Heuristic Satisficing Inferential Decision Making in Human and Robot Active Perception

Inferential decision-making algorithms typically assume that an underlying probabilistic model of decision alternatives and outcomes may be learned a priori or online. Furthermore, when applied to robots in real-world settings they often perform unsatisfactorily or fail to accomplish the necessary tasks because this assumption is violated and/or they experience unanticipated external pressures and constraints. Cognitive studies presented in this and other papers show that humans cope with complex and unknown settings by modulating between near-optimal and satisficing solutions, including heuristics, by leveraging information value of available environmental cues that are possibly redundant. Using the benchmark inferential decision problem known as ``treasure hunt", this paper develops a general approach for investigating and modeling active perception solutions under pressure. By simulating treasure hunt problems in virtual worlds, our approach learns generalizable strategies from high performers that, when applied to robots, allow them to modulate between optimal and heuristic solutions on the basis of external pressures and probabilistic models, if and when available. The result is a suite of active perception algorithms for camera-equipped robots that outperform treasure-hunt solutions obtained via cell decomposition, information roadmap, and information potential algorithms, in both high-fidelity numerical simulations and physical experiments. The effectiveness of the new active perception strategies is demonstrated under a broad range of unanticipated conditions that cause existing algorithms to fail to complete the search for treasures, such as unmodelled time constraints, resource constraints, and adverse weather (fog)

Central nervous system transcriptome of Biomphalaria alexandrina, an intermediate host for schistosomiasis

Abstract Objective Globally, more than 200 million people live at risk of the neglected tropical disease schistosomiasis (or snail fever). Larval schistosomes require the presence of specific snail species that act as intermediate hosts, supporting their multiplication and transformation into forms that can infect humans. This project was designed to generate a transcriptome from the central nervous system (CNS) of Biomphalaria alexandrina, the major intermediate host for Schistosoma mansoni in Egypt. Results A transcriptome was generated from five pooled central nervous systems dissected from uninfected specimens of B. alexandrina. Raw Illumina RNA-seq data (~ 20.3 million paired end reads of 150 base pairs length each) generated a transcriptome consisting of 144,213 transcript elements with an N50 contig size of 716 base pairs. Orthologs of 15,246 transcripts and homologs for an additional 16,810 transcripts were identified in the UniProtKB/Swiss-Prot database. The B. alexandrina CNS transcriptome provides a resource for future research exploring parasite-host interactions in a simpler nervous system. Moreover, increased understanding of the neural signaling mechanisms involved in the response of B. alexandrina to infection by S. mansoni larvae could lead to novel and highly specific strategies for the control of snail populations

MOESM5 of Central nervous system transcriptome of Biomphalaria alexandrina, an intermediate host for schistosomiasis

Additional file 5. Hi-Express transcripts: Highly expressed transcripts annotated by the BLAST results against the comprehensive NCBI Non-Redundant (NR) database

Ernwrtes Geschlehter Buch. Der löblichen dess heiligen Reichs Statt Augspurg Patriciorumdaunder 80. voraus lustigezierliche Contrafacturen, der Schildt, helm und Wappen [...] : Erster Theil / von wenlande den Kunstreichen Malhern in Augspurg Johann Burkmair und Heinrichen Vogtherz, vor anno 1545 ; in Stahel zierlich geradiert die ubrigen von Wilhelm Peter Zimmerman auffs fleissigst hinzu gethan worden[estampe]

Additional file 2. Orthologous Transcripts: Transcripts with significant mutual BLAST hits against the UniProtKB/Swiss-Prot database

Placental creatine metabolism in cases of placental insufficiency and reduced fetal growth

Creatine is a metabolite involved in cellular energy homeostasis. In this study, we examined placental creatine content, and expression of the enzymes required for creatine synthesis, transport and the creatine kinase reaction, in pregnancies complicated by low birthweight. We studied first trimester chorionic villus biopsies (CVBs) of small for gestational age (SGA) and appropriately grown infants (AGA), along with third trimester placental samples from fetal growth restricted (FGR) and healthy gestation-matched controls. Placental creatine and creatine precursor (guanidinoacetate-GAA) levels were measured. Maternal and cord serum from control and FGR pregnancies were also analyzed for creatine concentration. mRNA expression of the creatine transporter (SLC6A8); synthesizing enzymes arginine:glycine aminotransferase (GATM) and guanidinoacetate methyltransferase (GAMT); mitochondrial (mtCK) and cytosolic (BBCK) creatine kinases; and amino acid transporters (SLC7A1 & SLC7A2) was assessed in both CVBs and placental samples. Protein levels of AGAT (arginine:glycine aminotransferase), GAMT, mtCK and BBCK were also measured in placental samples. Key findings; total creatine content of the third trimester FGR placentae was 43% higher than controls. The increased creatine content of placental tissue was not reflected in maternal or fetal serum from FGR pregnancies. Tissue concentrations of GAA were lower in the third trimester FGR placentae compared to controls, with lower GATM and GAMT mRNA expression also observed. No differences in the mRNA expression of GATM, GAMT or SLC6A8 were observed between CVBs from SGA and AGA pregnancies. These results suggest placental creatine metabolism in FGR pregnancies is altered in late gestation. The relevance of these changes on placental bioenergetics should be the focus of future investigations

Whole-genome landscape of pancreatic neuroendocrine tumours

The diagnosis of pancreatic neuroendocrine tumours (PanNETs) is increasing owing to more sensitive detection methods, and this increase is creating challenges for clinical management. We performed whole-genome sequencing of 102 primary PanNETs and defined the genomic events that characterize their pathogenesis. Here we describe the mutational signatures they harbour, including a deficiency in G:C > T:A base excision repair due to inactivation of MUTYH, which encodes a DNA glycosylase. Clinically sporadic PanNETs contain a larger-than-expected proportion of germline mutations, including previously unreported mutations in the DNA repair genes MUTYH, CHEK2 and BRCA2. Together with mutations in MEN1 and VHL, these mutations occur in 17% of patients. Somatic mutations, including point mutations and gene fusions, were commonly found in genes involved in four main pathways: chromatin remodelling, DNA damage repair, activation of mTOR signalling (including previously undescribed EWSR1 gene fusions), and telomere maintenance. In addition, our gene expression analyses identified a subgroup of tumours associated with hypoxia and HIF signalling