Probabilistic movement primitives under unknown system dynamics

Physical interaction requires robots to accurately follow kinematic trajectories while modulating the interaction forces to accomplish tasks and to be safe to the environment. However, current approaches rely on accurate physical models or iterative learning approaches. We present a versatile approach for physical interaction tasks, based on Movement Primitives (MPs) that can learn physical interaction tasks solely by demonstrations, without explicitly modeling the robot or the environment. We base our approach on the Probabilistic Movement Primitives (ProMPs), which utilizes the variance of the demonstrations to provide better generalization of the encoded skill, combine skills, and derive a controller that follows exactly the encoded trajectory distribution. However, the ProMP controller requires the system dynamics to be known. We present a reformulation of the ProMPs that allows accurate reproduction of the skill without modeling the system dynamics and, further, we extent our approach to incorporate external sensors, as for example, force/torque sensors. Our approach learns physical interaction tasks solely from demonstrations and online adapts the movement to force–torque sensor input. We derive a variable-stiffness controller in closed form that reproduces the trajectory distribution and the interaction forces present in the demonstrations. We evaluate our approach in simulated and real-robot tasks.     

A Heuristic Evaluation for Deaf Web User Experience (HE4DWUX)

Websites that are usable and accessible can have a positive impact on the overall user experience. Usability Inspection Methods (UIMs) can be applied to evaluate and measure the usability. The current research in the fields of Web Accessibility and Human –Computer Interaction (HCI) is in need of additional UIMs that can be applied to also measure the accessibility, in addition to the usability alone. In this article, a novel UIM in the form of a heuristic evaluation is presented. The heuristic evaluation aims to support HCI experts and Web developers in designing and evaluating websites that provide positive user experiences to users who are deaf. This article discusses the development of the Heuristic Evaluation for Deaf Web User Experience (HE4DWUX). Following an iteration cycle, version 2 of the HE4DWUX is presented in Appendix A. An existing three-phase process to develop heuristics for specific application domains was applied to construct the HE4DWUX. The outcome of this research is 12 heuristics, with each containing its own set of checklist items to operationalize its applicability in measuring the Web user experience for users who are deaf. The heuristics and their checklist items can identify important aspects of design that will impact the Web user experience for this particular user group.     

The Neglected Water Rebound Effect of Income and Employment Growth

Water Resources Management - The water footprint assessment, particularly for the agricultural sector, is often a valuable input to water policy formation globally. Efforts on reducing it focus on...     

Peptide and protein drugs: the study of their metabolism and catabolism by mass spectrometry

Peptide and protein drugs have evolved in recent years into mainstream therapeutics, representing a significant portion of the pharmaceutical market. Peptides and proteins exhibit highly diverse structures, broad biological activities as hormones, neurotransmitters, structural proteins, metabolic modulators and therefore have a significant role as both therapeutics and biomarkers. Understanding the metabolism of synthetic or biotechnologically derived peptide and protein drugs is critical for pharmaceutical development as metabolism has a significant impact on drug efficacy and safety. Although the same principles of pharmacokinetics and metabolism of small molecule drugs apply to peptide and protein drugs, there are few notable differences. Moreover, the study of peptide and protein drug metabolism is a rather complicated process which requires sophisticated analytical techniques, and mass spectrometry based approaches have provided the capabilities for efficient and reliable quantification, characterization, and metabolite identification. This review article will focus on the current use of mass spectrometry for the study of the metabolism of peptide and protein drugs.     

The Bul1/2 Alpha-Arrestins Promote Ubiquitylation and Endocytosis of the Can1 Permease upon Cycloheximide-Induced TORC1-Hyperactivation

Selective endocytosis followed by degradation is a major mechanism for downregulating plasma membrane transporters in response to specific environmental cues. In Saccharomyces cerevisiae, this endocytosis is promoted by ubiquitylation catalyzed by the Rsp5 ubiquitin-ligase, targeted to transporters via adaptors of the alpha-arrestin family. However, the molecular mechanisms of this targeting and their control according to conditions remain incompletely understood. In this work, we dissect the molecular mechanisms eliciting the endocytosis of Can1, the arginine permease, in response to cycloheximide-induced TORC1 hyperactivation. We show that cycloheximide promotes Rsp5-dependent Can1 ubiquitylation and endocytosis in a manner dependent on the Bul1/2 alpha-arrestins. Also crucial for this downregulation is a short acidic patch sequence in the N-terminus of Can1 likely acting as a binding site for Bul1/2. The previously reported inhibition by cycloheximide of transporter recycling, from the trans-Golgi network to the plasma membrane, seems to additionally contribute to efficient Can1 downregulation. Our results also indicate that, contrary to the previously described substrate-transport elicited Can1 endocytosis mediated by the Art1 alpha-arrestin, Bul1/2-mediated Can1 ubiquitylation occurs independently of the conformation of the transporter. This study provides further insights into how distinct alpha-arrestins control the ubiquitin-dependent downregulation of a specific amino acid transporter under different conditions.     

Liquid Biopsy: A New Translational Diagnostic and Monitoring Tool for Musculoskeletal Tumors

Soft tissue and bone sarcomas represent a group of aggressive neoplasms often accompanied by dismal patient prognosis, especially when distant metastases are present. Moreover, effective treatment can pose a challenge, as recurrences are frequent and almost half of patients present with advanced disease. Researchers have unveiled the molecular abnormalities implicated in sarcomas’ carcinogenesis, paving the way for novel treatment strategies based on each individual tumor’s characteristics. Therefore, the development of new techniques aiding in early disease detection and tumor molecular profiling is imperative. Liquid biopsy refers to the sampling and analysis of patients’ fluids, such as blood, to identify tumor biomarkers, through a variety of methods, including qRT-PCR, qPCR, droplet digital PCR, magnetic microbeads and digital PCR. Assessment of circulating tumor cells (CTCs), circulating free DNA (ctDNA), micro RNAs (miRs), long non-coding RNAs (lncRNAs), exosomes and exosome–associated proteins can yield a plethora of information on tumor molecular signature, histologic type and disease stage. In addition, the minimal invasiveness of the procedure renders possible its wide application in the clinical setting, and, therefore, the early detection of the presence of tumors. In this review of the literature, we gathered information on biomarkers assessed through liquid biopsy in soft tissue and bone sarcoma patients and we present the information they can yield for each individual tumor type.     

Antibacterial Surface Coatings from Zinc Oxide Nanoparticles Embedded in Poly(N‐isopropylacrylamide) Hydrogel Surface Layers

Despite multiple research approaches to prevent bacterial colonization on surfaces, device‐associated infections are currently responsible for about 50% of nosocomial infections in Europe and significantly increase health care costs, which demands development of advanced antibacterial surface coatings. Here, novel antimicrobial composite materials incorporating zinc oxide nanoparticles (ZnO NP) into biocompatible poly(N‐isopropylacrylamide) (PNIPAAm) hydrogel layers are prepared by mixing the PNIPAAm prepolymer with ZnO NP, followed by spin‐coating and photocrosslinking. Scanning electron microscopy (SEM) characterization of the composite film morphology reveals a homogeneous distribution of the ZnO NP throughout the film for every applied NP/polymer ratio. The optical properties of the embedded NP are not affected by the matrix as confirmed by UV‐vis spectroscopy. The nanocomposite films exhibit bactericidal behavior towards Escherichia coli (E. coli) for a ZnO concentration as low as ≈0.74 μg cm^?2 (1.33 mmol cm^?3), which is determined by inductively coupled plasma optical emission spectrometry. In contrast, the coatings are found to be non‐cytotoxic towards a mammalian cell line (NIH/3T3) at bactericidal loadings of ZnO over an extended period of seven days. The differential toxicity of the ZnO/hydrogel nanocomposite thin films between bacterial and cellular species qualifies them as promising candidates for novel biomedical device coatings.     

Data validation platform for the sophisticated monitoring and communication of the energy technology sector

It has very often been stated that the difficulty and complexity of achieving green energy targets in the European Union (EU) will require strengthened measures to promote implementation of New Energy Technologies, Energy End-use Efficiency, as well as measures to support the related energy Research and Technology Development (RTD). Often forgotten is the fact, that most of all, a European-wide co-ordinated forum is needed to continuously develop and sophisticate the monitoring and methodology results, bringing together specialised statisticians, energy researchers and experts on energy socio-economics. The aim of this paper is to present the Scientific Reference System (SRS) Scorecard; a data validation platform for the sophisticated monitoring and communication of the energy technology sector. In this respect, the concept of the SRS scorecard system will be laid out, the parameters and the scoring criteria will be explained as well as the assessment system so as to provide the interested reader with the basis needed to understand the technology evaluation examples provided, as well as its critical analysis.     

BDD anodic oxidation as tertiary wastewater treatment for the removal of emerging micro‐pollutants,pathogens and organic matter

This work reports for the first time the removal of 17α‐ethynylestradiol (EE2), a synthetic estrogen hormone, from secondary treated effluents by electrochemical oxidation. Experiments were conducted in a single compartment reactor comprising a boron‐doped diamond (BDD) anode and a zirconium cathode. EE2, in the range 100–800 µg L^?1, was spiked in the post‐chlorination effluent of a municipal treatment plant and oxidized at 0.9–2.6 mA cm^?2 current density. Complete degradation of 100 µg L^?1 EE2 was achieved in 7 min at 2.1 mA cm^?2 and inherent conditions, while the addition of 0.1 mol L^?1 NaCl achieved removal in just a few seconds. The process was then tested in the pre‐chlorination effluent at 2.1 mA cm^?2 and inherent conditions; complete E. coli killing and EE2 removal occurred in just 1.5 and 3.5 min, respectively, while overall estrogenicity (assessed by the YES assay) and residual organic matter (in terms of chemical oxygen demand (COD)) decreased by 50% and 85% after 30 min, respectively. These results clearly show the potential of BBD electrochemical oxidation to serve as an efficient tertiary wastewater treatment. Copyright © 2011 Society of Chemical Industry     

Scan line void fabric anisotropy tensors of granular media

Soil fabric anisotropy tensors are related to the statistical distribution of orientation of different microstructural vector-like entities, most common being the contact normal vectors between particles, which are extremely difficult to determine for real granular materials. On the other hand, void fabric based tensors can be determined by image based quantification methods of voids (graphical approaches), which are well defined and easy to apply to both physical and numerical experiments. A promising void fabric characterization approach is based on the scan line method. Existing scan line based definitions of void fabric anisotropy tensors are shown analytically to inherit a shortcoming, since numerous small void segments in a sample have an inordinate contribution towards unwarranted isotropy. Discrete Element Method (DEM) of analysis subsequently confirms this analytical proof. The fact that such scan line void fabric tensor definitions yield acceptable results when used in conjunction with physical image-based measurements, is shown to be attributed to the natural “cut off” of smaller void segments that occurs during such measurements. This is the motivation to propose using the existing definition of void fabric tensors, with exclusion of void segments less than a “cut off” value associated with an internal length of the granular assembly. In addition, an entirely new void fabric tensor was introduced using the squared length, instead of the length of a void segment, as the weighting factor for the definition of the scan line void fabric tensor. It was found by means of DEM analysis that both alternative definitions are void of the aforementioned shortcoming and compatible with existing image quantification methods of void fabric anisotropy.