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We have developed the three dimensional light detection and ranging (3D-LiDAR) which has wide field of view in the vertical direction suitable for driving autonomously in urban areas and crowds. In this paper, we propose a method to recognize dynamic obstacles from motion of objects without using shape information. We classify point clouds as obstacles from the distance relationship between point to point, observe the movement of obstacles by tracking their centers of gravity. For creating precise map in the dynamic environment, we remove the dynamic objects from the point-clouds. The characteristics of wide field-of-view of the LiDAR makes localization robust. Experiments at Meiji University Ikuta campus showed the usefulness of this 3D-LiDAR and this method.

Uncoupling protein 1 (Ucp1) is predominantly expressed in brown/beige adipocytes in mammals. Although myogenic cells have been suggested to commit to a brown adipocyte lineage through the induction of Prdm16 expression, Prdm16 is also expressed in skeletal muscle. Thus, we examined expression of Ucp1 in bovine myogenic cells. Considering that Ucp1 is a principle molecule that induces energy expenditure in brown/beige adipocytes, expression of Ucp1 is not preferable in beef cattle because of potential decrease in energy (fattening) efficiency. The RT-PCR analyses revealed the expression of Ucp1 in the skeletal muscle of cattle; expression levels were markedly lower than those in the brown fat of calves. Immunohistochemical analyses showed that Ucp1 surrounded muscle fibers, but not adipocytes residing in skeletal muscle. Myosatellite cells cultured in myogenic medium showed an increase in the expression levels of myogenic regulatory factors (P< 0.05), while those in cells cultured in adipogenic medium were decreased (P< 0.05). The Ucp1 expression was also detected in myosatellite cells; expression levels were greater in cells after myogenic culture for 12 d than in those after myogenic culture for 6 d (P< 0.05) and were decreased when cells were cultured in adipogenic medium (P< 0.05). The Prdm16 expression was not affected by culture conditions, suggesting that the expression of Ucp1 is not regulated by that of Prdm16. The results of the present study provide an insight into the unexpected expression of Ucp1 in bovine skeletal muscle, which suggests the necessity for further studies on Ucp1-mediated energy expenditure in bovine skeletal muscle.

Aims.Understand the shape and implications of the multiband ligth curve of GRB 050408, an X-ray rich (XRR) burst.

Two kinds of monolayered films of ion-paired macrocyclic amphiphiles formed from anionic surfactant 1,2-bis[(dodecyloxy)carbonyl]ethane-1-sulfonate and tetracationic macrocycles with different molecular sizes were prepared on hydrophilic silica plates by the Langmuir−Blodgett technique. Vibrational sum-frequency generation (SFG) spectroscopy was applied to investigate the packing structure of the alkyl chains of the films. The SF intensity ratio of the CH symmetric stretching mode of the methylene group to that of methyl group in the alkyl chains increased when the occupied area of the macrocycle was larger than the sum of the cross-sectional areas of the hydrophobic alkyl tails. The appearance of a methylene CH band in the SFG spectra implies the presence of gauche conformation in the alkyl chains. This indicates that the molecular size of the cyclic tetracation hydrophilic head exclusively governs the packing structure of the alkyl group hydrophobic tails in the monolayer state. The results show that monolayer fabrication using ion-paired macrocyclic amphiphiles has advantages in allowing control over the packing structure of the outermost alkyl chains of solid surfaces through the choice of the size of the tetracation.

Picosecond infrared-infrared pump−probe experiments in the OD stretching region were carried out on dehydrated and multilayer water-adsorbed γ-Al2O3. For the dehydrated γ-Al2O3, transient bands assigned to the bleaching and hot bands of the OD stretching mode of isolated surface hydroxyl groups were observed, and the population lifetime (T1) of the vibrational excited state (v = 1) of the mode was 200 ± 10 ps at 293 K. The characteristic temperature dependence of T1 is indicative of a seven-phonon process. For the water-adsorbed γ-Al2O3, the transient bleaching and transient hot bands with a lifetime of 10−12 ps were observed by excitation of the absorption peak at 2630 cm^-1. In addition to these bands, weak transient bands were observed in the low-frequency region. These results are considered evidence of the existence of isolated water molecules on the γ-Al2O3 surface. Pure dephasing is also discussed based on the bandwidth of the observed transient bands.

Computed tomography (CT) findings in eleven patients with symptomatic cerebrospinal fluid (CSF) dissemination from cerebral glioblastoma were analyzed and, in seven cases subsequently autopsied, they were compared with histological observations. Each patient had multiple CT abnormalities including periventricular enhancement (5/11), subarachnoid enhancement (10/11) and progressive hydrocephalus (7/9) by cranial CT, and small filling defects with or without block (5/5) by CT myelography. The areas that showed periventricular or subarachnoid enhancement on CT were confirmed to have macroscopically detectable seeding at autopsy. On the other hand, microscopic deposits were more widely distributed than the enhancement suggested, and were hardly visualized on CT. In association with subarachnoid seeding, we found low-density lesions on CT which had resulted from ischemia or reinvasion of adjacent structures by disseminated glioblastoma and resulting parenchymal edema. By cranial CT, subarachnoid enhancement seems to be a very reliable sign of CSF seeding, whereas periventricular enhancement due to CSF metastases should be carefully distinguished from that due to periventricular tumor infiltration. CT myelography is capable of revealing minute metastatic spinal deposits and may be helpful for ruling out spinal seeding as well as its precise evaluation.

To investigate intratumoral differences in indices of tumor cell proliferation, we measured the bromodeoxyuridine labeling index (BrdUrd LI), the Ki-67 protein proliferating cell indices (PCIs) determined by monoclonal antibody MIB 1 in microwave-processed paraffin sections (MIB 1 PCI) and in some eases by monoclonal antibody in frozen sections (Ki-67 PCI), and counts of argyrophilic nucleolar organizer regions (AgNORs) in 20 glioblastomas. In the most actively proliferating areas, MIB 1 and Ki-67 PCIs correlated well with the BrdUrd LI and with each other, while AgNOR counts correlated less strongly with these indices. In less active areas, the MIB 1 PCI and BrdUrd LI changed concomitantly from one area to another within a tumor except in areas of pseudopalisading with necrosis; in these areas the BrdUrd LI decreased significantly compared with neighboring tumor tissue, while the MIB 1 PCI did not. There was very little staining of gemistocytic nuclei with either anti-BrdUrd or MIB 1 monoclonal antibodies; this supports the concept that gemistocytes are mainly quiescent cells. AgNORs in all of the above-mentioned areas varied from tumor to tumor, which suggests that they may indicate some cellular activity other than proliferation. The close correlation between the BrdUrd LI and Ki-67 protein PCIs in corresponding regions of glioblastomas suggests that MIB 1 staining of microwave-processed paraffin sections can be used to evaluate the growth potential of individual glioblastomas and possibly of other gliomas as well.

Summary: This study was designed to provide the reciprocal relationship among labelling indices of 5-bromodeoxyuridine (BUdR LI), Ki-67 (Ki-LI), and tumour doubling time (Td) of recurrent meningiomas. In our series of 182 primary intracranial meningiomas, 46 cases recurred. The average of BUdR LI and Ki LI for nonrecurrent meningiomas were 0.77±0.13% and 4.71±1.96%, respectively. Recurrent meningiomas had significantly higher LIs at the first operation: BUdR LI was 3.77±1.22% and Ki LI was 14.78±3.17%. The recurrent ratio significantly increased with the degrees of each LI. And the linear regression analysis has demonstrated a significant correlation between BUdR and Ki LI. Td was calculated accurately by NIH, a computer software. Td showed a significant inverse correlation with each of the labelling indices. Consequently, BUdR, Ki LIs and Td of individual tumours correlate mutually well. Of the 46 recurrent cases, 4 received radiation after the operation. Td of the irradiated meningiomas tended to be longer than expected for their higher level of BUdR and Ki LIs before radiation therapy. Thus, it was shown that the radiation therapy delays the regrowth of meningiomas.

Eleven gliomas were serially cultivated and examined for DNA distribution by flow cytometry and simultaneously for morphological features by light microscopy at the various passage levels until passage 50 at most. Seven gliomas (four low-grade gliomas, three anaplastic gliomas) showed a similar DNA distribution pattern with a main diploid and small tetraploid peaks at various passages. In this group, only one culture formed a permanent cell line, whereas six cultures showed a limited growth ranging from 6 to 24 passages. In contrast, the other four gliomas (each an anaplastic glioma) showed a marked change of DNA distribution through passages and finally a single DNA aneuploid population prospered. Each of these four gliomas yielded established cell lines. Thus, it is suggested that the change of DNA ploidy and prosperity of DNA aneuploid populations in flow cytometry might be used as early and reliable indices for the later establishment of glioma-derived permanent cell lines. Since the changes of DNA distribution are frequently associated with the morphological changes, as seen in the latter group, careful tracing of morphological features is valuable in determining of the fate of cultures, especially in the absence of a flow cytometer. The correlation between the potential to become established cell lines and histology of the original gliomas is also discussed.

The pH homeostasis and the sodium/proton antiport system have been studied in the newly isolated alkalophilic Bacillus sp. strain N-6, which could grow on media in a pH range from 7 to 10, and in its nonalkalophilic mutant. After a quick shift in external pH from 8 to 10 by the addition of Na2CO3, the delta pH (inside acid) in the cells of strain N-6 was immediately established, and the pH homeostatic state was maintained for more than 20 min in an alkaline environment. However, under the same conditions, the pH homeostasis was not observed in the cells of nonalkalophilic mutant, and the cytoplasmic pH immediately rose to pH 10. On the other hand, the results of the rapid acidification from pH 9 to 7 showed that the internal pH was maintained as more basic than the external pH in a neutral medium in both strains. The Na+/H+ antiport system has been characterized by either the effect of Na+ on delta pH formation or 22Na+ efflux in Na+-loaded right-side-out membrane vesicles of strain N-6. Na+- or Li+-loaded vesicles exhibited a reversed delta pH (inside acid) after the addition of electron donors (ascorbate plus tetramethyl-p-phenylenediamine) at both pH 7 and 9, whereas choline-loaded vesicles generated delta pHs of the conventional orientation (inside alkaline). 22Na+ was actively extruded from 22Na+-loaded vesicles whose potential was negative at pH 7 and 9. The inclusion of carbonyl cyanide m-chlorophenylhydrazone inhibited 22Na+ efflux in the presence of electron donors. These results indicate that the Na+/H+ antiport system in this strain operates electrogenically over a range of external pHs from 7 to 10 and plays a role in pH homeostasis at the alkaline pH range. The pH homeostasis at neutral ph was studied in more detail. K+ -depleted cells showed no delta pH (acid out) in the neutral conditions in the absence of K+, whereas these cells generated a delta pH if K+ was present in the medium. This increase of internal pH was accompanied by K+ uptake from the medium. These results suggest that electrogenic K+ entry allows extrusion of H+ from cells by the primary proton pump at neutral pH.

We have obtained a cDNA fragment to human glial fibrillary acidic protein (GFAP) by immunoscreening a ?gt11 human brain cDNA library with antibody to bovine GFAP. The highly homologous nucleotide sequence of this clone with that of the mouse GFAP enabled the identification of this cDNA as one encoding GFAP. As this cDNA hybridized with a single major RNA species in Northern blots of RNA from human and mouse brain tissues and gave one or two bands in Southern blots of human genomic DNA, it was considered to be specific for GFAP. Using this cDNA as a probe we investigated the levels of GFAP expression in ten human glioma cell lines. A 3.5-kb GFAP mRNA was detected in five of the ten glioma cell lines, one of which was U-251 MG cell line and the other four were clones derived from the same tumor (CL1, 2, 3, and 4). There was a difference in the amount of GFAP mRNA among U-251 MG and the four clonal cell lines. Quantitative evaluation of this difference by RNA dot blot analysis revealed that the amount of GFAP mRNA expressed in CL3 was about 1/5 and in CL4 about 1/10 the amount expressed in U-251 MG, CL1, and CL2. Semiquantitative Western blot analysis showed that GFAP levels corresponded to the GFAP mRNA levels in these cell lines. By Southern blot analysis of genomic DNA the GFAP gene was similarly detected in all of these cell lines regardless of the level of GFAP expression. Thus, by using a cDNa to human GFAP we have demonstrated the presence of clonal cell lines from human glioma showing different levels of GFAP expression, which may provide a useful basis for further investigations on the regulation of GFAP gene expression in glial cells.

Unstable intermediates are indispensable ingredients of chemical reactions, but their identification at solid surfaces has been hampered by the lack of techniques to detect short-lived and fractionally generated species. We succeeded in identifying the intermediate in a thermal decomposition reaction by utilizing the picosecond temperature jump induced by the irradiation of laser pulses and the observation by sum-frequency generation spectroscopy. We verified that the decomposition of formate on the NiO(111) surface is preceded by the transformation of stable bidentate formate to unstable monodentate formate, which is the reactive intermediate, and two species are found to be in equilibrium before decomposition.

A novel InAlAs/InGaAs heterojunction FET (HJFET), with an AlAs/InAs superlattice inserted between an InAlAs Schottky layer and an InAlAs donor layer, is proposed. The developed device exhibited initial DC characteristics identical to those of the conventional lattice-matched HJFET and improved thermal stability owing to the inserted superlattice layer acting as a barrier against impurity diffusion.