PERFORMANCE EVALUATION AND REVIEW FRAMEWORK OF ROBOTIC MISSIONS (PERFORM): AUTONOMOUS PATH PLANNING AND AUTONOMY PERFORMANCE EVALUATION

The scope of this work spans two main areas of autonomy research 1) autonomous path planning and 2) test and evaluation of autonomous systems. Path planning is an integral part of autonomous decision-making, and a deep understanding in this area provides valuable perspective on approaching the problem of how to effectively evaluate vehicle behavior. Autonomous decision-making capabilities must include reliability, robustness, and trustworthiness in a real-world environment. A major component of robot decision-making lies in intelligent path-planning. Serving as the brains of an autonomous system, an efficient and reliable path planner is crucial to mission success and overall safety. A hybrid global and local planner is implemented using a combination of the Potential Field Method (PFM) and A-star (A*) algorithms. Created using a layered vector field strategy, this allows for flexibility along with the ability to add and remove layers to take into account other parameters such as currents, wind, dynamics, and the International Regulations for Preventing Collisions at Sea (COLGREGS). Different weights can be attributed to each layer based on the determined level of importance in a hierarchical manner. Different obstacle scenarios are shown in simulation, and proof-of-concept validation of the path-planning algorithms on an actual ASV is accomplished in an indoor environment. Results show that the combination of PFM and A* complement each other to generate a successfully planned path to goal that alleviates local minima and entrapment issues. Additionally, the planner demonstrates the ability to update for new obstacles in real time using an obstacle detection sensor. Regarding test and evaluation of autonomous vehicles, trust and confidence in autonomous behavior is required to send autonomous vehicles into operational missions. The author introduces the Performance Evaluation and Review Framework Of Robotic Missions (PERFORM), a framework for which to enable a rigorous and replicable autonomy test environment, thereby filling the void between that of merely simulating autonomy and that of completing true field missions. A generic architecture for defining the missions under test is proposed and a unique Interval Type-2 Fuzzy Logic approach is used as the foundation for the mathematically rigorous autonomy evaluation framework. The test environment is designed to aid in (1) new technology development (i.e. providing direct comparisons and quantitative evaluations of varying autonomy algorithms), (2) the validation of the performance of specific autonomous platforms, and (3) the selection of the appropriate robotic platform(s) for a given mission type (e.g. for surveying, surveillance, search and rescue). Several case studies are presented to apply the metric to various test scenarios. Results demonstrate the flexibility of the technique with the ability to tailor tests to the user’s design requirements accounting for different priorities related to acceptable risks and goals of a given mission

Metabolic and Ventilatory Responses to Interval-Based Active and Passive Treadmill Sprinting

Historically, exercise scientists and practitioners believed that continuous, steady exercise at a single moderate intensity was most beneficial for health, but recent findings suggests that higher intensity interval training may be more beneficial for many health and performance-based outcomes. Purpose: The purpose of this study was to compare the metabolic and ventilatory responses to a brief, intense interval protocol using a treadmill in the active and passive mode. Methods: Twelve physically fit participants (30.5±6.2y; 175.9±9.9 cm; 79.1±18.2 Kg) completed three exercise sessions. In the first session, biometric and demographic data were obtained prior to the performance of a peak VO2 treadmill test using a single speed, variable incline protocol. In sessions 2 and 3, participants performed an intense, 4-minute exercise protocol. The interval protocol consisted of eight repetitions, each 20 seconds in length with 10 seconds rest between with a 15% incline. The interval exercise was performed in an active or passive treadmill mode. During the active mode (ACT), participants controlled the speed of the treadmill belt using an electronic control board mounted on the front of the treadmill. During the passive mode (PAS), participants controlled the speed of the treadmill belt by exerting greater effort against the belt with their legs. In each condition, the participants were encouraged to exert a maximal effort; the ACT and PAS conditions were performed in random order on separate days. Continuous oxygen consumption (VO2), carbon dioxide production (VCO2), Respiratory Exchange Ratio (RER), and Ventilation (VE) were collected during all sessions using a metabolic cart and data were compared using a factorial ANOVA with repeated measures using mode (ACT vs PAS) and interval (8 intervals). Results: VO2 peak in the participants tested was 44.4±4.5 mL.kg-1.min-1. There was a significant mode by interval interaction for VO2 (p=0.003). VO2 was elevated compared to baseline in both conditions, but PAS was greater than ACT at intervals 2 (∆3.55 mL.kg-1.min-1; p=0.003) and 3 (∆3.40 mL.kg-1.min-1; p=0.004). There was a significant interaction for RER (pConclusions: The results indicate that participants completing self-selected sprints in the PAS mode exert greater metabolic effort in earlier, but not late intervals compared to ACT. This could be due to the extreme fatigue resulting from anaerobic work in PAS. Future studies should determine if participants training using ACT or PAS sprinting adapt strategies to improve metabolic efficiency or gain capabilities to exert greater metabolic effort during a single session of treadmill exercise

Motor Unit Abnormalities in Dystonia musculorum Mice

Dystonia musculorum (dt) is a mouse inherited sensory neuropathy caused by mutations in the dystonin gene. While the primary pathology lies in the sensory neurons of dt mice, the overt movement disorder suggests motor neurons may also be affected. Here, we report on the contribution of motor neurons to the pathology in dt27J mice. Phenotypic dt27J mice display reduced alpha motor neuron cell number and eccentric alpha motor nuclei in the ventral horn of the lumbar L1 spinal cord region. A dramatic reduction in the total number of motor axons in the ventral root of postnatal day 15 dt27J mice was also evident. Moreover, analysis of the trigeminal nerve of the brainstem showed a 2.4 fold increase in number of degenerating neurons coupled with a decrease in motor neuron number relative to wild type. Aberrant phosphorylation of neurofilaments in the perikaryon region and axonal swellings within the pre-synaptic terminal region of motor neurons were observed. Furthermore, neuromuscular junction staining of dt27J mouse extensor digitorum longus and tibialis anterior muscle fibers showed immature endplates and a significant decrease in axon branching compared to wild type littermates. Muscle atrophy was also observed in dt27J muscle. Ultrastructure analysis revealed amyelinated motor axons in the ventral root of the spinal nerve, suggesting a possible defect in Schwann cells. Finally, behavioral analysis identified defective motor function in dt27J mice. This study reveals neuromuscular defects that likely contribute to the dt27J pathology and identifies a critical role for dystonin outside of sensory neurons

First evidence of mutualism between ancient plant lineages (Haplomitriopsida liverworts) and Mucoromycotina fungi and its response to simulated Palaeozoic changes in atmospheric CO2

© 2014 The Authors. New Phytologist © 2014 New Phytologist Trust. This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited. The attached file is the published version of the article

Deep sequencing of subseafloor eukaryotic rRNA reveals active fungi across marine subsurface provinces

© The Author(s), 2013. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in PLoS ONE 8 (2013): e56335, doi:10.1371/journal.pone.0056335.The deep marine subsurface is a vast habitat for microbial life where cells may live on geologic timescales. Because DNA in sediments may be preserved on long timescales, ribosomal RNA (rRNA) is suggested to be a proxy for the active fraction of a microbial community in the subsurface. During an investigation of eukaryotic 18S rRNA by amplicon pyrosequencing, unique profiles of Fungi were found across a range of marine subsurface provinces including ridge flanks, continental margins, and abyssal plains. Subseafloor fungal populations exhibit statistically significant correlations with total organic carbon (TOC), nitrate, sulfide, and dissolved inorganic carbon (DIC). These correlations are supported by terminal restriction length polymorphism (TRFLP) analyses of fungal rRNA. Geochemical correlations with fungal pyrosequencing and TRFLP data from this geographically broad sample set suggests environmental selection of active Fungi in the marine subsurface. Within the same dataset, ancient rRNA signatures were recovered from plants and diatoms in marine sediments ranging from 0.03 to 2.7 million years old, suggesting that rRNA from some eukaryotic taxa may be much more stable than previously considered in the marine subsurface.This work was performed with funding from the Center for Dark Energy Biosphere Investigations (C-DEBI) to William Orsi (OCE-0939564) and The Ocean Life Institute (WHOI) to Virginia Edgcomb (OLI-27071359)

BPAG1a and b Associate with EB1 and EB3 and Modulate Vesicular Transport, Golgi Apparatus Structure, and Cell Migration in C2.7 Myoblasts

BPAG1a and BPAG1b (BPAG1a/b) constitute two major isoforms encoded by the dystonin (Dst) gene and show homology with MACF1a and MACF1b. These proteins are members of the plakin family, giant multi-modular proteins able to connect the intermediate filament, microtubule and microfilament cytoskeletal networks with each other and to distinct cell membrane sites. They also serve as scaffolds for signaling proteins that modulate cytoskeletal dynamics. To gain better insights into the functions of BPAG1a/b, we further characterized their C-terminal region important for their interaction with microtubules and assessed the role of these isoforms in the cytoskeletal organization of C2.7 myoblast cells. Our results show that alternative splicing does not only occur at the 5′ end of Dst and Macf1 pre-mRNAs, as previously reported, but also at their 3′ end, resulting in expression of additional four mRNA variants of BPAG1 and MACF1. These isoform-specific C-tails were able to bundle microtubules and bound to both EB1 and EB3, two microtubule plus end proteins. In the C2.7 cell line, knockdown of BPAG1a/b had no major effect on the organization of the microtubule and microfilament networks, but negatively affected endocytosis and maintenance of the Golgi apparatus structure, which became dispersed. Finally, knockdown of BPAG1a/b caused a specific decrease in the directness of cell migration, but did not impair initial cell adhesion. These data provide novel insights into the complexity of alternative splicing of Dst pre-mRNAs and into the role of BPAG1a/b in vesicular transport, Golgi apparatus structure as well as in migration in C2.7 myoblasts

The genetic discrimination observatory : confronting novel issues in genetic discrimination

Genetic discrimination (GD) is the differential or unfair profiling of an individual on the basis of genetic data. This article summarizes the actions of the Genetic Discrimination Observatory (GDO) in addressing GD and recent developments in GD since late 2020. It shows how GD can take many forms in today’s rapidly evolving society.http://www.journals.elsevier.com/trends-in-geneticshj2022Immunolog