Reinforcement based mobile robot navigation in dynamic environment

In this paper, a new approach is developed for solving the problem of mobile robot path planning in an unknown dynamic environment based on Q-learning. Q-learning algorithms have been used widely for solving real world problems, especially in robotics since it has been proved to give reliable and efficient solutions due to its simple and well developed theory. However, most of the researchers who tried to use Q-learning for solving the mobile robot navigation problem dealt with static environments; they avoided using it for dynamic environments because it is a more complex problem that has infinite number of states. This great number of states makes the training for the intelligent agent very difficult. In this paper, the Q-learning algorithm was applied for solving the mobile robot navigation in dynamic environment problem by limiting the number of states based on a new definition for the states space. This has the effect of reducing the size of the Q-table and hence, increasing the speed of the navigation algorithm. The conducted experimental simulation scenarios indicate the strength of the new proposed approach for mobile robot navigation in dynamic environment. The results show that the new approach has a high Hit rate and that the robot succeeded to reach its target in a collision free path in most cases which is the most desirable feature in any navigation algorithm.     

Ultrastructure of submandibular salivary glands of mouse: TEM and HRSEM observations

The fine structure of submandibular glands of mouse were analyzed using light microscopy (LM), high resolution scanning electron microscopy (HRSEM), and transmission electron microscopy (TEM) methods. For LM, the specimens were embedded in Spurr resin, stained by toluidin blue solutions. For TEM, the tissues of submandibular salivary glands were fixed with modified Karnovsky solution and postfixed with osmium tetroxide. For HRSEM, the tissues were fixed with 2% osmium tetroxide solution in 1/15M sodium phosphate buffer (pH 7.4). The samples were immersed successively in dymethylsulphoxide and freeze cracked. The maceration was made in diluted osmium tetroxide for 24-48 h. The samples were examined by high resolution scanning electron microscopy. The intracellular components of acinar and ductal cells revealed clearly the Golgi apparatus, rough endoplasmic reticulum, secretory granules, and mitochondria. The end bulbs of Golgi lamellae and flattened cisterns of rough endoplasmic reticulum showed the luminal surface. A few mitochondria were identified intermingling between the rough endoplasmic reticulum and the mitochondriales cristae in three-dimensional HRSEM images. Secretory granules were numerous and presented different sizes. Small granules of ribosomes were attached on cistern surface, measuring 20-25 nm in diameter. Numerous arranged microvilli were found on the luminal surface of secretory canaliculus. The contact surfaces of acinar cells revealed complicated interdigitations by cytoplasmic processes. The mitochondria of duct cells were disposed vertically and surrounded by basal infoldings of plasma membranes. Basement membrane showed a spongy-like structure having an irregular surface with various strands and meshes of fine collagen fibrils.     

Cultural Landscape: Stone Towers on Mount Etna

This work reports the findings of an investigation by Etna’s local councils whose publicly owned land has high concentrations of particularly significant towers. The towers are original stone constructions, presumed to have been built between the end of the 1700s and the beginning of the 1900s and so are unrelated to medieval towers, emblems of ancient yet sophisticated building techniques and located in numerous agricultural areas on the slopes of Mount Etna, Europe’s most active volcano. They are built out of the stones removed from the agricultural land of the soils regenerated from the lava flows wedged in between basalt outcrops. Together with other stone artefacts, they form part of a renewable heritage of great value both for their recognised role in maintaining biodiversity as well as for their cultural, landscape and historical significance. These constructions are in a state of extreme abandonment or are gradually disappearing due to the loss of agriculture or the changeover of agricultural land into building sites. The enquiry used historical documents, censuses of tower characteristics and field data. Four council zones were identified and in each only clearly identifiable towers were considered (total: 19). The field data highlighted considerable architectural complexity in their proportions and construction techniques. Their historico-cultural-landscape validity was confirmed as was the necessity of appropriate and urgent state intervention.     

Repercussions on sarcomeres of the myotendinous junction and the myofibrillar type adaptations in response to different trainings on vertical ladder

The myofibrillary types establish to the skeletal muscle functional and adaptive properties that influence the sarcomeric arrangement during muscle contraction and may have repercussions on an important related force transmission region of the locomotor apparatus, the myotendinous junction (MTJ). This study aimed to describe changes in myofibrillary type and sarcomeric lengths in the belly muscle and MTJ of the soleus and plantaris muscles associated with training protocols in vertical ladder. Thirty adults male Wistar rats were divided into three groups (n = 10): Control (CTR), No‐load Training (NLT), and Load Training (LT). Morphoquantitative analysis of different fibers types and sarcomere lengths were performed in distinct regions of plantaris and soleus muscles. In the plantaris muscle with both trainings, there was an increase in the cross‐sectional area (CSA) in Type I and II fibers (p < .0001) while sarcomeric lengths revealed greater lengths in the proximal and distal sarcomeres of NLT, although in the LT we found greater lengths in the belly and MTJ sarcomeres. The soleus muscle showed an increase in CSA muscle fiber only in the NLT (p < .0001) and revealed alterations in belly and MTJ sarcomere lengths with training. We concluded that plantaris muscle has an adaptive effect directly associated with training load, with hypertrophy in both trainings and sarcomere length inverse from belly and MTJ, in LT associated with increased force generation and transmission at the MTJ, although soleus muscle has a lower adaptive response to training stimuli with variation in the belly and distal sarcomere of the MTJ.     

Supercritical CO2 and N2O pasteurisation of peach and kiwi juice

The microbial inactivation and qualitative parameters (pH, sugar content, titratable acidity, absorbance at 420 nm and turbidity) of peach and kiwi juices treated at 35 °C with supercritical carbon dioxide (SC‐CO₂) and nitrous oxide (SC‐N₂O) were determined as a function of pressure and treatment time. Total inactivation of both naturally occurring microorganisms and Saccharomyces cerevisiae strain (10⁵ cfu mL^?1) was obtained after 15 min of SC‐CO₂/N₂O treatment, 10 MPa and 35 °C, for both juices. No significant changes in chemical‐physical or in sensorial characteristics between untreated and treated juice were detected. The results obtained demonstrate the feasibility and the potential of SC‐CO₂/N₂O treatment as an alternative low temperature pasteurisation process for peach and kiwi juices.     

Thermal and mechanical characterization of poly(methyl methacrylate) nanocomposites filled with TiO2 nanorods

Thick films of nanocomposites made of poly(methyl methacrylate) matrix and colloidal anatase TiO₂ nanorods fillers were prepared by solvent mixing and solution drop casting. Different concentrations of nanorods were tested in order to examine the influence of the nanoscale fillers on the composites material properties and structure. The thermal properties of the samples were investigated through thermogravimetric analysis, which showed an increase in thermal stability of the nanocomposites on increasing nanorods concentration, for the range of concentrations used. The viscoelastic properties were investigated through dynamic mechanical analysis, which showed an increase in both the storage and loss modulus on increasing nanorods concentration. The in-depth distribution of the TiO₂ nanorods in the matrix was evaluated through cross-sectional transmission electron microscopy, which pointed out a uniform dispersion of mesoscale nanorods agglomerates with increasing diameter of 100–200 nm range on increasing nanorods concentration.     

Macromolecular crowding affects protein photosensitivity: The case of egg white immunoreactivity

An aqueous solution containing 0.1 g/l egg white proteins was exposed to increasing irradiance (0, 1.6, 7.2, 10.5, 17.0 and 29.1 W m⁻²) UV-C light for up to 30 min at 8 °C. In all cases, a decrease in immunoreactivity was detected. A 10-fold decrease of immunoreactivity was obtained in circa 7 min at 29.1 W/m² and in more than 4 h at 1.6 W/m². The loss of immunoreactivity was attributed to denaturation phenomena leading to the formation of protein fragments partially retaining the original epitopes. A progressive decrease in protein photosensitivity was observed by increasing its concentration. Above a limit concentration of 2.2 g/l, egg white proteins became extremely resistant to UV-light, even prolonging exposure time at 29.1 W/m² to 3 h. Photostability of egg white proteins was attributed to the occurrence of crowding effects which favoured protein folding and hindered photolysis.     

Isoindoline-Based Nitroxides as Bioresistant Spin Labels for Protein Labeling through Cysteines and Alkyne-Bearing Noncanonical Amino Acids

Electron paramagnetic resonance (EPR) spectroscopy in combination with site-directed spin labeling (SDSL) is a powerful tool in protein structural research. Nitroxides are highly suitable spin labeling reagents, but suffer from limited stability, particularly in the cellular environment. Herein we present the synthesis of a maleimide- and an azide-modified tetraethyl-shielded isoindoline-based nitroxide (M- and Az-TEIO) for labeling of cysteines or the noncanonical amino acid para-ethynyl-l -phenylalanine (pENF). We demonstrate the high stability of TEIO site-specifically attached to the protein thioredoxin (TRX) against reduction in prokaryotic and eukaryotic environments, and conduct double electron–electron resonance (DEER) measurements. We further generate a rotamer library for the new residue pENF-Az-TEIO that affords a distance distribution that is in agreement with the measured distribution.