Marker based Thermal-Inertial Localization for Aerial Robots in Obscurant Filled Environments

For robotic inspection tasks in known environments fiducial markers provide a reliable and low-cost solution for robot localization. However, detection of such markers relies on the quality of RGB camera data, which degrades significantly in the presence of visual obscurants such as fog and smoke. The ability to navigate known environments in the presence of obscurants can be critical for inspection tasks especially, in the aftermath of a disaster. Addressing such a scenario, this work proposes a method for the design of fiducial markers to be used with thermal cameras for the pose estimation of aerial robots. Our low cost markers are designed to work in the long wave infrared spectrum, which is not affected by the presence of obscurants, and can be affixed to any object that has measurable temperature difference with respect to its surroundings. Furthermore, the estimated pose from the fiducial markers is fused with inertial measurements in an extended Kalman filter to remove high frequency noise and error present in the fiducial pose estimates. The proposed markers and the pose estimation method are experimentally evaluated in an obscurant filled environment using an aerial robot carrying a thermal camera.Comment: 10 pages, 5 figures, Published in International Symposium on Visual Computing 201

Cytotoxicity and Membrane Interaction of Tamoxifen as Affected by Ca2+ and Mg2+: Use of a Bacterial Model System

A strain of Bacillus stearothermophilus was used as a model to study the interaction of tamoxifen (TAM) with the membrane and the cytostatic antiproliferative effects not related to estrogen binding. TAM inhibits the growth of B. stearothermophilus as a function of concentration. The supplementation of the growth medium with Ca2+ or Mg2+ partially relieves the growth inhibition by TAM, allowing growth at TAM concentrations that fully impair growth in the basal medium. Fluorescence polarization of 1,6-diphenyl-1,3,5-hexatriene (DPH) and of its propionic acid derivative (DPH-PA) reveals opposite effects induced by TAM and Ca2+. The addition of Ca2+ to liposomes of bacterial lipids promoted physical ordering as opposed to disordering induced by TAM. Thus, it is predictable that growth impairment induced by TAM is mediated through perturbations at the membrane level.http://www.sciencedirect.com/science/article/B6TCP-3X3K8KK-Y/1/c91ad40c71c69da7245d8f09c634d28

Mitochondrial membrane lipid remodeling in pathophysiology: A new target for diet and therapeutic interventions

Mitochondria are arbiters in the fragile balance between cell life and death. These organelles present an intricate membrane system, with a peculiar lipid composition and displaying transverse as well as lateral asymmetry. Some lipids are synthesized inside mitochondria, while others have to be imported or acquired in the form of precursors. Here, we review different processes, including external interventions (e.g., diet) and a range of biological events (apoptosis, disease and aging), which may result in alterations of mitochondrial membrane lipid content. Cardiolipin, the mitochondria lipid trademark, whose biosynthetic pathway is highly regulated, will deserve special attention in this review. The modulation of mitochondrial membrane lipid composition, especially by diet, as a therapeutic strategy for the treatment of some pathologies will be also addressed.Work at the authors laboratory is supported by the Portuguese Foundation for Science and Technology and FEDER/COMPETE (research Grants PTDC-QUI-QUI-101409-2008; PTDC/QUI-BIQ/ 103001/2008 and Pest-C/SAU/LA0001/2013-2014). J.P.M. acknowledges FCT for Ph.D. Grant SFRH/BD/37626/2007

Comparative study of tributyltin toxicity on two bacteria of the genus Bacillus

Tributyltin is a potent biocide mainly used in marine antifouling paints. Owing to its widespread distribution in coast areas and its high toxicity to aquatic organisms, the use of this compound is generally restricted and under government regulation. Despite of that, it persists in the aquatic environment. Organotins used in industry have also been detected in terrestrial environments. The persistence and high lipophilicity explain bioaccumulation. The role of bacteria in recycling organic matter prompted us to study the interaction of tributyltin with two ubiquitous bacilli, B. stearothermophilus and B. subtilis, proposed as biological indicators of pollutants with ecological impact. These bacteria have been used as suitable models for the study of toxicity mechanisms of unselective lipophilic compounds (e.g., DDT and endosulfan). Drug effects on growth parameters, oxygen consumption and membrane organization were assessed. Bacteria growth in a liquid complex medium was disturbed by concentrations of TBT as low as 25 nM (8 [mu]g L-1), close to the concentration in polluted environments. The respiratory activity is affected by TBT in both microorganisms. Membrane organization, assessed by fluorescence polarization of two fluidity probes, 1,6-diphenyl-1,3,5-hexatriene (DPH) and a propionic acid derivative (DPH-PA), was also perturbed by the xenobiotic. Alterations on growth, oxygen consumption and physical properties of membrane lipids are stronger in B. stearothermophilus as compared to B. subtilis. A putative relationship between growth inhibition and respiratory activity impairment induced by TBT and its effects on the physical behaviour of bacterial membrane lipids is suggested.http://www.sciencedirect.com/science/article/B6TCP-4GSJR3R-9/1/18e0ee5c8ce4e887466d84b850ad8ec

Toxicity of methoprene as assessed by the use of a model microorganism

Methoprene is an insect juvenile growth hormone mimic, commonly used as a pesticide. Although widely used for the control of several pests, toxic effects on organisms of different phyla have been reported. These events triggered studies to clarify the mechanisms of toxicity of this insecticide putatively involved in ecological issues. Here we show the effect of methoprene on the normal cell growth and viability of a strain of the thermophilic eubacterium Bacillus stearothermophilus, previously used as a model for toxicological evaluation of other environment pollutants. Respiration studies were also carried out attempting to identify a putative target for the cytotoxic action of methoprene. Cell growth was affected and a decrease of the number of viable cells was observed as a result of the addition of methoprene to the growth medium, an effect reverted by the presence of Ca2+. Methoprene also inhibited the redox flow of B. stearothermophilus protoplasts before the cytochrome oxidase segment, an effect further studied by individually assessing the enzymatic activities of the respiratory complexes. This study suggests that methoprene membrane interaction and perturbation of cell bioenergetics may underlie the mechanism of toxicity of this compound in non-target organisms.http://www.sciencedirect.com/science/article/B6TCP-4GSJXGW-4/1/788f9fd7d4f3a4f1ae5d498a5674dcc

Rapeseed oil-rich diet alters in vitro menadione and nimesulide hepatic mitochondrial toxicity

Diet-induced changes in the lipid composition of mitochondrial membranes have been shown to influence physiological processes. However, the modulation effect of diet on mitochondrially-active drugs has not yet received the deserved attention. Our hypothesis is that modulation of membrane dynamics by diet impacts drug-effects on liver mitochondrial functioning. In a previous work, we have shown that a diet rich in rapeseed oil altered mitochondrial membrane composition and bioenergetics in Wistar rats. In the present work, we investigated the influence of the modified diet on hepatic mitochondrial activity of two drugs, menadione and nimesulide, and FCCP, a classic protonophore, was used for comparison. The results showed that the effects of menadione and nimesulide were less severe on liver mitochondria for rats fed the modified diet than on rats fed the control diet. A specific effect on complex I seemed to be involved in drug-induced mitochondria dysfunction. Liver mitochondria from the modified diet group were more susceptible to nimesulide effects on MPT induction. The present work demonstrates that diet manipulation aimed at modifying mitochondrial membrane properties alters the toxicity of mitochondria active agents. This work highlights that diet may potentiate mitochondrial pharmacologic effects or increase drug-induced liabilities.The project was supported by the Foundation for Science and Technology (FCT, Portugal) with FEDER/COMPETE/National Budget funds (research grants PTDC/QUI-QUI/101409/2008 to P.J.O., PTDC/QUI-BIQ/103001/2008 to A.S.J. and PEst-C/SAU/LA0001/ 2013-2014 to the CNC). J.P.M. and A.M.S acknowledge FCT for Ph.D. grants SFRH/BD/37626/2007 and PTDC/AGR-ALI/108326/ 2008 respectively

Pêcheries Artisanales des Îles Canaries. Cas des Petits Pélagiques

Fondo Europeo Marítimo y de Pesca (FEMP

Scissors resonance in the quasi-continuum of Th, Pa and U isotopes

The gamma-ray strength function in the quasi-continuum has been measured for 231-233Th, 232,233Pa and 237-239U using the Oslo method. All eight nuclei show a pronounced increase in gamma strength at omega_SR approx 2.4 MeV, which is interpreted as the low-energy M1 scissors resonance (SR). The total strength is found to be B_SR = 9-11 mu_N^2 when integrated over the 1 - 4 MeV gamma-energy region. The SR displays a double-hump structure that is theoretically not understood. Our results are compared with data from (gamma, gamma') experiments and theoretical sum-rule estimates for a nuclear rigid-body moment of inertia.Comment: 11 pages, 9 figure

Manganese oxides as biominerals in a granitic subterranean environment

Black coatings were detected on granite surfaces in groundwater catch work tunnels from Porto city (NW Portugal). XRD, FTIR, Micro-Raman, ICP-MS, TEM-EDS, SEM-EDS and SEM-FIB were the analytical procedures carried out to investigate the origin of the black coatings. In this subterranean environment, the enrichment in metals and other trace elements, such as Mn and Fe, and clay minerals characterize the black microbial mats, mainly composed of Mn/Fe-oxidising bacteria.Fundação para a Ciência e a Tecnologia (FCT

Inconsistencies in the description of pairing effects in nuclear level densities

Pairing correlations have a strong influence on nuclear level densities. Empirical descriptions and theoretical models have been developed to take these effects into account. The present article discusses cases, where descriptions of nuclear level densities are inconsistent or in conflict with the present understanding of nuclear properties. Phenomenological approaches consider a back-shift parameter. However, the absolute magnitude of the back-shift, which actually corresponds to the pairing condensation energy, is generally not compatible with the observation that stable pairing correlations are present in essentially all nuclei. It is also shown that in the BCS model pairing condensation energies and critical pairing energies are inconsistent for light nuclei. A modification to the composite Gilbert-Cameron level-density description is proposed, and the use of more realistic pairing theories is suggested.Comment: 17 pages, 3 figure