A motion system for social and animated robots

This paper presents an innovative motion system that is used to control the motions and animations of a social robot. The social robot Probo is used to study Human-Robot Interactions (HRI), with a special focus on Robot Assisted Therapy (RAT). When used for therapy it is important that a social robot is able to create an "illusion of life" so as to become a believable character that can communicate with humans. The design of the motion system in this paper is based on insights from the animation industry. It combines operator-controlled animations with low-level autonomous reactions such as attention and emotional state. The motion system has a Combination Engine, which combines motion commands that are triggered by a human operator with motions that originate from different units of the cognitive control architecture of the robot. This results in an interactive robot that seems alive and has a certain degree of "likeability". The Godspeed Questionnaire Series is used to evaluate the animacy and likeability of the robot in China, Romania and Belgium

Interaction Design: Foundations, Experiments

Interaction Design: Foundations, Experiments is the result of a series of projects, experiments and curricula aimed at investigating the foundations of interaction design in particular and design research in general. The first part of the book - Foundations - deals with foundational theoretical issues in interaction design. An analysis of two categorical mistakes -the empirical and interactive fallacies- forms a background to a discussion of interaction design as act design and of computational technology as material in design. The second part of the book - Experiments - describes a range of design methods, programs and examples that have been used to probe foundational issues through systematic questioning of what is given. Based on experimental design work such as Slow Technology, Abstract Information Displays, Design for Sound Hiders, Zero Expression Fashion, and IT+Textiles, this section also explores how design experiments can play a central role when developing new design theory

A novel code generation methodology for block diagram modeler and simulators Scicos and VSS

Block operations during simulation in Scicos and VSS environments can naturally be described as Nsp functions. But the direct use of Nsp functions for simulation leads to poor performance since the Nsp language is interpreted, not compiled. The methodology presented in this paper is used to develop a tool for generating efficient compilable code, such as C and ADA, for Scicos and VSS models from these block Nsp functions. Operator overloading and partial evaluation are the key elements of this novel approach. This methodology may be used in other simulation environments such as Matlab/Simulink

Reaction-Diffusion Pattern in Shoot Apical Meristem of Plants

A fundamental question in developmental biology is how spatial patterns are self-organized from homogeneous structures. In 1952, Turing proposed the reaction-diffusion model in order to explain this issue. Experimental evidence of reaction-diffusion patterns in living organisms was first provided by the pigmentation pattern on the skin of fishes in 1995. However, whether or not this mechanism plays an essential role in developmental events of living organisms remains elusive. Here we show that a reaction-diffusion model can successfully explain the shoot apical meristem (SAM) development of plants. SAM of plants resides in the top of each shoot and consists of a central zone (CZ) and a surrounding peripheral zone (PZ). SAM contains stem cells and continuously produces new organs throughout the lifespan. Molecular genetic studies using Arabidopsis thaliana revealed that the formation and maintenance of the SAM are essentially regulated by the feedback interaction between WUSHCEL (WUS) and CLAVATA (CLV). We developed a mathematical model of the SAM based on a reaction-diffusion dynamics of the WUS-CLV interaction, incorporating cell division and the spatial restriction of the dynamics. Our model explains the various SAM patterns observed in plants, for example, homeostatic control of SAM size in the wild type, enlarged or fasciated SAM in clv mutants, and initiation of ectopic secondary meristems from an initial flattened SAM in wus mutant. In addition, the model is supported by comparing its prediction with the expression pattern of WUS in the wus mutant. Furthermore, the model can account for many experimental results including reorganization processes caused by the CZ ablation and by incision through the meristem center. We thus conclude that the reaction-diffusion dynamics is probably indispensable for the SAM development of plants

Comparison of the chloroplast peroxidase system in the chlorophyte Chlamydomonas reinhardtii, the bryophyte Physcomitrella patens, the lycophyte Selaginella moellendorffii and the seed plant Arabidopsis thaliana

<p>Abstract</p> <p>Background</p> <p>Oxygenic photosynthesis is accompanied by the formation of reactive oxygen species (ROS), which damage proteins, lipids, DNA and finally limit plant yield. The enzymes of the chloroplast antioxidant system are exclusively nuclear encoded. During evolution, plastid and mitochondrial genes were post-endosymbiotically transferred to the nucleus, adapted for eukaryotic gene expression and post-translational protein targeting and supplemented with genes of eukaryotic origin.</p> <p>Results</p> <p>Here, the genomes of the green alga <it>Chlamydomonas reinhardtii</it>, the moss <it>Physcomitrella patens</it>, the lycophyte <it>Selaginella moellendorffii </it>and the seed plant <it>Arabidopsis thaliana </it>were screened for ORFs encoding chloroplast peroxidases. The identified genes were compared for their amino acid sequence similarities and gene structures. Stromal and thylakoid-bound ascorbate peroxidases (APx) share common splice sites demonstrating that they evolved from a common ancestral gene. In contrast to most cormophytes, our results predict that chloroplast APx activity is restricted to the stroma in Chlamydomonas and to thylakoids in Physcomitrella. The moss gene is of retrotransposonal origin.</p> <p>The exon-intron-structures of 2CP genes differ between chlorophytes and streptophytes indicating an independent evolution. According to amino acid sequence characteristics only the A-isoform of Chlamydomonas 2CP may be functionally equivalent to streptophyte 2CP, while the weakly expressed B- and C-isoforms show chlorophyte specific surfaces and amino acid sequence characteristics. The amino acid sequences of chloroplast PrxII are widely conserved between the investigated species. In the analyzed streptophytes, the genes are unspliced, but accumulated four introns in Chlamydomonas. A conserved splice site indicates also a common origin of chlorobiont PrxQ.</p> <p>The similarity of splice sites also demonstrates that streptophyte glutathione peroxidases (GPx) are of common origin. Besides a less related cysteine-type GPx, Chlamydomonas encodes two selenocysteine-type GPx. The latter were lost prior or during streptophyte evolution.</p> <p>Conclusion</p> <p>Throughout plant evolution, there was a strong selective pressure on maintaining the activity of all three investigated types of peroxidases in chloroplasts. APx evolved from a gene, which dates back to times before differentiation of chlorobionts into chlorophytes and streptophytes, while Prx and presumably also GPx gene patterns may have evolved independently in the streptophyte and chlorophyte branches.</p

Comprehensive review on the interaction between natural compounds and brain receptors: Benefits and toxicity

Given their therapeutic activity, natural products have been used in traditional medicines throughout the centuries. The growing interest of the scientific community in phytopharmaceuticals, and more recently in marine products, has resulted in a significant number of research efforts towards understanding their effect in the treatment of neurodegenerative diseases, such as Alzheimer's (AD), Parkinson (PD) and Huntington (HD). Several studies have shown that many of the primary and secondary metabolites of plants, marine organisms and others, have high affinities for various brain receptors and may play a crucial role in the treatment of diseases affecting the central nervous system (CNS) in mammalians. Actually, such compounds may act on the brain receptors either by agonism, antagonism, allosteric modulation or other type of activity aimed at enhancing a certain effect. The current manuscript comprehensively reviews the state of the art on the interactions between natural compounds and brain receptors. This information is of foremost importance when it is intended to investigate and develop cutting-edge drugs, more effective and with alternative mechanisms of action to the conventional drugs presently used for the treatment of neurodegenerative diseases. Thus, we reviewed the effect of 173 natural products on neurotransmitter receptors, diabetes related receptors, neurotrophic factor related receptors, immune system related receptors, oxidative stress related receptors, transcription factors regulating gene expression related receptors and blood-brain barrier receptors.The author A.R.S. is grateful to the authors C.G. and J.M.R for the scientific assistance and suggestions shared throughout the supervision of her B.Sc. final project. The author A.R.S. also acknowledges the Department of Biology (DB) and the Centro de Biologia Molecular e Ambiental [Centre of Molecular and Environmental Biology] (CBMA) from School of Sciences (EC), University of Minho (UM), Braga, Portugal, by providing all the conditions leading to the B.Sc. in Biochemistry. The corresponding author C.G. is grateful to Fundação para a Ciência e a Tecnologia [Foundation for Science and Technology, FCT I.P.] (FCT I.P.) for the FCT Investigator (IF/01332/2014/CP1255/CT0001). The author J.M.R. acknowledges the CBMA and the Instituto de Ciência e Inovação para a Biosustentabilidade [Institute of Science and Innovation for Biosustainability] (IBS) from University of Minho (UM), Braga, Portugal, where he recently carried out his activities as invited assistant researcher and professor. The author J.M.R. is also grateful to the Laboratório Associado para a Química Verde (LAQV) [Green Chemistry Laboratory] from REQUIMTE – Rede de Química e Tecnologia [REQUIMTE – Chemistry and Technology Network], as well as to the Department of Chemistry and Biochemistry (DCB) from the Faculty of Sciences from University of Porto (FCUP), Porto, Portugal, where he is currently researcher. Regarding to the author J.M.R., this work was supported by the strategic programmes UID/BIA/04050/2013 (POCI-01-0145-FEDER-007569) (Research project entitled “EcoAgriFood: Innovative green products and processes to promote Agri-Food BioEconomy”) and PTDC/SAUNUT/30448/2017 (POCI-01-0145-FEDER-030448) (Research project entitled “Poly4CD: Action of Dietary Polyphenols in Preventing Celiac Disease”) funded by Portuguese national funds through Fundação para a Ciência e Tecnologia [Foundation for Science and Technology] (FCT-I.P.)/Ministério da Ciência, Tecnologia e Ensino Superior [Ministry of Science, Technology and Higher Education] (MCTES), and Fundo Europeu de Desenvolvimento Regional [European Regional Development Fund] (FEDER), under the scope of the COMPETE2020 – Programa Operacional Competitividade e Internacionalização (POCI) [COMPETE2020 – Competitiveness and Internationalization Operational Program] and by COST Action 18101 “SOURDOMICS”, supported by COST (European Cooperation in Science and Technology). C. G. and C. D.-M. are grateful for the financial support from FCT/MCTES through national funds (UID/QUI/50006/2019). C. G. and C. D.-M. would also like to thank the EU and FCT for funding through the projects: DESignBIOtecHealth - New Technologies for three Health Challenges of Modern Societies: Diabetes, Drug Abuse and Kidney Diseases (Portugal2020, Norte-01-0145-FEDER-000024) and project PTDC/OCE-ETA/30240/2017- SilverBrain - From sea to brain: Green neuroprotective extracts for nanoencapsulation and functional food production (POCI-01-0145-FEDER-030240); and to the REQUIMTE for the project “Sea_4_Brain_Food”. All the authors acknowledge the CBMA and IB-S by the financial support provided specifically for this open access publication.info:eu-repo/semantics/publishedVersio

The yeast Rts1, a subunit of PP2A phosphatase, is involved in stress response

Les espèces réactives de l'oxygène (ROS), générées de manière endogène, et de maniére exogène suite à un traitement avec des agents oxydants, sont bien connues pour induire des cassures doubles brin (DDSB) de l'acide désoxyribonucléique (ADN). Saccharomyces cerevisiae a été largement utilisée comme outil pour étudier les mécanismes qui confèrent une sensibilité ou une résistance à la réparation oxydative du DDSB. La thèse décrit deux études distinctes conçues pour mieux comprendre les mécanismes de réparation du DDSB. Le but de la première étude était d'évaluer le rôle de rts1 et de ses gènes associés dans la régulation des mécanismes de réparation des dommages oxydatifs de l'ADN. L'étude a impliqué le traitement de souches de levure BY4741 de type sauvage (WT) et des souches mutantes avec de la zéocine, le peroxyde d'hydrogène et de l'hygromycine. Les protéines nucléaires des souches WT et rts1Δ ont été fractionnées en utilisant la chromatographie liquide de protéine rapide (FPLC). Les fractions ont été passées sur un gel de polyacrylamide suivi par des analyses de bandes générées ou perdues en utilisant la spectrométrie de masse. Nos résultats ici montrent un rôle fonctionnel d’Apn1 dans les mécanismes de réparation DDSB, dépendamment de rts1. En outre, l'analyse des fractions de FPLC a révélé une augmentation de eno1 contre une diminution de cdc19 après la suppression de rtsl. Cependant, les expériences de confirmation ont montré qu`une association significative de rts1 avec CDC19. Par conséquent, d'autres études sont nécessaires pour mieux comprendre l'association de rts1 avec celle de cdc19 et eno1, et comment leur interaction affecte les processus de réparation de l'ADN et / ou le cycle cellulaire. Dans la deuxième étude, nous nous sommes intéresses au rôle de l'extrémité N-terminale de l'histone dans la localisation nucléaire de Apn1. L'étude a également caractérisé le rôle du résidu H2A-E130A dans la réponse à la réparation des dommages de l'ADN induits par le méthanesulfonate de méthyle (MMS). Les résultats ont démontré un rôle du résidu Glu130 de l'histone H2A dans la localisation nucléaire de Apn1. Nos données montrent également le rôle de la Glu130 dans la détermination de la sensibilité ainsi que le taux de croissance de la souche H2A au MMS. Une étude future des gènes associés à Apn1 facilitera une meilleure compréhension du rôle de cette protéine et de ses gènes associés dans la régulation des mécanismes de réparation des cassures double brin de l'ADN induites par les agents alkylants.The reactive oxygen species (ROS), generated endogenously and exogenously, following treatment with oxidizing agents is well-known to induce double strand deoxyribonucleic acid (DNA) breaks (DDSB). Saccharomyces cerevisiae has been used widely as a tool to study the mechanisms that confer sensitivity or resistance to oxidative DDSB repair. Thesis herein describes two separate studies designed to better understand the DDSB repair mechanisms. The aim of the first study was to assess the role of rts1, and its associated genes, in the regulation of oxidative DNA-damage repair mechanisms. The study involved treatment of wild-type (WT) and mutant BY4741 yeast strains with Zeocin, hydrogen peroxide and hygromycin. The nuclear proteins from WT and rts1Δ strains were fractionated using fast protein liquid chromatography (FPLC), and the fractions were run on polyacrylamide gel followed by analyses of bands generated or lost using mass spectrometry. Our findings here show an Apn1-dependent functional role of rts1 in DDSB-repair mechanisms. Furthermore, analysis of the FPLC fractions using mass spectrometry revealed up-regulation of eno1 and down-regulation of cdc19 following deletion of rts1. However, confirmatory experiments only showed significant association of rts1 with that cdc19. Hence, further studies are required to better understand the association of rts1 with that of cdc19 and eno1, and how their interaction affects the DNA-repair processes and/or cell cycle. In the second study, we investigated the role of histone H2A in the nuclear localization of Apn1. Furthermore, the study also characterized the role of H2A-E130A residue in methyl methanesulfonate (MMS)-induced DNA-repair response. Out findings herein demonstrated a role for Glu130 residue of Histone H2A in the nuclear localization of Apn1. Importantly, our data also show the role of the Glu130 in determining the sensitivity as well as the growth rate of the H2A strain to MMS. Future investigation of the APN1-related genes will facilitate better understanding of the role of Apn1 and its associated genes in regulating the repair mechanisms following double strand DNA breaks induced by alkylating agents

Investigating the interaction between the tetraspanin CD82 and gangliosides, and, The binding partners of CLEC14A and the function of the CLEC14A extracellular domain

Project 1: CD82 is a tetraspanin involved in tumour metastasis suppression. It is downregulated in several cancers including breast, liver and prostate cancer. Although interactions with gangliosides and cholesterol have been demonstrated, no ligand has yet been identified to directly target CD82. CD82 interaction with gangliosides has been explored by immunoprecipitation from cell lysates. However, direct interaction of purified full length CD82 protein with ganglioside has not yet been shown. This study demonstrates the interaction of full length CD82 protein with the ganglioside GM2 by ELISA, and did not require the presence of any other components of the cell membrane. This interaction was further explored by surface plasmon resonance and solid state NMR techniques. Project 2: CLEC14A is tumour endothelial marker (TEM). It is upregulated by reduced shear stress and facilitates angiogenesis. However, the biological activity of CLEC14A is poorly characterised. This study validates two binding partners of CLEC14A by co-immunoprecipitation and mass spectrometry. The activity of the CLEC14A extracellular domain (ECD) was also investigated. Flow cytometry revealed that CLEC14A-ECD is able to bind to the surface of human umbilical vein endothelial cells (HUVECS). However, treatment of HUVECS with 20 ug/ml CLEC14A-ECD did not affect cell motility in scratch wound assays. The cleavage site of CLEC14A by the intra-membrane serine protease rhomboid-like protein 2 (Rhbdl2) was also explored. These results will increase the understanding of the biological activity of CLEC14A and will aid the intelligent design of drugs targeting CLEC14A to inhibit tumour angiogenesis

Multiple elements controlling the expression of wheat high molecular weight glutenin paralogs

Analysis of gene expression data generated by high-throughput microarray transcript profiling experiments coupled with cis-regulatory elements enrichment study and cluster analysis can be used to define modular gene programs and regulatory networks. Unfortunately, the high molecular weight glutenin subunits of wheat (Triticum aestivum) are more similar than microarray data alone would allow to distinguish between the three homoeologous gene pairs. However, combining complementary DNA (cDNA) expression libraries with microarray data, a co-expressional network was built that highlighted the hidden differences between these highly similar genes. Duplex clusters of cis-regulatory elements were used to focus the co-expressional network of transcription factors to the putative regulatory network of Glu-1 genes. The focused network helped to identify several transcriptional gene programs in the endosperm. Many of these programs demonstrated a conserved temporal pattern across the studied genotypes; however, few others showed variance. Based on this network, transient gene expression assays were performed with mutated promoters to inspect the control of tissue specificity. Results indicated that the interactions of the ABRE│CBF cluster with distal promoter regions may have a dual role in regulation by both recruiting the transcription complex as well as suppressing it in non-endosperm tissue. A putative model of regulation is discussed. © 2015, Springer-Verlag Berlin Heidelberg

CRIM1 is localized to the podocyte filtration slit diaphragm of the adult human kidney

Background. CRIM1 is a plasma membrane bound protein containing six cysteine-rich repeats (CRR). Through these, CRIM1 has been shown to interact with a subgroup of the TGF-β superfamily, the bone morphogenic proteins (BMP) isoforms 2, 4 and 7. The probable action is to modulate the signalling properties of these factors. CRIM1 has also been shown to regulate the release of VEGFA by podocytes during renal organogenesis. Knock-out studies in mice have shown that CRIM1 is critically involved in the development of the central nervous system, eye and kidney. Replacement of CRIM1 with a defective version leads to renal dysgenesis and perinatal death. We have analysed the distribution of CRIM1 in adult human renal tissue