Functional Self-Awareness and Metacontrol for Underwater Robot Autonomy.

Autonomous systems are expected to maintain a dependable operation without human intervention. They are intended to fulfill the mission for which they were deployed, properly handling the disturbances that may affect them. Underwater robots, such as the UX-1 mine explorer developed in the UNEXMIN project, are paradigmatic examples of this need. Underwater robots are affected by both external and internal disturbances that hamper their capability for autonomous operation. Long-term autonomy requires not only the capability of perceiving and properly acting in open environments but also a sufficient degree of robustness and resilience so as to maintain and recover the operational functionality of the system when disturbed by unexpected events. In this article, we analyze the operational conditions for autonomous underwater robots with a special emphasis on the UX-1 miner explorer. We then describe a knowledge-based self-awareness and metacontrol subsystem that enables the autonomous reconfiguration of the robot subsystems to keep mission-oriented capability. This resilience augmenting solution is based on the deep modeling of the functional architecture of the autonomous robot in combination with ontological reasoning to allow self-diagnosis and reconfiguration during operation. This mechanism can transparently use robot functional redundancy to ensure mission satisfaction, even in the presence of faults.

MT3-MMP Promotes Excitatory Synapse Formation by Promoting Nogo-66 Receptor Ectodomain Shedding.

Cell-surface molecules are dynamically regulated at the synapse to assemble and disassemble adhesive contacts that are important for synaptogenesis and for tuning synaptic transmission. Metalloproteinases dynamically regulate cellular behaviors through the processing of cell surface molecules. In the present study, we evaluated the role of membrane-type metalloproteinases (MT-MMPs) in excitatory synaptogenesis. We find that MT3-MMP and MT5-MMP are broadly expressed in the mouse cerebral cortex and that MT3-MMP loss-of-function interferes with excitatory synapse development in dissociated cortical neurons and in vivo We identify Nogo-66 receptor (NgR1) as an MT3-MMP substrate that is required for MT3-MMP-dependent synapse formation. Introduction of the shed ectodomain of NgR1 is sufficient to accelerate excitatory synapse formation in dissociated cortical neurons and in vivo Together, our findings support a role for MT3-MMP-dependent shedding of NgR1 in regulating excitatory synapse development.SIGNIFICANCE STATEMENT In this study, we identify MT3-MMP, a membrane-bound zinc protease, to be necessary for the development of excitatory synapses in cortical neurons. We identify Nogo-66 receptors (NgR1) as a downstream target of MT3-MMP proteolytic activity. Furthermore, processing of surface NgR1 by MT3-MMP generates a soluble ectodomain fragment that accelerates the formation of excitatory synapses. We propose that MT3-MMP activity and NgR1 shedding could stimulate circuitry remodeling in the adult brain and enhance functional connectivity after brain injury.

Clinical Features, Familial History, and Migraine Precursors in Patients With Definite Vestibular Migraine: The VM-Phenotypes Projects.

OBJECTIVE: The aim of this work was to assess through a questionnaire the features of vertiginous episodes, accompanying symptoms, familial history, and migraine precursors in a sample of 252 subjects with a diagnosis of definite vestibular migraine. BACKGROUND: Migraine is a common neurological disorder characterized by episodic headaches with specific features. About two-thirds of cases run in families, and patients may refer symptoms occurring in infancy and childhood, defined as episodic syndromes that may be associated with migraine. Migraine is associated with episodic vertigo, called vestibular migraine, whose diagnosis mainly relies on clinical history showing a temporary association of symptoms. METHODS: In this cross-sectional multicentric study, 252 subjects were recruited in different centers; a senior specialist through a structured questionnaire assessed features of vestibular symptoms and accompanying symptoms. RESULTS: The age of onset of migraine was 23 years, while onset of vertigo was at 38 years. One hundred and eighty-four subjects reported internal vertigo (73%), while 63 subjects (25%) reported external vertigo. The duration of vertigo attacks was less than 5 minutes in 58 subjects (23%), between 6 and 60 minutes in 55 (21.8%), between 1 and 4 hours in 29 (11.5%), 5 and 24 hours in 44 (17.5%), up to 3 days in 14 (5.5%), and more than 3 days in seven (2.8%); 14 subjects (5.5%) referred attacks lasting from less than 5 minutes and up to 1 hour, nine (3.6%) referred attacks lasting from less than 5 minutes and up to 1 to 4 hours, six (2.4%) referred attacks lasting from less than 5 minutes and up to 5 to 24 hours, and five (2%) cases referred attacks lasting from less than 5 minutes and up to days. Among accompanying symptoms, patients referred the following usually occurring, in order of frequency: nausea (59.9%), photophobia (44.4%), phonophobia (38.9%), vomiting (17.8%), palpitations (11.5%), tinnitus (10.7%), fullness of the ear (8.7%), and hearing loss (4%). In total, 177 subjects referred a positive family history of migraine (70.2%), while 167 (66.3%) reported a positive family history of vertigo. In the sample, 69% of patients referred at least one of the pediatric precursors, in particular, 42.8% of subjects referred motion sickness. The age of onset of the first headache was lower in the subsample with a familial history of migraine than in the total sample. Among the pediatric precursors, benign paroxysmal vertigo - BPV, benign paroxysmal torticollis, and motion sickness were predictive of a lower age of onset of vertigo in adulthood; cyclic vomiting was predictive for vomiting during vertigo attacks in adults. CONCLUSIONS: Our results may indicate that vestibular symptoms in pediatric patients may act as a predisposing factor to develop vestibular migraine at an earlier age in adulthood.

Rapid Mechanically Controlled Rewiring of Neuronal Circuits.

CNS injury may lead to permanent functional deficits because it is still not possible to regenerate axons over long distances and accurately reconnect them with an appropriate target. Using rat neurons, microtools, and nanotools, we show that new, functional neurites can be created and precisely positioned to directly (re)wire neuronal networks. We show that an adhesive contact made onto an axon or dendrite can be pulled to initiate a new neurite that can be mechanically guided to form new synapses at up to 0.8 mm distance in <1 h. Our findings challenge current understanding of the limits of neuronal growth and have direct implications for the development of new therapies and surgical techniques to achieve functional regeneration. Significance statement: Brain and spinal cord injury may lead to permanent disability and death because it is still not possible to regenerate neurons over long distances and accurately reconnect them with an appropriate target. Using microtools and nanotools we have developed a new method to rapidly initiate, elongate, and precisely connect new functional neuronal circuits over long distances. The extension rates achieved are ≥60 times faster than previously reported. Our findings have direct implications for the development of new therapies and surgical techniques to achieve functional regeneration after trauma and in neurodegenerative diseases. It also opens the door for the direct wiring of robust brain-machine interfaces as well as for investigations of fundamental aspects of neuronal signal processing and neuronal function.

IgLON cell adhesion molecules are shed from the cell surface of cortical neurons to promote neuronal growth.

Matrix metalloproteinases and a disintegrin and metalloproteinases are members of the zinc endopeptidases, which cleave components of the extracellular matrix as well as cell surface proteins resulting in degradation or release of biologically active fragments. Surface ectodomain shedding affects numerous biological processes, including survival, axon outgrowth, axon guidance, and synaptogenesis. In this study, we evaluated the role of metalloproteinases in regulating cortical neurite growth. We found that treatment of mature cortical neurons with pan-metalloproteinase inhibitors or with tissue inhibitors of metalloproteinase-3 reduced neurite outgrowth. Through mass spectrometry, we characterized the metalloproteinase-sensitive cell surface proteome of mature cortical neurons. Members of the IgLON family of glycosylphosphatidylinositol-anchored neural cell adhesion molecules were identified and validated as proteins that were shed from the surface of mature cortical neurons in a metalloproteinase-dependent manner. Introduction of two members of the IgLON family, neurotrimin and NEGR1, in early embryonic neurons was sufficient to confer sensitivity to metalloproteinase inhibitors in neurite outgrowth assays. Outgrowth experiments on immobilized IgLON proteins revealed a role for all IgLON family members in promoting neurite extension from cortical neurons. Together, our findings support a role for metalloproteinase-dependent shedding of IgLON family members in regulating neurite outgrowth from mature cortical neurons.

Measurement of Spray Drift with a Specifically Designed Lidar System.

Field measurements of spray drift are usually carried out by passive collectors and tracers. However, these methods are labour- and time-intensive and only provide point- and time-integrated measurements. Unlike these methods, the light detection and ranging (lidar) technique allows real-time measurements, obtaining information with temporal and spatial resolution. Recently, the authors have developed the first eye-safe lidar system specifically designed for spray drift monitoring. This prototype is based on a 1534 nm erbium-doped glass laser and an 80 mm diameter telescope, has scanning capability, and is easily transportable. This paper presents the results of the first experimental campaign carried out with this instrument. High coefficients of determination (R² > 0.85) were observed by comparing lidar measurements of the spray drift with those obtained by horizontal collectors. Furthermore, the lidar system allowed an assessment of the drift reduction potential (DRP) when comparing low-drift nozzles with standard ones, resulting in a DRP of 57% (preliminary result) for the tested nozzles. The lidar system was also used for monitoring the evolution of the spray flux over the canopy and to generate 2-D images of these plumes. The developed instrument is an advantageous alternative to passive collectors and opens the possibility of new methods for field measurement of spray drift.

Mapping Vineyard Leaf Area Using Mobile Terrestrial Laser Scanners: Should Rows be Scanned On-the-Go or Discontinuously Sampled?

The leaf area index (LAI) is defined as the one-side leaf area per unit ground area, and is probably the most widely used index to characterize grapevine vigor. However, LAI varies spatially within vineyard plots. Mapping and quantifying this variability is very important for improving management decisions and agricultural practices. In this study, a mobile terrestrial laser scanner (MTLS) was used to map the LAI of a vineyard, and then to examine how different scanning methods (on-the-go or discontinuous systematic sampling) may affect the reliability of the resulting raster maps. The use of the MTLS allows calculating the enveloping vegetative area of the canopy, which is the sum of the leaf wall areas for both sides of the row (excluding gaps) and the projected upper area. Obtaining the enveloping areas requires scanning from both sides one meter length section along the row at each systematic sampling point. By converting the enveloping areas into LAI values, a raster map of the latter can be obtained by spatial interpolation (kriging). However, the user can opt for scanning on-the-go in a continuous way and compute 1-m LAI values along the rows, or instead, perform the scanning at discontinuous systematic sampling within the plot. An analysis of correlation between maps indicated that MTLS can be used discontinuously in specific sampling sections separated by up to 15 m along the rows. This capability significantly reduces the amount of data to be acquired at field level, the data storage capacity and the processing power of computers.

Eye-safe lidar system for pesticide spray drift measurement.

Spray drift is one of the main sources of pesticide contamination. For this reason, an accurate understanding of this phenomenon is necessary in order to limit its effects. Nowadays, spray drift is usually studied by using in situ collectors which only allow time-integrated sampling of specific points of the pesticide clouds. Previous research has demonstrated that the light detection and ranging (lidar) technique can be an alternative for spray drift monitoring. This technique enables remote measurement of pesticide clouds with high temporal and distance resolution. Despite these advantages, the fact that no lidar instrument suitable for such an application is presently available has appreciably limited its practical use. This work presents the first eye-safe lidar system specifically designed for the monitoring of pesticide clouds. Parameter design of this system is carried out via signal-to-noise ratio simulations. The instrument is based on a 3-mJ pulse-energy erbium-doped glass laser, an 80-mm diameter telescope, an APD optoelectronic receiver and optomechanically adjustable components. In first test measurements, the lidar system has been able to measure a topographic target located over 2 km away. The instrument has also been used in spray drift studies, demonstrating its capability to monitor the temporal and distance evolution of several pesticide clouds emitted by air-assisted sprayers at distances between 50 and 100 m.

Georeferenced scanning system to estimate the leaf wall area in tree crops.

This paper presents the use of a terrestrial light detection and ranging (LiDAR) system to scan the vegetation of tree crops to estimate the so-called pixelated leaf wall area (PLWA). Scanning rows laterally and considering only the half-canopy vegetation to the line of the trunks, PLWA refers to the vertical projected area without gaps detected by LiDAR. As defined, PLWA may be different depending on the side from which the LiDAR is applied. The system is completed by a real-time kinematic global positioning system (RTK-GPS) sensor and an inertial measurement unit (IMU) sensor for positioning. At the end, a total leaf wall area (LWA) is computed and assigned to the X, Y position of each vertical scan. The final value of the area depends on the distance between two consecutive scans (or horizontal resolution), as well as the number of intercepted points within each scan, since PLWA is only computed when the laser beam detects vegetation. To verify system performance, tests were conducted related to the georeferencing task and synchronization problems between GPS time and central processing unit (CPU) time. Despite this, the overall accuracy of the system is generally acceptable. The Leaf Area Index (LAI) can then be estimated using PLWA as an explanatory variable in appropriate linear regression models.

Advanced technologies for the improvement of spray application techniques in spanish viticulture: an overview.

Spraying techniques have been undergoing continuous evolution in recent decades. This paper presents part of the research work carried out in Spain in the field of sensors for characterizing vineyard canopies and monitoring spray drift in order to improve vineyard spraying and make it more sustainable. Some methods and geostatistical procedures for mapping vineyard parameters are proposed, and the development of a variable rate sprayer is described. All these technologies are interesting in terms of adjusting the amount of pesticides applied to the target canopy.

Allelic variants in TLR10 gene may influence bilateral affectation and clinical course of Meniere's disease.

Toll-like receptors trigger the innate immune response by activating various cell types such us macrophages and lymphocytes. We genotyped SNV of TLR3, TRL7, TLR8 and TLR10 in 863 Spanish and 150 Italian patients with Meniere's disease (MD) and 1,013 controls by using Taqman assays. Real-Time qPCR was used to measure the expression level of TLR10 in peripheral blood leukocytes. The overall dataset showed that the C allele and the CC genotype of rs11096955 in TLR10 gene were more commonly observed in controls than patients (corrected p = 1 × 10(-3), OR = 0.68 [95 % confidence interval, 0.54-0.84] for CC genotype; corrected p = 1.5 × 10(-5), OR = 0.75 [0.66-0.85] for allele C). Moreover, the CC genotype was more frequent in patients with uni- (19 %) than bilateral sensorineural hearing loss (SNHL) (13 %). Logistic regression demonstrated that the time since the onset of MD, Tumarkin crises, hearing stage and rs11096955 were independent factors influencing the risk of bilateral SNHL. In addition, rs11096955 influenced hearing loss progression in patients with bilateral MD. No change in expression of TLR10 was observed according to CC, CA or AA genotypes. Our data suggest that allelic variants of TLR10 gene may influence the susceptibility and time-course of hearing loss of MD in the European population.

Analysis of architectures implemented for IIoT.

Several technological blocks are being developed to provide solutions to the requirements necessary for the implementation of industrial IoT. However, this is feasible with the resources offered by the Cloud, such as processing, applications and services. Despite this, there are negative aspects such as bandwidth, Internet service variability, latency, lack of filtering of junk data transmitted to the cloud and security. From another perspective, these situations emerge as challenges that are being studied to meet the needs of this new industrial era, which means that the important contribution of academia, companies and consortiums, are achieving a change of course, by taking advantage of the potential of the Cloud but now from the vicinity or perimeter of a production plant. To achieve this task, some pillars of IoT technology are being used as a basis, such as the designs of Fog Computing Platforms (FCP), Edge Computing (EC) and considering the need for cooperation between IT and operation technologies (IT and OT), with which it is intended to accelerate the paradigm shift that this situation has generated. The objective of this study is to show a systematic literature review (SLR) of recent studies on hierarchical and flat peer-to-peer (P2P) architectures implemented for manufacturing IIoT, analyzing those successes and weaknesses derived from them such as latency, security, computing methodologies, virtualization architectures, Fog Computing (FC) in Manufacturing Execution Systems (MES), Quality of Service (QoS) and connectivity, with the aim of motivating possible research points when implementing IIoT with these new technologies.

Modeling the effect of glucagon on endogenous glucose production in type 1 diabetes: On the role of glucagon receptor dynamics.

This paper validates a glucoregulatory model including glucagon receptors dynamics in the description of endogenous glucose production (EGP). A set of models from literature are selected for a head-to-head comparison in order to evaluate the role of glucagon receptors. Each EGP model is incorporated into an existing glucoregulatory model and validated using a set of clinical data, where both insulin and glucagon are administered. The parameters of each EGP model are identified in the same optimization problem, minimizing the root mean square error (RMSE) between the simulation and the clinical data. The results show that the RMSE for the proposed receptors-based EGP model was lower when compared to each of the considered models (Receptors approach: 7.13±1.71 mg/dl vs. 7.76±1.45 mg/dl (p=0.066), 8.45±1.38 mg/dl (p=0.011) and 8.99±1.62 mg/dl (p=0.007)). This raises the possibility of considering glucagon receptors dynamics in type 1 diabetes simulators.

Comparison of Tinnitus Handicap Inventory and Tinnitus Functional Index as Treatment Outcomes.

BACKGROUND: Tinnitus is an audiological disorder for which there are no objective measuring tools. Thus, many self-report questionnaires have been proposed to assess its severity. These questionnaires have been judged for their capacity to assess the tinnitus severity at baseline, their sensitivity to treatment-related changes (responsiveness), and their resolution. METHODS: The most widely used questionnaires for clinical and research studies are the Tinnitus Handicap Inventory (THI) and the Tinnitus Functional Index (TFI). While both questionnaires have been recognized as good evaluators of the baseline tinnitus severity, the latter is considered to be more responsive to changes following treatments. OBJECTIVES: The aim of this work is to provide a preliminary comparison of the performance of both questionnaires in the initial and final tinnitus severity assessment of a cohort of patients undergoing a four-month Enriched Acoustic Environment (EAE) therapy. RESULTS: The EAE therapy provided a 30 and 26 point reduction in THI and TFI, respectively. A good correlation is obtained between the THI and TFI questionnaires at baseline and after the treatment. CONCLUSION: At baseline, the THI provided a higher score than the TFI for a higher degree of tinnitus but a lower score for lower tinnitus severity. Both THI and TFI were good questionnaires for baseline assessment and for treatment-related changes. The THI provided a slightly higher score drop than the TFI following the treatment, although the TFI had better resolution.

Bases for pesticide dose expression and adjustment in 3D crops and comparison of decision support systems.

Authorities around the world have committed to limiting the use of chemical pesticides by reducing doses, among other strategies. Nevertheless, different dose expression models and decision support systems (DSSs) for dose adjustment coexist for high growing crops (3D crops). Among them, leaf wall area (LWA) and tree row volume (TRV) models have recently been proposed by the European and Mediterranean Plant Protection Organization (EPPO) for pre-registration trials. In this paper, the background and technical bases of six dose adjustment DSSs in fruit crops (PACE, AGMET, DOSA3D, OMAX and PULVARBO) and four in grape orchards (AGMET, OPTIDOSE, DOSAVIÑA and DOSA3D) are described and compared. The discussion leads to the conclusion that LWA and TRV represents a substantial improvement compared to the former crop ground area-based dose expression model. However, total leaf area is the most important parameter for dose adjustment, while sprayer efficiency is also a key factor. Additionally, it is suggested that deposition on leaves (mean values and variability) should be reported in pesticide efficacy evaluations in order to establish the required doses independently from the dose expression mode. The DOSA3D system, based on leaf area index estimation, was found to be the most conservative DSS regarding the spraying volume ratio to TRV because low spraying efficiencies are considered. Instead, AGMET was found to be the most effective for dose adjustment. However, despite the differences between the recommendations, all the analysed DSSs are useful tools for rational decision making about spraying volume rate and pesticide doses at national level. Their use should be promoted by the competent authorities.

Hippocampal categories: a mathematical foundation for navigation and memory.

It goes without saying that in science, experiments are essential; hypothesis need to be contrasted against empirical results in order to build scientific theories. In a system of overwhelming complexity like the brain, it is very likely that hidden variables, unknown by the experimentalist, are interacting with those few elements of which the values are expected and can be validated or rejected in the laboratory. Thus, at the end of the day, the experimentalist is refuting or validating tentative models that are somehow prisoners of the lack of knowledge about the structure of the system. The global picture being missing, a key is to look for the fundamental structure which must be found not in the objects, but in the relationships between the objects-their morphisms. How components at the same level interact (the objects here being neurons) and how superior levels constrain those levels below and emerge from those above is tackled here with a mathematical tooling. The mathematical theory of categories is proposed as a valid foundational framework for theoretical modeling in brain sciences.

Spontaneous coronary artery dissection in Spain: clinical and angiographic characteristics, management, and in-hospital events.

INTRODUCTION AND OBJECTIVES: Spontaneous coronary artery dissection (SCAD) is an uncommon cause of acute coronary syndrome. The characteristics and in-hospital clinical course of patients with SCAD in Spain remain unknown. METHODS: We present data from consecutive patients included in the national prospective SCAD registry. Angiographic analysis was performed in a centralized core laboratory. RESULTS: Between June 2015 and April 2019, we included 318 patients with SCAD (358 lesions) from 31 centers. Median age was 53 years, and 88% were women. The most frequent presentation was non-ST-segment elevation acute myocardial infarction (53%). The most frequently involved artery was the left anterior descending coronary artery (44%), predominantly affecting the distal segments (39%) and secondary branches (54%). Most lesions (62%) appeared on angiography as intramural hematoma, without double lumen. Conservative management was selected as the initial approach in most patients (78%). During the index admission, 6% of patients had a major adverse event and 4 patients (1.3%) died. Independent predictors of adverse events were initial management with percutaneous coronary intervention (OR, 5.97; P=.004) and angiographic presentation as intramural hematoma (OR, 4.96; P=.028). CONCLUSIONS: In Spain, SCAD affects mainly middle-aged women. In most patients, the initial management strategy was conservative with excellent in-hospital survival. Initial management with percutaneous coronary intervention and angiographic presentation as intramural hematoma were related to the presence of in-hospital adverse events. Registered at ClnicalTrials.gov (Identifier: NCT03607981).

A functional approach to emotion in autonomous systems.

The construction of fully effective systems seems to pass through the proper exploitation of goal-centric self-evaluative capabilities that let the system teleologically self-manage. Emotions seem to provide this kind of functionality to biological systems and hence the interest in emotion for function sustainment in artificial systems performing in changing and uncertain environments; far beyond the media hullabaloo of displaying human-like emotion-laden faces in robots. This chapter provides a brief analysis of the scientific theories of emotion and presents an engineering approach for developing technology for robust autonomy by implementing functionality inspired in that of biological emotions.

Collapsin Response Mediator Protein 4 (CRMP4) Facilitates Wallerian Degeneration and Axon Regeneration following Sciatic Nerve Injury.

In contrast to neurons in the CNS, damaged neurons from the peripheral nervous system (PNS) regenerate, but this process can be slow and imperfect. Successful regeneration is orchestrated by cytoskeletal reorganization at the tip of the proximal axon segment and cytoskeletal disassembly of the distal segment. Collapsin response mediator protein 4 (CRMP4) is a cytosolic phospho-protein that regulates the actin and microtubule cytoskeleton. During development, CRMP4 promotes growth cone formation and dendrite development. Paradoxically, in the adult CNS, CRMP4 impedes axon regeneration. Here, we investigated the involvement of CRMP4 in peripheral nerve injury in male and female Crmp4-/- mice following sciatic nerve injury. We find that sensory axon regeneration and Wallerian degeneration are impaired in Crmp4-/- mice following sciatic nerve injury. In vitro analysis of dissociated dorsal root ganglion (DRG) neurons from Crmp4-/- mice revealed that CRMP4 functions in the proximal axon segment to promote the regrowth of severed DRG neurons and in the distal axon segment where it facilitates Wallerian degeneration through calpain-dependent formation of harmful CRMP4 fragments. These findings reveal an interesting dual role for CRMP4 in proximal and distal axon segments of injured sensory neurons that coordinately facilitate PNS axon regeneration.