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For robots acting - and failing - in everyday environments, a predictable behaviour representation is important so that it can be utilised for failure analysis, recovery, and subsequent improvement. Learning from demonstration combined with dynamic motion primitives is one commonly used technique for creating models that are easy to analyse and interpret; however, mobile manipulators complicate such models since they need the ability to synchronise arm and base motions for performing purposeful tasks. In this paper, we analyse dynamic motion primitives in the context of a mobile manipulator - a Toyota Human Support Robot (HSR)- and introduce a small extension of dynamic motion primitives that makes it possible to perform whole body motion with a mobile manipulator. We then present an extensive set of experiments in which our robot was grasping various everyday objects in a domestic environment, where a sequence of object detection, pose estimation, and manipulation was required for successfully completing the task. Our experiments demonstrate the feasibility of the proposed whole body motion framework for everyday object manipulation, but also illustrate the necessity for highly adaptive manipulation strategies that make better use of a robot's perceptual capabilities.
2-methylacetoacetyl-coenzyme A thiolase (beta-ketothiolase) deficiency: one disease - two pathways
(2019)
Background: 2-methylacetoacetyl-coenzyme A thiolase deficiency (MATD; deficiency of mitochondrial acetoacetyl-coenzyme A thiolase T2/ “beta-ketothiolase”) is an autosomal recessive disorder of ketone body utilization and isoleucine degradation due to mutations in ACAT1.
Methods: We performed a systematic literature search for all available clinical descriptions of patients with MATD. 244 patients were identified and included in this analysis. Clinical course and biochemical data are presented and discussed.
Results: For 89.6 % of patients at least one acute metabolic decompensation was reported. Age at first symptoms ranged from 2 days to 8 years (median 12 months). More than 82% of patients presented in the first two years of life, while manifestation in the neonatal period was the exception (3.4%). 77.0% (157 of 204 patients) of patients showed normal psychomotor development without neurologic abnormalities.
Conclusion: This comprehensive data analysis provides a systematic overview on all cases with MATD identified in the literature. It demonstrates that MATD is a rather benign disorder with often favourable outcome, when compared with many other organic acidurias.
Background 3-hydroxy-3-methylglutaryl-coenzyme A lyase deficiency (HMGCLD) is an autosomal recessive disorder of ketogenesis and leucine degradation due to mutations in HMGCL .
Method We performed a systematic literature search to identify all published cases. 211 patients of whom relevant clinical data were available were included in this analysis. Clinical course, biochemical findings and mutation data are highlighted and discussed. An overview on all published HMGCL variants is provided.
Results More than 95% of patients presented with acute metabolic decompensation. Most patients manifested within the first year of life, 42.4% already neonatally. Very few individuals remained asymptomatic. The neurologic long-term outcome was favorable with 62.6% of patients showing normal development.
Conclusion This comprehensive data analysis provides a systematic overview on all published cases with HMGCLD including a list of all known HMGCL mutations.
The choice of suitable semiconducting metal oxide (MOX) gas sensors for the detection of a specific gas or gas mixture is time-consuming since the sensor’s sensitivity needs to be characterized at multiple temperatures to find its optimal operating conditions. To obtain reliable measurement results, it is very important that the power for the sensor’s integrated heater is stable, regulated and error-free (or error-tolerant). Especially the error-free requirement can be only be achieved if the power supply implements failure-avoiding and failure-detection methods. The biggest challenge is deriving multiple different voltages from a common supply in an efficient way while keeping the system as small and lightweight as possible. This work presents a reliable, compact, embedded system that addresses the power supply requirements for fully automated simultaneous sensor characterization for up to 16 sensors at multiple temperatures. The system implements efficient (avg. 83.3% efficiency) voltage conversion with low ripple output (<32 mV) and supports static or temperature-cycled heating modes. Voltage and current of each channel are constantly monitored and regulated to guarantee reliable operation. To evaluate the proposed design, 16 sensors were screened. The results are shown in the experimental part of this work.
In Sensor-based Fault Detection and Diagnosis (SFDD) methods, spatial and temporal dependencies among the sensor signals can be modeled to detect faults in the sensors, if the defined dependencies change over time. In this work, we model Granger causal relationships between pairs of sensor data streams to detect changes in their dependencies. We compare the method on simulated signals with the Pearson correlation, and show that the method elegantly handles noise and lags in the signals and provides appreciable dependency detection. We further evaluate the method using sensor data from a mobile robot by injecting both internal and external faults during operation of the robot. The results show that the method is able to detect changes in the system when faults are injected, but is also prone to detecting false positives. This suggests that this method can be used as a weak detection of faults, but other methods, such as the use of a structural model, are required to reliably detect and diagnose faults.
Herein we report an update to ACPYPE, a Python3 tool that now properly converts AMBER to GROMACS topologies for force fields that utilize nondefault and nonuniform 1–4 electrostatic and nonbonded scaling factors or negative dihedral force constants. Prior to this work, ACPYPE only converted AMBER topologies that used uniform, default 1–4 scaling factors and positive dihedral force constants. We demonstrate that the updated ACPYPE accurately transfers the GLYCAM06 force field from AMBER to GROMACS topology files, which employs non-uniform 1–4 scaling factors as well as negative dihedral force constants. Validation was performed using β-d-GlcNAc through gas-phase analysis of dihedral energy curves and probability density functions. The updated ACPYPE retains all of its original functionality, but now allows the simulation of complex glycomolecular systems in GROMACS using AMBER-originated force fields. ACPYPE is available for download at https://github.com/alanwilter/acpype.
For years, the common logic that underpinned entrepreneurship was to find a niche within in a market/sector and then solidify business practice to achieve success in the market segment. The dawn of technologically-based disruptive enterprises, such as Uber and Air B&B, coupled with the nearing Fourth Industrial revolution seriously call into question the conventional business logic. In this article, the projected impact of these forces on African entrepreneurs is explored. We look at the role of government, business and education systems to prepare for the impact of the Fourth Industrial revolution. Specific focus is placed on the need for entrepreneurial skills and training to prepare for the impact of the Fourth Industrial revolution. We also explore the importance of innovation, both in terms of products and processes to mitigate against the impact of these forces.
The aim of the descriptive study is to gain an understanding of the perceived level of fairness in their experience of security screening relation to their satisfaction. The context of the study was a major aviation hub in East Africa. The target population was all departing international passengers. Primary data was collected using a self-administered questionnaire. The respondents were selected using convenience sampling of passengers who had just completed the final security check at the departure area of the airport. A total of 251 usable responses were collected from a target of 384 respondents giving a response rate of 65 percent.
The findings contribute to the existing body of knowledge on the relationship between the perceptions of fairness of security procedures and their influence on satisfaction. One way between groups analysis of variance (ANOVA) was conducted to test for statistical significance. A Cronbach’s alpha of 88.7 was computed demonstrating a high level of internal consistency of the survey instrument. The adequacy of security procedures, level of communication provided before and during the screening process, consistency and fairness were found to have a significant relationship to the level of satisfaction reported by passengers. The findings suggest that there are significant differences between groups’ perception of different elements security procedures.
The implications of the study are twofold. The study was cross sectional and indeed was impacted by significant changes in security procedures at the airport at the time of the study. A longitudinal survey may further mitigate the impact of the variances of responses and support a robust contribution to the development of a theoretical model of airport passenger satisfaction. Airport managers could use the results of this study as inputs to enhance the design of screening procedures in modern hubs to enhance the passenger experience to drive revenue growth.
This paper proposes an approach to an ANN-based temperature controller design for a plastic injection moulding system. This design approach is applied to the development of a controller based on a combination of a classical ANN and integrator. The controller provides a fast temperature response and zero steady-state error for three typical heaters (bar, nozzle, and cartridge) for a plastic moulding system. The simulation results in Matlab Simulink software and in comparison to an industrial PID regulator have shown the advantages of the controller, such as significantly less overshoot and faster transient (compared to PID with autotuning) for all examined heaters. In order to verify the proposed approach, the designed ANN controller was implemented and tested using an experimental setup based on an STM32 board.
This paper stresses the importance of entrepreneurship education towards enhancing sustainable development in Kenya. The problems facing the country ranging from high rate of poverty, youth and graduate unemployment; overdependence on foreign goods and technology.
This paper therefore argues that entrepreneurship education will equip the students with the skills with which to not only be self-reliant, but to become wealth creators. The intervention level of entrepreneurship education has been at tertiary institutions and universities. This paper argues that attitudes and values are acquired at formative stage in life. Based on literature review of the models that have been used and yielded positive results, this paper proposes an innovative approach to the teaching of entrepreneurship education that is inclusive of pre-school, primary, secondary, tertiary and university levels. This paper explores the “Mully Model of Applied Entrepreneurship Teaching” as a case study, using interviews, surveys and reviewing relevant MCF data. The organization’s success factors within the Kenyan context are discussed.
The paper also recommended that educational programs at all levels of education should be made relevant to provide the youth the needed entrepreneurial skills. Further, it recommends that experiential learning methodologies be emphasized in the delivery of entrepreneurship education.
The limited sodium availability of freshwater and terrestrial environments was a major physiological challenge during vertebrate evolution. The epithelial sodium channel (ENaC) is present in the apical membrane of sodium-absorbing vertebrate epithelia and evolved as part of a machinery for efficient sodium conservation. ENaC belongs to the degenerin/ENaC protein family and is the only member that opens without an external stimulus. We hypothesized that ENaC evolved from a proton-activated sodium channel present in ionocytes of freshwater vertebrates and therefore investigated whether such ancestral traits are present in ENaC isoforms of the aquatic pipid frog Xenopus laevis. Using whole-cell and single-channel electrophysiology of Xenopus oocytes expressing ENaC isoforms assembled from alpha beta gamma- or delta beta gamma-subunit combinations, we demonstrate that Xenopus delta beta gamma-ENaC is profoundly activated by extracellular acidification within biologically relevant ranges (pH 8.0-6.0). This effect was not observed in Xenopus alpha beta gamma-ENaC or human ENaC orthologs. We show that protons interfere with allosteric ENaC inhibition by extracellular sodium ions, thereby increasing the probability of channel opening. Using homology modeling of ENaC structure and site-directed mutagenesis, we identified a cleft region within the extracellular loop of the delta-subunit that contains several acidic amino acid residues that confer proton-sensitivity and enable allosteric inhibition by extracellular sodium ions. We propose that Xenopus delta beta gamma-ENaC can serve as a model for investigating ENaC transformation from a proton-activated toward a constitutively-active ion channel. Such transformation might have occurred during the evolution of tetrapod vertebrates to enable bulk sodium absorption during the water-to-land transition.