Meditation-induced changes in high-frequency heart rate variability predict smoking outcomes

Background: High-frequency heart rate variability (HF-HRV) is a measure of parasympathetic nervous system (PNS) output that has been associated with enhanced self-regulation. Low resting levels of HF-HRV are associated with nicotine dependence and blunted stress-related changes in HF-HRV are associated with decreased ability to resist smoking. Meditation has been shown to increase HF-HRV. However, it is unknown whether tonic levels of HF-HRV or acute changes in HF-HRV during meditation predict treatment responses in addictive behaviors such as smoking cessation. Purpose: To investigate the relationship between HF-HRV and subsequent smoking outcomes. Methods: HF-HRV during resting baseline and during mindfulness meditation was measured within two weeks of completing a 4-week smoking cessation intervention in a sample of 31 community participants. Self-report measures of smoking were obtained at a follow up 17-weeks after the initiation of treatment. Results: Regression analyses indicated that individuals exhibiting acute increases in HF-HRV from resting baseline to meditation smoked fewer cigarettes at follow-up than those who exhibited acute decreases in HF-HRV (b = −4.89, p = 0.008). Conclusion: Acute changes in HF-HRV in response to meditation may be a useful tool to predict smoking cessation treatment response

Coronal Plane Spine Twisting Composes Shape To Adjust the Energy Landscape for Grounded Reorientation

Despite substantial evidence for the crucial role played by an active backbone or spine in animal locomotion, its adoption in legged robots remains limited because the added mechanical complexity and resulting dynamical challenges pose daunting obstacles to characterizing even a partial range of potential performance benefits. This paper takes a next step toward such a characterization by exploring the quasistatic terrestrial self-righting mechanics of a model system with coronal plane spine twisting (CPST). Reduction from a full 3D kinematic model of CPST to a two parameter, two degree of freedom coronal plane representation of body shape affordance predicts a substantial benefit to ground righting by lowering the barrier between stable potential energy basins. The reduced model predicts the most advantageous twist angle for several cross-sectional geometries, reducing the required righting torque by up to an order of magnitude depending on constituent shapes. Experiments with a three actuated degree of freedom physical mechanism corroborate the kinematic model predictions using two different quasistatic reorientation maneuvers for both elliptical and rectangular shaped bodies with a range of eccentricities or aspect ratios. More speculative experiments make intuitive use of the kinematic model in a highly dynamic maneuver to suggest still greater benefits of CPST achievable by coordinating kinetic as well as potential energy, for example as in a future multi-appendage system interacting with a contact-rich 3D environment

Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation

This paper develops a comparative framework for the design of an actuated inertial appendage for planar reorientation. We define the Inertial Reorientation template, the simplest model of this behavior, and leverage its linear dynamics to reveal the design constraints linking a task with the body designs capable of completing it. As practicable inertial appendage designs lead to physical bodies that are generally more complex, we advance a notion of “anchoring” whereby a judicious choice of physical design in concert with an appropriate control policy yields a system whose closed loop dynamics are sufficiently captured by the template as to permit all further design to take place in its far simpler parameter space. This approach is effective and accurate over the diverse design spaces afforded by existing platforms, enabling performance comparison through the shared task space. We analyze examples from the literature and find advantages to each body type, but conclude that tails provide the highest potential performance for reasonable designs. Thus motivated, we build a physical example by retrofitting a tail to a RHex robot and present empirical evidence of its efficacy. For more information: Kod*la

Tail Assisted Dynamic Self Righting: Full Derivations

This technical report is a companion document to the CLAWAR 2012 paper of the same name, for which we explicitly write out a full derivation of the kinematics and dynamics. Please refer to that document for motivation, experimentation, and discussion

Tail Assisted Dynamic Self Righting

In this paper we explore the design space of tails intended for self-righting a robot’s body during free fall. Conservation of total angular momentum imposes a dimensionless index of rotational efficacy upon the robot’s kinematic and dynamical parameters whose selection insures that for a given tail rotation, the body rotation will be identical at any size scale. In contrast, the duration of such a body reorientation depends upon the acceleration of the tail relative to the body, and power density of the tail’s actuator must increase with size in order to achieve the same maneuver in the same relative time. Assuming a simple controller and power-limited actuator, we consider maneuverability constraints upon two different types of parameters — morphological and energetic — that can be used for design. We show how these constraints inform contrasting tail design on two robots separated by a four-fold length scale, the 177g Tailbot and the 8.1kg X-RHex Lite (XRL). We compare previously published empirical self-righting behavior of the Tailbot with new, tailed XRL experiments wherein we drop it nose first from a 2.7 body length height and also deliberately run it off an elevated cliff to land safely on its springy legs in both cases. This was supported primarily by the ARL/GDRS RCTA and the NSF CiBER-IGERT under Award DGE-0903711. For more information: Kod*La

Polymeric Nanoparticle PET/MR Imaging Allows Macrophage Detection in Atherosclerotic Plaques

Author Manuscript 2013 March 02.Rationale: Myeloid cell content in atherosclerotic plaques associates with rupture and thrombosis. Thus, imaging of lesional monocytes and macrophages could serve as a biomarker of disease progression and therapeutic intervention. Objective: To noninvasively assess plaque inflammation with dextran nanoparticle (DNP)-facilitated hybrid positron emission tomography/magnetic resonance imaging (PET/MRI). Methods and Results: Using clinically approved building blocks, we systematically developed 13-nm polymeric nanoparticles consisting of cross-linked short chain dextrans, which were modified with desferoxamine for zirconium-89 radiolabeling ([superscript 89]Zr-DNP) and a near-infrared fluorochrome (VT680) for microscopic and cellular validation. Flow cytometry of cells isolated from excised aortas showed DNP uptake predominantly in monocytes and macrophages (76.7%) and lower signal originating from other leukocytes, such as neutrophils and lymphocytes (11.8% and 0.7%, P<0.05 versus monocytes and macrophages). DNP colocalized with the myeloid cell marker CD11b on immunohistochemistry. PET/MRI revealed high uptake of [superscript 89]Zr-DNP in the aortic root of apolipoprotein E knock out (ApoE[superscript −/−]) mice (standard uptake value, ApoE[superscript −/−] mice versus wild-type controls, 1.9±0.28 versus 1.3±0.03; P<0.05), corroborated by ex vivo scintillation counting and autoradiography. Therapeutic silencing of the monocyte-recruiting receptor C-C chemokine receptor type 2 with short-interfering RNA decreased [superscript 89]Zr-DNP plaque signal (P<0.05) and inflammatory gene expression (P<0.05). Conclusions: Hybrid PET/MRI with a 13-nm DNP enables noninvasive assessment of inflammation in experimental atherosclerotic plaques and reports on therapeutic efficacy of anti-inflammatory therapy.National Heart, Lung, and Blood InstituteNational Institutes of Health (U.S.). Dept. of Health and Human Services (HHSN268201000044C)National Institutes of Health (U.S.). Dept. of Health and Human Services (R01-HL096576)National Institutes of Health (U.S.). Dept. of Health and Human Services (R01-HL095629)National Institutes of Health (U.S.). Dept. of Health and Human Services (T32-HL094301

The Featureless Transmission Spectra of Two Super-puff Planets

The Kepler mission revealed a class of planets known as "super-puffs," with masses only a few times larger than Earth's but radii larger than Neptune, giving them very low mean densities. All three of the known planets orbiting the young solar-type star Kepler 51 are super-puffs. The Kepler 51 system thereby provides an opportunity for a comparative study of the structures and atmospheres of this mysterious class of planets, which may provide clues about their formation and evolution. We observed two transits each of Kepler 51b and 51d with the Wide Field Camera 3 (WFC3) on the Hubble Space Telescope. Combining new WFC3 transit times with reanalyzed Kepler data and updated stellar parameters, we confirmed that all three planets have densities lower than 0.1 g cm⁻³. We measured the WFC3 transmission spectra to be featureless between 1.15 and 1.63 μm, ruling out any variations greater than 0.6 scale heights (assuming a H/He-dominated atmosphere), thus showing no significant water absorption features. We interpreted the flat spectra as the result of a high-altitude aerosol layer (pressure <3 mbar) on each planet. Adding this new result to the collection of flat spectra that have been observed for other sub-Neptune planets, we find support for one of the two hypotheses introduced by Crossfield & Kreidberg, that planets with cooler equilibrium temperatures have more high-altitude aerosols. We strongly disfavor their other hypothesis that the H/He mass fraction drives the appearance of large-amplitude transmission features

A Featureless Infrared Transmission Spectrum for the Super-puff Planet Kepler-79d

Extremely low-density planets ("super-puffs") are a small but intriguing subset of the transiting planet population. With masses in the super-Earth range (1 – 10 M_⊕) and radii akin to those of giant planets (> 4 R_⊕), their large envelopes may have been accreted beyond the water snow line and many appear to be susceptible to catastrophic mass loss. Both the presence of water and the importance of mass loss can be explored using transmission spectroscopy. Here, we present new Hubble space telescope WFC3 spectroscopy and updated Kepler transit depth measurements for the super-puff Kepler-79d. We do not detect any molecular absorption features in the 1.1 − 1.7 μm WFC3 bandpass, and the combined Kepler and WFC3 data are consistent with a flat-line model, indicating the presence of aerosols in the atmosphere. We compare the shape of Kepler-79d's transmission spectrum to predictions from a microphysical haze model that incorporates an outward particle flux due to ongoing mass loss. We find that photochemical hazes offer an attractive explanation for the observed properties of super-puffs like Kepler-79d, as they simultaneously render the near-infrared spectrum featureless and reduce the inferred envelope mass-loss rate by moving the measured radius (optical depth unity surface during transit) to lower pressures. We revisit the broader question of mass-loss rates for super-puffs and find that the age estimates and mass-loss rates for the majority of super-puffs can be reconciled if hazes move the photosphere from the typically assumed pressure of ~10 mbar to ~10 µbar