Robust sound source mapping using three-layered selective audio rays for mobile robots

© 2016 IEEE. This paper investigates sound source mapping in a real environment using a mobile robot. Our approach is based on audio ray tracing which integrates occupancy grids and sound source localization using a laser range finder and a microphone array. Previous audio ray tracing approaches rely on all observed rays and grids. As such observation errors caused by sound reflection, sound occlusion, wall occlusion, sounds at misdetected grids, etc. can significantly degrade the ability to locate sound sources in a map. A three-layered selective audio ray tracing mechanism is proposed in this work. The first layer conducts frame-based unreliable ray rejection (sensory rejection) considering sound reflection and wall occlusion. The second layer introduces triangulation and audio tracing to detect falsely detected sound sources, rejecting audio rays associated to these misdetected sounds sources (short-term rejection). A third layer is tasked with rejecting rays using the whole history (long-term rejection) to disambiguate sound occlusion. Experimental results under various situations are presented, which proves the effectiveness of our method

Heterologous expression and characterization of CpI, OcpA, and novel serine-type carboxypeptidase OcpB from Aspergillus oryzae

In the genome of Aspergillus oryzae, 12 genes have been predicted to encode serine-type carboxypeptidases. However, the carboxypeptidase activities of the proteins encoded by these genes have not yet been confirmed experimentally. In this study, we have constructed three of these 12 genes overexpressing strains using Aspergillus nidulans and characterized their overproduced recombinant proteins. Of these three genes, one was previously named cpI; the other two have not been reported yet, and hence, we named them ocpA and ocpB. The recombinant proteins released amino acid residues from the C terminus of peptides, and the activity of the enzymes was inhibited by phenylmethylsulfonyl fluoride, indicating the enzymes to be serine-type carboxypeptidases. Recombinant OcpA, OcpB, and CpI were stable at 45°C, 55°C, and 55°C, respectively, at a low pH. The enzymatic properties of recombinant OcpB were different from those of any reported serine-type carboxypeptidase. On the other hand, recombinant OcpA had similar enzymatic properties to A. oryzae carboxypeptidases O1 and O2. The DNA and N-terminal amino acid sequences of carboxypeptidases O1 and O2 from A. oryzae IAM2640 were similar to those of OcpA. Result of transcriptional analysis of ocpA, ocpB, and cpI suggest differences in transcriptional regulation between these genes

Intracellular Phospholipase A1 and Acyltransferase, Which Are Involved in Caenorhabditis elegans Stem Cell Divisions, Determine the sn-1 Fatty Acyl Chain of Phosphatidylinositol

Phosphatidylinositol (PI) is unique in the abundance of stearic acid at the sn-1 position. This fatty acid is thought to be incorporated through fatty acid remodeling. Here, we identified a phospholipase and acyltransferases involved in the fatty acid remodeling at the sn-1 position of PI and provide a link between the sn-1 fatty acid of PI and asymmetric cell division

The Roles and Acting Mechanism of Caenorhabditis elegans DNase II Genes in Apoptotic DNA Degradation and Development

DNase II enzymes are acidic endonucleases that have been implicated in mediating apoptotic DNA degradation, a critical cell death execution event. C. elegans genome contains three DNase II homologues, NUC-1, CRN-6, and CRN-7, but their expression patterns, acting sites, and roles in apoptotic DNA degradation and development are unclear. We have conducted a comprehensive analysis of three C. elegans DNase II genes and found that nuc-1 plays a major role, crn-6 plays an auxiliary role, and crn-7 plays a negligible role in resolving 3′ OH DNA breaks generated in apoptotic cells. Promoter swapping experiments suggest that crn-6 but not crn-7 can partially substitute for nuc-1 in mediating apoptotic DNA degradation and both fail to replace nuc-1 in degrading bacterial DNA in intestine. Despite of their restricted and largely non-overlapping expression patterns, both CRN-6 and NUC-1 can mediate apoptotic DNA degradation in many cells, suggesting that they are likely secreted nucleases that are retaken up by other cells to exert DNA degradation functions. Removal or disruption of NUC-1 secretion signal eliminates NUC-1's ability to mediate DNA degradation across its expression border. Furthermore, blocking cell corpse engulfment does not affect apoptotic DNA degradation mediated by nuc-1, suggesting that NUC-1 acts in apoptotic cells rather than in phagocytes to resolve 3′ OH DNA breaks. Our study illustrates how multiple DNase II nucleases play differential roles in apoptotic DNA degradation and development and reveals an unexpected mode of DNase II action in mediating DNA degradation

Graph extraction from color images

Abstract. An approach to symbolic contour extraction will be described that consists of three stages: enhancement, detection, and extraction of edges and corners. Edges and corners are enhanced by models of monkey cortical complex and end-stopped cells. Detection of corners and local edge maxima is performed by selection of local maxima in both edge and corner enhanced images. These maxima form the anchor points of a greedy contour following algorithm that extracts the edges. This algorithm is based on an idea of spatially linking neurons along the edge that will fire in synchrony to indicate an extracted edge. The extracted edges and detected corners represent the symbolic representation of the image. The advantage of the proposed model over other models is that the same low constant thresholds for corner and local edge maxima detection are used for different images. Closed contours are guaranteed by the contour following algorithm to yield a fully symbolic representation which is more suitable for reasoning and recognition. In this respect our methodology is unique, and clearly different from the standard edge detection methods.