| 1. |
- Householder, John Ethan, et al.
(författare)
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One sixth of Amazonian tree diversity is dependent on river floodplains
- 2024
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Ingår i: NATURE ECOLOGY & EVOLUTION. - 2397-334X.
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Tidskriftsartikel (refereegranskat)abstract
- Amazonia's floodplain system is the largest and most biodiverse on Earth. Although forests are crucial to the ecological integrity of floodplains, our understanding of their species composition and how this may differ from surrounding forest types is still far too limited, particularly as changing inundation regimes begin to reshape floodplain tree communities and the critical ecosystem functions they underpin. Here we address this gap by taking a spatially explicit look at Amazonia-wide patterns of tree-species turnover and ecological specialization of the region's floodplain forests. We show that the majority of Amazonian tree species can inhabit floodplains, and about a sixth of Amazonian tree diversity is ecologically specialized on floodplains. The degree of specialization in floodplain communities is driven by regional flood patterns, with the most compositionally differentiated floodplain forests located centrally within the fluvial network and contingent on the most extraordinary flood magnitudes regionally. Our results provide a spatially explicit view of ecological specialization of floodplain forest communities and expose the need for whole-basin hydrological integrity to protect the Amazon's tree diversity and its function.
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| 2. |
- ter Steege, Hans, et al.
(författare)
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Mapping density, diversity and species-richness of the Amazon tree flora
- 2023
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Ingår i: COMMUNICATIONS BIOLOGY. - 2399-3642. ; 6:1
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Tidskriftsartikel (refereegranskat)abstract
- Using 2.046 botanically-inventoried tree plots across the largest tropical forest on Earth, we mapped tree species-diversity and tree species-richness at 0.1-degree resolution, and investigated drivers for diversity and richness. Using only location, stratified by forest type, as predictor, our spatial model, to the best of our knowledge, provides the most accurate map of tree diversity in Amazonia to date, explaining approximately 70% of the tree diversity and species-richness. Large soil-forest combinations determine a significant percentage of the variation in tree species-richness and tree alpha-diversity in Amazonian forest-plots. We suggest that the size and fragmentation of these systems drive their large-scale diversity patterns and hence local diversity. A model not using location but cumulative water deficit, tree density, and temperature seasonality explains 47% of the tree species-richness in the terra-firme forest in Amazonia. Over large areas across Amazonia, residuals of this relationship are small and poorly spatially structured, suggesting that much of the residual variation may be local. The Guyana Shield area has consistently negative residuals, showing that this area has lower tree species-richness than expected by our models. We provide extensive plot meta-data, including tree density, tree alpha-diversity and tree species-richness results and gridded maps at 0.1-degree resolution. A study mapping the tree species richness in Amazonian forests shows that soil type exerts a strong effect on species richness, probably caused by the areas of these forest types. Cumulative water deficit, tree density and temperature seasonality affect species richness at a regional scale.
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| 3. |
- Luize, Bruno Garcia, et al.
(författare)
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Geography and ecology shape the phylogenetic composition of Amazonian tree communities
- 2024
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Ingår i: JOURNAL OF BIOGEOGRAPHY. - 0305-0270 .- 1365-2699.
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Tidskriftsartikel (refereegranskat)abstract
- Aim: Amazonia hosts more tree species from numerous evolutionary lineages, both young and ancient, than any other biogeographic region. Previous studies have shown that tree lineages colonized multiple edaphic environments and dispersed widely across Amazonia, leading to a hypothesis, which we test, that lineages should not be strongly associated with either geographic regions or edaphic forest types. Location: Amazonia. Taxon: Angiosperms (Magnoliids; Monocots; Eudicots). Methods: Data for the abundance of 5082 tree species in 1989 plots were combined with a mega-phylogeny. We applied evolutionary ordination to assess how phylogenetic composition varies across Amazonia. We used variation partitioning and Moran's eigenvector maps (MEM) to test and quantify the separate and joint contributions of spatial and environmental variables to explain the phylogenetic composition of plots. We tested the indicator value of lineages for geographic regions and edaphic forest types and mapped associations onto the phylogeny. Results: In the terra firme and v & aacute;rzea forest types, the phylogenetic composition varies by geographic region, but the igap & oacute; and white-sand forest types retain a unique evolutionary signature regardless of region. Overall, we find that soil chemistry, climate and topography explain 24% of the variation in phylogenetic composition, with 79% of that variation being spatially structured (R-2 = 19% overall for combined spatial/environmental effects). The phylogenetic composition also shows substantial spatial patterns not related to the environmental variables we quantified (R-2 = 28%). A greater number of lineages were significant indicators of geographic regions than forest types. Main Conclusion: Numerous tree lineages, including some ancient ones (>66 Ma), show strong associations with geographic regions and edaphic forest types of Amazonia. This shows that specialization in specific edaphic environments has played a long-standing role in the evolutionary assembly of Amazonian forests. Furthermore, many lineages, even those that have dispersed across Amazonia, dominate within a specific region, likely because of phylogenetically conserved niches for environmental conditions that are prevalent within regions.
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| 4. |
- Cooper, Declan L.M., et al.
(författare)
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Consistent patterns of common species across tropical tree communities
- 2024
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Ingår i: Nature. - 0028-0836 .- 1476-4687. ; 625:7996, s. 728-734
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Tidskriftsartikel (refereegranskat)abstract
- Trees structure the Earth’s most biodiverse ecosystem, tropical forests. The vast number of tree species presents a formidable challenge to understanding these forests, including their response to environmental change, as very little is known about most tropical tree species. A focus on the common species may circumvent this challenge. Here we investigate abundance patterns of common tree species using inventory data on 1,003,805 trees with trunk diameters of at least 10 cm across 1,568 locations 1–6 in closed-canopy, structurally intact old-growth tropical forests in Africa, Amazonia and Southeast Asia. We estimate that 2.2%, 2.2% and 2.3% of species comprise 50% of the tropical trees in these regions, respectively. Extrapolating across all closed-canopy tropical forests, we estimate that just 1,053 species comprise half of Earth’s 800 billion tropical trees with trunk diameters of at least 10 cm. Despite differing biogeographic, climatic and anthropogenic histories 7, we find notably consistent patterns of common species and species abundance distributions across the continents. This suggests that fundamental mechanisms of tree community assembly may apply to all tropical forests. Resampling analyses show that the most common species are likely to belong to a manageable list of known species, enabling targeted efforts to understand their ecology. Although they do not detract from the importance of rare species, our results open new opportunities to understand the world’s most diverse forests, including modelling their response to environmental change, by focusing on the common species that constitute the majority of their trees.
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| 5. |
- Daelman, Bo, et al.
(författare)
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Frailty and cognitive function in middle-aged and older adults with congenital heart disease
- 2024
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Ingår i: Journal of the American College of Cardiology. - : Elsevier. - 0735-1097 .- 1558-3597. ; 83:12, s. 1149-1159
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Tidskriftsartikel (refereegranskat)abstract
- Background: Life expectancy of patients with congenital heart disease (CHD) has increased rapidly, resulting in a growing and aging population. Recent studies have shown that older people with CHD have higher morbidity, health care use, and mortality. To maintain longevity and quality of life, understanding their evolving medical and psychosocial challenges is essential.Objectives: The authors describe the frailty and cognitive profile of middle-aged and older adults with CHD to identify predictor variables and to explore the relationship with hospital admissions and outpatient visits.Methods: Using a cross-sectional, multicentric design, we included 814 patients aged ≥40 years from 11 countries. Frailty phenotype was determined using the Fried method. Cognitive function was assessed by the Montreal Cognitive Assessment.Results: In this sample, 52.3% of patients were assessed as robust, 41.9% as prefrail, and 5.8% as frail; 38.8% had cognitive dysfunction. Multinomial regression showed that frailty was associated with older age, female sex, higher physiologic class, and comorbidities. Counterintuitively, patients with mild heart defects were more likely than those with complex lesions to be prefrail. Patients from middle-income countries displayed more prefrailty than those from higher-income countries. Logistic regression demonstrated that cognitive dysfunction was related to older age, comorbidities, and lower country-level income.Conclusions: Approximately one-half of included patients were (pre-)frail, and more than one-third experienced cognitive impairment. Frailty and cognitive dysfunction were identified in patients with mild CHD, indicating that these concerns extend beyond severe CHD. Assessing frailty and cognition routinely could offer valuable insights into this aging population.
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| 6. |
- McCarthy, Randy J., et al.
(författare)
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Registered Replication Report on Srull and Wyer (1979)
- 2018
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Ingår i: Advances in Methods and Practices in Psychological Science. - : SAGE Publications Inc. - 2515-2459 .- 2515-2467. ; 1:3, s. 321-336
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Tidskriftsartikel (refereegranskat)abstract
- Srull and Wyer (1979) demonstrated that exposing participants to more hostility-related stimuli caused them subsequently to interpret ambiguous behaviors as more hostile. In their Experiment 1, participants descrambled sets of words to form sentences. In one condition, 80% of the descrambled sentences described hostile behaviors, and in another condition, 20% described hostile behaviors. Following the descrambling task, all participants read a vignette about a man named Donald who behaved in an ambiguously hostile manner and then rated him on a set of personality traits. Next, participants rated the hostility of various ambiguously hostile behaviors (all ratings on scales from 0 to 10). Participants who descrambled mostly hostile sentences rated Donald and the ambiguous behaviors as approximately 3 scale points more hostile than did those who descrambled mostly neutral sentences. This Registered Replication Report describes the results of 26 independent replications (N = 7,373 in the total sample; k = 22 labs and N = 5,610 in the primary analyses) of Srull and Wyer?s Experiment 1, each of which followed a preregistered and vetted protocol. A random-effects meta-analysis showed that the protagonist was seen as 0.08 scale points more hostile when participants were primed with 80% hostile sentences than when they were primed with 20% hostile sentences (95% confidence interval, CI = [0.004, 0.16]). The ambiguously hostile behaviors were seen as 0.08 points less hostile when participants were primed with 80% hostile sentences than when they were primed with 20% hostile sentences (95% CI = [?0.18, 0.01]). Although the confidence interval for one outcome excluded zero and the observed effect was in the predicted direction, these results suggest that the currently used methods do not produce an assimilative priming effect that is practically and routinely detectable.
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| 7. |
- Morales Salinas, Alberto, et al.
(författare)
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Clinical Perspective on Antihypertensive Drug Treatment in Adults With Grade 1 Hypertension and Low-to-Moderate Cardiovascular Risk : An International Expert Consultation
- 2017
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Ingår i: Current problems in cardiology. - : Elsevier. - 0146-2806 .- 1535-6280. ; 42:7, s. 198-225
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Forskningsöversikt (refereegranskat)abstract
- Hypertension is a leading risk factor for disease burden globally. An unresolved question is whether grade 1 hypertension (140-159/90-99 mm Hg) with low (cardiovascular mortality < 1% at 10 years) to moderate (cardiovascular mortality ≥ 1% and <5% at 10 years) absolute total cardiovascular risk (CVR) should be treated with antihypertensive agents. A virtual international consultation process was undertaken to summarize the opinions of select experts. After holistic analysis of all epidemiological, clinical, psychosocial, and public health elements, this consultation process reached the following consensus in hypertensive adults aged < 80 years: (1) The question of whether drug treatment in grade 1 should be preceded by a period of some weeks or months during which only lifestyle measures are recommended cannot be evidence based, but the consensus opinion is to have a period of lifestyle alone reserved only to patients with grade 1 "isolated" hypertension (grade 1 uncomplicated hypertension with low absolute total CVR, and without other major CVR factors and risk modifiers). (2) The initiation of antihypertensive drug therapy in grade 1 hypertension with moderate absolute total CVR should not be delayed. (3) Men ≥ 55 years and women ≥ 60 years with uncomplicated grade 1 hypertension should automatically be classified within the moderate absolute total CVR category, even in the absence of other major CVR factors and risk modifiers. (4) Statins should be considered along with blood-pressure lowering therapy, irrespective of cholesterol levels, in patients with grade 1 hypertensive with moderate CVR.
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| 8. |
- Verschuere, Bruno, et al.
(författare)
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Registered Replication Report on Mazar, Amir, and Ariely (2008)
- 2018
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Ingår i: Advances in Methods and Practices in Psychological Science. - : SAGE Publications. - 2515-2459 .- 2515-2467. ; 1:3, s. 299-317
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Tidskriftsartikel (refereegranskat)abstract
- The self-concept maintenance theory holds that many people will cheat in order to maximize self-profit, but only to the extent that they can do so while maintaining a positive self-concept. Mazar, Amir, and Ariely (2008, Experiment 1) gave participants an opportunity and incentive to cheat on a problem-solving task. Prior to that task, participants either recalled the Ten Commandments (a moral reminder) or recalled 10 books they had read in high school (a neutral task). Results were consistent with the self-concept maintenance theory. When given the opportunity to cheat, participants given the moral-reminder priming task reported solving 1.45 fewer matrices than did those given a neutral prime (Cohen’s d = 0.48); moral reminders reduced cheating. Mazar et al.’s article is among the most cited in deception research, but their Experiment 1 has not been replicated directly. This Registered Replication Report describes the aggregated result of 25 direct replications (total N = 5,786), all of which followed the same preregistered protocol. In the primary meta-analysis (19 replications, total n = 4,674), participants who were given an opportunity to cheat reported solving 0.11 more matrices if they were given a moral reminder than if they were given a neutral reminder (95% confidence interval = [−0.09, 0.31]). This small effect was numerically in the opposite direction of the effect observed in the original study (Cohen’s d = −0.04).
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| 9. |
- Artaxo, Paulo, et al.
(författare)
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Tropical and Boreal Forest – Atmosphere Interactions : A Review
- 2022
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Ingår i: Tellus. Series B, Chemical and physical meteorology. - : Stockholm University Press. - 0280-6509 .- 1600-0889. ; 74:1, s. 24-163
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Forskningsöversikt (refereegranskat)abstract
- This review presents how the boreal and the tropical forests affect the atmosphere, its chemical composition, its function, and further how that affects the climate and, in return, the ecosystems through feedback processes. Observations from key tower sites standing out due to their long-term comprehensive observations: The Amazon Tall Tower Observatory in Central Amazonia, the Zotino Tall Tower Observatory in Siberia, and the Station to Measure Ecosystem-Atmosphere Relations at Hyytiäla in Finland. The review is complemented by short-term observations from networks and large experiments.The review discusses atmospheric chemistry observations, aerosol formation and processing, physiochemical aerosol, and cloud condensation nuclei properties and finds surprising similarities and important differences in the two ecosystems. The aerosol concentrations and chemistry are similar, particularly concerning the main chemical components, both dominated by an organic fraction, while the boreal ecosystem has generally higher concentrations of inorganics, due to higher influence of long-range transported air pollution. The emissions of biogenic volatile organic compounds are dominated by isoprene and monoterpene in the tropical and boreal regions, respectively, being the main precursors of the organic aerosol fraction.Observations and modeling studies show that climate change and deforestation affect the ecosystems such that the carbon and hydrological cycles in Amazonia are changing to carbon neutrality and affect precipitation downwind. In Africa, the tropical forests are so far maintaining their carbon sink.It is urgent to better understand the interaction between these major ecosystems, the atmosphere, and climate, which calls for more observation sites, providing long-term data on water, carbon, and other biogeochemical cycles. This is essential in finding a sustainable balance between forest preservation and reforestation versus a potential increase in food production and biofuels, which are critical in maintaining ecosystem services and global climate stability. Reducing global warming and deforestation is vital for tropical forests.
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| 10. |
- Barbosa, Fernando S., 1992-, et al.
(författare)
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Formal Methods for Robot Motion Planning with Time and Space Constraints (Extended Abstract)
- 2021
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Ingår i: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). - Cham : Springer Nature. ; , s. 1-14
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Konferensbidrag (refereegranskat)abstract
- Motion planning is one of the core problems in a wide range of robotic applications. We discuss the use of temporal logics to include complex objectives, constraints, and preferences in motion planning algorithms and focus on three topics: the first one addresses computational tractability of Linear Temporal Logic (LTL) motion planning in systems with uncertain non-holonomic dynamics, i.e. systems whose ability to move in space is constrained. We introduce feedback motion primitives and heuristics to guide motion planning and demonstrate its use on a rover in 2D and a fixed-wing drone in 3D. Second, we introduce combined motion planning and hybrid feedback control design in order to find and follow trajectories under Metric Interval Temporal Logic (MITL) specifications. Our solution creates a path to be tracked, a sequence of obstacle-free polytopes and time stamps, and a controller that tracks the path while staying in the polytopes. Third, we focus on motion planning with spatio-temporal preferences expressed in a fragment of Signal Temporal Logic (STL). We introduce a cost function for a of a path reflecting the satisfaction/violation of the preferences based on the notion of STL spatial and temporal robustness. We integrate the cost into anytime asymptotically optimal motion planning algorithm RRT ⋆ and we show the use of the algorithm in integration with an autonomous exploration planner on a UAV.
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| 11. |
- Barbosa, Fernando S., et al.
(författare)
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Guiding Autonomous Exploration with Signal Temporal Logic
- 2019
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Ingår i: IEEE Robotics and Automation Letters. - : Institute of Electrical and Electronics Engineers (IEEE). - 2377-3766. ; 4:4, s. 3332-3339
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Tidskriftsartikel (refereegranskat)abstract
- Algorithms for autonomous robotic exploration usually focus on optimizing time and coverage, often in a greedy fashion. However, obstacle inflation is conservative and might limit mapping capabilities and even prevent the robot from moving through narrow, important places. This letter proposes a method to influence the manner the robot moves in the environment by taking into consideration a user-defined spatial preference formulated in a fragment of signal temporal logic (STL). We propose to guide the motion planning toward minimizing the violation of such preference through a cost function that integrates the quantitative semantics, i.e., robustness of STL. To demonstrate the effectiveness of the proposed approach, we integrate it into the autonomous exploration planner (AEP). Results from simulations and real-world experiments are presented, highlighting the benefits of our approach.
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| 12. |
- Barbosa, Fernando S., et al.
(författare)
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Integrated motion planning and control under metric interval temporal logic specifications
- 2019
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Ingår i: 2019 18th European Control Conference, ECC 2019. - : Institute of Electrical and Electronics Engineers (IEEE). - 9783907144008 ; , s. 2042-2049
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Konferensbidrag (refereegranskat)abstract
- This paper proposes an approach that combines motion planning and hybrid feedback control design in order to find and follow trajectories fulfilling a given complex mission involving time constraints. We use Metric Interval Temporal Logic (MITL) as a rich and rigorous formalism to specify such missions. The solution builds on three main steps: (i) using sampling-based motion planning methods and the untimed version of the mission specification in the form of Zone automaton, we find a sequence of waypoints in the workspace; (ii) based on the clock zones from the satisfying run on the Zone automaton, we compute time-stamps at which these waypoints should be reached; and (iii) to control the system to connect two waypoints in the desired time, we design a low-level feedback controller leveraging Time-varying Control Barrier Functions. Illustrative simulation results are included.
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| 13. |
- Barbosa, Fernando S., 1992-, et al.
(författare)
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Provably safe control of Lagrangian systems in obstacle-scattered environments
- 2020
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Ingår i: 2020 59th IEEE Conference on Decision and Control (CDC). - : Institute of Electrical and Electronics Engineers (IEEE).
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Konferensbidrag (refereegranskat)abstract
- We propose a hybrid feedback control law that guarantees both safety and asymptotic stability for a class of Lagrangian systems in environments with obstacles. Rather than performing trajectory planning and implementing a trajectory-tracking feedback control law, our approach requires a sequence of locations in the environment (a path plan) and an abstraction of the obstacle-free space. The problem of following a path plan is then interpreted as a sequence of reach-avoid problems: the system is required to consecutively reach each location of the path plan while staying within safe regions. Obstacle-free ellipsoids are used as a way of defining such safe regions, each of which encloses two consecutive locations. Feasible Control Barrier Functions (CBFs) are created directly from geometric constraints, the ellipsoids, ensuring forward-invariance, and therefore safety. Reachability to each location is guaranteed by asymptotically stabilizing Control Lyapunov Functions (CLFs). Both CBFs and CLFs are then encoded into quadratic programs (QPs) without the need of relaxation variables. Furthermore, we also propose a switching mechanism that guarantees the control law is correct and well-defined even when transitioning between QPs. Simulations show the effectiveness of the proposed approach in two complex scenarios.
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| 14. |
- Barbosa, Fernando S., 1992-, et al.
(författare)
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Risk-Aware Motion Planning in Partially Known Environments
- 2021
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Ingår i: 2021 60th IEEE conference on decision and control (CDC). - : Institute of Electrical and Electronics Engineers (IEEE). ; , s. 5220-5226
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Konferensbidrag (refereegranskat)abstract
- Recent trends envisage robots being deployed inareas deemed dangerous to humans, such as buildings with gasand radiation leaks. In such situations, the model of the underlying hazardous process might be unknown to the agent a priori, giving rise to the problem of planning for safe behaviour inpartially known environments. We employ Gaussian Process regression to create a probabilistic model of the hazardous process from local noisy samples. The result of this regression is then used by a risk metric, such as the Conditional Value-at-Risk, to reason about the safety at a certain state. The outcome is a risk function that can be employed in optimal motion planning problems. We demonstrate the use of the proposed function in two approaches. First is a sampling-based motion planning algorithm with an event-based trigger for online replanning. Second is an adaptation to the incremental Gaussian Process motion planner (iGPMP2), allowing it to quickly react and adapt to the environment. Both algorithms are evaluated in representative simulation scenarios, where they demonstrate the ability of avoiding high-risk areas.
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| 15. |
- Barbosa, Fernando S., 1992-, et al.
(författare)
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Risk-Aware Navigation on Smooth Approximations of Euclidean Distance Fields Among Dynamic Obstacles
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Annan publikation (övrigt vetenskapligt/konstnärligt)abstract
- Reasoning about probabilistic outcomes on stochastic models is of essence to safety-critical systems. In this paper we focus on risk-aware collision avoidance approaches in workspaces with static and dynamic obstacles. More specifically, for Lagrangian systems operating in workspaces without perfect information about the obstacle-space. In order to avoid collision with static obstacles, we build smooth approximations of the Euclidean distance field, along with its first and second derivatives, using Gaussian Process implicit surfaces. Since the predictive distance returned by such an approximation is a normal distribution, rather than simply using its mean value, we propose a risk-aware Control Barrier function. Risk metrics provide more coherent measures than chance constraint, with the benefit of distinguishing between tail events. We prove that by using the proposed approach, the Lagrangian system is bound to a smaller, but safer (in terms of risk-awareness), subset of the obstacle-free space. Besides that, we also propose a controller for avoiding collisions with ellipsoidal dynamic obstacles. We compose all the controllers together into a nonsmooth barrier function, and design a Quadratic Program-based optimization controller. The proposed approach is a step-forward towards closer integration between mapping algorithms and feedback controllers. Numerical simulations on synthetic environments highlight the capabilities of the approach proposed.
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| 16. |
- Barbosa, Fernando S., 1992-
(författare)
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Towards Safer and Risk-aware Motion Planning and Control for Robotic Systems
- 2022
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Safety and risk-awareness are important properties for robotic systems, be it for protecting them from potentially dangerous internal states, or for avoiding collisions with obstacles and environmental hazards in disaster scenarios. Ensuring safety may be the role of more than one algorithmic layer in a system, each with varying assumptions and guarantees. This thesis investigates how to provide safety and risk-awareness in a robotic system by leveraging temporal logics, motion planning algorithms, and control theory.Traditional control theory approaches interpret the collision avoidance safety task as a `stay-away' task; obstacles are abstracted as collections of geometric shapes, and controllers are designed to avoid each shape individually. We propose interpreting the collision avoidance problem as a `stay-within' task: the obstacle-free space is abstracted into safe regions. We propose control laws based on Control Barrier functions that guarantee that the system remains within such safe regions throughout its mission. Our results demonstrate that our controller indirectly avoids obstacles while providing the system the freedom to move within the safe regions, without the necessity to plan and track a safe trajectory. Furthermore, by extending our idea with Metric Interval Temporal Logic, we are able to consider missions with explicit time bounds. Temporal logics are often used to define hard constraints on motion plans for robotic systems. However, some missions may require the system to violate constraints to make progress. Therefore, we propose to soften the hard constraints when necessary. Such soft constraints, here coined as spatial preferences, are used to account for relations between the system and the environment, such as distance from obstacles. The proposed minimally-violating motion planning algorithm attempts to find trajectories that satisfy the spatial preferences as much as possible, but violate them when needed. We demonstrate the use of spatial preferences on 3D exploration scenarios with Unmanned Aerial Vehicles, where we provide safer trajectories to the system while improving exploration efficiency. In the last part of the thesis, we address safety in scenarios where a precise model of the environment is not available. In such scenarios, the system is required to fulfil the mission while minimizing risk, considering the imprecise model. We leverage Gaussian Processes to build approximate models of the environment, and use their posterior distributions in a risk metric. This risk metric allows us to consider less likely but possible events along the missions. To this end, we propose an online risk-aware motion planning approach, and validate it on disaster scenarios, where exposure to the unmodeled hazards might damage the system. Moreover, we explore risk-awareness between the control and mapping layers, by considering smooth approximations of Euclidean Distance Fields.Our results indicate that our algorithms provide robotic systems with i) provably-safe controllers, ii) soft safety constraints, and iii) risk-awareness in unmodeled environments. These three properties contribute to safer and risk-aware robotic systems in the real world.
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| 17. |
- Basso, Marcos Fernando, et al.
(författare)
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Overexpression of a soybean Globin (GmGlb1-1) gene reduces plant susceptibility to Meloidogyne incognita
- 2022
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Ingår i: Planta. - : SPRINGER. - 0032-0935 .- 1432-2048. ; 256:4
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Tidskriftsartikel (refereegranskat)abstract
- Non-symbiotic globin class #1 (Glb1) genes are expressed in different plant organs, have a high affinity for oxygen, and are related to nitric oxide (NO) turnover. Previous studies showed that soybean Glb1 genes are upregulated in soybean plants under flooding conditions. Herein, the GmGlb1-1 gene was identified in soybean as being upregulated in the nematode-resistant genotype PI595099 compared to the nematode-susceptible cultivar BRS133 during plant parasitism by Meloidogyne incognita. The Arabidopsis thaliana and Nicotiana tabacum transgenic lines overexpressing the GmGlb1-1 gene showed reduced susceptibility to M. incognita. Consistently, gall morphology data indicated that pJ2 nematodes that infected the transgenic lines showed developmental alterations and delayed parasitism progress. Although no significant changes in biomass and seed yield were detected, the transgenic lines showed an elongated, etiolation-like growth under well-irrigation, and also developed more axillary roots under flooding conditions. In addition, transgenic lines showed upregulation of some important genes involved in plant defense response to oxidative stress. In agreement, higher hydrogen peroxide accumulation and reduced activity of reactive oxygen species (ROS) detoxification enzymes were also observed in these transgenic lines. Thus, based on our data and previous studies, it was hypothesized that constitutive overexpression of the GmGlb1-1 gene can interfere in the dynamics of ROS production and NO scavenging, enhancing the acquired systemic acclimation to biotic and abiotic stresses, and improving the cellular homeostasis. Therefore, these collective data suggest that ectopic or nematode-induced overexpression, or enhanced expression of the GmGlb1-1 gene using CRISPR/dCas9 offers great potential for application in commercial soybean cultivars aiming to reduce plant susceptibility to M. incognita.
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| 18. |
- Bouwmeester, Sjoerd, et al.
(författare)
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Registered Replication Report : Rand, Greene, and Nowak (2012)
- 2017
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Ingår i: Perspectives on Psychological Science. - : SAGE Publications. - 1745-6916 .- 1745-6924. ; 12:3, s. 527-542
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Tidskriftsartikel (refereegranskat)abstract
- In an anonymous 4-person economic game, participants contributed more money to a common project (i.e., cooperated) when required to decide quickly than when forced to delay their decision (Rand, Greene & Nowak, 2012), a pattern consistent with the social heuristics hypothesis proposed by Rand and colleagues. The results of studies using time pressure have been mixed, with some replication attempts observing similar patterns (e.g., Rand et al., 2014) and others observing null effects (e.g., Tinghög et al., 2013; Verkoeijen & Bouwmeester, 2014). This Registered Replication Report (RRR) assessed the size and variability of the effect of time pressure on cooperative decisions by combining 21 separate, preregistered replications of the critical conditions from Study 7 of the original article (Rand et al., 2012). The primary planned analysis used data from all participants who were randomly assigned to conditions and who met the protocol inclusion criteria (an intent-to-treat approach that included the 65.9% of participants in the time-pressure condition and 7.5% in the forced-delay condition who did not adhere to the time constraints), and we observed a difference in contributions of −0.37 percentage points compared with an 8.6 percentage point difference calculated from the original data. Analyzing the data as the original article did, including data only for participants who complied with the time constraints, the RRR observed a 10.37 percentage point difference in contributions compared with a 15.31 percentage point difference in the original study. In combination, the results of the intent-to-treat analysis and the compliant-only analysis are consistent with the presence of selection biases and the absence of a causal effect of time pressure on cooperation.
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| 19. |
- Grover, Kush, et al.
(författare)
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Semantic Abstraction-Guided Motion Planningfor scLTL Missions in Unknown Environments
- 2021
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Ingår i: Robotics: Science and Systems. - : RSS FOUNDATION-ROBOTICS SCIENCE & SYSTEMS FOUNDATION.
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Konferensbidrag (refereegranskat)abstract
- Complex mission specifications can be often specifiedthrough temporal logics, such as Linear Temporal Logic and itssyntactically co-safe fragment, scLTL. Finding trajectories thatsatisfy such specifications becomes hard if the robot is to fulfilthe mission in an initially unknown environment, where neitherlocations of regions or objects of interest in the environmentnor the obstacle space are known a priori. We propose an algorithmthat, while exploring the environment, learns importantsemantic dependencies in the form of a semantic abstraction,and uses it to bias the growth of an Rapidly-exploring randomgraph towards faster mission completion. Our approach leadsto finding trajectories that are much shorter than those foundby the sequential approach, which first explores and then plans.Simulations comparing our solution to the sequential approach,carried out in 100 randomized office-like environments, showmore than 50% reduction in the trajectory length.
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| 20. |
- Guastaldi, Fernando PS, et al.
(författare)
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Plasma treatment maintains surface energy of the implant surface and enhances osseointegration
- 2013
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Ingår i: International Journal of Biomaterials. - : Hindawi Publishing Corporation. - 1687-8787 .- 1687-8795. ; 2013
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Tidskriftsartikel (refereegranskat)abstract
- The surface energy of the implant surface has an impact on osseointegration. In this study, 2 surfaces: nonwashed resorbable blasting media (NWRBM; control) and Ar-based nonthermal plasma 30 days (Plasma 30 days; experimental), were investigated with a focus on the surface energy. The surface energy was characterized by the Owens-Wendt-Rabel-Kaelble method and the chemistry by X-ray photoelectron spectroscopy (XPS). Five adult beagle dogs received 8 implants (n = 2 per surface, per tibia). After 2 weeks, the animals were euthanized, and half of the implants (n = 20) were removal torqued and the other half were histologically processed (n = 20). The bone-to-implant contact (BIC) and bone area fraction occupancy (BAFO) were evaluated on the histologic sections. The XPS analysis showed peaks of C, Ca, O, and P for the control and experimental surfaces. While no significant difference was observed for BIC parameter (P > 0.75), a higher level for torque (P < 0.02) and BAFO parameter (P < 0.01) was observed for the experimental group. The surface elemental chemistry was modified by the plasma and lasted for 30 days after treatment resulting in improved biomechanical fixation and bone formation at 2 weeks compared to the control group.
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| 21. |
- Hokkanen, Laura, et al.
(författare)
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Clinical Neuropsychology as a Specialist Profession in European Health Care : Developing a Benchmark for Training Standards and Competencies Using the Europsy Model?
- 2020
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Ingår i: Frontiers in Psychology. - : Frontiers Media S.A.. - 1664-1078. ; 11, s. 1-11
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Forskningsöversikt (refereegranskat)abstract
- The prevalence and negative impact of brain disorders are increasing. Clinical Neuropsychology is a specialty dedicated to understanding brain-behavior relationships, applying such knowledge to the assessment of cognitive, affective, and behavioral functioning associated with brain disorders, and designing and implementing effective treatments. The need for services goes beyond neurological diseases and has increased in areas of neurodevelopmental and psychiatric conditions, among others. In Europe, a great deal of variability exists in the education and training of Clinical Neuropsychologists. Training models include master's programs, continuing education courses, doctoral programs, and/or post-doctoral specialization depending on the country, with no common framework of requirements, although patients' needs demand equal competencies across Europe. In the past 5 years, the Standing Committee on Clinical Neuropsychology of the European Federation of Psychologists' Association has conducted a series of surveys and interviews with experts in the field representing 30 European countries. The information, along with information from the existing literature, is used in presenting an overview of current and relevant topics related to policy and guidelines in the training and competencies in Clinical Neuropsychology. An option for the way forward is the EuroPsy Specialist Certificate, which is currently offered in Work and Organizational Psychology, and in psychotherapy. It builds upon the basic certificate and complements national standards without overriding them. General principles can be found that can set the basis for a common, solid, and comprehensive specialty education/training, sharpening the Neuropsychologists' competencies across Europe. The requirements in Clinical Neuropsychology should be comparable to those for the existing specialty areas in the EuroPsy model. Despite the perceived challenges, developing a specialist certificate appears a step forward for the development of Clinical Neuropsychology. Recommendations are proposed toward a shared framework of competencies by the means of a common level of education/training for the professionals in Europe. Benchmarking training standards and competencies across Europe has the potential of providing protection against unqualified and ethically questionable practice, creating transparency, raising the general European standard, and promoting mobility of both Clinical Neuropsychologists and patients in Europe, for the benefit of the professional field and the population.
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| 22. |
- Hokkanen, Laura, et al.
(författare)
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Training models and status of clinical neuropsychologists in Europe : Results of a survey on 30 countries
- 2019
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Ingår i: Clinical Neuropsychologist (Neuropsychology, Development and Cognition. - : Taylor & Francis. - 1385-4046 .- 1744-4144. ; 33:1, s. 32-56
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Tidskriftsartikel (refereegranskat)abstract
- Objective: The aims of the study were to analyze the current European situation of specialist education and training within clinical neuropsychology, and the legal and professional status of clinical neuropsychologists in different European countries. Method: An online survey was prepared in 2016 by a Task Force established by the European Federation of Psychological Associations, and representatives of 30 countries gave their responses. Response rate was 76%. Results: Only three countries were reported to regulate the title of clinical neuropsychologist as well as the education and practice of clinical neuropsychologists by law. The most common university degree required to practice clinical neuropsychology was the master's degree; a doctoral degree was required in two countries. The length of the specialist education after the master's degree varied between 12 and 60 months. In one third of the countries, no commonly agreed upon model for specialist education existed. A more systematic training model and a longer duration of training were associated with independence in the work of clinical neuropsychologists. Conclusions: As legal regulation is mostly absent and training models differ, those actively practicing clinical neuropsychology in Europe have a very heterogeneous educational background and skill level. There is a need for a European standardization of specialist training in clinical neuropsychology. Guiding principles for establishing the common core requirements are presented.
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| 23. |
- Karlsson, Jesper, et al.
(författare)
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Sampling-based Motion Planning with Temporal Logic Missions and Spatial Preferences
- 2020
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Konferensbidrag (refereegranskat)abstract
- While motion planning under temporal logic specifications has been addressed in several state-of-the-art works, spatial aspects have been so far largely neglected. In this work, we enrich the semantics of robot motion specifications by including preferences on spatial relations between its trajectory and various elements in its environment. The spatial preferences are given in a fragment of Signal Temporal Logic (STL) on top of complex missions in syntactically co-safe Linear Temporal Logic (scLTL). We propose a cost function with user-specified parameters, which determines the compromise between efficiency and spatial robustness of a trajectory. The proposed modification of the incremental sampling-based RRT$^\star$ driven by this cost function guarantees that the motion plan (if found) simultaneously satisfies the mission and asymptotically minimize the cost. The paper includes several case studies showcasing the effects of the user-adjustable parameters on the resulting trajectories.
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| 24. |
- Kasten, Erich, et al.
(författare)
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European Clinical Neuropsychology : Role in Healthcare and Access to Neuropsychological Services
- 2021
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Ingår i: Healthcare. - : MDPI. - 2227-9032. ; 9:6
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Tidskriftsartikel (refereegranskat)abstract
- This study analyzed aspects of the work of clinical neuropsychologists across Europe. There are no published comparisons between European countries regarding the nature of clinical neuropsychologists' work. Forty-one national psychological and neuropsychological societies were approached, of which 31 (76%) responded. Data from seven countries with less than 10 neuropsychologists were excluded. A license is required to practice clinical neuropsychology in 50% of the countries. Clinical neuropsychologists work independently in 62.5%. Diagnostic/assessment work is the most frequently reported activity (54%). Most neuropsychologists work in public hospitals, followed by health centers. Adult neuropsychology was the most frequent area of activity. Services in public institutions are covered by public entities (45.8%), or by a combination of patient funds and public entities (29.2%) and only 4.2% by the patient; whereas services in private institutions are covered by the patient (26.1%) and the combination of patient, public entities (21.7%) or patient and private entities (17.4%). The data suggest that the number of neuropsychologists working across European countries is considerably low in comparison to other medical professionals. The results of the survey identified similar aspects of neuropsychologists' work, despite variations in terms of reimbursement and mechanisms, reflecting economic and healthcare differences. Estimates on the number of clinical neuropsychologists suggest insufficient access to neuropsychological services.
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| 25. |
- Kosmidis, Mary H., et al.
(författare)
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Core Competencies in Clinical Neuropsychology as a Training Model in Europe
- 2022
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Ingår i: Frontiers in Psychology. - : Frontiers Media S.A.. - 1664-1078. ; 13
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Tidskriftsartikel (refereegranskat)abstract
- The multitude of training models and curricula for the specialty of clinical neuropsychology around the world has led to organized activities to develop a framework of core competencies to ensure sufficient expertise among entry-level professionals in the field. The Standing Committee on Clinical Neuropsychology of the European Federation of Psychologists' Associations is currently working toward developing a specialty certification in clinical neuropsychology to establish a cross-national standard against which to measure levels of equivalency and uniformity in competence and service provision among professionals in the field. Through structured interviews with experts from 28 European countries, we explored potential areas of core competency. Specifically, questions pertained to the perceived importance of a series of foundational, functional, and other competencies, as well as current training standards and practices, and optimal standards. Our findings revealed considerable agreement (about three quarters and above) on academic and clinical training, despite varied actual training requirements currently, with fewer respondents relegating importance to training in teaching, supervision, and research (a little over half), and even fewer to skills related to management, administration, and advocacy (fewer than half). European expert clinical neuropsychologists were in agreement with previous studies (including those conducted in the United States, Australia, and other countries) regarding the importance of sound theoretical and clinical training but management, administrative, and advocacy skills were not central to their perspective of a competent specialist in clinical neuropsychology. Establishing a specialty certificate in clinical neuropsychology based on core competencies may enable mobility of clinical neuropsychologists across Europe, and, perhaps, provide an impetus for countries with limited criteria to reconsider their training requirements and harmonize their standards with others.
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| 26. |
- Mazzaron Barcelos, Gustavo Rafael, et al.
(författare)
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Polymorphisms in glutathione-related genes modify mercury concentrations and antioxidant status in subjects environmentally exposed to methylmercury
- 2013
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Ingår i: Science of the Total Environment. - : Elsevier BV. - 1879-1026 .- 0048-9697. ; 463, s. 319-325
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Tidskriftsartikel (refereegranskat)abstract
- Methylmercury (MeHg) toxicity may vary widely despite similar levels of exposure. This is hypothetically related to genetic differences in enzymes metabolizing MeHg. MeHg causes oxidative stress in experimental models but little is known about its effects on humans. The aims of the present study was to evaluate the effects of polymorphisms in glutathione (GSH)-related genes (GSTM1, GSTT1, GSTP1 and GCLM) on Hg concentrations in blood and hair, as well as MeHg-related effects on catalase (CAT) and glutathione-peroxidase (GPx) activity and GSH concentrations. Study subjects were from an Amazonian population in Brazil chronically exposed to MeHg from fish. Hg in blood and hair were determined by ICP-MS, CAT, GPx and GSH were determined by spectrophotometry, and multiplex PCR (GSTM1 and GSTT1) and TagMan assays (GSTP1 and GCLM) were used for genotyping. Mean Hg concentrations in blood and hair were 48 +/- 36 mu g/L and 14 +/- 10 mu g/g. Persons with the GCLM-588 IT genotype had lower blood and hair Hg than did C-allele carriers (linear regression for Hg in blood beta = -0.32, p = 0.017; and hair beta = -0.33; p = 0.0090; adjusted for fish intake, age and gender). GSTM1*0 homozygous had higher blood (beta = 0.20; p = 0.017) and hair Hg (hair beta = 0.20; p = 0.013). Exposure to MeHg altered antioxidant status (CAT:beta = -0.086; GSH:beta = -0.12; GPx:beta = -0.16; all p < 0.010; adjusted for gender, age and smoking). Persons with GSTM1*0 had higher CAT activity in the blood than those with GSTM1. Our data thus indicate that some GSH-related polymorphisms, such as GSTM1 and GCLM may modify MeHg metabolism and Hg-related antioxidant effects. (C) 2013 Elsevier BY. All rights reserved.
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| 27. |
- Miksits, Adam, et al.
(författare)
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Safe Navigation of Networked Robots Under Localization Uncertainty Using Robust Control Barrier Functions
- 2023
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Ingår i: 2023 62nd IEEE Conference on Decision and Control, CDC 2023. - : Institute of Electrical and Electronics Engineers (IEEE). ; , s. 6064-6071
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Konferensbidrag (refereegranskat)abstract
- 5G networks have the potential to provide external sensor data and offload computations for future industrial mobile robots. To enable these benefits while maintaining safety, we propose a modular architecture, including an onboard safety filter for the velocity control loop. The safety filter leverages robust control barrier functions to guarantee safety from collisions under bounded localization uncertainty. Initial experiments are performed to quantify the localization uncertainty and generate suitable bounds for the safety filter. We then derive the safety filter, and analyze its conservatism numerically. Finally, the method is demonstrated in experiments using an ABB Mobile YuMi® Research Platform robot.
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| 28. |
- Muscarella, Robert, et al.
(författare)
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The global abundance of tree palms
- 2020
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Ingår i: Global Ecology and Biogeography. - : Wiley. - 1466-822X .- 1466-8238. ; 29:9, s. 1495-1514
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Tidskriftsartikel (refereegranskat)abstract
- AimPalms are an iconic, diverse and often abundant component of tropical ecosystems that provide many ecosystem services. Being monocots, tree palms are evolutionarily, morphologically and physiologically distinct from other trees, and these differences have important consequences for ecosystem services (e.g., carbon sequestration and storage) and in terms of responses to climate change. We quantified global patterns of tree palm relative abundance to help improve understanding of tropical forests and reduce uncertainty about these ecosystems under climate change.LocationTropical and subtropical moist forests.Time periodCurrent.Major taxa studiedPalms (Arecaceae).MethodsWe assembled a pantropical dataset of 2,548 forest plots (covering 1,191 ha) and quantified tree palm (i.e., ≥10 cm diameter at breast height) abundance relative to co‐occurring non‐palm trees. We compared the relative abundance of tree palms across biogeographical realms and tested for associations with palaeoclimate stability, current climate, edaphic conditions and metrics of forest structure.ResultsOn average, the relative abundance of tree palms was more than five times larger between Neotropical locations and other biogeographical realms. Tree palms were absent in most locations outside the Neotropics but present in >80% of Neotropical locations. The relative abundance of tree palms was more strongly associated with local conditions (e.g., higher mean annual precipitation, lower soil fertility, shallower water table and lower plot mean wood density) than metrics of long‐term climate stability. Life‐form diversity also influenced the patterns; palm assemblages outside the Neotropics comprise many non‐tree (e.g., climbing) palms. Finally, we show that tree palms can influence estimates of above‐ground biomass, but the magnitude and direction of the effect require additional work.ConclusionsTree palms are not only quintessentially tropical, but they are also overwhelmingly Neotropical. Future work to understand the contributions of tree palms to biomass estimates and carbon cycling will be particularly crucial in Neotropical forests.
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| 29. |
- Neves, Tácito Trindade de Araújo Tiburtino, et al.
(författare)
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Fast and Reliable Incremental Dimensionality Reduction for Streaming Data
- 2022
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Ingår i: Computers & graphics. - : Elsevier. - 0097-8493 .- 1873-7684. ; 102, s. 233-244
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Tidskriftsartikel (refereegranskat)abstract
- Streaming data applications are becoming more common due to the ability ofdifferent information sources to continuously capture or produce data, such as sensors and social media. Although there are recent advances, most visualization approaches, particularly Dimensionality Reduction (DR) techniques, cannot be directly applied in such scenarios due to the transient nature of streaming data. A few DR methods currently address this limitation using online or incremental strategies, continuously updating the visualization as data is received. Despite their relative success, most impose the need to store and access the data multiple times to produce a complete projection, not being appropriate for streaming where data continuously grow. Others do not impose such requirements but cannot update the position of the data already projected, potentially resulting in visual artifacts. This paper presents Xtreaming, a novel incremental DR technique that continuously updates the visual representation to reflect new emerging structures or patterns without visiting the high-dimensional data more than once. Our tests show that in streaming scenarios where data is not fully stored in-memory, Xtreaming is competitive in terms of quality compared to other streaming and incremental techniques while being orders of magnitude faster.
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| 30. |
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| 31. |
- Pires Barbosa, Luis Alfredo, et al.
(författare)
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Neutron imaging of exchange flow between biopore and matrix for Bt versus C horizons
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Ingår i: Vadose Zone Journal. - 1539-1663.
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Tidskriftsartikel (refereegranskat)abstract
- The surface coating of biopores plays a pivotal role in mediating mass exchange between the biopore and the soil matrix, ultimately governing preferential flow in structured soils. However, quantitative experiments of the flow exchange dynamics in the soil around an earthworm burrow (drilosphere) are limited. Here, we developed an experimental setup to mimic preferential flow within a biopore while monitoring the water distribution by neutron radiography. The objective was to quantify the evolving water content distribution in the biopore with surrounding drilosphere samples from Bt and C horizons. We hypothesize that the distribution of clay and organic material across biopore surfaces in Bt and C horizons impacts the biopore coating material formation (i.e., composition and thickness), thereby influencing its role in controlling mass exchange during preferential flow events. The experimental setup was proposed for in situ quantification of the preferential flow dynamics in an earthworm burrow (biopore) passing through Bt and C horizons of a Luvisol developed on glacial till. The neutron radiographies were obtained at the NEUtron Transmission Radiography facility of the Paul Scherrer Institut, Villingen. The volumetric water content was quantified by calibrating gray scale values from radiography images with defined water contents using stepped aluminum cuvettes attached to the samples; image analysis was used to determine sorptivity at the biopore–soil matrix interface. The water exchange flow was found to be smaller for coated biopore surface in the more clayey Bt horizon, as compared to the coarser textured carbonaceous subsoil C horizon, where higher sorptivity intensified mass exchange. The method most realistically captured the dynamics of the vertical preferential flow process in a biopore, including lateral exchange flow, by determining the water sorptivity of the drilosphere. In contrast to mini-infiltrometer data, biopore–matrix exchange flow was here more restricted for Bt in contrast to carbonaceous C horizon. Since both horizons showed the presence of coating material on their burrow walls, the results suggest further analysis of their contrasting properties and structures.
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| 32. |
- Proletov, Ian, et al.
(författare)
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Primary and secondary glomerulonephritides 1.
- 2014
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Ingår i: Nephrology, dialysis, transplantation : official publication of the European Dialysis and Transplant Association - European Renal Association. - : Oxford University Press (OUP). - 1460-2385. ; 29 Suppl 3:May, s. 186-200
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Tidskriftsartikel (refereegranskat)
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| 33. |
- Raw, Juliana, et al.
(författare)
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Unveiling the Three-Step Model for the Interaction of Imidazolium-Based Ionic Liquids on Albumin
- 2023
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Ingår i: ACS Omega. - : American Chemical Society (ACS). - 2470-1343. ; 8, s. 38101-38110
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Tidskriftsartikel (refereegranskat)abstract
- The effect of the ionic liquids (ILs) 1-methyl-3-tetradecylimidazolium chloride ([C14MIM][Cl]), 1-dodecyl-3-methylimidazolium chloride ([C12MIM][Cl]), and 1-decyl-methylimidazolium chloride ([C10MIM][Cl]) on the structure of bovine serum albumin (BSA) was investigated by fluorescence spectroscopy, ultraviolet-visible (UV-vis) spectroscopy, small-angle X-ray scattering (SAXS), and molecular dynamics (MD) simulations. Concerning the fluorescence measurements, we observed a blue shift and a fluorescence quenching as the IL concentration increased in the solution. Such behavior was observed for all three studied imidazolium-based ILs, being larger as the number of methylene groups in the alkyl chain increased. UV-vis absorbance measurements indicate that even at relatively small IL/protein ratios, like 1:1 or 1:2, ([C14MIM][Cl]) is able to change, at least partially, the sample turbidity. SAXS results agree with the spectroscopic techniques and suggest that the proteins underwent partial unfolding, evidenced by an increase in the radius of gyration (Rg) of the scattering particle. In the absence and presence of ([C14MIM][Cl]) = 3 mM BSA Rg increases from 29.1 to 45.1 Å, respectively. Together, these results indicate that the interaction of BSA with ILs is divided into three stages: the first stage is characterized by the protein in its native form. It takes place for protein/IL ≤ 1:2, and the interaction is predominantly due to the electrostatic forces provided by the negative charges on the surface of BSA and the cationic polar head of the ILs. In the second stage, higher IL concentrations induce the unfolding of the protein, most likely inducing the unfolding of domains I and III, in such a way that the protein’s secondary structure is kept almost unaltered. In the last stage, IL micelles start to form, and therefore, the interaction with protein reaches a saturation point and free micelles may be formed. We believe that this work provides new information about the interaction of ILs with BSA.
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| 34. |
- Tajvar, Pouria, 1991-, et al.
(författare)
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Safe Motion Planning for an Uncertain Non-Holonomic System with Temporal Logic Specification
- 2020
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Ingår i: Proceedings 16th IEEE International Conference on Automation Science and Engineering, CASE 2020. - : Institute of Electrical and Electronics Engineers (IEEE). ; , s. 349-354
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Konferensbidrag (refereegranskat)abstract
- We propose a sampling-based motion planning algorithm for systems with complex dynamics and temporal logic specifications allowing to tackle sophisticated missions. By complex dynamics we refer to non-holonomy and disturbance that prevent implementation of an exact steer function. We instead construct a set of feedback motion primitives guaranteeing bounded state uncertainty (and thus safety) allowing the system to follow an arbitrarily long trajectory without replanning. The motion primitives allow to use A*-based algorithm to provably accomplish the temporal logic mission. We propose a heuristics for the A*-based algorithm via construction of backward trees. We illustrate the approach on several case studies, including simulations of a rover and fixed wing drone. We further show that construction of backward trees allows for faster re-planning compared to the state-of-the-art.
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| 35. |
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| 36. |
- Zaman, Quaid, et al.
(författare)
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Water Diffusion Effectsat Gold-Graphene Interfaces Supporting Surface Plasmon Polaritons
- 2022
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Ingår i: The Journal of Physical Chemistry C. - : AMER CHEMICAL SOC. - 1932-7447 .- 1932-7455. ; 126:32, s. 13905-13919
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Tidskriftsartikel (refereegranskat)abstract
- We present a detailed investigation on the effects of water diffusion at the different interfaces of gold-graphene plasmonic sensors on the propagation of the supported surface plasmon polaritons (SPPs). The substrate/metal interfacial chemical reactions are investigated by monitoring the full width at half-maximum of the SPR reflectivity curve. Although protection by single-layer graphene (SLG) grown by chemical vapor deposition inhibits the chemical reactions happening at the metal-dielectric interfaces, SPR experimental results confirm that water diffusion paths through the borders of graphene domains are still present into the plasmonic sensors. Density functional theory calculations show that the doping level of SLG after the transfer on gold as well as interfacial charge transfer can be tuned in the presence of water molecules. On these bases, we propose a simplified effective medium approach for heterogeneous metal-carbon interfaces, where the interaction between the surface atomic layers of the gold thin film, water molecules, and the SLG induces the creation of an extended charge density difference region crossing the Au/H2O/SLG/H2O heterointerface. The latter is modeled as an ultrathin effective medium with a thickness and extraordinary optical susceptivity and conductivity that are different from those of the free-standing graphene. In this context, the extraordinary refractive index and thickness of the graphene-gold effective medium are measured in the near-infrared on the low-damping SPR platforms by applying the two-medium SPR method. The results are coherent with graphene n-doping in water environment, showing that the optically excited electrons along the extraordinary axis have a substantial bonding character and that the enhancement of the sensitivity of the gold-graphene plasmonic sensors is not related to a shift in the plasma frequency of the metal layer but to the changes in the extraordinary polarizability of graphene. The research highlights the importance of the SLG-substrate and SLG-environment interactions in graphene-protected plasmonics and optoelectronics.
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| 37. |
- Zamora, Juan Carlos, et al.
(författare)
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Considerations and consequences of allowing DNA sequence data as types of fungal taxa
- 2018
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Ingår i: IMA Fungus. - : INT MYCOLOGICAL ASSOC. - 2210-6340 .- 2210-6359. ; 9:1, s. 167-185
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Tidskriftsartikel (refereegranskat)abstract
- Nomenclatural type definitions are one of the most important concepts in biological nomenclature. Being physical objects that can be re-studied by other researchers, types permanently link taxonomy (an artificial agreement to classify biological diversity) with nomenclature (an artificial agreement to name biological diversity). Two proposals to amend the International Code of Nomenclature for algae, fungi, and plants (ICN), allowing DNA sequences alone (of any region and extent) to serve as types of taxon names for voucherless fungi (mainly putative taxa from environmental DNA sequences), have been submitted to be voted on at the 11th International Mycological Congress (Puerto Rico, July 2018). We consider various genetic processes affecting the distribution of alleles among taxa and find that alleles may not consistently and uniquely represent the species within which they are contained. Should the proposals be accepted, the meaning of nomenclatural types would change in a fundamental way from physical objects as sources of data to the data themselves. Such changes are conducive to irreproducible science, the potential typification on artefactual data, and massive creation of names with low information content, ultimately causing nomenclatural instability and unnecessary work for future researchers that would stall future explorations of fungal diversity. We conclude that the acceptance of DNA sequences alone as types of names of taxa, under the terms used in the current proposals, is unnecessary and would not solve the problem of naming putative taxa known only from DNA sequences in a scientifically defensible way. As an alternative, we highlight the use of formulas for naming putative taxa (candidate taxa) that do not require any modification of the ICN.
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