Interleaving Planning and Robot Execution for Asynchronous User Requests

ROGUE is an architecture built on a real robot which provides algorithms for the integration of high-level planning, low-level robotic execution, and learning. ROGUE addresses successfully several of the challenges of a dynamic office gopher environment. This article presents the techniques for the integration of planning and execution.ROGUE uses and extends a classical planning algorithm to create plans for multiple interacting goals introduced by asynchronous user requests. ROGUE translates the planner';s actions to robot execution actions and monitors real world execution. ROGUE is currently implemented using the PRODIGY4.0 planner and the Xavier robot. This article describes how plans are created for multiple asynchronous goals, and how task priority and compatibility information are used to achieve appropriate efficient execution. We describe how ROGUE communicates with the planner and the robot to interleave planning with execution so that the planner can replan for failed actions, identify the actual outcome of an action with multiple possible outcomes, and take opportunities from changes in the environment.ROGUE represents a successful integration of a classical artificial intelligence planner with a real mobile robot.     

PET Probes for Preclinical Imaging of GRPR-Positive Prostate Cancer: Comparative Preclinical Study of [68Ga]Ga-NODAGA-AMBA and [44Sc]Sc-NODAGA-AMBA

Gastrin-releasing peptide receptors (GRPR) are overexpressed in prostate cancer (PCa). Since bombesin analogue aminobenzoic-acid (AMBA) binds to GRPR with high affinity, scandium-44 conjugated AMBA is a promising radiotracer in the PET diagnostics of GRPR positive tumors. Herein, the GRPR specificity of the newly synthetized [⁴⁴Sc]Sc-NODAGA-AMBA was investigated in vitro and in vivo applying PCa PC-3 xenograft. After the in-vitro assessment of receptor binding, PC-3 tumor-bearing mice were injected with [⁴⁴Sc]Sc/[⁶⁸Ga]Ga-NODAGA-AMBA (in blocking studies with bombesin) and in-vivo PET examinations were performed to determine the radiotracer uptake in standardized uptake values (SUV). ⁴⁴Sc/⁶⁸Ga-labelled NODAGA-AMBA was produced with high molar activity (approx. 20 GBq/µmoL) and excellent radiochemical purity. The in-vitro accumulation of [⁴⁴Sc]Sc-NODAGA-AMBA in PC-3 cells was approximately 25-fold higher than that of the control HaCaT cells. Relatively higher uptake was found in vitro, ex vivo, and in vivo in the same tumor with the ⁴⁴Sc-labelled probe compared to [⁶⁸Ga]Ga-NODAGA-AMBA. The GRPR specificity of [⁴⁴Sc]Sc-NODAGA-AMBA was confirmed by significantly (p ≤ 0.01) decreased %ID and SUV values in PC-3 tumors after bombesin pretreatment. The outstanding binding properties of the novel [⁴⁴Sc]Sc-NODAGA-AMBA to GRPR outlines its potential to be a valuable radiotracer in the imaging of GRPR-positive PCa.     

Separation of non-sucrose compounds from sugar-beet syrup by ultrafiltration with ceramic membrane containing static mixer

The aim of this work was to investigate possible improvement of non-sucrose compounds separation from the syrup of raw brown sugar by application of a static mixer in an ultrafiltration process. The static mixer was expected to reduce the concentration polarization and fouling of the membrane. Non-affinated B sugar from the second stage of crystallization, diluted to 60°Bx dry matter, was used for preparing the solution subjected to the ultrafiltration. The cross-flow filtration, at a laboratory level, was carried out on the tubular ceramic membrane (Schumasiv Pall, USA), with a pore diameter of 5 nm. The separation was performed under various working conditions, with and without the presence of static mixer. The effect of turbulence promotion on filtration performances was investigated by using Kenics static mixer (FMX8124-AC, Omega). The process efficiency was quantified through the achieved values of the permeate flux, its colour and dry matter content, while the working factors were: fluid flow-rate, temperature, transmembrane pressure (TMP) and process duration. The positive effects of mixer application were proved.     

Reduction of solid content in starch industry wastewater by microfiltration

Wastewater obtained in the production process of wheat starch and vital wheat gluten was treated by microfiltration through a ceramic tubular membrane with 200 nm pore sizes. The consumption of process water would thus be reduced, the starch would be recovered to a greater extent and the wastewater problem would consequently be solved. Reduction of the occurrence of polarization layer on the membrane and the constant wastewater permeate flux through the membrane was maintained by inserting of the mixer Kenics inside the membrane tube. The maximum value of the permeate flux (24 L m⁻² h⁻¹) without the use of a static mixer was achieved at 3 × 10⁻⁵ Pa and at a flow rate of 150 L/h, for wastewater samples initially allowed to settle for 4 h prior microfiltration. Under the very same conditions of the working parameters, the use of a static mixer enables a flux that is up to two or three times more intensive compared to the values obtained without using a mixer. Microfiltration reduces the wastewater dry matter from 11 000 to 4000 mg/L, lessens the chemical oxygen demand by 74%, i.e. from 21 000 to 5100 mgO₂/L and significantly decreases the values of the suspended matter, namely from 9000 to 300 mg/L.     

Evaluation of Adh1 alleles and transgenic soybean seeds using Scorpion PCR and HRM analysis

The identification of both approved and non-approved genetically modified organisms (GMOs) is an integral part of GMO biosafety legislation in many countries. One aspect that may affect PCR-based detection of a GMO lies within the analysis of its genetic stability, as sequence alterations or DNA instabilities may impede quantification by PCR. Genetic stability can be analyzed using various methods, yet many of these methods have distinct disadvantages, including low sensitivity. In this study, high resolution melting (HRM) analysis and real-time PCR with Scorpion primers were used as a method to analyze the 3′ end of RR soybeans (RR 40-3-2) in a large number of samples (n = 1,034). No evidence for the occurrence of mutation events was found, implying that the nucleotide sequence of this region is unlikely to be unstable and is well suited as a target for the quantification of RR soybeans. Additionally, and as a preparative work for an optimization of the method, a 174 bp region of the first intron of the Adh1 gene was analyzed in several varieties of maize with different GMO events using the same approach. The results show that 2 alleles are present. In further experiments, the different alleles were cloned into plasmids to generate homozygous plasmids from heterozygous templates in order to generate for a more precise analysis. The overall methodological aim of these studies was to compare HRM analysis with Scorpion primer PCR. Both methods were capable of differentiating between the 2 homozygous and heterozygous alleles. For a better discrimination, however, we conclude that it is most reliable to consider the results of both methods. This dual approach is assumed to be an effective tool as an accurate, high-throughput means of the screening of GMOs for potential genetic instabilities that may interfere with the detection and identification of specific GM events.     

Electrochemical method for the detection of lipase activity

A novel electrochemical technique for the general assay of lipase activity is described. The method utilizes a solid-supported lipase substrate, which is formed by dripping and drying a small amount of an ethanol solution of 9-(5'-ferrocenylpentanoyloxy)nonyl disulfide (FPONDS) onto gold modified by a hexanethiol self-assembled monolayer. The redox ferrocene group of FPONDS generates the electrochemical signal, the intensity of which is proportional to the number of FPONDS molecules at the interface. Electrochemical and surface-enhanced infrared absorption spectroscopic data, as well as control experiments with an engineered, deactivated mutant enzyme, demonstrate that the wild-type lipase from Thermomyces lanuginosus is capable of cleaving the ester bonds of FPONDS molecules via an enzymatic hydrolysis mechanism, which includes the adsorption of the lipase onto the substrate surface. The hydrolysis liberates the ferrocene groups from the interface triggering a decay of the electrochemical redox signal. The rate of the electrochemical signal decrease is proportional to the lipase activity/concentration. These data suggest a general method for the direct measure of enzymatic activity of lipases.     

Chemical Approach to Biological Safety: Molecular‐Level Control of an Integrated Zinc Finger Nuclease

Application of artificial nucleases (ANs) in genome editing is still hindered by their cytotoxicity related to off‐target cleavages. This problem can be targeted by regulation of the nuclease domain. Here, we provide an experimental survey of computationally designed integrated zinc finger nucleases, constructed by linking the inactivated catalytic centre and the allosteric activator sequence of the colicin E7 nuclease domain to the two opposite termini of a zinc finger array. DNA specificity and metal binding were confirmed by electrophoretic mobility shift assays, synchrotron radiation circular dichroism spectroscopy, and nano‐electrospray ionisation mass spectrometry. In situ intramolecular activation of the nuclease domain was observed, resulting in specific cleavage of DNA with moderate activity. This study represents a new approach to AN design through integrated nucleases consisting of three (regulator, DNA‐binding, and nuclease) units, rather than simple chimera. The optimisation of such ANs could lead to safe gene editing enzymes.