May Salivary Chromogranin A Act as a Physiological Index of Stress in Transported Donkeys? A Pilot Study

Road transport is known to be a stressful animal husbandry procedure as it induces the activation of two main physiological stress-related pathways: the hypothalamic-pituitary-adrenal cortex axis and the sympathetic-adrenal medulla axis. This preliminary study aimed to investigate whether salivary chromogranin A (CgA) concentration, known as a biomarker of the sympathetic activity system during psychological stress, may represent a novel physiological index of transportation-induced stress in donkeys. Nineteen Romagnolo donkeys, raised in groups on paddocks, were subject to two transportations, following the farm's routine procedures, for a mean duration of 64 min each on two consecutive days. Salivary samples were gently collected 15 min before and 15 min after each transportation. Salivary CgA was measured by a commercially available enzyme-linked immunosorbent assay test. Results showed that CgA salivary levels significantly decreased after both transportations. The physiological mechanisms underlying this result may be related to catestatin activity, a bioactive product of the proteolytic cleavage of CgA, that acts as an inhibitor of catecholamine release. This hypothesis requires further investigation, particularly considering the limited number of subjects involved in this preliminary study. The identification of a reliable and non-invasive stress-marker would represent a useful tool for improving farm animals' welfare in transport conditions

Probabilistic motion planning and optimization incorporating chance constraints

Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2018.Cataloged from PDF version of thesis.Includes bibliographical references (pages 201-208).For high-dimensional robots, motion planning is still a challenging problem, especially for manipulators mounted to underwater vehicles or human support robots where uncertainties and risks of plan failure can have severe impact. However, existing risk-aware planners mostly focus on low-dimensional planning tasks, meanwhile planners that can account for uncertainties and react fast in high degree-of-freedom (DOF) robot planning tasks are lacking. In this thesis, a risk-aware motion planning and execution system called Probabilistic Chekov (p-Chekov) is introduced, which includes a deterministic stage and a risk-aware stage. A systematic set of experiments on existing motion planners as well as p-Chekov is also presented. The deterministic stage of p-Chekov leverages the recent advances in obstacle-aware trajectory optimization to improve the original tube-based-roadmap Chekov planner. Through experiments in 4 common application scenarios with 5000 test cases each, we show that using sampling-based planners alone on high DOF robots can not achieve a high enough reaction speed, whereas the popular trajectory optimizer TrajOpt with naive straight-line seed trajectories has very high collision rate despite its high planning speed. To the best of our knowledge, this is the first work that presents such a systematic and comprehensive evaluation of state-of-the-art motion planners, which are based on a significant amount of experiments. We then combine different stand-alone planners with trajectory optimization. The results show that the deterministic planning part of p-Chekov, which combines a roadmap approach that caches the all pair shortest paths solutions and an online obstacle-aware trajectory optimizer, provides superior performance over other standard sampling-based planners' combinations. Simulation results show that, in typical real-life applications, this "roadmap + TrajOpt" approach takes about 1 s to plan and the failure rate of its solutions is under 1%. The risk-aware stage of p-Chekov accounts for chance constraints through state probability distribution and collision probability estimation. Based on the deterministic Chekov planner, p-Chekov incorporates a linear-quadratic Gaussian motion planning (LQG-MP) approach into robot state probability distribution estimation, applies quadrature-sampling theories to collision risk estimation, and adapts risk allocation approaches for chance constraint satisfaction. It overcomes existing risk-aware planners' limitation in real-time motion planning tasks with high-DOF robots in 3- dimensional non-convex environments. The experimental results in this thesis show that this new risk-aware motion planning and execution system can effectively reduce collision risk and satisfy chance constraints in typical real-world planning scenarios for high-DOF robots. This thesis makes the following three main contributions: (1) a systematic evaluation of several state-of-the-art motion planners in realistic planning scenarios, including popular sampling-based motion planners and trajectory optimization type motion planners, (2) the establishment of a "roadmap + TrajOpt" deterministic motion planning system that shows superior performance in many practical planning tasks in terms of solution feasibility, optimality and reaction time, and (3) the development of a risk-aware motion planning and execution system that can handle high-DOF robotic planning tasks in 3-dimensional non-convex environments.by Siyu Dai.S.M

Magnetic Coherence in Cuprate Superconductors

Recent inelastic neutron scattering (INS) experiments on La$_{2-x}$Sr$_x$CuO$_4$ observed a {\it magnetic coherence effect}, i.e., strong frequency and momentum dependent changes of the spin susceptibility, $\chi''$, in the superconducting phase. We show that this effect is a direct consequence of changes in the damping of incommensurate antiferromagnetic spin fluctuations due to the appearance of a d-wave gap in the fermionic spectrum. Our theoretical results provide a quantitative explanation for the weak momentum dependence of the observed spin-gap. Moreover, we predict {\bf (a)} a Fermi surface in La$_{2-x}$Sr$_x$CuO$_4$ which is closed around $(\pi,\pi)$ up to optimal doping, and {\bf (b)} similar changes in $\chi''$ for all cuprates with an incommensurate magnetic response.Comment: 5 pages, 4 figures, Fig.3 is in colo

Three Generations in Type I Compactifications

Generalizing the recent work on three-family Type I compactifications, we classify perturbative Type I vacua obtained via compactifying on the T^6/Z_2 X Z_2 X Z_3 orbifold with all possible Wilson lines. In particular, we concentrate on models with gauge groups containing the Standard Model gauge group SU(3)_c X SU(2)_w X U(1)_Y as a subgroup. All of the vacua we obtain contain D5-branes and are non-perturbative from the heterotic viewpoint. The models we discuss have three-chiral families. We study some of their phenomenological properties, and point out non-trivial problems arising in these models in the phenomenological context.Comment: 16 pages, revtex, minor misprints correcte

The Shapes of Dirichlet Defects

If the vacuum manifold of a field theory has the appropriate topological structure, the theory admits topological structures analogous to the D-branes of string theory, in which defects of one dimension terminate on other defects of higher dimension. The shapes of such defects are analyzed numerically, with special attention paid to the intersection regions. Walls (co-dimension 1 branes) terminating on other walls, global strings (co-dimension 2 branes) and local strings (including gauge fields) terminating on walls are all considered. Connections to supersymmetric field theories, string theory and condensed matter systems are pointed out.Comment: 24 pages, RevTeX, 21 eps figure

Supersymmetric CP Violation in B→Xsl+l−B \to X_s l^+ l^- in Minimal Supergravity Model

Direct CP asymmetries and the CP violating normal polarization of lepton in inclusive decay B \to X_s l^+ l^- are investigated in minimal supergravity model with CP violating phases. The contributions coming from exchanging neutral Higgs bosons are included. It is shown that the direct CP violation in branching ratio, A_{CP}^1, is of {\cal{O}}(10^{-3}) for l=e, \mu, \tau. The CP violating normal polarization for l=\mu can reach 0.5 percent when tan\beta is large (say, 36). For l=\tau and in the case of large \tan\beta, the direct CP violation in backward-forward asymmetry, A_{CP}^2, can reach one percent, the normal polarization of \tau can be as large as a few percent, and both are sensitive to the two CP violating phases, \phi_\mu and \phi_{A_0}, and consequently it could be possible to observe them (in particular, the normal polarization of \tau) in the future B factories.Comment: 14 pages, latex, 5 figure

Semileptonic decays of Bs1B_{s1}, Bs2∗B_{s2}^*, Bs0B_{s0} and Bs1′B_{s1}'

Stimulated by recent observations of the excited bottom-strange mesons $B_{s1}$ and $B_{s2}^*$, we calculate the semileptonic decays $B_{s0}, B_{s1}^{\prime}, B_{s1}, B_{s2}^*\to [D_s(1968), D_{s}^*(2112), D_{sJ}(2317), D_{sJ}(2460)]\ell\bar{\nu}$, which is relevant for the exploration of the potential of searching these semileptonic decays in experiment.Comment: 11 pages, 3 figures, 9 tables. More discussion added, some descriptions changed. The version to appear in EPJ

Loop-Induced CP Violation in the Gaugino and Higgsino Sectors of Supersymmetric Theories

We show that the gaugino and higgsino sectors of supersymmetric theories can naturally acquire observable CP violation through radiative effects which originate from large CP-violating trilinear couplings of the Higgs bosons to the third-generation scalar quarks. These CP-violating loop effects are not attainable by evolving the supersymmetric renormalization-group equations from a higher unification scale down to the electroweak one. We briefly discuss the phenomenological consequences of such a scenario, and as an example, calculate the two-loop contribution to the neutron electric dipole moment generated by the one-loop chromo-electric dipole moment of the gluino.Comment: 9 pages, as to appear in Physical Review

Spin dynamics of stripes

The spin dynamics of stripes in high-temperature superconductors and related compounds is studied in the framework of a spin-wave theory for a simple spin-only model. The magnon dispersion relation and the magnetic structure factor are calculated for diagonal and vertical stripes. Acoustical as well as optical bands are included in the analysis. The incommensurability and the $\pi$ resonance appear as complementary features of the band structure at different energy scales. The dependence of spin-wave velocities and resonance frequencies on the stripe spacing and coupling is calculated. At low doping, the resonance frequency is found to scale roughly inversely proportional to the stripe spacing. The favorable comparison of the results with experimental data suggests that the spin-only model provides a suitable and simple basis for calculating and understanding the spin dynamics of stripes.Comment: 11 page, 10 figures, pdf version with high-res.pics at http://www.thp.uni-koeln.de/~sts

Spin Susceptibility in Underdoped YBa2Cu3O6+x\bf YBa_2Cu_3O_{6+x}

We report a comprehensive polarized and unpolarized neutron scattering study of the evolution of the dynamical spin susceptibility with temperature and doping in three underdoped single crystals of the \YBCO{6+x} high temperature superconductor: \YBCO{6.5} (Tc = 52 K), \YBCO{6.7} (Tc = 67 K), and \YBCO{6.85} (T_c = 87 K). Theoretical implications of these data are discussed, and a critique of recent attempts to relate the spin excitations to the thermodynamics of high temperature superconductors is given.Comment: minor revisions, to appear in PR