Radiolysis of Amino Acids by Heavy and Energetic Cosmic Ray Analogs in Simulated Space Environments: α\alpha-Glycine Zwitterion Form

In this work, we studied the stability of the glycine molecule in the crystalline zwitterion form, known as {\alpha}-glycine ($^{+}$NH$_{3}$CH$_{2}$COO$^{-}$) under action of heavy cosmic ray analogs. The experiments were conducted in a high vacuum chamber at heavy ions accelerator GANIL, in Caen, France. The samples were bombarded at two temperatures (14 K and 300 K) by $^{58}$Ni$^{11+}$ ions of 46 MeV until the final fluence of $10^{13}$ ions cm$^{-2}$. The chemical evolution of the sample was evaluated in-situ using Fourrier Transformed Infrared (FTIR) spectrometer. The bombardment at 14 K produced several daughter species such as OCN$^-$, CO, CO$_2$, and CN$^-$. The results also suggest the appearing of peptide bonds during irradiation but this must be confirmed by further experiments. The halflives of glycine in Interstellar Medium were estimated to be 7.8 $\times 10^3$ years (300 K) and 2.8 $\times 10^3$ years (14 K). In the Solar System the values were 8.4 $\times 10^2$ years (300 K) and 3.6 $\times 10^3$ years (14 K). It is believed that glycine could be present in space environments that suffered aqueous changes such as the interior of comets, meteorites and planetesimals. This molecule is present in proteins of all alive beings. So, studying its stability in these environments provides further understanding about the role of this specie in the prebiotic chemistry on Earth.Comment: 28 pages, 12 figures, 9 tables. Accepted to be published at Monthly Notices of the Royal Astronomical Society (MNRAS

Driver scheduling problem modelling

The Drivers Scheduling Problem (DSP) consists of selecting a set of duties for vehicle drivers, for example buses, trains, plane or boat drivers or pilots, for the transportation of passengers or goods. This is a complex problem because it involves several constraints related to labour and company rules and can also present different evaluation criteria and objectives. Being able to develop an adequate model for this problem that can represent the real problem as close as possible is an important research area.The main objective of this research work is to present new mathematical models to the DSP problem that represent all the complexity of the drivers scheduling problem, and also demonstrate that the solutions of these models can be easily implemented in real situations. This issue has been recognized by several authors and as important problem in Public Transportation. The most well-known and general formulation for the DSP is a Set Partition/Set Covering Model (SPP/SCP). However, to a large extend these models simplify some of the specific business aspects and issues of real problems. This makes it difficult to use these models as automatic planning systems because the schedules obtained must be modified manually to be implemented in real situations. Based on extensive passenger transportation experience in bus companies in Portugal, we propose new alternative models to formulate the DSP problem. These models are also based on Set Partitioning/Covering Models; however, they take into account the bus operator issues and the perspective opinions and environment of the user.We follow the steps of the Operations Research Methodology which consist of: Identify the Problem; Understand the System; Formulate a Mathematical Model; Verify the Model; Select the Best Alternative; Present the Results of the Analysis and Implement and Evaluate. All the processes are done with close participation and involvement of the final users from different transportation companies. The planner‘s opinion and main criticisms are used to improve the proposed model in a continuous enrichment process. The final objective is to have a model that can be incorporated into an information system to be used as an automatic tool to produce driver schedules. Therefore, the criteria for evaluating the models is the capacity to generate real and useful schedules that can be implemented without many manual adjustments or modifications. We have considered the following as measures of the quality of the model: simplicity, solution quality and applicability. We tested the alternative models with a set of real data obtained from several different transportation companies and analyzed the optimal schedules obtained with respect to the applicability of the solution to the real situation. To do this, the schedules were analyzed by the planners to determine their quality and applicability. The main result of this work is the proposition of new mathematical models for the DSP that better represent the realities of the passenger transportation operators and lead to better schedules that can be implemented directly in real situations.Drivers Scheduling Problem, Duties, Modelling

Young Lives Lost as B Cells Falter: What We Are Learning About Antibody Responses in Malaria

Plasmodium falciparum malaria remains a major public health threat for which there is no licensed vaccine. Abs play a key role in malaria immunity, but Ab-mediated protection is only acquired after years of repeated infections, leaving children in endemic areas vulnerable to severe malaria and death. Many P. falciparum Ags are extraordinarily diverse and clonally variant which likely contribute to the inefficient acquisition of protective Abs. However, mounting evidence suggests that there is more to the story and that infection-induced dysregulation of B cell function also plays a role. Here we review progress toward understanding the B cell biology of P. falciparum infection, focusing on what has been learned from population-based studies in malaria-endemic areas. We suggest ways in which advances in immunology and genomics-based technology can further improve our understanding of the B cell response in malaria and perhaps illuminate new pathways to the development of effective vaccines

Mixing Times in Quantum Walks on Two-Dimensional Grids

Mixing properties of discrete-time quantum walks on two-dimensional grids with torus-like boundary conditions are analyzed, focusing on their connection to the complexity of the corresponding abstract search algorithm. In particular, an exact expression for the stationary distribution of the coherent walk over odd-sided lattices is obtained after solving the eigenproblem for the evolution operator for this particular graph. The limiting distribution and mixing time of a quantum walk with a coin operator modified as in the abstract search algorithm are obtained numerically. On the basis of these results, the relation between the mixing time of the modified walk and the running time of the corresponding abstract search algorithm is discussed.Comment: 11 page

An evaluation of 2D SLAM techniques available in Robot Operating System

n this work, a study of several laser-based 2D Simultaneous Localization and Mapping (SLAM) techniques available in Robot Operating System (ROS) is conducted. All the approaches have been evaluated and compared in 2D simulations and real world experiments. In order to draw conclusions on the performance of the tested techniques, the experimental results were collected under the same conditions and a generalized performance metric based on the k-nearest neighbours concept was applied. Moreover, the CPU load of each technique is examined. This work provides insight on the weaknesses and strengths of each solution. Such analysis is fundamental to decide which solution to adopt according to the properties of the intended final application

Nesting behaviour influences species-specific gas exchange across avian eggshells

Carefully controlled gas exchange across the eggshell is essential for the development of the avian embryo. Water vapour conductance (GH2O) across the shell, typically measured as mass loss during incubation, has been demonstrated to optimally ensure the healthy development of the embryo while avoiding desiccation. Accordingly, eggs exposed to sub-optimal gas exchange have reduced hatching success. We tested the association between eggshell GH2O and putative life-history correlates of adult birds, ecological nest parameters and physical characteristics of the egg itself to investigate how variation in GH2O has evolved to maintain optimal water loss across a diverse set of nest environments. We measured gas exchange through eggshell fragments in 151 British breeding bird species and fitted phylogenetically controlled, general linear models to test the relationship between GH2O and potential predictor parameters of each species. Of our 17 life-history traits, only two were retained in the final model: wet-incubating parent and nest type. Eggs of species where the parent habitually returned to the nest with wet plumage had significantly higher GH2O than those of parents that returned to the nest with dry plumage. Eggs of species nesting in ground burrows, cliffs and arboreal cups had significantly higher GH2O than those of species nesting on the ground in open nests or cups, in tree cavities and in shallow arboreal nests. Phylogenetic signal (measured as Pagel's λ) was intermediate in magnitude, suggesting that differences observed in the GH2O are dependent upon a combination of shared ancestry and species-specific life history and ecological traits. Although these data are correlational by nature, they are consistent with the hypothesis that parents constrained to return to the nest with wet plumage will increase the humidity of the nest environment, and the eggs of these species have evolved a higher GH2O to overcome this constraint and still achieve optimal water loss during incubation. We also suggest that eggs laid in cup nests and burrows may require a higher GH2O to overcome the increased humidity as a result from the confined nest microclimate lacking air movements through the nest. Taken together, these comparative data imply that species-specific levels of gas exchange across avian eggshells are variable and evolve in response to ecological and physical variation resulting from parental and nesting behaviours

Dominant negative phenotype of Bacillus thuringiensis Cry1Ab, Cry11Aa and Cry4Ba mutants suggest hetero-oligomer formation among different Cry toxins.

Background - Bacillus thuringiensis Cry toxins are used worldwide in the control of different insect pests important in agriculture or in human health. The Cry proteins are pore-forming toxins that affect the midgut cell of target insects. It was shown that non-toxic Cry1Ab helix a-4 mutants had a dominant negative (DN) phenotype inhibiting the toxicity of wildtype Cry1Ab when used in equimolar or sub-stoichiometric ratios (1:1, 0.5:1, mutant:wt) indicating that oligomer formation is a key step in toxicity of Cry toxins. Methodology/Principal Findings - The DN Cry1Ab-D136N/T143D mutant that is able to block toxicity of Cry1Ab toxin, was used to analyze its capacity to block the activity against Manduca sexta larvae of other Cry1 toxins, such as Cry1Aa, Cry1Ac, Cry1Ca, Cry1Da, Cry1Ea and Cry1Fa. Cry1Ab-DN mutant inhibited toxicity of Cry1Aa, Cry1Ac and Cry1Fa. In addition, we isolated mutants in helix a-4 of Cry4Ba and Cry11Aa, and demonstrate that Cry4Ba-E159K and Cry11Aa-V142D are inactive and completely block the toxicity against Aedes aegypti of both wildtype toxins, when used at sub-stoichiometric ratios, confirming a DN phenotype. As controls we analyzed Cry1Ab-R99A or Cry11Aa-E97A mutants that are located in helix a-3 and are affected in toxin oligomerization. These mutants do not show a DN phenotype but were able to block toxicity when used in 10:1 or 100:1 ratios (mutant:wt) probably by competition of binding with toxin receptors. Conclusions/Significance - We show that DN phenotype can be observed among different Cry toxins suggesting that may interact in vivo forming hetero-oligomers. The DN phenotype cannot be observed in mutants affected in oligomerization, suggesting that this step is important to inhibit toxicity of other toxin

3D Multi-Robot Exploration with a Two-Level Coordination Strategy and Prioritization

This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration. The resulting distributed exploration technique minimizes and explicitly manages the occurrence of conflicts and interferences in the robot team. Each robot selects where to scan next by using a receding horizon next-best-view approach [2]. A sampling-based tree is directly expanded on segmented traversable regions of the terrain 3D map to generate the candidate next viewpoints. During the exploration, users can assign locations with higher priorities on-demand to steer the robot exploration toward areas of interest. The proposed framework can be also used to perform coverage tasks in the case a map of the environment is a priori provided as input. An open-source implementation is available online