An Autonomous Robotic System for Mapping Abandoned Mines

We present the software architecture of a robotic system for mapping abandoned mines. The software is capable of acquiring consistent 2D maps of large mines with many cycles, represented as Markov random fields. 3D C-space maps are acquired from local 3D range scans, which are used to identify navigable paths using A* search. Our system has been deployed in three abandoned mines, two of which inaccessible to people, where it has acquired maps of unprecedented detail and accuracy

Trypsin Inhibitor. V. Nutritive Value of Treated Soybean Oil Meal and Some Characteristics of the Trypsin Inhibitor in Soybeans

The marked improvement in the apparent nutritive value of soybean protein after heating has long been recognized. The fundamental cause of this improvement has never been fully understood. Furthermore, commercial soybean oil meal varies considerably in nutritive value although heat treatment is common in most processing plants. Since heating is generally regarded as deleterious to the nutritive quality of protein, the following investigations of various treatments of soybean oil meal are of particular importance in developing a soybean or soybean oil meal of maximum and uniform nutritive value

Trypsin Inhibitor. V. Nutritive Value of Treated Soybean Oil Meal and Some Characteristics of the Trypsin Inhibitor in Soybeans

The marked improvement in the apparent nutritive value of soybean protein after heating has long been recognized. The fundamental cause of this improvement has never been fully understood. Furthermore, commercial soybean oil meal varies considerably in nutritive value although heat treatment is common in most processing plants. Since heating is generally regarded as deleterious to the nutritive quality of protein, the following investigations of various treatments of soybean oil meal are of particular importance in developing a soybean or soybean oil meal of maximum and uniform nutritive value

Bicyclic Boronate β-Lactamase Inhibitors: The Present Hope against Deadly Bacterial Pathogens

The use of β-lactamase inhibitors in combination with β-lactam antibiotics is an emerging area in drug discovery. This strategy allows the restoration of the therapeutic efficacy of these antibiotics in clinical use against multiresistant bacteria. These pathogens are drug resistant because they express β-lactamase enzymes, which prevent the antibiotic therapeutic action by catalyzing the hydrolysis of the β-lactam ring. These enzymes are quite diverse in both their structural architecture and hydrolytic capability, as well as in the mechanism of action. The ever-increasing emergence of pathogens that are capable of coproducing different types of β-lactamases has triggered the search for ultrabroad-spectrum inhibitors capable of deactivating both serine- and metallo-β-lactamases. A recent breakthrough in this long-pursued and unmet need is the discovery of bicyclic boronate inhibitors, specifically taniborbactam, VNRX-7145, and QPX7728, which are currently under clinical development in combination with cefepime, ceftibuten, and QPX2014, respectively. The present article highlights the therapeutic potential of these inhibitors and their spectrum of efficacy is compared with those of other β-lactam/β-lactamase inhibitor combinations recently approved by the food and drug administration. The molecular basis of the ultrabroad-spectrum of activity of boron-based inhibitors is also discussed, on the basis of the available crystal structures and the results of computational studiesinancial support from the Spanish Ministry of Economy and Competiveness (SAF2016-75638-R, PID2019-105512RB-I00), the Xunta de Galicia [ED431B 2018/04 and Centro singular de investigación de Galicia accreditation 2019–2022 (ED431G 2019/03)], and the European Regional Development Fund (ERDF) is gratefully acknowledgedS

Paper Session I-C - Non-Destructive Detection of Corrosion Under Paint on Critical Surfaces

We describe our proof-of-concept demonstration of the well-known thermal diffusion imaging technique *\u3e 2\u3e3 for detection of corrosion under paint on critical surfaces. Our first application will be the detection and mapping of corrosion on arbiter vehicle wing spars and rudder speed brakes. The technique will also used for the evaluation of doubler plate bond integrity on the rudder speed brakes

Effect of parasympathetic stimulation on brain activity during appraisal of fearful expressions

Autonomic nervous system activity is an important component of human emotion. Mental processes influence bodily physiology, which in turn feeds back to influence thoughts and feelings. Afferent cardiovascular signals from arterial baroreceptors in the carotid sinuses are processed within the brain and contribute to this two-way communication with the body. These carotid baroreceptors can be stimulated non-invasively by externally applying focal negative pressure bilaterally to the neck. In an experiment combining functional neuroimaging (fMRI) with carotid stimulation in healthy participants, we tested the hypothesis that manipulating afferent cardiovascular signals alters the central processing of emotional information (fearful and neutral facial expressions). Carotid stimulation, compared with sham stimulation, broadly attenuated activity across cortical and brainstem regions. Modulation of emotional processing was apparent as a significant expression-by-stimulation interaction within left amygdala, where responses during appraisal of fearful faces were selectively reduced by carotid stimulation. Moreover, activity reductions within insula, amygdala, and hippocampus correlated with the degree of stimulation-evoked change in the explicit emotional ratings of fearful faces. Across participants, individual differences in autonomic state (heart rate variability, a proxy measure of autonomic balance toward parasympathetic activity) predicted the extent to which carotid stimulation influenced neural (amygdala) responses during appraisal and subjective rating of fearful faces. Together our results provide mechanistic insight into the visceral component of emotion by identifying the neural substrates mediating cardiovascular influences on the processing of fear signals, potentially implicating central baroreflex mechanisms for anxiolytic treatment targets