The UJI librarian robot

This paper describes the UJI librarian robot, a mobile manipulator that is able to autonomously locate a book in an ordinary library, and grasp it from a bookshelf, by using eye-in-hand stereo vision and force sensing. The robot is only provided with the book code, a library map and some knowledge about its logical structure and takes advantage of the spatio-temporal constraints and regularities of the environment by applying disparate techniques such as stereo vision, visual tracking, probabilistic matching, motion estimation, multisensor-based grasping, visual servoing and hybrid control, in such a way that it exhibits a robust and dependable performance. The system has been tested, and experimental results show how it is able to robustly locate and grasp a book in a reasonable time without human intervention.     

Apoptosis Pathways Triggered by a Potent Antiproliferative Hybrid Chalcone on Human Melanoma Cells

The World Health Organization reported that approximately 324,000 new cases of melanoma skin cancer were diagnosed worldwide in 2020. The incidence of melanoma has been increasing over the past decades. Targeting apoptotic pathways is a potential therapeutic strategy in the transition to preclinical models and clinical trials. Some naturally occurring products and synthetic derivatives are apoptosis inducers and may represent a realistic option in the fight against the disease. Thus, chalcones have received considerable attention due to their potential cytotoxicity against cancer cells. We have previously reported a chalcone containing an indole and a pyridine heterocyclic rings and an α-bromoacryloylamido radical which displays potent antiproliferative activity against several tumor cell lines. In this study, we report that this chalcone is a potent apoptotic inducer for human melanoma cell lines SK-MEL-1 and MEL-HO. Cell death was associated with mitochondrial cytochrome c release and poly(ADP-ribose) polymerase cleavage and was prevented by a non-specific caspase inhibitor. Using SK-MEL-1 as a model, we found that the mechanism of cell death involves (i) the generation of reactive oxygen species, (ii) activation of the extrinsic and intrinsic apoptotic and mitogen-activated protein kinase pathways, (iii) upregulation of TRAIL, DR4 and DR5, (iv) downregulation of p21^Cip1/WAF1 and, inhibition of the NF-κB pathway.     

Structure-Based Design of an RNase Chimera for Antimicrobial Therapy

Bacterial resistance to antibiotics urges the development of alternative therapies. Based on the structure-function of antimicrobial members of the RNase A superfamily, we have developed a hybrid enzyme. Within this family, RNase 1 exhibits the highest catalytic activity and the lowest cytotoxicity; in contrast, RNase 3 shows the highest bactericidal action, alas with a reduced catalytic activity. Starting from both parental proteins, we designed a first RNase 3/1-v1 chimera. The construct had a catalytic activity much higher than RNase 3, unfortunately without reaching an equivalent antimicrobial activity. Thus, two new versions were created with improved antimicrobial properties. Both of these versions (RNase 3/1-v2 and -v3) incorporated an antimicrobial loop characteristic of RNase 3, while a flexible RNase 1-specific loop was removed in the latest construct. RNase 3/1-v3 acquired both higher antimicrobial and catalytic activities than previous versions, while retaining the structural determinants for interaction with the RNase inhibitor and displaying non-significant cytotoxicity. Following, we tested the constructs’ ability to eradicate macrophage intracellular infection and observed an enhanced ability in both RNase 3/1-v2 and v3. Interestingly, the inhibition of intracellular infection correlates with the variants’ capacity to induce autophagy. We propose RNase 3/1-v3 chimera as a promising lead for applied therapeutics.     

Nanocellular Polymers with a Gradient Cellular Structure Based on Poly(methyl methacrylate)/Thermoplastic Polyurethane Blends Produced by Gas Dissolution Foaming

Graded structures and nanocellular polymers are two examples of advanced cellular morphologies. In this work, a methodology to obtain low‐density graded nanocellular polymers based on poly(methyl methacrylate) (PMMA)/thermoplastic polyurethane (TPU) blends produced by gas dissolution foaming is reported. A systematic study of the effect of the processing condition is presented. Results show that the melt‐blending results in a solid nanostructured material formed by nanometric TPU domains. The PMMA/TPU foamed samples show a gradient cellular structure, with a homogeneous nanocellular core. In the core, the TPU domains act as nucleating sites, enhancing nucleation compared to pure PMMA and allowing the change from a microcellular to a nanocellular structure. Nonetheless, the outer region shows a gradient of cell sizes from nano‐ to micron‐sized cells. This gradient structure is attributed to a non‐constant pressure profile in the samples due to gas desorption before foaming. The nucleation in the PMMA/TPU increases as the saturation pressure increases. Regarding the effect of the foaming conditions, it is proved that it is necessary to have a fine control to avoid degeneration of the cellular materials. Graded nanocellular polymers with relative densities of 0.16–0.30 and cell sizes ranging 310–480 nm (in the nanocellular core) are obtained.     

Effect of pre-emulsified fish oil - as source of PUFA n-3 - on microstructure and sensory properties of mortadella, a Spanish bologna-type sausage

Conventional and low-fat cooked sausages (cursive) were prepared with fish oil as a source of n−3 polyunsaturated fatty acids. Fish oil was incorporated pre-emulsified with caseinates and water. Pre-emulsion was added in sufficient amounts to give fish oil levels of 1–6% in the final product. Lipid oxidation was determined (TBARs index) and instrumental measures of colour and texture were carried out. A sensory analysis was performed in which sensory parameters were evaluated by a hedonic test. There were no significant changes in TBAR values of final products being similar in both control and fish oil added sausages. In general terms, a slight increase in hardness and work of shearing were observed at the higher fish oil levels independently of the fat content. Sausages were analysed after 90 days of storage under refrigeration and similar results were observed. Microstructure of sausages was also studied by scanning electron microscopy (SEM) and a more compact structure was observed when the high levels were assayed. However, all sausages were well accepted when sensory quality was evaluated. Fat composition showed an increase in n−3 PUFA yielding a n−6/n−3 ratio close to 2, which is considered as healthier. For this, the incorporation of fish oil pre-emulsified seems to be a good option to include n−3 PUFA in cooked meat products, obtaining sensorially adequate and healthier stable sausages.     

Glass transition behavior and dynamic fragility in polylactides containing mobile and rigid amorphous fractions

The segmental dynamics of polylactide chains covering the T_g − 30 °C to T_g + 30 °C range was studied in absence and presence of a crystalline phase by dynamic mechanical analysis (DMA) using the framework provided by the WLF theory and the Angell's dynamic fragility concept. An appropriate selection of stereoisomers combined with a thermal conditioning strategy to promote crystallization (above T_g) or relaxation of chains (below T_g) was revealed as an efficient method to tune the ratio of the rigid and mobile amorphous phases in polylactides. A single bulklike mobile amorphous phase was taken for poly(d,l-lactide) (PDLLA). In turn three phases, comprising a mobile amorphous fraction (MAF, X_MA), a rigid amorphous fraction (RAF, X_RA) and a crystalline fraction (X_c) were determined in poly(l-lactide) (PLLA) by modulated differential scanning calorimetry (MDSC) according to a three-phase model. The analysis of results confirms that crystallinity and RAF not only elevate the T_g and the breadth of the glass transition region but also yields an increase in dynamic fragility parameter (m) which entails the existence of a smaller length-scale of cooperativity of polylactide chains in confined environments. Consequently it is proposed that crystallinity is acting in polymeric systems as a topological constraint that, preventing longer range dynamics, provides a faster segmental dynamics by the temperature dependence of relaxation times according to the strong-fragile scheme.     

Fibroblast growth factor 2 increases Otx2 expression in precursor cells from mammalian telencephalon

Dissociated primary cultures from rat telencephalon at different developmental stages were used to study the effect of basic fibroblast growth factor (FGF2) on Otx2, Dlx1, and Emx1, three homeobox genes expressed in different regions of the developing mammalian forebrain. At embryonic day (E)13.5. the regional pattern of expression of Otx1, Otx2, Dlx1, Dlx2, Dlx5, and Emx1 is maintained in primary culture, suggesting that cells are already committed to a regional identity at this stage. In these cultures, Otx2 is expressed by precursor cells, whereas Dlx1 and Emx1 are predominantly expressed by postmitotic cells. We found that FGF2 increased Otx2 expression within precursor cells and the total number of Otx2-expressing cells. This effect was gene-specific, dose-dependent, and temporally regulated, with larger effects at earlier stages of development (E11.5). At E13.5, the effect of FGF2 on Otx2 expression was restricted to the basal telencephalon. Our results suggest that a restricted population of neuroblasts respond to FGF2 in a temporally regulated fashion by proliferating and increasing Otx2 expression. This interaction between FGF2 and Otx2 may be important for the regulation of neurogenesis in the forebrain.     

Multislot estimation of frequency-selective fast-varying channels

In mobile communications, the movement of terminals renders the multipath channel time varying. Even though the faded amplitudes are fast varying, the delays can be considered as stationary on a large temporal scale. We propose a new subspace-based method that estimates the channel response from multiple slots by capitalizing on these different varying rates without explicitly computing the delays of the multipath. The temporal subspace is obtained from multiple single-slot training-based estimates of the (single-user or multiuser) channel response. Provided that the number of slots is large enough, the time basis can be calculated with some accuracy. As a consequence, the mean-square error of the channel response depends only on the number of fast-varying parameters that have to be estimated in a slot-by-slot fashion. Performance analysis and simulations confirm the expected benefits of the multislot approach in improving the efficiency of systems with short training sequences.     

Combined linear pre-equalization and BLAST equalization with channel correlation feedback

In this letter, we study linear pre-equalization in conjunction with BLAST equalization. Linear pre-equalization is based on the assumption that the channel state information available at the transmitter is limited to the second order statistics of channel and noise (long term channel state information or LT-CSI). Through simulations, we compare different design criteria for the pre-equalizer and show the advantages of the considered structure with respect to BLAST.     

Feature Weighting and Instance Selection for Collaborative Filtering: An Information-Theoretic Approach*

Collaborative filtering (CF) employing a consumer preference database to make personal product recommendations is achieving widespread success in E-commerce. However, it does not scale well to the ever-growing number of consumers. The quality of the recommendation also needs to be improved in order to gain more trust from consumers. This paper attempts to improve the accuracy and efficiency of collaborative filtering. We present a unified information-theoretic approach to measure the relevance of features and instances. Feature weighting and instance selection methods are proposed for collaborative filtering. The proposed methods are evaluated on the well-known EachMovie data set and the experimental results demonstrate a significant improvement in accuracy and efficiency.*This work was performed in Corporate Technology, Siemens AG.