Differential requirements for Smarca5 expression during hematopoietic stem cell commitment.

The formation of hematopoietic cells relies on the chromatin remodeling activities of ISWI ATPase SMARCA5 (SNF2H) and its complexes. The Smarca5 null and conditional alleles have been used to study its functions in embryonic and organ development in mice. These mouse model phenotypes vary from embryonic lethality of constitutive knockout to less severe phenotypes observed in tissue-specific Smarca5 deletions, e.g., in the hematopoietic system. Here we show that, in a gene dosage-dependent manner, the hypomorphic allele of SMARCA5 (S5tg) can rescue not only the developmental arrest in hematopoiesis in the hCD2iCre model but also the lethal phenotypes associated with constitutive Smarca5 deletion or Vav1iCre-driven conditional knockout in hematopoietic progenitor cells. Interestingly, the latter model also provided evidence for the role of SMARCA5 expression level in hematopoietic stem cells, as the Vav1iCre S5tg animals accumulate stem and progenitor cells. Furthermore, their hematopoietic stem cells exhibited impaired lymphoid lineage entry and differentiation. This observation contrasts with the myeloid lineage which is developing without significant disturbances. Our findings indicate that animals with low expression of SMARCA5 exhibit normal embryonic development with altered lymphoid entry within the hematopoietic stem cell compartment.

Homogeneous Sensor Fusion Optimization for Low-Cost Inertial Sensors.

The article deals with sensor fusion and real-time calibration in a homogeneous inertial sensor array. The proposed method allows for both estimating the sensors' calibration constants (i.e., gain and bias) in real-time and automatically suppressing degraded sensors while keeping the overall precision of the estimation. The weight of the sensor is adaptively adjusted according to the RMSE concerning the weighted average of all sensors. The estimated angular velocity was compared with a reference (ground truth) value obtained using a tactical-grade fiber-optic gyroscope. We have experimented with low-cost MEMS gyroscopes, but the proposed method can be applied to basically any sensor array.

Spherical Robots for Special Purposes: A Review on Current Possibilities.

The review discusses the possibilities of different driving mechanisms and sensors of spherical robots, and a special kind of mobile robots is introduced and discussed. The sensors discussed can expand robots' sensing capabilities which are typically very limited. Most spherical robots have holonomic characteristics and protect the inner environment using a shell. Today, there are a diversity of driving mechanisms. Therefore, this article provides a review of all of them and identifies their basic properties. Accordingly, many spherical robots have only inner sensors for moving, balancing, driving, etc. However, a few of them are also equipped with sensors that can measure environmental properties. Therefore, in this paper, we propose the possibility of using such sensors as cameras, LiDARs, thermocouples, and gas sensors, which can be used for special purposes underground, for example, in mines, underground tunnels, or road tunnels. After combining all components are combined, it is possible to design a special type of spherical robot designed for underground exploration, such as accidents in mines or road tunnels.

Improving the precision and speed of Euler angles computation from low-cost rotation sensor data.

This article compares three different algorithms used to compute Euler angles from data obtained by the angular rate sensor (e.g., MEMS gyroscope)-the algorithms based on a rotational matrix, on transforming angular velocity to time derivations of the Euler angles and on unit quaternion expressing rotation. Algorithms are compared by their computational efficiency and accuracy of Euler angles estimation. If attitude of the object is computed only from data obtained by the gyroscope, the quaternion-based algorithm seems to be most suitable (having similar accuracy as the matrix-based algorithm, but taking approx. 30% less clock cycles on the 8-bit microcomputer). Integration of the Euler angles' time derivations has a singularity, therefore is not accurate at full range of object's attitude. Since the error in every real gyroscope system tends to increase with time due to its offset and thermal drift, we also propose some measures based on compensation by additional sensors (a magnetic compass and accelerometer). Vector data of mentioned secondary sensors has to be transformed into the inertial frame of reference. While transformation of the vector by the matrix is slightly faster than doing the same by quaternion, the compensated sensor system utilizing a matrix-based algorithm can be approximately 10% faster than the system utilizing quaternions (depending on implementation and hardware).