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The vehicle-estimation problem is approached by fusing measurements from wheel encoders, an inertial measurement unit, and (optionally) a global positioning system in a Rao-Blackwellized particle filter. In total 14 states are estimated, including key variables in active safety systems, such as longitudinal velocity, roll angle, and wheel slip for all four wheels. The method only relies on kinemat
Embedded real-time systems must meet timing constraints while minimizing energy consumption. To this end, many energy optimizations are introduced for specific platforms or specific applications. These solutions are not portable, however, and when the application or the platform change, these solutions must be redesigned. Portable techniques are hard to develop due to the varying tradeoffs experie
Tumours displaying differentiation towards normal fat constitute the most common subgroup of soft tissue neoplasms. A series of such tumours was investigated by whole-exome sequencing followed by targeted ultra-deep sequencing. Eighty percent of angiolipomas, but not any other tumour type, displayed mutations in the protein kinase D2 (PRKD2) gene, typically in the part encoding the catalytic domai
For using industrial robots in applications where the robot physically interacts with the environment, such as assembly, force control is usually needed. A force sensor may, however, be expensive and add mass to the system. An alternative is therefore to estimate the external force using the motor torques. This paper considers the problem of force estimation for the case when the robot is not movi
The staphylococcal enterotoxins (SEs) are secreted by the bacteria Staphylococcus aureus and are the most common causative agent in staphylococcal food poisoning. The staphylococcal enterotoxin A (SEA) has been associated with large staphylococcal food poisoning outbreaks, but newer identified SEs, like staphylococcal enterotoxin H (SEH) has recently been shown to be present at similar levels as S
The Planet Formation Imager (PFI) project aims to provide a strong scientific vision for ground-based optical astronomy beyond the upcoming generation of Extremely Large Telescopes. We make the case that a breakthrough in angular resolution imaging capabilities is required in order to unravel the processes involved in planet formation. PFI will be optimised to provide a complete census of the prot
Although nonhuman primate studies have shown that simian immunodeficiency virus/simian-human immunodeficiency virus (SIV/SHIV) exposure during preexposure prophylaxis (PrEP) with oral tenofovir can induce SIV immunity without productive infection, this has not been documented in humans. We evaluated cervicovaginal IgA in Partners PrEP Study participants using a subtype C primary isolate and found
Floodplain surface topography is an important component of floodplain ecosystems. It is the primary physical template upon which ecosystem processes are acted out, and complexity in this template can contribute to the high biodiversity and productivity of floodplain ecosystems. There has been a limited appreciation of floodplain surface complexity because of the traditional focus on temporal varia
Interactions between fluvial processes and floodplain ecosystems occur upon a floodplain surface that is often physically complex. Spatial patterns in floodplain topography have only recently been quantified over multiple scales, and discrepancies exist in how floodplain surfaces are perceived to be spatially organised. We measured spatial patterns in floodplain topography for pool 9 of the Upper
Many studies of fluvial geomorphology and landscape ecology examine a single river or landscape, thus lack generality, making it difficult to develop a general understanding of the linkages between landscape patterns and larger-scale driving variables. We examined the spatial complexity of eight floodplain surfaces in widely different geographic settings and determined how patterns measured at dif
Stream ordering approaches to the study of entire stream networks are relatively simple and provide only crude estimations of the physical makeup of river ecosystems. These fail to acknowledge the importance of the hierarchical organisation of rivers and consequently use very crude variables when characterising stream networks. We provide an alternative typology for characterising the physical str
SEE GANDHI AND PLUN-FAVREAU DOI101093/AWW320 FOR A SCIENTIFIC COMMENTARY ON THIS ARTICLE: It has been postulated that heterozygous mutations in recessive Parkinson's genes may increase the risk of developing the disease. In particular, the PTEN-induced putative kinase 1 (PINK1) p.G411S (c.1231G>A, rs45478900) mutation has been reported in families with dominant inheritance patterns of Parkinson's
Fisheries provide nutrition and livelihoods for coastal populations, but many fisheries are fully or over-exploited and we lack an approach for analysing which factors affect management tool performance. We conducted a literature review of 390 studies to assess how fisheries characteristics affected management tool performance across both small-scale and large-scale fisheries. We defined success a
This chapter focuses on measuring spatial pattern in floodplains and reviews 108 publications from 1934-2013 to determine trends, dominant paradigms, and approaches to measuring spatial pattern in floodplains. The development of new technologies, especially those associated with remotely sensed data capture, increases the ability to quantitatively measure the spatial complexity of floodplain surfa
Summary: Why do forest productivity and biomass decline with elevation? To address this question, research to date generally has focused on correlative approaches describing changes in woody growth and biomass with elevation. We present a novel, mechanistic approach to this question by quantifying the autotrophic carbon budget in 16 forest plots along a 3300 m elevation transect in Peru. Low growt
