A Comparative Analysis of Darwinian Asexual and Sexual Reproduction in Evolutionary Robotics

Evolutionary Robotics systems draw inspiration from natural evolution to solve the problem of robot design. A key moment in the evolutionary process is reproduction, when the genotype of one or more parents is inherited by their offspring. Existent approaches have used both sexual and asexual reproduction but a comparison between the two is still missing. In this work, we study the effects of sexual and asexual reproduction on the controllers of an Evolutionary Robotics system. In our system, both morphologies and controllers are jointly evolved to solve two separate tasks. We adopt the Triangle of Life framework, in which the controllers go through a phase of learning before reproduction. Using extensive simulations we show that sexual reproduction of the robots' brains is preferable over asexual reproduction as it obtains better robots in terms of fitness. Moreover, we show that sexually reproducing robots present different morphologies and behaviors than the asexually reproducing ones, even though the reproduction mechanism only affects their brains. Finally, we study the effects of the reproduction mechanism on the robots' learning capabilities. By measuring the difference between the inherited and the learned brain we find that robots that evolved using sexual reproduction have better inherited brains and are also better learners

A Comparative Study of Brain Reproduction Methods for Morphologically Evolving Robots

In the most extensive robot evolution systems, both the bodies and the brains of the robots undergo evolution and the brains of 'infant' robots are also optimized by a learning process immediately after 'birth'. This paper is concerned with the brain evolution mechanism in such a system. In particular, we compare four options obtained by combining asexual or sexual brain reproduction with Darwinian or Lamarckian evolution mechanisms. We conduct experiments in simulation with a system of evolvable modular robots on two different tasks. The results show that sexual reproduction of the robots' brains is preferable in the Darwinian framework, but the effect is the opposite in the Lamarckian system (both using the same infant learning method). Our experiments suggest that the overall best option is asexual reproduction combined with the Lamarckian framework, as it obtains better robots in terms of fitness than the other three. Considering the evolved morphologies, the different brain reproduction methods do not lead to differences. This result indicates that the morphology of the robot is mainly determined by the task and the environment, not by the brain reproduction methods.Comment: 8 pages, ALif

The Shigella flexneri OmpA amino acid residues 188EVQ190 are essential for the interaction with the virulence factor PhoN2

Shigella flexneri is an intracellular pathogen that deploys an arsenal of virulence factors promoting host cell invasion, intracellular multiplication and intra- and inter-cellular dissemination. We have previously reported that the interaction between apyrase (PhoN2), a periplasmic ATP-diphosphohydrolase, and the C-terminal domain of the outer membrane (OM) protein OmpA is likely required for proper IcsA exposition at the old bacterial pole and thus for full virulence expression of Shigella flexneri (Scribano et al., 2014). OmpA, that is the major OM protein of Gram-negative bacteria, is a multifaceted protein that plays many different roles both in the OM structural integrity and in the virulence of several pathogens. Here, by using yeast two-hybrid technology and by constructing an in silico 3D model of OmpA from S. flexneri 5a strain M90T, we observed that the OmpA residues 188EVQ190 are likely essential for PhoN2-OmpA interaction. The 188EVQ190 amino acids are located within a flexible region of the OmpA protein that could represent a scaffold for protein-protein interaction

The adherent/invasive escherichia coli (AIEC) strain LF82 invades and persists in human prostate cell lineRWPE-1 activating a strong inflammatory response

Adherent/invasive Escherichia coli (AIEC) strains have recently been receiving increased attention because they are more prevalent and persistent in the intestine of Crohn's disease (CD) patients than in healthy subjects. Since AIEC strains show a high percentage of similarity to extraintestinal pathogenic E. coli (ExPEC), neonatal meningitis-associated E. coli (NMEC), and uropathogenic E. coli (UPEC) strains, here we compared AIEC strain LF82 with a UPEC isolate (strain EC73) to assess whether LF82 would be able to infect prostate cells as an extraintestinal target. The virulence phenotypes of both strains were determined by using the RWPE-1 prostate cell line. The results obtained indicated that LF82 and EC73 are able to adhere to, invade, and survive within prostate epithelial cells. Invasion was confirmed by immunofluorescence and electron microscopy. Moreover, cytochalasin D and colchicine strongly inhibited bacterial uptake of both strains, indicating the involvement of actin microfilaments and microtubules in host cell invasion. Moreover, both strains belong to phylogenetic group B2 and are strong biofilm producers. In silico analysis reveals that LF82 shares with UPEC strains several virulence factors: namely, type 1 pili, the group II capsule, the vacuolating autotransporter toxin, four iron uptake systems, and the pathogenic island (PAI). Furthermore, compared to EC73, LF82 induces in RWPE-1 cells a marked increase of phosphorylation of mitogen-activated protein kinases (MAPKs) and of NF-κB already by 5 min postinfection, thus inducing a strong inflammatory response. Our in vitro data support the hypothesis that AIEC strains might play a role in prostatitis, and, by exploiting host-cell signaling pathways controlling the innate immune response, likely facilitate bacterial multiplication and dissemination within the male genitourinary trac

Chromogranin A fragments modulate cell adhesion. Identification and characterization of a pro-adhesive domain.

Although several functions have been suggested for chromogranin A, a glycoprotein secreted by many neuroendocrine cells, the physiological role of this protein and of its proteolytic fragments has not been established. We have found that mixtures of chromogranin A fragments can inhibit fibroblast adhesion. The anti-adhesive activity was converted into pro-adhesive activity by limited trypsin treatment. Pro-adhesive effects were observed also with recombinant N-terminal fragments corresponding to residues 1–78 and 1–115 and with a synthetic peptide encompassing the residues 7–57. These fragments induced adhesion and spreading of fibroblasts on plates coated with collagen I or IV, laminin, fetal calf serum (FCS) but not on bovine serum albumin. The long incubation time required for adhesion assays (4 h) and the FCS requirements for optimal adhesion suggest that the adhesive activity is likely indirect and requires other proteins present in the FCS or made by the cells. These findings suggest that chromogranin A and its fragments could play a role in the regulation of cell adhesion. Since chromogranin A is concentrated and stored within granules and rapidly released by neuroendocrine cells and neurons after an appropriate stimulus, this protein could be important for the local control of cell adhesion by stimulated cells

Characterization of the ear canal bacterial flora present in hearing Aids (HA) wearing subjects

The use of hearing aids (HA) is considered a predisposing factor for ear microbial infections. We undertook this study to compare the presence and nature of the microbial flora inhabiting of ears of HA and non-HA (nHA) users. Swab samples of the ears of HA and nHA users were collected from the Institute of Otolaryngology, “Cattolica del Sacro Cuore” University “Agostino Gemelli”, Rome, Italy. Swab samples were taken from the ear canal of 57 HA and 33 nHA users. The components of the microbial flora present on each swab sample were identified and characterized at the level of species. A total of 41 different bacterial species were identified. A statistically significant prevalence of polymicrobial communities was found in ears presenting signs of inflammation (2.5 ± 1.7 vs 2.1 ± 1.3; P = 0.02) and in HA users (2.3 ± 1.2 vs 1.7 ± 1.0; P = 0.002). Few putative pathogens were detected. Candida albicans spp. was not isolated in our study. A small number of swab samples presented no microbial growth. Bacterial species isolated from HA users with and without inflammation were assayed for the ability to form a biofilm. Among gram-positive and gram-negative bacteria, S. aureus, CoNS, P. aeruginosa, and K. pneumoniae were found to be strong biofilm producers. S. aureus and P. aeruginosa, isolated only from the ears of HA and nHA users presenting signs of inflammation, were further analyzed for their antibiotic-resistance profile and characterized by the Multilocus Sequence Typing (MLST) assay. The highest rates of antibacterial resistance were in S. aureus to a penicillin (75.5%) and in P. aeruginosa, to amoxicillin-clavulanic acid, cefotaxime, ertapenem, tigecycline and trimethoprim-sulfamethoxazole (100%). Moreover, three S. aureus strains (37.5%) were methicillin-resistant (MRSA). Of the eight S. aureus isolates, we identified six sequence types (ST) indicating that 75% are likely independent clones. For what it concerned P. aeruginosa, six different STs were assigned. Interestingly, two out of the six strains presented newly identified ST values. This study sheds new light on the combined effect of the presence of HA devices and signs of external ear inflammation on the composition of the ear bacterial flora. Our results reinforce the need to practice careful hygiene of HA devices to prevent serious ear canal infections

TLR-4 and VEGF polymorphisms in chronic periaortitis

Chronic periaortitis (CP) is a rare disease that is characterised by fibro-inflammatory tissue surrounding the abdominal aorta and has both non-aneurysmal (idiopathic retroperitoneal fibrosis [IRF]) and aneurysmal forms (inflammatory abdominal aortic aneurysm [IAAA]). We investigated whether toll-like receptor 4 (TLR-4) and vascular endothelial growth factor (VEGF) polymorphisms were associated with susceptibility to, and the clinical features of CP

Genotypic and phenotypic characterization of Escherichia coli isolates recovered from the uterus of mares with fertility problems

Escherichia coli is the bacterial pathogen most frequently associated with mare infertility. Here, we characterized 24 E. coli strains isolated from mares which presented signs of endometritis and infertility from a genotypic and phenotypic point of view. The majority of the isolates belonged to phylogenetic group B1 (9/24, 37.5%). Regarding antibiotic resistance profiles, 10 out of 24 (41.7%) were multidrug-resistant (MDR). Moreover, 17 out of 24 (70.8%) were strong or moderate biofilm producers, and of these eight were MDR strains. Interestingly, 21 out of 24 (87.5%) E. coli strains were phenotypically resistant to ampicillin and 10 of them were also resistant to amoxicillin with clavulanic acid. Regarding the presence of selected virulence factors, 50% of the examined strains carried at least three of them, with fimH detected in all strains, and followed by kpsMTII (11/24, 45.9%). No strain was able to invade HeLa cell monolayers. No relevant differences for all the investigated characteristics were shown by strains that grew directly on plates versus strains requiring the broth-enrichment step before growing on solid media. In conclusion, this work provides new insight into E. coli strains associated with mares' infertility. These results broaden the knowledge of E. coli and, consequently, add useful information to improve prevention strategies and therapeutic treatments contributing to a significant increase in the pregnancy rate in mares

Hydrogen Purification and Odorization to Evaluate the Distribution of This Energy Carrier Through the Gas Pipelines

Due to hydrogen storage and transport problem, a concrete and immediate solution is the exploitation of the gas pipelines now used for natural gas. In this regard, this work aims to evaluate two main aspects that must be taken into account to make this approach possible: the separation of hydrogen from natural gas-hydrogen mixture and the odorization of the latter, in order to provide the safety of the pipelines. Therefore, the first part of this study is the evaluation of the efficiency of a purification system in presence of a variable quantity of methane in the inner stream. For these purposes, electrochemical hydrogen compression (EHC) system was selected, due to the great advantage of allowing both purification and compression in a single device. Different methane-hydrogen mixtures were taken into consideration, going to evaluate how an increasing amount of methane affects the efficiency of the system. The second part of this work is focused on a further development of a previous simulation study related to a possible process for natural gas-hydrogen mixtures odorization systems using AVEVA's PRO II software. As odorant, GASODOR S-FREE was taken into consideration, thanks to the fact that this is a common odorant used for methane with the great advantage of not containing sulfur, unlike THT and mercaptans