An Approach to the Bio-Inspired Control of Self-reconfigurable Robots

Self-reconfigurable robots are robots built by modules which can move in relationship to each other. This ability of changing its physical form provides the robots a high level of adaptability and robustness. Given an initial configuration and a goal configuration of the robot, the problem of self-regulation consists on finding a sequence of module moves that will reconfigure the robot from the initial configuration to the goal configuration. In this paper, we use a bio-inspired method for studying this problem which combines a cluster-flow locomotion based on cellular automata together with a decentralized local representation of the spatial geometry based on membrane computing ideas. A promising 3D software simulation and a 2D hardware experiment are also presented.National Natural Science Foundation of China No. 6167313

Drought supersedes warming in determining volatile and tissue defenses of piñon pine (Pinus edulis)

Trees are suffering mortality across the globe as a result of drought, warming, and biotic attacks. The combined effects of warming and drought on in situ tree chemical defenses against herbivory have not been studied to date. To address this, we transplanted mature pinon pine trees-a well-studied species that has undergone extensive drought and herbivore-related mortality-within their native woodland habitat and also to a hotter-drier habitat and measured monoterpene emissions and concentrations across the growing season. We hypothesized that greater needle temperatures in the hotter-drier site would increase monoterpene emission rates and consequently lower needle monoterpene concentrations, and that this temperature effect would dominate the seasonal pattern of monoterpene concentrations regardless of drought. In support of our hypothesis, needle monoterpene concentrations were lower across all seasons in trees transplanted to the hotter-drier site. Contrary to our hypothesis, basal emission rates (emission rates normalized to 30 degrees C and a radiative flux of 1000 mu mol m(-2) s(-1)) did not differ between sites. This is because an increase in emissions at the hotter-drier site from a 1.5 degrees C average temperature increase was offset by decreased emissions from greater plant water stress. High emission rates were frequently observed during June, which were not related to plant physiological or environmental factors but did not occur below pre-dawn leaf water potentials of -2 MPa, the approximate zero carbon assimilation point in pinon pine. Emission rates were also not under environmental or plant physiological control when pre-dawn leaf water potential was less than -2 MPa. Our results suggest that drought may override the effects of temperature on monoterpene emissions and tissue concentrations, and that the influence of drought may occur through metabolic processes sensitive to the overall needle carbon balance.National Science Foundation, Division of Atmospheric and Geospace Sciences [0919189]; USDA National Institute of Food and Agriculture Hatch project [MONB00389, 228396]; National Science Foundation, Division of Integrative Organismal Systems [1755346]; National Science Foundation Division of Environmental Biology [1552976]; Department of the Energy National Institute for Climate Change Research (Western Region) [DE-FCO2-O6ER64159]; National Science Foundation Macrosystems Biology [EF-1340624, EF-1550756]; Critical Zone Observatories [EAR-1331408]; DIRENet [DEB-0443526]; Biosphere 2 through the Philecology Foundation (Fort Worth, TX); US Environmental Protection Agency (STAR Fellowship Assistance Agreement) [FP-91717801-0]Open access journalThis item from the UA Faculty Publications collection is made available by the University of Arizona with support from the University of Arizona Libraries. If you have questions, please contact us at [email protected]

Permanent Neonatal Diabetes Caused by Creation of an Ectopic Splice Site within the INS Gene

PublishedCase ReportsJournal ArticleResearch Support, Non-U.S. Gov'tBACKGROUND: The aim of this study was to characterize the genetic etiology in a patient who presented with permanent neonatal diabetes at 2 months of age. METHODOLOGY/PRINCIPAL FINDINGS: Regulatory elements and coding exons 2 and 3 of the INS gene were amplified and sequenced from genomic and complementary DNA samples. A novel heterozygous INS mutation within the terminal intron of the gene was identified in the proband and her affected father. This mutation introduces an ectopic splice site leading to the insertion of 29 nucleotides from the intronic sequence into the mature mRNA, which results in a longer and abnormal transcript. CONCLUSIONS/SIGNIFICANCE: This study highlights the importance of routinely sequencing the exon-intron boundaries and the need to carry out additional studies to confirm the pathogenicity of any identified intronic genetic variants.Centro de Investigación Biomédica en Red de Diabetes y Enfermedades Metabólicas (CIBERDEM)Instituto de Salud Carlos III of the Spanish Ministry of HealthFIS-programsWellcome Trus

Constructing living buildings: a review of relevant technologies for a novel application of biohybrid robotics

Biohybrid robotics takes an engineering approach to the expansion and exploitation of biological behaviours for application to automated tasks. Here, we identify the construction of living buildings and infrastructure as a high-potential application domain for biohybrid robotics, and review technological advances relevant to its future development. Construction, civil infrastructure maintenance and building occupancy in the last decades have comprised a major portion of economic production, energy consumption and carbon emissions. Integrating biological organisms into automated construction tasks and permanent building components therefore has high potential for impact. Live materials can provide several advantages over standard synthetic construction materials, including self-repair of damage, increase rather than degradation of structural performance over time, resilience to corrosive environments, support of biodiversity, and mitigation of urban heat islands. Here, we review relevant technologies, which are currently disparate. They span robotics, self-organizing systems, artificial life, construction automation, structural engineering, architecture, bioengineering, biomaterials, and molecular and cellular biology. In these disciplines, developments relevant to biohybrid construction and living buildings are in the early stages, and typically are not exchanged between disciplines. We, therefore, consider this review useful to the future development of biohybrid engineering for this highly interdisciplinary application.publishe

Probabilistic downscaling of remote sensing data with applications for multi-scale biogeochemical flux modeling

Upscaling ecological information to larger scales in space and downscaling remote sensing observations or model simulations to finer scales remain grand challenges in Earth system science. Downscaling often involves inferring subgrid information from coarse-scale data, and such ill-posed problems are classically addressed using regularization. Here, we apply two-dimensional Tikhonov Regularization (2DTR) to simulate subgrid surface patterns for ecological applications. Specifically, we test the ability of 2DTR to simulate the spatial statistics of high-resolution (4 m) remote sensing observations of the normalized difference vegetation index (NDVI) in a tundra landscape. We find that the 2DTR approach as applied here can capture the major mode of spatial variability of the high-resolution information, but not multiple modes of spatial variability, and that the Lagrange multiplier (γ) used to impose the condition of smoothness across space is related to the range of the experimental semivariogram. We used observed and 2DTR-simulated maps of NDVI to estimate landscape-level leaf area index (LAI) and gross primary productivity (GPP). NDVI maps simulated using a γ value that approximates the range of observed NDVI result in a landscape-level GPP estimate that differs by ca 2% from those created using observed NDVI. Following findings that GPP per unit LAI is lower near vegetation patch edges, we simulated vegetation patch edges using multiple approaches and found that simulated GPP declined by up to 12% as a result. 2DTR can generate random landscapes rapidly and can be applied to disaggregate ecological information and compare of spatial observations against simulated landscapes

Carbon dioxide and water vapor exchange in a warm temperate grassland

Grasslands cover about 40% of the ice-free global terrestrial surface, but their contribution to local and regional water and carbon fluxes and sensitivity to climatic perturbations such as drought remains uncertain. Here, we assess the direction and magnitude of net ecosystem carbon exchange (NEE) and its components, ecosystem carbon assimilation ( A c ) and ecosystem respiration ( R E ), in a southeastern United States grassland ecosystem subject to periodic drought and harvest using a combination of eddy-covariance measurements and model calculations. We modeled A c and evapotranspiration (ET) using a big-leaf canopy scheme in conjunction with ecophysiological and radiative transfer principles, and applied the model to assess the sensitivity of NEE and ET to soil moisture dynamics and rapid excursions in leaf area index (LAI) following grass harvesting. Model results closely match eddy-covariance flux estimations on daily, and longer, time steps. Both model calculations and eddy-covariance estimates suggest that the grassland became a net source of carbon to the atmosphere immediately following the harvest, but a rapid recovery in LAI maintained a marginal carbon sink during summer. However, when integrated over the year, this grassland ecosystem was a net C source (97 g C m −2 a −1 ) due to a minor imbalance between large A c (−1,202 g C m −2 a −1 ) and R E (1,299 g C m −2 a −1 ) fluxes. Mild drought conditions during the measurement period resulted in many instances of low soil moisture ( θ <0.2 m 3 m −3 ), which influenced A c and thereby NEE by decreasing stomatal conductance. For this experiment, low θ had minor impact on R E . Thus, stomatal limitations to A c were the primary reason that this grassland was a net C source. In the absence of soil moisture limitations, model calculations suggest a net C sink of −65 g C m −2 a −1 assuming the LAI dynamics and physiological properties are unaltered. These results, and the results of other studies, suggest that perturbations to the hydrologic cycle are key determinants of C cycling in grassland ecosystems.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/47701/1/442_2003_Article_1388.pd

The Palomar Testbed Interferometer Calibrator Catalog

The Palomar Testbed Interferometer (PTI) archive of observations between 1998 and 2005 is examined for objects appropriate for calibration of optical long-baseline interferometer observations - stars that are predictably point-like and single. Approximately 1,400 nights of data on 1,800 objects were examined for this investigation. We compare those observations to an intensively studied object that is a suitable calibrator, HD217014, and statistically compare each candidate calibrator to that object by computing both a Mahalanobis distance and a Principal Component Analysis. Our hypothesis is that the frequency distribution of visibility data associated with calibrator stars differs from non-calibrator stars such as binary stars. Spectroscopic binaries resolved by PTI, objects known to be unsuitable for calibrator use, are similarly tested to establish detection limits of this approach. From this investigation, we find more than 350 observed stars suitable for use as calibrators (with an additional $\approx 140$ being rejected), corresponding to $\gtrsim 95$ sky coverage for PTI. This approach is noteworthy in that it rigorously establishes calibration sources through a traceable, empirical methodology, leveraging the predictions of spectral energy distribution modeling but also verifying it with the rich body of PTI's on-sky observations.Comment: 100 pages, 7 figures, 7 tables; to appear in the May 2008ApJS, v176n

VLT/FORS1 spectrophotometry of the first planetary nebula discovered in the Phoenix dwarf galaxy

Context: A planetary nebula (PN) candidate was discovered during FORS imaging of the Local Group dwarf galaxy Phoenix. Aims: We use this PN to complement abundances from red-giant stars. Methods: FORS spectroscopy was used to confirm the PN classification. Empirical methods and photoionization modeling were used to derive elemental abundances from the emission line fluxes and to characterize the central star. Results: For the elements deemed most reliable for measuring the metallicity of the interstellar medium (ISM) from which the PN formed, [O/H] ∼ −0.46 and [Ar/H] ∼ −1.03. [O/H] has lower measurement errors but greater uncertainties due to the unresolved issue of oxygen enrichment in the PN precursor star. Conclusions: Earlier than 2 Gyr ago (the lower limit of the derived age for the central star) the ISM had Z = 0.002–0.008, a range slightly more metal-rich than the one provided by stars. Comparing our PN-to-stellar values to surveys of other dwarf Local Group galaxies, Phoenix appears to be an outlier

Mutant INS-Gene Induced Diabetes of Youth: Proinsulin Cysteine Residues Impose Dominant-Negative Inhibition on Wild-Type Proinsulin Transport

Recently, a syndrome of Mutant INS-gene-induced Diabetes of Youth (MIDY, derived from one of 26 distinct mutations) has been identified as a cause of insulin-deficient diabetes, resulting from expression of a misfolded mutant proinsulin protein in the endoplasmic reticulum (ER) of insulin-producing pancreatic beta cells. Genetic deletion of one, two, or even three alleles encoding insulin in mice does not necessarily lead to diabetes. Yet MIDY patients are INS-gene heterozygotes; inheritance of even one MIDY allele, causes diabetes. Although a favored explanation for the onset of diabetes is that insurmountable ER stress and ER stress response from the mutant proinsulin causes a net loss of beta cells, in this report we present three surprising and interlinked discoveries. First, in the presence of MIDY mutants, an increased fraction of wild-type proinsulin becomes recruited into nonnative disulfide-linked protein complexes. Second, regardless of whether MIDY mutations result in the loss, or creation, of an extra unpaired cysteine within proinsulin, Cys residues in the mutant protein are nevertheless essential in causing intracellular entrapment of co-expressed wild-type proinsulin, blocking insulin production. Third, while each of the MIDY mutants induces ER stress and ER stress response; ER stress and ER stress response alone appear insufficient to account for blockade of wild-type proinsulin. While there is general agreement that ultimately, as diabetes progresses, a significant loss of beta cell mass occurs, the early events described herein precede cell death and loss of beta cell mass. We conclude that the molecular pathogenesis of MIDY is initiated by perturbation of the disulfide-coupled folding pathway of wild-type proinsulin