A Mapping of Drug Space from the Viewpoint of Small Molecule Metabolism

Small molecule drugs target many core metabolic enzymes in humans and pathogens, often mimicking endogenous ligands. The effects may be therapeutic or toxic, but are frequently unexpected. A large-scale mapping of the intersection between drugs and metabolism is needed to better guide drug discovery. To map the intersection between drugs and metabolism, we have grouped drugs and metabolites by their associated targets and enzymes using ligand-based set signatures created to quantify their degree of similarity in chemical space. The results reveal the chemical space that has been explored for metabolic targets, where successful drugs have been found, and what novel territory remains. To aid other researchers in their drug discovery efforts, we have created an online resource of interactive maps linking drugs to metabolism. These maps predict the “effect space” comprising likely target enzymes for each of the 246 MDDR drug classes in humans. The online resource also provides species-specific interactive drug-metabolism maps for each of the 385 model organisms and pathogens in the BioCyc database collection. Chemical similarity links between drugs and metabolites predict potential toxicity, suggest routes of metabolism, and reveal drug polypharmacology. The metabolic maps enable interactive navigation of the vast biological data on potential metabolic drug targets and the drug chemistry currently available to prosecute those targets. Thus, this work provides a large-scale approach to ligand-based prediction of drug action in small molecule metabolism

Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved

Performance Evaluation of Vision-Based Algorithms for MAVs

An important focus of current research in the field of Micro Aerial Vehicles (MAVs) is to increase the safety of their operation in general unstructured environments. Especially indoors, where GPS cannot be used for localization, reliable algorithms for localization and mapping of the environment are necessary in order to keep an MAV airborne safely. In this paper, we compare vision-based real-time capable methods for localization and mapping and point out their strengths and weaknesses. Additionally, we describe algorithms for state estimation, control and navigation, which use the localization and mapping results of our vision-based algorithms as input.Comment: Presented at OAGM Workshop, 2015 (arXiv:1505.01065

Learning to Fly by Crashing

How do you learn to navigate an Unmanned Aerial Vehicle (UAV) and avoid obstacles? One approach is to use a small dataset collected by human experts: however, high capacity learning algorithms tend to overfit when trained with little data. An alternative is to use simulation. But the gap between simulation and real world remains large especially for perception problems. The reason most research avoids using large-scale real data is the fear of crashes! In this paper, we propose to bite the bullet and collect a dataset of crashes itself! We build a drone whose sole purpose is to crash into objects: it samples naive trajectories and crashes into random objects. We crash our drone 11,500 times to create one of the biggest UAV crash dataset. This dataset captures the different ways in which a UAV can crash. We use all this negative flying data in conjunction with positive data sampled from the same trajectories to learn a simple yet powerful policy for UAV navigation. We show that this simple self-supervised model is quite effective in navigating the UAV even in extremely cluttered environments with dynamic obstacles including humans. For supplementary video see: https://youtu.be/u151hJaGKU