Affordance-based robot object retrieval

Autonomous Robots - Natural language object retrieval is a highly useful yet challenging task for robots in human-centric environments. Previous work has primarily focused on commands specifying...     

Formulation and development of ophthalmic in situ gel for the treatment ocular inflammation and infection using application of quality by design concept

Context: The conventional liquid ophthalmic delivery systems exhibit short pre-corneal residence time and the relative impermeability to the cornea which leads to poor ocular bioavailability.

Objective: The aim of this study was to apply quality by design (QbD) for development of dexamethasone sodium phosphate (DSP) and tobramycin sulfate (TS)-loaded thermoresponsive ophthalmic in situ gel containing Poloxamer 407 and hydroxyl propyl methyl cellulose (HPMC) K4M for prolonging the pre-corneal residence time, ocular bioavability and decreases the frequency of administration of dosage form. The material attributes and the critical quality attributes (CQA) of the in situ gel were identified. Central composite design (CCD) was adopted to optimize the formulation.

Materials and methods: The ophthalmic in situ forming gels were prepared by cold method. Materials attributes were the amount of Poloxamer 407 and HPMC and CQA identified were Gel strength, mucoadhesive index, gelation temperature and % of drug release of both drug.

Results and discussion: Optimized batch (F*) containing 16.75% poloxamer 407 and 0.54% HPMC K4M were exhibited all results in acceptable limits. Compared with the marketed formulation, optimized in situ gel showed delayed T_max, improved C_max and AUC in rabbit aqueous humor, suggesting the sustained drug release and better corneal penetration and absorption.

Conclusion: According to the study, it could be concluded that DSP and TS would be successfully formulated as in situ gelling mucoadhesive system for the treatment of steroid responsive eye infections with the properties of sustained drug release, prolonged ocular retention and improved corneal penetration.     

Development of porous defects in plasma membranes of adenosine triphosphate-depleted Madin-Darby canine kidney cells and its inhibition by glycine

Studies during the past decade have led to the recognition of a fundamental, widely expressed mechanism of structural damage in energy-deprived cells, which is suppressed by physiologic levels of glycine and is independent of Ca2+ availability or alterations of cytosolic free Ca2+. To gain insight into this process, Madin-Darby canine kidney (MDCK) cells were depleted of adenosine triphosphate (ATP) by a mitochondrial uncoupler in glucose-free medium, and intracellular free Ca2+ was clamped at 100 nM to avoid calcium cytotoxicity. Although the ATP-depleted cells swelled and blebbed and their plasma membranes appeared to be under tension, they nevertheless became permeable to macromolecules. The plasma membranes of these cells retained structural continuity, as determined by morphologic observations, and confocal microscopy of a plasma membrane protein label (Biotin: Ultra Avidin-Texas Red) and a lipid label (NBD-sphingomyelin). Using fluoresceinated dextrans of graded molecular size, membrane permselectivity was examined noninvasively by confocal microscopy. Measured as inside/outside ratios of fluorescence intensity, the permeability indices showed progressively greater restriction to diffusion of increasingly larger dextran molecules across plasma membranes, with sharp break-points between 70,000 and 145,000 daltons (d). The results indicated that the membranes behaved as if they were perforated by water-filled channels or "pores," with size-exclusion limits of molecular dimensions. The membrane defects evolved from small pores permeable only to propidium iodide (668 d) and the smallest dextran (4,000 d), before enlarging with time to become permeable to larger dextrans. Inclusion of glycine during ATP depletion did not affect cell swelling or blebbing but completely prevented the development of permeability defects. Treatment of cells before ATP depletion with a membrane-impermeant homobifunctional "nearest neighbor" cross-linking agent, 3,3' dithiobis(sulfosuccinimidylpropionate), suppressed the development of permeability defects, even in the absence of glycine. These observations suggest that the cellular abnormality that is suppressed by glycine involves rearrangement of plasma membrane proteins to form water-filled pores large enough to leak macromolecules.     

A Multidirectional Occlusion Shading Model for Direct Volume Rendering

In this paper, we present a novel technique which simulates directional light scattering for more realistic interactive visualization of volume data. Our method extends the recent directional occlusion shading model by enabling light source positioning with practically no performance penalty. Light transport is approximated using a tilted cone‐shaped function which leaves elliptic footprints in the opacity buffer during slice‐based volume rendering. We perform an incremental blurring operation on the opacity buffer for each slice in front‐to‐back order. This buffer is then used to define the degree of occlusion for the subsequent slice. Our method is capable of generating high‐quality soft shadowing effects, allows interactive modification of all illumination and rendering parameters, and requires no pre‐computation.     

Integration of product design,process planning,scheduling, and FMS control using XML data representation

An efficient model for communications between CAD, CAPP, and CAM applications in distributed manufacturing planning environment has been seen as key ingredient for CIM. Integration of design model with process and scheduling information in real-time is necessary in order to increase product quality, reduce the cost, and shorten the product manufacturing cycle. This paper describes an approach to integrate key product realization activities using neutral data representation. The representation is based on established standards for product data exchange and serves as a prototype implementation of these standards. The product and process models are based on object-oriented representation of geometry, features, and resulting manufacturing processes. Relationships between objects are explicitly represented in the model (for example, feature precedence relations, process sequences, etc.). The product model is developed using XML-based representation for product data required for process planning and the process model also uses XML representation of data required for scheduling and FMS control. The procedures for writing and parsing XML representations have been developed in object-oriented approach, in such a way that each object from object-oriented model is responsible for storing its own data into XML format. Similar approach is adopted for reading and parsing of the XML model. Parsing is performed by a stack of XML handlers, each corresponding to a particular object in XML hierarchical model. This approach allows for very flexible representation, in such a way that only a portion of the model (for example, only feature data, or only the part of process plan for a single machine) may be stored and successfully parsed into another application. This is very useful approach for direct distributed applications, in which data are passed in the form of XML streams to allow real-time on-line communication. The feasibility of the proposed model is verified in a couple of scenarios for distributed manufacturing planning that involves feature mapping from CAD file, process selection for several part designs integrated with scheduling and simulation of the FMS model using alternative routings.     

EEHC: Energy efficient heterogeneous clustered scheme for wireless sensor networks

In recent years, there has been a growing interest in wireless sensor networks. One of the major issues in wireless sensor network is developing an energy-efficient clustering protocol. Hierarchical clustering algorithms are very important in increasing the network’s life time. Each clustering algorithm is composed of two phases, the setup phase and steady state phase. The hot point in these algorithms is the cluster head selection. In this paper, we study the impact of heterogeneity of nodes in terms of their energy in wireless sensor networks that are hierarchically clustered. We assume that a percentage of the population of sensor nodes is equipped with the additional energy resources. We also assume that the sensor nodes are randomly distributed and are not mobile, the coordinates of the sink and the dimensions of the sensor field are known. Homogeneous clustering protocols assume that all the sensor nodes are equipped with the same amount of energy and as a result, they cannot take the advantage of the presence of node heterogeneity. Adapting this approach, we introduce an energy efficient heterogeneous clustered scheme for wireless sensor networks based on weighted election probabilities of each node to become a cluster head according to the residual energy in each node. Finally, the simulation results demonstrate that our proposed heterogeneous clustering approach is more effective in prolonging the network lifetime compared with LEACH.     

An improved load-balancing mechanism based on deadline failure recovery on GridSim

Grid computing has emerged a new field, distinguished from conventional distributed computing. It focuses on large-scale resource sharing, innovative applications and in some cases, high performance orientation. The Grid serves as a comprehensive and complete system for organizations by which the maximum utilization of resources is achieved. The load balancing is a process which involves the resource management and an effective load distribution among the resources. Therefore, it is considered to be very important in Grid systems. For a Grid, a dynamic, distributed load balancing scheme provides deadline control for tasks. Due to the condition of deadline failure, developing, deploying, and executing long running applications over the grid remains a challenge. So, deadline failure recovery is an essential factor for Grid computing. In this paper, we propose a dynamic distributed load-balancing technique called “Enhanced GridSim with Load balancing based on Deadline Failure Recovery” (EGDFR) for computational Grids with heterogeneous resources. The proposed algorithm EGDFR is an improved version of the existing EGDC in which we perform load balancing by providing a scheduling system which includes the mechanism of recovery from deadline failure of the Gridlets. Extensive simulation experiments are conducted to quantify the performance of the proposed load-balancing strategy on the GridSim platform. Experiments have shown that the proposed system can considerably improve Grid performance in terms of total execution time, percentage gain in execution time, average response time, resubmitted time and throughput. The proposed load-balancing technique gives 7 % better performance than EGDC in case of constant number of resources, whereas in case of constant number of Gridlets, it gives 11 % better performance than EGDC.     

Analyzing the efficacy of using digital ink devices in a learning environment

There has been increased interest on the impact of mobile devices such as PDAs and Tablet PCs in introducing new pedagogical approaches and active learning experiences. We propose an intelligent system that efficiently addresses the inherent subjectivity in student perception of note taking and information retrieval. We employ the idea of cross indexing the digital ink notes with matching electronic documents in the repository. Latent Semantic Indexing is used to perform document and page level indexing. Thus for each retrieved document, the user can go over to the relevant pages that match the query. Techniques to handle problems such as polysemy (multiple meanings of a word) in large databases, document folding and no match for query are discussed. We tested our system for its performance, usability and effectiveness in the learning process. The results from the exploratory studies reveal that the proposed system provides a highly enhanced student learning experience, thereby facilitating high test scores.

Fold-recognition and comparative modeling of human beta3GalT I, II, IV, V and VI and beta3GalNAcT I: prediction of residues conferring acceptor substrate specificity

beta3GalTs are type II transmembrane proteins that transfer galactose from UDP-Gal donor substrate to acceptor GlcNAc, GalNAc or Gal in beta1-->3-linkage. beta1-->3-linked galactose have been found to be a part of many glycans like glycosphingolipids, core tetrasaccharide of proteoglycans, type 1 chains. The 3-D structure of none of the beta3GalTs is known to date. In this study, the 3-D structures of human beta3GalT I, II, IV, V, VI and beta3GalNAcT I have been modeled using fold-recognition and comparative modeling methods. Residues that constitute the UDP-Gal binding site have been predicted. The models are able to qualitatively rationalize data from the site-directed mutagenesis experiments reported in the literature. Residues likely to be involved in conferring differential acceptor substrate specificity have been predicted by a combination of specificity determining positions prediction (SDPs) and subsequent mapping on the generated 3-D models.