Animal e perimentation was approved by the local committee for ca

Animal e perimentation was approved by the local committee for care and use of laboratory animals and performed according to strict governmental and international guidelines. The investigation conformed to Guide for the Care and Use of Laboratory Animals published by the US Wortmannin PI3K National Institutes of Health. HL 1 murine cardiomyocytes were a kind gift of Dr. William C. Claycomb. Cells were main tained in fibronectin coated flasks in Claycomb e pansion medium supplemented with 10% FBS, 0. 1 mM norepin ephrine, 100 U mL penicil lin, 100 mg mL streptomycin and 2mM L glutamine and kept semi confluent at all times. E perimental culture conditions Prior to co cultures of ADSC and rat neonatal car diomyocytes the cells were labeled with the CFDA SE and CM DiI respectively according to the manufacturer s instructions.

Co cultures of ADSC and HL 1 cardiomyocytes were done after lentivirus tagging with resp. lentiviruses encoding eGFP and dTomato. Briefly, on the day of transduction, cells were plated at 1�� 106 cells well in serum free growth medium containing 5 ug ml polybrene . Following overnight incubation, medium was replaced with normal growth medium containing 10% FBS. The medium of HL 1 cells was changed once per 24h while ADSC medium was replenished three times a week. At five days post transduction, cells were FACS sorted based on e pression of eGFP or dTOMATO to obtain pure cell population. To determine the influence of the ADSC density on cardiomyocyte proliferation, ADSC were treated with 10 ug ml mitomycin C for 3h, followed by e tensive washing with PBS prior the co culture with rnCM and HL 1 cells.

The ADSC cell ratios plated in co culture conditions varied from 1 1 to 1 3 for Batimastat rnCM, while keeping the rnCM at 20,000 cells cm2. The ADSC ratios in co cultures with HL 1 cells varied from 1 1 to 1 4, while keeping the HL 1 cells at 6,000 cells cm2. Simultaneously, cells were labeled with 1 uM BrdUrd bromodeo yuridine for 6h at the end of the e periment. In order to study the effect of the post MI microenvironment on cardiomyocytes, rnCM and HL 1 cells and ADSC were cultured at ambient o ygen tension 21% O2 or at 2% O2. At these o ygen tensions inflamma tion was mimicked by continuous treatment with TNF or IL 1B or none as a control for 24 and 48h respectively. ADSC conditioned medium was collected after pre treatment according to the e perimental procedures for 24h.

Subse quently, followed by medium replacement Axitinib without the stimuli and conditioning in 0% FBS Claycomb Medium for 24h. Gene transcript analysis ADSC were seeded in 12 well plates at 10,000 cells cm2 in DMEM and treated according to the e perimental procedures. HL 1 cardiomyocytes were seeded in 12 well plates at 10,000 cells cm2 in 5% FBS Claycomb medium, afterwards cells were incubated with 10% FBS and 0% FBS Claycomb medium or 0% FBS ADSC conditioned medium for 24h and treated according to the e perimental procedures.

05 Bar graphs were used to represent the level of significance o

05. Bar graphs were used to represent the level of significance of each cellular process with enrichment score. Identification of key transcription factors regulating DEGs To identify key TFs, 278,346 TF target interaction data points for 350 TFs were citation collected from public databases including TRED, EEDB, mSigDB, Amadeus, bZIPDB, and OregAnno. The targets of each TF were counted among the up or down regulated DEGs. The same number of genes as up or down regulated DEGs were then randomly sampled from the whole genome and the target of TFi in the randomly sampled genes was counted. This procedure was repeated 100,000 times. Ne t, an empirical distribution of the 100,000 counts of random targets of TFi was generated.

For the number of targets of TFi, the probability that the actual count of tar gets of TFi in the DEGs can be observed by chance was computed using a one tailed test with the empirical distribution. The P values of TFi for up and down regulated DEGs were then combined using Stouffers method. The same procedure was repeated for all TFs. Finally, eight TFs whose targets were signi ficantly enriched by the DEGs were selected. Hierarchical clustering of DEGs and differentially e pressed proteins From the comparisons of 4 h versus 0 h and 24 h versus 0 h, we identified a total of 1,695 DEGs. We performed hierarchical clustering using Euclidean distance as the dissimilarity measure and the average linkage method 4 clusters for DEGs that were up regulated and 3 clusters for DEGs that were down regulated. The same clus tering approach was applied in categorization of up and down regulated DEPs.

Network model reconstruction To reconstruct a sub network describing regulatory tar get cellular processes by Carfilzomib 5 key TFs in PDGF perturbed pBSMCs, we first selected 255 target genes of the 5 TFs, which are involved in 8 enriched cellu lar processes. We then built a network model describing the key TF target interactions and protein protein interac tions among the targets. The TF target interactions and protein protein interactions of the 255 target genes and 5 key TFs were obtained from si databases TRED, EEDB, mSigDB, Amadeus, bZIPDB, and OregAnno, for TF target interactions, and HPRD, BioGRID, STRING and KEGG for protein protein interactions. We downloaded all protein protein in teractions in HPRD, BioGRID, STRING, and KEGG and combined information from the four databases into one list.

During this process, we converted protein IDs used in each database into Entrez IDs, converted directed PPIs from the KEGG pathway database into undirected PPIs, to be compatible with undirected PPIs obtained from the three databases, and generated a list of non redundant in teractions by removing www.selleckchem.com/products/ldk378.html redundant PPIs in the four databases. Also, by converting directed PPIs into undirected ones, the PPIs obtained from the data bases should not be conflicting with each other. All these procedures were implemented in MATLAB.

Briefly, 5000 cells were grown onto the surface of microelectroni

Briefly, 5000 cells were grown onto the surface of microelectronic sensors in a 16 well plate supplied by the manufacturer. After 24 h, a wide range of concentra tions of drugs were added and the cells were continu ously monitored by the system. The experiments were repeated with comparison of simultaneous and sequen tial addition of the two drugs. These results before were further confirmed using MTS assay. Briefly, for combination ex periments the drugs were mixed in 1 1 ratio of IC50 con centration or maximum achievable dosage and diluted to ? and ? concentrations before the addition to the cells. Data from cell viability assay were ex pressed as the fraction of cells killed by the individual drugs or the combination of drugs and compared to un treated cells.

Determination of Synergism The interaction between drug combinations was analyzed using Calcusyn software program to determine whether the combination was additive or synergistic. This program is based on Chou Talalay method and calculates a combination index, when CI 1, it indicates an additive effect and when below 1. 0, it indicates synergism. Wound healing assay Cells were plated in 24 well plates and grown to conflu ence. The monolayer was wounded using the tip of a sterile 200 ul pipette. Cell debris was removed by wash ing twice with serum free medium and replacing with medium containing serum and Dovitinib and/or Oxalipla tin. Cells were then allowed to migrate into the denuded areas for 24 hr. Photographs were taken immediately after wounding and 24 hr later using the Leica DMI3000 B inverted microscope.

The results were quanti fied as a percentage of the wound width closed by the cells at time 24 hr /t24. The mean of three ex periments was graphed with standard deviations repre sented as error bars. Western blot analysis Cells were collected after 24 h treatment with dovitinib and oxaliplatin and washed once with PBS and second time with cold PBS containing 0. 1 mM orthovanadate. The whole cell lysates were prepared according to the pro cedures described previously. Protein was measured using Bio Rad protein assay kit and. The proteins were transferred to PVDF membrane after resolving by 4 12% gel electrophoresis and probed with one of the following RAS, RAF, p ERK, ERK, p AKT, AKT, Survivin, Caspase 3, Caspase 9, p53, Anti phosphotyrosine, H2AX and pATM, B actin, p21, Bax, Bcl 2, Bclxl, Mcl 1, cytochrome C, c Myc, GAPDH and Cleaved Carfilzomib PARP antibodies and HRP conjugated secondary antibody.

The optical density for each band was determined using Image Quant scientific assay software. Apoptotic cell death assay To quantify apoptosis, HCT 116, HT 29 and SW 480 cells were stained with annexin V and PI using FITC Annexin V Apoptosis detection kit 1 from BD Pharmin gen following the step by step protocol as provided by the manufacturer and analyzed by flow cytometry.

As shown in Figure 6A, ABT 263 increased the phosphorylation of

As shown in Figure 6A, ABT 263 increased the phosphorylation of GSK 3B, but no effect on total GSK 3B. Meanwhile, ABT 263 en hanced the phosphorylation of Akt, an upstream signal molecule of GSK 3B. Suppression of Akt by its inhibitor BEZ 235 dramatically attenuated ABT 263 mediated GSK 3B phosphorylation, Mcl 1 upregulation and apop tosis resistance. Subsequently, we checked whether the phosphorylation of GSK 3B is also affected by ERK, another upstream regulator of GSK 3B. As shown in Figure 6C, inhibition of ERK with U0126 had no effect on ABT 263 triggered GSK 3B phosphoryl ation, indicating that GSK 3B activity was not regulated by ERK in this process. Furthermore, Akt inhibitor also increased the cytoto icity of ABT 263 in HCC cells.

These results indicated that Akt mediated GSK 3B inactivation also involves in ABT 263 induced Mcl 1 stabilization, possibly through regulating the phosphorylation of Mcl 1Ser159. Discussion In the present study, we demonstrated that ABT 263 up regulated Mcl 1 by increasing the stability of Mcl 1 mRNA and protein in HCC cells. As shown in the work ing model, ABT 263 increased Mcl 1 mRNA level by augmenting its stability instead of transcrip tional activation. Meanwhile, ABT 263 enhanced Mcl 1 protein stability by regulating the phosphorylation status of Mcl 1. ERK and JNK mediated Mcl 1Thr163 phos phorylation contributed to ABT 263 induced Mcl 1 pro tein stability. Akt mediated GSK 3B inactivation also played important role in preventing Mcl 1 protein deg radation in the presence of ABT 263.

ABT 263, a newly developed, oral tolerant Bcl 2 L in hibitor, has shown promising Anacetrapib anti tumor efficacy in non small cell lung cancer and acute lymphoblastic leukemia as single agent both in vitro and in vivo. Meanwhile, ABT 263 can markedly sensitize several clinical drugs in cancer therapy. However, a recent study has dem onstrated that HCC cells are relatively resistant to ABT 737 compared to leukemia and lung carcinomas. Furthermore, it has been indicated that ABT 737 induced Mcl 1 upregulation contributes to this resistance. Consistent with ABT 737, our results showed that both ABT 263 and another Bcl 2 inhibitor AT 101 upregulated Mcl 1 in HCC cells, which at last re sulted in drug resistance. So it is important to clarify the associated mechanisms of ABT 263 induced Mcl 1 upreg ulation in HCC cells. It is known that Mcl 1 is an important anti apoptotic protein, which is now becoming a quite important target for cancer therapy. Characteristically, it has a short half life and is elaborately regulated at different levels. We found that ABT 263 increased Mcl 1 mRNA level in HCC cells.

The mature B cell lymphoma studied here is similar to the non Ho

The mature B cell lymphoma studied here is similar to the non Hodgkin lymphoma studied by R. Mangues, et al,who demon strated that L 744,832 could prevent the formation of dif fuse large B cell splenic lymphomas in mice that expressed an activated N Ras oncogene under the MMTV promoter. L 744,832 has also been shown to cause regression of mammary and salivary tumors in mice expressing MMTV v H Ras alone, or together with MMTV c Myc. Unlike the above transgenic tumor models, the murine lymphoma studied here does not contain an activated Ras transgene but may express a spontaneously activated Ras allele. Such mutations are not commonly found in B cell non Hodgkin lymphomas in humans, however, we cannot rule out that a spontaneous mutation occurred at one of the Ras alleles during the process of tumorigenesis in our mouse model.

FTIs have mixed results with other mouse tumors that are not known to harbor Ras muta tions. For example, the mammary tumors in MMTV c Neu mice do not respond to L 744,832, but the pre B cell leukemia in BCR/Abl transgenic mice regressed upon treatment with SCH66336. Our results are consistent with other models that do not use Ras mutations as an ini tiating tumorigenic event but have shown that FTI treat ment can still effectively block tumor growth. Implications for treatment of human B cell lymphomas Our preclinical results with this mouse lymphoma model indicate that patients with mature B cell lymphomas should be considered for inclusion in FTI clinical trials. One of the important features of this mouse model is the self reactivity of the transformed B cells.

Although FTIs do not appear to block proliferation of nontransformed B cells in response to antigen receptor stimulation, these drugs were able to block proliferation and induce cell death in the self reactive transformed B cells. Antigen receptor activation by self or environmental antigens may contribute the generation of certain B cell malignancies in humans. Recognition of autoantigens or foreign anti gens from a chronic infection appears to be an important feature of a substantial fraction of B cell chronic lym phocytic leukemias, follicular lymphomas, and certain other leukemias and lymphomas. We suggest that FTIs may be able to block the proliferation of BCR expressing B cell lymphomas by interfering with the antigen receptor and/or Entinostat cytokine signaling pathways within the transformed cells. The lymphoma in the mice used in this study most closely resembles Burkitts lymphoma, and we propose that FTIs might be a useful addition to the chemotherapy for this cancer. The Raji Burkitts lymphoma cell line has been shown to be sensitive to a geranylgeranyl transferase inhibitor and to lovastatin but less sensitive to an FTI.

Evidence that ROS are an important factor in determining sensiti

Evidence that ROS are an important factor in determining sensitivity of NCI H522 to adaphostin was demonstrated by the ablation of ada phostin toxicity by the anti oxidant, N acetyl cysteine in a manner similar to that shown for the leukemia cell line Jurkat. However, in contrast to Jurkat, the iron chelating agent desferrioxamine did not attenu ate adaphostin toxicity in the NCI H522 cell line, and there was no measurable increase in either ferritin gene FTH 1. 09 0. 15 . FTL 1. 02 0. 24 indicating that release of excess free iron is not involved in the NCI H522 response to adaphostin. Thus, these data substantiate the difference between response of a solid tumor and that which we have shown in leukemia cell lines.

As the induction of HMOX1 appears to be unique to the response of solid tumors, we investigated the role of its putative regulatory transcription factor, Nrf2, in adaphostin treated NCI H522 cells. Nrf2 protein, when activated is rapidly translocated into the nucleus, and in adaphostin treated NCI H522 cells, Nrf2 was rapidly induced in the nuclear fraction within 2 6 h, although there was no detectable Nrf2 expression in the cytosolic fraction over this time. Furthermore, translo cation of Nrf2 from the cytoplasm into the nucleus by adaphostin can be visualized using immunohistochemis try where nuclear localization of Nrf2 after 4 h and 6 h incubation of NCI H522 cells with 1 uM ada phostin was apparent compared to the more diffuse Nrf2 distribution in untreated cells.

Wortmannin, a PI3 kinase inhibitor, has been shown to inhibit Nrf2 translocation into Brefeldin_A the nucleus and was successfully used as a tool to inhibit adaphostin , induced, nuclear translocation of Nrf2. Pre treatment of NCI H522 cells with 500 nM wortmannin was effective at inhibiting adaphostin induced nuclear localization of Nrf2, although wortman nin alone had no effect. In addition, under these condi tions when Nrf2 translocation was inhibited with wortmannin, expression of Nrf2 target genes HMOX1 and NQO1were significantly reduced by 50% and 35% respectively after 6 h adaphostin incubation, and though not significant, there was a trend to a reduced expression after 4 h incubation. There was no significant change in GCLC expression which is consis tent with the lack of induction of this gene with adaphos tin, and implicates Nrf2 as the regulator of adaphostin induced HMOX1.

Finally, figure 6 shows that when HMOX1 induction was diminished via inhibition of Nrf2 nuclear transloca tion, there was an augmentation of adaphostin toxicity with a reduction of the GI50 from 342 nM to 273 nM, with the most significant effect at the lower concen trations of adaphostin. Discussion Adaphostin, is a tyrphostin like kinase inhibitor whose toxicity to tumor cell lines is a function of its ability to induce oxidative stress and cause a redox imbalance in cells.

low intracellular drug levels caused by disordered expression of

low intracellular drug levels caused by disordered expression of influx and efflux transporters . overexpression of BCR ABL1 . and activation of alternative signalling pathways by oncogenic enzymes like v src sarcoma viral oncogene homolog kinases or guanosine triphosphatases. Many studies performed to elucidate imatinib resis tance have made use of cells ectopically expressing BCR ABL1 or of cell lines which gained resistance after prolonged exposure to rising drug concentrations. Cell lines that were inherently imatinib resistant have rarely been used, which is astonishing because imatinib resistant cell lines KCL 22 and SD 1 were described very early, in 1997. Here, we screened the DSMZ cell lines bank to find imatinib resistant BCR ABL1 positive cell lines. Five out of 19 Ph cell lines were resistant to imatinib.

We set out to investigate whether these cell lines displayed the known molecular and cellular causes for imatinib resistance. Results and Discussion Imatinib resistant BCR ABL1 positive cell lines A panel of Ph ALL and CML cell lines was tested in thymidine and annexin V/propidium iodide assays to find models for TKI resistance studies. In 14/19 BCR ABL1 positive cell lines, IC50 values for imatinib were in the range of 50 nM to 200 nM. Five cell lines showed markedly higher IC50 values KCL 22, MHH TALL1, NALM 1, SD 1, and SUP B15. These cell lines were inherently resistant to imatinib according to the results of proliferation and apoptosis assays, as they had not been preincubated with the TKI.

BCR ABL1 mutations, BCR ABL1 expression, imatinib transporters Point mutations in the kinase domain of BCR ABL1 are the main cause of imatinib resistance in the chronic phase of CML. Although second generation BCR ABL1 inhibitors are effective in most BCR ABL1 mutated cases, all 5 imatinib insensitive cell lines identified here were also resistant to nilotinib suggesting that resistance might not be caused by BCR ABL1 mutations. In accordance with this notion, genomic sequencing showed no sequence altera tions in the kinase domain of the resistant cell lines. The DNA binding protein Ikaros is a major regulator of lymphoid development. Deletion of Ikaros is found in the majority of BCR ABL1 positive ALL and of CML in progression to lymphoid blast crisis.

Public genomic array data indicate hemizygous loss of the 7p12 region in cell line NALM 1, including IKZF1 and the neighbouring gene Dopa decarboxylase Genomic PCR analysis Dacomitinib confirmed loss of IKZF1 in this cell line, but not in cell lines SD 1, SUP B15 and MHH TALL 1. However, the majority of Ph ALL with IKZF1 aberrations do not show deletion of the whole gene, but instead intragenic loss of various IKZF1 exons, leading to the expression of mRNA variants that mimic normal splice variants. A recent publi cation correlates expression of the Ikaros variant Ik6 with high BCR ABL1 mRNA levels and imatinib resistance in Ph ALL.

The framework of the system is shown in Figure 1 The SW generato

The framework of the system is shown in Figure 1. The SW generator and the US probe sit on an arc track whose center coincides with F2 and resides in the US scan plane. The system is equipped with servo mechanisms which make both stones and focal zones meet each other quickly and accurately. This can be done by actuating either the arc track or the bed. In our design it is the bed that is chosen to be motorized by servo motors. On the other side, a C-arm is installed next to the lithotriptor. To detect the stone inside a patient, two X-ray images are taken at different roll angles. The operator, successively, localize and mark the stone on the X-ray screen twice. The software immediately processes both marks’ coordinates to calculate the stone’s position from F2 in three dimensions.

The computer subsequently commands the controller to actuate the servo system which moves the bed in such a way that the stone arrives at F2. The US probe then extends and takes over the procedure from there.Figure 1.The framework of the dual stone locating system.2.2. Initial Stone Location by X-RayIn the initial locating mode, X-rays are used to detect the stone. We need to derive the stone’s spatial coordinates from the fluorescence images. The more general geometric relations of the C-arm and the apparatus on the arc track are shown in Figure 2. For the C-arm, �� denotes the pitch angle and �� the roll angle which rotates around the C-arm axis.

When the C-arm is in the upright position (�� = 0��), the view axis of X-ray penetrates F2. The spatial 3D coordinate system is OXYZ where O is the origin.

The local 2D coordinate system for the fluorescent image is RUV where R is the entry point of the view axis to the image intensifier tube (I. I. tube) and appears at the center of the X-ray image. Note that OXYZ appears to be the lithotriptor’s space and RUV represents the plane shown in the X ray monitor, where all of the coordinate vectors are perpendicular. Q is the intersection of the view Entinostat axis and the C-arm axis.Figure 2.The geometry of the dual stone location apparatus.When the C-arm rolls at a certain degree, �� (U, V) becomes (U��, V��) and F2 no longer resides at the view axis.

The schematic diagrams of two fluorescent images with different roll angles are shown in Figure 3 where F2 will be in different positions. If the Drug_discovery stone appears in both X ray images, they need to be marked manually on the screen where they are denoted by S and S�� with local coordinates (u, v) and (u��, v��), respectively.Figure 3.The schematic diagrams of the fluorescent images. On the left, the C-arm is upright; and, on the right, the C-arm rolls at an angle ��.

Characterization took place against the bottom surface in Level 1

Characterization took place against the bottom surface in Level 1. The entire assembled bioreactor is shown in Figure 1D.Figure 1.(A) Schematic showing the cross-section of a two-level MF bioreactor in the x-z plane. Inlet 1 is used to introduce the sheath flow solution (red) at flow rate Q1. Inlet 2 is used to introduce the biofilm precursor flow (blue) at flow rate Q2. The red …2.2. Electroless Metal Deposition on Microchannel WallsThe bottom and side walls of the of the Level 1 channel were covered with a metallic layer via electroless deposition [35]. Unlike electrodeposition, this approach enabled deposition against non-conducting PDMS microchannel surface. Electroless deposition of a silver layer was achieved by combining an aqueous solution of glucose, tartaric acid and ethanol with a Tollens reagent.

The bioreactor was masked using an adhesive film (HDClear, Henkel Corp., D��sseldorf, Germany) such that only the channel section was exposed. Before deposition, the microchannels were treated by air plasma at 600 mTorr at 29.6 W for 90 s in order to increase their hydrophilicity which allowed a better wetting by the aqueous solution. After the reaction was complete, the excess solution was removed and the channel was washed with ultrapure water and dried with filtered nitrogen. After deposition, the bottom and side walls of the channel were coated by a matt grey silver film. This conductive layer had a resistivity of 110 ��/m. The mask, which protected the bonding surfaces, was then removed leaving silver in the channel only.

Gold layers were formed in a similar way, but the results are not reported here because further optimisation is required to improve their SERS enhancement.2.3. Transformation of the Metal Surface to a Sensitive SERS Surface for Spectral ImagingAfter metal deposition, a weak signal enhancement was observed, Cilengitide presumably due to the slightly roughened surface after the Tollens reaction. Nevertheless, further enhancement was required to observe low citrate concentration solutions in biofilm growth media. This was accomplished by exposing the metal surface to air plasma, which enhanced nanostructuring and helped clean residual organic impurities left over from the electroless deposition process via sputtering and oxidation [36�C38]. Nanostructuring, plasmonic enhancement, and resulting SERS were observed after different plasma exposure times by atomic force microscopy (AFM), UV-Vis and Raman spectroscopy, respectively. As shown in Figure S1, AFM images of the plasma treated metal surfaces showed an initial rapid increase followed by a plateau after nearly 20 min exposure. Over this time frame, the total increase in mean surface roughness (Ra) was over 40%, as expected [39,40].

A common approach for AUV localization is to rely on dead reckon

A common approach for AUV localization is to rely on dead reckoning techniques that allow for the estimation of an AUV position by properly merging measurements obtained with inertial and velocity sensors. However, dead reckoning suffers from numerical drift, due to the integration of sensor noise, as well as sensor bias and drift and may be prone to the presence of external currents and model uncertainties; thus, it can only be used for relatively short dives. In practice, this may imply that the AUV will be required to come to the ocean surface periodically to take a new GNSS position fix. Other common solutions for underwater localization are based on the use of acoustic devices that compute ranges between two points and/or determine the bearing and elevation of a point with respect to another using acoustic signals.

Among the commercially available solutions, Long, Short and Ultra-Short Baseline systems have found widespread use in challenging applications. In Long Baseline (LBL) acoustic localization systems, a set of transponders is installed at fixed, known underwater positions. While submerged, the AUV computes its distance to each of the transponders by interrogating them and measuring the round-trip travel time of the acoustic waves emitted. The position of the AUV is then computed using a trilateration algorithm. In Short Baseline (SBL) systems, three or more transducers are mounted on a surface vessel, at relative distances on the order of tens of meters. In this case, it is up to the surface segment to request replies from a transponder installed on-board the submerged AUV and to compute its position by triangulation.

In Ultra-short Baseline (USBL) systems, a set of transducers is assembled in a compact stand-alone device installed Dacomitinib on board a support ship; the estimation of the AUV transponder position is done by measuring the relative phases among the signals arriving at the transducers in response to queries by the surface segment. In the latter two systems, there is a need to transmit back to the AUV its estimated position.More recently, a different approach based on a single transponder (beacon)/transducer couple has shown good potential to drastically simplify the process of AUV localization while resorting to cost-effective sensors.