Design of ant-inspired stochastic control policies for collective transport by robotic swarms

In this paper, we present an approach to designing decentralized robot control policies that mimic certain microscopic and macroscopic behaviors of ants performing collective transport tasks. In prior work, we used a stochastic hybrid system model to characterize the observed team dynamics of ant group retrieval of a rigid load. We have also used macroscopic population dynamic models to design enzyme-inspired stochastic control policies that allocate a robotic swarm around multiple boundaries in a way that is robust to environmental variations. Here, we build on this prior work to synthesize stochastic robot attachment–detachment policies for tasks in which a robotic swarm must achieve non-uniform spatial distributions around multiple loads and transport them at a constant velocity. Three methods are presented for designing robot control policies that replicate the steady-state distributions, transient dynamics, and fluxes between states that we have observed in ant populations during group retrieval. The equilibrium population matching method can be used to achieve a desired transport team composition as quickly as possible; the transient matching method can control the transient population dynamics of the team while driving it to the desired composition; and the rate matching method regulates the rates at which robots join and leave a load during transport. We validate our model predictions in an agent-based simulation, verify that each controller design method produces successful transport of a load at a regulated velocity, and compare the advantages and disadvantages of each method.     

Purification and characterization of an extracellular polysaccharide from haloalkalophilic Bacillus sp. I-450

During the course of investigation of haloalkalophilic bacteria, we screened some heavily polluted soil samples from the mudflats surrounding the city of Inchon, Korea, for their bioflocculant producing ability. Based on the screening, one isolate no. 450 tentatively identified as Bacillus sp. produced an extracellular polysaccharide having flocculation activity. The isolate produced the polysaccharide during the late logarithmic growth phase. The polymer could be recovered from the supernatant of the fermented medium by cold ethanol precipitation and purified by treating with cetylpyridinium chloride (CPC). The polymer was identified as an acidic polysaccharide containing neutral sugars, namely, galactose, fructose, glucose and raffinose, and uronic acids as major and minor components, respectively. The amount of neutral sugars, uronic acid and amino sugars were 52.4, 17.2 and 2.4%, respectively. The molecular weight of the polysaccharide was found to be 2.2×10⁶ Da. The Fourier transform infrared spectrophotometer (FT-IR) revealed typical characteristics of polysaccharides. ¹H NMR spectrum showed that the polymer is a heteroglycan. Thermogravimetric (TGA) analysis indicated the degradation temperature (T_d) at 290 °C. The rheological analysis of the polymer 450 revealed the pseudoplastic property with shear-thinning effect, while the compression test indicated that the polymer had high gel strength, and the S.E.M. studies showed that the polymer has a porous structure with small pore-size distribution indicating the compactness of the polymer.     

Molecular Markers Reveal Only Two Mud Crab Species of Genus Scylla (Brachyura: Portunidae) in Indian Coastal Waters

The taxonomic ambiguity of the Indian mud crab (genus Scylla de Hann 1833) is still a cause of concern as several papers have been published with misleading identification. This is the first attempt to resolve the taxonomic uncertainty of the mud crab commonly available in Indian coastal waters using molecular genetic markers (ITS-1 and sequencing of COI gene) combined with traditional morphometry. Additionally, we developed a PCR method by which Indian mud crab species can be identified rapidly and effectively. The results clearly indicate that the green morph of the Indian mud crab is Scylla serrata and the brown morph is S. olivacea. The S. serrata commonly mentioned in the literature from India is S. olivacea; the S. tranquebarica noted by many Indian researchers should belong to S. serrata. Caution should be taken when interpreting or implementing the biological, molecular, and aquaculture data in the literature.     

Significance of PELP1 in ER-negative breast cancer metastasis

Breast cancer metastasis is a major clinical problem. The molecular basis of breast cancer progression to metastasis remains poorly understood. PELP1 is an estrogen receptor (ER) coregulator that has been implicated as a proto-oncogene whose expression is deregulated in metastatic breast tumors and whose expression is retained in ER-negative tumors. We examined the mechanism and significance of PELP1-mediated signaling in ER-negative breast cancer progression using two ER-negative model cells (MDA-MB-231 and 4T1 cells) that stably express PELP1-shRNA. These model cells had reduced PELP1 expression (75% of endogenous levels) and exhibited less propensity to proliferate in growth assays in vitro. PELP1 downregulation substantially affected migration of ER-negative cells in Boyden chamber and invasion assays. Using mechanistic studies, we found that PELP1 modulated expression of several genes involved in the epithelial mesenchymal transition (EMT), including MMPs, SNAIL, TWIST, and ZEB. In addition, PELP1 knockdown reduced the in vivo metastatic potential of ER-negative breast cancer cells and significantly reduced lung metastatic nodules in a xenograft assay. These results implicate PELP1 as having a role in ER-negative breast cancer metastasis, reveal novel mechanism of coregulator regulation of metastasis via promoting cell motility/EMT by modulating expression of genes, and suggest PELP1 may be a potential therapeutic target for metastatic ER-negative breast cancer.     

Dopamine receptor agonist bromocriptine restrains the follicular development,hatchling success and puberty in Gambusia affinis

The present investigation was conducted to determine the influence of dopamine (DA) receptor agonist bromocriptine (BRO) on reproduction and onset of puberty in the viviparous fish Gambusia affinis. In the first experiment, the mean number of stage I and II follicles (previtellogenic) in 0.8 or 5 mg BRO treated fish did not show significant difference compared to those of experimental controls, whereas the mean number of stage III follicles were significantly lower in 5 mg BRO treated fish compared to experimental controls. However, treatment of 0.8 or 5 mg BRO resulted in significantly lower numbers of stage IV (early vitellogenic) and V (late vitellogenic) follicles compared to those of experimental controls. There was decrease in the percent occurrence of pregnancy and different stages of embryos in BRO treated fish compared with the experimental controls. Concomitant with this, sparsely distributed gonadotropin releasing hormone immunoreactive (GnRH‐ir) fibres were observed in the proximal pars distalis (PPD) region of the pituitary gland in BRO treated fish compared to those of dense accumulations of these fibres in the PPD region of the pituitary gland in experimental controls. In the second experiment, exposure of juveniles (25 DPH) to same doses of BRO for 45 days resulted in complete absence of vitellogenic follicles and presence of few GnRH‐ir fibres in 5 mg BRO treated juvenile in contrast to presence of vitellogenic follicles and dense aggregation of GnRH fibres in treatment controls. Overall, the results of the present investigation suggest that DA affects ovarian follicular and embryonic development and onset of puberty in viviparous species.     

Comparison of controlled pore glass and Kieselguhr-polydimethylacrylamide composite as supports for solid-phase synthesis of 23-residue oligodeoxyribonucleotides in milligram amounts

Two 23-residue oligodeoxyribonucleotides, corresponding to both strands of a DNA duplex at the OR3 site of bacteriophage lambda, have been synthesized in good yields and in milligram quantities by a solid-phase phosphotriester method using two different supports, Kieselguhr-polydimethylacrylamide composite and controlled pore glass. Rapid purification was possible using high-performance liquid chromatography on radial compression ion-exchange columns. The results and utility of the two supports are compared.     

Predictive ability of genomic selection models in a multi-population perennial ryegrass training set using genotyping-by-sequencing

Key message

Genomic prediction models for multi-year dry matter yield, via genotyping-by-sequencing in a composite training set, demonstrate potential for genetic gain improvement through within-half sibling family selection.

Abstract

Perennial ryegrass (Lolium perenne L.) is a key source of nutrition for ruminant livestock in temperate environments worldwide. Higher seasonal and annual yield of herbage dry matter (DMY) is a principal breeding objective but the historical realised rate of genetic gain for DMY is modest. Genomic selection was investigated as a tool to enhance the rate of genetic gain. Genotyping-by-sequencing (GBS) was undertaken in a multi-population (MP) training set of five populations, phenotyped as half-sibling (HS) families in five environments over 2 years for mean herbage accumulation (HA), a measure of DMY potential. GBS using the ApeKI enzyme yielded 1.02 million single-nucleotide polymorphism (SNP) markers from a training set of n = 517. MP-based genomic prediction models for HA were effective in all five populations, cross-validation-predictive ability (PA) ranging from 0.07 to 0.43, by trait and target population, and 0.40–0.52 for days-to-heading. Best linear unbiased predictor (BLUP)-based prediction methods, including GBLUP with either a standard or a recently developed (KGD) relatedness estimation, were marginally superior or equal to ridge regression and random forest computational approaches. PA was principally an outcome of SNP modelling genetic relationships between training and validation sets, which may limit application for long-term genomic selection, due to PA decay. However, simulation using data from the training experiment indicated a twofold increase in genetic gain for HA, when applying a prediction model with moderate PA in a single selection cycle, by combining among-HS family selection, based on phenotype, with within-HS family selection using genomic prediction.

     

Development of pipette tip gap closure migration assay (s-ARU method) for studying semi-adherent cell lines

This work presents a pipette tip gap closure migration assay prototype tool (semi-adherent relative upsurge—s-ARU—method) to study cell migration or wound healing in semi-adherent cell lines, such as lymph node carcinoma of the prostate (LNCaP). Basically, it consists of a 6-well cover plate modification, where pipette tips with the filter are shortened and fixed vertically to the inner surface of the cover plate, with their heights adjusted to touch the bottom of the well center. This provides a barrier for the inoculated cells to grow on, creating a cell-free gap. Such a uniform gap formed can be used to study migration assay for both adherent as well as semi-adherent cells. After performing time studies, effective measurement of gap area can be carried out conveniently through image analysis software. Here, the prototype was tested for LNCaP cells, treated with testosterone and flutamide as well as with bacteriophages T4 and M13. A scratch assay using PC3 adherent cells was also performed for comparison. It was observed that s-ARU method is suitable for studying LNCaP cells migration assay, as observed from our results with testosterone, flutamide, and bacteriophages (T4 and M13). Our method is a low-cost handmade prototype, which can be an alternative to the other migration assay protocol(s) for both adherent and semi-adherent cell cultures in oncological research along with other biological research applications.