Fine-grained descending control of steering in walking Drosophila.

Locomotion involves rhythmic limb movement patterns that originate in circuits outside the brain. Purposeful locomotion requires descending commands from the brain, but we do not understand how these commands are structured. Here, we investigate this issue, focusing on the control of steering in walking Drosophila. First, we describe different limb "gestures" associated with different steering maneuvers. Next, we identify a set of descending neurons whose activity predicts steering. Focusing on two descending cell types downstream of distinct brain networks, we show that they evoke specific limb gestures: one lengthens strides on the outside of a turn, while the other attenuates strides on the inside of a turn. Our results suggest that a single descending neuron can have opposite effects during different locomotor rhythm phases, and we identify networks positioned to implement this phase-specific gating. Together, our results show how purposeful locomotion emerges from specific, coordinated modulations of low-level patterns.

Multiwavelength Achromatic Deflector in the Visible Using a Single-Layer Freeform Metasurface.

Deflectors are essential for modulating beam direction in optical systems but often face form factor issues or chromatic aberration with conventional optical elements, such as prisms, mirrors, and diffractive/holographic optical elements. Despite recent efforts to address such issues using metasurfaces, their practicality remains limited due to operation wavelengths in the near-infrared or the fabrication difficulties inherent in the multilayer scheme. Here, we propose a novel single-layer metasurface achieving multiwavelength chromatic aberration-free deflection across the visible spectrum by employing the robust freeform design strategy to simplify the fabrication process. By properly selecting diffraction orders for red, green, and blue wavelengths to achieve identical wavelength-diffraction-order products, the metasurface deflects light at a consistent angle of 41.3° with a high efficiency. The coupled Bloch mode analysis explains the physical properties, and experimental fabrication and characterization confirm its effectiveness. This approach holds potential for various applications such as AR/VR, digital cameras, and high-quality optical systems.

Prophylactic phage biocontrol prevents Burkholderia gladioli infection in a quantitative ex planta model of bacterial virulence.

Agricultural crop yield losses and food destruction due to infections by phytopathogenic bacteria such as Burkholderia gladioli, which causes devastating diseases in onion, mushroom, corn, and rice crops, pose major threats to worldwide food security and cause enormous damage to the global economy. Biocontrol using bacteriophages has emerged as a promising strategy against a number of phytopathogenic species but has never been attempted against B. gladioli due to a lack of quantitative infection models and a scarcity of phages targeting this specific pathogen. In this study, we present a novel, procedurally straightforward, and highly generalizable fully quantitative ex planta maceration model and an accompanying quantitative metric, the ex planta maceration index (xPMI). In utilizing this model to test the ex planta virulence of a panel of 12 strains of B. gladioli in Allium cepa and Agaricus bisporus, we uncover substantial temperature-, host-, and strain-dependent diversity in the virulence of this fascinating pathogenic species. Crucially, we demonstrate that Burkholderia phages KS12 and AH2, respectively, prevent and reduce infection-associated onion tissue destruction, measured through significant (P < 0.0001) reductions in xPMI, by phytopathogenic strains of B. gladioli, thereby demonstrating the potential of agricultural phage biocontrol targeting this problematic microorganism.IMPORTANCEAgricultural crop destruction is increasing due to infections caused by bacteria such as Burkholderia gladioli, which causes plant tissue diseases in onion, mushroom, corn, and rice crops. These bacteria pose a major threat to worldwide food production, which, in turn, damages the global economy. One potential solution being investigated to prevent bacterial infections of plants is "biocontrol" using bacteriophages (or phages), which are bacterial viruses that readily infect and destroy bacterial cells. In this article, we demonstrate that Burkholderia phages KS12 and AH2 prevent or reduce infection-associated plant tissue destruction caused by strains of B. gladioli, thereby demonstrating the inherent potential of agricultural phage biocontrol.

Obstacle negotiation in female desert locust oviposition digging.

The female locust lays its eggs deep within soft substrate to protect them from predators and provide optimal conditions for successful development and hatching. During oviposition digging, the female's abdomen is pooled and extends into the ground, guided by a dedicated excavation mechanism at its tip, comprising two pairs of specialized digging valves. Little is known about how these active valves negotiate the various obstacles encountered on their path. In this study, female locusts oviposited their eggs in specialized sand-filled tubes with pre-inserted 3D-printed plastic obstacles. The subterranean route taken by the abdomen and digging valves upon encountering the obstacles was investigated, characterized, and compared to that in control tubes without obstacles. Data were obtained by way of visual inspection, by utilizing cone beam computed tomography scans in high-definition mode, and by making paraffin casts of the oviposition burrows (after egg hatching). We demonstrate, for the first time, the subterranean navigation ability of the female locust's excavation mechanism and its ability to circumvent obstacles during oviposition. Finally, we discuss the role of active sensory-motor mechanisms versus the passive embodied function of the valves, central control, and decision-making.

General Algorithm Applicability in Determining DBS Lead Orientation: Adapting 2D and 3D X-Ray Techniques for SenSightTM Leads.

INTRODUCTION: With recent advancements in deep brain stimulation (DBS), directional leads featuring segmented contacts have been introduced, allowing for targeted stimulation of specific brain regions. Given that manufacturers employ diverse markers for lead orientation, our investigation focuses on the adaptability of the 2017 techniques proposed by the Cologne research group for lead orientation determination. METHODS: We tailored the two separate 2D and 3D X-ray-based techniques published in 2017 and originally developed for C-shaped markers, to the dual-marker of the Medtronic SenSight™ lead. In a retrospective patient study, we evaluated their feasibility and consistency by comparing the degree of agreement between the two methods. RESULTS: The Bland-Altman plot showed favorable concordance without any noticeable systematic errors. The mean difference was 0.79°, with limits of agreement spanning from 21.4° to -19.8°. The algorithms demonstrated high reliability, evidenced by an intraclass correlation coefficient of 0.99 (p < 0.001). CONCLUSION: The 2D and 3D algorithms, initially formulated for discerning the circular orientation of a C-shaped marker, were adapted to the marker of the Medtronic SenSight™ lead. Statistical analyses revealed a significant level of agreement between the two methods. Our findings highlight the adaptability of these algorithms to different markers, achievable through both low-dose intraoperative 2D X-ray imaging and standard CT imaging.

Planning lane changes using advance visual and haptic information.

Taking a motor planning perspective, this study investigates whether haptic force cues displayed on the steering wheel are more effective than visual cues in signaling the direction of an upcoming lane change. Licensed drivers drove in a fixed-base driving simulator equipped with an active steering system for realistic force feedback. They were instructed to make lane changes upon registering a directional cue. Cues were delivered according to the movement precuing technique employing a pair of precues and imperative cues which could be either visual, haptic, or crossmodal (a visual precue with a haptic imperative cue, and vice versa). The main dependent variable was response time. Additional analyses were conducted on steering wheel angle profiles and the rate of initial steering errors. Conditions with a haptic imperative cue produced considerably faster responses than conditions with a visual imperative cue, irrespective of the precue modality. Valid and invalid precues produced the typical gains and costs, with one exception. There appeared to be little cost in response time or initial steering errors associated with invalid cueing when both cues were haptic. The results are consistent with the hypothesis that imperative haptic cues facilitate action selection while visual stimuli require additional time-consuming cognitive processing.

Organised crisis volunteers, COVID-19, and the political steering of crisis management in Sweden.

This paper explores and analyses the activities of Swedish organised crisis volunteers during the COVID-19 pandemic. Based on a questionnaire and interviews, it sets out to answer two research questions on what characterised organised volunteerism during the pandemic, how organised volunteers experienced cooperation with local public actors, and how they viewed political steering. The paper contributes to a growing literature on the role of volunteers and links that role to views on political steering, something that is rarely done in disaster research. Sweden is a useful case study because of how COVID-19 was managed, as well as because there are organised crisis volunteers and a debate is occurring on how the national system is steered. The paper shows how organised volunteers adapted to changing needs and adopted new roles, that experiences of cooperation with local authorities varied, and that calls were made for a stronger national leadership and for more explicit central political steering.

Optimizing the Steering of Driverless Personal Mobility Pods with a Novel Differential Harris Hawks Optimization Algorithm (DHHO) and Encoder Modeling.

This paper aims to improve the steering performance of the Ackermann personal mobility scooter based on a new meta-heuristic optimization algorithm named Differential Harris Hawks Optimization (DHHO) and the modeling of the steering encoder. The steering response in the Ackermann mechanism is crucial for automated driving systems (ADS), especially in localization and path-planning phases. Various methods presented in the literature are used to control the steering, and meta-heuristic optimization algorithms have achieved prominent results. Harris Hawks optimization (HHO) algorithm is a recent algorithm that outperforms state-of-the-art algorithms in various optimization applications. However, it has yet to be applied to the steering control application. The research in this paper was conducted in three stages. First, practical experiments were performed on the steering encoder sensor that measures the steering angle of the Landlex mobility scooter, and supervised learning was applied to model the results obtained for the steering control. Second, the DHHO algorithm is proposed by introducing mutation between hawks in the exploration phase instead of the Hawks perch technique, improving population diversity and reducing premature convergence. The simulation results on CEC2021 benchmark functions showed that the DHHO algorithm outperforms the HHO, PSO, BAS, and CMAES algorithms. The mean error of the DHHO is improved with a confidence level of 99.8047% and 91.6016% in the 10-dimension and 20-dimension problems, respectively, compared with the original HHO. Third, DHHO is implemented for interactive real-time PID tuning to control the steering of the Ackermann scooter. The practical transient response results showed that the settling time is improved by 89.31% compared to the original response with no overshoot and steady-state error, proving the superior performance of the DHHO algorithm compared to the traditional control methods.

A CMOS Current-Mode Vertical-Cavity-Semiconductor-Emitting-Laser Diode Driver for Short-Range LiDAR Sensors.

This paper presents a current-mode VCSEL driver (CMVD) implemented using 180 nm CMOS technology for application in short-range LiDAR sensors, in which current-steering logic is suggested to deliver modulation currents from 0.1 to 10 mApp and a bias current of 0.1 mA simultaneously to the VCSEL diode. For the simulations, the VCSEL diode is modeled with a 1.6 V forward-bias voltage and a 50 Ω series resistor. The post-layout simulations of the proposed CMVD clearly demonstrate large output pulses and eye-diagrams. Measurements of the CMVD demonstrate large output pulses, confirming the simulation results. The chip consumes a maximum of 11 mW from a 3.3 V supply, and the core occupies an area of 0.1 mm2.

Design of a Compact and Minimalistic Intermediate Phase Shifting Feed Network for Ka-Band Electrical Beam Steering.

Intermediate phase shifting is a footprint- and cost-reduction technique for reconfigurable feed networks. These feed networks are utilized in antenna arrays to perform electrical beam steering. In intermediate phase shifting, a phase shifter is shared between two adjacent antennas. Conventionally, antennas only have individual phase shifters. With shared phase shifters, we reduce the number of components and the footprint by 25%. Consequently, this decreases the price and enables designs at millimeter-wave frequencies where space is limited due to frequency-dependent antenna spacing. This intermediate phase shifting is demonstrated by designing a reconfigurable feed network for the Ka-band that generates a continuous phase shift profile for beam steering. Due to the use of varactors and a novel biasing method, it does not require expensive beamformer integrated chips or lumped components for biasing. The feed network is combined with a 4 × 4 antenna array to demonstrate its beam-steering capabilities. The result is a high-density and minimalistic design that fits in a small volume of 25.6 × 25.6 × 0.95 mm3. With this small antenna array, the main beam is steered at ±40∘ broadside, providing full 1D and restricted 2D steering. It is a potential candidate for wireless sensor and mobile networks.

Global Path Planning for Articulated Steering Tractor Based on Multi-Objective Hybrid Algorithm.

With the development of smart agriculture, autopilot technology is being used more and more widely in agriculture. Because most of the current global path planning only considers the shortest path, it is difficult to meet the articulated steering tractor operation needs in the orchard environment and address other issues, so this paper proposes a hybrid algorithm of an improved bidirectional search A* algorithm and improved differential evolution genetic algorithm(AGADE). First, the integrated priority function and search method of the traditional A* algorithm are improved by adding weight influence to the integrated priority, and the search method is changed to a bidirectional search. Second, the genetic algorithm fitness function and search strategy are improved; the fitness function is set as the path tree row center offset factor; the smoothing factor and safety coefficient are set; and the search strategy adopts differential evolution for cross mutation. Finally, the shortest path obtained by the improved bidirectional search A* algorithm is used as the initial population of an improved differential evolution genetic algorithm, optimized iteratively, and the optimal path is obtained by adding kinematic constraints through a cubic B-spline curve smoothing path. The convergence of the AGADE hybrid algorithm and GA algorithm on four different maps, path length, and trajectory curve are compared and analyzed through simulation tests. The convergence speed of the AGADE hybrid algorithm on four different complexity maps is improved by 92.8%, 64.5%, 50.0%, and 71.2% respectively. The path length is slightly increased compared with the GA algorithm, but the path trajectory curve is located in the center of the tree row, with fewer turns, and it meets the articulated steering tractor operation needs in the orchard environment, proving that the improved hybrid algorithm is effective.

A Smith Predictor Modified with a Pseudo Feedforward Control for the Charge-Coupled Device-Based Optoelectronic Tracking System.

In the high-precision optoelectronic tracking system (OTS) based on a charge-coupled device (CCD), the boresight error extracted from the tracking image contains an undeniable delay, which directly limits the control bandwidth of visual tracking. High bandwidth means high response speed and tracking accuracy. Generally, a model-based delay compensation control method called the Smith predictor is utilized to separate time delay from the closed loop to promote the control bandwidth. However, due to the existence of errors between the established model and the real object, the improvement in the bandwidth is still limited to ensure system stability, resulting in insufficient tracking performance. In this paper, to solve the problem, a Smith predictor modified with pseudo feedforward control for the OTS is proposed. The experimental results demonstrate that the proposed method achieves significant improvements in tracking performance, reducing the maximum residual error at 1 Hz from 365 arcseconds (using the classic Smith predictor) to 283 arcseconds, a 22.5% improvement. Across the main frequency band (0.2 Hz to 2 Hz), the residual errors were consistently lower using the proposed method.

The Design and Implementation of a Phased Antenna Array System for LEO Satellite Communications.

LEO satellite constellations can provide a viable alternative to expand connectivity to remote, isolated geographical areas and complement existing IoT terrestrial communication infrastructures. This paper aims to improve LEO satellite communications by implementing a new phased antenna array system that can significantly improve the radio communication link's performance. By adjusting the progressive phase shift to each element of the antenna array system, the direction of the main radiation lobe of the phased antenna array system can be controlled with accuracy. As far as we know, it is the first time that a four-element, three-quarter wavelength phased antenna array system has been successfully realized with the intention of being optimized for implementation in LEO IoT satellite reception systems. The proposed system's high level of performance is confirmed by the measurements, which indicate effective control of the main radiation lobe orientation. The numerical analysis shows a maximum gain close to 12 dBi for about 42° elevation, a Half Power Beamwidth (HPBW) of 32° in the vertical plane, and 80° in the azimuth plane. The experimental measurement results at various main lobe orientation angles revealed an HPBW ranging from 76° to 87° in the azimuth plane and a maximum Front-to-Back ratio (F/B) of 14.5 dB.

Sub-Aperture Synthetic Aperture Radar Imaging of Fixed-Platform Beam-Steering Radar for Blast Furnace Burden Surface Detection.

Due to the scheme of fixed-platform beam-steering radar and the space of the blast furnace being subjected to harsh environmental influences, the traditional detection methods of burden surface are limited by geometric distortion, noncoherent clutter, and noise interference, which leads to an increase in the image entropy value and the equivalent number of views, makes the density distribution of burden surface show a diffuse state, and greatly affects the stability and accuracy. In this paper, a new fixed-platform beam-steering radar synthetic aperture radar imaging method (FPBS-SAR) is proposed in the sensory domain of the blast furnace environment. From the perspective of fixed-platform beam-steering radar motion characteristics, the target range-azimuth coupled distance history model under the sub-aperture is established, the azimuthal Doppler variation characteristics of the fixed-platform beam-steering process are analyzed, and the compensation function of the transform domain for geometric disturbance correction is proposed. For noncoherent noise suppression in blast furnaces, the trimmed geometric mean-order-likelihood CFAR method is proposed to take into account the information of burden surface and clutter suppression. To verify the method, point target simulation and imaging for the industrial field measurement data are carried out. The results indicate that geometric distortion is well eliminated, the image entropy value and the equivalent number of views have decreased, and noncoherent noise in blast furnaces is suppressed.

Dual-Band Passive Beam Steering Antenna Technologies for Satellite Communication and Modern Wireless Systems: A Review.

Efficient beam steerable high-gain antennas enable high-speed data rates over long-distance networks, including wireless backhaul, satellite communications (SATCOM), and SATCOM On-the-Move. These characteristics are essential for advancing contemporary wireless communication networks, particularly within 5G and beyond. Various beam steering solutions have been proposed in the literature, with passive beam steering mechanisms employing planar metasurfaces emerging as cost-effective, power-efficient, and compact options. These attributes make them well-suited for use in confined spaces, large-scale production and widespread distribution to meet the demands of the mass market. Utilizing a dual-band antenna terminal setup is often advantageous for full duplex communication in wireless systems. Therefore, this article presents a comprehensive review of the dual-band beam steering techniques for enabling full-duplex communication in modern wireless systems, highlighting their design methodologies, scanning mechanisms, physical characteristics, and constraints. Despite the advantages of planar metasurface-based beam steering solutions, the literature on dual-band beam steering antennas supporting full duplex communication is limited. This review article identifies research gaps and outlines future directions for developing economically feasible passive dual-band beam steering solutions for mass deployment.

Spacecraft Attitude Measurement and Control Using VSMSCSG and Fractional-Order Zeroing Neural Network Adaptive Steering Law.

In order to improve the accuracy and convergence speed of the steering law under the conditions of high dynamics, high bandwidth, and a small deflection angle, and in an effort to improve attitude measurement and control accuracy of the spacecraft, a spacecraft attitude measurement and control method based on variable speed magnetically suspended control sensitive gyroscopes (VSMSCSGs) and the fractional-order zeroing neural network (FO-ZNN) steering law is proposed. First, a VSMSCSG configuration is designed to realize attitude measurement and control integration in which the VSMSCSGs are employed as both actuators and attitude-rate sensors. Second, a novel adaptive steering law using FO-ZNN is designed. The matrix pseudoinverses are replaced by FO-ZNN outputs, which solves the problem of accuracy degradation in the traditional pseudoinverse steering laws due to the complexity of matrix pseudoinverse operations under high dynamics conditions. In addition, the convergence and robustness of the FO-ZNN are proven. The results show that the proposed FO-ZNN converges faster than the traditional zeroing neural network under external disturbances. Finally, a new weighting function containing rotor deflection angles is added to the steering law to ensure that the saturation of the rotor deflection angles can be avoided. Semi-physical simulation results demonstrate the correctness and superiority of the proposed method.

Universal Narrowband Wavefront Shaping with High Quality Factor Meta-Reflect-Arrays.

Optical metasurfaces offer unprecedented flexibility in light wave manipulation but suffer weak resonant enhancement. Tackling this problem, we experimentally unveil a new phase gradient metasurface platform made entirely from individually addressable high quality factor (high-Q) silicon meta-atoms. Composed of pairs of nearly identical nanoblocks, these meta-atoms support dipolar-guided-mode resonances that, due to the controlled suppression of radiation loss, serve as highly sensitive phase pixels when placed above a mirror. A key novelty of this platform lies in the vanishingly small structural perturbations needed to produce universal phase fronts. Having fabricated elements with Q-factor ∼380 and spaced by λ/1.2, we achieve strong beam steering, up to 59% efficient, to angles 32.3°, 25.3°, and 20.9°, with variations in nanoantenna volume fractions across the metasurfaces of ≤2.6%, instead of >50% required by traditional versions. Aside from extreme sensitivity, the metasurfaces exhibit near-field intensity enhancement over 1000×. Taken together, these properties represent an exciting prospect for dynamic and nonlinear wave shaping.

Magnetically Actuated Superhydrophilic Robot Sphere Fabricated by a Femtosecond Laser for Droplet Steering.

Droplet steering has important applications in biomedical detection, local chemical reactions, liquid collection, and microfluidic control. Presently, droplet steering methods typically require specific paths and can be challenging to operate, involving complex fabrications for the operating systems. Here, we show a magnetically actuated superhydrophilic robot sphere (MSR) based on femtosecond laser direct writing technology for droplet steering. Through femtosecond laser treatment, uniform micro-/nanostructures are constructed on the surface of a MSR. Additionally, the contactless magnetic actuator makes it possible to remotely steer the MSR to transport droplets. After preliminary exploration of the mechanism by which MSR drives the droplet movement, the ability of MSR to control the droplet movement was systematically tested and analyzed. Moreover, the applications of the MSR in complex path liquid collection and transport, three-dimensional space transport, self-cleaning, etc., are further verified. This strategy provides a novel and reliable path for droplet manipulation and broadens its application.

Multiresonant Nonlocal Metasurfaces.

Optical metasurfaces supporting localized resonances have become a versatile platform for shaping the wavefront of light, but their low quality (Q-) factor modes inevitably modify the wavefront over extended momentum and frequency space, resulting in limited spectral and angular control. In contrast, periodic nonlocal metasurfaces have been providing great flexibility for both spectral and angular selectivity but with limited spatial control. Here, we introduce multiresonant nonlocal metasurfaces capable of shaping the spatial properties of light using several resonances with widely disparate Q-factors. In contrast to previous designs, the narrowband resonant transmission punctuates a broadband resonant reflection window enabled by a highly symmetric array, achieving simultaneous spectral filtering and wavefront shaping in the transmission mode. Through rationally designed perturbations, we realize nonlocal flat lenses suitable as compact band-pass imaging devices, ideally suited for microscopy. We further employ modified topology optimization to demonstrate high-quality-factor metagratings for extreme wavefront transformations with large efficiency.

Influence of continuous edge-line delineation on drivers' lateral positioning in curves: a gaze-steering approach.

Recent research indicates that installing shoulders on rural roads for safety purposes causes drivers to steer further inside on right bends and thus exceed lane boundaries. The present simulator study examined whether continuous rather than broken edge-line delineation would help drivers to keep their vehicles within the lane. The results indicated that continuous delineation significantly impacts the drivers' gaze and steering trajectories. Drivers looked more towards the lane centre and shifted their steering trajectories accordingly. This was accompanied by a significant decrease in lane-departure frequency when driving on a 3.50-m lane but not on a 2.75-m lane. Overall, the findings provide evidence that continuous delineation influences steering control by altering the visual processes underlying trajectory planning. It is concluded that continuous edge-line delineation between lanes and shoulders may induce safer driver behaviour on right bends, which has potential implications for preventing run-off-road crashes and cyclist safety.Practitioner summary: This study examined how continuous and broken edge lines influence driving behaviour around bends with shoulders. With continuous delineation, drivers gazed and steered in the bend further from the edge line and thus had fewer lane departures. Continuous marking can therefore help prevent run-off-road crashes and improve cyclists' safety.