Bearing-only localization using geometrically constrained optimization

We examine the problem of optimal bearing-only localization of a single target using synchronous measurements from multiple sensors. We approach the problem by forming geometric relationships between the measured parameters and their corresponding errors in the relevant emitter localization scenarios. Specifically, we derive a geometric constraint equation on the measurement errors in such a scenario. Using this constraint, we formulate the localization task as a constrained optimization problem that can be performed on the measurements in order to provide the optimal values such that the solution is consistent with the underlying geometry. We illustrate and confirm the advantages of our approach through simulation, offering detailed comparison with traditional maximum likelihood (TML) estimation.

Protection and compensation in the influenza virus-specific CD8+ T cell response.

Influenza virus-specific CD8+ T cells generally recognize peptides derived from conserved, internal proteins that are not subject to antibody-mediated selection pressure. Prior exposure to any one influenza A virus (H1N1) can prime for a secondary CD8+ T cell response to a serologically different influenza A virus (H3N2). The protection afforded by this recall of established CD8+ T cell memory, although limited, is not negligible. Key characteristics of primary and secondary influenza-specific host responses are probed here with recombinant viruses expressing modified nucleoprotein (NP) and acid polymerase (PA) genes. Point mutations were introduced into the epitopes derived from the NP and PA such that they no longer bound the presenting H2Db MHC class I glycoprotein, and reassortant H1N1 and H3N2 viruses were made by reverse genetics. Conventional (C57BL/6J, H2b, and Ig+/+) and Ig-/- (muMT) mice were more susceptible to challenge with the single NP [HKx31 influenza A virus (HK)-NP] and PA (HK-PA) mutants, but unlike the Ig-/- mice, Ig+/+ mice were surprisingly resistant to the HK-NP/-PA double mutant. This virus was found to promote an enhanced IgG response resulting, perhaps, from the delayed elimination of antigen-presenting cells. Antigen persistence also could explain the increase in size of the minor KbPB1703 CD8+ T cell population in mice infected with the mutant viruses. The extent of such compensation was always partial, giving the impression that any virus-specific CD8+ T cell response operates within constrained limits. It seems that the relationship between protective humoral and cellular immunity is neither simple nor readily predicted.

To save the women of China from fear, opium and bound feet : Australian women missionaries in early twentieth-century China

This article explores the experiences of Western women missionaries in a faith mission and their relationships with the women and children of China in the early years of the twentieth century. In a period of twenty years of unprecedented social and political revolution missionaries were forced to reconceptualise their work against a changing discourse of Chinese womanhood. In this context, emerging models of the Chinese New Woman and the New Girl challenged older mission constructions of gender. The Chinese reformation also provided missionaries with troubling reflections on their own roles as independent young women, against debates about modern women at home, and the emerging rights of white women as newly enfranchised citizens in the new nation of Australia.

Unleashing the vermin : vectored route-length minimization

We have posed a simple but interesting graph theoretic problem and posited a heuristic solution procedure, which we have christened as Vectored Route-length Minimization (VeRMin). Basically, it constitutes a re-casting of the classical “shortest route” problem in a strictly Euclidean space. We have presented only a heuristic solution process hoping that a formal proof will eventually emerge as the problem receives wider exposure within mathematical circles.

Industrial wastewater minimization

Industrial pollution emitted to the environment has created a drastic damage to the environment. Natural purification processes such as dilution and dispersion are not applicable due to the enormous amounts of discharged wastes, as they exceed the assimilative capacity of the local environment. Concern about the environment by the general public has forced governments to establish effluent standards for industrial wastes and emissions. Increasing numbers of industries each year has exerted pressure on the environment compelling regulators to further tighten the standards. This has led to modification and improvement in the existing end-of-pipe treatment facilities resulting in higher investment as well as operation and maintenance cost, whereas in recent years, implementation of proactive methods of waste minimization is gaining much attention within industrial sectors. Various waste minimization techniques such as improved housekeeping, change in process technology, change in product, change in input materials, recycling of chemical and raw materials, and recovery of byproducts are discussed in detail. A number of successful examples discussed in this paper indicate that substantial benefits can be gained by implementing waste minimization programs.

Membrane bound members of the M1 family : more than aminopeptidases

In mammals the M1 aminopeptidase family consists of nine different proteins, five of which are integral membrane proteins. The aminopeptidases are defined by two motifs in the catalytic domain; a zinc binding motif HEXXH-(X18)-E and an exopeptidase motif GXMEN. Aminopeptidases of this family are able to cleave a broad range of peptides down to only to a single peptide. This ability to either generate or degrade active peptide hormones is the focus of this review. In addition to their capacity to degrade a range of peptides a number of these aminopeptidases have novel functions that impact on cell signalling and will be discussed.

Well-conditioned configurations of fault-tolerant manipulators

Fault-tolerant motion of redundant manipulators can be obtained by joint velocity reconfiguration. For fault-tolerant manipulators, it is beneficial to determine the configurations that can tolerate the locked-joint failures with a minimum relative joint velocity jump, because the manipulator can rapidly reconfigure itself to tolerate the fault. This paper uses the properties of the condition numbers to introduce those optimal configurations for serial manipulators. The relationship between the manipulator's locked-joint failures and the condition number of the Jacobian matrix is indicated by using a matrix perturbation methodology. Then, it is observed that the condition number provides an upper bound of the required relative joint velocity change for recovering the faults which leads to define the optimal fault-tolerant configuration from the minimization of the condition number. The optimization problem to obtain the minimum condition number is converted to three standard Eigen value optimization problems. A solution is for selected optimization problem is presented. Finally, in order to obtain the optimal fault-tolerant configuration, the proposed method is applied to a 4-DoF planar manipulator.