A dynamic human motion: coordination analysis.

This article is concerned with the generic structure of the motion coordination system resulting from the application of the method of virtual holonomic constraints (VHCs) to the problem of the generation and robust execution of a dynamic humanlike motion by a humanoid robot. The motion coordination developed using VHCs is based on a motion generator equation, which is a scalar nonlinear differential equation of second order. It can be considered equivalent in function to a central pattern generator in living organisms. The relative time evolution of the degrees of freedom of a humanoid robot during a typical motion are specified by a set of coordination functions that uniquely define the overall pattern of the motion. This is comparable to a hypothesis on the existence of motion patterns in biomechanics. A robust control is derived based on a transverse linearization along the configuration manifold defined by the coordination functions. It is shown that the derived coordination and control architecture possesses excellent robustness properties. The analysis is performed on an example of a real human motion recorded in test experiments.

Selenium Biofortification Impacts the Tomato Fruit Metabolome and Transcriptional Profile at Ripening.

In the present work, the effects of enriching tomatoes with selenium were studied in terms of physiological, metabolic, and molecular processes in the last stages of fruit development, particularly during ripening. A selenium concentration of 10 mg L-1 with sodium selenate and selenium nanoparticles was used in the spray treatments on the whole plants. No significant effects of selenium enrichment were detected in terms of ethylene production or color changes in the ripening fruit. However, selenium enrichment had an influence on both the primary and secondary metabolic processes and thus the biochemical composition of ripe tomatoes. Selenium decreased the amount of ß-carotene, increased the accumulation of naringenin and chlorogenic acid, and decreased the coumaric acid level. Selenium also affected the volatile organic compound profile, with changes in the level of specific apocarotenoid compounds, such as ß-ionone. These metabolomic changes may, to some extent, be due to the impact of selenium treatment on the transcription of genes involved in the metabolism of these compounds. RNA-seq analysis showed that the selenium application mostly impacted the expression of the genes involved in hormonal signaling, secondary metabolism, flavonoid biosynthesis, and glycosaminoglycan degradation.

Se-Enrichment Pattern, Composition, and Aroma Profile of Ripe Tomatoes after Sodium Selenate Foliar Spraying Performed at Different Plant Developmental Stages.

Foliar spray with selenium salts can be used to fortify tomatoes, but the results vary in relation to the Se concentration and the plant developmental stage. The effects of foliar spraying with sodium selenate at concentrations of 0, 1, and 1.5 mg Se L-1 at flowering and fruit immature green stage on Se accumulation and quality traits of tomatoes at ripening were investigated. Selenium accumulated up to 0.95 µg 100 g FW-1, with no significant difference between the two concentrations used in fruit of the first truss. The treatment performed at the flowering stage resulted in a higher selenium concentration compared to the immature green treatment in the fruit of the second truss. Cu, Zn, K, and Ca content was slightly modified by Se application, with no decrease in fruit quality. When applied at the immature green stage, Se reduced the incidence of blossom-end rot. A group of volatile organic compounds (2-phenylethyl alcohol, guaiacol, (E)-2-heptenal, 1-penten-3-one and (E)-2-pentenal), positively correlated with consumer liking and flavor intensity, increased following Se treatment. These findings indicate that foliar spraying, particularly if performed at flowering stage, is an efficient method to enrich tomatoes with Se, also resulting in positive changes in fruit aroma profile.

Pair-wise multicomparison and OPLS analyses of cold-acclimation phases in Siberian spruce.

Analysis of metabolomics data often goes beyond the task of discovering biomarkers and can be aimed at recovering other important characteristics of observed metabolomic changes. In this paper we explore different methods to detect the presence of distinctive phases in seasonal-responsive changes of metabolomic patterns of Siberian spruce (Picea obovata) during cold acclimation occurred in the period from mid-August to January. Multivariate analysis, specifically orthogonal projection to latent structures discriminant analysis (OPLS-DA), identified time points where the metabolomic patterns underwent substantial modifications as a whole, revealing four distinctive phases during acclimation. This conclusion was re-examined by a univariate analysis consisting of multiple pair-wise comparisons to identify homogeneity intervals for each metabolite. These tests complemented OPLS-DA, clarifying biological interpretation of the classification: about 60% of metabolites found responsive to the cold stress indeed changed at one or more of the time points predicted by OPLS-DA. However, the univariate approach did not support the proposed division of the acclimation period into four phases: less than 10% of metabolites altered during the acclimation had homogeneous levels predicted by OPLS-DA. This demonstrates that coupling the classification found by OPLS-DA and the analysis of dynamics of individual metabolites obtained by pair-wise multicomparisons reveals a more correct characterization of biochemical processes in freezing tolerant trees and leads to interpretations that cannot be deduced by either method alone. The combined analysis can be used in other 'omics'-studies, where response factors have a causal dependence (like the time in the present work) and pair-wise multicomparisons are not conservative. ELECTRONIC SUPPLEMENTARY MATERIAL: The online version of this article (doi:10.1007/s11306-011-0304-5) contains supplementary material, which is available to authorized users.

Experimental testing of a method for on-line identification of the cerebrospinal fluid system.

Accurate estimates of the compliance and out-flow resistance of the human cerebrospinal fluid system are important for diagnosis of a medical condition known as hydrocephalus. In this paper we present a system which provides simultaneous on-line estimates of the outflow resistance and compliance. It's performance is experimentally verified using the same apparatus used to perform actual patient diagnoses and a specially designed physical model of the human cerebrospinal fluid system.