Search

Unambiguous definition of spatial position and orientation has crucial importance for robotics. In this paper we propose an ontology about positioning. It is part of a more extensive core ontology being developed by the IEEE RAS Working Group on ontologies for robotics and automation. The core ontology should provide a common ground for further ontology development in the field. We give a brief overview of concepts in the core ontology and then describe an integrated approach for representing quantitative and qualitative position information. © 2013 IEEE

In this paper, we present the current results of the newly formed IEEE-RAS Working Group, named Ontologies for Robotics and Automation. In particular, we introduce a core ontology that encompasses a set of terms commonly used in Robotics and Automation along with the methodology we have adopted. Our work uses ISO/FDIS 8373 standard developed by the ISO/TC184/SC2 Working Group as a reference. This standard defines, in natural language, some generic terms which are common in Robotics and Automation such as robot, robotic device, etc. Furthermore, we discuss the ontology development process employed along with the problems and decisions taken

Molecular lipid biomarkers (hydrocarbons, alcohols, sterols and fatty acids) and compound-specific isotope analysis of suspended particulate organic matter (SPM) and surface sediments of the Mackenzie Shelf and slope (southeast Beaufort Sea, Arctic Ocean) were studied in summer 2009. The concentrations of the molecular lipid markers, characteristic of known organic matter sources, were grouped and used as proxies to evaluate the relative importance of fresh algal, detrital algal, fossil, C3 terrestrial plants, bacterial and zooplankton material in the organic matter (OM) of this area. Fossil and detrital algal contributions were the major fractions of the freshwater SPM from the Mackenzie River with ~34% each of the total molecular biomarkers. Fresh algal, C3 terrestrial, bacterial and zooplanktonic components represented much lower percentages, 17, 10, 4 and <1%, respectively. In marine SPM from the Mackenzie slope, the major contributions were fresh and detrital algal components (>80%), with a minor contribution of fossil and C3 terrestrial biomarkers. Characterization of the sediments revealed a major sink of refractory algal material mixed with some fresh algal material, fossil hydrocarbons and a small input of C3 terrestrial sources. In particular, the sediments from the shelf and at the mouth of the Amundsen Gulf presented the highest contribution of detrital algal material (60–75%), whereas those from the slope contained the highest proportion of fossil (40%) and C3 terrestrial plant material (10%). Overall, considering that the detrital algal material is marine derived, autochthonous sources contributed more than allochthonous sources to the OM lipid pool. Using the ratio of an allochthonous biomarker (normalized to total organic carbon, TOC) found in the sediments to those measured at the river mouth water, we estimated that the fraction of terrestrial material preserved in the sediments accounted for 30–40% of the total carbon in the inner shelf sediments

The production of transparent exopolymeric particles (TEP) by the coccolithophores, Emiliania huxleyi, Calcidiscus leptoporus and Syracosphaera pulchra was investigated in batch cultures. The abundance, size spectra and carbon content of TEP were examined during the exponential growth phase of both haploid and diploid life stages grown under ambient (400 atm) and elevated (760 atm) CO2 partial pressure (pCO(2)) conditions. Results showed species- and life stage-specific differences in TEP production rate (day(1)) derived from abundance and carbon content of TEP. At 400 atm, TEP production rate was the highest in the diploid stage of S. pulchra and E. huxleyi, while TEP carbon content per cell was the highest in the diploid stage of C. leptoporus. At 760 atm, TEP production rate increased in almost all species and was closely related to the cell growth rates (except in the diploid stage of C. leptoporus), while the slope values of the regression lines between TEP size distribution and concentration decreased. This means that the contribution of smaller size TEP was relatively more important than larger TEP in the high pCO(2) treatment. Elevated pCO(2) is potentially able to alter TEP size distribution. TEP-C content cell(1) generally decreased with increasing pCO(2). TEP-C accounted for 124 of the cell particulate organic carbon production and was inversely related to increasing pCO(2). TEP production by C. leptoporus and S. pulchra has not previously been documented. The amount of organic carbon released as TEP by these coccolithophores is comparable to and may even exceed TEP production by some diatoms.

Multiple Sclerosis (MS) is a chronic inflammatory demyelinating disease of the central nervous system (CNS). Magnetic Resonance Imaging (MRI) is used for MS first diagnosis and the evaluation of CNS damage extension during disease course while information about cortical area functional reorganization can be obtained by means of functional MRI (fMRI). The clinical patterns of disease evolution are highly variable and scarcely correlate with structural MRI-detected CNS damage. This phenomenon has been referred to as clinical/MRI paradox. Experimental Autoimmune Encephalomyelitis (EAE) is the animal model for MS and can be induced in Dark Agouti (DA) rat reproducing the condition experienced by the most MS patients, i.e. the remitting-relapsing form. fMRI observations in MS are already available in humans, but deeper knowledge on its usefulness might be gained using reliable animal models. EAE was induced by syngenic spinal cord intrafootpad administration with clinical disease onset around 10 days post EAE induction (dpi) and the worst clinical condition reached on 14dpi without a complete symptom resolution in main animals up to 45dpi. The brain plasticity was investigated by means of serial fMRI acquisitions performed before, 30 and 60 days after EAE induction. A train of squared pulses electrical stimulation (frequency=3Hz, current=2mA, duration=0.5ms) was delivered to the left forepaw during acquisition of MRI sensitive to Blood-Volume. A single stimulation protocol was composed of 30 images under rest condition and 10 images acquired during stimulation. After appropriate image analysis, performed using the FSL software package, the brain region activated by the applied stimulus was determined. The week before EAE induction, electrical stimulation resulted in a localized response only in the contralateral sensory motor cortex according to previously reported results. Thirty and 60dpi, the activated area was greatly increased covering large regions of both contra a

Multiple Sclerosis (MS) is a chronic inflammatory demyelination disease of the central nervous system. It is characterized by blood brain barrier leakage during exacerbation phases and impairment in remyelination processes which are both detected by means of magnetic resonance imaging (MRI). Despite this technique is mainly used as diagnostic morphological tool for active and quiescent lesions, functional NMR (fMRI) may be used in MS patients to investigate the functional reorganization of brain cortex observed to overcome brain lesions. fMRI observations are already available in humans, but deeper knowledge on its usefulness might be gained using reliable animals models. By means of fMRI we investigated the brain plasticity in a chronic model of MS, i.e. Experimental Autoimmune Encephalomyelitis (EAE) in the Dark Agouti (DA) rat strain. Serial fMRI with somatosensory stimulation [1] and acquisitions were performed before, 30 and 60 days after EAE induction (dpi). Briefly electrical stimulation was delivered to the left forepaw during acquisition of MR images sensitive to Blood-Volume. A single stimulation protocol was composed of 30 images under rest condition and 10 images acquired during stimulation. After appropriate image analysis, performed using the FSL software package [2], the brain region activated by the applied stimulus was determined. Prior to EAE induction, electrical stimulation resulted in a localized response in the contralateral sensory motor cortex. Thirty and 60dpi, the activated area was greatly increased covering large regions of both contra and ipsilateral somatosensory cortex and extending also to extra-cortical regions. Our results show that DA EAE reproduces a remarkable findings observed in MS patients, i.e. the functional reorganization of motor cortex. It remains to be investigated whether this effect could represent an innovative platform for testing new therapeutic approaches for MS. References [1] Van Camp N, et al., NMR in Biomedicin

Molecular lipid biomarkers (hydrocarbons, alcohols, sterols and fatty acids) and compound specific isotope analysis of suspended particulate organic matter (SPM) and surface sediments of the Mackenzie Shelf and slope (Southeast Beaufort Sea, Arctic Ocean), were studied in summer 2009. The concentrations of the molecular lipid markers, characteristic of known organic matter sources, were grouped and used as proxies to evaluate the relative importance of fresh algal, detrital algal, fossil, C3 terrestrial plants, bacterial and zooplankton material in the sedimentary organic matter (OM). Fossil and detrital algal contributions were the major fractions of the freshwater SPM from the Mackenzie River with ~34% each of the total molecular biomarkers. Fresh algal, C3 terrestrial, bacterial and zooplanktonic components represented much lower percentages, 17, 10, 4 and < 1%, respectively. In marine SPM from the Mackenzie slope, the major contributions were fresh and detrital algal components (> 80%) with a minor contribution of fossil and C3 terrestrial biomarkers. Characterization of the sediments revealed a major sink of refractory algal material mixed with some fresh algal material, fossil hydrocarbons and a small input of C3 terrestrial sources. In particular, the sediments from the shelf and at the mouth of the Amundsen Gulf presented the highest contribution of detrital algal material (60–75%) whereas those from the slope contained the highest proportion of fossil (40%) and C3 terrestrial plant material (10%). Overall, considering that the detrital algal material is marine derived, autochthonous sources contributed more than allochthonous sources to the OM lipid pool. Using the ratio of an allochthonous biomarker (normalized to total organic carbon, TOC) found in the sediments to those measured at the river mouth water, we estimated that the fraction of terrestrial material preserved in the sediments accounted for 30–40% of the total carbon in the inner shelf sediments

The effects of elevated partial pressure of CO2 (pCO2) and temperature on the cocco - lithophore Syracosphaera pulchra were investigated in isolation and in combination. Both the diploid and the haploid life stages were studied. Batch cultures were grown under 4 conditions: 400 μatm and 19°C; 400 μatm and 22°C; 740 μatm and 19°C; and 740 μatm and 22°C. The growth rate (μ) significantly increased under elevated pCO2 only in the haploid stage and showed a different pattern with respect to temperature: it was higher at an elevated temperature in the haploid stage at 400 μatm whereas it decreased in the diploid stage at 740 μatm. Increasing both parameters together increased the growth rate by 11% in the haploid stage only. Elevated pCO2 had a negative impact on the content of particulate organic carbon (POC), production and cell size in both life stages at 19°C, while no significant effect was observed at 22°C. Increasing temperature significantly increased the content of POC and production in the diploid stage at 740 μatm, while at 400 μatm it significantly decreased both the content of POC and production in the haploid stage. A simultaneous increase in pCO2 and temperature had a negative effect on the content of POC and production in the haploid stage only. Neither the rate of calcification (production of particulate inorganic carbon, PIC) nor the PIC:POC ratio were significantly affected by elevated pCO2, temperature or their interaction. These results showed a strong interactive effect between pCO2 and temperature in affecting the physiology of S. pulchra, an effect that was often more pronounced in the haploid life stage. Elevated pCO2 had a stronger effect than temperature.

The emergence of ocean acidification as a significant threat to calcifying organisms in marine ecosystems creates a pressing need to understand the physiological and molecular mechanisms by which calcification is affected by environmental parameters. We report here, for the first time, changes in gene expression induced by variations in pH/pCO2 in the widespread and abundant coccolithophore Emiliania huxleyi. Batch cultures were subjected to increased partial pressure of CO2 (pCO2; i.e. decreased pH), and the changes in expression of four functional gene classes directly or indirectly related to calcification were investigated. Increased pCO2 did not affect the calcification rate and only carbonic anhydrase transcripts exhibited a significant down-regulation. Our observation that elevated pCO2 induces only limited changes in the transcription of several transporters of calcium and bicarbonate gives new significant elements to understand cellular mechanisms underlying the early response of E. huxleyi to CO2-driven ocean acidification., The emergence of ocean acidification as a significant threat to calcifying organisms in marine ecosystems creates a pressing need to understand the physiological and molecular mechanisms by which calcification is affected by environmental parameters. We report here, for the first time, changes in gene expression induced by variations in pH/pCO2 in the widespread and abundant coccolithophore Emiliania huxleyi. Batch cultures were subjected to increased partial pressure of CO2 (pCO2; i.e. decreased pH), and the changes in expression of four functional gene classes directly or indirectly related to calcification were investigated. Increased pCO2 did not affect the calcification rate and only carbonic anhydrase transcripts exhibited a significant down-regulation. Our observation that elevated pCO2 induces only limited changes in the transcription of several transporters of calcium and bicarbonate gives new significant elements to understand cellular mechanisms underlying the early response of E. huxleyi to CO2-driven ocean acidification.

Growth rate, C:N ratio, phospholipid-derived fatty acids (PLFA) distribution and organic carbon isotope composition, Growth rate, C:N ratio, phospholipid-derived fatty acids (PLFA) distribution and organic carbon isotope composition

Conservation of biological diversity, a goal institutionalised through international agreements such as the Convention on Biological Diversity, or the Habitats Directive in Europe, has important implications for the management of all natural resources, as it requires a re-arrangement of management practices in a multi-faceted fashion. While protected areas may contribute to well-being globally, they might thus impose disproportionately high costs at the local level. This led us to evaluate processes and outcomes of policies governing biological diversity not only in terms of how just, but in terms of how fair they are. With a particular focus on the conflicts arising among different groups of stakeholders when establishing protected areas for biodiversity conservation we shed light on the role fairness plays for effective management which we introduce as problem of complex social dilemma. The framework developed is applied in the discussion of two case studies: the first one considers biodiversity protection in the Alpine region Verwall, Austria, highlighting the importance of procedural fairness; the second case study considers the Small Island of Braila, Romania, highlighting the relevance of distributional fairness. We conclude that if biodiversity conservation is hampered by complex social dilemma the success of partnership approaches may critically depend not only on aspects of distributional and procedural fairness but also on trust in effective monitoring and sanctioning systems that counteract the underlying social dilemma and support a fair sharing of costs and benefits that meets the subjective fairness appraisals of the partners. &nbsp