A HEURISTIC PATH-PLANNING METHOD FOR ENHANCING MACHINE-TOOL CONTOUR-FOLLOWING

Nomenclature ki integral action coefficient[s-1]kp speed proportional gain[s-1]kv position proportional gain[s-1]kf feed forward factor of the speed loop[%]M axis mass[kg]V speed[m/s]F driving effort[N]Rc radius of curvature[m]d distance to the apex[m]o lateral offset[m]εcontouring error[m]ωm lowest mechanical resonant frequency[s-1]ζdamping coefficient[-]r inertia ratio[-]μmembership function[-]αcorner angle[rad]x,y horizontal and vertical coordinates[m]?angle to the normal line[rad]1.I…     

Eucharitidae new to the fauna of Saudi Arabia (Hymenoptera: Chalcidoidea), with the description of a new species and the previously unknown male of Eucharis (Psilogastrellus) albipennis Bouček

The present study summarizes additions to the known fauna of Eucharitidae of Saudi Arabia. Cherianella arabica Gadallah &; Soliman sp. nov. and the male of previously known female Eucharis (Psilogastrellus) albipennis Bou?ek, 1956 are described and illustrated. Three new records are also added to the fauna of Saudi Arabia: Eucharis (Eucharisca) intermedia Ruschka, 1924, Eucharis (Psilogastrellus) acuminata Ruschka, 1924 and Eucharis (Psilogastrellus) punctata Förster, 1859.

http:/zoobank.org/urn:lsid:zoobank.org:pub:F1B1C493-AA83-4696-AF8B-3B3F62C09B41     

MCS: A Method for Finding the Number of Clusters

This paper proposes a maximum clustering similarity (MCS) method for determining the number of clusters in a data set by studying the behavior of similarity indices comparing two (of several) clustering methods. The similarity between the two clusterings is calculated at the same number of clusters, using the indices of Rand (R), Fowlkes and Mallows (FM), and Kulczynski (K) each corrected for chance agreement. The number of clusters at which the index attains its maximum is a candidate for the optimal number of clusters. The proposed method is applied to simulated bivariate normal data, and further extended for use in circular data. Its performance is compared to the criteria discussed in Tibshirani, Walther, and Hastie (2001). The proposed method is not based on any distributional or data assumption which makes it widely applicable to any type of data that can be clustered using at least two clustering algorithms.     

Rectal prolapse: Diagnosis and clinical management

The exact cause of rectal prolapse is not well addressed,but it is often associated with long standing constipation,advanced age,chronic obstructive pulmonary disease and some neurological disorders.Rectal prolapse is usually only a symptom,which needs a focus on discovery of the underlying pathology or disorder.Three different clinical presentations are often combined and called rectal prolapse.Rectal prolapse can be divided into full thickness rectal prolapse where the entire rectum protrudes beyond the a...     

Abnormal cerebellar development and axonal decussation due to mutations in AHI1 in Joubert syndrome

Joubert syndrome is a congenital brain malformation of the cerebellar vermis and brainstem with abnormalities of axonal decussation (crossing in the brain) affecting the corticospinal tract and superior cerebellar peduncles. Individuals with Joubert syndrome have motor and behavioral abnormalities, including an inability to walk due to severe clumsiness and 'mirror' movements, and cognitive and behavioral disturbances. Here we identified a locus associated with Joubert syndrome, JBTS3, on chromosome 6q23.2-q23.3 and found three deleterious mutations in AHI1, the first gene to be associated with Joubert syndrome. AHI1 is most highly expressed in brain, particularly in neurons that give rise to the crossing axons of the corticospinal tract and superior cerebellar peduncles. Comparative genetic analysis of AHI1 indicates that it has undergone positive evolutionary selection along the human lineage. Therefore, changes in AHI1 may have been important in the evolution of human-specific motor behaviors.     

MRT-2 checkpoint protein is required for germline immortality and telomere replication in C. elegans

The germ line is an immortal cell lineage that is passed indefinitely from one generation to the next. To identify the genes that are required for germline immortality, we isolated Caenorhabditis elegans mutants with mortal germ lines--worms that can reproduce for several healthy generations but eventually become sterile. One of these mortal germline (mrt) mutants, mrt-2, exhibits progressive telomere shortening and accumulates end-to-end chromosome fusions in later generations, indicating that the MRT-2 protein is required for telomere replication. In addition, the germ line of mrt-2 is hypersensitive to X-rays and to transposon activity. Therefore, mrt-2 has defects in responding both to damaged DNA and to normal double-strand breaks present at telomeres. mrt-2 encodes a homologue of a checkpoint gene that is required to sense DNA damage in yeast. These results indicate that telomeres may be identified as a type of DNA damage and then repaired by the telomere-replication enzyme telomerase.     

Urban Transport and Sustainable Transport Strategies： A Case Study of Karachi, Pakistan

The uncontrolled growth in urbanization and motorization generally contributes to an urban land use and transportation system that is socially, economically, and environmentally unsustainable. This paper uses Karachi as a case study, which is the largest urban and economic centre of Pakistan, passing through an uncontrolled phase of rapid urbanization and motorization. The paper first reviews research related to sustainable transportation systems to comprehend the concept of sustainable development and transporta-tion. The paper then evaluates the existing transportation and infrastructure system, national transportation policies, and urban transportation projects to determine if the current paradigm is moving toward or away from sustainable transportation. Furthermore, the principles for sustainable urban transportation are devel-oped to see what significance national transportation policies have given to urban transportation from a sus-tainable transportation point of view. Finally some strategies are suggested, adoption of which may lead to a sustainable urban development and transportation system in Karachi.     

Mutations in 15-hydroxyprostaglandin dehydrogenase cause primary hypertrophic osteoarthropathy

Digital clubbing, recognized by Hippocrates in the fifth century BC, is the outward hallmark of pulmonary hypertrophic osteoarthropathy, a clinical constellation that develops secondary to various acquired diseases, especially intrathoracic neoplasm. The pathogenesis of clubbing and hypertrophic osteoarthropathy has hitherto been poorly understood, but a clinically indistinguishable primary (idiopathic) form of hypertrophic osteoarthropathy (PHO) is recognized. This familial disorder can cause diagnostic confusion, as well as significant disability. By autozygosity methods, we mapped PHO to chromosome 4q33-q34 and identified mutations in HPGD, encoding 15-hydroxyprostaglandin dehydrogenase, the main enzyme of prostaglandin degradation. Homozygous individuals develop PHO secondary to chronically elevated prostaglandin E(2) levels. Heterozygous relatives also show milder biochemical and clinical manifestations. These findings not only suggest therapies for PHO, but also imply that clubbing secondary to other pathologies may be prostaglandin mediated. Testing for HPGD mutations and biochemical testing for HPGD deficiency in patients with unexplained clubbing might help to obviate extensive searches for occult pathology.