On Advanced Mobility Concepts for Intelligent Planetary Surface Exploration

Surface exploration by wheeled rovers on Earth's Moon (the two Lunokhods) and Mars (Nasa's Sojourner and the two MERs) have been followed since many years already very suc-cessfully, specifically concerning operations over long time. However, despite of this success, the explored surface area was very small, having in mind a total driving distance of about 8 km (Spirit) and 21 km (Opportunity) over 6 years of operation. Moreover, ESA will send its ExoMars rover in 2018 to Mars, and NASA its MSL rover probably this year. However, all these rovers are lacking sufficient on-board intelligence in order to overcome longer dis-tances, driving much faster and deciding autonomously on path planning for the best trajec-tory to follow. In order to increase the scientific output of a rover mission it seems very nec-essary to explore much larger surface areas reliably in much less time. This is the main driver for a robotics institute to combine mechatronics functionalities to develop an intelligent mo-bile wheeled rover with four or six wheels, and having specific kinematics and locomotion suspension depending on the operational terrain of the rover to operate. DLR's Robotics and Mechatronics Center has a long tradition in developing advanced components in the field of light-weight motion actuation, intelligent and soft manipulation and skilled hands and tools, perception and cognition, and in increasing the autonomy of any kind of mechatronic systems. The whole design is supported and is based upon detailed modeling, optimization, and simula-tion tasks. We have developed efficient software tools to simulate the rover driveability per-formance on various terrain characteristics such as soft sandy and hard rocky terrains as well as on inclined planes, where wheel and grouser geometry plays a dominant role. Moreover, rover optimization is performed to support the best engineering intuitions, that will optimize structural and geometric parameters, compare various kinematics suspension concepts, and make use of realistic cost functions like mass and consumed energy minimization, static sta-bility, and more. For self-localization and safe navigation through unknown terrain we make use of fast 3D stereo algorithms that were successfully used e.g. in unmanned air vehicle ap-plications and on terrestrial mobile systems. The advanced rover design approach is applica-ble for lunar as well as Martian surface exploration purposes. A first mobility concept ap-proach for a lunar vehicle will be presented

Theoretical analysis of the role of chromatin interactions in long-range action of enhancers and insulators

Long-distance regulatory interactions between enhancers and their target genes are commonplace in higher eukaryotes. Interposed boundaries or insulators are able to block these long distance regulatory interactions. The mechanistic basis for insulator activity and how it relates to enhancer action-at-a-distance remains unclear. Here we explore the idea that topological loops could simultaneously account for regulatory interactions of distal enhancers and the insulating activity of boundary elements. We show that while loop formation is not in itself sufficient to explain action at a distance, incorporating transient non-specific and moderate attractive interactions between the chromatin fibers strongly enhances long-distance regulatory interactions and is sufficient to generate a euchromatin-like state. Under these same conditions, the subdivision of the loop into two topologically independent loops by insulators inhibits inter-domain interactions. The underlying cause of this effect is a suppression of crossings in the contact map at intermediate distances. Thus our model simultaneously accounts for regulatory interactions at a distance and the insulator activity of boundary elements. This unified model of the regulatory roles of chromatin loops makes several testable predictions that could be confronted with \emph{in vitro} experiments, as well as genomic chromatin conformation capture and fluorescent microscopic approaches.Comment: 10 pages, originally submitted to an (undisclosed) journal in May 201

Discovery of anthelmintic drug targets and drugs using chokepoints in nematode metabolic pathways

Parasitic roundworm infections plague more than 2 billion people (1/3 of humanity) and cause drastic losses in crops and livestock. New anthelmintic drugs are urgently needed as new drug resistance and environmental concerns arise. A "chokepoint reaction" is defined as a reaction that either consumes a unique substrate or produces a unique product. A chokepoint analysis provides a systematic method of identifying novel potential drug targets. Chokepoint enzymes were identified in the genomes of 10 nematode species, and the intersection and union of all chokepoint enzymes were found. By studying and experimentally testing available compounds known to target proteins orthologous to nematode chokepoint proteins in public databases, this study uncovers features of chokepoints that make them successful drug targets. Chemogenomic screening was performed on drug-like compounds from public drug databases to find existing compounds that target homologs of nematode chokepoints. The compounds were prioritized based on chemical properties frequently found in successful drugs and were experimentally tested using Caenorhabditis elegans. Several drugs that are already known anthelmintic drugs and novel candidate targets were identified. Seven of the compounds were tested in Caenorhabditis elegans and three yielded a detrimental phenotype. One of these three drug-like compounds, Perhexiline, also yielded a deleterious effect in Haemonchus contortus and Onchocerca lienalis, two nematodes with divergent forms of parasitism. Perhexiline, known to affect the fatty acid oxidation pathway in mammals, caused a reduction in oxygen consumption rates in C. elegans and genome-wide gene expression profiles provided an additional confirmation of its mode of action. Computational modeling of Perhexiline and its target provided structural insights regarding its binding mode and specificity. Our lists of prioritized drug targets and drug-like compounds have potential to expedite the discovery of new anthelmintic drugs with broad-spectrum efficacy

Rethinking summarization and storytelling for modern social multimedia

Traditional summarization initiatives have been focused on specific types of documents such as articles, reviews, videos, image feeds, or tweets, a practice which may result in pigeonholing the summarization task in the context of modern, content-rich multimedia collections. Consequently, much of the research to date has revolved around mostly toy problems in narrow domains and working on single-source media types. We argue that summarization and story generation systems need to re-focus the problem space in order to meet the information needs in the age of user-generated content in different formats and languages. Here we create a framework for flexible multimedia storytelling. Narratives, stories, and summaries carry a set of challenges in big data and dynamic multi-source media that give rise to new research in spatial-temporal representation, viewpoint generation, and explanatio

A computational study on outliers in world music

The comparative analysis of world music cultures has been the focus of several ethnomusicological studies in the last century. With the advances of Music Information Retrieval and the increased accessibility of sound archives, large-scale analysis of world music with computational tools is today feasible. We investigate music similarity in a corpus of 8200 recordings of folk and traditional music from 137 countries around the world. In particular, we aim to identify music recordings that are most distinct compared to the rest of our corpus. We refer to these recordings as ‘outliers’. We use signal processing tools to extract music information from audio recordings, data mining to quantify similarity and detect outliers, and spatial statistics to account for geographical correlation. Our findings suggest that Botswana is the country with the most distinct recordings in the corpus and China is the country with the most distinct recordings when considering spatial correlation. Our analysis includes a comparison of musical attributes and styles that contribute to the ‘uniqueness’ of the music of each country

Do linden trees kill bees? Reviewing the causes of bee deaths on silver linden (Tilia tomentosa)

For decades, linden trees (basswoods or lime trees), and particularly silver linden (Tilia tomentosa), have been linked to mass bee deaths. This phenomenon is often attributed to the purported occurrence of the carbohydrate mannose, which is toxic to bees, in Tilia nectar. In this review, however, we conclude that from existing literature there is no experimental evidence for toxicity to bees in linden nectar. Bee deaths on Tilia probably result from starvation, owing to insufficient nectar resources late in the tree's flowering period. We recommend ensuring sufficient alternative food sources in cities during late summer to reduce bee deaths on silver linden. Silver linden metabolites such as floral volatiles, pollen chemistry and nectar secondary compounds remain underexplored, particularly their toxic or behavioural effects on bees. Some evidence for the presence of caffeine in linden nectar may mean that linden trees can chemically deceive foraging bees to make sub-optimal foraging decisions, in some cases leading to their starvation

DNaseI Hypersensitivity and Ultraconservation Reveal Novel, Interdependent Long-Range Enhancers at the Complex Pax6 Cis-Regulatory Region

The PAX6 gene plays a crucial role in development of the eye, brain, olfactory system and endocrine pancreas. Consistent with its pleiotropic role the gene exhibits a complex developmental expression pattern which is subject to strict spatial, temporal and quantitative regulation. Control of expression depends on a large array of cis-elements residing in an extended genomic domain around the coding region of the gene. The minimal essential region required for proper regulation of this complex locus has been defined through analysis of human aniridia-associated breakpoints and YAC transgenic rescue studies of the mouse smalleye mutant. We have carried out a systematic DNase I hypersensitive site (HS) analysis across 200 kb of this critical region of mouse chromosome 2E3 to identify putative regulatory elements. Mapping the identified HSs onto a percent identity plot (PIP) shows many HSs correspond to recognisable genomic features such as evolutionarily conserved sequences, CpG islands and retrotransposon derived repeats. We then focussed on a region previously shown to contain essential long range cis-regulatory information, the Pax6 downstream regulatory region (DRR), allowing comparison of mouse HS data with previous human HS data for this region. Reporter transgenic mice for two of the HS sites, HS5 and HS6, show that they function as tissue specific regulatory elements. In addition we have characterised enhancer activity of an ultra-conserved cis-regulatory region located near Pax6, termed E60. All three cis-elements exhibit multiple spatio-temporal activities in the embryo that overlap between themselves and other elements in the locus. Using a deletion set of YAC reporter transgenic mice we demonstrate functional interdependence of the elements. Finally, we use the HS6 enhancer as a marker for the migration of precerebellar neuro-epithelium cells to the hindbrain precerebellar nuclei along the posterior and anterior extramural streams allowing visualisation of migratory defects in both pathways in Pax6(Sey/Sey) mice

Just-for-Me: An Adaptive Personalization System for Location-Aware Social Music Recommendation

The fast growth of online communities and increasing pop-ularity of internet-accessing smart devices have significantly changed the way people consume and share music. As an emerging technology to facilitate effective music retrieval on the move, intelligent recommendation has been recently re-ceived great attentions in recent years. While a large amount of efforts have been invested in the field, the technology is still in its infancy. One of the major reasons for this stagna-tion is due to inability of the existing approaches to compre-hensively take multiple kinds of contextual information into account. In the paper, we present a novel recommender sys-tem called Just-for-Me to facilitate effective social music rec-ommendation by considering users ’ location related contexts as well as global music popularity trends. We also develop an unified recommendation model to integrate the contex-tual factors as well as music contents simultaneously. Fur-thermore, pseudo-observations are proposed to overcome the cold-start and sparsity problems. An extensive experimental study based on different test collections demonstrates that Just-for-Me system can significantly improve the recommen-dation performance at various geo-locations

Effects of Overexpression of Specific Subunits SAYP, BAP170 of the Chromatin Remodeling Complex in Drosophila Melanogaster

: The phenotypic manifestations of increased expression of the Bap170 and e(y)3 (SAYP) genes in D. melanogaster were analyzed. Using the wing disc model, we show that moderate co-expression of Bap170 and e(y)3 genes in wing discs leads to abnormalities in wing veining. which was probably caused by suppression of EGFR/Ras/MAPK signaling pathways. Strong induction of co-expression of the above genes in wing discs leads to complete suppression of wing development in adults. Ubiquitous co-expression of Bap170 and e(y)3 is lethal at the 1st instar larval stage and leads to the formation of melanotic tumors. The above phenotypes are observed exclusively when Bap170 and e(y)3 are co-expressed. This evidence suggests a robust synergistic effect of the combined action of these genes, which is manifested in the hyperactivity of cell proliferation and differentiation