Research on a Visual/Ultra-Wideband Tightly Coupled Fusion Localization Algorithm.

In the autonomous navigation of mobile robots, precise positioning is crucial. In forest environments with weak satellite signals or in sites disturbed by complex environments, satellite positioning accuracy has difficulty in meeting the requirements of autonomous navigation positioning accuracy for robots. This article proposes a vision SLAM/UWB tightly coupled localization method and designs a UWB non-line-of-sight error identification method using the displacement increment of the visual odometer.

YisK possesses oxaloacetate decarboxylase activity and exhibits Mbl-dependent localization.

YisK is an uncharacterized protein in previously shown to interact genetically with the elongasome protein Mbl. YisK overexpression leads to cell widening and lysis, phenotypes that are dependent on and suppressed by mutations. In the present work, we characterize YisK's localization, structure, and enzymatic activity.

Magnesium Modulates Bacillus subtilis Cell Division Frequency.

By chance, we discovered a window of extracellular magnesium (Mg) availability that modulates the division frequency of Bacillus subtilis without affecting its growth rate. In this window, cells grown with excess Mg produce shorter cells than do those grown in unsupplemented medium. The Mg-responsive adjustment in cell length occurs in both rich and minimal media as well as in domesticated and undomesticated strains.

Phase Transition in Postsynaptic Densities Underlies Formation of Synaptic Complexes and Synaptic Plasticity.

Postsynaptic densities (PSDs) are membrane semi-enclosed, submicron protein-enriched cellular compartments beneath postsynaptic membranes, which constantly exchange their components with bulk aqueous cytoplasm in synaptic spines. Formation and activity-dependent modulation of PSDs is considered as one of the most basic molecular events governing synaptic plasticity in the nervous system. In this study, we discover that SynGAP, one of the most abundant PSD proteins and a Ras/Rap GTPase activator, forms a homo-trimer and binds to multiple copies of PSD-95.

A binding site outside the canonical PDZ domain determines the specific interaction between Shank and SAPAP and their function.

Shank and SAPAP (synapse-associated protein 90/postsynaptic density-95-associated protein) are two highly abundant scaffold proteins that directly interact with each other to regulate excitatory synapse development and plasticity. Mutations of SAPAP, but not other reported Shank PDZ domain binders, share a significant overlap on behavioral abnormalities with the mutations of Shank both in patients and in animal models. The molecular mechanism governing the exquisite specificity of the Shank/SAPAP interaction is not clear, however.

Short-cut nitrification in biological aerated filters with modified zeolite and nitrifying sludge.

Autotrophic domestication for short-cut nitrification (SCN) and microorganism immobilization was carried out in a lab-scale biological aerated filters (BAFs) system with activated sludge. Zeolite was chosen as fillings and modified to enlarge the specific surface and to remove toxic metal ions. After thirty-day domestication and immobilization, the NH4(+)-N removal capacity increased to 76.