Estimating the Heading of a Husky Mobile Robot with a LiDAR Compass based on Direction Maps

Without an absolute position sensor (e.g., GPS), an accurate heading estimate is necessary for proper localization of an autonomous unmanned vehicle or robot. This paper introduces direction maps (DMs), which represent the directions of only dominant surfaces of the vehicle’s environment and can be created with negligible effort. Given an environment with reoccurring surface directions (e.g., walls, buildings, parked cars), lines extracted from laser scans can be matched with a DM to provide an extremely lightweight heading estimate that is shown, through experimentation, to drastically reduce the growth of heading errors. The algorithm was tested using a Husky A200 mobile robot in a warehouse environment over traverses hundreds of metres in length. When a simple a priori DM was provided, the resulting heading estimation showed virtually no error growth.

Vaginal delivery of the recombinant HIV-1 clade-C trimeric gp140 envelope protein CN54gp140 within novel rheologically structured vehicles elicits specific immune responses

Rheologically structured vehicle (RSV) gels were developed as delivery systems for vaginal mucosal vaccination with an HIV-1 envelope glycoprotein (CN54gp140). RSVs comprised a mucoadhesive matrix forming and vaginal fluid absorbing polymer. The mucoadhesive and rheological properties of the RSVs were evaluated in vitro, and the distribution, antigenicity and release of CN54gp140 were analysed by ELISA. CN54gp140 was uniformly distributed within the RSVs and continuously released in vitro in an antigenically intact form over 24 h. Vaginal administration to rabbits induced specific serum IgG, and IgG and IgA in genital tract secretions. The RSVs are a viable delivery modality for vaginal immunization.