A real-time vision module for interactive perceptual agents

Abstract. Interactive robotics demands real-time visual information about the environment. Real-time vision processing, however, places a heavy load on the robot's limited resources, which must accommodate multiple other processes running simultaneously. This paper describes a vision module capable of providing real-time information from ten or more operators while maintaining at least a 20-Hz frame rate and leaving sufficient processor time for a robot's other capabilities. The vision module uses a probabilistic scheduling algorithm to ensure both timely information flow and a fast frame capture. In addition, it tightly integrates the vision operators with control of a pan-tilt-zoom camera. The vision module makes its information available to other modules in the robot architecture through a shared memory structure. The information provided by the vision module includes the operator information along with a time stamp indicating information relevance. Because of this design, our robots are able to react in a timely manner to a wide variety of visual events.     

Mass Spectrometric Assays Reveal Discrepancies in Inhibition Profiles for the SARS-CoV-2 Papain-Like Protease

The two SARS-CoV-2 proteases, i. e. the main protease (M^pro) and the papain-like protease (PL^pro), which hydrolyze the viral polypeptide chain giving functional non-structural proteins, are essential for viral replication and are medicinal chemistry targets. We report a high-throughput mass spectrometry (MS)-based assay which directly monitors PL^pro catalysis in vitro. The assay was applied to investigate the effect of reported small-molecule PL^pro inhibitors and selected M^pro inhibitors on PL^pro catalysis. The results reveal that some, but not all, PL^pro inhibitor potencies differ substantially from those obtained using fluorescence-based assays. Some substrate-competing M^pro inhibitors, notably PF-07321332 (nirmatrelvir) which is in clinical development, do not inhibit PL^pro. Less selective M^pro inhibitors, e. g. auranofin, inhibit PL^pro, highlighting the potential for dual PL^pro/M^pro inhibition. MS-based PL^pro assays, which are orthogonal to widely employed fluorescence-based assays, are of utility in validating inhibitor potencies, especially for inhibitors operating by non-covalent mechanisms.     

Teriflunomide Preserves Neuronal Activity and Protects Mitochondria in Brain Slices Exposed to Oxidative Stress

Teriflunomide (TFN) limits relapses in relapsing–remitting multiple sclerosis (RRMS) by reducing lymphocytic proliferation through the inhibition of the mitochondrial enzyme dihydroorotate dehydrogenase (DHODH) and the subsequent modulation of de novo pyrimidine synthesis. Alterations of mitochondrial function as a consequence of oxidative stress have been reported during neuroinflammation. Previously, we showed that TFN prevents alterations of mitochondrial motility caused by oxidative stress in peripheral axons. Here, we aimed to validate TFN effects on mitochondria and neuronal activity in hippocampal brain slices, in which cellular distribution and synaptic circuits are largely preserved. TFN effects on metabolism and neuronal activity were investigated by assessing oxygen partial pressure and local field potential in acute slices. Additionally, we imaged mitochondria in brain slices from the transgenic Thy1-CFP/COX8A)S2Lich/J (mitoCFP) mice using two-photon microscopy. Although TFN could not prevent oxidative stress-related depletion of ATP, it preserved oxygen consumption and neuronal activity in CNS tissue during oxidative stress. Furthermore, TFN prevented mitochondrial shortening and fragmentation of puncta-shaped and network mitochondria during oxidative stress. Regarding motility, TFN accentuated the decrease in mitochondrial displacement and increase in speed observed during oxidative stress. Importantly, these effects were not associated with neuronal viability and did not lead to axonal damage. In conclusion, during conditions of oxidative stress, TFN preserves the functionality of neurons and prevents morphological and motility alterations of mitochondria.     

Pillared montmorillonite clay as a raw material for the synthesis of β′-sialon

To control the SiO₂/Al₂O₃ ratio in a starting clay material for the synthesis of β′-sialon by the carbothermal nitridation process, montmorillonite was pillared with Al₂O₃. Conversions to sialon of pillared clay (31% Al₂O₃) and reference unpillared montmorillonite (18% Al₂O₃) have been compared. Pillared montmorillonite yielded a mixture of β′-sialon and various oxynitrides and oxycarbides of alumina as intermediate products. Pillared clay transformed faster during annealing than structural components of smectite alone. For the proper thermal treatment and clay/carbon ratio, both pillared and unpillared clays resulted in β′-sialon solid solutions.     

Sulfamic acid as an efficient and recyclable catalyst for the ring opening of epoxides with amines and anilines: An easy synthesis of β-amino alcohols under solvent-free conditions

Application of sulfamic acid as an efficient and green catalyst for the ring opening of epoxides by aliphatic and aromatic amines under solvent-free conditions is described. In this process the use of basic neutralization agent was not required due to the intrinsic zwitterionic property of sulfamic acid. The salient features of this methodology are cheaper process, easy availability of the catalyst, versatility, and the catalyst can be recovered after completion of the reaction and can be recycled without affecting the catalytic property.     

Systematic design of wideband ΔΣ modulators for WiFi/WiMAX receivers

Modern multi-standard receivers in deep-submicron technologies pose significant design challenges on the analog baseband. Moving this analog filtering to the digital domain simplifies the design, yielding a process-scalable implementation. However, analog-to-digital converter (ADC) specifications now become more stringent and must be obtained by comprehending the standard and the system. Assuming a receiver NF of 5.96 dB and SNR degradation of 0.36 dB by the ADC, the proposed dual-mode WiFi/WiMAX receiver attains an input sensitivity of −74 dBm (20 MHz channel bandwidth). To accommodate the high dynamic range and the anti-alias rejection needed for the system, a Delta-Sigma (ΔΣ) ADC is proposed. Single-loop and Multi-Stage Noise-Shaping (MASH) architectures that achieve a SNR of 69 dB at a low oversampling ratio (OSR) of 8 for a conversion bandwidth of 40 MHz (108 Mbps, OFDM) are investigated at system level. Based on thermal noise, harmonic distortion, and power tradeoffs, a ΔΣ ADC design that meets the design specifications is presented.     

Synthesis and electronic properties of double pincer-type cyclometalated iridium complexes

Double pincer-type cyclometalated iridium complexes were prepared based upon a few assumptions and their photophysical properties were examined.     

Analytical Elastic Solution Based on Fourier Series for a Laterally Confined Granular Column

This paper presents an analytical solution methodology for the complete stress and displacement fields of a laterally confined granular column loaded from the top end. The granular column is idealized as a homogeneous isotropic elastic medium with Coulomb’s friction at the lateral boundary. The solution methodology consists of an analytical procedure that incorporates a potential approach with trigonometric series and Bessel functions, finite Fourier transforms and the superposition method, and an iterative algorithm to satisfy the Coulomb’s friction condition at the lateral boundary. Stress and displacement fields are computed for a specific example and found completely consistent with corresponding finite element results. Key characteristics, computational errors, the convergence behavior, and restrictions of the present approach are discussed. The methodology developed herein can be beneficially applied in the validation process of numerical simulation techniques in granular mechanics such as finite or discrete element methods.     

Applying global cost-benefit analysis methods to indoor air pollution mitigation interventions in Nepal,Kenya and Sudan: Insights and challenges

Indoor air pollution from burning solid fuels for cooking is a major environmental health problem in developing countries, predominantly affecting children and women. Traditional household energy practices also contribute to substantial time loss and drudgery among households. While effective interventions exist, levels of investment to date have been very low, in part due to lack of evidence on economic viability. Between 2004 and 2007, different combinations of interventions – improved stoves, smoke hoods and a switch to liquefied petroleum gas – were implemented in poor communities in Nepal, Sudan and Kenya. The impacts were extensively evaluated and provided the basis for a household-level cost-benefit analysis, which essentially followed the methodology proposed by the World Health Organization. The results suggest that interventions are justified on economic grounds with estimated internal rates of return of 19%, 429% and 62% in Nepal, Kenya and Sudan, respectively. Time savings constituted by far the most important benefit followed by fuel cost savings; direct health improvements were a small component of the overall benefit. This paper describes the methodology applied, discusses the findings and highlights the methodological challenges that arise when a global approach is applied to a local programme.