Robot path planning by means of ant algorithms

Tato diplomová práce se zabývá plánováním cesty robotu. Obsahuje přehled obecných přístupů pro plánování cesty. Dále popisuje metody rojové inteligence a jejich aplikace na plánování cesty robotu. Práce obsahuje návrhy změn pro mravenčí algoritmy a prezentuje výsledky experiment provedených pomocí implementovaných algoritmů.This thesis deals with robot path planning. It contains an overview of general approaches for path planning and describes methods of swarm intelligence and their application for robot path planning. This paper also contains proposals of adjustments for ant algorithms and it presents experimental results of algorithm implementation.

Auxin metabolite profiling in isolated and intact plant nuclei

The plant nucleus plays an irreplaceable role in cellular control and regulation by auxin (indole-3-acetic acid, IAA) mainly because canonical auxin signaling takes place here. Auxin can enter the nucleus from either the endoplasmic reticulum or cytosol. Therefore, new information about the auxin metabolome (auxinome) in the nucleus can illuminate our understanding of subcellular auxin homeostasis. Different methods of nuclear isolation from various plant tissues have been described previously, but information about auxin metabolite levels in nuclei is still fragmented and insufficient. Herein, we tested several published nucleus isolation protocols based on differential centrifugation or flow cytometry. The optimized sorting protocol leading to promising yield, intactness, and purity was then combined with an ultra-sensitive mass spectrometry analysis. Using this approach, we can present the first complex report on the auxinome of isolated nuclei from cell cultures of Arabidopsis and tobacco. Moreover, our results show dynamic changes in auxin homeostasis at the intranuclear level after treatment of protoplasts with free IAA, or indole as a precursor of auxin biosynthesis. Finally, we can conclude that the methodological procedure combining flow cytometry and mass spectrometry offers new horizons for the study of auxin homeostasis at the subcellular level

Active Balancing of Machine Tool Spindle Units

The aim of this bachelor’s thesis is to do background research of active balancing, to design a simplified model of spindle with an active balancing system and to realize searching simulations. The research describes basic terms and methods which are necessary to understand the issue of balancing. Then, the principle of both classic and active balancing and the description of an active balancing actuator are stated in the paper. Moreover, the thesis presents the creating process of the model which was performed in the program Matlab/Simuling. The thesis presents detailed descriptions of the realized simulations, the results of the simulations and a subsequent result analysis

Development of the Poplar-Laccaria bicolor Ectomycorrhiza Modifies Root Auxin Metabolism, Signaling, and Response

Pièce jointe avec DATAInternational audienceRoot systems of host trees are known to establish ectomycorrhizae (ECM) interactions with rhizospheric fungi. This mutualistic association leads to dramatic developmental modifications in root architecture, with the formation of numerous short and swollen lateral roots ensheathed by a fungal mantle. Knowing that auxin plays a crucial role in root development, we investigated how auxin metabolism, signaling, and response are affected in poplar (Populus spp.)-Laccaria bicolor ECM roots. The plant-fungus interaction leads to the arrest of lateral root growth with simultaneous attenuation of the synthetic auxin response element DR5. Measurement of auxin-related metabolites in the free-living partners revealed that the mycelium of L. bicolor produces high concentrations of the auxin indole-3-acetic acid (IAA). Metabolic profiling showed an accumulation of IAA and changes in the indol-3-pyruvic acid-dependent IAA biosynthesis and IAA conjugation and degradation pathways during ECM formation. The global analysis of auxin response gene expression and the regulation of AUXIN SIGNALING F-BOX PROTEIN5, AUXIN/IAA, and AUXIN RESPONSE FACTOR expression in ECM roots suggested that symbiosis-dependent auxin signaling is activated during the colonization by L. bicolor. Taking all this evidence into account, we propose a model in which auxin signaling plays a crucial role in the modification of root growth during ECM formation

A novel putative auxin carrier family regulates intracellular auxin homeostasis in plants

The phytohormone auxin acts as a prominent signal, providing, by its local accumulation or depletion in selected cells, a spatial and temporal reference for changes in the developmental program. The distribution of auxin depends on both auxin metabolism (biosynthesis, conjugation and degradation) and cellular auxin transport. We identified in silico a novel putative auxin transport facilitator family, called PIN-LIKES (PILS). Here we illustrate that PILS proteins are required for auxin-dependent regulation of plant growth by determining the cellular sensitivity to auxin. PILS proteins regulate intracellular auxin accumulation at the endoplasmic reticulum and thus auxin availability for nuclear auxin signalling. PILS activity affects the level of endogenous auxin indole-3-acetic acid (IAA), presumably via intracellular accumulation and metabolism. Our findings reveal that the transport machinery to compartmentalize auxin within the cell is of an unexpected molecular complexity and demonstrate this compartmentalization to be functionally important for a number of developmental processes

The effects of ABA on endoreduplication.

<p>The influence of ABA on nuclear ploidy was investigated using hypocotyl segments of <i>sit</i> and WT seedlings grown in darkness on untreated media and media containing 100 nM ABA (A). Triangles represent all measured values (n = 40) for each genotype and treatment. The bars within the boxes indicate the median values in each case, while the boxes’ upper and lower boundaries indicate the boundaries of the first and third quartiles. Three independent experiments were performed. The Kruskal-Wallis ANOVA test with multiple comparisons revealed that only the <i>sit</i> control sample differed significantly from the WT control (p < 0.01). No other significant differences were found. (B) Analysis of the expression of the <i>SlKRP1</i> and <i>SlKRP3</i> genes based on the mean of three independent experiments ± SE. <i>Tip41like</i> and <i>PP2ACs</i> were used as housekeeping genes. All expression values are quoted relative to those for the “WT control” sample.</p

Endogenous Abscisic Acid Promotes Hypocotyl Growth and Affects Endoreduplication during Dark-Induced Growth in Tomato (<i>Solanum lycopersicum</i> L.)

<div><p>Dark-induced growth (skotomorphogenesis) is primarily characterized by rapid elongation of the hypocotyl. We have studied the role of abscisic acid (ABA) during the development of young tomato (<i>Solanum lycopersicum</i> L.) seedlings. We observed that ABA deficiency caused a reduction in hypocotyl growth at the level of cell elongation and that the growth in ABA-deficient plants could be improved by treatment with exogenous ABA, through which the plants show a concentration dependent response. In addition, ABA accumulated in dark-grown tomato seedlings that grew rapidly, whereas seedlings grown under blue light exhibited low growth rates and accumulated less ABA. We demonstrated that ABA promotes DNA endoreduplication by enhancing the expression of the genes encoding inhibitors of cyclin-dependent kinases <i>SlKRP1</i> and <i>SlKRP3</i> and by reducing cytokinin levels. These data were supported by the expression analysis of the genes which encode enzymes involved in ABA and CK metabolism. Our results show that ABA is essential for the process of hypocotyl elongation and that appropriate control of the endogenous level of ABA is required in order to drive the growth of etiolated seedlings.</p></div

Effect of ABA deficiency on the expansion of hypocotyl cells.

<p>The influence of ABA on the elongation of epidermal cells of etiolated hypocotyls in <i>sit</i> and WT (cv. Rheinlands Ruhm) was investigated using SEM imaging analysis. Triangles represent all measured values (n = 471) for each genotype. The bars within the boxes indicate the median values in each case, while the boxes’ upper and lower boundaries indicate the boundaries of the first and third quartiles. The Mann-Whitney test was used to prove statistical significance (p < 0.01).</p