Description and composition of bio-inspired design patterns: a complete overview

In the last decade, bio-inspired self-organising mechanisms have been applied to different domains, achieving results beyond traditional approaches. However, researchers usually use these mechanisms in an ad-hoc manner. In this way, their interpretation, definition, boundary (i.e. when one mechanism stops, and when another starts), and implementation typically vary in the existing literature, thus preventing these mechanisms from being applied clearly and systematically to solve recurrent problems. To ease engineering of artificial bio-inspired systems, this paper describes a catalogue of bio-inspired mechanisms in terms of modular and reusable design patterns organised into different layers. This catalogue uniformly frames and classifies a variety of different patterns. Additionally, this paper places the design patterns inside existing self-organising methodologies and hints for selecting and using a design pattern.     

Probing Protein Folding with Sequence-Reversed α-Helical Bundles

Recurrent protein folding motifs include various types of helical bundles formed by α-helices that supercoil around each other. While specific patterns of amino acid residues (heptad repeats) characterize the highly versatile folding motif of four-α-helical bundles, the significance of the polypeptide chain directionality is not sufficiently understood, although it determines sequence patterns, helical dipoles, and other parameters for the folding and oligomerization processes of bundles. To investigate directionality aspects in sequence-structure relationships, we reversed the amino acid sequences of two well-characterized, highly regular four-α-helical bundle proteins and studied the folding, oligomerization, and structural properties of the retro-proteins, using Circular Dichroism Spectroscopy (CD), Size Exclusion Chromatography combined with Multi-Angle Laser Light Scattering (SEC-MALS), and Small Angle X-ray Scattering (SAXS). The comparison of the parent proteins with their retro-counterparts reveals that while the α-helical character of the parents is affected to varying degrees by sequence reversal, the folding states, oligomerization propensities, structural stabilities, and shapes of the new molecules strongly depend on the characteristics of the heptad repeat patterns. The highest similarities between parent and retro-proteins are associated with the presence of uninterrupted heptad patterns in helical bundles sequences.     

A case-based approach for coordinated action selection in robot soccer

Designing coordinated robot behaviors in uncertain, dynamic, real-time, adversarial environments, such as in robot soccer, is very challenging. In this work we present a case-based reasoning approach for cooperative action selection, which relies on the storage, retrieval, and adaptation of example cases. We focus on cases of coordinated attacking passes between robots in the presence of the defending opponent robots. We present the case representation explicitly distinguishing between controllable and uncontrollable indexing features, corresponding to the positions of the team members and opponent robots, respectively. We use the symmetric properties of the domain to automatically augment the case library. We introduce a retrieval technique that weights the similarity of a situation in terms of the continuous ball positional features, the uncontrollable features, and the cost of moving the robots from the current situation to match the case controllable features. The case adaptation includes a best match between the positions of the robots in the past case and in the new situation. The robots are assigned an adapted position to which they move to maximize the match to the retrieved case. Case retrieval and reuse are achieved within the distributed team of robots through communication and sharing of own internal states and actions. We evaluate our approach, both in simulation and with real robots, in laboratory scenarios with two attacking robots versus two defending robots as well as versus a defender and a goalie. We show that we achieve the desired coordinated passing behavior, and also outperform a reactive action selection approach.     

Poly[(N‐isopropylacrylamide)‐co‐(itaconic acid)] hydrogels with poly(ethylene glycol)

The aim of the work reported here was to investigate temperature‐ and pH‐sensitive hydrogels of N‐isopropylacrylamide (NIPAM) and itaconic acid (IA) and their semi‐interpenetrating polymer networks (semi‐IPNs) with varying contents of poly(ethylene glycol) (PEG). The stimuli responsiveness, swelling behaviour and mechanical properties of the hydrogels and semi‐IPNs were studied in order to investigate the effect of various amounts of PEG. Pulsed‐gradient spin‐echo NMR experiments were carried out to investigate the diffusion process. The pH sensitivity increased with an increasing amount of PEG in the semi‐IPNs, while the overall rate of water uptake was diffusion‐controlled (n < 0.5). For certain PEG contents (5 and 10 wt%), the semi‐IPNs exhibited better mechanical properties than the poly(NIPAM‐co‐IA) copolymer. The calculated values of the self‐diffusion coefficients of water indicated facilitated diffusion of water through the system with increased amounts of PEG, while the self‐diffusion coefficients of a model compound, metoprolol tartrate, showed no significant dependence on the amount of PEG. According to the results obtained and compared to results reported in the literature, the investigated semi‐IPNs may have potential applications in the controlled release of macromolecular active agents such as proteins and peptides. Copyright © 2009 Society of Chemical Industry     

Difference estimators of quantiles in finite populations

This paper deals with the inference of finite populations quantiles by using auxiliary information. The population information considered on the proposed estimatiors is a population quantile of the auxiliary variable with the same order as that of the quantile of the main variable to be estimated. A simulation study based on three real finite populations is performed and comparisons of the proposed estimators with other common estimators for quantile estimation are carried out.     

Estimating quantiles under sampling on two occasions with arbitrary sample designs

A practical problem related to the estimation of quantiles in double sampling with arbitrary sampling designs in each of the two phases is investigated. In practice, this scheme is commonly used for official surveys, in which quantile estimation is often required when the investigation deals with variables such as income or expenditure. A class of estimators for quantiles is proposed and some important properties, such as asymptotic unbiasedness and asymptotic variance, are established. The optimal estimator, in the sense of minimizing the asymptotic variance, is also presented. The proposed class contains several known types of estimators, such as ratio and regression estimators, which are of practical application and are therefore derived. Assuming several populations, the proposed estimators are compared with the direct estimator via an empirical study. Results show that a gain in efficiency can be obtained.     

The importance of catalyst oxidation for the growth of carbon nanotubes on Si substrates

Iron catalyst in the form of a thin layer was deposited directly onto silicon wafers in order to grow carbon nanotubes by a chemical vapor deposition process. The chemical and morphological transformations undergone during the process by the iron were monitored in situ by photoelectron spectroscopy and ex situ by SEM. We found that the growth of carbon nanotubes was successful only when the iron catalyst was previously oxidized. Metallic iron transformed to embedded iron silicide structures, unable to initiate nanotube growth. On the other hand, pre-oxidized iron led to the formation of superficial particles and showed only a partial conversion to silicide, which resulted in carbon nanotube growth, even at very low pressures.     

Synthesis,characterization and application of poly(N-isopropylacrylamide-co-itaconic acid) hydrogels as supports for lipase immobilization

Temperature- and pH-sensitive hydrogels based on N-isopropylacrylamide (NiPAAm) and itaconic acid (IA) were applied for immobilization of lipase from Candida rugosa (CRL). The hydrogels were synthesized by free radical crosslinking copolymerization in the presence of lipase. Characterization of samples by swelling studies, at pH 2.20 and 6.80 at a temperature of 37 °C, scanning electron microscopy (SEM) and Fourier transform infrared analysis (FT-IR) confirmed that the degree of crosslinking, the non-ionic/ionic (NiPAAm/IA) ratio and the enzyme content had impacts on the hydrogel structure, mechanical properties, morphology and swelling kinetics. All hydrogels demonstrated protein loading efficiencies as high as 95 wt.%. A specific activity of the immobilized lipase of around 38 IU/g was attained for an enzyme loading of 20.0 wt.%. As a result, improved pH and temperature optima values were obtained for the immobilized systems in relation to those for the free lipase.     

Regioselective analysis of the fatty acid composition of triacylglycerols with conventional high-performance liquid chromatography

A new method for regioselective analysis of triacyglycerols via conventional high-performance liquid chromatography (HPLC) has been developed. The method is simple and avoids the time-consuming purification processes normally characteristics of regioselective analyses. The procedure utilizes an sn-1,3-specific lipase from Rhizopus arrhizus to deacylate the fatty acid residues located at the sn-1 and sn-3 positions of triacylglycerols. The fatty acid residues esterified at the sn-2 position are determined by subtraction of the results of the sn-1,3 analysis from an overall composition analysis based on complete saponification of the original sample. The fatty acid mixtures are converted to p-bromophenacyl esters and analyzed using conventional HPLC techniques. The analytical procedure has been verified using a standard structured triacylglycerol. The analytical results for three edible vegetable oils are compared with those obtained via the method proposed by P.J. Williams and co-workers.