Efficient marine navigation through obstructions is still one of the many problems faced by the mariner. Many accidents can be traced to human error, recently increased traffic densities and the average cruise speed of ships impedes the collision avoidance decision making process further in the sense that decisions have to be made in reduced time. It seems logical that the decision making process be computerised and automated as a step forward to reduce the risk of collision. This article reviews the development of collision avoidance techniques and path planning for ships, particularly when engaged in close range encounters. In addition, previously published works have been categorised and their shortcomings highlighted in order to identify the ' state of the art ' and issues in close range marine navigation. K E Y

Immunotherapy has demonstrated significant activity in a broad range of cancer types, but still the majority of patients receiving it do not maintain durable therapeutic responses. Amino acid metabolism has been proposed to be involved in the regulation of immune response. Here, we investigated in detail the role of arginase 1 (Arg1) in the modulation of antitumor immune response against poorly immunogenic Lewis lung carcinoma. We observed that tumor progression is associated with an incremental increase in the number of Arg1 + myeloid cells that accumulate in the tumor microenvironment and cause systemic depletion of ʟ-arginine. In advanced tumors, the systemic concentrations of ʟ-arginine are decreased to levels that impair the proliferation of antigen-specific T-cells. Systemic or myeloid-specific Arg1 deletion improves antigen-induced proliferation of adoptively transferred T-cells and leads to inhibition of tumor growth. Arginase inhibitor was demonstrated to modestly inhibit tumor growth when used alone, and to potentiate antitumor effects of anti-PD-1 monoclonal antibodies and STING agonist. The effectiveness of the combination immunotherapy was insufficient to induce complete antitumor responses, but was significantly better than treatment with the checkpoint inhibitor alone. Together, these results indicate that arginase inhibition alone is of modest therapeutic benefit in poorly immunogenic tumors; however, in combination with other treatment strategies it may significantly improve survival outcomes.

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