Neurobiologically Inspired Control of Engineered Flapping Flight

This article presents a new control approach for engineered flapping flight with many interacting degrees of freedom. This paper explores the applications of neurobiologically inspired control systems in the form of Central Pattern Generators (CPG) to generate wing trajectories for potential flapping flight MAVs. We present a rigorous mathematical and control theoretic framework to design complex three dimensional motions of flapping wings. Most flapping flight demonstrators are mechanically limited in generating the wing trajectories. Because CPGs lend themselves to more biological examples of flight, a novel robotic model has been developed to emulate the flight of bats. This model has shoulder and leg joints totaling 10 degrees of freedom for control of wing properties. Results of wind tunnel experiments and numerical simulation of CPG-based flight control validate the effectiveness of the proposed neurobiologically inspired control approach

Novel Distances for Dollo Data

We investigate distances on binary (presence/absence) data in the context of a Dollo process, where a trait can only arise once on a phylogenetic tree but may be lost many times. We introduce a novel distance, the Additive Dollo Distance (ADD), which is consistent for data generated under a Dollo model, and show that it has some useful theoretical properties including an intriguing link to the LogDet distance. Simulations of Dollo data are used to compare a number of binary distances including ADD, LogDet, Nei Li and some simple, but to our knowledge previously unstudied, variations on common binary distances. The simulations suggest that ADD outperforms other distances on Dollo data. Interestingly, we found that the LogDet distance performs poorly in the context of a Dollo process, which may have implications for its use in connection with conditioned genome reconstruction. We apply the ADD to two Diversity Arrays Technology (DArT) datasets, one that broadly covers Eucalyptus species and one that focuses on the Eucalyptus series Adnataria. We also reanalyse gene family presence/absence data on bacteria from the COG database and compare the results to previous phylogenies estimated using the conditioned genome reconstruction approach

A Flight Mechanics-Centric Review of Bird-Scale Flapping Flight

This paper reviews the flight mechanics and control of birds and bird-size aircraft. It is intended to fill a niche in the current survey literature which focuses primarily on the aerodynamics, flight dynamics and control of insect scale flight. We review the flight mechanics from first principles and summarize some recent results on the stability and control of birds and bird-scale aircraft. Birds spend a considerable portion of their flight in the gliding (i.e., non-flapping) phase. Therefore, we also review the stability and control of gliding flight, and particularly those aspects which are derived from the unique control features of birds

Dynamic Adversarial Resource Allocation: the dDAB Game

This work proposes a dynamic and adversarial resource allocation problem in a graph environment, which is referred to as the dynamic Defender-Attacker Blotto (dDAB) game. A team of defender robots is tasked to ensure numerical advantage at every node in the graph against a team of attacker robots. The engagement is formulated as a discrete-time dynamic game, where the two teams reallocate their robots in sequence and each robot can move at most one hop at each time step. The game terminates with the attacker's victory if any node has more attacker robots than defender robots. Our goal is to identify the necessary and sufficient number of defender robots to guarantee defense. Through a reachability analysis, we first solve the problem for the case where the attacker team stays as a single group. The results are then generalized to the case where the attacker team can freely split and merge into subteams. Crucially, our analysis indicates that there is no incentive for the attacker team to split, which significantly reduces the search space for the attacker's winning strategies and also enables us to design defender counter-strategies using superposition. We also present an efficient numerical algorithm to identify the necessary and sufficient number of defender robots to defend a given graph. Finally, we present illustrative examples to verify the efficacy of the proposed framework

Translating Research Into Practice: Speeding the Adoption of Innovative Health Care Programs

Looks at case studies of four innovative clinical programs to determine key factors influencing the diffusion and adoption of innovations in health care

Study of Beauty Hadron Decays into Pairs of Charm Hadrons

First observations of the decays Λ[0 over b] → Λ[+ over c]D[− over (s)] are reported using data corresponding to an integrated luminosity of 3  fb[superscript −1] collected at 7 and 8 TeV center-of-mass energies in proton-proton collisions with the LHCb detector. In addition, the most precise measurement of the branching fraction B(B[0 over s] → D[superscript +]D[− over s]) is made and a search is performed for the decays B[0 over (s)] → Λ[+ over c]Λ[− over c]. The results obtained are B(Λ[0 over b] → Λ[+ over c]D[superscript −])/B(Λ[0 over b] → Λ[+ over c]D[− over s]) = 0.042 ± 0.003(stat) ± 0.003(syst), ⎡⎣B(Λ[0 over b] → Λ[+ over c]D[− over s]) over B([¯ over B[superscript 0] → D[superscript +]D[− over s])⎤⎦/⎡⎣B(Λ[0 over b] → Λ[+ over c]π[superscript −]) over B([¯ over B[superscript 0] → D[superscript +]π[superscript −])⎤⎦ = 0.96 ± 0.02(stat) ± 0.06(syst), B(B[0 over s] → D[superscript +]D[− over s])/B([¯ over B][superscript 0] → D[superscript +]D[− over s]) = 0.038 ± 0.004(stat) ± 0.003(syst), B([¯ over B][superscript 0] → Λ[+ over c]Λ[− over c])/B([¯ over B][superscript 0] → D[superscript +]D[− over s]) < 0.0022[95%  C.L.], B(B[0 over s] → Λ[+ over c]Λ[− over c])/B(B[0 over s] → D[superscript +]D[− over s]) < 0.30[95%  C.L.]. Measurement of the mass of the Λ[0 over b] baryon relative to the [¯ over B][superscript 0] meson gives M(Λ[0 over b]) − M([¯ over B][superscript 0]) = 339.72 ± 0.24(stat) ± 0.18(syst)  MeV/c[superscript 2]. This result provides the most precise measurement of the mass of the Λ[0 over b] baryon to date.National Science Foundation (U.S.

Complement Targets Newborn Retinal Ganglion Cells for Phagocytic Elimination by Microglia

Microglia play important roles in shaping the developing CNS, and at early stages they have been proposed to regulate progenitor proliferation, differentiation, and neuronal survival. However, these studies reveal contradictory outcomes, highlighting the complexity of these cell-cell interactions. Here, we investigate microglia function during embryonic mouse retina development, where only microglia, progenitors, and neurons are present. In both sexes, we determine that microglia primarily interact with retinal neurons and find that depletion of microglia via conditional KO of the Csf1 receptor results in increased density of retinal ganglion cells (RGCs). Pharmacological inhibition of microglia also results in an increase in RGCs, with no effect on retinal progenitor proliferation, RGC genesis, or apoptosis. We show that microglia in the embryonic retina are enriched for phagocytic markers and observe engulfment of nonapoptotic Brn3-labeled RGCs. We investigate the molecular pathways that can mediate cell engulfment by microglia and find selective downregulation of complement pathway components with microglia inhibition, and further show that C1q protein marks a subset of RGCs in the embryonic retina. KO of complement receptor 3 (CR3; Itgam), which is only expressed by microglia, results in increased RGC density, similar to what we observed after depletion or inhibition of microglia. Thus, our data suggest that microglia regulate neuron elimination in the embryonic mouse retina by complement-mediated phagocytosis of non-apoptotic newborn RGCs. SIGNIFICANCE STATEMENT Microglia are emerging as active and important participants in regulating neuron number in development, during adult neurogenesis, and following stem cell therapies. However, their role in these contexts and the mechanisms involved are not fully defined. Using a well-characterized in vivo system, we provide evidence that microglia regulate neuronal elimination by complement-mediated engulfment of nonapoptotic neurons. This work provides a significant advancement of the field by defining in vivo molecular mechanisms for microglia-mediated cell elimination. Our data add to a growing body of evidence that microglia are essential for proper nervous system development. In addition, we elucidate microglia function in the developing retina, which may shed light on microglia involvement in the context of retinal injury and disease

Path Defense in Dynamic Defender-Attacker Blotto Games (dDAB) with Limited Information

We consider a path guarding problem in dynamic Defender-Attacker Blotto games (dDAB), where a team of robots must defend a path in a graph against adversarial agents. Multi-robot systems are particularly well suited to this application, as recent work has shown the effectiveness of these systems in related areas such as perimeter defense and surveillance. When designing a defender policy that guarantees the defense of a path, information about the adversary and the environment can be helpful and may reduce the number of resources required by the defender to achieve a sufficient level of security. In this work, we characterize the necessary and sufficient number of assets needed to guarantee the defense of a shortest path between two nodes in dDAB games when the defender can only detect assets within $k$-hops of a shortest path. By characterizing the relationship between sensing horizon and required resources, we show that increasing the sensing capability of the defender greatly reduces the number of defender assets needed to defend the path

Effect of nitrogen-rich cell culture surfaces on type X collagen expression by bovine growth plate chondrocytes

Background: Recent evidence indicates that osteoarthritis (OA) may be a systemic disease since mesenchymal stem cells (MSCs) from OA patients express type X collagen, a marker of late stage chondrocyte hypertrophy (associated with endochondral ossification). We recently showed that the expression of type X collagen was suppressed when MSCs from OA patients were cultured on nitrogen (N)-rich plasma polymer layers, which we call "PPE:N" (N-doped plasma-polymerized ethylene, containing up to 36 atomic percentage (at.%) of N.Methods: In the present study, we examined the expression of type X collagen in fetal bovine growth plate chondrocytes (containing hypertrophic chondrocytes) cultured on PPE:N. We also studied the effect of PPE: N on the expression of matrix molecules such as type II collagen and aggrecan, as well as on proteases (matrix metalloproteinase-13 (MMP-13) and molecules implicated in cell division (cyclin B2). Two other culture surfaces, "hydrophilic" polystyrene (PS, regular culture dishes) and nitrogen-containing cation polystyrene (Primaria (R)), were also investigated for comparison.Results: Results showed that type X collagen mRNA levels were suppressed when cultured for 4 days on PPE: N, suggesting that type X collagen is regulated similarly in hypertrophic chondrocytes and in human MSCs from OA patients. However, the levels of type X collagen mRNA almost returned to control value after 20 days in culture on these surfaces. Culture on the various surfaces had no significant effects on type II collagen, aggrecan, MMP-13, and cyclin B2 mRNA levels.Conclusion: Hypertrophy is diminished by culturing growth plate chondrocytes on nitrogen-rich surfaces, a mechanism that is beneficial for MSC chondrogenesis. Furthermore, one major advantage of such "intelligent surfaces" over recombinant growth factors for tissue engineering and cartilage repair is potentially large cost-saving