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- Hübner, Kai, et al.
(author)
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Minimum Volume Bounding Box decomposition for shape approximation in robot grasping
- 2008
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In: 2008 IEEE International Conference on Robotics and Automation, ICRA 2008. - 9781424416462 ; , s. 1628-1633
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Conference paper (peer-reviewed)abstract
- Thinking about intelligent robots involves consideration of how such systems can be enabled to perceive, interpret and act in arbitrary and dynamic environments. While sensor perception and model interpretation focus on the robot's internal representation of the world rather passively, robot grasping capabilities are needed to actively execute tasks, modify scenarios and thereby reach versatile goals. These capabilities should also include the generation of stable grasps to safely handle even objects unknown to the robot. We believe that the key to this ability is not to select a good grasp depending on the identification of an object (e.g. as a cup), but on its shape (e.g. as a composition of shape primitives). In this paper, we envelop given 3D data points into primitive box shapes by a fit-and-split algorithm that is based on an efficient Minimum Volume Bounding Box implementation. Though box shapes are not able to approximate arbitrary data in a precise manner, they give efficient clues for planning grasps on arbitrary objects. We present the algorithm and experiments using the 3D grasping simulator GraspIt! [1].
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- Marsh, D. T., et al.
(author)
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Structure-activity relationships for flavone interactions with amyloid beta reveal a novel anti-aggregatory and neuroprotective effect of 2 ',3 ',4 '-trihydroxyflavone (2-D08)
- 2017
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In: Bioorganic & Medicinal Chemistry. - : Elsevier BV. - 0968-0896. ; 25:14, s. 3827-3834
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Journal article (peer-reviewed)abstract
- Naturally-occurring flavonoids have well documented anti-aggregatory and neuroprotective properties against the hallmark toxic protein in Alzheimer's disease, amyloid beta (A beta). However the extensive diversity of flavonoids has limited the insight into the precise structure-activity relationships that confer such bioactive properties against the A beta protein. In the present study we have characterised the A beta binding properties, anti-aggregatory and neuroprotective effects of a discreet set of flavones, including the recently described novel protein sumoylation inhibitor 2',3',4'-trihydroxyflavone (2-D08). Quercetin, transilitin, jaceosidin, nobiletin and 2-D08 were incubated with human A beta(1-42) for 48 h in vitro and effects on AB fibrillisation kinetics and morphology measured using Thioflavin T (ThT) and electron microscopy respectively, in addition to effects on neuronal PC12 cell viability. Of the flavones studied, only quercetin, transilitin and 2-D08 significantly inhibited A beta(1-42) aggregation and toxicity in PC12 cells. Of those, 2-D08 was the most effective inhibitor. The strong anti-amyloid activity of 2-D08 indicates that extensive hydroxylation in the B ring is the most important determinant of activity against beta amyloid within the flavone scaffold. The lack of efficacy of jaceosidin and nobiletin indicate that extension of B ring hydroxylation with methoxyl groups result in an incremental loss of anti-fibrillar and neuroprotective activity, highlighting the constraint to vicinal hydroxyl groups in the B ring for effective inhibition of aggregation. These findings reveal further structural insights into anti-amyloid bioactivity of flavonoids in addition to a novel and efficacious anti-aggregatory and neuroprotective effect of the semi-synthetic flavone and sumoylation inhibitor 2',3',4'-trihydroxyflavone (2-D08). Such modified flavones may facilitate drug development targeting multiple pathways in neurodegenerative disease. Crown Copyright (C) 2017 Published by Elsevier Ltd. All rights reserved.
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- Fritz, Michael, 1981-, et al.
(author)
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Interferon-ɣ mediated signaling in the brain endothelium is critical for inflammation-induced aversion
- 2018
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In: Brain, behavior, and immunity. - Maryland Heights : Academic Press. - 0889-1591 .- 1090-2139. ; 67, s. 54-58
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Journal article (peer-reviewed)abstract
- Systemic inflammation elicits malaise and a negative affective state. The mechanism underpinning the aversive component of inflammation include cerebral prostaglandin synthesis and modulation of dopaminergic reward circuits, but the messengers that mediate the signaling between the peripheral inflammation and the brain have not been sufficiently characterized. Here we investigated the role of interferon-ɣ (IFN-ɣ) in the aversive response to systemic inflammation induced by a low dose (10μg/kg) of lipopolysaccharide (LPS) in mice. LPS induced IFN-ɣ expression in the blood and deletion of IFN-ɣ or its receptor prevented the development of conditioned place aversion to LPS. LPS induced expression of the chemokine Cxcl10 in the striatum of normal mice, but this induction was absent in mice lacking IFN-ɣ receptors or Myd88 in blood brain barrier endothelial cells. Furthermore, inflammation-induced aversion was blocked in mice lacking Cxcl10 or its receptor Cxcr3. Finally, mice with a selective deletion of the IFN-ɣ receptor in brain endothelial cells did not develop inflammation-induced aversion, demonstrating that the brain endothelium is the critical site of IFN-ɣ action. Collectively, these findings show that circulating IFN-ɣ that binds to receptors on brain endothelial cells and induces Cxcl10, is a central link in the signaling chain eliciting inflammation-induced aversion.
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- Mohr, Claudia, et al.
(author)
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Molecular identification of organic vapors driving atmospheric nanoparticle growth
- 2019
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In: Nature communications. - : Springer Science and Business Media LLC. - 2041-1723. ; 10
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Journal article (peer-reviewed)abstract
- Particles formed in the atmosphere via nucleation provide about half the number of atmospheric cloud condensation nuclei, but in many locations, this process is limited by the growth of the newly formed particles. That growth is often via condensation of organic vapors. Identification of these vapors and their sources is thus fundamental for simulating changes to aerosol-cloud interactions, which are one of the most uncertain aspects of anthropogenic climate forcing. Here we present direct molecular-level observations of a distribution of organic vapors in a forested environment that can explain simultaneously observed atmospheric nanoparticle growth from 3 to 50nm. Furthermore, the volatility distribution of these vapors is sufficient to explain nanoparticle growth without invoking particle-phase processes. The agreement between observed mass growth, and the growth predicted from the observed mass of condensing vapors in a forested environment thus represents an important step forward in the characterization of atmospheric particle growth.
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