Friction Variability in Planar Pushing Data: Anisotropic Friction and Data-collection Bias

Friction plays a key role in manipulating objects. Most of what we do with our hands, and most of what robots do with their grippers, is based on the ability to control frictional forces. This paper aims to better understand the variability and predictability of planar friction. In particular, we focus on the analysis of a recent dataset on planar pushing by Yu et al. [1] devised to create a data-driven footprint of planar friction. We show in this paper how we can explain a significant fraction of the observed unconventional phenomena, e.g., stochasticity and multi-modality, by combining the effects of material non-homogeneity, anisotropy of friction and biases due to data collection dynamics, hinting that the variability is explainable but inevitable in practice. We introduce an anisotropic friction model and conduct simulation experiments comparing with more standard isotropic friction models. The anisotropic friction between object and supporting surface results in convergence of initial condition during the automated data collection. Numerical results confirm that the anisotropic friction model explains the bias in the dataset and the apparent stochasticity in the outcome of a push. The fact that the data collection process itself can originate biases in the collected datasets, resulting in deterioration of trained models, calls attention to the data collection dynamics.Comment: 8 pages, 13 figure

Telomere-driven diseases and telomere-targeting therapies

Telomeres, the protective ends of linear chromosomes, shorten throughout an individual's lifetime. Telomere shortening is proposed to be a primary molecular cause of aging. Short telomeres block the proliferative capacity of stem cells, affecting their potential to regenerate tissues, and trigger the development of age-associated diseases. Mutations in telomere maintenance genes are associated with pathologies referred to as telomere syndromes, including Hoyeraal-Hreidarsson syndrome, dyskeratosis congenita, pulmonary fibrosis, aplastic anemia, and liver fibrosis. Telomere shortening induces chromosomal instability that, in the absence of functional tumor suppressor genes, can contribute to tumorigenesis. In addition, mutations in telomere length maintenance genes and in shelterin components, the protein complex that protects telomeres, have been found to be associated with different types of cancer. These observations have encouraged the development of therapeutic strategies to treat and prevent telomere-associated diseases, namely aging-related diseases, including cancer. Here we review the molecular mechanisms underlying telomere-driven diseases and highlight recent advances in the preclinical development of telomere-targeted therapies using mouse models.Research in the Blasco laboratory is funded by the Spanish Ministry of Economy and Competitiveness and Fondo Europeo de Desarrollo Regional project RET OS (grant SAF2013-45111-R), the European Research Council project TEL STEM CELL (grant ERC-2008-AdG/232854), and Fondacion Botin.S

CD32-RNA Co-localizes with HIV-RNA in CD3+ Cells Found within Gut Tissues from Viremic and ART-Suppressed Individuals.

BackgroundIdentifying biomarkers for cells harboring replication-competent HIV is a major research priority. Recently, there have been mixed reports addressing the possibility that CD32-expressing T cells are enriched for HIV. There is growing evidence that CD32 expression increases with cellular activation that may be related to, but not necessarily specific for, infection with HIV. However, the relationship of CD32 expression to HIV-infection in subtypes of tissue-resident leukocytes is unclear.MethodsFirst, we used duplex chromogenic in situ hybridization to identify cells actively transcribing RNA for both CD32 and HIV on human gut tissues. Then we performed multiplexed immunofluorescence and in situ hybridization (mIFISH) on sections from the same tissues to determine the phenotype of individual cells co-expressing HIV-RNA and CD32-RNA.ResultsHIV-RNA+ cells were more abundant in tissues from viremic individuals than in those receiving suppressive anti-retroviral therapy (ART). However, staining by both methods indicated that a higher proportion of HIV-RNA+ cells co-expressed CD32-RNA in ART-suppressed individuals than in those with viremia. The majority of HIV-RNA+ cells were CD3+.ConclusionsOur data suggest that the transcription of CD32-RNA is correlated with HIV transcriptional activity in CD3+ cells found within human gut tissue. Whether or not up-regulation of CD32-RNA is a direct result of HIV transcription or more global T-cell activation remains unclear

The diverse evolutionary paths of simulated high-z massive, compact galaxies to z=0

Massive quiescent galaxies have much smaller physical sizes at high redshift than today. The strong evolution of galaxy size may be caused by progenitor bias, major and minor mergers, adiabatic expansion, and/or renewed star formation, but it is difficult to test these theories observationally. Herein, we select a sample of 35 massive, compact galaxies ($M_* = 1-3 \times 10^{11}$ M$_\odot$, $M_*/R^{1.5} > 10^{10.5}$ M$_\odot$/kpc$^{1.5}$) at $z=2$ in the cosmological hydrodynamical simulation Illustris and trace them forward to $z=0$ to uncover their evolution and identify their descendants. By $z=0$, the original factor of 3 difference in stellar mass spreads to a factor of 20. The dark matter halo masses similarly spread from a factor of 5 to 40. The galaxies' evolutionary paths are diverse: about half acquire an ex-situ envelope and are the core of a more massive descendant, a third survive undisturbed and gain very little mass, 15% are consumed in a merger with a more massive galaxy, and a small remainder are thoroughly mixed by major mergers. The galaxies grow in size as well as mass, and only $\sim$10% remain compact by $z=0$. The majority of the size growth is driven by the acquisition of ex-situ mass. The most massive galaxies at $z=0$ are the most likely to have compact progenitors, but this trend possesses significant dispersion which precludes a direct linkage to compact galaxies at $z=2$. The compact galaxies' merger rates are influenced by their $z=2$ environments, so that isolated or satellite compact galaxies (which are protected from mergers) are the most likely to survive to the present day.Comment: 19 pages, 10 figures, MNRAS accepted version including 2 new figure

VAT And Electronic Books

The publishing sector has experienced an important change linked to the emergence of electronics books. This new reality has an impact in the cultural industry and demands the adaptation of public regulations that affect the production and consumption of cultural goods and services. For this purpose, the authors carry out an analysis of the legislation applicable to the cultural sector, focusing on the publication of electronic books, in order to meet the impact of these measures in the economy.The importance of public action is made clear in the protection of copyright and the fight against illegal access, in order not to reduce tax collection, because this could be negative for the support of the worselfare state.The analysis is carried out for the Spanish case, although the results obtained may be extrapolated to the rest of the states of the European Union, given that the regulations are community-based