Dynamics parametrically controlled by image correlations organize robot navigation

Behavior-based robot designs confront the problem of how different elementary behaviors can be integrated. We address two aspects of this problem: the stabilization of behavioral decisions that are induced by changing sensory information and the fusion of multiple sources of sensory information. The concrete context is homing and obstacle avoidance in a vision-guided mobile robot. Obstacle avoidance is based on extracting time-to-contact information from optic flow. A dynamical system controls heading direction and velocity. Time-to-contact estimates parametrically control this dynamical system, the attractors of which generate robot movement. Decisions come about through bifurcations of the dynamics and are stabilized through hysteresis. Homing is based on image correlations between memorized and current views. These control parametrically a dynamics of ego-position estimation, which converges in closed loop so as to position the robot at the home position. Unreliable visual information and more continous open-loop dead-reckoning information are integrated within this dynamics. This permits vision-based homing, but also stabilizes the behavior during periods of absent or erroneous visual information through the internal state of the dynamical system. The navigation scheme is demonstrated on a robot platform in real time. Received: 2 May 1995 / Accepted in revised form: 10 June 1996     

Simple di- and trivanillates exhibit cytostatic properties toward cancer cells resistant to pro-apoptotic stimuli

A series of 33 novel divanillates and trivanillates were synthesized and found to possess promising cytostatic rather than cytotoxic properties. Several compounds under study decreased by >50% the activity of Aurora A, B, and C, and WEE1 kinase activity at concentrations <10% of their IC₅₀ growth inhibitory ones, accounting, at least partly, for their cytostatic effects in cancer cells and to a lesser extent in normal cells. Compounds 6b and 13c represent interesting starting points for the development of cytostatic agents to combat cancers, which are naturally resistant to pro-apoptotic stimuli, including metastatic malignancies.     

Race: a social destruction of a biological concept

It is nowadays a dominant opinion in a number of disciplines (anthropology, genetics, psychology, philosophy of science) that the taxonomy of human races does not make much biological sense. My aim is to challenge the arguments that are usually thought to invalidate the biological concept of race. I will try to show that the way “race” was defined by biologists several decades ago (by Dobzhansky and others) is in no way discredited by conceptual criticisms that are now fashionable and widely regarded as cogent. These criticisms often arbitrarily burden the biological category of race with some implausible connotations, which then opens the path for a quick eliminative move. However, when properly understood, the biological notion of race proves remarkably resistant to these deconstructive attempts. Moreover, by analyzing statements of some leading contemporary scholars who support social constructivism about race, I hope to demonstrate that their eliminativist views are actually in conflict with what the best contemporary science tells us about human genetic variation.     

The real-time polymerase chain reaction

The scientific, medical, and diagnostic communities have been presented the most powerful tool for quantitative nucleic acids analysis: real-time PCR [Bustin, S.A., 2004. A-Z of Quantitative PCR. IUL Press, San Diego, CA]. This new technique is a refinement of the original Polymerase Chain Reaction (PCR) developed by Kary Mullis and coworkers in the mid 80:ies [Saiki, R.K., et al., 1985. Enzymatic amplification of beta-globin genomic sequences and restriction site analysis for diagnosis of sickle cell anemia, Science 230, 1350], for which Kary Mullis was awarded the 1993 year's Nobel prize in Chemistry. By PCR essentially any nucleic acid sequence present in a complex sample can be amplified in a cyclic process to generate a large number of identical copies that can readily be analyzed. This made it possible, for example, to manipulate DNA for cloning purposes, genetic engineering, and sequencing. But as an analytical technique the original PCR method had some serious limitations. By first amplifying the DNA sequence and then analyzing the product, quantification was exceedingly difficult since the PCR gave rise to essentially the same amount of product independently of the initial amount of DNA template molecules that were present. This limitation was resolved in 1992 by the development of real-time PCR by Higuchi et al. [Higuchi, R., Dollinger, G., Walsh, P.S., Griffith, R., 1992. Simultaneous amplification and detection of specific DNA-sequences. Bio-Technology 10(4), 413-417]. In real-time PCR the amount of product formed is monitored during the course of the reaction by monitoring the fluorescence of dyes or probes introduced into the reaction that is proportional to the amount of product formed, and the number of amplification cycles required to obtain a particular amount of DNA molecules is registered. Assuming a certain amplification efficiency, which typically is close to a doubling of the number of molecules per amplification cycle, it is possible to calculate the number of DNA molecules of the amplified sequence that were initially present in the sample. With the highly efficient detection chemistries, sensitive instrumentation, and optimized assays that are available today the number of DNA molecules of a particular sequence in a complex sample can be determined with unprecedented accuracy and sensitivity sufficient to detect a single molecule. Typical uses of real-time PCR include pathogen detection, gene expression analysis, single nucleotide polymorphism (SNP) analysis, analysis of chromosome aberrations, and most recently also protein detection by real-time immuno PCR.     

Confirmation and efficacy tests against codling moth and oriental fruit moth in apples using combination heat and controlled atmosphere treatments

Codling moth, Cydia pomonella (L.), and oriental fruit moth, Grapholita molesta (Busck), are serious pests of apples (Malus spp.) grown in the United States and other countries. In countries where these species are not found, there are strict quarantine restrictions in place to prevent their accidental introduction. The treatment used in this study consisted of hot, forced, moist air with a linear heating rate of 12 degrees C/h to a final chamber temperature of 46 degrees C under a 1% oxygen and 15% carbon dioxide environment. We found that the fourth instar of both species was the most tolerant to the treatment, with equal tolerance between the species. Efficacy tests against the fourth instar of both oriental fruit moth and codling moth by using a commercial controlled atmosphere temperature treatment system chamber resulted in > 5,000 individuals of each species being controlled using the combination treatment. Confirmation tests against codling moth resulted in mortality of > 30,000 fourth instars. These treatments may be used to meet quarantine restrictions for organic apples where fumigation with methyl bromide is not desirable.     

Combined heat and controlled atmosphere quarantine treatments for control of western cherry fruit fly in sweet cherries

Nonchemical quarantine treatments, using a combination of short duration high temperatures under low oxygen, elevated carbon dioxide atmospheric environment were developed to control western cherry fruit fly, Rhagoletis indifferens Curran, in sweet cherries, Prunus avium (L.). The two treatments developed use a chamber temperature of 45 degrees C for 45 min and a chamber temperature of 47 degreesd C for 25 min, both under a 1% oxygen, 15% carbon dioxide, -2 degrees C dew point environment. Both these treatments have been shown to provide control of all life stages of western cherry fruit fly while preserving commodity market quality. There was no definitive egg or larval stage, which was demonstrated to be the most tolerant to either controlled atmosphere temperature treatment system treatment. Efficacy tests for both treatments resulted in 100% mortality of >5000 western cherry fruit flies in each treatment. These treatments may provide, with further study, quarantine security in exported sweet cherries where western cherry fruit fly is a quarantine concern and fumigation with methyl bromide is not desired.     

Combining sequence-specific probes and DNA binding dyes in real-time PCR for specific nucleic acid quantification and melting curve analysis

Currently, in real-time PCR, one often has to choose between using a sequence-specific probe and a nonspecific double-stranded DNA (dsDNA) binding dye for the detection of amplified DNA products. The sequence-specific probe has the advantage that it only detects the targeted product, while the nonspecific dye has the advantage that melting curve analysis can be performed after completed amplification, which reveals what kind of products have been formed. Here we present a new strategy based on combining a sequence-specific probe and a nonspecific dye, BOXTO, in the same reaction, to take the advantage of both chemistries. We show that BOXTO can be used together with both TaqMan probes and locked nucleic acid (LNA) probes without interfering with the PCR. The probe signal reflect formation of target product, while melting curve analysis of the BOXTO signal reveals primer-dimer formation and the presence of any other anomalous products.     

Heated-controlled atmosphere postharvest treatments for Macchiademus diplopterus (Hemiptera: Lygaeidae) and Phlyctinus callosus (Coleoptera: Curculionidae)

Nonchemical, environmentally friendly quarantine treatments are preferred for use in postharvest control of insect pests. Combined high temperature and controlled atmosphere quarantine treatments for phytosanitary fruit pests Macchiademus diplopterus (Distant) (Hemiptera: Lygaeidae) and Phlyctinus callosus (Schoenherr) (Coleoptera: Curculionidae) were investigated to determine the potential of such treatments for quarantine security. Field-collected, aestivating M. diplopterus adults and P. callosus adults were treated using a controlled atmosphere waterbath system. This system simulates the controlled atmosphere temperature treatment system (CATTS) used to control a number of phytosanitary pests in the United States and allows for a rapid assessment of pest response to treatment. Insects were treated under regular air conditions and a controlled atmosphere of 1% oxygen, 15% carbon dioxide in nitrogen, at two ramping heat rates, 12 and 24 degrees C/h. Treatment of both species was more effective under both heating rates when the controlled atmosphere condition was applied. Under these conditions of controlled atmospheres, mortality of P. callosus was greater when the faster heating rate was used, but the opposite was true for M. diplopterus. This could be due to the physiological condition of aestivation contributing to metabolic arrest in response to the stresses being applied during treatment. Results indicate that the potential for the development of CATTS treatments for these phytosanitary pests, particularly P. callosus, is promising.     

A Magnesium Based Phosphate Binder Reduces Vascular Calcification without Affecting Bone in Chronic Renal Failure Rats

The alternative phosphate binder calcium acetate/magnesium carbonate (CaMg) effectively reduces hyperphosphatemia, the most important inducer of vascular calcification, in chronic renal failure (CRF). In this study, the effect of low dose CaMg on vascular calcification and possible effects of CaMg on bone turnover, a persistent clinical controversy, were evaluated in chronic renal failure rats. Adenine-induced CRF rats were treated daily with 185 mg/kg CaMg or vehicle for 5 weeks. The aortic calcium content and area% calcification were measured to evaluate the effect of CaMg. To study the effect of CaMg on bone remodeling, rats underwent 5/6th nephrectomy combined with either a normal phosphorus diet or a high phosphorus diet to differentiate between possible bone effects resulting from either CaMg-induced phosphate deficiency or a direct effect of Mg. Vehicle or CaMg was administered at doses of 185 and 375 mg/kg/day for 8 weeks. Bone histomorphometry was performed. Aortic calcium content was significantly reduced by 185 mg/kg/day CaMg. CaMg ameliorated features of hyperparathyroid bone disease. In CRF rats on a normal phosphorus diet, the highest CaMg dose caused an increase in osteoid area due to phosphate depletion. The high phosphorus diet combined with the highest CaMg dose prevented the phosphate depletion and thus the rise in osteoid area. CaMg had no effect on osteoblast/osteoclast or dynamic bone parameters, and did not alter bone Mg levels. CaMg at doses that reduce vascular calcification did not show any harmful effect on bone turnover.