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The maximum consensus problem is fundamentally important to robust geometric fitting in computer vision. Solving the problem exactly is computationally demanding, and the effort required increases rapidly with the problem size. Although randomized algorithms are much more efficient, the optimality of the solution is not guaranteed. Towards the goal of solving maximum consensus exactly, we present guaranteed outlier removal as a technique to reduce the runtime of exact algorithms. Specifically, before conducting global optimization, we attempt to remove data that are provably true outliers, i.e., those that do not exist in the maximum consensus set. We propose an algorithm based on mixed integer linear programming to perform the removal. The result of our algorithm is a smaller data instance that admits a much faster solution by subsequent exact algorithms, while yielding the same globally optimal result as the original problem. We demonstrate that overall speedups of up to 80% can be achieved on common vision problems1.

In this paper, an intelligent controller capable of static balancing as well as dynamic balancing of a pole mounted on a motorized robot is designed and developed. The brain of the intelligent controller lies in the Fuzzy Inference System, which receives as its input displacement, velocity and acceleration information. An embedded instrumentation system onboard the robot measures the displacement of the robot and the angle of inclination of the pole from the vertical position. For static balancing, the controller needs to maintain the pole in an upright position while the robot is free to move on a flat surface. For dynamic balancing, the robot needs to balance the pole while performing transitions up and down a ramp. Furthermore, the robot needs to steer itself back to the center to prevent it from falling off the ramp.

In this study, the situation of a concentrated leak occurring in the impervious core of a dam embankment and discharging into a downstream filter is simulated in the laboratory test using high water pressure and concentrating the flow through a preformed leakage channel in the base specimen with a pressure gradient of over 1,000. The laboratory tests, procedure, observations, and the filter criteria derived are described. A review of the current filter criteria for application to the sandy impervious soils is made. Issues related to the design of crushed rock filters for the tropical residual soils are discussed. It was found that a 'pinhole filter test' using relatively high water pressure and a hydraulic gradient of over 1,000 applied over a short distance of core material produces results which realistically measure the ability of a downstream filter to seal a concentrated leak through the core of an actual dam. These and other study findings are discussed.

1,3,6-Trihydroxy-7-methoxy-8-(3,7-dimethyl-2,6-octadienylxanthone has been isolated from the stems of Garcinia cowa .

The hormone relaxin is important in female reproduction for embryo implantation, cardiovascular function, and during labor and lactation. Relaxin is also synthesized in males by organs of the male tract. We hypothesized that relaxin might be one component of seminal plasma responsible for eliciting the female cytokine response induced in the uterus at mating. When recombinant relaxin was injected into the uterus of wild-type (Rln +/+ ) mice at estrus, it evoked the production of Cxcl1 mRNA and its secreted protein product CXCL1 in four of eight animals. Mating experiments were then conducted using mice with a null mutation in the relaxin gene (Rln -/- mice). qRT-PCR analysis of mRNA expression in wild-type females showed diminished uterine expression of several cytokine and chemokine genes in the absence of male relaxin. Similar differences were also noted comparing Rln -/- and Rln +/+ females mated to wild-type males. Quantification of uterine luminal fluid cytokine content confirmed that male relaxin provokes the production of CXCL10 and CSF3 in Rln +/+ females. Differences were also seen comparing Rln -/- and Rln +/+ females mated with Rln -/- males for CXCL1, CSF3, and CCL5, implying that endogenous relaxin in females might prime the uterus to respond appropriately to seminal fluid at coitus. Finally, pan-leukocyte CD45 mRNA was increased in wild-type matings compared to other combinations, implying that male and female relaxin may trigger leukocyte expansion in the uterus. We conclude that male and/or female relaxin may be important in activating the uterine cytokine/chemokine network required to initiate maternal immune adaptation to pregnancy. Refereed/Peer-reviewed

The heterodimeric peptide hormone relaxin acts through the novel G-protein coupled receptor LGR7 to elicit the production of cAMP in the human monocyte cell line THP-1. The very small number of receptors on the cell surface, and the lack of response in cell membranes imply the involvement of a cytoplasmic signal amplification process. Here we show that this process comprises a novel and specific tyrosine kinase activity close to the receptor, and involves neither protein kinase A, mitogen-activated protein kinase, nor phosphoinositide-3 kinase activities as major upstream components. Furthermore, this novel involvement of a tyrosine kinase activity is cell-type dependent, being largely absent from LGR7-transfected HEK293T cells, and receptor-dependent; vasoactive intestinal peptide or isoproterenol signalling in the same cells does not require this tyrosine kinase activity.

The Leydig cell-specific factor insulin-like peptide 3 (INSL3) is involved in testicular descent during embryo development, and has been suggested to regulate spermatogenesis and bone metabolism in the adult. Using a new, sensitive assay specific for rodent INSL3, we have mapped the secretion of INSL3 into peripheral blood in mice and during postnatal male rat development (in female rats, circulating INSL3 is at the level of detection). Maximum INSL3 is measured at Postnatal Day (PD) 40 in the rat and decreases to a significantly lower, stable value by PD60, indicating an “overshoot” effect in the establishment of Leydig cell functionality during the first wave of spermatogenesis. Aging rats (∼24 mo) have markedly reduced circulating INSL3 levels, as do humans. Treatment of young adult rats with ethane dimethylsulfonate (EDS) leads to loss of mature Leydig cells and no detectable INSL3 in peripheral blood. INSL3 can be detected first at Day 27 after EDS treatment, returning to near normal levels by Day 37. Both primary rat Leydig cells and the mouse MA-10 tumor cell line secrete substantial amounts of INSL3 into the culture media in a constitutive manner, unregulated by common effectors, including hCG. Analysis of different testicular fluid compartments shows highest INSL3 concentration in the interstitial fluid (391.4 ± 47.8 ng/ml). However, INSL3 evidently traverses the blood-testis barrier to enter the seminiferous compartment, rete testis, and epididymis in sufficient concentration to be able to address the specific INSL3 receptors (RXFP2) on post-meiotic germ cells and in the epididymis. Refereed/Peer-reviewed

In myometrium of pigs and rats, though not humans, relaxin appears to mediate an inhibition of spontaneous and oxytocin-induced contractility, presumably acting through a G-protein coupled receptor (RXFP1) to generate cAMP. In humans, circulating relaxin is highest in the first trimester, including the time of implantation, when transitory uterine quiescence could help a blastocyst to implant. We investigated whether relaxin can activate adenylate cyclase in primary human myometrial cells from non-pregnant tissue, and we show that relaxin is able to stimulate the generation of cAMP in a manner, which is dependent upon a tyrosine phosphorylation activity, as in the endometrium. We identified transcripts for the relaxin receptor RXFP1 as full-length variants, though a minor splice variant missing exon 2 was also present in low amounts. These cells also express transcripts encoding RXFP2, the receptor for the closely related hormone, INSL3. Although able to respond to relaxin at high concentrations, this receptor does not appear to function by contributing to the cAMP production in human myometrial cells, nor does INSL3 act as a functional agonist or antagonist of relaxin action. In conclusion, the inability of relaxin to inhibit contractility in human myometrial cells would appear to be due to events downstream of simple cAMP generation.