Encoderless Gimbal Calibration of Dynamic Multi-Camera Clusters

Dynamic Camera Clusters (DCCs) are multi-camera systems where one or more cameras are mounted on actuated mechanisms such as a gimbal. Existing methods for DCC calibration rely on joint angle measurements to resolve the time-varying transformation between the dynamic and static camera. This information is usually provided by motor encoders, however, joint angle measurements are not always readily available on off-the-shelf mechanisms. In this paper, we present an encoderless approach for DCC calibration which simultaneously estimates the kinematic parameters of the transformation chain as well as the unknown joint angles. We also demonstrate the integration of an encoderless gimbal mechanism with a state-of-the art VIO algorithm, and show the extensions required in order to perform simultaneous online estimation of the joint angles and vehicle localization state. The proposed calibration approach is validated both in simulation and on a physical DCC composed of a 2-DOF gimbal mounted on a UAV. Finally, we show the experimental results of the calibrated mechanism integrated into the OKVIS VIO package, and demonstrate successful online joint angle estimation while maintaining localization accuracy that is comparable to a standard static multi-camera configuration.Comment: ICRA 201

Accurate and Interactive Visual-Inertial Sensor Calibration with Next-Best-View and Next-Best-Trajectory Suggestion

Visual-Inertial (VI) sensors are popular in robotics, self-driving vehicles, and augmented and virtual reality applications. In order to use them for any computer vision or state-estimation task, a good calibration is essential. However, collecting informative calibration data in order to render the calibration parameters observable is not trivial for a non-expert. In this work, we introduce a novel VI calibration pipeline that guides a non-expert with the use of a graphical user interface and information theory in collecting informative calibration data with Next-Best-View and Next-Best-Trajectory suggestions to calibrate the intrinsics, extrinsics, and temporal misalignment of a VI sensor. We show through experiments that our method is faster, more accurate, and more consistent than state-of-the-art alternatives. Specifically, we show how calibrations with our proposed method achieve higher accuracy estimation results when used by state-of-the-art VI Odometry as well as VI-SLAM approaches. The source code of our software can be found on: https://github.com/chutsu/yac.Comment: 8 pages, 11 figures, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023

Stercobilin: A Putative Link between Autism and Gastrointestinal Distress?

Despite the increasing prevalence for its diagnosis in children, there are no clinical biomarkers of autism spectrum disorders (ASD). Herein a research journey is described that began by seeking evidence for the opioid excess theory of autism using mass spectrometry methods to screen human urine specimens and has evolved into the discovery of promising murine fecal biomarkers for ASD. Our results are consistent with an emerging body of evidence that shows that intestinal microflora from ASD subjects can be distinguished from controls, suggesting that metabolite differences due to the action of intestinal microbes may provide a means to identify ASD biomarkers

An electrostatic interaction between TEA and an introduced pore aromatic drives spring-in-the-door inactivation in Shaker potassium channels

Slow inactivation of Kv1 channels involves conformational changes near the selectivity filter. We examine such changes in Shaker channels lacking fast inactivation by considering the consequences of mutating two residues, T449 just external to the selectivity filter and V438 in the pore helix near the bottom of the selectivity filter. Single mutant T449F channels with the native V438 inactivate very slowly, and the canonical foot-in-the-door effect of extracellular tetraethylammonium (TEA) is not only absent, but the time course of slow inactivation is accelerated by TEA. The V438A mutation dramatically speeds inactivation in T449F channels, and TEA slows inactivation exactly as predicted by the foot-in-the-door model. We propose that TEA has this effect on V438A/T449F channels because the V438A mutation produces allosteric consequences within the selectivity filter and may reorient the aromatic ring at position 449. We investigated the possibility that the blocker promotes the collapse of the outer vestibule (spring-in-the-door) in single mutant T449F channels by an electrostatic attraction between a cationic TEA and the quadrupole moments of the four aromatic rings. To test this idea, we used in vivo nonsense suppression to serially fluorinate the introduced aromatic ring at the 449 position, a manipulation that withdraws electrons from the aromatic face with little effect on the shape, net charge, or hydrophobicity of the aromatic ring. Progressive fluorination causes monotonically enhanced rates of inactivation. In further agreement with our working hypothesis, increasing fluorination of the aromatic gradually transforms the TEA effect from spring-in-the-door to foot-in-the-door. We further substantiate our electrostatic hypothesis by quantum mechanical calculations

Solid Oxide Fuel Cell Seal Development at NASA Glenn Research Center

Researchers at NASA GRC are confronting the seal durability challenges of Solid Oxide Fuel Cells by pursuing an integrated and multidisciplinary development effort incorporating thermo-structural analyses, advanced materials, experimentation, and novel seal design concepts. The successful development of durable hermetic SOFC seals is essential to reliably producing the high power densities required for aerospace applications

TGF-β receptor expression and binding in rat mesangial cells: Modulation by glucose and cyclic mechanical strain

TGF-β receptor expression and binding in rat mesangial cells: Modulation by glucose and cyclic mechanical strain.BackgroundTransforming growth factor-β (TGF-β) is a causal factor in experimental glomerulosclerosis, and it mediates the increased extracellular matrix (ECM) accumulation that occurs in cultured mesangial cells (MCs) exposed to high glucose concentrations and cyclic mechanical strain. This change is associated with increased levels of TGF-β, but may also involve alterations in receptor expression and binding.MethodsRat MCs cultured in media containing either 8 or 35 mM glucose were seeded into culture plates with elastin-coated flexible bottoms. Thereafter, they were subjected to cyclic stretch or static conditions and then examined for125I-TGF-β1 binding and expression of TGF-β receptors at the gene and protein levels.ResultsKinetic studies showed that MCs bound TGF-β1 in a time- and concentration-dependent manner, expressing 6800 high-affinity receptors per cell, with an apparent dissociation constant (Kd) of 15.4 pM, while cross-linking analysis identified three TGF-β receptors (βR) corresponding to βRI, βRII, and βRIII of 54, 73, and 200 kDa, respectively. Immunocytochemical studies of βRI and βRII protein revealed MC expression in a homogeneous, punctate distribution, whereas Northern analysis demonstrated the presence of the corresponding mRNAs. Exposure to cyclic stretching significantly increased (10%) the overall number of TGF-β receptors, whereas ligands associated with βRs I, II, and III also increased (25 to 50%). The finding of increased (30 to 40%) βRI and βRII transcript levels and immunoreactive protein (163 and 59%, respectively) in the absence of significant changes in the apparent Kd indicated that stretch-induced binding was the result of increased receptor synthesis and expression and not due to a change in binding affinity. In a similar, but more dramatic fashion, exposure to high glucose also elevated (50%) the receptor number, as well as the amount of ligands associated with βRs I, II, and III (100 to 250%). This same treatment also increased the levels of βRI and βRII mRNA (30 to 40%) and the immunoreactive protein (82 and 82%, respectively), without significantly altering the binding affinity of the receptor. A concerted or synergistic effect of both stimuli was not evidenced.ConclusionThese results suggest that the modulation of TGF-β receptors may be an additional control point in mediating the glucose- and mechanical force-induced increase in ECM deposition by MCs

Engineering the Eigenstates of Coupled Spin-1/2 Atoms on a Surface

Quantum spin networks having engineered geometries and interactions are eagerly pursued for quantum simulation and access to emergent quantum phenomena such as spin liquids. Spin-1=2 centers are particularly desirable, because they readily manifest coherent quantum fluctuations. Here we introduce a controllable spin-1=2 architecture consisting of titanium atoms on a magnesium oxide surface. We tailor the spin interactions by atomic-precision positioning using a scanning tunneling microscope (STM) and subsequently perform electron spin resonance on individual atoms to drive transitions into and out of quantum eigenstates of the coupled-spin system. Interactions between the atoms are mapped over a range of distances extending from highly anisotropic dipole coupling to strong exchange coupling. The local magnetic field of the magnetic STM tip serves to precisely tune the superposition states of a pair of spins. The precise control of the spin-spin interactions and ability to probe the states of the coupled-spin network by addressing individual spins will enable the exploration of quantum many-body systems based on networks of spin-1=2 atoms on surfaces. © 2017 American Physical Society3

Tracing the Filamentary Structure of the Galaxy Distribution at z~0.8

We study filamentary structure in the galaxy distribution at z ~ 0.8 using data from the Deep Extragalactic Evolutionary Probe 2 (DEEP2) Redshift Survey and its evolution to z ~ 0.1 using data from the Sloan Digital Sky Survey (SDSS). We trace individual filaments for both surveys using the Smoothed Hessian Major Axis Filament Finder, an algorithm which employs the Hessian matrix of the galaxy density field to trace the filamentary structures in the distribution of galaxies. We extract 33 subsamples from the SDSS data with a geometry similar to that of DEEP2. We find that the filament length distribution has not significantly changed since z ~ 0.8, as predicted in a previous study using a \LamdaCDM cosmological N-body simulation. However, the filament width distribution, which is sensitive to the non-linear growth of structure, broadens and shifts to smaller widths for smoothing length scales of 5-10 Mpc/h from z ~ 0.8 to z ~ 0.1, in accord with N-body simulations.Comment: 10 pages, 8 figures, accepted for the publication in MNRA