S&Reg: End-to-End Learning-Based Model for Multi-Goal Path Planning Problem

In this paper, we propose a novel end-to-end approach for solving the multi-goal path planning problem in obstacle environments. Our proposed model, called S&Reg, integrates multi-task learning networks with a TSP solver and a path planner to quickly compute a closed and feasible path visiting all goals. Specifically, the model first predicts promising regions that potentially contain the optimal paths connecting two goals as a segmentation task. Simultaneously, estimations for pairwise distances between goals are conducted as a regression task by the neural networks, while the results construct a symmetric weight matrix for the TSP solver. Leveraging the TSP result, the path planner efficiently explores feasible paths guided by promising regions. We extensively evaluate the S&Reg model through simulations and compare it with the other sampling-based algorithms. The results demonstrate that our proposed model achieves superior performance in respect of computation time and solution cost, making it an effective solution for multi-goal path planning in obstacle environments. The proposed approach has the potential to be extended to other sampling-based algorithms for multi-goal path planning.Comment: 7 paegs, 12 figures. Accepted at IEEE International Conference on Robot and Human Interactive Communication (ROMAN), 202

The ancient phosphatidylinositol 3-kinase signaling system is a master regulator of energy and carbon metabolism in algae

Algae undergo a complete metabolic transformation under stress by arresting cell growth, inducing autophagy and hyperaccumulating biofuel precursors such as triacylglycerols and starch. However, the regulatory mechanisms behind this stress-induced transformation are still unclear. Here, we use biochemical, mutational, and “omics” approaches to demonstrate that PI3K signaling mediates the homeostasis of energy molecules and influences carbon metabolism in algae. In Chlamydomonas reinhardtii, the inhibition and knockdown (KD) of algal class III PI3K led to significantly decreased cell growth, altered cell morphology, and higher lipid and starch contents. Lipid profiling of wild-type and PI3K KD lines showed significantly reduced membrane lipid breakdown under nitrogen starvation (-N) in the KD. RNA-seq and network analyses showed that under -N conditions, the KD line carried out lipogenesis rather than lipid hydrolysis by initiating de novo fatty acid biosynthesis, which was supported by tricarboxylic acid cycle down-regulation and via acetyl-CoA synthesis from glycolysis. Remarkably, autophagic responses did not have primacy over inositide signaling in algae, unlike in mammals and vascular plants. The mutant displayed a fundamental shift in intracellular energy flux, analogous to that in tumor cells. The high free fatty acid levels and reduced mitochondrial ATP generation led to decreased cell viability. These results indicate that the PI3K signal transduction pathway is the metabolic gatekeeper restraining biofuel yields, thus maintaining fitness and viability under stress in algae. This study demonstrates the existence of homeostasis between starch and lipid synthesis controlled by lipid signaling in algae and expands our understanding of such processes, with biotechnological and evolutionary implications.Ministry of Science, ICT and Future Planning 2015M3A6A2065697Ministry of Oceans and Fisheries 2015018

PKE-RRT: Efficient Multi-Goal Path Finding Algorithm Driven by Multi-Task Learning Model

Multi-goal path finding (MGPF) aims to find a closed and collision-free path to visit a sequence of goals orderly. As a physical travelling salesman problem, an undirected complete graph with accurate weights is crucial for determining the visiting order. Lack of prior knowledge of local paths between vertices poses challenges in meeting the optimality and efficiency requirements of algorithms. In this study, a multi-task learning model designated Prior Knowledge Extraction (PKE), is designed to estimate the local path length between pairwise vertices as the weights of the graph. Simultaneously, a promising region and a guideline are predicted as heuristics for the path-finding process. Utilizing the outputs of the PKE model, a variant of Rapidly-exploring Random Tree (RRT) is proposed known as PKE-RRT. It effectively tackles the MGPF problem by a local planner incorporating a prioritized visiting order, which is obtained from the complete graph. Furthermore, the predicted region and guideline facilitate efficient exploration of the tree structure, enabling the algorithm to rapidly provide a sub-optimal solution. Extensive numerical experiments demonstrate the outstanding performance of the PKE-RRT for the MGPF problem with a different number of goals, in terms of calculation time, path cost, sample number, and success rate.Comment: 9 pages, 12 figure

Improvement in the hygroscopicity of inorganic binder through a dual coating process

The use of an anti-absorbent is proposed in this work to reduce the hygroscopicity of the inorganic binder in the casting mold, in which the anti-absorbent is coated on the mold prepared with an inorganic binder. Three types of polymers were used to select material with optimal water resistance. Polystyrene (PS) and polyvinyl alcohol (PVA) were used as a water-insoluble polymer and water-soluble polymer, respectively. In addition, polyurethane (PU) prepolymer has intermediate properties between PS and PVA. PVA and PU prepolymer were used for comparative testing with PS. For this testing process, the prepared green body was dipped into a solution of inorganic binder precursor mixed with tetraethyl orthosilicate (TEOS, SiO2 precursor) and sodium methoxide (NaOMe, Na2O precursor), and then dipped into a solution of coating reagent after a drying process. Thus, these series of coating processes in a green body is called a dual coating process. Finally the sample was heat-treated at 1000 °C to generate a glass phase by an organic–inorganic conversion process. In the sample prepared with PS, the highest contact angle and a high firing strength were exhibited, independent of polymer concentration, while the sample coated with PVA showed lower green and firing strengths. When prepolymer, PU, was applied, the green strength was remarkably improved, showing lower firing strength compared with that of PS. The green and firing strengths were optimized through the dual coating process with PS. Moreover, the moisture-proof effect of the dual coating process was verified through the moisture steam test

Characteristics of DSSC Panels with Silicone Encapsulant

Dye-sensitized solar cells (DSSC) allow light transmission and the application of various colors that make them especially suitable for building-integrated PV (BIPV) application. In order to apply DSSC modules to windows, the module has to be panelized: a DSSC module should be protected with toughened glass on the entire surface. Up to the present, it seems to be common to use double glazing with DSSC modules, with air gaps between the glass pane and the DSSC modules. Few studies have been conducted on the characteristics of various glazing methods with DSSC modules. This paper proposes a paneling method that uses silicone encapsulant, analyzing the performance through experimentation. Compared to a multilayered DSSC panel with an air gap, the encapsulant-applied panel showed 6% higher light transmittance and 7% higher electrical efficiency. The encapsulant also prevented electrolyte leakage by strengthening the seals in the DSSC module

Unleashing the full potential of Hsp90 inhibitors as cancer therapeutics through simultaneous inactivation of Hsp90, Grp94, and TRAP1

Cancer therapeutics: Extending a drug's reach A new drug that blocks heat shock proteins (HSPs), helper proteins that are co-opted by cancer cells to promote tumor growth, shows promise for cancer treatment. Several drugs have targeted HSPs, since cancer cells are known to hijack these helper proteins to shield themselves from destruction by the body. However, the drugs have had limited success. Hye-Kyung Park and Byoung Heon Kang at Ulsan National Institutes of Science and Technology in South Korea and coworkers noticed that the drugs were not absorbed into mitochondria, a key cellular compartment, and HSPs in this compartment were therefore not being blocked. They identified a new HSP inhibitor that can reach every cellular compartment and inhibit all HSPs. Testing in mice showed that this inhibitor effectively triggered death of tumor cells, and therefore shows promise for anti-cancer therapy. The Hsp90 family proteins Hsp90, Grp94, and TRAP1 are present in the cell cytoplasm, endoplasmic reticulum, and mitochondria, respectively; all play important roles in tumorigenesis by regulating protein homeostasis in response to stress. Thus, simultaneous inhibition of all Hsp90 paralogs is a reasonable strategy for cancer therapy. However, since the existing pan-Hsp90 inhibitor does not accumulate in mitochondria, the potential anticancer activity of pan-Hsp90 inhibition has not yet been fully examined in vivo. Analysis of The Cancer Genome Atlas database revealed that all Hsp90 paralogs were upregulated in prostate cancer. Inactivation of all Hsp90 paralogs induced mitochondrial dysfunction, increased cytosolic calcium, and activated calcineurin. Active calcineurin blocked prosurvival heat shock responses upon Hsp90 inhibition by preventing nuclear translocation of HSF1. The purine scaffold derivative DN401 inhibited all Hsp90 paralogs simultaneously and showed stronger anticancer activity than other Hsp90 inhibitors. Pan-Hsp90 inhibition increased cytotoxicity and suppressed mechanisms that protect cancer cells, suggesting that it is a feasible strategy for the development of potent anticancer drugs. The mitochondria-permeable drug DN401 is a newly identified in vivo pan-Hsp90 inhibitor with potent anticancer activity

Biochemical characterization of a recombinant Japanese encephalitis virus RNA-dependent RNA polymerase

<p>Abstract</p> <p>Background</p> <p>Japanese encephalitis virus (JEV) NS5 is a viral nonstructural protein that carries both methyltransferase and RNA-dependent RNA polymerase (RdRp) domains. It is a key component of the viral RNA replicase complex that presumably includes other viral nonstructural and cellular proteins. The biochemical properties of JEV NS5 have not been characterized due to the lack of a robust <it>in vitro </it>RdRp assay system, and the molecular mechanisms for the initiation of RNA synthesis by JEV NS5 remain to be elucidated.</p> <p>Results</p> <p>To characterize the biochemical properties of JEV RdRp, we expressed in <it>Escherichia coli </it>and purified an enzymatically active full-length recombinant JEV NS5 protein with a hexahistidine tag at the N-terminus. The purified NS5 protein, but not the mutant NS5 protein with an Ala substitution at the first Asp of the RdRp-conserved GDD motif, exhibited template- and primer-dependent RNA synthesis activity using a poly(A) RNA template. The NS5 protein was able to use both plus- and minus-strand 3'-untranslated regions of the JEV genome as templates in the absence of a primer, with the latter RNA being a better template. Analysis of the RNA synthesis initiation site using the 3'-end 83 nucleotides of the JEV genome as a minimal RNA template revealed that the NS5 protein specifically initiates RNA synthesis from an internal site, U₈₁, at the two nucleotides upstream of the 3'-end of the template.</p> <p>Conclusion</p> <p>As a first step toward the understanding of the molecular mechanisms for JEV RNA replication and ultimately for the <it>in vitro </it>reconstitution of viral RNA replicase complex, we for the first time established an <it>in vitro </it>JEV RdRp assay system with a functional full-length recombinant JEV NS5 protein and characterized the mechanisms of RNA synthesis from nonviral and viral RNA templates. The full-length recombinant JEV NS5 will be useful for the elucidation of the structure-function relationship of this enzyme and for the development of anti-JEV agents.</p