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The thermodynamic parameters Eact, ΔH≠, ΔS≠, and ΔG≠ for various processes involving antioxidants were calculated using literature kinetic data (k, T). The ΔG≠ values of the antioxidants’ processes vary in the range 91.27–116.46 kJmol−1 at 310 K. The similarity of the ΔG≠ values (for all of the antioxidants studied) is supported to be an indication that a common mechanism in the above antioxidant processes may be taking place. A value of about 10–30 kJmol−1 is the activation energy for the diffusion of reactants depending on the reaction and the medium. The energy 92 kJmol−1 is needed for the excitation of O2 from the ground to the first excited state (1Δg, singlet oxygen). We suggest the same role of the oxidative stress and specifically of singlet oxygen to the processes of antioxidants as in the processes of proteinaceous diseases. We therefore suggest a competition between the various antioxidants and the proteins of proteinaceous diseases in capturing singlet oxygen’s empty π* orbital. The concentration of the antioxidants could be a crucial factor for the competition. Also, the structures of the antioxidant molecules play a significant role since the various structures have a different number of regions of high electron density.

Path planning constitutes one of the most crucial abilities an autonomous robot should possess, apart from Simultaneous Localization and Mapping algorithms (SLAM) and navigation modules. Path planning is the capability to construct safe and collision free paths from a point of interest to another. Many different approaches exist, which are tightly dependent on the map representation method (metric or feature-based). In this work four path planning algorithmic families are described, that can be applied on metric Occupancy Grid Maps (OGMs): Probabilistic RoadMaps (PRMs), Visibility Graphs (VGs), Rapidly exploring Random Trees (RRTs) and Space Skeletonization. The contribution of this work includes the definition of metrics for path planning benchmarks, actual benchmarks of the most common global path planning algorithms and an educated algorithm parameterization based on a global obstacle density coefficient.

On the outer coast of Washington state, traditional lifestyles are closely entwined with the marine resources affected by ocean change, e.g., ocean warming, ocean acidification, fishing, coastal development, etc. Our research explores how ongoing ocean change may challenge the social-ecological system surrounding the Quinault Indian Nation's razor clam (Siliqua patula) harvest. We conducted semistructured interviews with Quinault tribal members, scientists, and resource managers to build a conceptual model of the social-ecological system, which we use to (1) understand the emergent effects of changes in availability of razor clams and (2) explore how the tribal community might prepare for or adapt to these changes. Razor clams are a staple food and key source of income for the Quinault people because of their lasting abundance, low cost to harvest, and long season of availability relative to other natural resources. Lower income families experience disproportionate economic impacts during razor clam harvest closures, but less tangible social and cultural impacts are felt broadly throughout the community. Although razor clams have been, in general, available and safe for harvest in recent years, the Quinault people perceive many threats to the resource, including climate change, harmful algal blooms, pollution, and habitat loss. We used the perceived risks identified from the interview results, along with peer-reviewed scientific literature, to develop several ocean change scenarios. Using a stage-based population model of the Pacific razor clam, we explored the relative impacts of these scenarios on annual razor clam harvest over a 20-year period. The simulation of scenarios was developed into a user-friendly web-based application as a planning tool for the Quinault Indian Nation, to help them explore connections between ocean change and razor clam availability, and to support their efforts to plan for and adapt to the impacts of change.

Phenological diversity in food resources prolongs foraging opportunities for consumers and buffers them against environmental disturbances. Such diversity is particularly important in forage fish such as Pacific herring ( Clupea pallasii ), which are foundational to coastal food webs and fisheries. While the importance of phenological diversity is well-known from contemporary studies, the extent to which different populations contribute to fisheries over long time scales is mostly unknown. In this study, we investigated the relative contributions of genetically and phenologically distinct herring populations to Indigenous Peoples’ food systems over multiple centuries, using ancient DNA extracted from archaeological herring bones. These bones were excavated from two Coast Salish archaeological sites (Burton Acres Shell Midden and Bay Street Shell Midden) in the Puget Sound region, USA. Using genetic stock identification from seven nuclear DNA markers, we showed that catches at the two sites in central Puget Sound were dominated by January–February and March–April spawners, which are the contemporary spawning groups in the vicinity of the sites. However, May spawners were detected in the older Burton Acres assemblage (dated to 910–685 cal BP), and a mixed stock analysis indicated that catches at this site consisted of multiple populations. These results suggest that Coast Salish ancestors used a portfolio of herring populations and benefited from the ecological resource wave created by different spawning groups of herring. This study of ancient DNA allowed us to glimpse into Indigenous traditional food and management systems, and it enabled us to investigate long-term patterns of biodiversity in an ecologically important forage fish species.

The management and conservation of large mammals, such as black bears (Ursus americanus), have long been informed by genetic estimates of population size and individual dispersal. Amplicon sequencing methods, also known as ‘genotyping‐in‐thousands‐by sequencing’ (GT‐seq), now enable the efficient and cost‐effective genotyping of hundreds of loci and individuals in the same sequencing run. Here, we develop a GT‐seq panel for individual identification and kinship inference in Alaska black bears. Using genomic data from restriction site‐associated DNA sequencing of hunter‐harvested bears from Southcentral Alaska (n = 85), we identified 170 microhaplotype and single nucleotide polymorphism (SNP) loci that were highly heterozygous in local populations. To enable sexing of individuals, we also included a previously published sex‐linked locus in the GT‐seq panel. We empirically validated the GT‐seq panel using samples collected at different spatial scales. These samples included tissues (n = 82) obtained from bears within a small geographic area in Anchorage, Alaska, which were likely to be relatives as well as the hunter‐harvested samples collected from geographically widespread locations throughout Southcentral Alaska. Empirical validation indicated high genotyping success and genotype reproducibility across replicate subsamples. Computer simulations demonstrated that the GT‐seq panel had ample statistical power for distinguishing distinct individuals and first‐order relatives (parent‐offspring and full‐sibling pairs) from unrelated individuals. As a final proof of concept, the panel was used to identify individual bears and close kin sampled from urban and wild habitats in Anchorage, Alaska. We anticipate that the GT‐seq panel will be a useful genomic resource for the monitoring and management of Alaska black bear populations. In this paper, we develop and validate a novel amplicon sequencing panel for kinship analysis in Alaska black bears using population genomic data. Our method is compatible with high‐throughput sequencing, yielding faster and more accurate genotypes, reduced costs, and efficient data analysis.

Coral reefs worldwide are in decline. Much of the mortality can be attributed to coral bleaching (loss of the coral's intracellular photosynthetic algal symbiont) associated with global warming. How corals will respond to increasing oceanic temperatures has been an area of extensive study and debate. Recovery after a bleaching event is dependent on regaining symbionts, but the source of repopulating symbionts is poorly understood. Possibilities include recovery from the proliferation of endogenous symbionts or recovery by uptake of exogenous stress-tolerant symbionts. To test one of these possibilities, the ability of corals to acquire exogenous symbionts, bleached colonies of Porites divaricata were exposed to symbiont types not normally found within this coral and symbiont acquisition was monitored. After three weeks exposure to exogenous symbionts, these novel symbionts were detected in some of the recovering corals, providing the first experimental evidence that scleractinian corals are capable of temporarily acquiring symbionts from the water column after bleaching. However, the acquisition was transient, indicating that the new symbioses were unstable. Only those symbiont types present before bleaching were stable upon recovery, demonstrating that recovery was from the resident in situ symbiont populations. These findings suggest that some corals do not have the ability to adjust to climate warming by acquiring and maintaining exogenous, more stress-tolerant symbionts. This has serious ramifications for the success of coral reefs and surrounding ecosystems and suggests that unless actions are taken to reverse it, climate change will lead to decreases in biodiversity and a loss of coral reefs.

Genetic differentiation has been observed in marine species even when no obvious barriers to gene flow exist, and understanding such differentiation is essential for effective fisheries management. Highly differentiated outlier loci can provide information on how genetic variation might not only contribute to local adaptation but may also be affected by historical demographic events. A locus which aligned to a predicted zona pellucida sperm‐binding protein 3 gene (ZP3) in Atlantic cod (Gadus morhua) was previously identified as the highest outlier based on FST in a RADseq study of Pacific cod (Gadus macrocephalus) across the West Coast of North America. However, because of the limited length of the RAD sequence and restricted geographic area of sampling, no conclusion on the functional significance of the observed variation was possible. In other marine species, ZP3 is involved in reproductive isolation, local adaptation, and has neofunctionalized as an antifreeze gene, and so it may provide important insights in functional population structure of Pacific cod. Here, we sequenced a 544‐bp region of ZP3 in 230 Pacific cod collected from throughout their geographic range. We observed striking patterns of spatial structuring of ZP3 haplotypes, with a sharp break near Kodiak, Alaska, USA where populations within ~200 km of each other are nearly fixed for different haplotypes, contrasting a pattern of isolation by distance at other genetic markers in this region (FST = 0.003). Phylogenetic analysis of ZP3 haplotypes revealed that the more southern haplotypes appear to be ancestral, with the northern haplotype evolving more recently, potentially in response to a novel selective pressure as Pacific cod recolonized northern latitudes after glaciation. The sharp break in haplotype frequencies suggests strong selective pressures are operating on small spatial scales and illustrates that selection can create high divergence even in marine species with ample opportunities for gene flow. We document a sharp break in haplotype frequencies for a putative sperm‐binding protein zona pellucida subunit 3 in Pacific cod. Results suggest strong selective pressures are operating on small spatial scales and illustrate that selection can create high divergence even in marine species with ample opportunities for gene flow.

The alignment of two occupancy grid maps generated by SLAM algorithms is a quite researched problem, being an obligatory step either for unsupervised map merging techniques or for evaluation of OGMs (Occupancy Grid Maps) against a blueprint of the environment. This paper provides an overview of the existing automatic alignment techniques of two occupancy grid maps that employ pattern matching. Additionally, an alignment pipeline using local features and image descriptors is implemented, as well as a method to eliminate erroneous correspondences, aiming at producing the correct transformation between the two maps. Finally, map quality metrics are proposed and utilized, in order to quantify the produced map’s correctness. A comparative analysis was performed over a number of image processing and OGM-oriented detectors and descriptors, in order to identify the best combinations for the map evaluation problem, performed between two OGMs or between an OGM and a Blueprint map.

Populations with spatially restricted gene flow are characterized by genetic differentiation that may be positively correlated with the geographic distance separating populations, a pattern known as isolation by distance (IBD). Here we examined the fine-scale genetic structure of 66 chum salmon (Oncorhynchus keta) populations spawning in Alaska waterways and explored patterns of IBD using 90 nuclear and 3 mitochondrial single nucleotide polymorphisms. Estimating population structure of chum salmon in Alaska is of increasing concern because of fluctuating census sizes and the uncertain effects of harvest on specific populations. We hypothesized that IBD would be present because chum salmon spawn in coastal rivers that are distributed along a linear array and gene flow is spatially restricted due to homing. Evidence of very weak IBD was found throughout the region (R² = 0.06, p < 0.0001) but the strength of the IBD relationship varied greatly over different spatial scales and geographic regions. Decomposed pairwise regression analyses identified nine outlier populations to regional IBD patterns, suggesting that geographic distance is not the only factor influencing genetic differentiation in the region. Instead, population structure appears to be heavily influenced by glacial history of the region and the presence of a glacial refugium on Kodiak Island.

Full coverage and exploration of an environment is essential in robot rescue operations where victim identification is required. Three methods of target selection towards full exploration and coverage of an unknown space oriented for Urban Search and Rescue (USAR) applications have been developed. These are the Selection of the closest topological node , the Selection of the minimum cost topological node and the Selection of the minimum cost sub-graph . All methods employ a topological graph extracted from the Generalized Voronoi Diagram (GVD), in order to select the next best target during exploration. The first method utilizes a distance metric for determining the next best target whereas the Selection of the minimum cost topological node method assigns four different weights on the graph’s nodes, based on certain environmental attributes. The Selection of the minimum cost sub-graph uses a similar technique, but instead of single nodes, sets of graph nodes are examined. In addition, a modification of A* algorithm for biased path creation towards uncovered areas, aiming at a faster spatial coverage, is introduced. The proposed methods’ performance is verified by experiments conducted in two heterogeneous simulated environments. Finally, the results are compared with two common exploration methods.