Contribution of the ozonation pre-treatment to the biodegradation of aqueous solutions of 2,4-dichlorophenol

The effect of ozonation on the biodegradability of 100-ppm aqueous solutions of 2,4-dichlorophenol has been investigated. BOD at 5, 10 and 21 days, BOD/COD and BOD/TOC ratios and the average oxidation state are presented. Biodegradability measured as BOD5/COD ratio was increased from 0 of the original solution to 0.25 at the moment of removing all the initial compound (corresponding to an ozone dose of 0.12 g L-1, 0.48 for BOD21/COD ratio). To test the effect of this pre-treatment, the biological oxidation of these pre-ozonated solutions was performed in two semi-continuous stirred tank reactors, one with non-acclimated sludge and one with acclimated-to-phenol sludge. The study showed that the TOC content of the pre-treated solution could be removed up to 68% by an aerobic biological treatment as well as co-digested with municipal wastewater (TOC removal up to 82%), with similar operating retention times to a municipal wastewater plant (12-24 h). Kinetic studies based on Monod model have also been carried out. Pseudo-first-order kinetic constants were found to be in the range of 0.5-0.8 L g TVSS-1 h-1.     

The toxicity of IDPN on the vestibular system of the rat: new insights on its effects on behavior and neurofilament transport

3,3'-Iminodipropionitrile (IDPN) causes a permanent syndrome of abnormalities in spontaneous behavior and a deficit in the axonal transport of neurofilaments (NF). Male Long-Evans rats were given IDPN (0, 200, 400, 600, or 1000 mg/kg, ip, in saline) and assessed for behaviors indicative of vestibular function at 1 week post-dosing. The morphology of the peripheral vestibular system in animals dosed with 0, 200, 400, 600, 800, or 1000 mg/kg of IDPN was assessed at 4 days post-dosing by light microscopy on semithin sections. Animals receiving 1000, 1500, or 2000 mg/kg of IDPN were assessed for morphological alterations in the vestibular ganglion at 8 days post-dosing. Behavioral data indicated a dose-dependent loss of vestibular function after IDPN, the vestibular deficits first appearing at the 400 mg/kg dose level. IDPN exposure was also observed to result in degeneration of the vestibular sensory hair cells. Degenerative changes were already found at the 400 mg/kg dose level, and were extensive after 1000 mg/kg. In the ganglion neurons, no effects were observed after 1000 mg/kg of IDPN, but perikaryal accumulations of NF were found after 1500 or 2000 mg/kg. In conclusion, the data showed that low doses of IDPN are toxic to the vestibular hair cells, and suggest a link between this action and the effects of the chemical on spontaneous behavior. In addition, doses of IDPN larger than those required for toxicity to the vestibular sensory cells, induced accumulations of NF in the myelinated cell bodies of the vestibular ganglion neurons.(ABSTRACT TRUNCATED AT 250 WORDS)     

Evaluation of Floxuridine Oligonucleotide Conjugates Carrying Potential Enhancers of Cellular Uptake

Conjugation of small molecules such as lipids or receptor ligands to anti-cancer drugs has been used to improve their pharmacological properties. In this work, we studied the biological effects of several small-molecule enhancers into a short oligonucleotide made of five floxuridine units. Specifically, we studied adding cholesterol, palmitic acid, polyethyleneglycol (PEG 1000), folic acid and triantennary N-acetylgalactosamine (GalNAc) as potential enhancers of cellular uptake. As expected, all these molecules increased the internalization efficiency with different degrees depending on the cell line. The conjugates showed antiproliferative activity due to their metabolic activation by nuclease degradation generating floxuridine monophosphate. The cytotoxicity and apoptosis assays showed an increase in the anti-cancer activity of the conjugates related to the floxuridine oligomer, but this effect did not correlate with the internalization results. Palmitic and folic acid conjugates provide the highest antiproliferative activity without having the highest internalization results. On the contrary, cholesterol oligomers that were the best-internalized oligomers had poor antiproliferative activity, even worse than the unmodified floxuridine oligomer. Especially relevant is the effect induced by palmitic and folic acid derivatives generating the most active drugs. These results are of special interest for delivering other therapeutic oligonucleotides.     

A robot learning from demonstration framework to perform force-based manipulation tasks

This paper proposes an end-to-end learning from demonstration framework for teaching force-based manipulation tasks to robots. The strengths of this work are manyfold. First, we deal with the problem of learning through force perceptions exclusively. Second, we propose to exploit haptic feedback both as a means for improving teacher demonstrations and as a human–robot interaction tool, establishing a bidirectional communication channel between the teacher and the robot, in contrast to the works using kinesthetic teaching. Third, we address the well-known what to imitate? problem from a different point of view, based on the mutual information between perceptions and actions. Lastly, the teacher’s demonstrations are encoded using a Hidden Markov Model, and the robot execution phase is developed by implementing a modified version of Gaussian Mixture Regression that uses implicit temporal information from the probabilistic model, needed when tackling tasks with ambiguous perceptions. Experimental results show that the robot is able to learn and reproduce two different manipulation tasks, with a performance comparable to the teacher’s one.     

PolyMAX,a Mobile WiMAX module for the ns-2 simulator with QoS and AMC support

In this paper, we present the PolyMAX module which enhances network simulator 2 (ns-2), the most popular network simulator used in academia, to provide one of the most complete simulation tools to evaluate the performance of Mobile WiMAX networks. PolyMAX is based on the National Institute of Standards and Technology (NIST) module and our specific contributions consist on the design and implementation of the Quality of Service (QoS) classes and QoS management messages, the uplink access grant-request mechanisms, Adaptive Modulation and Coding, and a scheduler handling all five WiMAX QoS classes. We also present validation results for the different components of our module and typical WiMAX simulation scenarios illustrating its flexibility and some of its features. The PolyMAX module represents an important tool enabling researchers to easily implement their Mobile WiMAX scheduling and Adaptive Modulation and Coding (AMC) algorithms and accurately evaluate their performance for realistic scenarios.     

The joint Gateway Placement and Spatial Reuse Problem in Wireless Mesh Networks

A Wireless Mesh Network (WMN) is composed of multiple Access Points (APs) that are connected together using the radio channel and by a limited number of gateway APs connected to the Internet. In this paper, we address the problem of gateway placement that consists of minimizing the number of gateways while satisfying system performance requirements. Along with the placement problem, the formulation includes joint routing and scheduling to account for the problem of interference and to enable spacial reuse. The problem, which we coined GPSRP (Gateway Placement and Spatial Reuse Problem), allows a much more efficient use of the available resources and reduces overall gateway costs. This article presents for the first time a mathematical formulation of the problem and discusses its advantages and limitations with respect to other approaches.     

Incremental Learning of Skills in a Task-Parameterized Gaussian Mixture Model

Programming by demonstration techniques facilitate the programming of robots. Some of them allow the generalization of tasks through parameters, although they require new training when trajectories different from the ones used to estimate the model need to be added. One of the ways to re-train a robot is by incremental learning, which supplies additional information of the task and does not require teaching the whole task again. The present study proposes three techniques to add trajectories to a previously estimated task-parameterized Gaussian mixture model. The first technique estimates a new model by accumulating the new trajectory and the set of trajectories generated using the previous model. The second technique permits adding to the parameters of the existent model those obtained for the new trajectories. The third one updates the model parameters by running a modified version of the Expectation-Maximization algorithm, with the information of the new trajectories. The techniques were evaluated in a simulated task and a real one, and they showed better performance than that of the existent model.     

Crack tip identification with long FBG sensors in mixed-mode delamination

The uncertainty of the crack tip position inside composite coupons during a delamination test under variable fracture mode conditions reduces the accuracy of the experimental results. In this work a method is presented where the crack tip position is located using long embedded Fibre Bragg Grating (FBG) sensors together with the Optical Low Coherence Reflectometry (OLCR) technique. With this technique the local Bragg wavelength is measured which then enables to calculate the axial strain profile within the grating. Carbon/epoxy samples are tested under different mode ratios through the standard Mixed-Mode Bending (MMB) test. Embedded long FBG sensors are used to measure the axial strain profile along the whole grating at different stages of the test. The crack tip can be precisely identified with the long embedded FBGs and then checked by means of a visual inspection after complete delamination of the sample. The data indicate that the long FBG sensor detects the crack tip inside the sample at least as precisely as the traditionally performed visual inspections carried out during the test by means of the lateral markings. Numerical simulations using cohesive elements are in good agreement with the experimental data.