Design framework for general purpose object recognition on a robotic platform

Author(s):  
Rajanikant Tenguria ◽  
Saurabh Parkhedkar ◽  
Nilesh Modak ◽  
Rishikesh Madan ◽  
Ankita Tondwalkar
2018 ◽  
Author(s):  
Jianfu Zhou ◽  
Alexandra E. Panaitiu ◽  
Gevorg Grigoryan

AbstractThe ability to routinely design functional proteins, in a targeted manner, would have enormous implications for biomedical research and therapeutic development. Computational protein design (CPD) offers the potential to fulfill this need, and though recent years have brought considerable progress in the field, major limitations remain. Current state-of-the-art approaches to CPD aim to capture the determinants of structure from physical principles. While this has led to many successful designs, it does have strong limitations associated with inaccuracies in physical modeling, such that a robust general solution to CPD has yet to be found. Here we propose a fundamentally novel design framework—one based on identifying and applying patterns of sequence-structure compatibility found in known proteins, rather than approximating them from models of inter-atomic interactions. Specifically, we systematically decompose the target structure to be designed into structural building blocks we call TERMs (tertiary motifs) and use rapid structure search against the Protein Data Bank (PDB) to identify sequence patterns associated with each TERM from known protein structures that contain it. These results are then combined to produce a sequence-level pseudo-energy model that can score any sequence for compatibility with the target structure. This model can then be used to extract the optimal-scoring sequence via combinatorial optimization or otherwise sample the sequence space predicted to be well compatible with folding to the target. Here we carry out extensive computational analyses, showing that our method, which we dub dTERMen (design with TERM energies): 1) produces native-like sequences given native crystallographic or NMR backbones, 2) produces sequence-structure compatibility scores that correlate with thermodynamic stability, and 3) is able to predict experimental success of designed sequences generated with other methods, and 4) designs sequences that are found to fold to the desired target by structure prediction more frequently than sequences designed with an atomistic method. As an experimental validation of dTERMen, we perform a total surface redesign of Red Fluorescent Protein mCherry, marking a total of 64 residues as variable. The single sequence identified as optimal by dTERMen harbors 48 mutations relative to mCherry, but nevertheless folds, is monomeric in solution, exhibits similar stability to chemical denaturation as mCherry, and even preserves the fluorescence property. Our results strongly argue that the PDB is now sufficiently large to enable proteins to be designed by using only examples of structural motifs from unrelated proteins. This is highly significant, given that the structural database will only continue to grow, and signals the possibility of a whole host of novel data-driven CPD methods. Because such methods are likely to have orthogonal strengths relative to existing techniques, they could represent an important step towards removing remaining barriers to robust CPD.


2019 ◽  
Vol 117 (2) ◽  
pp. 1059-1068 ◽  
Author(s):  
Jianfu Zhou ◽  
Alexandra E. Panaitiu ◽  
Gevorg Grigoryan

Current state-of-the-art approaches to computational protein design (CPD) aim to capture the determinants of structure from physical principles. While this has led to many successful designs, it does have strong limitations associated with inaccuracies in physical modeling, such that a reliable general solution to CPD has yet to be found. Here, we propose a design framework—one based on identifying and applying patterns of sequence–structure compatibility found in known proteins, rather than approximating them from models of interatomic interactions. We carry out extensive computational analyses and an experimental validation for our method. Our results strongly argue that the Protein Data Bank is now sufficiently large to enable proteins to be designed by using only examples of structural motifs from unrelated proteins. Because our method is likely to have orthogonal strengths relative to existing techniques, it could represent an important step toward removing remaining barriers to robust CPD.


Perception ◽  
1994 ◽  
Vol 23 (11) ◽  
pp. 1339-1368 ◽  
Author(s):  
Matthew A Kurbat

A long-standing problem in structural description theories of object recognition has been the lack of concrete proposals for parts, methods of dividing objects into parts, and relations between parts. Biederman's RBC theory and Hummel and Biederman's JIM model are seminal works because they present one of the first concrete solutions to this very difficult problem: RBC/JIM in turn played a major role in turning object recognition into a burgeoning research area. Here, a review of RBC/JIM as the state-of-the-art structural description theory of recognition is presented. A main conclusion is that there are strong limitations on the scope of objects which RBC/JIM can represent, and hence recognize, because mechanisms for dividing objects into parts and representing parts are not general purpose. Nevertheless, RBC/JIM has promise as a model of geometric object recognition, and there are other directions that may be pursued in the interest of developing a more general-purpose theory.


GeroPsych ◽  
2010 ◽  
Vol 23 (3) ◽  
pp. 169-175 ◽  
Author(s):  
Adrian Schwaninger ◽  
Diana Hardmeier ◽  
Judith Riegelnig ◽  
Mike Martin

In recent years, research on cognitive aging increasingly has focused on the cognitive development across middle adulthood. However, little is still known about the long-term effects of intensive job-specific training of fluid intellectual abilities. In this study we examined the effects of age- and job-specific practice of cognitive abilities on detection performance in airport security x-ray screening. In Experiment 1 (N = 308; 24–65 years), we examined performance in the X-ray Object Recognition Test (ORT), a speeded visual object recognition task in which participants have to find dangerous items in x-ray images of passenger bags; and in Experiment 2 (N = 155; 20–61 years) in an on-the-job object recognition test frequently used in baggage screening. Results from both experiments show high performance in older adults and significant negative age correlations that cannot be overcome by more years of job-specific experience. We discuss the implications of our findings for theories of lifespan cognitive development and training concepts.


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