Towards a neural hierarchy of time scales for motor control

Animals show remarkable rich motion skills which are still far from realizable with robots. Inspired by the neural circuits which generate rhythmic motion patterns in the spinal cord of all vertebrates, one main research direction points towards the use of central pattern generators in robots. On of the key advantages of this, is that the dimensionality of the control problem is reduced. In this work we investigate this further by introducing a multi-timescale control hierarchy with at its core a hierarchy of recurrent neural networks. By means of some robot experiments, we demonstrate that this hierarchy can embed any rhythmic motor signal by imitation learning. Furthermore, the proposed hierarchy allows the tracking of several high level motion properties (e.g.: amplitude and offset), which are usually observed at a slower rate than the generated motion. Although these experiments are preliminary, the results are promising and have the potential to open the door for rich motor skills and advanced control

A new phylodynamic model of Mycobacterium bovis transmission in a multi-host system uncovers the role of the unobserved reservoir

Multi-host pathogens are particularly difficult to control, especially when at least one of the hosts acts as a hidden reservoir. Deep sequencing of densely sampled pathogens has the potential to transform this understanding, but requires analytical approaches that jointly consider epidemiological and genetic data to best address this problem. While there has been considerable success in analyses of single species systems, the hidden reservoir problem is relatively under-studied. A well-known exemplar of this problem is bovine Tuberculosis, a disease found in British and Irish cattle caused by Mycobacterium bovis, where the Eurasian badger has long been believed to act as a reservoir but remains of poorly quantified importance except in very specific locations. As a result, the effort that should be directed at controlling disease in badgers is unclear. Here, we analyse densely collected epidemiological and genetic data from a cattle population but do not explicitly consider any data from badgers. We use a simulation modelling approach to show that, in our system, a model that exploits available cattle demographic and herd-to-herd movement data, but only considers the ability of a hidden reservoir to generate pathogen diversity, can be used to choose between different epidemiological scenarios. In our analysis, a model where the reservoir does not generate any diversity but contributes to new infections at a local farm scale are significantly preferred over models which generate diversity and/or spread disease at broader spatial scales. While we cannot directly attribute the role of the reservoir to badgers based on this analysis alone, the result supports the hypothesis that under current cattle control regimes, infected cattle alone cannot sustain M. bovis circulation. Given the observed close phylogenetic relationship for the bacteria taken from cattle and badgers sampled near to each other, the most parsimonious hypothesis is that the reservoir is the infected badger population. More broadly, our approach demonstrates that carefully constructed bespoke models can exploit the combination of genetic and epidemiological data to overcome issues of extreme data bias, and uncover important general characteristics of transmission in multi-host pathogen systems

Fine Scale Simulation of Fractured Reservoirs: Applications and Comparison

Imperial Users onl

Mesoscale mapping of sediment source hotspots for dam sediment management in data-sparse semi-arid catchments

Land degradation and water availability in semi-arid regions are interdependent challenges for management that are influenced by climatic and anthropogenic changes. Erosion and high sediment loads in rivers cause reservoir siltation and decrease storage capacity, which pose risk on water security for citizens, agriculture, and industry. In regions where resources for management are limited, identifying spatial-temporal variability of sediment sources is crucial to decrease siltation. Despite widespread availability of rigorous methods, approaches simplifying spatial and temporal variability of erosion are often inappropriately applied to very data sparse semi-arid regions. In this work, we review existing approaches for mapping erosional hotspots, and provide an example of spatial-temporal mapping approach in two case study regions. The barriers limiting data availability and their effects on erosion mapping methods, their validation, and resulting prioritization of leverage management areas are discussed.BMBF, 02WGR1421A-I, GROW - Verbundprojekt SaWaM: Saisonales Wasserressourcen-Management in Trockenregionen: Praxistransfer regionalisierter globaler Informationen, Teilprojekt 1DFG, 414044773, Open Access Publizieren 2019 - 2020 / Technische Universität Berli

Microfluidics for Advanced Drug Delivery Systems.

Considerable efforts have been devoted towards developing effective drug delivery methods. Microfluidic systems, with their capability for precise handling and transport of small liquid quantities, have emerged as a promising platform for designing advanced drug delivery systems. Thus, microfluidic systems have been increasingly used for fabrication of drug carriers or direct drug delivery to a targeted tissue. In this review, the recent advances in these areas are critically reviewed and the shortcomings and opportunities are discussed. In addition, we highlight the efforts towards developing smart drug delivery platforms with integrated sensing and drug delivery components

Comparative evaluation of approaches in T.4.1-4.3 and working definition of adaptive module

The goal of this deliverable is two-fold: (1) to present and compare different approaches towards learning and encoding movements us- ing dynamical systems that have been developed by the AMARSi partners (in the past during the first 6 months of the project), and (2) to analyze their suitability to be used as adaptive modules, i.e. as building blocks for the complete architecture that will be devel- oped in the project. The document presents a total of eight approaches, in two groups: modules for discrete movements (i.e. with a clear goal where the movement stops) and for rhythmic movements (i.e. which exhibit periodicity). The basic formulation of each approach is presented together with some illustrative simulation results. Key character- istics such as the type of dynamical behavior, learning algorithm, generalization properties, stability analysis are then discussed for each approach. We then make a comparative analysis of the different approaches by comparing these characteristics and discussing their suitability for the AMARSi project