Learning Ground Traversability from Simulations

Mobile ground robots operating on unstructured terrain must predict which areas of the environment they are able to pass in order to plan feasible paths. We address traversability estimation as a heightmap classification problem: we build a convolutional neural network that, given an image representing the heightmap of a terrain patch, predicts whether the robot will be able to traverse such patch from left to right. The classifier is trained for a specific robot model (wheeled, tracked, legged, snake-like) using simulation data on procedurally generated training terrains; the trained classifier can be applied to unseen large heightmaps to yield oriented traversability maps, and then plan traversable paths. We extensively evaluate the approach in simulation on six real-world elevation datasets, and run a real-robot validation in one indoor and one outdoor environment.Comment: Webpage: http://romarcg.xyz/traversability_estimation

Thermal unfolding of holo and apo pseudoazurin

The role of the copper ion in the thermal unfolding of pseudoazurin has been investigated by differential scanning calorimetry, optical density and fluorescence. In the presence of copper the denaturation of pseudoazurin (holo form) is irreversible and scan rate dependent. The melting temperature ranges between 60.0 and 67.3◦C, depending on the scan rate and the technique used. The DSC data analysis indicates that the denaturation pathway of the holo pseudoazurin is described by the classical Lumry-Eyring model, N ⇔ U ⇒ F. The simulation of the experimental DSC profiles according to this model has allowed the calculation of the thermodynamic and kinetic parameters related to the two steps. The destabilization of the copper active site and of the hydrophobic core precedes the global denaturation of the protein. The removal of the copper ion (apo from) significantly reduces the stability of the protein: the denaturation occurs at 41.8◦C. Moreover, the thermal unfolding of apo pseudoazurin is compatible with a two-state reversible process, N ⇔ U

Cosmological Properties of a Gauged Axion

We analyze the most salient cosmological features of axions in extensions of the Standard Model with a gauged anomalous extra U(1) symmetry. The model is built by imposing the constraint of gauge invariance in the anomalous effective action, which is extended with Wess-Zumino counterterms. These generate axion-like interactions of the axions to the gauge fields and a gauged shift symmetry. The scalar sector is assumed to acquire a non-perturbative potential after inflation, at the electroweak phase transition, which induces a mixing of the Stuckelberg field of the model with the scalars of the electroweak sector, and at the QCD phase transition. We discuss the possible mechanisms of sequential misalignments which could affect the axions of these models, and generated, in this case, at both transitions. We compute the contribution of these particles to dark matter, quantifying their relic densities as a function of the Stuckelberg mass. We also show that models with a single anomalous U(1) in general do not account for the dark energy, due to the presence of mixed U(1)-SU(3) anomalies.Comment: 29 pages, 5 figures. Revised version, accepted by Phys. Rev.

Water penetration profile at the protein-lipid interface in Na,K-ATPase membranes.

The affinity of ionized fatty acids for the Na,K-ATPase is used to determine the transmembrane profile of water penetration at the protein-lipid interface. The standardized intensity of the electron spin echo envelope modulation (ESEEM) from 2H-hyperfine interaction with D2O is determined for stearic acid, n-SASL, spin-labeled systematically at the C-n atoms throughout the chain. In both native Na,K-ATPase membranes from shark salt gland and bilayers of the extracted membrane lipids, the D2O-ESEEM intensities of fully charged n-SASL decrease progressively with position down the fatty acid chain toward the terminal methyl group. Whereas the D2O intensities decrease sharply at the n = 9 position in the lipid bilayers, a much broader transition region in the range n = 6 to 10 is found with Na,K-ATPase membranes. Correction for the bilayer population in the membranes yields the intrinsic D2O-intensity profile at the protein-lipid interface. For positions at either end of the chains, the D2O concentrations at the protein interface are greater than in the lipid bilayer, and the positional profile is much broader. This reveals the higher polarity, and consequently higher intramembrane water concentration, at the protein-lipid interface. In particular, there is a significant water concentration adjacent to the protein at the membrane midplane, unlike the situation in the bilayer regions of this cholesterol-rich membrane. Experiments with protonated fatty acid and phosphatidylcholine spin labels, both of which have a considerably lower affinity for the Na,K-ATPase, confirm these results

High Performances Corrugated Feed Horns for Space Applications at Millimetre Wavelengths

We report on the design, fabrication and testing of a set of high performance corrugated feed horns at 30 GHz, 70 GHz and 100 GHz, built as advanced prototypes for the Low Frequency Instrument (LFI) of the ESA Planck mission. The electromagnetic designs include linear (100 GHz) and dual shaped (30 and 70 GHz) profiles. Fabrication has been achieved by direct machining at 30 GHz, and by electro-formation at higher frequencies. The measured performances on side lobes and return loss meet the stringent Planck requirements over the large (20%) instrument bandwidth. Moreover, the advantage in terms of main lobe shape and side lobes levels of the dual profiled designs has been demonstrated.Comment: 16 pages, 7 figures, accepted for publication in Experimental Astronom

Molecular mechanisms of the acute kidney injury to chronic kidney disease transition: An updated view

Increasing evidence has demonstrated the bidirectional link between acute kidney injury (AKI) and chronic kidney disease (CKD) such that, in the clinical setting, the new concept of a unified syndrome has been proposed. The pathophysiological reasons, along with the cellular and molecular mechanisms, behind the ability of a single, acute, apparently self-limiting event to drive chronic kidney disease progression are yet to be explained. This acute injury could promote progression to chronic disease through different pathways involving the endothelium, the inflammatory response and the development of fibrosis. The interplay among endothelial cells, macrophages and other immune cells, pericytes and fibroblasts often converge in the tubular epithelial cells that play a central role. Recent evidence has strengthened this concept by demonstrating that injured tubules respond to acute tubular necrosis through two main mechanisms: The polyploidization of tubular cells and the proliferation of a small population of self-renewing renal progenitors. This alternative pathophysiological interpretation could better characterize functional recovery after AKI