Concentrations of snake venom used for each venom.
\r\n\tAccording to the protection and control strategies in recent years; Although WHO has reduced the rates somewhat with the application of mass medication in children in places where the prevalence of roundworm is over 20%, to control morbidity and eliminate STN as a public health problem, the mathematical applications have been to apply the treatments to adults as well.
\r\n\r\n\tIn this book, roundworms transmitted through soil or arthropods; Developments in epidemiology, life cycles, pathophysiology, clinical diagnosis, management, and public health control in the world will be reviewed with the contribution of studies on this subject from past to present. In addition, this book aims to highlight the connection between helminths and autoimmune and allergic diseases: the determination, treatment, and control strategies.
",isbn:"978-1-80356-714-3",printIsbn:"978-1-80356-713-6",pdfIsbn:"978-1-80356-715-0",doi:null,price:0,priceEur:0,priceUsd:0,slug:null,numberOfPages:0,isOpenForSubmission:!0,isSalesforceBook:!1,isNomenclature:!1,hash:"5edc96349630be8bb4e67170be677d8c",bookSignature:"Dr. Nihal Dogan",publishedDate:null,coverURL:"https://cdn.intechopen.com/books/images_new/11801.jpg",keywords:"Ascaris, Trichuris, Hookworms, Strongyloides, Wuchereria, Brugia, Onchocerca, Trichinella, Larval Infection, Visceral Larva Migrans, Cutaneous Larva Migrans, Ocular",numberOfDownloads:null,numberOfWosCitations:0,numberOfCrossrefCitations:null,numberOfDimensionsCitations:null,numberOfTotalCitations:null,isAvailableForWebshopOrdering:!0,dateEndFirstStepPublish:"March 23rd 2022",dateEndSecondStepPublish:"May 27th 2022",dateEndThirdStepPublish:"July 26th 2022",dateEndFourthStepPublish:"October 14th 2022",dateEndFifthStepPublish:"December 13th 2022",dateConfirmationOfParticipation:null,remainingDaysToSecondStep:"a month",secondStepPassed:!0,areRegistrationsClosed:!1,currentStepOfPublishingProcess:3,editedByType:null,kuFlag:!1,biosketch:"A leading academic in parasitology at the Department of Microbiology at the Faculty of Medicine of Eskişehir Osmangazi University, expertise in hydatid cysts, toxoplasma, leishmania, parasitic diseases transmitted by water and intestinal parasites. She wrote numerous book chapters on infectious diseases, clinical parasitology, clinical microbiology, and medical microbiology laboratory applications and manuals.",coeditorOneBiosketch:null,coeditorTwoBiosketch:null,coeditorThreeBiosketch:null,coeditorFourBiosketch:null,coeditorFiveBiosketch:null,editors:[{id:"169552",title:"Dr.",name:"Nihal",middleName:null,surname:"Dogan",slug:"nihal-dogan",fullName:"Nihal Dogan",profilePictureURL:"https://mts.intechopen.com/storage/users/169552/images/system/169552.png",biography:"Prof. Dr Nihal Doğan is the leading academic in the Field of Parasitology at the Department of Microbiology at the Faculty of Medicine of Eskişehir Osmangazi University since 1993. She was granted a professorship in 2008 and has expertise in parasitology and epidemiology of parasitic diseases. She took part as an executive academic on 6 projects hydatid cysts, toxoplasma, leishmania, parasitic diseases transmitted by water and intestinal parasites. Her research is published in more than 40 national and international journals and she took part as a keynote speaker and as abstract and poster presenter in more than international and national congresses and conferences. She wrote numerous book chapters on infectious diseases, clinical parasitology, clinical microbiology and medical microbiology laboratory applications and manuals. \nShe concluded her Master and PhD Thesis at Eskişehir Anadolu University and Eskişehir Osmangazi University Medical Faculty and focused on the field of diagnosis and seroepidemiology of Toxoplasmosis. She visited the University of Virginia Department of Parasitology as a visiting researcher in 2003 for 3 months and worked on the diagnosis of Entamoeba histolytica and Universidad De Chile Faculty of Medicine as an observer researcher in 2016 for 1 month and worked on Trypanosomes.\nHer research interests include medical ethics, seroepidemiological survey; intestinal, blood, tissue and ocular parasites, vector-borne diseases, zoonotic parasites.",institutionString:"Eskisehir Osmangazi University",position:null,outsideEditionCount:0,totalCites:0,totalAuthoredChapters:"0",totalChapterViews:"0",totalEditedBooks:"0",institution:null}],coeditorOne:null,coeditorTwo:null,coeditorThree:null,coeditorFour:null,coeditorFive:null,topics:[{id:"13",title:"Immunology and Microbiology",slug:"immunology-and-microbiology"}],chapters:null,productType:{id:"1",title:"Edited Volume",chapterContentType:"chapter",authoredCaption:"Edited by"},personalPublishingAssistant:{id:"466998",firstName:"Dragan",lastName:"Miljak",middleName:"Anton",title:"Mr.",imageUrl:"https://mts.intechopen.com/storage/users/466998/images/21564_n.jpg",email:"dragan@intechopen.com",biography:"As an Author Service Manager my responsibilities include monitoring and facilitating all publishing activities for authors and editors. 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Venkateswarlu",coverURL:"https://cdn.intechopen.com/books/images_new/371.jpg",editedByType:"Edited by",editors:[{id:"58592",title:"Dr.",name:"Arun",surname:"Shanker",slug:"arun-shanker",fullName:"Arun Shanker"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"72",title:"Ionic Liquids",subtitle:"Theory, Properties, New Approaches",isOpenForSubmission:!1,hash:"d94ffa3cfa10505e3b1d676d46fcd3f5",slug:"ionic-liquids-theory-properties-new-approaches",bookSignature:"Alexander Kokorin",coverURL:"https://cdn.intechopen.com/books/images_new/72.jpg",editedByType:"Edited by",editors:[{id:"19816",title:"Prof.",name:"Alexander",surname:"Kokorin",slug:"alexander-kokorin",fullName:"Alexander Kokorin"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"314",title:"Regenerative Medicine and Tissue Engineering",subtitle:"Cells and Biomaterials",isOpenForSubmission:!1,hash:"bb67e80e480c86bb8315458012d65686",slug:"regenerative-medicine-and-tissue-engineering-cells-and-biomaterials",bookSignature:"Daniel Eberli",coverURL:"https://cdn.intechopen.com/books/images_new/314.jpg",editedByType:"Edited by",editors:[{id:"6495",title:"Dr.",name:"Daniel",surname:"Eberli",slug:"daniel-eberli",fullName:"Daniel Eberli"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"57",title:"Physics and Applications of Graphene",subtitle:"Experiments",isOpenForSubmission:!1,hash:"0e6622a71cf4f02f45bfdd5691e1189a",slug:"physics-and-applications-of-graphene-experiments",bookSignature:"Sergey Mikhailov",coverURL:"https://cdn.intechopen.com/books/images_new/57.jpg",editedByType:"Edited by",editors:[{id:"16042",title:"Dr.",name:"Sergey",surname:"Mikhailov",slug:"sergey-mikhailov",fullName:"Sergey Mikhailov"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"1373",title:"Ionic Liquids",subtitle:"Applications and Perspectives",isOpenForSubmission:!1,hash:"5e9ae5ae9167cde4b344e499a792c41c",slug:"ionic-liquids-applications-and-perspectives",bookSignature:"Alexander Kokorin",coverURL:"https://cdn.intechopen.com/books/images_new/1373.jpg",editedByType:"Edited by",editors:[{id:"19816",title:"Prof.",name:"Alexander",surname:"Kokorin",slug:"alexander-kokorin",fullName:"Alexander Kokorin"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"2270",title:"Fourier Transform",subtitle:"Materials Analysis",isOpenForSubmission:!1,hash:"5e094b066da527193e878e160b4772af",slug:"fourier-transform-materials-analysis",bookSignature:"Salih Mohammed Salih",coverURL:"https://cdn.intechopen.com/books/images_new/2270.jpg",editedByType:"Edited by",editors:[{id:"111691",title:"Dr.Ing.",name:"Salih",surname:"Salih",slug:"salih-salih",fullName:"Salih Salih"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"872",title:"Organic Pollutants Ten Years After the Stockholm Convention",subtitle:"Environmental and Analytical Update",isOpenForSubmission:!1,hash:"f01dc7077e1d23f3d8f5454985cafa0a",slug:"organic-pollutants-ten-years-after-the-stockholm-convention-environmental-and-analytical-update",bookSignature:"Tomasz Puzyn and Aleksandra Mostrag-Szlichtyng",coverURL:"https://cdn.intechopen.com/books/images_new/872.jpg",editedByType:"Edited by",editors:[{id:"84887",title:"Dr.",name:"Tomasz",surname:"Puzyn",slug:"tomasz-puzyn",fullName:"Tomasz Puzyn"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}}]},chapter:{item:{type:"chapter",id:"70828",title:"The Effects of Snake Venom (Bitis arietans) on Embryonic Development",doi:"10.5772/intechopen.90887",slug:"the-effects-of-snake-venom-em-bitis-arietans-em-on-embryonic-development",body:'The chick embryo has established itself within biomedical science as a crucial research model due to its similarity on a cellular and anatomical level to human embryos along with its rapid development, easy visibility and manipulation [1]. The cardiovascular system in the avian develops rapidly with the added benefit of the embryo remaining transparent during morphological development of primary organs, allowing visibility of vasculature formation using simple microscopy techniques [2].
The use of a chick egg as a bioreactor has been promoted over the use of standard large-scale fermenters due to its ability to produce large quantities of complex proteins and cheaper running costs [3]. A 2002 study placed a retroviral vector based on avian leucosis virus into the chicken genome and noted that biologically active enzymes were secreted into the serum and egg white of four generations of chickens. The levels of enzyme expression remained steady through each successive generation and remained constant for over 16 months in the magnum of hens indicating the expression of this enzyme was stable. This supports the possibility of chicken eggs in the role of a bioreactor for the production of biologically active proteins for therapeutic interest [4]. Human interferon a2b and β1a along with human granulocyte-colony stimulating factor have been successfully harvested from this method [5]. The egg is an ideal model for the recovery of these proteins as the content is sterile and provides a long half-life [6]. Production of human proteins in hens could become the method of choice for proteins that are toxic to mammals, an example of this is human erythropoietin which is damaging to the mammary gland of rabbits but remains inactive in chickens [7].
The avian chorioallantoic membrane (CAM) refers to the outermost membrane that is highly vascularised for gas exchange and calcium transportation between the embryo and its environment [8]. It has been widely used to discover targets and measure the in vivo angiogenic effects of factors such as vascular endothelial growth [9] and P13 kinase [5]. The chorioallantoic membrane provides advantageous exposure to the embryo with minimal invasiveness [5]. The chicken egg is a reliable candidate in assessing angiogenic responses to drugs as well as being cost and time-effective [10]. In 1984, inactivated rabies vaccine for human use was developed which had been adapted to proliferate in primary chick egg cultures [11]. This vaccine provided similar antigenicity to the human diploid cell strain with the advantages of cheaper and faster production. This purified chick embryo cell culture vaccine has now been licenced in over 60 countries worldwide for 30 years [12]. The influenza vaccine has been developed in the embryonated chicken eggs since the 1940s, the egg provides high titre capabilities and large-scale production opportunity which has led to the streamlined process of today which provides vaccination for millions worldwide [13].
The chicken embryo is advantageous in studying retinal development due to its significant similarity to the human embryo at a molecular, cellular and anatomical level and its rapid development [1]. It is an important model in regenerative research as the neural retina can regenerate from the pigmented epithelium as late as stage 24 [14]. The regeneration can occur from the cup margin or patches of pigmented epithelium far from the margin. The lens does not have to be present for the regeneration, and the regenerating tissue develops faster than normal [14]. The chicken model is used in the vision research community to study human retinogenesis and develop new ways to battle human blindness and eye disease by allowing scientists an insight into the complex regulatory network of neurons and glial cells [15]. In America, diabetic retinopathy is the leading cause of blindness amongst over 40-year-olds [16] with all type 1 diabetes developing DR and more than 60% with type 2 [17]. Chickens, like humans, are diurnal with complex colour vision and as their retina is cone-dominant it makes them an ideal model for photoreceptor-degenerative blindness [18]. In a 2014 study, chicken embryos were injected with either streptozotocin or high concentration of glucose at day 11; in both groups, cataracts occurred in varying degrees making them a promising animal model for diabetes research [19].
Studies by Murphy and LeVine [20] and Carrodeguas et al. [21] revealed that the chick embryo has an active process for the formulation and degeneration of the amyloid-beta peptide deposits associated with Alzheimer’s disease. The distribution of the peptide sequence in chick embryos is similar to humans, predominating in the nervous system. This study also discovered that the chick embryo produces neprilysin (ADAM-17), a protease that degrades the peptide [21]. Due to the easy access of chick embryos, it’s an ideal candidate for developing a potential system for drug regulation and regression for this neurodegenerative disease [22]. In a 2003 study, the chick embryo was a model for supporting the use of
The chick embryo allows the unique research of oncology in vivo. Along with being highly accessible and easy to manipulate, the CAM is naturally immune-deficient which can support engraftment of both normal and cancerous tissue up until developmental day 18 [24]. The CAM has also been used for research into carcinogenesis [25] and tumour angiogenesis [26]. In 1911, by inoculating the Rouse Sarcoma virus into chick embryos, it was suggested for the first time that viruses could cause cancer [27]. It is now estimated that 15–20% of human cancers worldwide involve tumour inducing viruses, such as T-cell leukaemia virus type 1 and hepatitis C [28]. In 2002, Zijlstra et al. [29] developed a highly sensitive assay to monitor metastatic dissemination of human cancer cells in the chick embryo by using the CAM as an established biological platform. In 2014, Mu et al. concluded that chicken embryo extract may promote the reversion of metastatic phenotypes of osteosarcoma cells, which could lead to tumour reversion through epigenetics [30].
In 1996, Pain et al. displayed that early chicken blastoderm cells or avian embryonic stem cells can be maintained in vitro for long term culture. These cells model traits of murine stem cells in morphology, reactivity to antibodies and high telomerase activity along with the high capability to differentiate into various cell types [31]. When blastoderm embryonic stem cells are grafted onto the CAM, they organise into complex structures such as embryoid bodies and derivatives of the three primary germ layers. These cells can provide an in vitro model of cell differentiation and maturation along with means of targeted genome control [32]. Germline stem cell research is associated with the manufacture of transgenic animals using male spermatogonial stem cells [33] for the production of pharmaceutical proteins [34]. Recently direct reprogramming has been created to convert differentiated somatic cells into pluripotent embryo stem-like cells; this is an advantageous medical method avoiding ethical issues surrounding human egg use [33]. Amniotic stem cells isolated from the amniotic cavity can create clonal cell lines and due to their ease of isolation, are considered a potential source for regenerative medicine application [35].
Developed by Jelinek in 1977 the chick embryotoxicity screening test (CHEST) is a standardised technique to allow administration of small amounts of test compounds and the quantitative measurement of results. This method is advantageous as it requires limited materials. Fertilised eggs, micropipettes for administration, incubator and a dissection kit are all that is needed. The CHEST test allows the use of a chick embryo to study experimental teratogenicity. The number of dead, malformed, and growth-retarded foetuses (weight <650 mg and with no malformation) are totalled for each concentration and stage of the embryo at the time of exposure. The proportion of affected embryos is plotted against the concentration of test compound, and the embryo-stage of administration. The proportion of effects on particular organs in surviving embryos is considered separately to establish a profile of effects for each compound [36]. The screening test has been used to determine the toxicity of many substances, establishing parameters of dose–response and stage-response [37].
Venom is defined as ‘a secretion, produced in a specialised gland in one animal and delivered to a target animal through the infliction of a wound, which contains molecules that disrupt normal physiological or biochemical processes to facilitate feeding or defence’ [38].
Venom is composed of proteins and polypeptides, it has two primary functions—to paralyse their prey and start the digestive process with hydrolysing proteins leading to tissue necrosis and blood clotting [39]. These venom components can be grouped according to the mode of action:
Binding to cholinergic receptors, often leading to respiratory muscle paralysis.
Inhibition or increase release of acetylcholine, causing muscle cells to not react to nerve stimulus, leading to spasms, damage of the skin and disruption connective tissues.
Cytotoxic and cardiotoxic, which harm cell membranes and disrupt the transport of substances across the membranes [39].
In broad terms, snake venoms are classified as inflammatory, cytotoxic, neurotoxic or haemotoxic [40].
Many snakes use fangs, specialised dentition associated with the venom gland (Duvernoy gland) to introduce venom into prey. Fangs can either be posteriorly (grass snake) or anteriorly (vipers) positioned within the upper jaw [41].
Many poisonous snakes possess different types of dentition; vipers and atractaspidids have a shortened maxilla which rotates allowing the fangs to move; whereas elapids fangs are fixed at the front of the maxilla. Colubrids can possess an enlarged rear positioned fang or no fang at all. The venom gland, also known as the Duvernoy gland in posteriorly positioned fanged species, is innervated by the maxillary branch of the trigeminal nerve, facial nerve and supplied by the internal carotid artery [42]. The Duvernoy gland is positioned posteriorly to the eye, encased in a thin layer of connective tissue and consists mainly of serous cells; a single duct extends from the gland to the base of the fang; whereas the venom gland is encased in a fibrous sheath varying in position depending on species. The viperid gland is large, isosceles with the longest side along the upper lip directed dorsally; the gland is divided into lobules by the outer sheath with the lumen becoming a primary duct which passes through a mucous accessory duct into a secondary duct extending the length of the fang [43]. In contrast, the elapid venom gland is oval made from many branching tubules, its lumen is narrow and therefore most of the venom is stored in the surrounding cells [44]. The atractaspidid species possess a cylindrical gland extending posteriorly beyond the head, its lumen has a characteristic pattern of unbranched tubules radiating outwards [45].
Bites can be classified as cytotoxic bites characterised by a painful swelling with watery blood leaking from the wound followed by shock, blistering and discolouration. Venomous snake bites in pregnant women can lead to poor survival rates in both the foetus and mother; early bites can precipitate teratogenesis, miscarriages, preterm delivery, foetal death and antepartum haemorrhage [46]. The bite will cause severe pain to the limb affected. Species associated with this bite include the puff adder, Gaboon adder and spitting cobras. Black and green mambas along with non-spitting cobras produce a neurotoxic bite in victims which leads to moderate swelling, cold and clammy extremities, dilated pupils and drooping of the eyelids. Patients suffering these bites will develop swollen lymph glands, vomiting, ptyalism and breathing difficulties. Haemotoxic bites associated with boomslang and vine snakes cause bleeding from the gums, nose, corner of eyes and old wounds and scratches. Certain snake species can produce more than one type of bites such as the
Medically significant venomous snakes are all front-fanged and are classified into three families: Atractaspididae, Elapidae and Viperidae; the glands of these snakes are homologous [48], with current evidence suggesting these evolved from non-front fanged venomous snakes [49]. These glands contain the snake venom, made from a combination of different protein families, each containing a variety of toxin isoforms along with carbohydrates, lipids, nucleosides and metals. Although homologous, the venom proteome is not due to the influence of genetic mutations and natural selection [50]. In a 2017 review, 59 protein families were identified in these three species, with four dominant proteins: phospholipase A2s, metalloproteases, serine proteases and three-finger toxins; six secondary families: cysteine-rich secretory proteins, L-amino acid oxidases, Kunitz peptides, c-type lectins, disintegrins and natriuretic peptides; nine minor proteins and 36 rare. Results revealed that elapid venom contained a less diverse range of protein families than the others, mostly consisting of phospholipases and three-finger toxins. Viper venom showed to scarcely contain three-finger toxin [51].
These enzymes play an important role in the regulation of phospholipid turnover, membrane permeability, cell maintenance and growth, apoptosis and the production of leukotrienes and prostaglandins [50]. Of the four types of PLAs, only type one and two are found in snake venom with several isoforms. These PLAs target the motor nerve terminal and the terminal part of the motor axon, by initiating hydrolysis of the lipids of the outer leaf of the plasma membrane of the nerve terminal resulting in its depolarization. Synaptic vesicles are also destroyed by the PLA and the products of lipid hydrolysis [52]. Exposure of skeletal muscle to venom PLAs causes a severe inflammatory degenerative response, with the first clinical signs apparent less than 1 hour after inoculation, with affected fibres rapidly depolarising [50].
Haemorrhaging is a common clinical sign associated with viper and crotaline snake bites and has been associated with the proteolytic activity of metalloprotease [53]. The proteases induce direct damage of the microvessels [54]. Snake venom metalloproteases are classified into four main groups based on their domain structure: PI—possesses a metalloprotease domain only, PII—consists of both metalloprotease and disintegrin-like domains, PIII—compromised of metalloprotease, disintegrin-like and high-cysteine domains, PIV—in addition to metalloprotease, disintegrin and cysteine also possesses a lectin-like polypeptide [53]. The disintegrin-like domain inhibits platelet aggregation by binding to the fibrinogen receptor in platelet plasma membranes and although the role of the other domains is not clear, venoms with cysteine and disintegrin domains are more active at inducing haemorrhage than enzymes with only metalloprotease domains [55]. Investigations suggest pathogenesis is associated with a per rhexis mechanism whereby endothelial cells of capillary blood vessels rapidly thin and detach from surrounding basal lamina, progressive degeneration of these vessels leads to breaks in the endothelial lining, allowing blood to enter interstitial space [56].
Serine proteases are major components of snake venom, mostly identified in snakes of the Viperidae family and certain Elapidae, Colubridae and Hydrophiidae families [57]. These venom enzymes affect the haemostatic system by acting on the coagulation cascade and possess strong pro-coagulant effects through the activation of platelets, production of thrombin-like enzymes which clot fibrinogen and the creation anti-coagulant enzymes such as protein C [58], these serine protease produced thrombins are not susceptible to hirudin or heparin, other proteases possess kininogenase activity which releases hypotensive bradykinin [59].
This family of non-enzymatic polypeptides exhibit potent toxic effects. Based on their biological properties, they can be classified as postsynaptic neurotoxins targeting the nicotinic and muscarinic acetylcholinesterase receptors; fasciculins targeting acetylcholinesterase; calciseptins and FS2 toxins targeting L-type calcium channels; anticoagulants; β-blockers targeting β1 and β2 adrenergic receptors; dendroaspin targeting specific glycoproteins; cardiotoxin A5 targeting integrins and antagonists of α1A and α2A adrenergic receptors [60]. A large number of 3FTs are neurotoxic, interfering with cholinergic transmission at post-synaptic sites in the peripheral and central nervous system; mipartoxin-I, a 3FT, is the most abundant protein found in coral snake venom from northern South America and possesses a lethal effect in mice and a clear neuromuscular blockade in avian and mice subjects with an affinity for the cholinergic nicotinic receptor [61]. A group of cardiotoxic 3FTs found only in cobra venom is the second-largest group, at low concentrations they elevate heart rates and at high concentrations, cause death by cardiac arrest [62].
Biscetin, a platelet adhesion inducer, isolated from the venom of
The Puff adder (
A global review by White in 2000 estimated that between 1.25 and 5.5 million snakebites occur annually [68]. These primarily occur in developing countries where there is a dense population of humans, an abundance of snakes and a lack of medical treatment facilities. In 1987 in South Africa, pregnant women accounted for 0–4% of cases admitted to hospital, in India, they accounted for 1% of admissions [46]. Venomous snakebites may lead to poor foetal development and adversely affect the mother’s health; previous studies determined that foetal death occurred in 38–43% of snakebite cases, whereas maternal death accounted for 10% [69]. The African puff adder, along with the carpet viper, is the two most common species responsible for fatalities following bites in Africa. These adder venoms possess cardiotoxic and haemorrhagic effects which can lead to hypovolemic shock, necrosis, systemic haemorrhage and arrhythmias [70].
Variation in venom composition occurs between species of snake as well as within a species. These variations can have a significant impact on venom toxicity and medical management. Different toxin-encoding genes in the genome attribute to these variations [28], however the mechanisms by which these gene expressions are controlled are poorly understood [71]. Results from Barlow et al. [72] provides evidence for the theory of diet affecting venom composition, by observing
In accordance with the European Union Directive 2010/63/EU section nine, embryos were not developed beyond the first two-thirds of development. This also corresponds with mandates of The Institutional Animal Care and Use Committee, Association of New England Medical Centre (Tufts) and the National Institute of Health, USA which dictate that a chick embryo that has not reached the 14th day of its gestation period will not experience pain and therefore can be used for experimentation without ethical restrictions.
For this research, the chick embryotoxicity screening test was used. This standardised technique allows for the administration of small amounts of test compounds into the fertilised egg on 4th embryonic day (ED4) and the measurement of a quantitative endpoint on ED9.
Fertilised eggs: alive and morphologically normal (breed Lohmann Brown, Hatchery Farm Párovské Háje, Nitra, Slovakia).
Incubator (ART 549/A).
Dissection kit: including tissue forceps, dissecting scissors and blunt scissors.
Micropipette with disposable tips.
Stereomicroscope (Olympus SZ 61 with digital camera ARTCAM-300MI).
Observing dish with fixing pins.
Distilled water: to aid observation.
Eggs were placed in an incubator on day 0 at 37–38°C with a 50–60% relative humidity and rotated periodically until (ED4). Then eggs were removed and blunt end of eggs was cleaned with 70% alcohol and covered by a transparent adhesive tape. Subsequently, using serrated scissors (FST 14071-12), an opening was cut for application of the respective doses of snake venom (100 μl). The tested concentration was applied directly over the embryo on the top of inner shell membrane (
Graphical illustration of snake venom administration on ED4 (A) and visualisation of developing heart and liver on ED9 (B); asterisk—lobes of liver, h—heart.
Snake venom | Concentrations (mg/ml) | |||
---|---|---|---|---|
E-1 | E-2 | E-3 | E-4 | |
Control (sterile distilled water) | ||||
B.A. nonspecific region | 100.00 | 10.00 | 1.00 | 0.10 |
B.A. Kenya | 100.00 | 10.00 | 1.00 | 0.10 |
B.A. Namibia | 100.00 | 10.00 | 1.00 | 0.10 |
B.A. South Africa | 100.00 | 10.00 | 1.00 | 0.10 |
Concentrations of snake venom used for each venom.
Snake venom | Dose (mg/ml) | Dead embryos | Mortality (%) | Mean body weight (g) | Mean heart weight (mg) | Mean liver weight (mg) | |
---|---|---|---|---|---|---|---|
0 | 10 | 1 | 10 | 1.73 | 22.9 | 31.6 | |
100 | 10 | 7 | 70 | 1.42 | 16.3 | 20.7 | |
10 | 10 | 3 | 30 | 1.66 | |||
1 | 10 | 2 | 20 | 1.59 | 17.0 | ||
0.1 | 10 | 1 | 10 | 1.66 | |||
Bitis arietans—Kenya | 0 | 10 | 1 | 10 | 1,53 | 18.7 | 28.5 |
100 | 10 | 2 | 20 | ||||
10 | 10 | 4 | 40 | ||||
1 | 10 | 1 | 10 | ||||
0.1 | 10 | 3 | 30 | 1.57 | 18.3 | ||
Bitis arietans—South Africa | 0 | 10 | 1 | 10 | 1.62 | 18.0 | 28.8 |
100 | 10 | 2 | 20 | 1.67 | 18.5 | ||
10 | 10 | 2 | 20 | 1.62 | 19.9 | ||
1 | 10 | 2 | 20 | 1.66 | 19.9 | 26.8 | |
0.1 | 10 | 0 | 0 | 1.43 | |||
Bitis arietans—Namibia | 0 | 10 | 1 | 10 | 1.70 | 21.0 | 31.2 |
100 | 10 | 2 | 20 | 1.47 | 17.3 | ||
10 | 11 | 3 | 27 | 1.72 | 20.6 | 35.3 | |
1 | 11 | 1 | 9 | 1.60 | 20.1 | 31.4 | |
0.1 | 11 | 2 | 18 | 1.54 | 20.1 | 30.1 | |
Total |
Embryotoxic effect of
Venoms from
A sterile plastic cup was used for venom extraction with plastic food wrap, and rubber bands fixed the plastic wrap. For the application, we used snake venoms immediately after their extracting. Before use, it was ensured the venoms were continuously kept in cold storage to ensure that they retained their full toxicological potential. The venoms were diluted with sterile distilled water to give equal concentrations (based on molecular weights) of E-1, E-2, E-3 and E-4 when required (Table 1). The composition of tested snake venoms used in our study has been already described and determined in previous studies [75, 76].
For this staining method, embryos with the highest concentration of snake venom (10-1) were used. The blue stain was applied on ED4. The embryos were then dissected on day ED6 and incubated in a 1/8000 solution of Nile Blue A (Sigma) and PBS for 15 minutes at 37°C in an incubator. Following this, embryos were transferred to cold PBS (4 °C) and washed for 4 hours. Embryos were then photographed with a stereomicroscope Olympus SZ 61 with digital camera ARTCAM-300MI and Quick Photo 2.3 software. These embryos were lastly compared with control embryos (sterile distilled water applied only) dissected on ED6.
The number of dead or growth-retarded embryos (those <650 mg) were totalled for each concentration. The proportion of effects on heart and liver in surviving embryos were considered separately to establish a profile of each concentration. The result of the CHEST was rank venom in order of their teratogenic potency in chickens; these ranges can be compared for an assessment of human risk. For statistical analysis, the programme GraphPad Prism 6.0 was utilised (one-way ANOVA, with a
The following results were analysed—body weight, heart weight and liver weight. These results were compared between control samples and the venom of
All living embryos were weighed on ED 9 in grams. Figure 2 presents the following concentrations E1 (10-1), E2 (10-2), E3 (10-3) and E4 (10-4).
Graphs depicting body weights of the
The average body weight of the control embryos was 1.73 g, whereas embryos infused with venom concentration 10-1 (E1), 10-2 (E2) and 10-3 (E3) were significantly reduced (
The embryos injected with venoms of the Namibian snake showed no statistically significant changes in body weight in comparison with the control embryos. E1 body weight averaged at 1.4 g in comparison with the 1.72 g of control embryos. E2 average body weight was 1.7 g whereas E3 averaged at 1.6 g. E4 embryos body weight was less than E2 and E3 at 1.54 g.
None of the embryos impregnated with South African Puff adder venom showed a statistically significant change in body weight compared to the control group. E1, E2 and E3 body weights were all similar, averaging at 1.67, 1.62 and 1.66 g respectively. E4 averaged the smallest body weight at 1.43 g.
None of the embryos infused with the non-specific venom showed significant differences in body weight compared to the control group. E1 averaged the smallest body weight at 1.42 g, E2 averaged at 1.66 g, E3 at 1.58 g and E4 at 1.66 g.
Hearts were cut from surviving embryos at the level of the aorta and weighed in milligrams (Figure 3).
Graphs depicting heart weights of the
The control heart mean weighed 23 mg; the embryo hearts infused with venom were significantly smaller in E1, E2 and E3. E1 and E2 weighed in at 13 mg, E3 had a slight increase in weight at 15 mg. There was a large increase between E3 and E4 with the latter averaging 18 mg.
None of the concentrations had a significant effect on heart weight in comparison to the control group. E1 mean heart weight came in at 17 mg. E2 was the largest weights at 21 mg, E3 and E4 averaged 20 mg.
The largest average heart weight was seen in E3 and E2 at 19.8 mg. E1 averaged at 18.5 mg. E4 had the lowest body weight of 15 mg; this result was statistically significant.
E1 and E3 results were both deemed statistically significant. E1 averaged the lowest heart weight of 16 mg. E2 averaged 18 mg whereas E3 mean was lower than E2 at 17 mg. E4 weighed in with the largest heart weight of 18 mg.
Livers were cut at the level of the portal vein, cut from surviving embryos and weighed in milligrams (Figure 4).
Graphs depicting liver weights of the
All four concentrations of snake venom s were proven statistically significant. The mean control group liver weighed 31.6 mg, larger than all four test groups. E1 liver weight mean was recorded as 15.5 mg, E2 weighed in at 14.8 mg; E3 was the lowest average liver weight of 14 mg. E4 average liver weight was the largest at 20 mg.
Venom concentration E1 was the only statistically significant result in this test group, with its average weight calculated at 20 mg. E2 liver weight averaged heavier than the control group (31.6 mg) with 35 mg. E3 mean weight was similar to the control at 31.4 mg and E4 averaged 30 mg.
E1, E2 and E4 concentrations were proven statistically significant; whereas E3, with the largest liver weight of 26 mg, was not. E1 had the lowest average liver weight of 19.2 mg; E2 was marginally heavier at 19.8 mg. E4 liver weight averaged at 20.7 mg.
Three of the four concentrations of non-specified venom had a statistically significant effect on the liver weight (E2, E3 and E4). E1 mean result weighed in at 20 mg; E2 was faintly heavier at 20.9 mg. E3 weighed the least with 19.9 mg. E4 had the heaviest weight within the test group at 22.2 mg.
The highest mortality rate was seen in the highest concentration, in this maximum venom concentration (E1) the non-specific venom samples had a 70% death occurrence (embryos not surviving to day 9); the Kenyan, Namibian and South African E1 all had a 20% mortality rate. All groups at each concentration had a fatality, except the South African E4 group.
The non-specified venom produced the highest overall amount of fatalities, with the Kenyan being second, Namibian third and South African venom being the least lethal. The 10 mg/ml (E2) concentration saw the highest mortality rates overall, with the Kenyan test group showing a 40% mortality, the Namibian and non-specific test group perceiving 30% mortality and the South African group a 20% mortality. E3 showed 20% fatality in the South African and non-specific test groups, in Namibia and Kenyan groups only 10% fatality rate was recorded. In the lowest concentration (E4) the highest mortality rate was recorded in the Kenyan group with 30%. No fatalities were recorded in the South African group. The Namibian test group showing a 20% mortality and the non-specific test group a 10% mortality (Figure 5, Table 2).
Mortality rates of chicken embryos against snake venom.
The embryos were stained on ED4 and removed from their eggs on ED6; all were envenomed with the strongest concentrations of venom (10-1; Figure 6).
Nile blue staining results. (a) Control, (b) B.A. nonspecific region, (c) B.A. South Africa, (d) B.A. Kenya, (e) B.A. Namibia; asterisk—wing and leg buds on ED9, arrows—dark coloured areas with apoptotic response.
The arrows on the above images highlight the darkened areas of apoptotic cells. These images show that initial cell death is initiated on the wing buds. The control embryo (a), infused with distilled sterile water only, demonstrates no apoptosis. The nonspecific venom (b) indicates a small amount of apoptosis located on the wing buds. Embryos envenomed with South African (c) and Kenyan (d) B.A. showed significant apoptosis along with the entire wing buds, with the Kenyan spreading to the extremities. The Namibian embryo showed less severe cell apoptosis than (c) and (d) along with the wing buds.
Although the body weights varied amongst regional snakes and concentrations, they all presented similarly which was anticipated as they are the same species of snake. Generalised haemorrhaging was present across all four venom groups, which was expected due to the haemotoxic nature of
All heart weights of embryos envenomed with
All groups had a minimum of one statistically significant concentration, suggesting the liver was the most affected parameter (in comparison with heart and body weight). In furtherance with the proposal that the Kenyan venom has the highest potency, E1, E2 and E3 all proved statistically significant as well as being of the lowest median body weights of the groups surveyed. All livers exhibited a decrease in mean weight, varying yellow colour change along with increased susceptibility to disintegration on removal; this substantiates the results from a previous study on the effects of
The highest incidence of mortality was observed in E1 by the non-specified test group, with a 70% mortality; whereas Kenya, Namibia and South Africa observed a 40–10% death rate. This evidence proposes that although the Kenyan venom has the most significant impact on development, the non-specific venom has the strongest potency. Furthers study with a larger specimen pool is needed to confirm these findings.
A 1993 study observed that haemorrhagic snake venom (
In conclusion, it was seen that the test group envenomed by
These results suggest a geographical variation in potency of
This work was realized within the framework of the project of the Ministry of Education VEGA No. 1/0050/19 and APVV-17-0017.
Both natural and man-made acidic habitats are widely distributed in global land and ocean ecosystems, such as acidic sulfur-rich thermal springs, marine volcanic vents, and acid mine drainage (AMD) [1]. However, these unique habitats harbor the active acidophilic organisms that are well adapted to the acidic environments. Undoubtedly, acidophiles are distributed randomly throughout the tree of life and prevalent in the acidity or extreme acidity habitats, archaea and bacteria in particular, and they represent an extreme life-forms [2, 3, 4]. Generally, acidophilic archaea and bacteria mainly include members of phylum
Acidophiles thrive at an extremely low pH and maintain a relatively neutral cytoplasm pH [12], namely maintenance several orders of magnitude difference in proton concentrations in cell; thus, one of the main challenges to these microorganisms living in acidic habitats is the extremely acidic stress environments. Acidophiles have evolved a large number of mechanisms to withstand the deleterious effects of fluctuations in proton concentration (Figure 1), due to the fact that acidophiles face the challenge of maintaining a near neutral intracellular pH. Currently, the mechanisms of growth and acid tolerance of typical extreme acidophiles in extremely low pH environments have been widely studied [13, 14, 15]. Herein, we, specifically focusing on acid-tolerant mechanisms, strategies, functions, and modules instead of species types, reviewed and summarized the current knowledge of the acid-resistance networks adopted by acidophiles for coping with acid or extreme acid environments. In addition, owing to space constraints and complexity of acidophiles types, we limit our discussion of the acid-tolerant adaptation mechanisms to typical acidophiles (archaea and bacteria) that populate acidic habitats.
The active and passive acid-resistance mechanisms in acidophiles. (a) Proton pump: F1Fo–ATPase complex pump protons out of the cells though ATP hydrolysis. (b) Proton consumption modules: GadB-GadC system can consume excess intracellular protons. (c) Reversed transmembrane electrical potential (Δψ) modules: Generating a reversed Δψ is by positive ions transport (e.g. K+ transport). (d) Membranes system: The highly impermeable cell membranes structure. (e) Macromolecules protection modules: A larger proportion of DNA and protein repair systems such as Dps, GrpE, MolR, and DnaK proteins. (f) Escaping system: QS system, biofilm, chemotaxis and cell motility modules. (g) Other modules: Some possible mechanisms of imperfect classification, including iron “rivet”, degradation proteins of organic acids, surface proteins of high pI values, and outer membrane porin.
Microorganisms tend to maintain a high proton motive force (PMF) and a near-neutral pH in cytoplasm. The transmembrane electrical potential (Δψ) and transmembrane pH gradient (ΔpH) could vary as a function of the external pH. The immediately available energy source for acidophilic cell is this pre-existing transmembrane proton gradient, due to the external environments are frequently in the pH range of 1.0–3.0, while the typical pH of cytoplasms are close to 6.5 (that is, the differential proton concentrations of 4–6 orders of magnitude). The ΔpH across the membrane is a major part of the PMF, and the ΔpH is linked to cellular bioenergetics. Acidophiles, such as
Among the active mechanisms, the proton consumption systems are necessary to remove excess intracellular protons. Once protons enter the cytoplasm, some mechanisms and patterns are required to mitigate effects caused by a high concentration of proton in cells. Under the acidic conditions, there is increased expression of amino acid decarboxylases enzymes (such as Glutamate decarboxylase-β (GadB)) that could consume the cytoplasmic protons by the catalytic reactions [23]. GadB, coupling with a glutamate/gamma-aminobutyrate antiporter (GadC), catalyzed glutamate to γ-aminobutyric acid (GABA) and exchanged with glutamate substrate to achieve continued decarboxylation reactions (Figure 1) [24]. It consumed a proton during the decarboxylation reactions and thus supported the intracellular pH homeostasis. And, it would contribute to a reversed Δψ in most bacteria. Similarly, the
A second major strategy for the active mechanisms used by acidophiles to reduce the influx of protons is the generation of an inside positive Δψ that generated by a Donnan potential of positively charged ions. A positive inside transmembrane potential was contributed to a reversed Δψ that could prevent protons leakage into the cells. The acidophiles might use the same strategies to generate a reversed membrane potential to resist the inward flow of protons, Na+/K+ transporters in particular (Figure 1) [25]. Previous data showed that some genomes of acidophiles (
Although improving the efflux and consumption of protons and increasing the expression of secondary transporters are a common strategy, the most effective strategy is also to reduce the proton permeability of cell membrane [32, 33]. Acidophiles can synthesize a highly impermeable membrane to respond to proton attack (Figure 1). These physiological adaptations membranes are composed of the high levels of iso/anteiso-BCFAs (branched chain fatty acids), both saturated and mono-unsaturated fatty acids, β-hydroxy, ω-cyclohexyl and cyclopropane fatty acids (CFAs) [34]. It was found that cell membrane resisted the acid stress by increasing the proportion of unsaturated fatty acid and CFAs in some bacteria, such as
To maintain the pH homeostasis of cells, acidophilic archaea cells have a highly impermeable cell membrane to restrict proton influx into the cytoplasm. One of the key characteristics of acidophilic archaea is the monolayer membrane typically composed of large amount of GDGTs, which are extremely impermeable to protons [38, 39, 40]. Although acidophilic bacteria have a variety of acid-resistant adaptation strategies, compared with acidophilic archaea, it has not been found that these bacteria would exhibit excellent growth ability below pH 1. The special tetraether lipid is closely related to acid-tolerance capability, because the ether linkages are less sensitive to acid hydrolysis than ester linkages [41]. And, the results of studies on acidophilic archaea indicated that tetraether lipids may be more resistant to acid than previously thought [42]. Therefore, the contribution of tetraether lipids to adaptation of archaea to extremely low pH is enormous. To a certain extent, it also supports the reason why dominance of archaea under extremely acidic environments. Similarly, the extreme acid tolerance of archaea can be attributed to cyclopentane rings and the vast methyl-branches [43]. In addition, it was found that the less phosphorus in the lipoprotein layer of acidophilus cell can contribute to higher hydrophobicity, which was beneficial for resisting extreme acid shock [13]. Irrespective of the basic composition of cell membranes, bacteria and archaea have extensively reshaped their membrane components to overcome the extremely low acid environments. In summary, the impermeable of acidophilic cell membrane is an important strategy for the pH homeostasis of acidophiles formed by restricting the influx of protons into the cells.
When the cells are attacked or stressed by higher concentrations of protons, the passive mechanisms of pH homeostasis would support the active mechanism. If protons penetrate the acidophilic cell membrane, a range of intracellular repair systems would help to repair the damage of macromolecules [13]. The DNA and protein repair systems play a central role in coping with acid stress of cells (Figure 1). Because DNA carries genetic information of cell life and protein plays an important role in the physiological activities of cells, DNA or protein damage caused by protons would bring irreversible harm to cells. When the cells are exposed to a high concentration of proton environments or protons influx into the cells, a great number of DNA repair proteins and chaperones (such as Dps, GrpE, MolR, and DnaK protein) would repair the damaged DNA and protein [19, 44, 45]. Previously reported study showed that a great number of DNA and protein repaired genes presence in wide range of extreme acidophiles genomes might be related to the acid resistance, for example, a large number of the DNA repaired proteins genes in
Quorum sensing (QS) system is a ubiquitous phenomenon that establishes the cell to cell communication in a population through the production, secretion and detection of signal molecules. In addition, The QS system is also widely involved in various physiological processes in cell such as biofilm formation, exopolysaccharides, motility, and bacterial virulence [50, 51, 52]. Moreover, the QS system can contribute to bacteria tolerating extreme environmental conditions by regulated biofilm formation. For example, bacteria showed the strong resistance to extremely low pH, due to these bacteria grown in a biofilm environment [53]. In case of acidophiles, QS system has been reported in
Flagella is an important cell structure for the motility and chemotaxis in most bacteria, and is also involved in the biofilm formation [56]. Flagella-mediated chemotaxis is essential for cells to respond to environmental stimuli (pH, temperature, osmotic pressure, etc.) and find nutrients for growth. The chemotaxis and motility of cells is a complex physiological behavior regulated by the diverse transcription factors, such as RpoF (σ28 or FliA) of the σ factors and ferric uptake regulator (Fur) of the global regulator, and has strictly spatiotemporal characteristics [20, 56]. For example, the mutant strain of
It could be seen from the classification description above that there are a variety of mechanisms and strategies by which acidophiles can tolerate or resist the acidic or extremely acidic environments. However, some possible mechanisms have been imperfectly understood or classified, for example, the distinctive structural and functional characteristics of extremely acidophilic microorganisms (Figure 1) [13, 15]. First, iron may act as a “rivet” at low pH, which plays an important role in maintaining proteins activity, for example, the high proportion of iron proteins in
In the past few decades, studies have confirmed that acidophilic microorganisms are widely present in the three domains of bacteria, archaea and eukarya, indicating that acidophiles have gradually developed in the evolution of life on earth, rather than from a single adaptation events. Although the extremely acidic environments are toxic to most organisms, there are still large number of indigenous microorganisms that can thrive in these habitats. The generally accepted view is that acidophiles can be divided into moderate acidophiles that have pH optima of between 3 and 5, extreme acidophiles that have pH optima for growth at pH < 3, and hyperacidophiles that have pH optima for growth below pH 1 [1]. Generally, with the acidity becomes more extreme, biodiversity also gradually decreases. Accordingly, as would be anticipated, the most extremely acidic environments hold the less biodiversity, for example, hyperacidophiles includes the relatively few species (e.g.
Acidic hydrothermal ecosystems, such as Tengchong hot springs, Crater Lake, and Yellowstone National Park, are dominated by archaea [40, 65], and suggesting that the acidophilic archaea evolved in the extremely acidic hydrothermal environments after the emergence of oxygenic photosynthesis [66]. Based on the niche similarity and physiological adaptation among archaea, it showed that the long-term acidity stress is the main selection pressure to control the evolution of archaea and leads to the co-evolution of acid-resistant modules [66]. Although the species diversity decreases significantly as the pH decreases, the high abundance of acidophilic taxa, such as
The reasons for the dominance of these particular microorganisms in acidic ecosystems are presumed to their adaptive capabilities. Adaptations to acid stress dictate the ecology and evolution of the acidophiles. Acidic ecosystems are a unique ecological niche for acid-adapted microorganisms. These relatively low-complexity ecosystems offer a special opportunity for the evolutionary processes and ecological behaviors analyses of acidophilic microorganisms. In the last decade, the use of high-throughput sequencing technology and post-genomic methods have significantly promoted our understanding of microbial diversity and evolution in acidic environments [68]. At present, metagenomics studies have revealed various acidophilic microorganisms from environments such as the AMD and acidic geothermal areas, and found that these microorganisms play an important role in acid generation and adaptability to the environments [71, 72]. For example, because the comparative metagenomics and metatranscriptomics directly recover and reveal microbial genome information from the environments, it has the potential to provide insights into acid-resistance mechanisms of the uncultivated bacteria, such as
The continuous exploration of acidic habitats and acidophilic microorganisms is the basis for comprehending the evolution of acidophilic microbial acid-tolerant modules, strategies, and networks. First, methods based on transcriptomics and proteomics are the key to understanding the global acid-tolerant network of individuals under acid stress [19, 73]. Secondly, comparative genomics plays a vital role in exploring the acid adaptation mechanism of acidophiles and studying the evolution of acidophiles genomes [74]. Ultimately, the emerging metagenomics technologies play an important role in evaluating and predicting microbial communities and their adaptability to acidic environments [75]. Moreover, metagenomics approaches could also provide a large amount of knowledge and functional module analysis on the acid tolerance of acidophiles to fully develop their potential in the evolution of acid tolerance [76]. With the publication of large number of metagenomics data, the evolution of the acid-tolerant components of these extremophiles would be better illustrated in the future.
Understanding the maintenance of pH homeostasis in acidophiles is of great significance to comprehend the mechanisms of cells growth and survival, as well as to the eco-remediation and application of biotechnology; thus, it is essential to fully understand the acid-tolerant networks and strategies of acidophilic microorganisms. The aims of this chapter presents the acid-resistant modules and strategies of acidophiles in more detail, including the proton efflux and consumption, reversed membrane potential, impermeable cell membrane, DNA and protein repair systems, and QS system (Figure 1). However, at present, several of the pH homeostatic mechanisms still lack clear and rigorous experimental evidence to support their functions from my point of view. In addition, we also discussed the evolution of acidophiles and its acid-resistant modules. In brief, the true purpose of acidophilic microorganisms evolving these mechanisms is to tolerate the extremely acidic environments or reduce its harmful effects for cell survival.
Acidophiles are known for their remarkable acid resistance. Over the last decades, the combination of molecular and biochemical analysis of acidophiles with genome, transcriptome, and proteome have provided new insights into the acid-resistant mechanisms and evolution of the individual acidophiles at present. Using these genome sequences in a functional context through the application of high throughput transcriptomic and proteomic tools to scrutinize acid stress might elucidate further potential pH homeostasis mechanisms. However, the disadvantages of genomics, transcriptomics, and proteomics are that the data are descriptive and analogous and more work is required to verify the hypotheses such as the mutational analyses and genetic markers. One of the main obstacles to the current research on acid tolerance of acidophiles is the lack of genetic tools for in-depth analysis. Therefore, the development of genetic tools and biochemical methods in acidophile would facilitate elucidating the molecular mechanisms of acidophile adapting to extremely acidic environments, such as vector development remain largely unexplored. In addition, as most acidophiles are difficult to isolate and culture, our ability to understand acid resistance of acidophile is limited. The emerging omics technologies would be a crucial step to explore the spatiotemporal transformation patterns of acidophilic microbial communities, microbial eco-physiology and evolution in the future.
We are grateful to Pro. Jianqiang Lin from Shandong University for providing the opportunity to review the acid-resistant mechanisms of acidophiles and Pro. Linxu Chen (Shandong University) for suggestions and comments on the outline and manuscript. We also thank Wenwen Xiang (Xiamen University) and Yujie Liu (Shandong University) for English language editing.
We declare no conflicts of interest.
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\\n\\n7.1 Further Assurance: The Corresponding Author shall and will ensure that any relevant third party (including any Co-Author) shall, execute and deliver whatever further documents or deeds and perform such acts as IntechOpen reasonably requires from time to time for the purpose of giving IntechOpen the full benefit of the provisions of this Publication Agreement.
\\n\\n7.2 Third Party Rights: A person who is not a party to this Publication Agreement may not enforce any of its provisions under the Contracts (Rights of Third Parties) Act 1999.
\\n\\n7.3 Entire Agreement: This Publication Agreement constitutes the entire agreement between the parties in relation to its subject matter. It replaces and extinguishes all prior agreements, draft agreements, arrangements, collateral warranties, collateral contracts, statements, assurances, representations and undertakings of any nature made by or on behalf of the parties, whether oral or written, in relation to that subject matter. Each party acknowledges that in entering into this Publication Agreement it has not relied upon any oral or written statements, collateral or other warranties, assurances, representations or undertakings which were made by or on behalf of the other party in relation to the subject matter of this Publication Agreement at any time before its signature (together "Pre-Contractual Statements"), other than those which are set out in this Publication Agreement. Each party hereby waives all rights and remedies which might otherwise be available to it in relation to such Pre-Contractual Statements. Nothing in this clause shall exclude or restrict the liability of either party arising out of its pre-contract fraudulent misrepresentation or fraudulent concealment.
\\n\\n7.4 Waiver: No failure or delay by a party to exercise any right or remedy provided under this Publication Agreement or by law shall constitute a waiver of that or any other right or remedy, nor shall it preclude or restrict the further exercise of that or any other right or remedy. No single or partial exercise of such right or remedy shall preclude or restrict the further exercise of that or any other right or remedy.
\\n\\n7.5 Variation: No variation of this Publication Agreement shall be effective unless it is in writing and signed by the parties (or their duly authorized representatives).
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\\n\\n7.7 No partnership: Nothing in this Publication Agreement is intended to, or shall be deemed to, establish or create any partnership or joint venture or the relationship of principal and agent or employer and employee between IntechOpen and the Corresponding Author or any Co-Author, nor authorize any party to make or enter into any commitments for or on behalf of any other party.
\\n\\n7.8 Governing law: This Publication Agreement and any dispute or claim (including non-contractual disputes or claims) arising out of or in connection with it or its subject matter or formation shall be governed by and construed in accordance with the law of England and Wales. The parties submit to the exclusive jurisdiction of the English courts to settle any dispute or claim arising out of or in connection with this Publication Agreement (including any non-contractual disputes or claims).
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The Corresponding Author (acting on behalf of all Authors) and INTECHOPEN LIMITED, incorporated and registered in England and Wales with company number 11086078 and a registered office at 5 Princes Gate Court, London, United Kingdom, SW7 2QJ conclude the following Agreement regarding the publication of a Book Chapter:
\n\n1. DEFINITIONS
\n\nCorresponding Author: The Author of the Chapter who serves as a Signatory to this Agreement. The Corresponding Author acts on behalf of any other Co-Author.
\n\nCo-Author: All other Authors of the Chapter besides the Corresponding Author.
\n\nIntechOpen: IntechOpen Ltd., the Publisher of the Book.
\n\nBook: The publication as a collection of chapters compiled by IntechOpen including the Chapter. Chapter: The original literary work created by Corresponding Author and any Co-Author that is the subject of this Agreement.
\n\n2. CORRESPONDING AUTHOR'S GRANT OF RIGHTS
\n\n2.1 Subject to the following Article, the Corresponding Author grants and shall ensure that each Co-Author grants, to IntechOpen, during the full term of copyright and any extensions or renewals of that term the following:
\n\nThe aforementioned licenses shall survive the expiry or termination of this Agreement for any reason.
\n\n2.2 The Corresponding Author (on their own behalf and on behalf of any Co-Author) reserves the following rights to the Chapter but agrees not to exercise them in such a way as to adversely affect IntechOpen's ability to utilize the full benefit of this Publication Agreement: (i) reprographic rights worldwide, other than those which subsist in the typographical arrangement of the Chapter as published by IntechOpen; and (ii) public lending rights arising under the Public Lending Right Act 1979, as amended from time to time, and any similar rights arising in any part of the world.
\n\nThe Corresponding Author confirms that they (and any Co-Author) are and will remain a member of any applicable licensing and collecting society and any successor to that body responsible for administering royalties for the reprographic reproduction of copyright works.
\n\nSubject to the license granted above, copyright in the Chapter and all versions of it created during IntechOpen's editing process (including the published version) is retained by the Corresponding Author and any Co-Author.
\n\nSubject to the license granted above, the Corresponding Author and any Co-Author retains patent, trademark and other intellectual property rights to the Chapter.
\n\n2.3 All rights granted to IntechOpen in this Article are assignable, sublicensable or otherwise transferrable to third parties without the Corresponding Author's or any Co-Author’s specific approval.
\n\n2.4 The Corresponding Author (on their own behalf and on behalf of each Co-Author) will not assert any rights under the Copyright, Designs and Patents Act 1988 to object to derogatory treatment of the Chapter as a consequence of IntechOpen's changes to the Chapter arising from translation of it, corrections and edits for house style, removal of problematic material and other reasonable edits.
\n\n3. CORRESPONDING AUTHOR'S DUTIES
\n\n3.1 When distributing or re-publishing the Chapter, the Corresponding Author agrees to credit the Book in which the Chapter has been published as the source of first publication, as well as IntechOpen. The Corresponding Author warrants that each Co-Author will also credit the Book in which the Chapter has been published as the source of first publication, as well as IntechOpen, when they are distributing or re-publishing the Chapter.
\n\n3.2 When submitting the Chapter, the Corresponding Author agrees to:
\n\nThe Corresponding Author will be held responsible for the payment of the Open Access Publishing Fees.
\n\nAll payments shall be due 30 days from the date of the issued invoice. The Corresponding Author or the payer on the Corresponding Author's and Co-Authors' behalf will bear all banking and similar charges incurred.
\n\n3.3 The Corresponding Author shall obtain in writing all consents necessary for the reproduction of any material in which a third-party right exists, including quotations, photographs and illustrations, in all editions of the Chapter worldwide for the full term of the above licenses, and shall provide to IntechOpen upon request the original copies of such consents for inspection (at IntechOpen's option) or photocopies of such consents.
\n\nThe Corresponding Author shall obtain written informed consent for publication from people who might recognize themselves or be identified by others (e.g. from case reports or photographs).
\n\n3.4 The Corresponding Author and any Co-Author shall respect confidentiality rights during and after the termination of this Agreement. The information contained in all correspondence and documents as part of the publishing activity between IntechOpen and the Corresponding Author and any Co-Author are confidential and are intended only for the recipient. The contents may not be disclosed publicly and are not intended for unauthorized use or distribution. Any use, disclosure, copying, or distribution is prohibited and may be unlawful.
\n\n4. CORRESPONDING AUTHOR'S WARRANTY
\n\n4.1 The Corresponding Author represents and warrants that the Chapter does not and will not breach any applicable law or the rights of any third party and, specifically, that the Chapter contains no matter that is defamatory or that infringes any literary or proprietary rights, intellectual property rights, or any rights of privacy. The Corresponding Author warrants and represents that: (i) the Chapter is the original work of themselves and any Co-Author and is not copied wholly or substantially from any other work or material or any other source; (ii) the Chapter has not been formally published in any other peer-reviewed journal or in a book or edited collection, and is not under consideration for any such publication; (iii) they themselves and any Co-Author are qualifying persons under section 154 of the Copyright, Designs and Patents Act 1988; (iv) they themselves and any Co-Author have not assigned and will not during the term of this Publication Agreement purport to assign any of the rights granted to IntechOpen under this Publication Agreement; and (v) the rights granted by this Publication Agreement are free from any security interest, option, mortgage, charge or lien.
\n\nThe Corresponding Author also warrants and represents that: (i) they have the full power to enter into this Publication Agreement on their own behalf and on behalf of each Co-Author; and (ii) they have the necessary rights and/or title in and to the Chapter to grant IntechOpen, on behalf of themselves and any Co-Author, the rights and licenses expressed to be granted in this Publication Agreement. If the Chapter was prepared jointly by the Corresponding Author and any Co-Author, the Corresponding Author warrants and represents that: (i) each Co-Author agrees to the submission, license and publication of the Chapter on the terms of this Publication Agreement; and (ii) they have the authority to enter into this Publication Agreement on behalf of and bind each Co-Author. The Corresponding Author shall: (i) ensure each Co-Author complies with all relevant provisions of this Publication Agreement, including those relating to confidentiality, performance and standards, as if a party to this Publication Agreement; and (ii) remain primarily liable for all acts and/or omissions of each such Co-Author.
\n\nThe Corresponding Author agrees to indemnify and hold IntechOpen harmless against all liabilities, costs, expenses, damages and losses and all reasonable legal costs and expenses suffered or incurred by IntechOpen arising out of or in connection with any breach of the aforementioned representations and warranties. This indemnity shall not cover IntechOpen to the extent that a claim under it results from IntechOpen's negligence or willful misconduct.
\n\n4.2 Nothing in this Publication Agreement shall have the effect of excluding or limiting any liability for death or personal injury caused by negligence or any other liability that cannot be excluded or limited by applicable law.
\n\n5. TERMINATION
\n\n5.1 IntechOpen has a right to terminate this Publication Agreement for quality, program, technical or other reasons with immediate effect, including without limitation (i) if the Corresponding Author or any Co-Author commits a material breach of this Publication Agreement; (ii) if the Corresponding Author or any Co-Author (being an individual) is the subject of a bankruptcy petition, application or order; or (iii) if the Corresponding Author or any Co-Author (being a company) commences negotiations with all or any class of its creditors with a view to rescheduling any of its debts, or makes a proposal for or enters into any compromise or arrangement with any of its creditors.
\n\nIn case of termination, IntechOpen will notify the Corresponding Author, in writing, of the decision.
\n\n6. INTECHOPEN’S DUTIES AND RIGHTS
\n\n6.1 Unless prevented from doing so by events outside its reasonable control, IntechOpen, in its discretion, agrees to publish the Chapter attributing it to the Corresponding Author and any Co-Author.
\n\n6.2 IntechOpen has the right to use the Corresponding Author’s and any Co-Author’s names and likeness in connection with scientific dissemination, retrieval, archiving, web hosting and promotion and marketing of the Chapter and has the right to contact the Corresponding Author and any Co-Author until the Chapter is publicly available on any platform owned and/or operated by IntechOpen.
\n\n6.3 IntechOpen is granted the authority to enforce the rights from this Publication Agreement, on behalf of the Corresponding Author and any Co-Author, against third parties (for example in cases of plagiarism or copyright infringements). In respect of any such infringement or suspected infringement of the copyright in the Chapter, IntechOpen shall have absolute discretion in addressing any such infringement which is likely to affect IntechOpen's rights under this Publication Agreement, including issuing and conducting proceedings against the suspected infringer.
\n\n7. MISCELLANEOUS
\n\n7.1 Further Assurance: The Corresponding Author shall and will ensure that any relevant third party (including any Co-Author) shall, execute and deliver whatever further documents or deeds and perform such acts as IntechOpen reasonably requires from time to time for the purpose of giving IntechOpen the full benefit of the provisions of this Publication Agreement.
\n\n7.2 Third Party Rights: A person who is not a party to this Publication Agreement may not enforce any of its provisions under the Contracts (Rights of Third Parties) Act 1999.
\n\n7.3 Entire Agreement: This Publication Agreement constitutes the entire agreement between the parties in relation to its subject matter. It replaces and extinguishes all prior agreements, draft agreements, arrangements, collateral warranties, collateral contracts, statements, assurances, representations and undertakings of any nature made by or on behalf of the parties, whether oral or written, in relation to that subject matter. Each party acknowledges that in entering into this Publication Agreement it has not relied upon any oral or written statements, collateral or other warranties, assurances, representations or undertakings which were made by or on behalf of the other party in relation to the subject matter of this Publication Agreement at any time before its signature (together "Pre-Contractual Statements"), other than those which are set out in this Publication Agreement. Each party hereby waives all rights and remedies which might otherwise be available to it in relation to such Pre-Contractual Statements. Nothing in this clause shall exclude or restrict the liability of either party arising out of its pre-contract fraudulent misrepresentation or fraudulent concealment.
\n\n7.4 Waiver: No failure or delay by a party to exercise any right or remedy provided under this Publication Agreement or by law shall constitute a waiver of that or any other right or remedy, nor shall it preclude or restrict the further exercise of that or any other right or remedy. No single or partial exercise of such right or remedy shall preclude or restrict the further exercise of that or any other right or remedy.
\n\n7.5 Variation: No variation of this Publication Agreement shall be effective unless it is in writing and signed by the parties (or their duly authorized representatives).
\n\n7.6 Severance: If any provision or part-provision of this Publication Agreement is or becomes invalid, illegal or unenforceable, it shall be deemed modified to the minimum extent necessary to make it valid, legal and enforceable. If such modification is not possible, the relevant provision or part-provision shall be deemed deleted.
\n\nAny modification to or deletion of a provision or part-provision under this clause shall not affect the validity and enforceability of the rest of this Publication Agreement.
\n\n7.7 No partnership: Nothing in this Publication Agreement is intended to, or shall be deemed to, establish or create any partnership or joint venture or the relationship of principal and agent or employer and employee between IntechOpen and the Corresponding Author or any Co-Author, nor authorize any party to make or enter into any commitments for or on behalf of any other party.
\n\n7.8 Governing law: This Publication Agreement and any dispute or claim (including non-contractual disputes or claims) arising out of or in connection with it or its subject matter or formation shall be governed by and construed in accordance with the law of England and Wales. The parties submit to the exclusive jurisdiction of the English courts to settle any dispute or claim arising out of or in connection with this Publication Agreement (including any non-contractual disputes or claims).
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On September, 29th 2006 he has won a post PhD fellowship from the university of Bologna (from October 2006 to October 2008), at the competitive examination he was ranked first in the industrial engineering area. He extensively served as referee for several international journals. He is author/coauthor of more than 100 research papers. He has been involved in some projects supported by MURST and European Community. 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Joint coordinates and end-effector coordinates of the manipulator are functions of independent coordinates, i.e., joint parameters. This chapter explained forward kinematics task and issue of inverse kinematics task on the structure of the DOBOT manipulator. Linearization of forward kinematic equations is made with usage of Taylor Series for multiple variables. The inversion of Jacobian matrix was used for numerical solution of the inverse kinematics task. The chapter contains analytical equations, which are solution of inverse kinematics task. It should be noted that the analytical solution exists only for simple kinematic structures, for example DOBOT manipulator structure. Subsequently, simulation of the inverse kinematics of the above-mentioned kinematic structure was performed in the Matlab Simulink environment using the SimMechanics toolbox.",book:{id:"6135",slug:"kinematics",title:"Kinematics",fullTitle:"Kinematics"},signatures:"Ondrej Hock and Jozef Šedo",authors:[{id:"208453",title:"Dr.Ing.",name:"Ondrej",middleName:null,surname:"Hock",slug:"ondrej-hock",fullName:"Ondrej Hock"},{id:"209566",title:"Dr.Ing.",name:"Jozef",middleName:null,surname:"Šedo",slug:"jozef-sedo",fullName:"Jozef Šedo"}]},{id:"57605",doi:"10.5772/intechopen.71409",title:"Optimization Approach for Inverse Kinematic Solution",slug:"optimization-approach-for-inverse-kinematic-solution",totalDownloads:1701,totalCrossrefCites:4,totalDimensionsCites:4,abstract:"Inverse kinematics of serial or parallel manipulators can be computed from given Cartesian position and orientation of end effector and reverse of this would yield forward kinematics. Which is nothing but finding out end effector coordinates and angles from given joint angles. Forward kinematics of serial manipulators gives exact solution while inverse kinematics yields number of solutions. The complexity of inverse kinematic solution arises with the increment of degrees of freedom. Therefore it would be desired to adopt optimization techniques. Although the optimization techniques gives number of solution for inverse kinematics problem but it converses the best solution for the minimum function value. The selection of suitable optimization method will provides the global optimization solution, therefore, in this paper proposes quaternion derivation for 5R manipulator inverse kinematic solution which is later compared with teachers learner based optimization (TLBO) and genetic algorithm (GA) for the optimum convergence rate of inverse kinematic solution. An investigation has been made on the accuracies of adopted techniques and total computational time for inverse kinematic evaluations. It is found that TLBO is performing better as compared GA on the basis of fitness function and quaternion algebra gives better computational cost.",book:{id:"6135",slug:"kinematics",title:"Kinematics",fullTitle:"Kinematics"},signatures:"Panchanand Jha and Bibhuti Bhusan Biswal",authors:[{id:"209316",title:"Dr.",name:"Panchanand",middleName:null,surname:"Jha",slug:"panchanand-jha",fullName:"Panchanand Jha"},{id:"209681",title:"Dr.",name:"Bibhuti Bhusan",middleName:null,surname:"Biswal",slug:"bibhuti-bhusan-biswal",fullName:"Bibhuti Bhusan Biswal"}]},{id:"57452",doi:"10.5772/intechopen.71406",title:"Kinematic Performance Measures and Optimization of Parallel Kinematics Manipulators: A Brief Review",slug:"kinematic-performance-measures-and-optimization-of-parallel-kinematics-manipulators-a-brief-review",totalDownloads:1622,totalCrossrefCites:1,totalDimensionsCites:2,abstract:"This chapter covers a number of kinematic performance indices that are instrumental in designing parallel kinematics manipulators. These indices can be used selectively based on manipulator requirements and functionality. This would provide the very practical tool for designers to approach their needs in a very comprehensive fashion. Nevertheless, most applications require a more composite set of requirements that makes optimizing performance more challenging. The later part of this chapter will discuss single-objective and multi-objectives optimization that could handle certain performance indices or a combination of them. A brief description of most common techniques in the literature will be provided.",book:{id:"6135",slug:"kinematics",title:"Kinematics",fullTitle:"Kinematics"},signatures:"Abdur Rosyid, Bashar El-Khasawneh and Anas Alazzam",authors:[{id:"209597",title:"Dr.",name:"Bashar",middleName:null,surname:"El-Khasawneh",slug:"bashar-el-khasawneh",fullName:"Bashar El-Khasawneh"},{id:"217882",title:"Mr.",name:"Abdur",middleName:null,surname:"Rosyid",slug:"abdur-rosyid",fullName:"Abdur Rosyid"},{id:"217884",title:"Dr.",name:"Anas",middleName:null,surname:"Alazzam",slug:"anas-alazzam",fullName:"Anas Alazzam"}]},{id:"57479",doi:"10.5772/intechopen.71444",title:"A New Methodology for Kinematic Parameter Identification in Laser Trackers",slug:"a-new-methodology-for-kinematic-parameter-identification-in-laser-trackers",totalDownloads:1251,totalCrossrefCites:2,totalDimensionsCites:2,abstract:"In recent years, there has been an increasing interest in measurement systems such as laser trackers (LT) for the verification of large-scale parts in the aeronautic, spatial or naval sectors because of their advantages in terms of portability, flexibility, high speed in data acquisition, accuracy, and reliability. These systems present systematic errors caused by geometrical misalignments, environmental conditions, mechanical wear and tear and other unpredictable variables. Different standards such as the ASME B89.4.19 and the VDI 2617-10 suggest tests to calculate the geometric errors of the LT. In this work, we present an alternative calibration method based on a new errors model. The LT can be considered as an open kinematic chain, so it is possible to shape a kinematic model of the LT. Once the kinematic model has been set, the error model is defined. The model has been validated with synthetic data. Then, experimental tests based on the measurement of a mesh of reflectors placed at suitable places for different locations of the LT have been performed to ensure the reliability of the method proposed. A sensitivity analysis shows the best experimental setup to perform a calibration test. The calibration results have been validated with nominal data.",book:{id:"6135",slug:"kinematics",title:"Kinematics",fullTitle:"Kinematics"},signatures:"Ana Cristina Majarena, Javier Conte, Jorge Santolaria and Raquel\nAcero",authors:[{id:"5350",title:"Dr.",name:"Jorge",middleName:null,surname:"Santolaria",slug:"jorge-santolaria",fullName:"Jorge Santolaria"},{id:"153147",title:"Dr.",name:"Ana Cristina",middleName:null,surname:"Majarena Bello",slug:"ana-cristina-majarena-bello",fullName:"Ana Cristina Majarena Bello"},{id:"209623",title:"Mr.",name:"Javier",middleName:null,surname:"Conte",slug:"javier-conte",fullName:"Javier Conte"},{id:"209624",title:"Dr.",name:"Raquel",middleName:null,surname:"Acero",slug:"raquel-acero",fullName:"Raquel Acero"}]},{id:"57491",doi:"10.5772/intechopen.71407",title:"How to Expand the Workspace of Parallel Robots",slug:"how-to-expand-the-workspace-of-parallel-robots",totalDownloads:1399,totalCrossrefCites:2,totalDimensionsCites:2,abstract:"In this chapter, methods for expanding the workspace of parallel robots are introduced. Firstly, methods for expanding the translational workspace of the parallel robot are discussed. The parallel robot has multiple solutions of the inverse and forward displacement analysis. By changing its configurations from one solution to another, the parallel robot can expand its translational workspace. However, conventional nonredundant parallel robot encounters singularity during the mode change. Singularity-free mode changes of the parallel robot by redundant actuation are introduced. Next, methods for expanding the rotational workspace of the parallel robot are shown. In order to achieve the large rotation, some mechanical gimmicks by gears, pulleys, and helical joints have been embedded in the moving part. A novel differential screw-nut mechanism for expanding the rotational workspace of the parallel robot is introduced.",book:{id:"6135",slug:"kinematics",title:"Kinematics",fullTitle:"Kinematics"},signatures:"Takashi Harada",authors:[{id:"57026",title:"Dr.",name:"Takashi",middleName:null,surname:"Harada",slug:"takashi-harada",fullName:"Takashi Harada"}]}],mostDownloadedChaptersLast30Days:[{id:"57435",title:"Kinematic Model for Project Scheduling with Constrained Resources Under Uncertainties",slug:"kinematic-model-for-project-scheduling-with-constrained-resources-under-uncertainties",totalDownloads:1192,totalCrossrefCites:0,totalDimensionsCites:0,abstract:"Project management practitioners and researchers recognize that the project scheduling efforts are made based on information with many uncertainties and in an environment with constrained resources. This chapter presents the kinematic model named as Coupled Estimate Technique for project scheduling with constrained resources under uncertainties. The Coupled Estimate Technique provides tools of analytical analysis, given that the modelled duration depends on the planned duration and on the resource variability (aleatory uncertainty), as well as the modelled resource depends on the planned resource and on the duration variability (aleatory uncertainty), and also provides tools of graphical analysis, given that the durations and resources of activities, work packages or phases of the project are represented in the bidimensional graphics. In developing the mathematical formulation of the Coupled Estimate Technique, the project precedence diagram was considered as a kinematic chain of robotic manipulators, which may be in chain configuration open (serial), closed (parallel) and/or hybrid. This chapter describes the resource-constrained project scheduling problem (RCPSP) under uncertainties, identifies the limitations and opportunities in the previous work on planning under uncertainties and presents the fundamentals and method of the kinematic model for project scheduling with constrained resources under uncertainties along with a short example of implementation.",book:{id:"6135",slug:"kinematics",title:"Kinematics",fullTitle:"Kinematics"},signatures:"Giuliani Paulineli Garbi and Francisco José Grandinetti",authors:[{id:"208870",title:"Dr.",name:"Giuliani",middleName:null,surname:"Garbi",slug:"giuliani-garbi",fullName:"Giuliani Garbi"},{id:"221823",title:"Dr.",name:"Francisco José",middleName:null,surname:"Grandinett",slug:"francisco-jose-grandinett",fullName:"Francisco José Grandinett"}]},{id:"57578",title:"Kinematic and Biodynamic Model of the Long Jump Technique",slug:"kinematic-and-biodynamic-model-of-the-long-jump-technique",totalDownloads:1970,totalCrossrefCites:0,totalDimensionsCites:1,abstract:"The main aim of the study was to determine the kinematic model for long jump and define the kinematic and dynamic parameters of an elite long jumper’s technique. The theoretical model was based on real data where the jumper was defined with a joint mass point. In view of certain previous similar studies, our study identified kinematic and dynamic parameters directly without using the inverse mechanics method. The analysis was made on two jumps of the top level athlete G.C., who won the bronze medallion in long jump at the World Championships in Seville. The kinematic parameters of the take-off, flight and landing were measured with a 3-D video ARIEL system (Ariel Dynamics Inc., USA). The dynamic characteristics of take-off in the X, Y and Z axes were registered with a force-platform (KISTLER-9287), which was installed immediately prior the take-off board. The take-off efficiency was defined best by the following parameters: horizontal velocity, VXTO—8.10 m s−1; vertical velocity, VYTO—3.90 m s−1; angle of projection, PATO—24.1°; duration of compression phase, TDMKF—84 ms, duration of lift phase, MKFTO—43 ms and maximal force in Y-vertical axis, FYMAX—5132 N. An important factor of a rational technique of long jump is also the landing, which is defined by the landing distance and fall-back distance. The efficiency of the landing depended on the landing distance L3—0.63 m and fall-back distance LFB, which amounted to 0.15 m.",book:{id:"6135",slug:"kinematics",title:"Kinematics",fullTitle:"Kinematics"},signatures:"Milan Čoh, Milan Žvan and Otmar Kugovnik",authors:[{id:"208530",title:"Ph.D.",name:"Milan",middleName:null,surname:"Čoh",slug:"milan-coh",fullName:"Milan Čoh"}]},{id:"57610",title:"Forward and Inverse Kinematics Using Pseudoinverse and Transposition Method for Robotic Arm DOBOT",slug:"forward-and-inverse-kinematics-using-pseudoinverse-and-transposition-method-for-robotic-arm-dobot",totalDownloads:2282,totalCrossrefCites:7,totalDimensionsCites:8,abstract:"Kinematic structure of the DOBOT manipulator is presented in this chapter. Joint coordinates and end-effector coordinates of the manipulator are functions of independent coordinates, i.e., joint parameters. This chapter explained forward kinematics task and issue of inverse kinematics task on the structure of the DOBOT manipulator. Linearization of forward kinematic equations is made with usage of Taylor Series for multiple variables. The inversion of Jacobian matrix was used for numerical solution of the inverse kinematics task. The chapter contains analytical equations, which are solution of inverse kinematics task. It should be noted that the analytical solution exists only for simple kinematic structures, for example DOBOT manipulator structure. Subsequently, simulation of the inverse kinematics of the above-mentioned kinematic structure was performed in the Matlab Simulink environment using the SimMechanics toolbox.",book:{id:"6135",slug:"kinematics",title:"Kinematics",fullTitle:"Kinematics"},signatures:"Ondrej Hock and Jozef Šedo",authors:[{id:"208453",title:"Dr.Ing.",name:"Ondrej",middleName:null,surname:"Hock",slug:"ondrej-hock",fullName:"Ondrej Hock"},{id:"209566",title:"Dr.Ing.",name:"Jozef",middleName:null,surname:"Šedo",slug:"jozef-sedo",fullName:"Jozef Šedo"}]},{id:"57605",title:"Optimization Approach for Inverse Kinematic Solution",slug:"optimization-approach-for-inverse-kinematic-solution",totalDownloads:1701,totalCrossrefCites:4,totalDimensionsCites:4,abstract:"Inverse kinematics of serial or parallel manipulators can be computed from given Cartesian position and orientation of end effector and reverse of this would yield forward kinematics. Which is nothing but finding out end effector coordinates and angles from given joint angles. Forward kinematics of serial manipulators gives exact solution while inverse kinematics yields number of solutions. The complexity of inverse kinematic solution arises with the increment of degrees of freedom. Therefore it would be desired to adopt optimization techniques. Although the optimization techniques gives number of solution for inverse kinematics problem but it converses the best solution for the minimum function value. The selection of suitable optimization method will provides the global optimization solution, therefore, in this paper proposes quaternion derivation for 5R manipulator inverse kinematic solution which is later compared with teachers learner based optimization (TLBO) and genetic algorithm (GA) for the optimum convergence rate of inverse kinematic solution. An investigation has been made on the accuracies of adopted techniques and total computational time for inverse kinematic evaluations. It is found that TLBO is performing better as compared GA on the basis of fitness function and quaternion algebra gives better computational cost.",book:{id:"6135",slug:"kinematics",title:"Kinematics",fullTitle:"Kinematics"},signatures:"Panchanand Jha and Bibhuti Bhusan Biswal",authors:[{id:"209316",title:"Dr.",name:"Panchanand",middleName:null,surname:"Jha",slug:"panchanand-jha",fullName:"Panchanand Jha"},{id:"209681",title:"Dr.",name:"Bibhuti Bhusan",middleName:null,surname:"Biswal",slug:"bibhuti-bhusan-biswal",fullName:"Bibhuti Bhusan Biswal"}]},{id:"57413",title:"Optimization of Single-Sided Lapping Kinematics Based on Statistical Analysis of Abrasive Particles Trajectories",slug:"optimization-of-single-sided-lapping-kinematics-based-on-statistical-analysis-of-abrasive-particles-",totalDownloads:1401,totalCrossrefCites:1,totalDimensionsCites:1,abstract:"The chapter presents the influence of selected kinematic parameters on the geometrical results of the single-sided lapping process. The optimization of these parameters is aimed at improving the quality and flatness of the machined surfaces. The uniformity of tool wear was assumed as main optimization criterion. Lapping plate wear model was created and in detail was analyzed. A Matlab program was designed to simulate the abrasive particles trajectories and to count their distribution. In addition, the influence of additional guiding movements of the conditioning ring has been verified and the idea of a flexible single-sided lapping system assisted with a robot, which ensures the optimal constant wear over the diameter was presented.",book:{id:"6135",slug:"kinematics",title:"Kinematics",fullTitle:"Kinematics"},signatures:"Adam Barylski and Norbert Piotrowski",authors:[{id:"208566",title:"M.Sc.",name:"Norbert",middleName:null,surname:"Piotrowski",slug:"norbert-piotrowski",fullName:"Norbert Piotrowski"},{id:"209144",title:"Prof.",name:"Adam",middleName:null,surname:"Barylski",slug:"adam-barylski",fullName:"Adam Barylski"}]}],onlineFirstChaptersFilter:{topicId:"1286",limit:6,offset:0},onlineFirstChaptersCollection:[],onlineFirstChaptersTotal:0},preDownload:{success:null,errors:{}},subscriptionForm:{success:null,errors:{}},aboutIntechopen:{},privacyPolicy:{},peerReviewing:{},howOpenAccessPublishingWithIntechopenWorks:{},sponsorshipBooks:{sponsorshipBooks:[],offset:8,limit:8,total:0},allSeries:{pteSeriesList:[{id:"14",title:"Artificial Intelligence",numberOfPublishedBooks:9,numberOfPublishedChapters:89,numberOfOpenTopics:6,numberOfUpcomingTopics:0,issn:"2633-1403",doi:"10.5772/intechopen.79920",isOpenForSubmission:!0},{id:"7",title:"Biomedical Engineering",numberOfPublishedBooks:12,numberOfPublishedChapters:104,numberOfOpenTopics:3,numberOfUpcomingTopics:0,issn:"2631-5343",doi:"10.5772/intechopen.71985",isOpenForSubmission:!0}],lsSeriesList:[{id:"11",title:"Biochemistry",numberOfPublishedBooks:32,numberOfPublishedChapters:318,numberOfOpenTopics:4,numberOfUpcomingTopics:0,issn:"2632-0983",doi:"10.5772/intechopen.72877",isOpenForSubmission:!0},{id:"25",title:"Environmental Sciences",numberOfPublishedBooks:1,numberOfPublishedChapters:12,numberOfOpenTopics:4,numberOfUpcomingTopics:0,issn:"2754-6713",doi:"10.5772/intechopen.100362",isOpenForSubmission:!0},{id:"10",title:"Physiology",numberOfPublishedBooks:11,numberOfPublishedChapters:141,numberOfOpenTopics:4,numberOfUpcomingTopics:0,issn:"2631-8261",doi:"10.5772/intechopen.72796",isOpenForSubmission:!0}],hsSeriesList:[{id:"3",title:"Dentistry",numberOfPublishedBooks:8,numberOfPublishedChapters:129,numberOfOpenTopics:2,numberOfUpcomingTopics:0,issn:"2631-6218",doi:"10.5772/intechopen.71199",isOpenForSubmission:!0},{id:"6",title:"Infectious Diseases",numberOfPublishedBooks:13,numberOfPublishedChapters:113,numberOfOpenTopics:3,numberOfUpcomingTopics:1,issn:"2631-6188",doi:"10.5772/intechopen.71852",isOpenForSubmission:!0},{id:"13",title:"Veterinary Medicine and Science",numberOfPublishedBooks:11,numberOfPublishedChapters:106,numberOfOpenTopics:3,numberOfUpcomingTopics:0,issn:"2632-0517",doi:"10.5772/intechopen.73681",isOpenForSubmission:!0}],sshSeriesList:[{id:"22",title:"Business, Management and Economics",numberOfPublishedBooks:1,numberOfPublishedChapters:19,numberOfOpenTopics:3,numberOfUpcomingTopics:0,issn:"2753-894X",doi:"10.5772/intechopen.100359",isOpenForSubmission:!0},{id:"23",title:"Education and Human Development",numberOfPublishedBooks:0,numberOfPublishedChapters:5,numberOfOpenTopics:1,numberOfUpcomingTopics:1,issn:null,doi:"10.5772/intechopen.100360",isOpenForSubmission:!0},{id:"24",title:"Sustainable Development",numberOfPublishedBooks:0,numberOfPublishedChapters:15,numberOfOpenTopics:5,numberOfUpcomingTopics:0,issn:null,doi:"10.5772/intechopen.100361",isOpenForSubmission:!0}],testimonialsList:[{id:"13",text:"The collaboration with and support of the technical staff of IntechOpen is fantastic. The whole process of submitting an article and editing of the submitted article goes extremely smooth and fast, the number of reads and downloads of chapters is high, and the contributions are also frequently cited.",author:{id:"55578",name:"Antonio",surname:"Jurado-Navas",institutionString:null,profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002bRisIQAS/Profile_Picture_1626166543950",slug:"antonio-jurado-navas",institution:{id:"720",name:"University of Malaga",country:{id:null,name:"Spain"}}}},{id:"6",text:"It is great to work with the IntechOpen to produce a worthwhile collection of research that also becomes a great educational resource and guide for future research endeavors.",author:{id:"259298",name:"Edward",surname:"Narayan",institutionString:null,profilePictureURL:"https://mts.intechopen.com/storage/users/259298/images/system/259298.jpeg",slug:"edward-narayan",institution:{id:"3",name:"University of Queensland",country:{id:null,name:"Australia"}}}}]},series:{item:{id:"14",title:"Artificial Intelligence",doi:"10.5772/intechopen.79920",issn:"2633-1403",scope:"Artificial Intelligence (AI) is a rapidly developing multidisciplinary research area that aims to solve increasingly complex problems. 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He is currently appointed as the Voigt Chair in Data Science in the Department of Industrial Engineering, with a joint appointment as Professor in the Computer Science Division, Stellenbosch University. Prior to his appointment at Stellenbosch University, he has been at the University of Pretoria, Department of Computer Science (1998-2018), where he was appointed as South Africa Research Chair in Artifical Intelligence (2007-2018), the head of the Department of Computer Science (2008-2017), and Director of the Institute for Big Data and Data Science (2017-2018). In addition to a number of research articles, he has written two books, Computational Intelligence: An Introduction and Fundamentals of Computational Swarm Intelligence.",institutionString:null,institution:{name:"Stellenbosch University",institutionURL:null,country:{name:"South Africa"}}},editorTwo:null,editorThree:null},subseries:{paginationCount:6,paginationItems:[{id:"22",title:"Applied Intelligence",coverUrl:"https://cdn.intechopen.com/series_topics/covers/22.jpg",isOpenForSubmission:!0,annualVolume:11418,editor:{id:"27170",title:"Prof.",name:"Carlos",middleName:"M.",surname:"Travieso-Gonzalez",slug:"carlos-travieso-gonzalez",fullName:"Carlos Travieso-Gonzalez",profilePictureURL:"https://mts.intechopen.com/storage/users/27170/images/system/27170.jpeg",biography:"Carlos M. Travieso-González received his MSc degree in Telecommunication Engineering at Polytechnic University of Catalonia (UPC), Spain in 1997, and his Ph.D. degree in 2002 at the University of Las Palmas de Gran Canaria (ULPGC-Spain). He is a full professor of signal processing and pattern recognition and is head of the Signals and Communications Department at ULPGC, teaching from 2001 on subjects on signal processing and learning theory. His research lines are biometrics, biomedical signals and images, data mining, classification system, signal and image processing, machine learning, and environmental intelligence. He has researched in 52 international and Spanish research projects, some of them as head researcher. He is co-author of 4 books, co-editor of 27 proceedings books, guest editor for 8 JCR-ISI international journals, and up to 24 book chapters. He has over 450 papers published in international journals and conferences (81 of them indexed on JCR – ISI - Web of Science). He has published seven patents in the Spanish Patent and Trademark Office. He has been a supervisor on 8 Ph.D. theses (11 more are under supervision), and 130 master theses. He is the founder of The IEEE IWOBI conference series and the president of its Steering Committee, as well as the founder of both the InnoEducaTIC and APPIS conference series. He is an evaluator of project proposals for the European Union (H2020), Medical Research Council (MRC, UK), Spanish Government (ANECA, Spain), Research National Agency (ANR, France), DAAD (Germany), Argentinian Government, and the Colombian Institutions. He has been a reviewer in different indexed international journals (<70) and conferences (<250) since 2001. He has been a member of the IASTED Technical Committee on Image Processing from 2007 and a member of the IASTED Technical Committee on Artificial Intelligence and Expert Systems from 2011. \n\nHe has held the general chair position for the following: ACM-APPIS (2020, 2021), IEEE-IWOBI (2019, 2020 and 2020), A PPIS (2018, 2019), IEEE-IWOBI (2014, 2015, 2017, 2018), InnoEducaTIC (2014, 2017), IEEE-INES (2013), NoLISP (2011), JRBP (2012), and IEEE-ICCST (2005)\n\nHe is an associate editor of the Computational Intelligence and Neuroscience Journal (Hindawi – Q2 JCR-ISI). He was vice dean from 2004 to 2010 in the Higher Technical School of Telecommunication Engineers at ULPGC and the vice dean of Graduate and Postgraduate Studies from March 2013 to November 2017. He won the “Catedra Telefonica” Awards in Modality of Knowledge Transfer, 2017, 2018, and 2019 editions, and awards in Modality of COVID Research in 2020.\n\nPublic References:\nResearcher ID http://www.researcherid.com/rid/N-5967-2014\nORCID https://orcid.org/0000-0002-4621-2768 \nScopus Author ID https://www.scopus.com/authid/detail.uri?authorId=6602376272\nScholar Google https://scholar.google.es/citations?user=G1ks9nIAAAAJ&hl=en \nResearchGate https://www.researchgate.net/profile/Carlos_Travieso",institutionString:null,institution:{name:"University of Las Palmas de Gran Canaria",institutionURL:null,country:{name:"Spain"}}},editorTwo:null,editorThree:null},{id:"23",title:"Computational Neuroscience",coverUrl:"https://cdn.intechopen.com/series_topics/covers/23.jpg",isOpenForSubmission:!0,annualVolume:11419,editor:{id:"14004",title:"Dr.",name:"Magnus",middleName:null,surname:"Johnsson",slug:"magnus-johnsson",fullName:"Magnus Johnsson",profilePictureURL:"https://mts.intechopen.com/storage/users/14004/images/system/14004.png",biography:"Dr Magnus Johnsson is a cross-disciplinary scientist, lecturer, scientific editor and AI/machine learning consultant from Sweden. \n\nHe is currently at Malmö University in Sweden, but also held positions at Lund University in Sweden and at Moscow Engineering Physics Institute. \nHe holds editorial positions at several international scientific journals and has served as a scientific editor for books and special journal issues. \nHis research interests are wide and include, but are not limited to, autonomous systems, computer modeling, artificial neural networks, artificial intelligence, cognitive neuroscience, cognitive robotics, cognitive architectures, cognitive aids and the philosophy of mind. \n\nDr. Johnsson has experience from working in the industry and he has a keen interest in the application of neural networks and artificial intelligence to fields like industry, finance, and medicine. \n\nWeb page: www.magnusjohnsson.se",institutionString:null,institution:{name:"Malmö University",institutionURL:null,country:{name:"Sweden"}}},editorTwo:null,editorThree:null},{id:"24",title:"Computer Vision",coverUrl:"https://cdn.intechopen.com/series_topics/covers/24.jpg",isOpenForSubmission:!0,annualVolume:11420,editor:{id:"294154",title:"Prof.",name:"George",middleName:null,surname:"Papakostas",slug:"george-papakostas",fullName:"George Papakostas",profilePictureURL:"https://s3.us-east-1.amazonaws.com/intech-files/0030O00002hYaGbQAK/Profile_Picture_1624519712088",biography:"George A. Papakostas has received a diploma in Electrical and Computer Engineering in 1999 and the M.Sc. and Ph.D. degrees in Electrical and Computer Engineering in 2002 and 2007, respectively, from the Democritus University of Thrace (DUTH), Greece. Dr. Papakostas serves as a Tenured Full Professor at the Department of Computer Science, International Hellenic University, Greece. Dr. Papakostas has 10 years of experience in large-scale systems design as a senior software engineer and technical manager, and 20 years of research experience in the field of Artificial Intelligence. Currently, he is the Head of the “Visual Computing” division of HUman-MAchines INteraction Laboratory (HUMAIN-Lab) and the Director of the MPhil program “Advanced Technologies in Informatics and Computers” hosted by the Department of Computer Science, International Hellenic University. He has (co)authored more than 150 publications in indexed journals, international conferences and book chapters, 1 book (in Greek), 3 edited books, and 5 journal special issues. His publications have more than 2100 citations with h-index 27 (GoogleScholar). His research interests include computer/machine vision, machine learning, pattern recognition, computational intelligence. \nDr. Papakostas served as a reviewer in numerous journals, as a program\ncommittee member in international conferences and he is a member of the IAENG, MIR Labs, EUCogIII, INSTICC and the Technical Chamber of Greece (TEE).",institutionString:null,institution:{name:"International Hellenic University",institutionURL:null,country:{name:"Greece"}}},editorTwo:null,editorThree:null},{id:"25",title:"Evolutionary Computation",coverUrl:"https://cdn.intechopen.com/series_topics/covers/25.jpg",isOpenForSubmission:!0,annualVolume:11421,editor:{id:"136112",title:"Dr.",name:"Sebastian",middleName:null,surname:"Ventura Soto",slug:"sebastian-ventura-soto",fullName:"Sebastian Ventura Soto",profilePictureURL:"https://mts.intechopen.com/storage/users/136112/images/system/136112.png",biography:"Sebastian Ventura is a Spanish researcher, a full professor with the Department of Computer Science and Numerical Analysis, University of Córdoba. Dr Ventura also holds the positions of Affiliated Professor at Virginia Commonwealth University (Richmond, USA) and Distinguished Adjunct Professor at King Abdulaziz University (Jeddah, Saudi Arabia). Additionally, he is deputy director of the Andalusian Research Institute in Data Science and Computational Intelligence (DaSCI) and heads the Knowledge Discovery and Intelligent Systems Research Laboratory. He has published more than ten books and over 300 articles in journals and scientific conferences. Currently, his work has received over 18,000 citations according to Google Scholar, including more than 2200 citations in 2020. In the last five years, he has published more than 60 papers in international journals indexed in the JCR (around 70% of them belonging to first quartile journals) and he has edited some Springer books “Supervised Descriptive Pattern Mining” (2018), “Multiple Instance Learning - Foundations and Algorithms” (2016), and “Pattern Mining with Evolutionary Algorithms” (2016). He has also been involved in more than 20 research projects supported by the Spanish and Andalusian governments and the European Union. He currently belongs to the editorial board of PeerJ Computer Science, Information Fusion and Engineering Applications of Artificial Intelligence journals, being also associate editor of Applied Computational Intelligence and Soft Computing and IEEE Transactions on Cybernetics. Finally, he is editor-in-chief of Progress in Artificial Intelligence. He is a Senior Member of the IEEE Computer, the IEEE Computational Intelligence, and the IEEE Systems, Man, and Cybernetics Societies, and the Association of Computing Machinery (ACM). Finally, his main research interests include data science, computational intelligence, and their applications.",institutionString:null,institution:{name:"University of Córdoba",institutionURL:null,country:{name:"Spain"}}},editorTwo:null,editorThree:null},{id:"26",title:"Machine Learning and Data Mining",coverUrl:"https://cdn.intechopen.com/series_topics/covers/26.jpg",isOpenForSubmission:!0,annualVolume:11422,editor:{id:"24555",title:"Dr.",name:"Marco Antonio",middleName:null,surname:"Aceves Fernandez",slug:"marco-antonio-aceves-fernandez",fullName:"Marco Antonio Aceves Fernandez",profilePictureURL:"https://mts.intechopen.com/storage/users/24555/images/system/24555.jpg",biography:"Dr. Marco Antonio Aceves Fernandez obtained his B.Sc. (Eng.) in Telematics from the Universidad de Colima, Mexico. He obtained both his M.Sc. and Ph.D. from the University of Liverpool, England, in the field of Intelligent Systems. He is a full professor at the Universidad Autonoma de Queretaro, Mexico, and a member of the National System of Researchers (SNI) since 2009. Dr. Aceves Fernandez has published more than 80 research papers as well as a number of book chapters and congress papers. He has contributed in more than 20 funded research projects, both academic and industrial, in the area of artificial intelligence, ranging from environmental, biomedical, automotive, aviation, consumer, and robotics to other applications. He is also a honorary president at the National Association of Embedded Systems (AMESE), a senior member of the IEEE, and a board member of many institutions. 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His research interests include swarm intelligence, parallel and distributed metaheuristics, machine learning, intelligent agents and multi-agent systems, resource planning, scheduling and optimization, combinatorial optimization. Dr. Aydin is currently a Fellow of Higher Education Academy, UK, a member of EPSRC College, a senior member of IEEE and a senior member of ACM. In addition to being a member of advisory committees of many international conferences, he is an Editorial Board Member of various peer-reviewed international journals. 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(Eng.) in Telematics from the Universidad de Colima, Mexico. He obtained both his M.Sc. and Ph.D. from the University of Liverpool, England, in the field of Intelligent Systems. He is a full professor at the Universidad Autonoma de Queretaro, Mexico, and a member of the National System of Researchers (SNI) since 2009. Dr. Aceves Fernandez has published more than 80 research papers as well as a number of book chapters and congress papers. He has contributed in more than 20 funded research projects, both academic and industrial, in the area of artificial intelligence, ranging from environmental, biomedical, automotive, aviation, consumer, and robotics to other applications. He is also a honorary president at the National Association of Embedded Systems (AMESE), a senior member of the IEEE, and a board member of many institutions. His research interests include intelligent and embedded systems.",institutionString:"Universidad Autonoma de Queretaro",institution:{name:"Autonomous University of Queretaro",institutionURL:null,country:{name:"Mexico"}}}]},{type:"book",id:"7726",title:"Swarm Intelligence",subtitle:"Recent Advances, New Perspectives and Applications",coverURL:"https://cdn.intechopen.com/books/images_new/7726.jpg",slug:"swarm-intelligence-recent-advances-new-perspectives-and-applications",publishedDate:"December 4th 2019",editedByType:"Edited by",bookSignature:"Javier Del Ser, Esther Villar and Eneko Osaba",hash:"e7ea7e74ce7a7a8e5359629e07c68d31",volumeInSeries:2,fullTitle:"Swarm Intelligence - Recent Advances, New Perspectives and Applications",editors:[{id:"49813",title:"Dr.",name:"Javier",middleName:null,surname:"Del Ser",slug:"javier-del-ser",fullName:"Javier Del Ser",profilePictureURL:"https://mts.intechopen.com/storage/users/49813/images/system/49813.png",biography:"Prof. Dr. Javier Del Ser received his first PhD in Telecommunication Engineering (Cum Laude) from the University of Navarra, Spain, in 2006, and a second PhD in Computational Intelligence (Summa Cum Laude) from the University of Alcala, Spain, in 2013. He is currently a principal researcher in data analytics and optimisation at TECNALIA (Spain), a visiting fellow at the Basque Center for Applied Mathematics (BCAM) and a part-time lecturer at the University of the Basque Country (UPV/EHU). His research interests gravitate on the use of descriptive, prescriptive and predictive algorithms for data mining and optimization in a diverse range of application fields such as Energy, Transport, Telecommunications, Health and Industry, among others. In these fields he has published more than 240 articles, co-supervised 8 Ph.D. theses, edited 6 books, coauthored 7 patents and participated/led more than 40 research projects. 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He is currently a full professor in\nthe Department of Automation and Applied Informatics at the\nsame university. Dr. Voloşencu is the author of ten books, seven\nbook chapters, and more than 160 papers published in journals\nand conference proceedings. He has also edited twelve books and\nhas twenty-seven patents to his name. He is a manager of research grants, editor in\nchief and member of international journal editorial boards, a former plenary speaker, a member of scientific committees, and chair at international conferences. His\nresearch is in the fields of control systems, control of electric drives, fuzzy control\nsystems, neural network applications, fault detection and diagnosis, sensor network\napplications, monitoring of distributed parameter systems, and power ultrasound\napplications. 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