Electrochemical cardiac troponin I immunosensor based on nitrogen and boron-doped graphene quantum dots electrode platform and Ce-doped SnO2/SnS2 signal amplification

The detection of acute myocardial infarction directly depends on the concentration of the cardiac troponin I (CTnI) in human blood plasma. In this study, the sensitive, selective, and fast sandwich-type electrochemical CTnI immunosensor was developed by using nitrogen and boron-dopped graphene quantum dots -as electrode platform and two-dimensional Ce-dopped SnO2/SnS2 (Ce–SnO2/SnS2) as signal amplification. In preparation of electrochemical CTnI immunosensor, the coordinated covalent bond between capture antibody (anti-CTnI-Ab1) and nitrogen and boron-dopped graphene quantum dots as electrode platform led to immobilization of anti-CTnI-Ab1, and the strong esterification between the secondary antibody (anti-CTnI-Ab2) and thioglycolic acid-modified Ce–SnO2/SnS2 resulted in anti-CTnI-Ab2 conjugation. Finally, the resultant electrochemical CTnI immunosensor was formed via antigen-antibody interaction. High-resolution transmission electron microscopy, X-ray photoelectron spectroscopy, X-ray diffraction, Fourier transform infrared spectroscopy, UV–Vis spectroscopy and Raman spectroscopy, as well as some electrochemical characterization techniques, including cyclic voltammetry, differential pulse voltammetry and electrochemical impedance spectroscopy were used to characterize the prepared immunosensor. The detection limit of CTnI in plasma samples was calculated as 2.00 fg mL−1, making it an effective tool for acute myocardial infarction testing. © 2021 Elsevier Lt

Structure and Growth of Core–shell Nanoprecipitates in Al–Er–Sc–Zr–V–Si High-temperature Alloys

Lightweight Sc-containing aluminum alloys exhibit superior mechanical performance at high temperatures due to core–shell, L12-ordered trialuminide nanoprecipitates. In this study, the structure of these nanoprecipitates was studied, using different transmission electron microscopy (TEM) techniques, for an Al–Er– Sc–Zr–V–Si alloy that was subjected to a two-stage overaging heat treatment. Energy-dispersive X-ray spectroscopy of the spherical Al3(Sc, Zr, Er ,V) nanoprecipitates revealed a core–shell structure with an Sc- and Er-enriched core and a Zr-enriched shell, without a clear V outer shell. This structure is stable up to 72% of the absolute melting temperature of Al for extended periods of time. High-angle annular dark-field scanning TEM was used to image the {100} planes of the nanoprecipitates, demonstrating a homogeneous L12-ordered superlattice structure for the entire nanoprecipitates, despite the variations in the concentrations of solute atoms within the unit cells. A possible growth path and compositional trajectory for these nanoprecipitates was proposed using high-resolution TEM observations, where different rod-like structural defects were detected, which are considered to be precursors to the spherical L12-ordered nanoprecipitates. It is also hypothesized that the structural defects could consist of segregated Si; however, this was not possible to verify with HAADF-STEM because of the small differences in Al and Si atomic numbers. The results herein allow a better understanding of how the Al–Sc alloys’ core–shell nanoprecipitates form and evolve temporally, thereby providing a better physical picture for future atomistic structural mappings and simulations

From Uncertainty Data to Robust Policies for Temporal Logic Planning

We consider the problem of synthesizing robust disturbance feedback policies for systems performing complex tasks. We formulate the tasks as linear temporal logic specifications and encode them into an optimization framework via mixed-integer constraints. Both the system dynamics and the specifications are known but affected by uncertainty. The distribution of the uncertainty is unknown, however realizations can be obtained. We introduce a data-driven approach where the constraints are fulfilled for a set of realizations and provide probabilistic generalization guarantees as a function of the number of considered realizations. We use separate chance constraints for the satisfaction of the specification and operational constraints. This allows us to quantify their violation probabilities independently. We compute disturbance feedback policies as solutions of mixed-integer linear or quadratic optimization problems. By using feedback we can exploit information of past realizations and provide feasibility for a wider range of situations compared to static input sequences. We demonstrate the proposed method on two robust motion-planning case studies for autonomous driving

Sampling-based Algorithms for Optimal Motion Planning

During the last decade, sampling-based path planning algorithms, such as Probabilistic RoadMaps (PRM) and Rapidly-exploring Random Trees (RRT), have been shown to work well in practice and possess theoretical guarantees such as probabilistic completeness. However, little effort has been devoted to the formal analysis of the quality of the solution returned by such algorithms, e.g., as a function of the number of samples. The purpose of this paper is to fill this gap, by rigorously analyzing the asymptotic behavior of the cost of the solution returned by stochastic sampling-based algorithms as the number of samples increases. A number of negative results are provided, characterizing existing algorithms, e.g., showing that, under mild technical conditions, the cost of the solution returned by broadly used sampling-based algorithms converges almost surely to a non-optimal value. The main contribution of the paper is the introduction of new algorithms, namely, PRM* and RRT*, which are provably asymptotically optimal, i.e., such that the cost of the returned solution converges almost surely to the optimum. Moreover, it is shown that the computational complexity of the new algorithms is within a constant factor of that of their probabilistically complete (but not asymptotically optimal) counterparts. The analysis in this paper hinges on novel connections between stochastic sampling-based path planning algorithms and the theory of random geometric graphs.Comment: 76 pages, 26 figures, to appear in International Journal of Robotics Researc

Crack Growth Behavior in NiTi Shape Memory Alloys Under Mode-I Isothermal Loading: Effect of Stress State

Fracture behavior in nickel-titanium (NiTi) shape memory alloys (SMAs) subjected to mode-I, isothermal loading is studied using finite element analysis (FEA). Compact tension (CT) SMA specimen is modeled in Abaqus finite element suite and crack growth under displacement boundary condition is investigated for plane strain and plane stress conditions. Parameters for the SMA material constitutive law implemented in the finite element setup are acquired from characterization tests conducted on near-equiatomic NiTi SMA. Virtual crack closure technique (VCCT) is implemented where crack is assumed to extend when the energy release rate at the crack-tip becomes equal to the experimentally obtained material-specific critical value. Load-displacement curves and mechanical fields near the crack-tip in plane strain and plane stress cases are examined. Moreover, a discussion with respect to the crack resistance R-curves calculated using the load-displacement response for plane strain and plane stress conditions is presented

Cross-entropy Temporal Logic Motion Planning

This paper presents a method for optimal trajectory generation for discrete-time nonlinear systems with linear temporal logic (LTL) task specifications. Our approach is based on recent advances in stochastic optimization algorithms for optimal trajectory generation. These methods rely on estimation of the rare event of sampling optimal trajectories, which is achieved by incrementally improving a sampling distribution so as to minimize the cross-entropy. A key component of these stochastic optimization algorithms is determining whether or not a trajectory is collision-free. We generalize this collision checking to efficiently verify whether or not a trajectory satisfies a LTL formula. Interestingly, this verification can be done in time polynomial in the length of the LTL formula and the trajectory. We also propose a method for efficiently re-using parts of trajectories that only partially satisfy the specification, instead of simply discarding the entire sample. Our approach is demonstrated through numerical experiments involving Dubins car and a generic point-mass model subject to complex temporal logic task specifications

633 Comparison of soluble proteins from skin sections of acne and TCA induced postinflammatory hyperpigmentation and erythema

Postinflammatory hyperpigmentation (PIH) is an acquired hypermelanosis occurring after cutaneous inflammation or injury that can arise in all skin types, but more frequently affects skin-of-color. The differences in the ethology of PIH and Postinflammatory erythema (PIE) in skin of color were evaluated from soluble protein extracts collected from skin section samples, using Somascan protein kit1.3 k (n=5). The skin samples were collected from selected gluteal TCA-induced lesions and truncal acne pustules, of either PIH or PIE, at day 28 post initial evaluation. Differences between proteins (FDR\u3c0.05) from PIH and PIE were analyzed with STRING version 11.5 and analysis points toward involvement of JAK/STAT signaling pathway and enhanced IL17 signaling in PIH compared to PIE lesions (OSM, CSF3, IL10RA, IL12RB2, IL10RB, IL3, CSF2, IL17D, IL17F, IFNA2, IFNA10, CRLF2, IL5RA, TYK2, IL12RB1, PRLR, GHR). The involvement of JAK/STAT signaling pathway has been described for some chronic cutaneous inflammatory conditions and acne. A higher occurrence of dermal remodeling proteases and inhibitors were found in PIE (MMP1, MMP2, MMP7, TIMP2) indicating a dermal remodeling phase at the time of excision. Concurrently, elevated levels of IL-1β, and TGF-β (critical for triggering and continuing differentiation programs of naïve CD4+ T cells to IL-17 secreting Th17 cells) in PIH samples suggests continuing promotion of macrophage infiltration and sustained inflammation. In addition to MMP13 and MMP16, the protein Keap1 was found to be increased in the PIH samples. Keap1, a repressor of master cellular defense against oxidative and electrophilic stresses, has been reported to be involved in the imbalance of proteolysis that can lead towards premature aging and in a senescent phenotype of endothelial cells. The sustained inflammation with excess of Keap1 protein might contribute to an altered proteostasis and ethology of PIH

Asymptotically-optimal path planning for manipulation using incremental sampling-based algorithms

A desirable property of path planning for robotic manipulation is the ability to identify solutions in a sufficiently short amount of time to be usable. This is particularly challenging for the manipulation problem due to the need to plan over high-dimensional configuration spaces and to perform computationally expensive collision checking procedures. Consequently, existing planners take steps to achieve desired solution times at the cost of low quality solutions. This paper presents a planning algorithm that overcomes these difficulties by augmenting the asymptotically-optimal RRT* with a sparse sampling procedure. With the addition of a collision checking procedure that leverages memoization, this approach has the benefit that it quickly identifies low-cost feasible trajectories and takes advantage of subsequent computation time to refine the solution towards an optimal one. We evaluate the algorithm through a series of Monte Carlo simulations of seven, twelve, and fourteen degree of freedom manipulation planning problems in a realistic simulation environment. The results indicate that the proposed approach provides significant improvements in the quality of both the initial solution and the final path, while incurring almost no computational overhead compared to the RRT algorithm. We conclude with a demonstration of our algorithm for single-arm and dual-arm planning on Willow Garage's PR2 robot

Suitability of foramen magnum measurements in sex determination and their clinical significance

Background: The foramen magnum provides a transition between fossa cranii posterior and canalis vertebralis. Medulla oblongata, arteria vertebralis and nervus accessorius spinal part pass through the foramen magnum. In this study, we aimed to make the morphometric measurements of the foramen magnum on computed tomography (CT) and to determine the feasibility of sex determination based on these measurements. Besides sex determination, from a clinical aspect, it is important to know the measurements of the foramen magnum in the normal population in terms of diseases characterised by displacement of the posterior fossa structures through foramen magnum to upper cervical spinal canal such as Chiari malformations and syringomyelia. Materials and methods: All the data for our study was obtained retrospectively from 100 patients (50 males, 50 females) who had a CT scan of the head and neck region in Adnan Menderes University Hospital, Department of Radiology. To examine the foramen magnum in each and every occipital bone, we measured the foramen magnum’s anteroposterior diameter, transverse diameter, the area of the foramen magnum and its circumference. Results: We found that men have a higher average value than women in our study. According to Student’s t-test results; in all measured parameters, there is significant difference between the genders (p < 0.05). When multivariate discriminant function test is performed for all four measurements, the discrimination rate is 64% for all women, 70% for all men and 67% for both genders. Conclusions: As a result of our study, the metric data we obtained will be useful in cases where the skeletons’ sex could not be determined by any other methods. We believe that, our study may be useful for other studies in determining of sex from foramen magnum. Our measurements could give some information of the normal ranges of the foramen magnum in normal population, so that this can contribute to the diagnosis process of some diseases by imaging. (Folia Morphol 2018; 77, 1: 99–104)  

Selective Sirt2 inhibition by ligand-induced rearrangement of the active site.

Sirtuins are a highly conserved class of NAD(+)-dependent lysine deacylases. The human isotype Sirt2 has been implicated in the pathogenesis of cancer, inflammation and neurodegeneration, which makes the modulation of Sirt2 activity a promising strategy for pharmaceutical intervention. A rational basis for the development of optimized Sirt2 inhibitors is lacking so far. Here we present high-resolution structures of human Sirt2 in complex with highly selective drug-like inhibitors that show a unique inhibitory mechanism. Potency and the unprecedented Sirt2 selectivity are based on a ligand-induced structural rearrangement of the active site unveiling a yet-unexploited binding pocket. Application of the most potent Sirtuin-rearranging ligand, termed SirReal2, leads to tubulin hyperacetylation in HeLa cells and induces destabilization of the checkpoint protein BubR1, consistent with Sirt2 inhibition in vivo. Our structural insights into this unique mechanism of selective sirtuin inhibition provide the basis for further inhibitor development and selective tools for sirtuin biology