Biologically Inspired Feedback Design for Drosophila Flight

We use a biologically motivated model of the Drosophila's flight mechanics and sensor processing to design a feedback control scheme to regulate forward flight. The model used for insect flight is the grand unified fly (GUF) [3] simulation consisting of rigid body kinematics, aerodynamic forces and moments, sensory systems, and a 3D environment model. We seek to design a control algorithm that will convert the sensory signals into proper wing beat commands to regulate forward flight. Modulating the wing beat frequency and mean stroke angle produces changes in the flight envelope. The sensory signals consist of estimates of rotational velocity from the haltere organs and translational velocity estimates from visual elementary motion detectors (EMD's) and matched retinal velocity filters. The controller is designed based on a longitudinal model of the flight dynamics. Feedforward commands are generated based on a desired forward velocity. The dynamics are linearized around this operating point and a feedback controller designed to correct deviations from the operating point. The control algorithm is implemented in the GUF simulator and achieves the desired tracking of the forward reference velocities and exhibits biologically realistic responses

Algorithmic approach to adiabatic quantum optimization

It is believed that the presence of anticrossings with exponentially small gaps between the lowest two energy levels of the system Hamiltonian, can render adiabatic quantum optimization inefficient. Here, we present a simple adiabatic quantum algorithm designed to eliminate exponentially small gaps caused by anticrossings between eigenstates that correspond with the local and global minima of the problem Hamiltonian. In each iteration of the algorithm, information is gathered about the local minima that are reached after passing the anticrossing non-adiabatically. This information is then used to penalize pathways to the corresponding local minima, by adjusting the initial Hamiltonian. This is repeated for multiple clusters of local minima as needed. We generate 64-qubit random instances of the maximum independent set problem, skewed to be extremely hard, with between 10^5 and 10^6 highly-degenerate local minima. Using quantum Monte Carlo simulations, it is found that the algorithm can trivially solve all the instances in ~10 iterations.Comment: 7 pages, 3 figure

Integrative Model of Drosophila Flight

This paper presents a framework for simulating the flight dynamics and control strategies of the fruit fly Drosophila melanogaster. The framework consists of five main components: an articulated rigid-body simulation, a model of the aerodynamic forces and moments, a sensory systems model, a control model, and an environment model. In the rigid-body simulation the fly is represented by a system of three rigid bodies connected by a pair of actuated ball joints. At each instant of the simulation, the aerodynamic forces and moments acting on the wings and body of the fly are calculated using an empirically derived quasi-steady model. The pattern of wing kinematics is based on data captured from high-speed video sequences. The forces and moments produced by the wings are modulated by deforming the base wing kinematics along certain characteristic actuation modes. Models of the fly’s visual and mechanosensory systems are used to generate inputs to a controller that sets the magnitude of each actuation mode, thus modulating the forces produced by the wings. This simulation framework provides a quantitative test bed for examining the possible control strategies employed by flying insects. Examples demonstrating pitch rate, velocity, altitude, and flight speed control, as well as visually guided centering in a corridor are presented

Jump-like unravelings for non-Markovian open quantum systems

Non-Markovian evolution of an open quantum system can be `unraveled' into pure state trajectories generated by a non-Markovian stochastic (diffusive) Schr\"odinger equation, as introduced by Di\'osi, Gisin, and Strunz. Recently we have shown that such equations can be derived using the modal (hidden variable) interpretation of quantum mechanics. In this paper we generalize this theory to treat jump-like unravelings. To illustrate the jump-like behavior we consider a simple system: A classically driven (at Rabi frequency $\Omega$) two-level atom coupled linearly to a three mode optical bath, with a central frequency equal to the frequency of the atom, $\omega_0$, and the two side bands have frequencies $\omega_0\pm\Omega$. In the large $\Omega$ limit we observed that the jump-like behavior is similar to that observed in this system with a Markovian (broad band) bath. This is expected as in the Markovian limit the fluorescence spectrum for a strongly driven two level atom takes the form of a Mollow triplet. However the length of time for which the Markovian-like behaviour persists depends upon {\em which} jump-like unraveling is used.Comment: 11 pages, 5 figure

Immune-Mediated Inflammation May Contribute to the Pathogenesis of Cardiovascular Disease in Mucopolysaccharidosis Type I.

BackgroundCardiovascular disease, a progressive manifestation of α-L-iduronidase deficiency or mucopolysaccharidosis type I, continues in patients both untreated and treated with hematopoietic stem cell transplantation or intravenous enzyme replacement. Few studies have examined the effects of α-L-iduronidase deficiency and subsequent glycosaminoglycan storage upon arterial gene expression to understand the pathogenesis of cardiovascular disease.MethodsGene expression in carotid artery, ascending, and descending aortas from four non-tolerized, non-enzyme treated 19 month-old mucopolysaccharidosis type I dogs was compared with expression in corresponding vascular segments from three normal, age-matched dogs. Data were analyzed using R and whole genome network correlation analysis, a bias-free method of categorizing expression level and significance into discrete modules. Genes were further categorized based on module-trait relationships. Expression of clusterin, a protein implicated in other etiologies of cardiovascular disease, was assessed in canine and murine mucopolysaccharidosis type I aortas via Western blot and in situ immunohistochemistry.ResultsGene families with more than two-fold, significant increased expression involved lysosomal function, proteasome function, and immune regulation. Significantly downregulated genes were related to cellular adhesion, cytoskeletal elements, and calcium regulation. Clusterin gene overexpression (9-fold) and protein overexpression (1.3 to 1.62-fold) was confirmed and located specifically in arterial plaques of mucopolysaccharidosis-affected dogs and mice.ConclusionsOverexpression of lysosomal and proteasomal-related genes are expected responses to cellular stress induced by lysosomal storage in mucopolysaccharidosis type I. Upregulation of immunity-related genes implicates the potential involvement of glycosaminoglycan-induced inflammation in the pathogenesis of mucopolysaccharidosis-related arterial disease, for which clusterin represents a potential biomarker

Two Types of Resistance to the Diamondback Moth (Lepidoptera: Plutellidae) in Cabbage

Survival of larvae of the diamondback moth, Plutella xylostella (L.) was reduced on several genotypes of cabbage from the breeding program at Geneva, N.Y. Polar fractions of ethanol extracts of partially resistant lines 2535 and 2503, when incorporated into diet, reduced survival of P. xylostella larvae by 14.9 and 19.0%, respectively. Whether this effect was due to reduced feeding or postingestive toxicity was not determined. Although survival on glossy-leafed line 2518 was very low in the field and larvae on this line failed to form visible feeding mines during the first 72 h after egg hatch, extracts from 2518 had no activity. Survival of larvae confined on leaf disks of 2518 in the laboratory was much greater (80% of controls) than it was on whole plants in the field (0.36% of controls). In the field, neonate P. xylostella dispersed two to three times more rapidly on the leaves of 2518 than on other lines. Resistance to P. xylostella in the lines investigated was therefore due to at least two mechanisms, (1) antibiosis or nonpreference due to extractable compounds present in normal bloom resistant cabbage genotypes, 2503 and 2535, and (2) possible nonpreference for glossy-leafed 2518 by neonate larvae, as suggested by the greater dispersal rates of neonates on these plants. Survival is relatively high on 2518 in leaf disk bioassays in the laboratory, suggesting that nonpreference in combination with environmental stresses to larvae in the field may produce P. xylostella resistance in the glossy 251

Functional rescue of dystrophin deficiency in mice caused by frameshift mutations using Campylobacter jejuni Cas9

Duchenne muscular dystrophy (DMD) is a fatal, X-linked muscle wasting disease caused by mutations in the DMD gene. In 51% of DMD cases, a reading frame is disrupted because of deletion of several exons. Here, we show that CjCas9 derived from Campylobacter jejuni can be used as a gene editing tool to correct an out-of-frame Dmd exon in Dmd knockout mice. Herein, we used Cas9 derived from S. pyogenes to generate Dmd knockout (KO) mice with a frameshift mutation in Dmd gene. Then, we expressed CjCas9, its single-guide RNA, and the eGFP gene in the tibialis anterior muscle of the Dmd KO mice using an all-in-one adeno-associated virus (AAV) vector. CjCas9 cleaved the target site in the Dmd gene efficiently in vivo and induced small insertions or deletions at the target site. This treatment resulted in conversion of the disrupted Dmd reading frame from out-of-frame to in-frame, leading to the expression of dystrophin in the sarcolemma. Importantly, muscle strength was enhanced in the CjCas9-treated muscles, without off-target mutations, indicating high efficiency and specificity of CjCas9. This work suggests that in vivo DMD frame correction, mediated by CjCas9 has great potential for the treatment of DMD and other neuromuscular diseases

Consistent Quantum Counterfactuals

An analysis using classical stochastic processes is used to construct a consistent system of quantum counterfactual reasoning. When applied to a counterfactual version of Hardy's paradox, it shows that the probabilistic character of quantum reasoning together with the ``one framework'' rule prevents a logical contradiction, and there is no evidence for any mysterious nonlocal influences. Counterfactual reasoning can support a realistic interpretation of standard quantum theory (measurements reveal what is actually there) under appropriate circumstances.Comment: Minor modifications to make it agree with published version. Latex 8 pages, 2 figure

Quantum Computing and Hidden Variables I: Mapping Unitary to Stochastic Matrices

This paper initiates the study of hidden variables from the discrete, abstract perspective of quantum computing. For us, a hidden-variable theory is simply a way to convert a unitary matrix that maps one quantum state to another, into a stochastic matrix that maps the initial probability distribution to the final one in some fixed basis. We list seven axioms that we might want such a theory to satisfy, and then investigate which of the axioms can be satisfied simultaneously. Toward this end, we construct a new hidden-variable theory that is both robust to small perturbations and indifferent to the identity operation, by exploiting an unexpected connection between unitary matrices and network flows. We also analyze previous hidden-variable theories of Dieks and Schrodinger in terms of our axioms. In a companion paper, we will show that actually sampling the history of a hidden variable under reasonable axioms is at least as hard as solving the Graph Isomorphism problem; and indeed is probably intractable even for quantum computers.Comment: 19 pages, 1 figure. Together with a companion paper to appear, subsumes the earlier paper "Quantum Computing and Dynamical Quantum Models" (quant-ph/0205059

On Nichols algebras over PGL(2,q) and PSL(2,q)

We compute necessary conditions on Yetter-Drinfeld modules over the groups \mathbf{PGL}(2,q)=\mathbf{PGL}(2,\FF_q) and \mathbf{PSL}(2,q)=\mathbf{PSL}(2,\FF_q) to generate finite dimensional Nichols algebras. This is a first step towards a classification of pointed Hopf algebras with group of group-likes isomorphic to one of these groups. As a by-product of the techniques developed in this work, we prove that there is no non-trivial finite-dimensional pointed Hopf algebra over the Mathieu groups $M_{20}$ and $M_{21}=\mathbf{PSL}(3,4)$.Comment: Minor change