System design of a quadrupedal galloping machine

In this paper we present the system design of a machine that we have constructed to study a quadrupedal gallop gait. The gallop gait is the preferred high-speed gait of most cursorial quadrupeds. To gallop, an animal must generate ballistic trajectories with characteristic strong impacts, coordinate leg movements with asymmetric footfall phasing, and effectively use compliant members, all the while maintaining dynamic stability. In this paper we seek to further understand the primary biological features necessary for galloping by building and testing a robotic quadruped similar in size to a large goat or antelope. These features include high-speed actuation, energy storage, on-line learning control, and high-performance attitude sensing. Because body dynamics are primarily influenced by the impulses delivered by the legs, the successful design and control of single leg energetics is a major focus of this work. The leg stores energy during flight by adding tension to a spring acting across an articulated knee. During stance, the spring energy is quickly released using a novel capstan design. As a precursor to quadruped control, two intelligent strategies have been developed for verification on a one-legged system. The Levenberg-Marquardt on-line learning method is applied to a simple heuristic controller and provides good control over height and forward velocity. Direct adaptive fuzzy control, which requires no system modeling but is more computationally expensive, exhibits better response. Using these techniques we have been successful in operating one leg at speeds necessary for a dynamic gallop of a machine of this scale. Another necessary component of quadruped locomotion is high-resolution and high-bandwidth attitude sensing. The large ground impact accelerations, which cause problems for any single traditional sensor, are overcome through the use of an inertial sensing approach using updates from optical sensors and vehicle kinematics

Do Southern Hemisphere tree rings record past volcanic events? A case study from New Zealand

Much of our knowledge about the impacts of volcanic eruptions on climate comes from proxy records. However, little is known about their impact on the low to mid-latitudes of the Southern Hemisphere. Using superposed epoch analysis, we investigated whether volcanic signals could be identified in annual tree-ring series from eight New Zealand dendrochronological species. We found that most species are reliable recorders of volcanic cooling and that the magnitude and persistence of the post-event response can be broadly linked to plant life history traits. Across species, site-based factors, particularly altitude and exposure to prevailing conditions, are more important determinants of the strength of the volcanic response than species. We then investigated whether chronology selection impacts the magnitude of post-volcanic cooling in tree-ring-based temperature reconstructions by developing two new multispecies reconstructions of New Zealand summer (December-February) temperature with one reconstruction from the pool of all available chronologies, and the other from a selected subset shown to be sensitive to volcanic eruptions. Both reconstructions record temperature anomalies that are remarkably consistent with studies based on instrumental temperature and the ensemble mean response of climate models, demonstrating that New Zealand ring widths are reliable indicators of regional volcanic climate response. However, we also found that volcanic response can be complex, with positive, negative, and neutral responses identified - sometimes within the same species group. Species-wide composites thus tend to underestimate the volcanic response. This has important implications for the development of future tree-ring and multiproxy temperature reconstructions from the Southern Hemisphere

Potential for tree rings to reveal spatial patterns of past drought variability across western Australia

Proxy records have provided major insights into the variability of past climates over long timescales. However, for much of the Southern Hemisphere, the ability to identify spatial patterns of past climatic variability is constrained by the sparse distribution of proxy records. This is particularly true for mainland Australia, where relatively few proxy records are located. Here, we (1) assess the potential to use existing proxy records in the Australasian region - starting with the only two multi-century tree-ring proxies from mainland Australia - to reveal spatial patterns of past hydroclimatic variability across the western third of the continent, and (2) identify strategic locations to target for the development of new proxy records. We show that the two existing tree-ring records allow robust reconstructions of past hydroclimatic variability over spatially broad areas (i.e. > 3 3) in inland north- and south-western Australia. Our results reveal synchronous periods of drought and wet conditions between the inland northern and southern regions of western Australia as well as a generally anti-phase relationship with hydroclimate in eastern Australia over the last two centuries. The inclusion of 174 tree-ring proxy records from Tasmania, New Zealand and Indonesia and a coral record from Queensland did not improve the reconstruction potential over western Australia. However, our findings suggest that the addition of relatively few new proxy records from key locations in western Australia that currently have low reconstruction skill will enable the development of a comprehensive drought atlas for the region, and provide a critical link to the drought atlases of monsoonal Asia and eastern Australia and New Zealand

Pre-launch calibration of the HIRDLS instrument

Report about the aims for the calibration of the HIRDLS instrument

Search algorithms as a framework for the optimization of drug combinations

Combination therapies are often needed for effective clinical outcomes in the management of complex diseases, but presently they are generally based on empirical clinical experience. Here we suggest a novel application of search algorithms, originally developed for digital communication, modified to optimize combinations of therapeutic interventions. In biological experiments measuring the restoration of the decline with age in heart function and exercise capacity in Drosophila melanogaster, we found that search algorithms correctly identified optimal combinations of four drugs with only one third of the tests performed in a fully factorial search. In experiments identifying combinations of three doses of up to six drugs for selective killing of human cancer cells, search algorithms resulted in a highly significant enrichment of selective combinations compared with random searches. In simulations using a network model of cell death, we found that the search algorithms identified the optimal combinations of 6-9 interventions in 80-90% of tests, compared with 15-30% for an equivalent random search. These findings suggest that modified search algorithms from information theory have the potential to enhance the discovery of novel therapeutic drug combinations. This report also helps to frame a biomedical problem that will benefit from an interdisciplinary effort and suggests a general strategy for its solution.Comment: 36 pages, 10 figures, revised versio

Young neutron stars with soft gamma ray emission and anomalous X-ray pulsar

The observational properties of Soft Gamma Repeaters and Ano\-malous X-ray Pulsars (SGR/AXP) indicate to necessity of the energy source different from a rotational energy of a neutron star. The model, where the source of the energy is connected with a magnetic field dissipation in a highly magnetized neutron star (magnetar) is analyzed. Some observational inconsistencies are indicated for this interpretation. The alternative energy source, connected with the nuclear energy of superheavy nuclei stored in the nonequilibrium layer of low mass neutron star is discussed.Comment: 29 pages, 13 figures, Springer International Publishing Switzerland 2016 A.W. Alsabti, P. Murdin (eds.), Handbook of Supernova

Development of the preterm gut microbiome in twins at risk of necrotising enterocolitis and sepsis

The preterm gut microbiome is a complex dynamic community influenced by genetic and environmental factors and is implicated in the pathogenesis of necrotising enterocolitis (NEC) and sepsis. We aimed to explore the longitudinal development of the gut microbiome in preterm twins to determine how shared environmental and genetic factors may influence temporal changes and compared this to the expressed breast milk (EBM) microbiome. Stool samples (n = 173) from 27 infants (12 twin pairs and 1 triplet set) and EBM (n = 18) from 4 mothers were collected longitudinally. All samples underwent PCR-DGGE (denaturing gradient gel electrophoresis) analysis and a selected subset underwent 454 pyrosequencing. Stool and EBM shared a core microbiome dominated by Enterobacteriaceae, Enterococcaceae, and Staphylococcaceae. The gut microbiome showed greater similarity between siblings compared to unrelated individuals. Pyrosequencing revealed a reduction in diversity and increasing dominance of Escherichia sp. preceding NEC that was not observed in the healthy twin. Antibiotic treatment had a substantial effect on the gut microbiome, reducing Escherichia sp. and increasing other Enterobacteriaceae. This study demonstrates related preterm twins share similar gut microbiome development, even within the complex environment of neonatal intensive care. This is likely a result of shared genetic and immunomodulatory factors as well as exposure to the same maternal microbiome during birth, skin contact and exposure to EBM. Environmental factors including antibiotic exposure and feeding are additional significant determinants of community structure, regardless of host genetics

Objective surface evaluation of fiber reinforced polymer composites

The mechanical properties of advanced composites are essential for their structural performance, but the surface finish on exterior composite panels is of critical importance for customer satisfaction. This paper describes the application of wavelet texture analysis (WTA) to the task of automatically classifying the surface finish properties of two fiber reinforced polymer (FRP) composite construction types (clear resin and gel-coat) into three quality grades. Samples were imaged and wavelet multi-scale decomposition was used to create a visual texture representation of the sample, capturing image features at different scales and orientations. Principal components analysis was used to reduce the dimensionality of the texture feature vector, permitting successful classification of the samples using only the first principal component. This work extends and further validates the feasibility of this approach as the basis for automated non-contact classification of composite surface finish using image analysis.<br /