Axel: A Minimalist Tethered Rover for Exploration of Extreme Planetary Terrains

Recent scientific findings suggest that some of the most interesting sites for future exploration of planetary surfaces lie in terrains that are currently inaccessible to conventional robotic rovers. To provide robust and flexible access to these terrains, we have been developing Axel, the robotic rover. Axel is a lightweight two-wheeled vehicle that can access steep terrains and negotiate relatively large obstacles because of its actively managed tether and novel wheel design. This article reviews the Axel system and focuses on those system components that affect Axel's steep terrain mobility. Experimental demonstrations of Axel on sloped and rocky terrains are presented

Simulation of the White Dwarf -- White Dwarf galactic background in the LISA data

LISA (Laser Interferometer Space Antenna) is a proposed space mission, which will use coherent laser beams exchanged between three remote spacecraft to detect and study low-frequency cosmic gravitational radiation. In the low-part of its frequency band, the LISA strain sensitivity will be dominated by the incoherent superposition of hundreds of millions of gravitational wave signals radiated by inspiraling white-dwarf binaries present in our own galaxy. In order to estimate the magnitude of the LISA response to this background, we have simulated a synthesized population that recently appeared in the literature. We find the amplitude of the galactic white-dwarf binary background in the LISA data to be modulated in time, reaching a minimum equal to about twice that of the LISA noise for a period of about two months around the time when the Sun-LISA direction is roughly oriented towards the Autumn equinox. Since the galactic white-dwarfs background will be observed by LISA not as a stationary but rather as a cyclostationary random process with a period of one year, we summarize the theory of cyclostationary random processes and present the corresponding generalized spectral method needed to characterize such process. We find that, by measuring the generalized spectral components of the white-dwarf background, LISA will be able to infer properties of the distribution of the white-dwarfs binary systems present in our Galaxy.Comment: 14 pages and 6 figures. Submitted to Classical and Quantum Gravity (Proceedings of GWDAW9

Pluripolarity of Graphs of Denjoy Quasianalytic Functions of Several Variables

In this paper we prove pluripolarity of graphs of Denjoy quasianalytic functions of several variables on the spanning se

Robotic Two-Wheeled Vehicle

A robotic two-wheeled vehicle comprising a connection body interposed between the two wheels are described. A drum can be coaxially located in a central region of the connection body and can support a hollow arm projecting radially from the drum. A tether can be inserted in the arm and connected to a second drum. Instruments and sensors can be accommodated in a case housed inside each wheel

Universality of striped morphologies

We present a method for predicting the low-temperature behavior of spherical and Ising spin models with isotropic potentials. For the spherical model the characteristic length scales of the ground states are exactly determined but the morphology is shown to be degenerate with checkerboard patterns, stripes and more complex morphologies having identical energy. For the Ising models we show that the discretization breaks the degeneracy causing striped morphologies to be energetically favored and therefore they arise universally as ground states to potentials whose Hankel transforms have nontrivial minima.Comment: 4 pages, 4 figure

Complexity of multi-dimensional spontaneous EEG decreases during propofol induced general anaesthesia

Emerging neural theories of consciousness suggest a correlation between a specific type of neural dynamical complexity and the level of consciousness: When awake and aware, causal interactions between brain regions are both integrated (all regions are to a certain extent connected) and differentiated (there is inhomogeneity and variety in the interactions). In support of this, recent work by Casali et al (2013) has shown that Lempel-Ziv complexity correlates strongly with conscious level, when computed on the EEG response to transcranial magnetic stimulation. Here we investigated complexity of spontaneous high-density EEG data during propofol-induced general anaesthesia. We consider three distinct measures: (i) Lempel-Ziv complexity, which is derived from how compressible the data are; (ii) amplitude coalition entropy, which measures the variability in the constitution of the set of active channels; and (iii) the novel synchrony coalition entropy (SCE), which measures the variability in the constitution of the set of synchronous channels. After some simulations on Kuramoto oscillator models which demonstrate that these measures capture distinct ‘flavours’ of complexity, we show that there is a robustly measurable decrease in the complexity of spontaneous EEG during general anaesthesia

Limits on Gravitational-Wave Emission from Selected Pulsars Using LIGO Data

We place direct upper limits on the amplitude of gravitational waves from 28 isolated radio pulsars by a coherent multidetector analysis of the data collected during the second science run of the LIGO interferometric detectors. These are the first direct upper limits for 26 of the 28 pulsars. We use coordinated radio observations for the first time to build radio-guided phase templates for the expected gravitational-wave signals. The unprecedented sensitivity of the detectors allows us to set strain upper limits as low as a few times 10^(-24). These strain limits translate into limits on the equatorial ellipticities of the pulsars, which are smaller than 10^(-5) for the four closest pulsars

Retinoic Acid Promotes the Generation of Pancreatic Endocrine Progenitor Cells and Their Further Differentiation into β-Cells

The identification of secreted factors that can selectively stimulate the generation of insulin producing β-cells from stem and/or progenitor cells represent a significant step in the development of stem cell-based β-cell replacement therapy. By elucidating the molecular mechanisms that regulate the generation of β-cells during normal pancreatic development such putative factors may be identified. In the mouse, β-cells increase markedly in numbers from embryonic day (e) 14.5 and onwards, but the extra-cellular signal(s) that promotes the selective generation of β-cells at these stages remains to be identified. Here we show that the retinoic acid (RA) synthesizing enzyme Raldh1 is expressed in developing mouse and human pancreas at stages when β-cells are generated. We also provide evidence that RA induces the generation of Ngn3+ endocrine progenitor cells and stimulates their further differentiation into β-cells by activating a program of cell differentiation that recapitulates the normal temporal program of β-cell differentiation

Integrated information increases with fitness in the evolution of animats

One of the hallmarks of biological organisms is their ability to integrate disparate information sources to optimize their behavior in complex environments. How this capability can be quantified and related to the functional complexity of an organism remains a challenging problem, in particular since organismal functional complexity is not well-defined. We present here several candidate measures that quantify information and integration, and study their dependence on fitness as an artificial agent ("animat") evolves over thousands of generations to solve a navigation task in a simple, simulated environment. We compare the ability of these measures to predict high fitness with more conventional information-theoretic processing measures. As the animat adapts by increasing its "fit" to the world, information integration and processing increase commensurately along the evolutionary line of descent. We suggest that the correlation of fitness with information integration and with processing measures implies that high fitness requires both information processing as well as integration, but that information integration may be a better measure when the task requires memory. A correlation of measures of information integration (but also information processing) and fitness strongly suggests that these measures reflect the functional complexity of the animat, and that such measures can be used to quantify functional complexity even in the absence of fitness data.Comment: 27 pages, 8 figures, one supplementary figure. Three supplementary video files available on request. Version commensurate with published text in PLoS Comput. Bio