Biomedical subjects

Ralf Möller

Publications and source records attributed to Ralf Möller.

10 recordsLinked to original sources

PubMed2007

Spectral contrasts for landmark navigation.

Visual robot navigation in outdoor environments would benefit from an illumination-independent representation of images. We explore how such a representation, comprising a black skyline of objects in front of a white sky, can be obtained from dual-channel spectral contrast measures. Light from sky and natural objects under different conditions of illumination was analyzed by five spectral channels: ultraviolet, blue, green, red, and near infrared. Linear discriminant analysis was applied to determine the optimal linear separation between sky and object points. A statistical comparison shows that contrasts with large differences in the wavelength of the two channels, specifically ultraviolet-infrared, blue-infrared, and ultraviolet-red, yield the best separation. Within a single channel, the best separation was obtained for ultraviolet light. The gain in separation quality when all five channels were included is relatively small.

Algorithms↗

PubMed2006

Local visual homing by matched-filter descent in image distances.

In natural images, the distance measure between two images taken at different locations rises smoothly with increasing distance between the locations. This fact can be exploited for local visual homing where the task is to reach a goal location that is characterized by a snapshot image: descending in the image distance will lead the agent to the goal location. To compute an estimate of the spatial gradient in the distance measure, its value must be sampled at three noncollinear points. An animal or robot would have to insert exploratory movements into its home trajectory to collect these samples. Here we suggest a method based on the matched-filter concept that allows one to estimate the gradient without exploratory movements. Two matched filters--optical flow fields resulting from translatory movements in the horizontal plane--are used to predict two images in perpendicular directions from the current location. We investigate the relation to differential flow methods applied to the local homing problem and show that the matched-filter approach produces reliable homing behavior on image databases. Two alternative methods that only require a single matched filter are suggested. The matched-filter concept is also applied to derive a home-vector equation for a Fourier-based parameter method.

Animals↗

PubMed2006

Lignification in cell cultures of Pinus radiata: activities of enzymes and lignin topochemistry.

Enzymatic and topochemical aspects of lignification were studied in a Pinus radiata D. Don cell culture system that was induced to differentiate tracheary elements and sclereids with lignified secondary cell walls. The activities of the lignin-related enzymes phenylalanine ammonia lyase (PAL; EC 4.3.1.5) and cinnamyl alcohol dehydrogenase (CAD; EC 1.1.1.195) increased concomitantly with cell differentiation, indicating that the increase in enzyme activity was related to lignification of the cell walls and was not induced by stress. This result also indicates that PAL and CAD are suitable markers for tracheary element differentiation in coniferous gymnosperms. To further characterize lignification in this cell culture system, cellular UV-microspectrophotometry and thioacidolysis were employed. Typical UV-absorption spectra of lignin were obtained from the secondary cell walls of the tracheary elements and sclereids and from the compound middle lamella connecting differentiated cells, and the presence of lignin was confirmed by thioacidolysis. Certain aspects of lignin topochemistry in the cell walls of the tracheary elements were similar to cell walls of P. radiata wood, such as the high lignin concentration in the compound middle lamella connecting adjacent cells and the lower lignin concentration in the secondary cell walls. Therefore, the P. radiata cell culture system appears to be well suited to study the formation of lignified secondary cell walls in coniferous gymnosperms.

Alcohol Oxidoreductases↗

PubMed2006

Towards male sterility in Pinus radiata--a stilbene synthase approach to genetically engineer nuclear male sterility.

A male cone-specific promoter from Pinus radiata D. Don (radiata pine) was used to express a stilbene synthase gene (STS) in anthers of transgenic Nicotiana tabacum plants, resulting in complete male sterility in 70% of transformed plants. Three plants were 98%-99.9% male sterile, as evidenced by pollen germination. To identify the stage at which transgenic pollen first developed abnormally, tobacco anthers from six different developmental stages were assayed microscopically. Following the release of pollen grains from tetrads, transgenic pollen displayed an increasingly flake-like structure, which gradually rounded up during the maturation process. We further investigated whether STS expression may have resulted in an impaired flavonol or sporopollenin formation. A specific flavonol aglycone stain was used to demonstrate that significant amounts of these substances were produced only in late stages of normal pollen development, therefore excluding a diminished flavonol aglycone production as a reason for pollen ablation. A detailed analysis of the exine layer by transmission electron microscopy revealed minor structural changes in the exine layer of ablated pollen, and pyrolysis-gas chromatography-mass spectroscopy indicated that the biochemistry of sporopollenin production was unaffected. The promoter-STS construct may be useful for the ablation of pollen formation in coniferous gymnosperms and male sterility may potentially be viewed as a prerequisite for the commercial use of transgenic conifers.

Acyltransferases↗

PubMed2005

Gene silencing of cinnamyl alcohol dehydrogenase in Pinus radiata callus cultures.

Xylem-derived Pinus radiata cell cultures, which can be induced to differentiate tracheary elements (TEs), were transformed with an RNAi construct designed to silence cinnamyl alcohol dehydrogenase (CAD), an enzyme involved in the biosynthesis of monolignols. Quantitative enzymatic CAD measurements revealed reduced CAD activity levels in most transclones generated. TEs from transclones with approximately 20% residual CAD activity did not release elevated levels of vanillin, which was derived from coniferyl-aldehyde through a mild alkali treatment. However, the activation of the phenylpropanoid pathway in transclones with approximately 20% residual CAD activity through the application of non-physiological concentrations of sucrose and l-phenylalanine produced phenotypic changes. The accumulation of metabolites such as dihydroconiferyl-alcohol (DHCA), which also accumulates in the P. taeda CAD mutant cad-n1, was observed. These results indicate that a substantial reduction in CAD activity is necessary for this enzyme to become a rate-limiting step in lignin biosynthesis in conifers such as P. radiata and confirm that transformable P. radiata callus cultures can be useful to investigate the function of xylogenesis-related genes in conifers.

Alcohol Oxidoreductases↗

PubMed2005

Learning visuomotor transformations for gaze-control and grasping.

For reaching to and grasping of an object, visual information about the object must be transformed into motor or postural commands for the arm and hand. In this paper, we present a robot model for visually guided reaching and grasping. The model mimics two alternative processing pathways for grasping, which are also likely to coexist in the human brain. The first pathway directly uses the retinal activation to encode the target position. In the second pathway, a saccade controller makes the eyes (cameras) focus on the target, and the gaze direction is used instead as positional input. For both pathways, an arm controller transforms information on the target's position and orientation into an arm posture suitable for grasping. For the training of the saccade controller, we suggest a novel staged learning method which does not require a teacher that provides the necessary motor commands. The arm controller uses unsupervised learning: it is based on a density model of the sensor and the motor data. Using this density, a mapping is achieved by completing a partially given sensorimotor pattern. The controller can cope with the ambiguity in having a set of redundant arm postures for a given target. The combined model of saccade and arm controller was able to fixate and grasp an elongated object with arbitrary orientation and at arbitrary position on a table in 94% of trials.

Animals↗

PubMed2004

Coupled principal component analysis.

A framework for a class of coupled principal component learning rules is presented. In coupled rules, eigenvectors and eigenvalues of a covariance matrix are simultaneously estimated in coupled equations. Coupled rules can mitigate the stability-speed problem affecting noncoupled learning rules, since the convergence speed in all eigendirections of the Jacobian becomes widely independent of the eigenvalues of the covariance matrix. A number of coupled learning rule systems for principal component analysis, two of them new, is derived by applying Newton's method to an information criterion. The relations to other systems of this class, the adaptive learning algorithm (ALA), the robust recursive least squares algorithm (RRLSA), and a rule with explicit renormalization of the weight vector length, are established.

Principal Component Analysis↗

PubMed2004

A self-stabilizing learning rule for minor component analysis.

The paper reviews single-neuron learning rules for minor component analysis and suggests a novel minor component learning rule. In this rule, the weight vector length is self-stabilizing, i.e., moving towards unit length in each learning step. In simulations with low- and medium-dimensional data, the performance of the novel learning rule is compared with previously suggested rules.

Algorithms↗

PubMed2003

Cell differentiation, secondary cell-wall formation and transformation of callus tissue of Pinus radiata D. Don.

Tracheid and sclereid differentiation was induced in callus cultures of Pinus radiata D. Don by culturing on a basal medium containing activated charcoal but no phytohormones; sclereids differentiated in callus derived from xylem strips, but not in callus derived from hypocotyl segments. The tracheids differentiated in hypocotyl-derived callus had helical, scalariform, reticulated or pitted secondary cell-wall patterns, but those differentiated in xylem-derived callus had a reticulate or pitted pattern. The thickened tracheid and sclereid walls contained lignin as indicated by the red colour reaction given with phloroglucinol-HCl. The presence of lignin in the cell walls of differentiated callus was confirmed using pyrolysis gas chromatography-mass spectrometry by the detection of phenylpropanoid components derived from lignin. Lignin was also detected using solid-state (13)C cross-polarisation/magic-angle spinning nuclear magnetic resonance spectroscopy and quantified as thioglycolic acid lignin. Monosaccharide analyses of the cell walls isolated from differentiated and undifferentiated calli showed that the cell walls of the differentiated calli contained higher proportions of glucose and mannose, consistent with the presence of greater proportions of gluco- and/or galactogluco-mannans in the secondary cell walls of the differentiated cells. A protocol for the stable transformation of undifferentiated, xylem-derived cultures was successfully developed. Transgenic cell lines were established following Biolistic particle bombardment with a plasmid containing the coding region of the nptII gene and the coding region of the cad gene from P. radiata. Expression of the nptII gene in transgenic lines was confirmed by an NPTII-enzyme-linked immunosorbent assay. The overexpression of cad in the transgenic lines resulted in a down-regulation of cinnamyl alcohol dehydrogenase (EC 1.1.1.195) expression.

Alcohol Oxidoreductases↗

PubMed2002

Insects could exploit UV-green contrast for Landmark navigation.

Illumination-invariant detection of landmark features is a prerequisite for landmark navigation in insects. It is suggested that a contrast mechanism involving the UV and green receptors of insect eyes could guarantee a robust separation between natural objects as foreground and sky as background. Using a sensor with a UV and a green channel that in their spectral characteristics are close to the corresponding insect photoreceptors, data of natural objects and sky were collected. The data show that the two classes can be separated by a fixed threshold in the UV-green color space, offering an advantage over a purely UV-based separation that would require a dynamic threshold. Based on a numerical method, UV-green antagonism is shown to guarantee a more reliable discrimination than UV-blue antagonism.

Animals↗