Combining depth and intensity images to produce enhanced object detection for use in a robotic colony

Robotic colonies that can communicate with each other and interact with their ambient environments can be utilized for a wide range of research and industrial applications. However amongst the problems that these colonies face is that of the isolating objects within an environment. Robotic colonies that can isolate objects within the environment can not only map that environment in de-tail, but interact with that ambient space. Many object recognition techniques ex-ist, however these are often complex and computationally expensive, leading to overly complex implementations. In this paper a simple model is proposed to isolate objects, these can then be recognize and tagged. The model will be using 2D and 3D perspectives of the perceptual data to produce a probability map of the outline of an object, therefore addressing the defects that exist with 2D and 3D image techniques. Some of the defects that will be addressed are; low level illumination and objects at similar depths. These issues may not be completely solved, however, the model provided will provide results confident enough for use in a robotic colony

MTOR cross-talk in cancer and potential for combination therapy

The mammalian Target of Rapamycin (mTOR) pathway plays an essential role in sensing and integrating a variety of exogenous cues to regulate cellular growth and metabolism, in both physiological and pathological conditions. mTOR functions through two functionally and structurally distinct multi-component complexes, mTORC1 and mTORC2, which interact with each other and with several elements of other signaling pathways. In the past few years, many new insights into mTOR function and regulation have been gained and extensive genetic and pharmacological studies in mice have enhanced our understanding of how mTOR dysfunction contributes to several diseases, including cancer. Single-agent mTOR targeting, mostly using rapalogs, has so far met limited clinical success; however, due to the extensive cross-talk between mTOR and other pathways, combined approaches are the most promising avenues to improve clinical efficacy of available therapeutics and overcome drug resistance. This review provides a brief and up-to-date narrative on the regulation of mTOR function, the relative contributions of mTORC1 and mTORC2 complexes to cancer development and progression, and prospects for mTOR inhibition as a therapeutic strategy

Dry bone and virtual modality interchangeability for the estimation of sex on the human pelvis and skull

Background: Traditional osteological methods are typically based on visual and tactile observational approaches. However, the tactile sensation is excluded when investigating skeletal remains in virtual reality. This raises the question of the actual comparability of data obtained from osteological analysis on analogous versus virtual modality. The aim of this work is to address this topic and quantify the deviation between the scoring on dry bone and virtual models of sexually dimorphic features on the human pelvis and skull. Materials and methods: We applied seven widely used sex estimation methods to 200 archaeological pelves and 223 skulls. We scored and measured each method-specific trait on dry bone and computed tomographic (CT) models of the same individual. We added observations on 3D surface scans from sample subsets of pelves (N=39) and skulls (=50) for comparability. We compared the scores and measurements obtained from the application of each method to the three sets of observations using Cohen's κ tests and relative technical error of measurement (rTEM). Results: 1) metric traits are more repeatable and consistent than nonmetric traits; b) virtual modalities compared better to each other than visual-tactile modalities and c) precise trait descriptions are more important than the modality. Discussion: Our data suggest that traditional sex estimation methods developed on dry bone (visual-tactile sensations) can be applied interchangeably to virtual specimens (visual-only sensation) without obtaining substantially different information. More than other factors, however, precise trait definition is pivotal for the interchangeability of analogous and virtual modalities

Influences of Leaf Area Index estimations on water balance modeling in a Mediterranean semi-arid basin

Abstract. In the present work, the role played by vegetation parameters, necessary to the hydrological distributed modeling, is investigated focusing on the correct use of remote sensing products for the evaluation of hydrological losses in the soil water balance. The research was carried out over a medium-sized river basin in Southern Italy, where the vegetation status is characterised through a data-set of multi-temporal NDVI images. The model adopted uses one layer of vegetation whose status is defined by the Leaf Area Index (LAI), which is often obtained from NDVI images. The inherent problem is that the vegetation heterogeneity – including soil disturbances – has a large influence on the spectral bands and so the relation between LAI and NDVI is not unambiguous. We present a rationale for the basin scale calibration of a non-linear NDVI-LAI regression, based on the comparison between NDVI values and literature LAI estimations of the vegetation cover in recognized landscape elements of the study catchment. Adopting a process-based model (DREAM) with a distributed parameterisation, the influence of different NDVI-LAI regression models on main features of water balance predictions is investigated. The results show a significant sensitivity of the hydrological losses and soil water regime to the alternative LAI estimations. These crucially affects the model performances especially in low-flows simulation and in the identification of the intermittent regime

Biological activities of alkaloids: From toxicology to pharmacology

Plants produce many secondary metabolites, which reveal biological activity [...]

Human bony labyrinth is an indicator of population history and dispersal from Africa.

The dispersal of modern humans from Africa is now well documented with genetic data that track population history, as well as gene flow between populations. Phenetic skeletal data, such as cranial and pelvic morphologies, also exhibit a dispersal-from-Africa signal, which, however, tends to be blurred by the effects of local adaptation and in vivo phenotypic plasticity, and that is often deteriorated by postmortem damage to skeletal remains. These complexities raise the question of which skeletal structures most effectively track neutral population history. The cavity system of the inner ear (the so-called bony labyrinth) is a good candidate structure for such analyses. It is already fully formed by birth, which minimizes postnatal phenotypic plasticity, and it is generally well preserved in archaeological samples. Here we use morphometric data of the bony labyrinth to show that it is a surprisingly good marker of the global dispersal of modern humans from Africa. Labyrinthine morphology tracks genetic distances and geography in accordance with an isolation-by-distance model with dispersal from Africa. Our data further indicate that the neutral-like pattern of variation is compatible with stabilizing selection on labyrinth morphology. Given the increasingly important role of the petrous bone for ancient DNA recovery from archaeological specimens, we encourage researchers to acquire 3D morphological data of the inner ear structures before any invasive sampling. Such data will constitute an important archive of phenotypic variation in present and past populations, and will permit individual-based genotype-phenotype comparisons

A new family of magnetic adhesion based wall-climbing robots

This paper is devoted to climbing robots that adhere to the wall through permanent magnetic elements. If the surface on which they adhere is not ferromagnetic, it is necessary for the system to be composed of two subsystems (master and follower carts), arranged in a sandwich configuration, with the surface to climb interposed between the two. However, this configuration does not allow the robot to descend from the wall where it is climbing and to move freely on the floor (because of the presence of the follower). This paper shows how to remove this limitation. In fact, the system is able to automatically detach the follower when the robot has to move on the floor and recover it when it has to climb

Neuroprotective potential of isothiocyanates in an in vitro model of neuroinflammation

Isothiocyanates (ITCs), present as glucosinolate precursors in cruciferous vegetables, have shown anti-inflammatory, antioxidant and anticarcinogenic activities. Here, we compared the effects of three different ITCs on ROS production and on the expression of matrix metalloproteinase (MMP)-2 and -9, which represent important pathogenetic factors of various neurological diseases. Primary cultures of rat astrocytes were activated by LPS and simultaneously treated with different doses of Allyl isothiocyanate (AITC), 2-Phenethyl isothiocyanate (PEITC) and 2-Sulforaphane (SFN). Results showed that SFN and PEITC were able to counteract ROS production induced by H2O2. The zymographic analysis of cell culture supernatants evidenced that PEITC and SFN were the most effective inhibitors of MMP-9, whereas, only SFN significantly inhibited MMP-2 activity. PCR analysis showed that all the ITCs used significantly inhibited both MMP-2 and MMP-9 expression. The investigation on the mitogen-activated protein kinase (MAPK) signaling pathway demonstrated that ITCs modulate MMP transcription by inhibition of extracellular-regulated protein kinase (ERK) activity. Results of this study suggest that ITCs could be promising nutraceutical agents for the prevention and complementary treatment of neurological diseases associated with MMP involvement

Co-targeting of Bcl-2 and mTOR pathway triggers synergistic apoptosis in BH3 mimetics resistant acute lymphoblastic leukemia

Several chemo-resistance mechanisms including the Bcl-2 protein family overexpression and constitutive activation of the PI3K/Akt/mTOR signaling have been documented in acute lymphoblastic leukemia (ALL), encouraging targeted approaches to circumvent this clinical problem. Here we analyzed the activity of the BH3 mimetic ABT-737 in ALL, exploring the synergistic effects with the mTOR inhibitor CCI-779 on ABT-737 resistant cells. We showed that a low Mcl-1/Bcl-2 plus Bcl-xL protein ratio determined ABT-737 responsiveness. ABT-737 exposure further decreased Mcl-1, inducing apoptosis on sensitive models and primary samples, while not affecting resistant cells. Co-inhibition of Bcl-2 and the mTOR pathway resulted cytotoxic on ABT-737 resistant models, by downregulating mTORC1 activity and Mcl-1 in a proteasome-independent manner. Although Mcl-1 seemed to be critical, ectopic modulation did not correlate with apoptosis changes. Importantly, dual targeting proved effective on ABT-737 resistant samples, showing additive/synergistic effects. Together, our results show the efficacy of BH3 mimetics as single agent in the majority of the ALL samples and demonstrate that resistance to ABT-737 mostly correlated with Mcl-1 overexpression. Co-targeting of the Bcl-2 protein family and mTOR pathway enhanced drug-induced cytotoxicity by suppressing Mcl-1, providing a novel therapeutic approach to overcome BH3 mimetics resistance in ALL