Experimental analysis of gas-sensitive Braitenberg vehicles

This article addresses the problem of localizing a static gas source in an indoor environment by a mobile robot. In contrast to previous works, the environment is not artificially ventilated to produce a strong unidirectional airflow. Here, the dominant transport mechanisms of gas molecules are turbulence and convection flow rather than diffusion, which results in a patchy, chaotically fluctuating gas distribution. Two Braitenberg-type strategies (positive and negative tropotaxis) based on the instantaneously measured spatial concentration gradient were investigated. Both strategies were shown to be of potential use for gas source localization. As a possible solution to the problem of gas source declaration (the task of determining with certainty that the gas source has been found), an indirect localization strategy based on exploration and concentration peak avoidance is suggested. Here, a gas source is located by exploiting the fact that local concentration maxima occur more frequently near the gas source compared to distant regions

On the Invariant Theory of Weingarten Surfaces in Euclidean Space

We prove that any strongly regular Weingarten surface in Euclidean space carries locally geometric principal parameters. The basic theorem states that any strongly regular Weingarten surface is determined up to a motion by its structural functions and the normal curvature function satisfying a geometric differential equation. We apply these results to the special Weingarten surfaces: minimal surfaces, surfaces of constant mean curvature and surfaces of constant Gauss curvature.Comment: 16 page

CLiFF-LHMP: Using Spatial Dynamics Patterns for Long-Term Human Motion Prediction

Human motion prediction is important for mobile service robots and intelligent vehicles to operate safely and smoothly around people. The more accurate predictions are, particularly over extended periods of time, the better a system can, e.g., assess collision risks and plan ahead. In this paper, we propose to exploit maps of dynamics (MoDs, a class of general representations of place-dependent spatial motion patterns, learned from prior observations) for long-term human motion prediction (LHMP). We present a new MoD-informed human motion prediction approach, named CLiFF-LHMP, which is data efficient, explainable, and insensitive to errors from an upstream tracking system. Our approach uses CLiFF-map, a specific MoD trained with human motion data recorded in the same environment. We bias a constant velocity prediction with samples from the CLiFF-map to generate multi-modal trajectory predictions. In two public datasets we show that this algorithm outperforms the state of the art for predictions over very extended periods of time, achieving 45% more accurate prediction performance at 50s compared to the baseline.Comment: Accepted to the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS

Exploring the relation between flapping behaviour and accelerometer signal during ascending flight, and a new approach to calibration

We understand little about the energetic costs of flight in free-ranging birds; in part since current techniques for estimating flight energetics in the wild are limited. Accelerometry is known to estimate energy expenditure through body movement in terrestrial animals, once calibrated using a treadmill with chamber respirometry. The flight equivalent, a wind tunnel with mask respirometry, is particularly difficult to instigate, and has not been applied to calibrate accelerometry. We take the first steps in exploring a novel method for calibrating accelerometers with flight energy expenditure. We collected accelerometry data for Harris’s Hawks Parabuteo unicinctus flying to varying heights up to 4.1 m over a small horizontal distance; the mechanical energy expended to gain height can be estimated from physical first principles. The relationship between accelerometry and mechanical energy expenditure was strong, and while a simple wing flapping model confirmed that accelerometry is sensitive to both changes in wing beat amplitude and frequency, the relationship was explained predominately by changes in wing beat frequency, and less so by changes in amplitude. Our study provides initial, positive evidence that accelerometry can be calibrated with body power using climbing flights, potentially providing a basis for estimating flapping flight metabolic rate at least in situations of altitude gain

Optimal airfoil’s shapes by high fidelity CFD

Purpose – There is an increasing interest in airfoils that modify their shape to adapt at the flow conditions. The study aims at the evaluation of the optimal 4-digit NACA airfoil that maximizes the lift-over-drag ratio for a constant lift coefficient of 0.6, from Re = 104 to 3 x 106. Design/methodology/approach – The authors consider a y - Re t transition model and a k – v shear stress transport turbulence model with a covariance matrix adaptation evolutionary optimization algorithm. The shape is adapted by radial basis functions mesh morphing using four parameters (angle of attack, thickness, camber and maximum camber position). The objective of the optimization is to find the airfoil that enables a maximum lift-over-drag ratio for a target lift coefficient of 0.6. Findings – The computation of the optimal airfoils confirmed the expected increase with Re of the lift-over-drag ratio. However, although the observation of efficient biological fliers suggests that the thickness increases monotonically with Re, the authors find that it is constant but for a 1.5 per cent step increase at Re = 3 x 10 exposant5. Practical implications – The authors propose and validate an efficient high-fidelity method for the shape optimization of airfoils that can be adopted to define robust and reliable industrial design procedures. Originality/value – It is shown that the difference in the numerical error between two-dimensional and three-dimensional simulations is negligible, and that the numerical uncertainty of the two-dimensional simulations is sufficiently small to confidently predict the aerodynamic forces across the investigated range of Re

Smc5/6 coordinates formation and resolution of joint molecules with chromosome morphology to ensure meiotic divisions

During meiosis, Structural Maintenance of Chromosome (SMC) complexes underpin two fundamental features of meiosis: homologous recombination and chromosome segregation. While meiotic functions of the cohesin and condensin complexes have been delineated, the role of the third SMC complex, Smc5/6, remains enigmatic. Here we identify specific, essential meiotic functions for the Smc5/6 complex in homologous recombination and the regulation of cohesin. We show that Smc5/6 is enriched at centromeres and cohesin-association sites where it regulates sister-chromatid cohesion and the timely removal of cohesin from chromosomal arms, respectively. Smc5/6 also localizes to recombination hotspots, where it promotes normal formation and resolution of a subset of joint-molecule intermediates. In this regard, Smc5/6 functions independently of the major crossover pathway defined by the MutLγ complex. Furthermore, we show that Smc5/6 is required for stable chromosomal localization of the XPF-family endonuclease, Mus81-Mms4Eme1. Our data suggest that the Smc5/6 complex is required for specific recombination and chromosomal processes throughout meiosis and that in its absence, attempts at cell division with unresolved joint molecules and residual cohesin lead to severe recombination-induced meiotic catastroph

The birth of airplane stability theory

Airplane stability theory was born at the end of the XIX century and matured around 100 years ago, when airplanes were hardly controllable yet. The success and safety of flights in the pioneer years depended upon largely unknown stability and control characteristics. Understanding the modes of airplane motion has been of paramount importance for the development of aviation. The contributions made by a few scientists in the decades preceding and following the first flight by the Wright brothers set the concepts and equations that, with minor notation aspects, have remained almost unchanged till present day.Magraner Rullan, JP.; Martinez-Val, R. (2014). The birth of airplane stability theory. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering. 228(9):1498-1506. doi:10.1177/0954410013494139S149815062289PERKINS, C. D. (1970). Development of airplane stability and control technology /1970 Von Karman Lecture/. Journal of Aircraft, 7(4), 290-301. doi:10.2514/3.44167Abzug, M. J., & Larrabee, E. E. (2002). Airplane Stability and Control, Second Edition. doi:10.1017/cbo9780511607141Graham, W. R. (1999). Asymptotic analysis of the classical aircraft stability equations. The Aeronautical Journal, 103(1020), 95-103. doi:10.1017/s0001924000027792Bryan, G. H., & Williams, W. E. (1904). The Longitudinal Stability of Aerial Gliders. Proceedings of the Royal Society of London, 73(488-496), 100-116. doi:10.1098/rspl.1904.0017Wegener, P. P. (1997). What Makes Airplanes Fly? doi:10.1007/978-1-4612-2254-5Pradeep, S., & Kamesh, S. (1999). Does the Phugoid Frequency Depend on Speed? Journal of Guidance, Control, and Dynamics, 22(2), 372-373. doi:10.2514/2.4391Phillips, W. F. (2000). Phugoid Approximation for Conventional Airplanes. Journal of Aircraft, 37(1), 30-36. doi:10.2514/2.2586Pamadi, B. N. (2004). Performance, Stability, Dynamics, and Control of Airplanes, Second Edition. doi:10.2514/4.862274Ananthkrishnan, N., & Ramadevi, P. (2002). Consistent Approximations to Aircraft Longitudinal Modes. Journal of Guidance, Control, and Dynamics, 25(4), 820-824. doi:10.2514/2.4952McRuer, D. T., Graham, D., & Ashkenas, I. (1990). Aircraft Dynamics and Automatic Control. doi:10.1515/978140085598

A space–time Trefftz discontinuous Galerkin method for the acoustic wave equation in first-order formulation

We introduce a space–time Trefftz discontinuous Galerkin method for the first-order transient acoustic wave equations in arbitrary space dimensions, extending the one-dimensional scheme of Kretzschmar et al. (IMA J Numer Anal 36:1599–1635, 2016). Test and trial discrete functions are space–time piecewise polynomial solutions of the wave equations. We prove well-posedness and a priori error bounds in both skeleton-based and mesh-independent norms. The space–time formulation corresponds to an implicit time-stepping scheme, if posed on meshes partitioned in time slabs, or to an explicit scheme, if posed on “tent-pitched” meshes. We describe two Trefftz polynomial discrete spaces, introduce bases for them and prove optimal, high-order h-convergence bounds

Salivary changes and dental caries as potential oral markers of autoimmune salivary gland dysfunction in primary Sjögren's syndrome

BACKGROUND: the classification criteria for primary Sjögren's syndrome (pSS) include a number of oral components. In this study we evaluated if salivary flow and composition as well as dental caries are oral markers of disease severity in pSS. METHODS: in 20 patients fulfilling the American-European Consensus criteria for pSS and 20 age-matched healthy controls whole and parotid saliva flow rates and composition, measures of oral dryness, scores of decayed, missing and filled tooth surfaces (DMFS), periodontal indices, oral hygiene, and dietary habits were examined. RESULTS: in pSS, salivary flow rates, pH, and buffer capacities were lower, and DMFS, salivary sodium and chloride concentrations higher than in the healthy controls. DMFS also correlated inversely to salivary flow rates and positively to oral dryness. Apart from slightly increased gingival index, and more frequent dental visits in pSS, the periodontal condition, oral hygiene or sugar intake did not differ between these two groups. In pSS, findings were correlated to labial salivary gland focus score (FS) and presence of serum-autoantibodies to SSA/SSB (AB). The patients having both presence of AB and the highest FS (>2) also had the highest salivary sodium and chloride concentrations, the lowest salivary phosphate concentrations, lowest salivary flow rates, and highest DMFS compared to those with normal salivary concentrations of sodium and chloride at a given flow rate. CONCLUSION: the salivary changes observed in some pSS patients reflect impaired ductal salt reabsorption, but unaffected acinar transport mechanisms, despite low salivary secretion. Our results suggest that changes in salivary flow and composition as well as dental caries may serve as potential markers of the extent of autoimmune-mediated salivary gland dysfunction in pSS. The study also indicates that the ductal epithelium is functionally affected in some pSS patients, which calls for future pathophysiological studies on the mechanisms underlying this impaired salt reabsorption