Formation of ganglioside GD1b-lactone in rat brain from intracisternally administered GD1b

RL-AKF: An Adaptive Kalman Filter Navigation Algorithm Based on Reinforcement Learning for Ground Vehicles

Kalman filter is a commonly used method in the Global Navigation Satellite System (GNSS)/Inertial Navigation System (INS) integrated navigation system, in which the process noise covariance matrix has a significant influence on the positioning accuracy and sometimes even causes the filter to diverge when using the process noise covariance matrix with large errors. Though many studies have been done on process noise covariance estimation, the ability of the existing methods to adapt to dynamic and complex environments is still weak. To obtain accurate and robust localization results under various complex and dynamic environments, we propose an adaptive Kalman filter navigation algorithm (which is simply called RL-AKF), which can adaptively estimate the process noise covariance matrix using a reinforcement learning approach. By taking the integrated navigation system as the environment, and the opposite of the current positioning error as the reward, the adaptive Kalman filter navigation algorithm uses the deep deterministic policy gradient to obtain the most optimal process noise covariance matrix estimation from the continuous action space. Extensive experimental results show that our proposed algorithm can accurately estimate the process noise covariance matrix, which is robust under different data collection times, different GNSS outage time periods, and using different integration navigation fusion schemes. The RL-AKF achieves an average positioning error of 0.6517 m within 10 s GNSS outage for GNSS/INS integrated navigation system and 14.9426 m and 15.3380 m within 300 s GNSS outage for the GNSS/INS/Odometer (ODO) and the GNSS/INS/Non-Holonomic Constraint (NHC) integrated navigation systems, respectively.

Naturally occurring ganglioside lactones in Minke whale brain

Ganglioside lactones in Minke whale brain were analysed. In order to exclude the possibility of the artificial lactonization of gangliosides during the analytical procedures, lactone species were separated from their parent gangliosides at an early stage by DEAE-Sephadex A-25 column chromatography using a stepwise elution. Applying the improved method, GM41 lactones were found in grey and white matters of cerebrum and cerebellum, while GD3 monolactone was found only in cerebellar gray matter. The concentration of each ganglioside lactone was one thousandth of the parent ganglioside.

The chemical constitution of gangliosides of the vertebrate nervous system

Glycosphingolipids are uniquely distinguished amongst the glycoconjugates by the apparently systematic structuring of their ceramide-linked carbohydrate moieties. These often highly complex oligosaccharides provide a structural repertoire that may vary considerably according to cell types and animal species. However, as a possible reflection of their specific functional role in the central nervous system, the brain glycosphingolipids of all vertebrates follow the same principles of carbohydrate structuring with only minor variations: the anabolically early addition of sialic acid to lactosylceramide (Gal beta 4Glc beta Cer-->NeuAc alpha 3Gal beta 4Glc beta Cer) in central nervous tissue results in the preferential formation of 'gangliosides', i.e., sialic acid-containing glycosphingolipids. Higher gangliosides result from extensions of sialo-lactosylceramide by addition of nucleotide-activated monosaccharides. In consequence, gangliosides of the vertebrate central nervous system consist of ceramide-linked sialo-oligosaccharides of varying chain length with a ganglio-series core carbohydrate, i.e., GalNAc beta 4Gal beta 3GalNAc beta 4Gal beta 4Glc beta < 0. Substitution by mono-, bis-, or tris-sialo-groups may variably be at the galactoside- and N-acetylgalactosaminide residues in 3- and 6-positions of the ganglio-series oligosaccharides, respectively. Ganglioside, which is derived by sialylation of galactosylceramide, NeuAc alpha 3Gal beta Cer, is a characteristic constituent of glial cells. In nerve tissue, gangliosides of the lacto-(Gal beta(3GlcNAc beta 3Gal beta)n4Glc beta <) and the neolacto-series (Gal beta(4GlcNAc beta 3Gal beta)n4Glc <) are more characteristic of vertebrate peripheral nerves and neuroectoderm-derived tumours. Recent studies using monoclonal antibodies have revealed that various single ganglioside components are specifically distributed in nervous tissues. This finding adds a new dimension to the earlier notion that gangliosides are involved in membrane related phenomena including cell to cell interactions, as well as, the modulation of signalling mechanisms.

Cultured cerebellar granule cells, but not astrocytes, produce an ester of ganglioside GD1b, presumably GD1b monolactone, from exogenous GD1b

Granule cells and astrocytes from rat cerebellum were fed in culture with 2 microM ganglioside [Gal-3H]GD1b and then analysed for the presence of carboxyl esters of that ganglioside. Before extraction and purification of gangliosides, cells were treated with NaBH4 under conditions that would allow complete reductive cleavage of carboxyl ester linkages, [Gal-3H]GD1b monolactone and dilactone being used as reference esters of GD1b. These conditions, established by adding harvested cells (250 micrograms of protein) with 0.01-2 nmol of standard [Gal-3H]GD1b monolactone or dilactone and [Gal-3H]GD1b-1ol or -2ol formed respectively, consisted of an NaBH4/cell protein ratio of 2:1 (w/w). Cerebellar granule cells, but not astrocytes, were able to produce a radioactive compound which was identified as GD1b-1ol. The formation of this compound increased with pulse (up to 4 h) and chase (up to 3 h) time after a 2 h pulse and also occurred when ganglioside endocytosis was blocked. It can be concluded that cerebellar granule cells are able to convert ganglioside GD1b into a carboxyl ester form, presumably GD1b monolactone. The natural occurrence of the same GD1b carboxyl ester in cerebellar granule cells was also demonstrated.

Effect of gangliosides on diacylglycerol content and molecular species in nerve from diabetic rats

The effects of ganglioside treatment on 1,2-diacylglycerol content and on molecular species in 1,2-diacylglycerol, phosphatidic acid and total diacylglycerolipids, as well as Na+,K(+)-ATPase activity, were examined in sciatic nerves from streptozotocin-induced diabetic rats. Beginning 2 weeks after induction of diabetes, animals were administered mixed bovine brain gangliosides, AGF1, an inner ester derivative of this mixture, or saline for 5 weeks. The levels of 1,2-diacylglycerol and arachidonoyl-containing molecular species in age-matched non-diabetic animals were not affected by ganglioside treatment. In nerves from saline-treated diabetic animals, 1,2-diacylglycerol levels were not reduced, but both Na+,K(+)-ATPase activity and all arachidonyl-containing species except for 18:0/20:4 1,2-diacylglycerol were significantly decreased. The content of 1,2-diacylglycerol was lowered by 23 and 16% in bovine brain ganglioside and AGF1-treated diabetic animals, respectively, and the quantity of 18:0/20:4 1,2-diacylglycerol was also selectively reduced. Ganglioside administration did not affect the diminished levels of arachidonoyl-containing molecular species in 1,2-diacylglycerol, phosphatidic acid or diacylglycerolipids in nerve from diabetic rats. In the same nerves, bovine brain gangliosides partially and AGF1 completely restored Na+,K(+)-ATPase activity. The results suggest that gangliosides depress the content of total 1,2-diacylglycerol and the quantity of 18:0/20:4 1,2-diacylglycerol, specifically, in diabetic nerve. The possible relationship between the corrective action of gangliosides on Na+,K(+)-ATPase activity and the effect of these substances on 1,2-diacylglycerol molecular species composition and metabolism is discussed.

Production and characterization of a monoclonal antibody (BBH5) directed to ganglioside lactone

The occurrence of lactones in various ganglioside preparations has been clearly demonstrated, yet the natural occurrence of ganglioside lactones in cells and tissues has been the subject of long debate, since lactones can be formed readily during preparation of gangliosides. We now report the generation of monoclonal antibody (BBH5) that reacts specifically with lactones of disialogangliosides having the NeuAc2-8NeuAc2-3Gal sequence, but does not crossreact with the parent ganglioside. The specificity of the antibody resides on the first lactone ring between two sialic acid residues but not on the second lactone ring between sialic acid and galactose, as evidenced by reactivity with lactonized GD1b having the first lactone ring (L1), and by reactivity with lactonized polysialic acid homo-oligomers ([NeuAc alpha 2-8]nNeuAc). The sialic acid carboxyl involved in the lactone ring was unequivocally determined after ammonolysis followed by methylation and fast atom bombardment mass spectrometry. The antibody BBH5 thus provides a novel tool for studies of the natural occurrence of lactones in cells and tissues.

Aggregation properties of GD1b, II3Neu5Ac2GgOse4Cer, and of GD1b-lactone, II3[alpha-Neu5Ac-(2----8, 1----9)-alpha-Neu5Ac]GgOse4Cer, in aqueous solution

The relevance of the presence of an inner ester in the oligosaccharide chain on the aggregative properties of gangliosides is investigated. Micellar molecular weight and hydrodynamic radius of natural GD1b and of semisynthetic GD1b-lactone are measured by the laser light scattering technique. The presence of the lactone ring causes an increase of 36% for the molecular weight and 16% for the hydrodynamic radius. Measurements on mixtures of GD1b and GD1b-lactone show that mixed micelles are formed with microdomain structure. The results are interpreted in terms of the geometrical packing model for the aggregation of amphiphilic molecules and are correlated to membrane processes.

Inner ester derivatives of gangliosides protect autonomic nerves of alloxan-diabetic rats against Na+, K(+)-ATPase activity defects

Bovine brain gangliosides have been shown to prevent decay in Na+,K(+)-ATPase activity in sciatic and optic nerves of alloxan- and streptozotocin-diabetic rats. In the search for a drug with greater bioavailability and increased incorporation into neural tissue, ganglioside inner ester derivatives (AGF1) were recently developed. We evaluated the effect of AGF1 treatment on Na+,K(+)-ATPase activity in homogenates of vagus nerve from alloxan-diabetic rats (100 mg/kg s.c.). Animals were treated with AGF1: 10 mg/kg 6 days/week i.p., or 30 mg/kg biweekly i.p. Treatment began 10 d post-alloxan and continued for 8 consecutive weeks. Normal age- and sex-matched rats were used as controls. Alloxan intoxication produced a 39% decrease in Na+,K(+)-ATPase activity of the vagus nerve, which was completely restored (96-97% recovery) by both AGF1 regimes. Results suggest that ganglioside inner ester derivatives may be used in the clinical setting for the management of diabetic autonomic neuropathy.