Distributed IMU Sensors for In-Field Dynamic Measurements on an Alpine Ski.

Modern ski design is an inherently time-consuming process that involves an iterative feedback loop comprised of design, manufacturing and in-field qualitative evaluations. Additionally consumers can only rely on qualitative evaluation for selecting the ideal ski, and due to the variation in skier styles and ability levels, consumers can find it to be an inconsistent and expensive experience. We propose supplementing the design and evaluation process with data from in-field prototype testing, using a modular sensor array that can be ported to nearly any ski. This paper discusses a new distributed Inertial Measurement Unit (IMU) suite, including details regarding the design and operation, sensor validation experiments, and outdoor in-field testing results. Data are collected from a set of spatially distributed IMUs located on the upper surface of the ski. We demonstrate that this system and associated post-processing algorithms provide accurate data at a high rate (>700 Hz), enabling the measurement of both structural and rigid ski characteristics, and are robust to repetitive testing in outdoor winter conditions.

Lidar-Based Navigation of Subterranean Environments Using Bio-Inspired Wide-Field Integration of Nearness.

Navigating unknown environments is an ongoing challenge in robotics. Processing large amounts of sensor data to maintain localization, maps of the environment, and sensible paths can result in high compute loads and lower maximum vehicle speeds. This paper presents a bio-inspired algorithm for efficiently processing depth measurements to achieve fast navigation of unknown subterranean environments. Animals developed efficient sensorimotor convergence approaches, allowing for rapid processing of large numbers of spatially distributed measurements into signals relevant for different behavioral responses necessary to their survival. Using a spatial inner-product to model this sensorimotor convergence principle, environmentally relative states critical to navigation are extracted from spatially distributed depth measurements using derived weighting functions. These states are then applied as feedback to control a simulated quadrotor platform, enabling autonomous navigation in subterranean environments. The resulting outer-loop velocity controller is demonstrated in both a generalized subterranean environment, represented by an infinite cylinder, and nongeneralized environments like tunnels and caves.

Identification of optimal feedback control rules from micro-quadrotor and insect flight trajectories.

This paper presents "optimal identification," a framework for using experimental data to identify the optimality conditions associated with the feedback control law implemented in the measurements. The technique compares closed loop trajectory measurements against a reduced order model of the open loop dynamics, and uses linear matrix inequalities to solve an inverse optimal control problem as a convex optimization that estimates the controller optimality conditions. In this study, the optimal identification technique is applied to two examples, that of a millimeter-scale micro-quadrotor with an engineered controller on board, and the example of a population of freely flying Drosophila hydei maneuvering about forward flight. The micro-quadrotor results show that the performance indices used to design an optimal flight control law for a micro-quadrotor may be recovered from the closed loop simulated flight trajectories, and the Drosophila results indicate that the combined effect of the insect longitudinal flight control sensing and feedback acts principally to regulate pitch rate.

Diagnostic and medical strategy for renovascular hypertension: report from a monocentric pediatric cohort.

UNLABELLED: Renovascular hypertension accounts for 5-10 % of hypertension cases in children; there is currently no consensus on treatment. Here, we report on our clinical experience with this disease and outline the different pathways in which to investigate it. We report retrospectively on ten children diagnosed with renovascular hypertension at the University Hospital of Nantes from 2001 to 2012. The main findings were obtained by fortuitous screening of children aged 2 months to 14 years old with neurofibromatosis (n = 2) and fibromuscular dysplasia (n = 8). The hypertension was always severe yet asymptomatic. Lesions were complicated in nine out of ten cases and included bilateral, multiple, mid-aortic syndrome and aneurysm. Doppler ultrasound associated with computed tomography allowed for a precise diagnosis in seven out of ten cases. Where ambiguities persisted, they were highlighted by arteriography, the gold standard investigation. Medical treatment was insufficient, leading to invasive procedures in nine out of ten children: 2 nephrectomies, 2 autotransplantations, and 21 repetitive percutaneous transluminal angioplasties. After invasive procedures, blood pressure control improved in four cases and was resolved in three. CONCLUSION: Arteriography remains to be the gold standard technique for renovascular hypertension in children and can be combined with angioplasty when medical treatment is rendered obsolete. The role of computed tomography is controversial. Despite the heterogeneity of the children studied, we present a general medical and therapeutic management pathway for the treatment of this disease.

Wing motion transformation to evaluate aerodynamic coupling in flapping wing flight.

Whether the remarkable flight performance of insects is because the animals leverage inherent physics at this scale or because they employ specialized neural feedback mechanisms is an active research question. In this study, an empirically derived aerodynamics model is used with a transformation involving a delay and a rotation to identify a class of kinematics that provide favorable roll-yaw coupling. The transformation is also used to transform both synthetic and experimentally measured wing motions onto the manifold representing proverse yaw and to quantify the degree to which freely flying insects make use of passive aerodynamic mechanisms to provide proverse roll-yaw turn coordination. The transformation indicates that recorded insect kinematics do act to provide proverse yaw for a variety of maneuvers. This finding suggests that passive aerodynamic mechanisms can act to reduce the neural feedback demands of an insect׳s flight control strategy.

Bio-inspired modeling and implementation of the ocelli visual system of flying insects.

Two visual sensing modalities in insects, the ocelli and compound eyes, provide signals used for flight stabilization and navigation. In this article, a generalized model of the ocellar visual system is developed for a 3-D visual simulation environment based on behavioral, anatomical, and electrophysiological data from several species. A linear measurement model is estimated from Monte Carlo simulation in a cluttered urban environment relating state changes of the vehicle to the outputs of the ocellar model. A fully analog-printed circuit board sensor based on this model is designed and fabricated. Open-loop characterization of the sensor to visual stimuli induced by self motion is performed. Closed-loop stabilizing feedback of the sensor in combination with optic flow sensors is implemented onboard a quadrotor micro-air vehicle and its impulse response is characterized.

Neural dynamics of robust legged robots.

Legged robot control has improved in recent years with the rise of deep reinforcement learning, however, much of the underlying neural mechanisms remain difficult to interpret. Our aim is to leverage bio-inspired methods from computational neuroscience to better understand the neural activity of robust robot locomotion controllers. Similar to past work, we observe that terrain-based curriculum learning improves agent stability. We study the biomechanical responses and neural activity within our neural network controller by simultaneously pairing physical disturbances with targeted neural ablations. We identify an agile hip reflex that enables the robot to regain its balance and recover from lateral perturbations. Model gradients are employed to quantify the relative degree that various sensory feedback channels drive this reflexive behavior. We also find recurrent dynamics are implicated in robust behavior, and utilize sampling-based ablation methods to identify these key neurons. Our framework combines model-based and sampling-based methods for drawing causal relationships between neural network activity and robust embodied robot behavior.

Measles virus glycoprotein-pseudotyped lentiviral vectors are highly superior to vesicular stomatitis virus G pseudotypes for genetic modification of monocyte-derived dendritic cells.

Dendritic cells (DCs) are potent antigen-presenting cells capable of promoting or regulating innate and adaptive immune responses against non-self antigens. To better understand the DC biology or to use them for immune intervention, a tremendous effort has been made to improve gene transfer in these cells. Lentiviral vectors (LVs) have conferred a huge advantage in that they can transduce nondividing cells such as human monocyte-derived DCs (MDDCs) but required high amounts of viral particles and/or accessory proteins such as Vpx or Vpr to achieve sufficient transduction rates. As a consequence, these LVs have been shown to cause dramatic functional modifications, such as the activation or maturation of transduced MDDCs. Taking advantage of new pseudotyped LVs, i.e., with envelope glycoproteins from the measles virus (MV), we demonstrate that MDDCs are transduced very efficiently with these new LVs compared to the classically used vesicular stomatitis virus G-pseudotyped LVs and thus allowed to achieve high transduction rates at relatively low multiplicities of infection. Moreover, in this experimental setting, no activation or maturation markers were upregulated, while MV-LV-transduced cells remained able to mature after an appropriate Toll-like receptor stimulation. We then demonstrate that our MV-pseudotyped LVs use DC-SIGN, CD46, and CD150/SLAM as receptors to transduce MDDCs. Altogether, our results show that MV-pseudotyped LVs provide the most accurate and simple viral method for efficiently transferring genes into MDDCs without affecting their activation and/or maturation status.

A multifunctional soft robotic shape display with high-speed actuation, sensing, and control.

Shape displays which actively manipulate surface geometry are an expanding robotics domain with applications to haptics, manufacturing, aerodynamics, and more. However, existing displays often lack high-fidelity shape morphing, high-speed deformation, and embedded state sensing, limiting their potential uses. Here, we demonstrate a multifunctional soft shape display driven by a 10 × 10 array of scalable cellular units which combine high-speed electrohydraulic soft actuation, magnetic-based sensing, and control circuitry. We report high-performance reversible shape morphing up to 50 Hz, sensing of surface deformations with 0.1 mm sensitivity and external forces with 50 mN sensitivity in each cell, which we demonstrate across a multitude of applications including user interaction, image display, sensing of object mass, and dynamic manipulation of solids and liquids. This work showcases the rich multifunctionality and high-performance capabilities that arise from tightly-integrating large numbers of electrohydraulic actuators, soft sensors, and controllers at a previously undemonstrated scale in soft robotics.

Optic flow estimation on trajectories generated by bio-inspired closed-loop flight.

We generated panoramic imagery by simulating a fly-like robot carrying an imaging sensor, moving in free flight through a virtual arena bounded by walls, and containing obstructions. Flight was conducted under closed-loop control by a bio-inspired algorithm for visual guidance with feedback signals corresponding to the true optic flow that would be induced on an imager (computed by known kinematics and position of the robot relative to the environment). The robot had dynamics representative of a housefly-sized organism, although simplified to two-degree-of-freedom flight to generate uniaxial (azimuthal) optic flow on the retina in the plane of travel. Surfaces in the environment contained images of natural and man-made scenes that were captured by the moving sensor. Two bio-inspired motion detection algorithms and two computational optic flow estimation algorithms were applied to sequences of image data, and their performance as optic flow estimators was evaluated by estimating the mutual information between outputs and true optic flow in an equatorial section of the visual field. Mutual information for individual estimators at particular locations within the visual field was surprisingly low (less than 1 bit in all cases) and considerably poorer for the bio-inspired algorithms that the man-made computational algorithms. However, mutual information between weighted sums of these signals and comparable sums of the true optic flow showed significant increases for the bio-inspired algorithms, whereas such improvement did not occur for the computational algorithms. Such summation is representative of the spatial integration performed by wide-field motion-sensitive neurons in the third optic ganglia of flies.

Miniaturized Circuitry for Capacitive Self-Sensing and Closed-Loop Control of Soft Electrostatic Transducers.

Soft robotics is a field of robotic system design characterized by materials and structures that exhibit large-scale deformation, high compliance, and rich multifunctionality. The incorporation of soft and deformable structures endows soft robotic systems with the compliance and resiliency that makes them well adapted for unstructured and dynamic environments. Although actuation mechanisms for soft robots vary widely, soft electrostatic transducers such as dielectric elastomer actuators (DEAs) and hydraulically amplified self-healing electrostatic (HASEL) actuators have demonstrated promise due to their muscle-like performance and capacitive self-sensing capabilities. Despite previous efforts to implement self-sensing in electrostatic transducers by overlaying sinusoidal low-voltage signals, these designs still require sensing high-voltage signals, requiring bulky components that prevent integration with miniature untethered soft robots. We present a circuit design that eliminates the need for any high-voltage sensing components, thereby facilitating the design of simple low cost circuits using off-the-shelf components. Using this circuit, we perform simultaneous sensing and actuation for a range of electrostatic transducers including circular DEAs and HASEL actuators and demonstrate accurate estimated displacements with errors <4%. We further develop this circuit into a compact and portable system that couples high voltage actuation, sensing, and computation as a prototype toward untethered multifunctional soft robotic systems. Finally, we demonstrate the capabilities of our self-sensing design through feedback control of a robotic arm powered by Peano-HASEL actuators.

Spatiotemporal variations in microcystin concentrations and in the proportions of microcystin-producing cells in several Microcystis aeruginosa populations.

With the aim of explaining the variations in microcystin (MC) concentrations during cyanobacterial blooms, we studied several Microcystis aeruginosa populations blooming in different freshwater ecosystems located in the same geographical area. As assessed by real-time PCR, it appeared that the potentially MC-producing cells (mcyB(+)) were predominant (70 to 100%) in all of these M. aeruginosa populations, with the exception of one population in which non-MC-producing cells always dominated. Apart from the population in the Grangent Reservoir, we found that the proportions of potentially MC-producing and non-MC-producing cells varied little over time, which was consistent with the fact that according to a previous study of the same populations, the intergenic transcribed spacer (ITS) genotype composition did not change (38). In the Grangent Reservoir, the MC-RR variant was the dominant microcystin variant throughout the bloom season, despite changes in the ITS composition and in the proportions of mcyB(+) cells. Finally, the variations in total MC concentrations (0.3 to 15 microg liter(-1)) and in the MC cellular quotas (0.01 to 3.4 pg cell(-1)) were high both between and within sites, and no correlation was found between the MC concentrations and the proportion of mcyB(+) cells. All of these findings demonstrate that very different results can be found for the proportions of potentially MC-producing and non-MC-producing cells and MC concentrations, even in M. aeruginosa populations living in more or less connected ecosystems, demonstrating the importance of the effect of very local environmental conditions on these parameters and also the difficulty of predicting the potential toxicity of Microcystis blooms.

Dipteran insect flight dynamics. Part 2: Lateral-directional motion about hover.

The purpose of this study is to determine computationally tractable models describing the lateral-directional motion of a Drosophila-like dipteran insect, which may then be used to estimate the requirements for flight control and stabilization. This study continues the work begun in Faruque and Humbert (2010) to extend the quasi-steady aerodynamics model via inclusion of perturbations from the hover state. The aerodynamics model is considered as forcing upon rigid body dynamics, and frequency-based system identification tools used to derive the models. The analysis indicates two stable real poles, and two very lightly damped and nearly unstable complex poles describing a decoupling of roll/sideslip oscillatory motion from a first order subsidence yaw behavior. The results are presented with uncertainty variation for both a smaller male and larger female phenotype.

Dipteran insect flight dynamics. Part 1 Longitudinal motion about hover.

This paper presents a reduced-order model of longitudinal hovering flight dynamics for dipteran insects. The quasi-steady wing aerodynamics model is extended by including perturbation states from equilibrium and paired with rigid body equations of motion to create a nonlinear simulation of a Drosophila-like insect. Frequency-based system identification tools are used to identify the transfer functions from biologically inspired control inputs to rigid body states. Stability derivatives and a state space linear system describing the dynamics are also identified. The vehicle control requirements are quantified with respect to traditional human pilot handling qualities specification. The heave dynamics are found to be decoupled from the pitch/fore/aft dynamics. The haltere-on system revealed a stabilized system with a slow (heave) and fast subsidence mode, and a stable oscillatory mode. The haltere-off (bare airframe) system revealed a slow (heave) and fast subsidence mode and an unstable oscillatory mode, a modal structure in agreement with CFD studies. The analysis indicates that passive aerodynamic mechanisms contribute to stability, which may help explain how insects are able to achieve stable locomotion on a very small computational budget.

Molecular approaches for monitoring potentially toxic marine and freshwater phytoplankton species.

Harmful phytoplankton species are a growing problem in freshwater and marine ecosystems, because of their ability to synthesize toxins that threaten both animal and human health. The monitoring of these microorganisms has so far been based on conventional methods, mainly involving the microscopic counting and identification of cells, and using analytical and bioanalytical methods to identify and quantify the toxins. However, the increasing number of microbial sequences in the GeneBank database and the development of new tools in the last 15 years nowadays enables the use of molecular methods for detection and quantification of harmful phytoplankton species and their toxins. These methods provide species-level identification of the microorganisms of interest, and their early detection in the environment by PCR techniques. Moreover, real time PCR can be used to quantify the cells of interest, and in some cases to evaluate the proportion of toxin-producing and non-toxin-producing genotypes in a population. Recently, microarray technologies have also been used to achieve simultaneous detection and semi-quantification of harmful species in environmental samples. These methods look very promising, but so far their use remains limited to research. The need for validation for routine use and the cost of these methods still hamper their use in monitoring programs.

Control theoretic interpretation of directional motion preferences in optic flow processing interneurons.

In this article, we formalize the processing of optic flow in identified fly lobula plate tangential cells and develop a control theoretic framework that suggests how the signals of these cells may be combined and used to achieve reflex-like navigation behavior. We show that this feedback gain synthesis task can be cast as a combined static state estimation and linear feedback control problem. Our framework allows us to analyze and determine the relationship between optic flow measurements and actuator commands, which greatly simplifies the implementation of biologically inspired control architectures on terrestrial and aerial robotic platforms.

Using half-metallic manganite interfaces to reveal insights into spintronics.

A half-metal has been defined as a material with propagating electron states at the Fermi energy only for one of the two possible spin projections, and as such has been promoted as an interesting research direction for spin electronics. This review details recent advances on manganite thin film research within the field of spintronics, before presenting the structural, electronic and spin-polarized solid-state tunnelling transport studies that we have performed on heterostructures involving La(2/3)Sr(1/3)MnO(3) thin films separated by SrTiO(3) barriers. These experiments demonstrate that, with a polarization of spin [Formula: see text] electrons at the Fermi level that can reach 99%, the La(2/3)Sr(1/3)MnO(3)/SrTiO(3) interface for all practical purposes exhibits half-metallic behaviour. We offer insight into the electronic structure of the interface, including the electronic symmetry of any remaining spin [Formula: see text] states at the Fermi level. Finally, we present experiments that use the experimental half-metallic property of manganites as tools to reveal novel features of spintronics.

Robust analysis of an underwater navigational strategy in electrically heterogeneous corridors.

Obstacles and other global stimuli provide relevant navigational cues to a weakly electric fish. In this work, robust analysis of a control strategy based on electrolocation for performing obstacle avoidance in electrically heterogeneous corridors is presented and validated. Static output feedback control is shown to achieve the desired goal of reflexive obstacle avoidance in such environments in simulation and experimentation. The proposed approach is computationally inexpensive and readily implementable on a small scale underwater vehicle, making underwater autonomous navigation feasible in real-time.

Prognostic significance of sex in childhood B-precursor acute lymphoblastic leukemia: a Pediatric Oncology Group Study.

PURPOSE: In childhood B-precursor acute lymphoblastic leukemia (ALL), possible interactions among sex, time, and widely used prognostic factors (age, WBC count, and DNA index) were investigated for the first 5 years after diagnosis. PATIENTS AND METHODS: All eligible patients aged 1 to less than 22 years, registered between February 1986 and September 1994 in two B-precursor ALL studies from the Pediatric Oncology Group (POG), were included in the analysis. Cutpoints for age (3.0, 5.0, and 10.0 years), WBC count (10, 50, and 100 x 10(9)/L), and DNA index (DI; 1.16) were defined. Four time periods after diagnosis (years 1, 2, 3, and 4 and 5 combined) were selected for the study of prognostic significance over time. The cut-off date for analysis was April 1996. RESULTS: A total of 3,717 children (2,010 boys and 1,707 girls) were included in the outcome analysis. No major differences between the sexes were observed in age, duration of symptoms before registration, WBC count, hemoglobin level, platelet count, ploidy, presence of CNS disease at diagnosis, or induction failure rate. Event-free survival (EFS) differences between sexes became significantly different from 2 years following diagnosis. At 5 years, in all subsets analyzed, boys fared worse than girls, although not all differences were statistically significant. Major sex differences in EFS were observed in older children (10 to 22 years), in patients with intermediate WBC counts (10 to 50 x 10(9)/ L), and in children who fit both of these subgroups, in whom the 2-year EFS was almost 20% higher in girls than in boys, reaching a 38% difference at 5 years. CONCLUSION: This study shows an outcome interaction among sex, time, and commonly used prognostic variables. The important sex difference observed at 2 and 5 years suggests that more intensive consolidation and/or maintenance therapy in some boys with B-precursor ALL should be investigated.