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In this article, we propose a novel Simultaneous Localization and Mapping (SLAM) method by using a sampling-based approach. FastSLAM is well-known approach as a sampling-based SLAM method. FastSLAM utilizes a theorem that map errors are decidable under a sample of trajectories. From this theorem, FastSLAM samples many trajectories and maps to find a minimum error map. However, in case of constructing a large-scale grid map, FastSLAM becomes unuseful since the method requires huge memory to generate many grid maps. Our proposed method requires only one map that is deformable corresponding to a trajectory. In order to find a minimum error map, our method only generates trajectories. Our method enables construction of a minimum error map by little memory in comparison with original FastSLAM. Experimental results demonstrate our method is able to construct a large-scale 3-D grid map by low memory usage in comparison with original FastSLAM. [ABSTRACT FROM AUTHOR]

Abstract: GABAB receptor is a G protein-coupled receptor for GABA and drug target for neurological and psychiatric disorders. From the analysis of GTPγS binding assay, we found that a synthesized peptide (GABAb: ETKSVSTEKINDHR) corresponding to the intracellular third loop region of metabotropic GABAB receptor could activate Gi protein α subunit directly. The three dimensional molecular structure of the peptide in SDS-d25 micelles was determined by 2D 1H-NMR spectroscopy. GABAb peptide formed an α helical structure and a positive charge cluster at the C-terminal site. These structural features were also found in several other G protein activating peptides. From the comparison among these peptides, we found that peptides with high helical content show the high activity. [Copyright &y& Elsevier]

Abstract: Human APG1 gene is homologous to Drosophila methuselah gene associated with extended life span. A peptide (APG1: RNGKRSNRTLREE) corresponding to a predicted region of the intracellular third loop of G protein-coupled receptor coded in human APG1 gene could activate Gi protein α subunit directly. The three-dimensional molecular structure of the peptide in SDS-d 25 micelles was determined by 2D 1H NMR spectroscopy. APG1 formed an α-helical structure at the C-terminal site and a positive charge cluster at the N-terminal site. The cluster was also found in several other Gi protein-coupled receptor peptides. Therefore, the positive charge cluster on the helical structure might be engaged in G protein activation. [Copyright &y& Elsevier]

Abstract: We found that a peptide (EP3a: TIKALVSRCRAKAAV) corresponding to the N-terminal site of the intracellular third loop of human prostaglandin EP3α receptor could activate G protein α-subunit directly. The activity was almost same as Mastoparan-X, a G protein activating peptide from wasp venom. The three-dimensional molecular structure of the peptide in SDS-d 25 micelles was determined by 2D 1H NMR spectroscopy. The structure of EP3a consists of a positive charge cluster on the C-terminal helical site. The cluster was also found in several corresponding receptor peptides. Therefore, the positive charge cluster on the helical structure might play a crucial role in activation of G protein. [Copyright &y& Elsevier]

Twenty-two strains classified as Saccharomyces kluyveri were grown on beet molasses as the principal carbon source to select a strain for the production of a glycosphingolipid cerebroside. Six strains accumulated relatively high amounts of cerebroside (> 0.40 mg [g dry weight] -1 ) and grew well in an Erlenmeyer flask. Thirty strains were isolated from single spores of strain CBS 4800 after sporulation and further tested for cerebroside contents. Strain SP-25 accumulated greater amounts than the parental strain (0.59 mg [g dry weight] -1 ) and was finally selected and cultured in a 5 L jar fermentor. In a comparison with a conventional baking strain of S. cerevisiae , the selected strain SP-25 propagated more rapidly in conjunction with depressed synthesis of ethanol. The amount of cerebroside produced from 1 kg of sugar in molasses was estimated to be 0.15 g. The constituents of cerebroside accumulated in the yeast cells were principally 2-hydroxystearic acid as a fatty acid, 9-methyl- trans -4, trans -8-sphingadienine as a sphingoid base, and glucose as a hexose. [ABSTRACT FROM AUTHOR]

The structure of intracellular third loop peptide (βIII-2: RRSSKFCLKEKKALK) was studied by CD and NMR spectroscopy. According to the CD study, this peptide forms a helix in the TFE solution. The three-dimensional molecular structure in TFE was determined by the 2D 1H NMR spectroscopy. The structure consists of a positive charge cluster on the C-terminal side of the peptide chain. This part will be an active site of the peptide interacting with the G-protein. [Copyright &y& Elsevier]

Presents a nonlinear optical (NLO) polymer for second harmonic generation. Presence of a large dipole moment in the NLO polymer; Value of the second order nonlinearity of the poled polymer; Observation of good thermal stability of nonlinearity in ambient condition.

To significantly reduce the occurrence of severe traffic accidents, reducing the number of vehicles in urban areas should be considered. Personal mobility is essential for realizing this reduction, which requires consideration of the last-/first-mile problem. The overall objective of our research is to solve this problem using standing-type personal mobility vehicles as transportation devices; however, to evaluate the feasibility of such vehicles as future mobility devices, it is necessary to evaluate their operation under real-world conditions. Therefore, in this study, experimental and survey data relating to the velocity, stability, safety, and comfort of a standing-type personal mobility device are obtained to evaluate its performance in three different scenarios. The results show that the personal mobility vehicle is socially well received and can be safely operated on sidewalks, irrespective of the gender or age of the driver; moreover, the results suggest that subjects who routinely use a bicycle are adept at avoiding and absorbing the impacts of small holes and bumps, thereby yielding reduced acceleration values (in all directions) and pitch, roll, and yaw rates. This is anticipated to benefit the future development of personal mobility devices and help realize effective and accessible public transport systems, as well as reduce the number of vehicles in urban areas. [ABSTRACT FROM AUTHOR]

Translation initiation in eubacteria involves a formylmethionine at the N-terminus of newly synthesized polypeptides. This N-formyl group is removed by peptide deformylase (PDF) during the postranslation process. Such a formylation/deformylation cycle is essential for the cell survival of eubacteria, but is not utilized in eukaryotic cytosolic protein biosynthesis. In view of the absence of deformylase activity in mammalian cells, this is an attractive target for the design of novel antibiotic drugs. Co-crystallization of peptide deformylase from Leptospira interrogans (LiPDF) with its natural inhibitor actinonin produced diffraction-quality crystals that belong to space group p2[sub1], with until-cell parameters a = 87.5, b = 119.1, c = 95.8 Å, β = 111.6&degrees;. The 3.1 Å resolution data set collected inhouse was used to obtain phases by molecular replacement. Three schemes for the correction of the preliminary solutions were proposed and proved successful in determining the structure of LiPDF with eight subunits in the asymmetric unit. [ABSTRACT FROM AUTHOR]

Presents a study which developed a mechanism for a biped-type leg-wheeled robot. Advantages of the proposed mechanism over other mechanisms for robot motion; Equipment integrated into the biped-type leg wheeled robot; Use of a dynamic trajectory planning and control method to address the dynamic interference inherent to the robot design.

Personal Mobility Robots, such as the Seqway may be the remedy for the transportation related problems in the congested environment, especially for the last and first mile problems of the elderly people. However, the vehicle segmentation issues for the mobility robots, impede the use of these devices on the shared paths. The mobility reports can only be used in the designated areas and private facilities. The traffic regulatory institutions lack robot–society interaction database. In this study, we proposed methods and algorithms which can be employed on a widespread computing device, such as an Android tablet, to gather travel information and rider behavior making use of the motion and position sensors of the tablet PC. The methods we developed, first filter the noisy sensor readings using a complementary filter, then align the body coordinate system of the device to the Segway’s motion coordinate. A couple of state of the art classification methods are integrated to classify the braking states of the Segway. The classification algorithms are not limited to classification of the braking states, but they can be used for other motion related maneuvers on the road surfaces. The detected braking states and the other classified features related to the motion are reflected to the screen of the Android tablet to inform the rider about the riding and motion conditions. The developed Android application also gathers these travel information to build a National database for further statistical analysis of the robot–society interaction. [ABSTRACT FROM AUTHOR]

Background: Clinical observations have shown that there is a relationship between coronavirus disease 2019 (COVID-19) and atypical lymphocytes in the peripheral blood; however, knowledge about the time course of the changes in atypical lymphocytes and the association with the clinical course of COVID-19 is limited. Objective: Our purposes were to investigate the dynamics of atypical lymphocytes in COVID-19 patients and to estimate their clinical significance for diagnosis and monitoring disease course. Materials and methods: We retrospectively identified 98 inpatients in a general ward at Kashiwa Municipal Hospital from May 1st, 2020, to October 31st, 2020. We extracted data on patient demographics, symptoms, comorbidities, blood test results, radiographic findings, treatment after admission and clinical course. We compared clinical findings between patients with and without atypical lymphocytes, investigated the behavior of atypical lymphocytes throughout the clinical course of COVID-19, and determined the relationships among the development of pneumonia, the use of supplemental oxygen and the presence of atypical lymphocytes. Results: Patients with atypical lymphocytes had a significantly higher prevalence of pneumonia (80.4% vs. 42.6%, p < 0.0001) and the use of supplemental oxygen (25.5% vs. 4.3%, p = 0.0042). The median time to the appearance of atypical lymphocytes after disease onset was eight days, and atypical lymphocytes were observed in 16/98 (16.3%) patients at the first visit. Atypical lymphocytes appeared after the confirmation of lung infiltrates in 31/41 (75.6%) patients. Of the 13 oxygen-treated patients with atypical lymphocytes, approximately two-thirds had a stable or improved clinical course after the appearance of atypical lymphocytes. Conclusion: Atypical lymphocytes frequently appeared in the peripheral blood of COVID-19 patients one week after disease onset. Patients with atypical lymphocytes were more likely to have pneumonia and to need supplemental oxygen; however, two-thirds of them showed clinical improvement after the appearance of atypical lymphocytes. [ABSTRACT FROM AUTHOR]

Paclitaxel (PTX) and docetaxel (DTX) have been reported to be effective for treating hormone-refractory prostate cancer (HRPC). The objective of this study was to examine the efficacy of weekly DTX (PTX)-based chemotherapy and compare weekly DTX-based chemotherapy with triweekly (once every 3 weeks) DTX-based chemotherapy. We performed a combination chemotherapy on a weekly cycle with an i.v. PTX 100 mg/m2 or i.v. DTX 30 mg/m2 (days 1, 8, 15, and 22), i.v. carboplatin (CBDCA) (day 1, area under the plasma concentration time curve = 6), and oral estramustine phosphate 10 mg/kg daily for 10 HRPC patients. In addition, we investigated the patient characteristics and treatment efficacy and toxicity. Among all cases, serum prostate-specific antigen (PSA) decreased by 50% or more in 90% of patients, by 75% or more in 70%, and 90% or more in 40% after chemotherapy. The effectiveness of weekly DTX-based chemotherapy was comparable with previous reports, and we showed no toxicity serious enough to require cancellation of chemotherapy. In conclusion, weekly DTX-based chemotherapy was no less effective and less toxic than triweekly DTX-based chemotherapy for HRPC patients and therefore can be useful as the first-line chemotherapy regimen for HRPC patients, especially the elderly or those with a poor performance status. [ABSTRACT FROM AUTHOR]

Abstract: The discovery stories of three fluorine-containing insecticides in our laboratory are described, i.e. amidoflumet, a new trifluoromethanesulfonanilide with high miticidal activity against various house dust mites, Metofluthrin, a potent new fluorinated pyrethroid with extremely high knockdown activity against various mosquitoes, and a new α-pyrone compound, 3-[1R-trans-(2-trifluoromethyl)cyclopropanecarbonyl]-4-hydroxy-6-methyl-2-pyrone with outstanding insecticidal activity against Blattella germanica. [Copyright &y& Elsevier]

The diode-pumped slab laser for inertial fusion energy driver has been demonstrated, which produces the 1053-nm output energy of 10 J at 10 Hz. The glass slab laser amplifier has been pumped by quasi-CW 290-kW AlGaAs laser-diode arrays at 803 nm. The optical system can compensate for thermal effects by use of zigzag optical propagation, image-relayed telescope, and 45° Faraday rotator. The output energy of 10.6 J at 1 Hz with the optical-to-optical conversion efficiency of 19.9% has been successfully obtained. Also, the 10-Hz operation has been performed with an output energy of 5.1 J. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 155(2): 27–35, 2006; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/eej.20288 [ABSTRACT FROM AUTHOR]

We report an unusual case of biphasic tumor of the breast with prominent CD34-positive spindle cells. A 53-year-old woman presented with a mass in her right breast. Following an incisional biopsy, a partial mastectomy was done. Histologically, the tumor was a biphasic variant of a malignant spindle cell tumor of the breast. The lack of a leaf-like structure, together with the apparent myoid features of the spindle-shaped tumor cells, made it difficult to distinguish from malignant phyllodes tumor and from myoepithelial carcinoma. Immunohistochemistry revealed the spindle-shaped tumor cells to be myofibroblastic, but not myoepithelial in nature, ultimately categorizing this tumor as a malignant phyllodes tumor with prominent myofibroblastic differentiation. [ABSTRACT FROM AUTHOR]

Virus-like particles (VLPs) have many potentially useful applications. The core proteins of human hepatitis B virus self-assemble into icosahedral VLPs. As previously reported, core protein dimers (CPDs), produced by connecting two core proteins via a peptide linker, can also assemble into VLPs. CPDs in which heterologous proteins were connected to the C-terminus (CPD1) were found to rearrange into symmetrical octahedra during crystallization. In this study, a heterologous protein was inserted into the peptide linker of the CPD (CPD2). CPD2 was expressed in Escherichia coli, assembled into VLPs, purified and crystallized. A single crystal diffracted to 2.8 Å resolution and belonged to the cubic space group F432, with unit-cell parameters a = b = c = 218.6 Å. Single-crystal analysis showed that CPD1 and CPD2 rearranged into the same octahedral organization in a crystallization solution. [ABSTRACT FROM AUTHOR]

Abstract: Recently, in contrast to the general consensus, there has been accumulating evidence indicating a series of parent compounds T′-RE2CuO4 [RE=Pr, Nd, Sm, Eu, and Gd] prepared by metal–organic decomposition show superconductivity with Tc even exceeding 30K [O. Matsumoto, A. Utsuki, A. Tsukada, H. Yamamoto, T. Manabe, M. Naito, Phys. Rev. B 79 (2009) 100508(R) ]. Here, we report the preparation of superconducting films of T′-RE2CuO4 by MBE with a post-reduction process. Using the MBE-grown films, we also performed photoemission experiments, the results of which suggest the superconducting carriers in the parent compounds arise not from accidental doping but from their intrinsically metallic nature. [ABSTRACT FROM AUTHOR]

Abstract: The distribution of EP3 receptors on a living cell surface was quantitatively studied by atomic force microscopy (AFM). Green fluorescent protein (GFP) was introduced to the extracellular region of the EP3 receptor on a CHO cell. A microbead was used as a probe to ensure certain contact area, whose surface was coated with anti-GFP antibody. The interactions between the antibodies and GFP molecules on the cell surface were recorded to observe the distribution of the receptors. The result indicated that EP3 receptors were distributed on the CHO cell surface not uniformly but in small patches coincident with immunohistochemical observation. Repeated measurements on the same area of cell surface gave confirmation that it was unlikely that the receptors were extracted from the cell membrane during the experiments. The measurement of single molecular interaction between GFP and the anti-GFP antibody was succeeded on the cell surface using compression-free force spectroscopy. The value of separation work required to break a single molecular pair was estimated to be about 1.5×10−18 J. The number of EP3 receptor on the CHO cell surface was estimated using this value to be about 1×104 under the assumption that the area of the cell surface was about 5000μm2. These results indicated that the number of receptors on a living cell surface could be quantified through the force measurement by the AFM. [Copyright &y& Elsevier]

: ObjectivesTo review cases of colorectal cancer requiring urologic management to clarify the role the urologist should play in the surgical procedures. A deterrent to radical surgery for advanced colorectal carcinoma with urinary involvement is the technical complexity and associated morbidity and mortality of this procedure.: MethodsThirty-six tumors in 35 patients, including 19 sigmoid cancers (Stage II, 17; Stage III, 2), 12 rectal cancers (Stage II, 11; Stage III, 1), and 5 local recurrences of colorectal carcinoma in the pelvis were reviewed. All tumors had invaded the bladder, prostate, or ureter. The demographic and clinical characteristics, type of operative procedure, and postoperative complications were analyzed.: ResultsOf the patients with a sigmoid tumor, partial cystectomy was performed in 15 patients who underwent a bladder-sparing procedure; an ileal conduit and ileal neobladder were created in 2 patients each who required cystectomy. Four patients with rectal cancer underwent a bladder-sparing procedure: partial cystectomy in 1, partial cystectomy with ileal ureter in 1, and prostatectomy in 2. The remaining 8 patients underwent cystectomy with the following types of reconstruction: colonic neobladder in 1, ileal neobladder in 4, Indiana pouch in 1, ileal conduit in 1, and ureterocutaneostomy in 1 patient. The bladder was spared in a greater percentage of patients with sigmoid cancer than in those with rectal cancer. The incidence of complications was greater in patients with rectal cancer and local recurrence than in those with sigmoid tumors. The complication rate was especially low in patients who underwent a bladder-sparing procedure (10.5%) compared with patients who required cystectomy (58.3%). The survival in patients with sigmoid cancer who underwent bladder-sparing surgery also was better than in those who underwent cystectomy.: ConclusionsThe treatment of advanced colorectal cancer is best managed by a committed team that includes an experienced urologist. Urologists play a critical role in determining the surgical options and creating appropriate urinary diversions to achieve curative resection with the highest quality of life. [Copyright &y& Elsevier]

: ObjectivesTo determine the psychological and social effects of kidney donation on kidney donors by using the short-form 36-item health survey (SF-36) as the quality-of-life questionnaire.: MethodsA total of 104 living donor nephrectomies have been performed at Kobe University Hospital and Nishinomiya Prefectural Hospital. We mailed the questionnaires to donors or handed them out directly at the outpatient clinic. The first part of the questionnaire consisted of the SF-36 (limitations on physical functioning because of health problems) and the second part consisted of 15 questions about donation-related stress, expenses incurred, physical changes, and pre-existing factors such as relationship to the recipients.: ResultsThe SF-36 and the questionnaire about donor satisfaction were completed by 69 donors (48 women and 21 men; mean age 52.1 ± 8.2 years), only 6 of whom (9%) reported minor complications with the donor operation. The SF-36 scores of our donors were not significantly different from that of the general U.S. population and U.S. donors. In some categories (physical functioning, role-physical, bodily pain, general health, vitality, and mental health), our donors scored slightly higher than the U.S. general population. Although 97% of the donors would make the same choice again, 3% believed that donating had had a negative impact on their health, and 16% reported negative financial consequences.: ConclusionsThe quality of life for kidney donors was not affected by donor nephrectomy. Living kidney transplantation seems to be suitable for the rescue of patients with end-stage renal disease. Better psychological and technical preparation for surgery and more consistent follow-up may reduce the negative outcomes even further. [Copyright &y& Elsevier]

Focal segmental glomerulosclerosis (FSGS) is known to recur in some patients after renal transplantation. Over a prolonged period, we followed 13 pediatric patients with FSGS who had undergone transplantation from living-related donors, analyzing risk factors for recurrent disease. Native nephrectomies were performed bilaterally in all patients at least 1 month prior to transplantation. Immunosuppressive therapy consisted of cyclosporine (CyA), mizoribine, prednisone, and antilymphocytic globulin or deoxyspergualin. We examined age at onset, time in months between diagnosis and end-stage disease (dialysis or transplantation), the duration of dialysis, age at transplantation, time since nephrectomy, doses of immunosuppressive agents, and HLA mismatch. Five patients (42.8%) developed recurrent disease in the graft; all showed proteinuria within 24 h of transplantation. However, all allografts have functioned well for 34–156 months following transplantation despite the recurrences, although 1 of these patients now shows proteinuria. The remaining 8 patients have had no recurrence for 104.6±30.4 months (mean±SD). The serum level of creatinine in patients with recurrence and without recurrence was 1.1±0.42 mg/dl and 0.98±0.29 mg/dl, respectively. The interval from diagnosis to initiation of dialysis was significantly shorter in patients with recurrence than those without recurrence (P<0.05), but no other variables differed between these two groups. No recurrence of FSGS was observed in the protocol biopsy at 100 days after transplantation. We believe that CyA and native nephrectomy may limit or reverse progression of recurrent FSGS in renal allografts of Japanese pediatric patients, although this is a limited study. [ABSTRACT FROM AUTHOR]

In order to improve direction stability of a power wheelchair on a cross-sloped surface, a downhill turning prevention control (DTPC) has been developed by some researchers and wheelchair suppliers. The DTPC-induced effect on wheelchair maneuver, however, has not been well clarified. In this study, we quantitatively assessed DTPC-induced changes in joystick control strategies during a driving task on a cross-sloped test course. Among several evaluation measures calculated from the joystick inputs during the test trials, the x-axis joystick displacement amount was found to be significantly decreased by the DTPC. This result suggests that the DTPC can save wheelchair users from the burden of compensation control on cross-sloped surfaces. © 2012 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc. [ABSTRACT FROM AUTHOR]

A letter to the editor is presented in response to a clinical case of overlap syndrome, polymyositis and dermatomyositis, that was successfully treated with tocilizumab, which appeared in the previous issue.