Self-supervised learning: When is fusion of the primary and secondary sensor cue useful?

Self-supervised learning (SSL) is a reliable learning mechanism in which a robot enhances its perceptual capabilities. Typically, in SSL a trusted, primary sensor cue provides supervised training data to a secondary sensor cue. In this article, a theoretical analysis is performed on the fusion of the primary and secondary cue in a minimal model of SSL. A proof is provided that determines the specific conditions under which it is favorable to perform fusion. In short, it is favorable when (i) the prior on the target value is strong or (ii) the secondary cue is sufficiently accurate. The theoretical findings are validated with computational experiments. Subsequently, a real-world case study is performed to investigate if fusion in SSL is also beneficial when assumptions of the minimal model are not met. In particular, a flying robot learns to map pressure measurements to sonar height measurements and then fuses the two, resulting in better height estimation. Fusion is also beneficial in the opposite case, when pressure is the primary cue. The analysis and results are encouraging to study SSL fusion also for other robots and sensors

Metafora Pada Lirik Lagu Soundtrack Anime Guilty Crown

This study discusses the types of categories and analysis of metaphorical meanings contained in the lyrics of anime anime soundtrack Guilty Crown. The purpose of this study is to determine the type of category and the meaning of the metaphor in the lyrics of anime soundtrack Guilty Crown. The object of this study is four songs of anime soundtrack Guilty Crown. This is a quantitative study with with descriptive method. The result of study found eleven metaphorical expressions and type of categories as human, living, object, substance, energy, cosmic, and beimg. The categories of animate and terrestrial beings are not found in this study. In addition, this study uses association techniques in determining the meaning of metaphor

Temperature evolution of the effective magnetic anisotropy in the MnCr2_2O4_4 spinel

In this work we present a study of the low temperature magnetic phases of polycrystalline MnCr$_2$O$_4$ spinel through dc magnetization and ferromagnetic resonance spectroscopy (FMR). Through these experiments we determined the main characteristic temperatures: T$_C$ $\sim$41 K and T$_H$ $\sim$18 K corresponding, respectively, to the ferrimagnetic order and to the low temperature helicoidal transitions. The temperature evolution of the system is described by a phenomenological approach that considers the different terms that contribute to the free energy density. Below the Curie temperature the FMR spectra were modeled by a cubic magnetocrystalline anisotropy to the second order, with $K_1$ and $K_2$ anisotropy constants that define the easy magnetization axis along the direction. At lower temperatures, the formation of a helicoidal phase was considered by including uniaxial anisotropy axis along the [1-10] propagation direction of the spiral arrange, with a $K_u$ anisotropy constant. The values obtained from the fittings at 5 K are $K_1$=-2.3x10$^4$ erg/cm$^3$, $K^2$=6.4x10$^4$ erg/cm$^3$ and $K_u$=7.5x10$^4$ erg/cm$^3$.Comment: 21 pages, 6 figure

Binding of cell-penetrating penetratin peptides to plasma membrane vesicles correlates directly with cellular uptake

AbstractCell-penetrating peptides (CPPs) gain access to intracellular compartments mainly via endocytosis and have capacity to deliver macromolecular cargo into cells. Although the involvement of various endocytic routes has been described it is still unclear which interactions are involved in eliciting an uptake response and to what extent affinity for particular cell surface components may determine the efficiency of a particular CPP. Previous biophysical studies of the interaction between CPPs and either lipid vesicles or soluble sugar-mimics of cell surface proteoglycans, the two most commonly suggested CPP binding targets, have not allowed quantitative correlations to be established. We here explore the use of plasma membrane vesicles (PMVs) derived from cultured mammalian cells as cell surface models in biophysical experiments. Further, we examine the relationship between affinity for PMVs and uptake into live cells using the CPP penetratin and two analogs enriched in arginines and lysines respectively. We show, using centrifugation to sediment PMVs, that the amount of peptide in the pellet fraction correlates linearly with the degree of cell internalization and that the relative efficiency of all-arginine and all-lysine variants of penetratin can be ascribed to their respective cell surface affinities. Our data show differences between arginine- and lysine-rich variants of penetratin that has not been previously accounted for in studies using lipid vesicles. Our data also indicate greater differences in binding affinity to PMVs than to heparin, a commonly used cell surface proteoglycan mimic. Taken together, this suggests that the cell surface interactions of CPPs are dependent on several cell surface moieties and their molecular organization on the plasma membrane

Identification and characterisation of putative drug binding sites in human ATP-binding cassette B5 (ABCB5) transporter

© 2020 The Author(s) The human ATP-binding cassette B5 (ABCB5) transporter, a member of the ABC transporter superfamily, is linked to chemoresistance in tumour cells by drug effluxion. However, little is known about its structure and drug-binding sites. In this study, we generated an atomistic model of the full-length human ABCB5 transporter with the highest quality using the X-ray crystal structure of mouse ABCB1 (Pgp1), a close homologue of ABCB5 and a well-studied member of the ABC family. Molecular dynamics simulations were used to validate the atomistic model of ABCB5 and characterise its structural properties in model cell membranes. Molecular docking simulations of known ABCB5 substrates such as taxanes, anthracyclines, camptothecin and etoposide were then used to identify at least three putative binding sites for chemotherapeutic drugs transported by ABCB5. The location of these three binding sites is predicted to overlap with the corresponding binding sites in Pgp1. These findings will serve as the basis for future in vitro studies to validate the nature of the identified substrate-binding sites in the full-length ABCB5 transporter