function are accompanied by deterioration of acoustical signal processing within central auditory system, mainly due to impaired GABA inhibition. The loss of GABA inhibition in old animals is expressed primarily in the inferior colliculus but is also present in the cochlear nuclei and the auditory cortex. Sound-evoked behavioral reactions are also impaired in old F344 rats. Taken together, the described characteristics of the aging F344 rat auditory system supports the idea that this strain may serve as a suitable model for studying the mechanisms of presbycusis, its prevention and treatment. Copyright 2009 Elsevier B.V. All rights reserved.

Additive effect of mesenchymal stem cells and defibrotide in an arterial rat thrombosis model.

Science.gov (United States)

Dilli, Dilek; Kılıç, Emine; Yumuşak, Nihat; Beken, Serdar; Uçkan Çetinkaya, Duygu; Karabulut, Ramazan; Zenciroğlu, Ayşegu L

2017-06-01

In this study, we aimed to investigate the additive effect of mesenchymal stem cells (MSC) and defibrotide (DFT) in a rat model of femoral arterial thrombosis. Thirty Sprague Dawley rats were included. An arterial thrombosis model by ferric chloride (FeCl3) was developed in the left femoral artery. The rats were equally assigned to 5 groups: Group 1-Sham-operated (without arterial injury); Group 2-Phosphate buffered saline (PBS) injected; Group 3-MSC; Group 4-DFT; Group 5-MSC + DFT. All had two intraperitoneal injections of 0.5 ml: the 1st injection was 4 h after the procedure and the 2nd one 48 h after the 1st injection. The rats were sacrificed 7 days after the 2nd injection. Although the use of human bone marrow-derived (hBM) hBM-MSC or DFT alone enabled partial resolution of the thrombus, combining them resulted in near-complete resolution. Neovascularization was two-fold better in hBM-MSC + DFT treated rats (11.6 ± 2.4 channels) compared with the hBM-MSC (3.8 ± 2.7 channels) and DFT groups (5.5 ± 1.8 channels) (P < 0.0001 and P= 0.002, respectively). The combined use of hBM-MSC and DFT in a rat model of arterial thrombosis showed additive effect resulting in near-complete resolution of the thrombus.

Protective effect of lactobacillus acidophilus and isomaltooligosaccharide on intestinal mucosal barriers in rat models of antibiotic-associated diarrhea

International Nuclear Information System (INIS)

Du Dan; Fang Lichao; Chen Bingbo; Wei Hong

2008-01-01

Objective: To investigate the protective effect of synbiotics combined lactobacillus acidophilus and iso-malto-oligosaccharide (IMO) on intestinal mucosal barriers in rat models of antibiotic-associated diarrhea(AAD). Methods: Rat models of AAD were prepared with lincomycin gavage for 5 days. The synbiotics was orally administered to the AAD rats daily at three different strengths for 7 days. The intestinal flora and intestinal mucus SIgA levels were determined on d6, d9 and d13. The histopathological changes of ileal mucosa were studied on d13. Results: In the prepared AAD model rats (on d6) there were lower intestinal mucus SIgA levels and intestinal flora disorders were demonstrated. The intestinal floras of the rats administering synbiotics were readjusted to the similar pattern of healthy rats with bacterial translocation corrected on d13 and the levels of SIgA were not significantly different from of the control (P>0.05). The histopathological picture was basically normal in the treated models on d13. Conclusion: The synbiotics combined lactobacillus acidophilus and isomaltooligosaccharide possessed good protective effect on the intestinal mucosal barrier in lincomycin induced rat models of AAD. (authors)

Physiologically-Based Pharmacokinetic (PBPK) Model for the Thyroid Hormones in the Pregnant Rat and Fetus.

Science.gov (United States)

A developmental PBPK model is constructed to quantitatively describe the tissue economy of the thyroid hormones (THs), thyroxine (T4) and triiodothyronine (T3), in the rat. The model is also used to link maternal (THs) to rat fetal tissues via placental transfer. THs are importan...

Optical surgical navigation system causes pulse oximeter malfunction.

Science.gov (United States)

Satoh, Masaaki; Hara, Tetsuhito; Tamai, Kenji; Shiba, Juntaro; Hotta, Kunihisa; Takeuchi, Mamoru; Watanabe, Eiju

2015-01-01

An optical surgical navigation system is used as a navigator to facilitate surgical approaches, and pulse oximeters provide valuable information for anesthetic management. However, saw-tooth waves on the monitor of a pulse oximeter and the inability of the pulse oximeter to accurately record the saturation of a percutaneous artery were observed when a surgeon started an optical navigation system. The current case is thought to be the first report of this navigation system interfering with pulse oximetry. The causes of pulse jamming and how to manage an optical navigation system are discussed.

Translational mixed-effects PKPD modelling of recombinant human growth hormone - from hypophysectomized rat to patients

DEFF Research Database (Denmark)

Thorsted, A; Thygesen, P; Agersø, H

2016-01-01

BACKGROUND AND PURPOSE: We aimed to develop a mechanistic mixed-effects pharmacokinetic (PK)-pharmacodynamic (PD) (PKPD) model for recombinant human growth hormone (rhGH) in hypophysectomized rats and to predict the human PKPD relationship. EXPERIMENTAL APPROACH: A non-linear mixed-effects model...... was developed from experimental PKPD studies of rhGH and effects of long-term treatment as measured by insulin-like growth factor 1 (IGF-1) and bodyweight gain in rats. Modelled parameter values were scaled to human values using the allometric approach with fixed exponents for PKs and unscaled for PDs...... s.c. administration was over predicted. After correction of the human s.c. absorption model, the induction model for IGF-1 well described the human PKPD data. CONCLUSIONS: A translational mechanistic PKPD model for rhGH was successfully developed from experimental rat data. The model links...

Skeletal growth and long-term bone turnover after enterocystoplasty in a chronic rat model

DEFF Research Database (Denmark)

Gerharz, E.W.; Gasser, J.A.; Mosekilde, Li.

2003-01-01

OBJECTIVE: To investigate skeletal growth and bone metabolism in a chronic animal model of urinary diversion.MATERIALS AND METHODS: Young male Wistar rats (120) were allocated randomly to four groups undergoing: ileocystoplasty, ileocystoplasty and resection of the ileocaecal segment, colocystopl......OBJECTIVE: To investigate skeletal growth and bone metabolism in a chronic animal model of urinary diversion.MATERIALS AND METHODS: Young male Wistar rats (120) were allocated randomly to four groups undergoing: ileocystoplasty, ileocystoplasty and resection of the ileocaecal segment...... mass ex vivo.RESULTS: Most (90%) of the rats survived the study period (8 months); six rats died from bowel obstruction at the level of the entero-anastomosis and four had to be killed because of persistent severe diarrhoea. Vital intestinal mucosa was found in all augmented bladders. There were...... no differences in bone length and volume. Loss of bone mass was almost exclusively in rats with ileocystoplasty and resection of the ileocaecal segment (-37.5%, pQCT, P

In vivo micro-CT analysis of bone remodeling in a rat calvarial defect model

Science.gov (United States)

Umoh, Joseph U.; Sampaio, Arthur V.; Welch, Ian; Pitelka, Vasek; Goldberg, Harvey A.; Underhill, T. Michael; Holdsworth, David W.

2009-04-01

The rodent calvarial defect model is commonly used to investigate bone regeneration and wound healing. This study presents a micro-computed tomography (micro-CT) methodology for measuring the bone mineral content (BMC) in a rat calvarial defect and validates it by estimating its precision error. Two defect models were implemented. A single 6 mm diameter defect was created in 20 rats, which were imaged in vivo for longitudinal experiments. Three 5 mm diameter defects were created in three additional rats, which were repeatedly imaged ex vivo to determine precision. Four control rats and four rats treated with bone morphogenetic protein were imaged at 3, 6, 9 and 12 weeks post-surgery. Scan parameters were 80 kVp, 0.45 mA and 180 mAs. Images were reconstructed with an isotropic resolution of 45 µm. At 6 weeks, the BMC in control animals (4.37 ± 0.66 mg) was significantly lower (p small BMC changes in animals.

Approach to intraoperative electromagnetic navigation in orthognathic surgery: A phantom skull based trial.

Science.gov (United States)

Berger, Moritz; Kallus, Sebastian; Nova, Igor; Ristow, Oliver; Eisenmann, Urs; Dickhaus, Hartmut; Kuhle, Reinald; Hoffmann, Jürgen; Seeberger, Robin

2015-11-01

Intraoperative guidance using electromagnetic navigation is an upcoming method in maxillofacial surgery. However, due to their unwieldy structures, especially the line-of-sight problem, optical navigation devices are not used for daily orthognathic surgery. Therefore, orthognathic surgery was simulated on study phantom skulls, evaluating the accuracy and handling of a new electromagnetic tracking system. Le-Fort I osteotomies were performed on 10 plastic skulls. Orthognathic surgical planning was done in the conventional way using plaster models. Accuracy of the gold standard, splint-based model surgery versus an electromagnetic tracking system was evaluated by measuring the actual maxillary deviation using bimaxillary splints and preoperative and postoperative cone beam computer tomography imaging. The distance of five anatomical marker points were compared pre- and postoperatively. The electromagnetic tracking system was significantly more accurate in all measured parameters compared with the gold standard using bimaxillary splints (p orthognathic surgery to 0.3 mm on average. The data of this preliminary study shows a high level of accuracy in surgical orthognathic performance using electromagnetic navigation, and may offer greater precision than the conventional plaster model surgery with bimaxillary splints. This preliminary work shows great potential for the establishment of an intraoperative electromagnetic navigation system for maxillofacial surgery. Copyright © 2015 European Association for Cranio-Maxillo-Facial Surgery. Published by Elsevier Ltd. All rights reserved.

Spatial modeling of rat bites and prediction of rat infestation in Peshawar valley using binomial kriging with logistic regression.

Science.gov (United States)

Ali, Asad; Zaidi, Farrah; Fatima, Syeda Hira; Adnan, Muhammad; Ullah, Saleem

2018-03-24

In this study, we propose to develop a geostatistical computational framework to model the distribution of rat bite infestation of epidemic proportion in Peshawar valley, Pakistan. Two species Rattus norvegicus and Rattus rattus are suspected to spread the infestation. The framework combines strengths of maximum entropy algorithm and binomial kriging with logistic regression to spatially model the distribution of infestation and to determine the individual role of environmental predictors in modeling the distribution trends. Our results demonstrate the significance of a number of social and environmental factors in rat infestations such as (I) high human population density; (II) greater dispersal ability of rodents due to the availability of better connectivity routes such as roads, and (III) temperature and precipitation influencing rodent fecundity and life cycle.

33 CFR 117.458 - Inner Harbor Navigation Canal, New Orleans.

Science.gov (United States)

2010-07-01

... 33 Navigation and Navigable Waters 1 2010-07-01 2010-07-01 false Inner Harbor Navigation Canal, New Orleans. 117.458 Section 117.458 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF... Harbor Navigation Canal, New Orleans. (a) The draws of the SR 46 (St. Claude Avenue) bridge, mile 0.5...

33 CFR 209.170 - Violations of laws protecting navigable waters.

Science.gov (United States)

2010-07-01

... 33 Navigation and Navigable Waters 3 2010-07-01 2010-07-01 false Violations of laws protecting navigable waters. 209.170 Section 209.170 Navigation and Navigable Waters CORPS OF ENGINEERS, DEPARTMENT OF... navigable waters. (a) [Reserved] (b) Injuries to Government works. Section 14 of the River and Harbor Act of...

Fault-tolerant and Diagnostic Methods for Navigation

DEFF Research Database (Denmark)

Blanke, Mogens

2003-01-01

to diagnose faults and autonomously provide valid navigation data, disregarding any faulty sensor data and use sensor fusion to obtain a best estimate for users. This paper discusses how diagnostic and fault-tolerant methods are applicable in marine systems. An example chosen is sensor fusion for navigation......Precise and reliable navigation is crucial, and for reasons of safety, essential navigation instruments are often duplicated. Hardware redundancy is mostly used to manually switch between instruments should faults occur. In contrast, diagnostic methods are available that can use analytic redundancy...

Integrating GPS, GYRO, vehicle speed sensor, and digital map to provide accurate and real-time position in an intelligent navigation system

Science.gov (United States)

Li, Qingquan; Fang, Zhixiang; Li, Hanwu; Xiao, Hui

2005-10-01

The global positioning system (GPS) has become the most extensively used positioning and navigation tool in the world. Applications of GPS abound in surveying, mapping, transportation, agriculture, military planning, GIS, and the geosciences. However, the positional and elevation accuracy of any given GPS location is prone to error, due to a number of factors. The applications of Global Positioning System (GPS) positioning is more and more popular, especially the intelligent navigation system which relies on GPS and Dead Reckoning technology is developing quickly for future huge market in China. In this paper a practical combined positioning model of GPS/DR/MM is put forward, which integrates GPS, Gyro, Vehicle Speed Sensor (VSS) and digital navigation maps to provide accurate and real-time position for intelligent navigation system. This model is designed for automotive navigation system making use of Kalman filter to improve position and map matching veracity by means of filtering raw GPS and DR signals, and then map-matching technology is used to provide map coordinates for map displaying. In practical examples, for illustrating the validity of the model, several experiments and their results of integrated GPS/DR positioning in intelligent navigation system will be shown for the conclusion that Kalman Filter based GPS/DR integrating position approach is necessary, feasible and efficient for intelligent navigation application. Certainly, this combined positioning model, similar to other model, can not resolve all situation issues. Finally, some suggestions are given for further improving integrated GPS/DR/MM application.

A novel experimental model of erectile dysfunction in rats with heart failure using volume overload.

Science.gov (United States)

Silva, Fábio Henrique; Veiga, Frederico José Reis; Mora, Aline Gonçalves; Heck, Rodrigo Sader; De Oliveira, Caroline Candida; Gambero, Alessandra; Franco-Penteado, Carla Fernanda; Antunes, Edson; Gardner, Jason D; Priviero, Fernanda Bruschi Marinho; Claudino, Mário Angelo

2017-01-01

Patients with heart failure (HF) display erectile dysfunction (ED). However, the pathophysiology of ED during HF remains poorly investigated. This study aimed to characterize the aortocaval fistula (ACF) rat model associated with HF as a novel experimental model of ED. We have undertaken molecular and functional studies to evaluate the alterations of the nitric oxide (NO) pathway, autonomic nervous system and oxidative stress in the penis. Male rats were submitted to ACF for HF induction. Intracavernosal pressure in anesthetized rats was evaluated. Concentration-response curves to contractile (phenylephrine) and relaxant agents (sodium nitroprusside; SNP), as well as to electrical field stimulation (EFS), were obtained in the cavernosal smooth muscle (CSM) strips from sham and HF rats. Protein expression of endothelial NO synthase (eNOS) and neuronal NO synthase (nNOS) and phosphodiestarese-5 in CSM were evaluated, as well as NOX2 (gp91phox) and superoxide dismutase (SOD) mRNA expression. SOD activity and thiobarbituric acid reactive substances (TBARs) were also performed in plasma. HF rats display erectile dysfunction represented by decreased ICP responses compared to sham rats. The neurogenic contractile responses elicited by EFS were greater in CSM from the HF group. Likewise, phenylephrine-induced contractions were greater in CSM from HF rats. Nitrergic response induced by EFS were decreased in the cavernosal tissue, along with lower eNOS, nNOS and phosphodiestarese-5 protein expressions. An increase of NOX2 and SOD mRNA expression in CSM and plasma TBARs of HF group were detected. Plasma SOD activity was decreased in HF rats. ED in HF rats is associated with decreased NO bioavailability in erectile tissue due to eNOS/nNOS dowregulation and NOX2 upregulation, as well as hypercontractility of the penis. This rat model of ACF could be a useful tool to evaluate the molecular alterations of ED associated with HF.

Navigating ‘riskscapes’

DEFF Research Database (Denmark)

Gee, Stephanie; Skovdal, Morten

2017-01-01

This paper draws on interview data to examine how international health care workers navigated risk during the unprecedented Ebola outbreak in West Africa. It identifies the importance of place in risk perception, including how different spatial localities give rise to different feelings of threat...... or safety, some from the construction of physical boundaries, and others mediated through aspects of social relations, such as trust, communication and team dynamics. Referring to these spatial localities as ‘riskscapes’, the paper calls for greater recognition of the role of place in understanding risk...... perception, and how people navigate risk....

Lodenafil treatment in the monocrotaline model of pulmonary hypertension in rats

Directory of Open Access Journals (Sweden)

Igor Bastos Polonio

2014-08-01

Full Text Available We assessed the effects of lodenafil on hemodynamics and inflammation in the rat model of monocrotaline-induced pulmonary hypertension (PH. Thirty male Sprague-Dawley rats were randomly divided into three groups: control; monocrotaline (experimental model; and lodenafil (experimental model followed by lodenafil treatment, p.o., 5 mg/kg daily for 28 days Mean pulmonary artery pressure (mPAP was obtained by right heart catheterization. We investigated right ventricular hypertrophy (RVH and IL-1 levels in lung fragments. The number of cases of RVH was significantly higher in the monocrotaline group than in the lodenafil and control groups, as were mPAP and IL-1 levels. We conclude that lodenafil can prevent monocrotaline-induced PH, RVH, and inflammation.

Mission Analysis, Operations, and Navigation Toolkit Environment (Monte) Version 040

Science.gov (United States)

Sunseri, Richard F.; Wu, Hsi-Cheng; Evans, Scott E.; Evans, James R.; Drain, Theodore R.; Guevara, Michelle M.

2012-01-01

Monte is a software set designed for use in mission design and spacecraft navigation operations. The system can process measurement data, design optimal trajectories and maneuvers, and do orbit determination, all in one application. For the first time, a single software set can be used for mission design and navigation operations. This eliminates problems due to different models and fidelities used in legacy mission design and navigation software. The unique features of Monte 040 include a blowdown thruster model for GRAIL (Gravity Recovery and Interior Laboratory) with associated pressure models, as well as an updated, optimalsearch capability (COSMIC) that facilitated mission design for ARTEMIS. Existing legacy software lacked the capabilities necessary for these two missions. There is also a mean orbital element propagator and an osculating to mean element converter that allows long-term orbital stability analysis for the first time in compiled code. The optimized trajectory search tool COSMIC allows users to place constraints and controls on their searches without any restrictions. Constraints may be user-defined and depend on trajectory information either forward or backwards in time. In addition, a long-term orbit stability analysis tool (morbiter) existed previously as a set of scripts on top of Monte. Monte is becoming the primary tool for navigation operations, a core competency at JPL. The mission design capabilities in Monte are becoming mature enough for use in project proposals as well as post-phase A mission design. Monte has three distinct advantages over existing software. First, it is being developed in a modern paradigm: object- oriented C++ and Python. Second, the software has been developed as a toolkit, which allows users to customize their own applications and allows the development team to implement requirements quickly, efficiently, and with minimal bugs. Finally, the software is managed in accordance with the CMMI (Capability Maturity Model

Avastin exhibits therapeutic effects on collagen-induced arthritis in rat model.

Science.gov (United States)

Wang, Yong; Da, Gula; Li, Hongbin; Zheng, Yi

2013-12-01

Avastin is the monoclonal antibody for vascular endothelial growth factor (VEGF). This study aimed to investigate therapeutic effect of Avastin on type II collagen-induced arthritis. Type II chicken collagen was injected into the tails of Wistar rats, and 60 modeled female rats were randomly divided into three groups (n = 20): Avastin group, Etanercept group, and control group. Arthritis index and joint pad thickness were scored, and the pathology of back metapedes was analyzed. The results showed that compared to control group, the arthritis index, target-to-non-target ratio, synovial pathological injury index, serum levels of VEGF and tumor necrosis factor alpha, and VEGF staining were decreased significantly 14 days after Avastin or Etanercept treatment, but there were no significant differences between Avastin group and Etanercept group. These data provide evidence that Avastin exhibits similar effects to Etanercept to relieve rheumatoid arthritis in rat model and suggest that Avastin is a promising therapeutic agent for rheumatoid arthritis.

The traveling salesrat: insights into the dynamics of efficient spatial navigation in the rodent

Science.gov (United States)

Watkins de Jong, Laurel; Gereke, Brian; Martin, Gerard M.; Fellous, Jean-Marc

2011-10-01

Rodent spatial navigation requires the dynamic evaluation of multiple sources of information, including visual cues, self-motion signals and reward signals. The nature of the evaluation, its dynamics and the relative weighting of the multiple information streams are largely unknown and have generated many hypotheses in the field of robotics. We use the framework of the traveling salesperson problem (TSP) to study how this evaluation may be achieved. The TSP is a classical artificial intelligence NP-hard problem that requires an agent to visit a fixed set of locations once, minimizing the total distance traveled. We show that after a few trials, rats converge on a short route between rewarded food cups. We propose that this route emerges from a series of local decisions that are derived from weighing information embedded in the context of the task. We study the relative weighting of spatial and reward information and establish that, in the conditions of this experiment, when the contingencies are not in conflict, rats choose the spatial or reward optimal solution. There was a trend toward a preference for space when the contingencies were in conflict. We also show that the spatial decision about which cup to go to next is biased by the orientation of the animal. Reward contingencies are also shown to significantly and dynamically modulate the decision-making process. This paradigm will allow for further neurophysiological studies aimed at understanding the synergistic role of brain areas involved in planning, reward processing and spatial navigation. These insights will in turn suggest new neural-like architectures for the control of mobile autonomous robots.

Magnetic navigation in a coronary phantom: experimental results.

Science.gov (United States)

García-García, Héctor M; Tsuchida, Keiichi; Meulenbrug, Hans; Ong, Andrew T L; Van der Giessen, Willem J; Serruys, Patrick W

2005-11-01

The objective was to investigate the efficacy of a magnetic navigation system (MNS) in a coronary phantom. The number of coronary interventional procedures performed is steadily increasing with the availability of new devices to treat more complex lesions. Vessel tortuosity remains an important limiting factor in percutaneous coronary intervention. The MNS can orient the tip of magnetized wire. The coronary phantom is a representation of the coronary tree. Two operators using both a magnetic wire and a standard wire, measured the procedural time (PT), the fluoroscopic time (FT) and the radiation exposure/area product (DAP) required to navigate through to fourteen segments. Ten wire advancements were performed per segment. In all but two segments, the PT was significantly longer using magnetic navigation than using manual navigation. The median FT in the left main artery (LMA) - first septal segment was 7 seconds vs. 18 seconds, with magnetic and manual navigation respectively, (p=0.05); in the LMA - obtuse marginal segment the median FT was 15 seconds with magnetic navigation vs. 29.5 seconds with manual navigation, (p=0.01); in the segment from proximal right coronary artery (RCA1) to the acute marginal branch, the median FT was 8 seconds with magnetic vs. 11 seconds with manual navigation, (p=0.05); and in the RCA1 -posterior descending segment the median FT was 9.5 seconds with magnetic vs. 15 seconds with manual navigation, (p=0.006). The MNS facilitates wire access to distal segments in a coronary phantom, with a reduction in FT and radiation exposure using magnetic navigation in tortuous segments.

Integrated INS/GPS Navigation from a Popular Perspective

Science.gov (United States)

Omerbashich, Mensur

2002-01-01

Inertial navigation, blended with other navigation aids, Global Positioning System (GPS) in particular, has gained significance due to enhanced navigation and inertial reference performance and dissimilarity for fault tolerance and anti-jamming. Relatively new concepts based upon using Differential GPS (DGPS) blended with Inertial (and visual) Navigation Sensors (INS) offer the possibility of low cost, autonomous aircraft landing. The FAA has decided to implement the system in a sophisticated form as a new standard navigation tool during this decade. There have been a number of new inertial sensor concepts in the recent past that emphasize increased accuracy of INS/GPS versus INS and reliability of navigation, as well as lower size and weight, and higher power, fault tolerance, and long life. The principles of GPS are not discussed; rather the attention is directed towards general concepts and comparative advantages. A short introduction to the problems faced in kinematics is presented. The intention is to relate the basic principles of kinematics to probably the most used navigation method in the future-INS/GPS. An example of the airborne INS is presented, with emphasis on how it works. The discussion of the error types and sources in navigation, and of the role of filters in optimal estimation of the errors then follows. The main question this paper is trying to answer is 'What are the benefits of the integration of INS and GPS and how is this, navigation concept of the future achieved in reality?' The main goal is to communicate the idea about what stands behind a modern navigation method.

Establishment of a reversible model of prehepatic portal hypertension in rats.

Science.gov (United States)

Zhao, Xin; Dou, Jian; Gao, Qing-Jun

2016-08-01

The aim of the present study was to improve upon the traditional model of pre-hepatic portal hypertension in rats, and simulate the anhepatic phase of orthotopic liver transplantation without veno-venous bypass. A reversible model of portal hypertension was induced by portal vein ligation, with a label ring ligated along the portal vein. A total of 135 male Wistar rats were divided into three groups: i) Normal control (NC) group; ii) portal hypertensive control (PHTC) group; and iii) reperfusion (R) group. In the R group, rats with portal hypertension underwent simultaneous clamping of the portal triad and retrohepatic vena cava for 1 h, followed by removal of the clamps to enable blood reperfusion. Portal venography and portal vein pressure were recorded during the surgery. Arterial oxygen pressure (PaO 2 ), and alanine aminotransferase (ALT), aspartate aminotransferase (AST) and total bilirubin (TBil) levels were determined, and pathological changes of the liver were investigated by immunohistochemical staining. The results demonstrated that, 3 weeks after portal vein ligation, the vein area and the free portal pressures in the PHTC group were significantly increased compared with those in the NC group. The serum ALT and AST levels in the R group at different time points were significantly elevated compared with those in the PHTC group, and reached their maximal levels at 24 h after reperfusion. Furthermore, the PaO 2 at 24 h after reperfusion was significantly decreased. In conclusion, the reversible model of pre-hepatic portal hypertension in rats was successfully established using the introduction of a label ring. This model may be useful for basic research focusing on the anhepatic phase of orthotopic liver transplantation without veno-venous bypass.

Simulating certain aspects of hypogravity: Effects on the mandibular incisors of suspended rats (PULEH model)

Science.gov (United States)

Simmons, D. J.; Winter, F.; Morey-Holton, E. R.

1984-01-01

The effect of a hypogravity simulating model on the rate of mandibular incisor formation, dentinogenesis and, amelogenesis in laboratory rats was studied. The model is the partial unloading by elevating the hindquarters. In this system, rat hindquarters are elevated 30 to 40 deg from the cage floors to completely unload the hindlimbs, but the animals are free to move about using their forelimbs. This model replicates the fluid sift changes which occur during the weightlessness of spaceflight and produces an osteopenia in the weight bearing skeletons. The histogenesis and/or mineralization rates of the mandibular incisor during the first 19d of PULEH in young growing rats are recorded.

Piles, tabs and overlaps in navigation among documents

DEFF Research Database (Denmark)

Jakobsen, Mikkel Rønne; Hornbæk, Kasper

2010-01-01

Navigation among documents is a frequent, but ill supported activity. Overlapping or tabbed documents are widespread, but they offer limited visibility of their content. We explore variations on navigation support: arranging documents with tabs, as overlapping windows, and in piles. In an experim......Navigation among documents is a frequent, but ill supported activity. Overlapping or tabbed documents are widespread, but they offer limited visibility of their content. We explore variations on navigation support: arranging documents with tabs, as overlapping windows, and in piles....... In an experiment we compared 11 participants’ navigation with these variations and found strong task effects. Overall, overlapping windows were preferred and their structured layout worked well with some tasks. Surprisingly, tabbed documents were efficient in tasks requiring simply finding a document. Piled...... on document navigation and its support by piling....

Finding Home: Landmark Ambiguity in Human Navigation

Directory of Open Access Journals (Sweden)

Simon Jetzschke

2017-07-01

Full Text Available Memories of places often include landmark cues, i.e., information provided by the spatial arrangement of distinct objects with respect to the target location. To study how humans combine landmark information for navigation, we conducted two experiments: To this end, participants were either provided with auditory landmarks while walking in a large sports hall or with visual landmarks while walking on a virtual-reality treadmill setup. We found that participants cannot reliably locate their home position due to ambiguities in the spatial arrangement when only one or two uniform landmarks provide cues with respect to the target. With three visual landmarks that look alike, the task is solved without ambiguity, while audio landmarks need to play three unique sounds for a similar performance. This reduction in ambiguity through integration of landmark information from 1, 2, and 3 landmarks is well modeled using a probabilistic approach based on maximum likelihood estimation. Unlike any deterministic model of human navigation (based e.g., on distance or angle information, this probabilistic model predicted both the precision and accuracy of the human homing performance. To further examine how landmark cues are integrated we introduced systematic conflicts in the visual landmark configuration between training of the home position and tests of the homing performance. The participants integrated the spatial information from each landmark near-optimally to reduce spatial variability. When the conflict becomes big, this integration breaks down and precision is sacrificed for accuracy. That is, participants return again closer to the home position, because they start ignoring the deviant third landmark. Relying on two instead of three landmarks, however, goes along with responses that are scattered over a larger area, thus leading to higher variability. To model the breakdown of integration with increasing conflict, the probabilistic model based on a

An Adaptive Technique for a Redundant-Sensor Navigation System. Ph.D. Thesis

Science.gov (United States)

Chien, T. T.

1972-01-01

An on-line adaptive technique is developed to provide a self-contained redundant-sensor navigation system with a capability to utilize its full potentiality in reliability and performance. The gyro navigation system is modeled as a Gauss-Markov process, with degradation modes defined as changes in characteristics specified by parameters associated with the model. The adaptive system is formulated as a multistage stochastic process: (1) a detection system, (2) an identification system and (3) a compensation system. It is shown that the sufficient statistics for the partially observable process in the detection and identification system is the posterior measure of the state of degradation, conditioned on the measurement history.

An Integrated Approach to Electronic Navigation

National Research Council Canada - National Science Library

Shaw, Peter; Pettus, Bill

2001-01-01

While the Global Positioning System (GPS) is and will continue to be an excellent navigation system, it is neither flawless nor is it the only system employed in the navigation of today's seagoing warfighters...

Volunteer navigation partnerships: Piloting a compassionate community approach to early palliative care.

Science.gov (United States)

Pesut, Barbara; Duggleby, Wendy; Warner, Grace; Fassbender, Konrad; Antifeau, Elisabeth; Hooper, Brenda; Greig, Madeleine; Sullivan, Kelli

2017-07-03

A compassionate community approach to palliative care provides important rationale for building community-based hospice volunteer capacity. In this project, we piloted one such capacity-building model in which volunteers and a nurse partnered to provide navigation support beginning in the early palliative phase for adults living in community. The goal was to improve quality of life by developing independence, engagement, and community connections. Volunteers received navigation training through a three-day workshop and then conducted in-home visits with clients living with advanced chronic illness over one year. A nurse navigator provided education and mentorship. Mixed method evaluation data was collected from clients, volunteer navigators, the nurse navigator, and other stakeholders. Seven volunteers were partnered with 18 clients. Over the one-year pilot, the volunteer navigators conducted visits in home or by phone every two to three weeks. Volunteers were skilled and resourceful in building connections and facilitating engagement. Although it took time to learn the navigator role, volunteers felt well-prepared and found the role satisfying and meaningful. Clients and family rated the service as highly important to their care because of how the volunteer helped to make the difficult experiences of aging and advanced chronic illness more livable. Significant benefits cited by clients were making good decisions for both now and in the future; having a surrogate social safety net; supporting engagement with life; and ultimately, transforming the experience of living with illness. Overall the program was perceived to be well-designed by stakeholders and meeting an important need in the community. Sustainability, however, was a concern expressed by both clients and volunteers. Volunteers providing supportive navigation services during the early phase of palliative care is a feasible way to foster a compassionate community approach to care for an aging population

Curative effect of sesame oil in a rat model of chronic kidney disease.

Science.gov (United States)

Liu, Chuan-Teng; Chien, Se-Ping; Hsu, Dur-Zong; Periasamy, Srinivasan; Liu, Ming-Yie

2015-12-01

Chronic kidney disease causes a progressive and irreversible loss of renal function. We investigated the curative effect of sesame oil, a natural, nutrient-rich, potent antioxidant, in a rat model of chronic kidney disease. Chronic kidney disease was induced by subcutaneously injecting uni-nephrectomized rats with deoxycorticosterone acetate (DOCA) and 1% NaCl [DOCA/salt] in drinking water. Four weeks later, the rats were gavaged with sesame oil (0.5 or 1 mL/kg per day) for 7 days. Renal injury, histopathological changes, hydroxyl radical, peroxynitrite, lipid peroxidation, Nrf2, osteopontin expression, and collagen were assessed 24 h after the last dose of sesame oil. Blood urea nitrogen, creatinine, urine volume, and albuminuria were significantly higher in the DOCA/salt treated rats than in control rats. Sesame oil significantly decreased these four tested parameters in DOCA/salt treated rats. In addition, creatinine clearance rate and nuclear Nrf2 expression were significantly decreased in the DOCA/salt treated rats compared to control rats. Sesame oil significantly decreased hydroxyl radical, peroxynitrite level, lipid peroxidation, osteopontin, and renal collagen deposition, but increased creatinine clearance rate and nuclear Nrf2 expression in DOCA/salt treated rats. We conclude that supplementation of sesame oil mitigates DOCA/salt induced chronic kidney disease in rats by activating Nrf2 and attenuating osteopontin expression and inhibiting renal fibrosis in rats. © 2015 Asian Pacific Society of Nephrology.

Laser range finder model for autonomous navigation of a robot in a maize field using a particle filter

NARCIS (Netherlands)

Hiremath, S.A.; Heijden, van der G.W.A.M.; Evert, van F.K.; Stein, A.; Braak, ter C.J.F.

2014-01-01

Autonomous navigation of robots in an agricultural environment is a difficult task due to the inherent uncertainty in the environment. Many existing agricultural robots use computer vision and other sensors to supplement Global Positioning System (GPS) data when navigating. Vision based methods are

Fault-tolerant Sensor Fusion for Marine Navigation

DEFF Research Database (Denmark)

Blanke, Mogens

2006-01-01

Reliability of navigation data are critical for steering and manoeuvring control, and in particular so at high speed or in critical phases of a mission. Should faults occur, faulty instruments need be autonomously isolated and faulty information discarded. This paper designs a navigation solution...... where essential navigation information is provided even with multiple faults in instrumentation. The paper proposes a provable correct implementation through auto-generated state-event logics in a supervisory part of the algorithms. Test results from naval vessels document the performance and shows...... events where the fault-tolerant sensor fusion provided uninterrupted navigation data despite temporal instrument defects...

A novel model for NSAID induced gastroenteropathy in rats.

Science.gov (United States)

Singh, Devendra Pratap; Borse, Swapnil P; Nivsarkar, Manish

2016-01-01

Progress in management of Nonsteroidal anti-inflammatory drug (NSAID) induced gastrointestinal toxicity requires the availability of appropriate experimental animal models that are as close to humans as feasible. Our objective was to develop a rat model for NSAID-induced gastroenteropathy and also to simulate the common clinical scenario of co-administration of NSAID and proton pump inhibitor (PPI) to explore if PPI contribute to exacerbation of NSAID-enteropathy. Rats were treated twice daily with pantoprazole sodium (PTZ; 10mg/kg peroral) or vehicle for a total of 10days. In some experiments, Diclofenac sodium (DCF; 9mg/kg) or vehicle was administered orally twice daily for the final 5days of PTZ/vehicle administration. After the last dose on 9th day, rats in all the groups were fasted but water was provided ad libitum. 12h after the last dose on 10th day, rats in all the groups were euthanized and their gastrointestinal tracts were assessed for haemorrhagic lesions, lipid peroxidation, intestinal permeability and gastrointestinal luminal pH alterations. Changes in haemoglobin, haematocrit and serum levels of albumin, total protein, ALT and bilirubin were calculated. The macroscopic and histological evidence suggested that administration of DCF resulted in significant gastroenteropathic damage and co-administration of PTZ resulted in significant exacerbation of NSAID enteropathy, while attenuation of NSAID induced gastropathy was observed. Our results were further supported by the significant decrease in haemoglobin and haematocrit levels and serum levels of albumin and total proteins, an increase in oxidative stress and intestinal permeability with the use of DCF either alone or in combination with PTZ. This model was developed to simulate the human clinical situation during NSAID therapy and indeed the present DCF regimen caused both gastric and small bowel alterations, such as multiple erosive lesions, together with a decrease in haemoglobin, haematocrit

Changes of cerebral contents of neuropeptides in rat models of multiple ischemic dementia (MID)

International Nuclear Information System (INIS)

Zheng Xianghong; Guo Jingcai; Song Changyi; Wang Shejiao; Chen Wei

2005-01-01

Objective: To investigate the significance of changes of cerebral contents of the neuropeptides somatostatin (SS), arginine vasopressin (AVP) and substance P in rat models of MID. Methods: The rat models consisted of 15 rats undergoing intracarotid injection of autogenous thrombus powder. Another group of 15 rats undergoing sham operation served as controls. Learning and memory ability in these rats was assessed with daily passive avoidance task testing for 10 consecutive days. The animals were sacrificed on 30d and contents of the neuropeptides in tissue homogenate from different areas of brain (frontal cortex, temporal cortex, hippocampus, thalamus and corpus striatum) were measured with (RIA). Results: On the first day of passive avoidance task testing, the frequency of errors in the MID group and the control group was about the same. From the third day on, the frequency of errors in the MID group was significantly higher than that in the control group (P<0.05). The neuropeptides contents of all these cerebral areas in the MID group were significantly higher than those in the control group (P<0.05 or P<0.01) with the only exception of the contents of substance P in thalamus (no significant difference between the contents in the two groups). Conclusion: The impairment of learning and memory in rat models with MID was possibly related to the lowered contents of SS, AVP and substance P in the brain tissue. (authors)

Navigation in Cross-cultural business relationships

DEFF Research Database (Denmark)

Andersen, Poul Houman

2001-01-01

Cross-cultural business navigation concerns the process of handling the complexity of several interacting cultural spheres of influence......Cross-cultural business navigation concerns the process of handling the complexity of several interacting cultural spheres of influence...

Empirical study of long-range connections in a road network offers new ingredient for navigation optimization models

Science.gov (United States)

Wang, Pu; Liu, Like; Li, Xiamiao; Li, Guanliang; González, Marta C.

2014-01-01

Navigation problem in lattices with long-range connections has been widely studied to understand the design principles for optimal transport networks; however, the travel cost of long-range connections was not considered in previous models. We define long-range connection in a road network as the shortest path between a pair of nodes through highways and empirically analyze the travel cost properties of long-range connections. Based on the maximum speed allowed in each road segment, we observe that the time needed to travel through a long-range connection has a characteristic time Th ˜ 29 min, while the time required when using the alternative arterial road path has two different characteristic times Ta ˜ 13 and 41 min and follows a power law for times larger than 50 min. Using daily commuting origin-destination matrix data, we additionally find that the use of long-range connections helps people to save about half of the travel time in their daily commute. Based on the empirical results, we assign a more realistic travel cost to long-range connections in two-dimensional square lattices, observing dramatically different minimum average shortest path but similar optimal navigation conditions.

A fuzzy logic based navigation for mobile robot

International Nuclear Information System (INIS)

Adel Ali S Al-Jumaily; Shamsudin M Amin; Mohamed Khalil

1998-01-01

The main issue of intelligent robot is how to reach its goal safely in real time when it moves in unknown environment. The navigational planning is becoming the central issue in development of real-time autonomous mobile robots. Behaviour based robots have been successful in reacting with dynamic environment but still there are some complexity and challenging problems. Fuzzy based behaviours present as powerful method to solve the real time reactive navigation problems in unknown environment. We shall classify the navigation generation methods, five some characteristics of these methods, explain why fuzzy logic is suitable for the navigation of mobile robot and automated guided vehicle, and describe a reactive navigation that is flexible to react through their behaviours to the change of the environment. Some simulation results will be presented to show the navigation of the robot. (Author)

Evaluation of Lercanidipine in Paclitaxel-Induced Neuropathic Pain Model in Rat: A Preliminary Study

OpenAIRE

Saha, Lekha; Hota, Debasish; Chakrabarti, Amitava

2012-01-01

Objective. To demonstrate the antinociceptive effect of lercanidipine in paclitaxel-induced neuropathy model in rat. Materials and Methods. A total of 30 rats were divided into five groups of six rats in each group as follows: Gr I: 0.9% NaCl, Gr II: paclitaxel + 0.9% NaCl, Gr III: paclitaxel + lercanidipine 0.5 μg/kg, Gr IV: paclitaxel + lercanidipine 1 μg/kg, and Gr V: paclitaxel + lercanidipine 2.5 μg/kg. Paclitaxel-induced neuropathic pain in rat was produced by single intraperitoneal (i....

Navigating to new frontiers in behavioral neuroscience: Traditional neuropsychological tests predict human performance on a rodent-inspired radial-arm maze

Directory of Open Access Journals (Sweden)

Sarah E. Mennenga

2014-09-01

Full Text Available We constructed an 11-arm, walk-through, human radial-arm maze (HRAM as a translational instrument to compare existing methodology in the areas of rodent and human learning and memory research. The HRAM, utilized here, serves as an intermediary test between the classic rat radial-arm maze (RAM and standard human neuropsychological and cognitive tests. We show that the HRAM is a useful instrument to examine working memory ability, explore the relationships between rodent and human memory and cognition models, and evaluate factors that contribute to human navigational ability. One-hundred-and-fifty-seven participants were tested on the HRAM, and scores were compared to performance on a standard cognitive battery focused on episodic memory, working memory capacity, and visuospatial ability. We found that errors on the HRAM increased as working memory demand became elevated, similar to the pattern typically seen in rodents, and that for this task, performance appears similar to Miller’s classic description of human working memory capacity of 7±2 items. Regression analysis revealed that measures of working memory capacity and visuospatial ability accounted for a large proportion of variance in HRAM scores, while measures of episodic memory and general intelligence did not serve as significant predictors of HRAM performance. We present the HRAM as a novel instrument for measuring navigational behavior in humans, as is traditionally done in basic science studies evaluating rodent learning and memory, thus providing a useful tool to help connect and translate between human and rodent models of cognitive functioning.

Adeno-associated viral vector serotype 5 poorly transduces liver in rat models.

Directory of Open Access Journals (Sweden)

Paula S Montenegro-Miranda

Full Text Available Preclinical studies in mice and non-human primates showed that AAV serotype 5 provides efficient liver transduction and as such seems a promising vector for liver directed gene therapy. An advantage of AAV5 compared to serotype 8 already shown to provide efficient correction in a phase 1 trial in patients suffering from hemophilia B, is its lower seroprevalence in the general population. Our goal is liver directed gene therapy for Crigler-Najjar syndrome type I, inherited severe unconjugated hyperbilirubinemia caused by UGT1A1 deficiency. In a relevant animal model, the Gunn rat, we compared the efficacy of AAV 5 and 8 to that of AAV1 previously shown to be effective. Ferrying a construct driving hepatocyte specific expression of UGT1A1, both AAV8 and AAV1 provided an efficient correction of hyperbilirubinemia. In contrast to these two and to other animal models AAV5 failed to provide any correction. To clarify whether this unexpected finding was due to the rat model used or due to a problem with AAV5, the efficacy of this serotype was compared in a mouse and two additional rat strains. Administration of an AAV5 vector expressing luciferase under the control of a liver specific promoter confirmed that this serotype poorly performed in rat liver, rendering it not suitable for proof of concept studies in this species.

Incorporation of formal safety assessment and Bayesian network in navigational risk estimation of the Yangtze River

International Nuclear Information System (INIS)

Zhang, D.; Yan, X.P.; Yang, Z.L.; Wall, A.; Wang, J.

2013-01-01

Formal safety assessment (FSA), as a structured and systematic risk evaluation methodology, has been increasingly and broadly used in the shipping industry around the world. Concerns have been raised as to navigational safety of the Yangtze River, China's largest and the world's busiest inland waterway. Over the last few decades, the throughput of ships in the Yangtze River has increased rapidly due to the national development of the Middle and Western parts of China. Accidents such as collisions, groundings, contacts, oil-spills and fires occur repeatedly, often causing serious consequences. In order to improve the navigational safety in the Yangtze River, this paper estimates the navigational risk of the Yangtze River using the FSA concept and a Bayesian network (BN) technique. The navigational risk model is established by considering both probability and consequences of accidents with respect to a risk matrix method, followed by a scenario analysis to demonstrate the application of the proposed model

An animal model to study lower urinary tract symptoms and erectile dysfunction: the hyperlipidaemic rat.

Science.gov (United States)

Rahman, Nadeem U; Phonsombat, Surat; Bochinski, Derek; Carrion, Rafael E; Nunes, Lora; Lue, Tom F

2007-09-01

To present evidence that rats fed a high-fat diet could serve as a useful animal model to study both lower urinary tract symptoms (LUTS) and erectile dysfunction (ED), as recent epidemiological studies have shown a strong association between LUTS and ED but the physiological basis behind this relationship is unknown. In all, 24 male Sprague-Dawley rats were divided into two groups: nine controls were fed a 'normal' diet and 15 were fed a high-fat diet (hyperlipidaemic rats). After 6 months all the rats had bladder and erectile functions evaluated using awake cystometry and cavernosal nerve electrostimulation, respectively. After the functional studies were completed, the penis, prostate and bladder were collected for immunohistochemical analysis. The hyperlipidaemic rats had significantly higher serum cholesterol and low-density lipoprotein than the controls (P enlargement, bladder overactivity, and ED. This rat model could be a useful research tool for understanding the common causes of LUTS and ED, as well as facilitating the development of preventive measures and better therapies to treat both conditions.

Intelligent navigation to improve obstetrical sonography.

Science.gov (United States)

Yeo, Lami; Romero, Roberto

2016-04-01

'Manual navigation' by the operator is the standard method used to obtain information from two-dimensional and volumetric sonography. Two-dimensional sonography is highly operator dependent and requires extensive training and expertise to assess fetal anatomy properly. Most of the sonographic examination time is devoted to acquisition of images, while 'retrieval' and display of diagnostic planes occurs rapidly (essentially instantaneously). In contrast, volumetric sonography has a rapid acquisition phase, but the retrieval and display of relevant diagnostic planes is often time-consuming, tedious and challenging. We propose the term 'intelligent navigation' to refer to a new method of interrogation of a volume dataset whereby identification and selection of key anatomical landmarks allow the system to: 1) generate a geometrical reconstruction of the organ of interest; and 2) automatically navigate, find, extract and display specific diagnostic planes. This is accomplished using operator-independent algorithms that are both predictable and adaptive. Virtual Intelligent Sonographer Assistance (VIS-Assistance®) is a tool that allows operator-independent sonographic navigation and exploration of the surrounding structures in previously identified diagnostic planes. The advantage of intelligent (over manual) navigation in volumetric sonography is the short time required for both acquisition and retrieval and display of diagnostic planes. Intelligent navigation technology automatically realigns the volume, and reorients and standardizes the anatomical position, so that the fetus and the diagnostic planes are consistently displayed in the same manner each time, regardless of the fetal position or the initial orientation. Automatic labeling of anatomical structures, subject orientation and each of the diagnostic planes is also possible. Intelligent navigation technology can operate on conventional computers, and is not dependent on specific ultrasound platforms or on the

Ecodesign Navigator

DEFF Research Database (Denmark)

Simon, M; Evans, S.; McAloone, Timothy Charles

The Ecodesign Navigator is the product of a three-year research project called DEEDS - DEsign for Environment Decision Support. The initial partners were Manchester Metropolitan University, Cranfield University, Engineering 6 Physical Sciences Resaech Council, Electrolux, ICL, and the Industry...

In vivo micro-CT analysis of bone remodeling in a rat calvarial defect model

Energy Technology Data Exchange (ETDEWEB)

Umoh, Joseph U; Holdsworth, David W [Pre-Clinical Imaging Research Centre, Robarts Research Institute, Schulich School of Medicine and Dentistry, University of Western Ontario, PO Box 5015, 100 Perth Drive, London, ON N6A 5K8 (Canada); Sampaio, Arthur V; Underhill, T Michael [Laboratory of Molecular Skeletogenesis, Department of Cellular and Physiological Sciences, University of British Columbia, Vancouver, BC (Canada); Welch, Ian [Animal Care and Veterinary Services, University of Western Ontario, London, ON (Canada); Pitelka, Vasek; Goldberg, Harvey A [CIHR Group in Skeletal Development and Remodelling, University of Western Ontario, London, ON (Canada)], E-mail: jumoh@imaging.robarts.ca, E-mail: asampaio@interchange.ubc.ca, E-mail: tunderhi@interchange.ubc.ca, E-mail: iwelch@uwo.ca, E-mail: vasek.pitelka@schulich.uwo.ca, E-mail: hagoldbe@uwo.ca, E-mail: david.holdsworth@imaging.robarts.ca

2009-04-07

The rodent calvarial defect model is commonly used to investigate bone regeneration and wound healing. This study presents a micro-computed tomography (micro-CT) methodology for measuring the bone mineral content (BMC) in a rat calvarial defect and validates it by estimating its precision error. Two defect models were implemented. A single 6 mm diameter defect was created in 20 rats, which were imaged in vivo for longitudinal experiments. Three 5 mm diameter defects were created in three additional rats, which were repeatedly imaged ex vivo to determine precision. Four control rats and four rats treated with bone morphogenetic protein were imaged at 3, 6, 9 and 12 weeks post-surgery. Scan parameters were 80 kVp, 0.45 mA and 180 mAs. Images were reconstructed with an isotropic resolution of 45 {mu}m. At 6 weeks, the BMC in control animals (4.37 {+-} 0.66 mg) was significantly lower (p < 0.05) than that in treated rats (11.29 {+-} 1.01 mg). Linear regression between the BMC and bone fractional area, from 20 rats, showed a strong correlation (r{sup 2} = 0.70, p < 0.0001), indicating that the BMC can be used, in place of previous destructive analysis techniques, to characterize bone growth. The high precision (2.5%) of the micro-CT methodology indicates its utility in detecting small BMC changes in animals.

Aging aggravates long-term renal ischemia-reperfusion injury in a rat model.

Science.gov (United States)

Xu, Xianlin; Fan, Min; He, Xiaozhou; Liu, Jipu; Qin, Jiandi; Ye, Jianan

2014-03-01

Ischemia-reperfusion injury (IRI) has been considered as the major cause of acute kidney injury and can result in poor long-term graft function. Functional recovery after IRI is impaired in the elderly. In the present study, we aimed to compare kidney morphology, function, oxidative stress, inflammation, and development of renal fibrosis in young and aged rats after renal IRI. Rat models of warm renal IRI were established by clamping left pedicles for 45 min after right nephrectomy, then the clamp was removed, and kidneys were reperfused for up to 12 wk. Biochemical and histologic renal damage were assessed at 12 wk after reperfusion. The immunohistochemical staining of monocyte macrophage antigen-1 (ED-1) and transforming growth factor beta 1 (TGF-β1) and messenger RNA level of TGF-β1 in the kidney were analyzed. Renal IRI caused significant increases of malondialdehyde and 8-hydroxydeoxyguanosine levels and a decrease of superoxide dismutase activity in young and aged IRI rats; however, these changes were more obvious in the aged rats. IRI resulted in severe inflammation and tubulointerstitial fibrosis with decreased creatinine (Cr) clearance and increased histologic damage in aged rats compared with young rats. Moreover, we measured the ratio of Cr clearance between young and aged IRI rats. It demonstrated that aged IRI rats did have poor Cr clearance compared with the young IRI rats. ED-1 and TGF-β1 expression levels in the kidney were significantly higher in aged rats than in young rats after IRI. Aged rats are more susceptible to IRI-induced renal failure, which may associate with the increased oxidative stress, increased histologic damage, and increased inflammation and tubulointerstitial fibrosis. Targeting oxidative stress and inflammatory response should improve the kidney recovery after IRI. Copyright © 2014 Elsevier Inc. All rights reserved.

Metrics for evaluating patient navigation during cancer diagnosis and treatment: crafting a policy-relevant research agenda for patient navigation in cancer care.

Science.gov (United States)

Guadagnolo, B Ashleigh; Dohan, Daniel; Raich, Peter

2011-08-01

Racial and ethnic minorities as well as other vulnerable populations experience disparate cancer-related health outcomes. Patient navigation is an emerging health care delivery innovation that offers promise in improving quality of cancer care delivery to these patients who experience unique health-access barriers. Metrics are needed to evaluate whether patient navigation can improve quality of care delivery, health outcomes, and overall value in health care during diagnosis and treatment of cancer. Information regarding the current state of the science examining patient navigation interventions was gathered via search of the published scientific literature. A focus group of providers, patient navigators, and health-policy experts was convened as part of the Patient Navigation Leadership Summit sponsored by the American Cancer Society. Key metrics were identified for assessing the efficacy of patient navigation in cancer diagnosis and treatment. Patient navigation data exist for all stages of cancer care; however, the literature is more robust for its implementation during prevention, screening, and early diagnostic workup of cancer. Relatively fewer data are reported for outcomes and efficacy of patient navigation during cancer treatment. Metrics are proposed for a policy-relevant research agenda to evaluate the efficacy of patient navigation in cancer diagnosis and treatment. Patient navigation is understudied with respect to its use in cancer diagnosis and treatment. Core metrics are defined to evaluate its efficacy in improving outcomes and mitigating health-access barriers. Copyright © 2011 American Cancer Society.