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Ground or aerial robots equipped with advanced sensing technologies, such as three-dimensional laser scanners and advanced mapping algorithms, are deemed useful as a supporting technology for first responders. A great deal of excellent research in the field exists, but practical applications at real disaster sites are scarce. Many projects concentrate on equipping robots with advanced capabilities, such as autonomous exploration or object manipulation. In spite of this, realistic application areas for such robots are limited to teleoperated reconnaissance or search. In this paper, we investigate how well state-of-the-art and off-the-shelf components and algorithms are suited for reconnaissance in current disaster-relief scenarios. The basic idea is to make use of some of the most common sensors and deploy some widely used algorithms in a disaster situation, and to evaluate how well the components work for these scenarios. We acquired the sensor data from two field experiments, one from a disaster-relief operation in a motorway tunnel, and one from a mapping experiment in a partly closed down motorway tunnel. Based on these data, which we make publicly available, we evaluate state-of-the-art and off-the-shelf mapping approaches. In our analysis, we integrate opinions and replies from first responders as well as from some algorithm developers on the usefulness of the data and the limitations of the deployed approaches, respectively. We discuss the lessons we learned during the two missions. These lessons are interesting for the community working in similar areas of urban search and rescue, particularly reconnaissance and search.
Bacillus subtilis and Bacillus licheniformis are widely used for the large-scale industrial production of proteins. These strains can efficiently secrete proteins into the culture medium using the general secretion (Sec) pathway. A characteristic feature of all secreted proteins is their N-terminal signal peptides, which are recognized by the secretion machinery. Here, we have studied the production of an industrially important secreted protease, namely, subtilisin BPN′ from Bacillus amyloliquefaciens. One hundred seventy-three signal peptides originating from B. subtilis and 220 signal peptides from the B. licheniformis type strain were fused to this secretion target and expressed in B. subtilis, and the resulting library was analyzed by high-throughput screening for extracellular proteolytic activity. We have identified a number of signal peptides originating from both organisms which produced significantly increased yield of the secreted protease. Interestingly, we observed that levels of extracellular protease were improved not only in B. subtilis, which was used as the screening host, but also in two different B. licheniformis strains. To date, it is impossible to predict which signal peptide will result in better secretion and thus an improved yield of a given extracellular target protein. Our data show that screening a library consisting of homologous and heterologous signal peptides fused to a target protein can identify more-effective signal peptides, resulting in improved protein export not only in the original screening host but also in different production strains.
The response of Bacillus licheniformis to heat and ethanol stress and the role of the SigB regulon
(2013)