Robotic Contact Juggling

We define "robotic contact juggling" to be the purposeful control of the motion of a three-dimensional smooth object as it rolls freely on a motion-controlled robot manipulator, or "hand." While specific examples of robotic contact juggling have been studied before, in this paper we provide the first general formulation and solution method for the case of an arbitrary smooth object in single-point rolling contact on an arbitrary smooth hand. Our formulation splits the problem into four subproblems: (1) deriving the second-order rolling kinematics; (2) deriving the three-dimensional rolling dynamics; (3) planning rolling motions that satisfy the rolling dynamics; and (4) feedback stabilization of planned rolling trajectories. The theoretical results are demonstrated in simulation and experiment using feedback from a high-speed vision system.Comment: 16 pages, 14 figures. | Supplemental Video: https://youtu.be/QT55_Q1ePfg | Code: https://github.com/zackwoodruff/rolling_dynamic

The Future of IBD Therapy; It's all about access

Crohn’s disease is a chronic inflammatory disease of the intestinal tract that results from a loss of tolerance to the enteric microbiota. Previous studies have established that interleukin (IL)-10 is an important anti-inflammatory cytokine driving intestinal macrophage (IM) tolerance. Within a cell, transcriptional responses are governed by transcription factors binding of accessible, nucleosome-free regions of DNA. Previously published studies have shown that marked changes in chromatin accessibility occur in IMs isolated from colitis-prone Il10-/- mice. Interestingly, addition of ectopic IL-10 to Il10-/- mice did not recover chromatin accessibility changes in 95% of the regions identified, suggesting that these chromatin accessibility changes were stable. We hypothesized that the stable chromatin landscape of Il10-/- macrophages may be altered using small molecule inhibitors of chromatin modifying proteins resulting in the restitution of IM tolerance to the enteric microbiota. A high-throughput screen with a chromatin accessibility readout was used to test small molecule inhibitors of chromatin modifying enzymes in Il10-/- macrophages. Changes in chromatin accessibility were assessed using a relative chromatin inhibition (RCI) score which compares accessibility changes at two regions that are only accessible in Il10-/- macrophages and two control regions. This screen identified several bromodomain inhibitors, including (+)-JQ1, that have the ability to decrease relative chromatin accessibility. Subsequent testing using (+)-JQ1 revealed that (+)-JQ1 attenuates mRNA levels of inflammatory Il6 and Il12ß in lipopolysaccharide (LPS)-stimulated Il10-/- macrophages. We conclude that bromodomain inhibitors decrease chromatin accessibility and attenuate the production of inflammatory cytokines in Il10-/- macrophages.Bachelor of Scienc

Hairy Tongue

Hairy tongue (lingua villosa) is a commonly observed condition of defective desquamation of the filiform papillae that results from a variety of precipitating factors. [1] The condition is most frequently referred to as black hairy tongue (lingua villosa nigra); however, hairy tongue may also appear brown, white, green, pink, or any of a variety of hues depending on the specific etiology and secondary factors (eg, use of colored mouthwashes, breath mints, candies). [2, 3] See the images below

Who witnesses The Witness? Finding witnesses in The Witness is hard and sometimes impossible

We analyze the computational complexity of the many types of pencil-and-paper-style puzzles featured in the 2016 puzzle video game The Witness. In all puzzles, the goal is to draw a simple path in a rectangular grid graph from a start vertex to a destination vertex. The different puzzle types place different constraints on the path: preventing some edges from being visited (broken edges); forcing some edges or vertices to be visited (hexagons); forcing some cells to have certain numbers of incident path edges (triangles); or forcing the regions formed by the path to be partially monochromatic (squares), have exactly two special cells (stars), or be singly covered by given shapes (polyominoes) and/or negatively counting shapes (antipolyominoes). We show that any one of these clue types (except the first) is enough to make path finding NP-complete ("witnesses exist but are hard to find"), even for rectangular boards. Furthermore, we show that a final clue type (antibody), which necessarily "cancels" the effect of another clue in the same region, makes path finding $\Sigma_2$-complete ("witnesses do not exist"), even with a single antibody (combined with many anti/polyominoes), and the problem gets no harder with many antibodies. On the positive side, we give a polynomial-time algorithm for monomino clues, by reducing to hexagon clues on the boundary of the puzzle, even in the presence of broken edges, and solving "subset Hamiltonian path" for terminals on the boundary of an embedded planar graph in polynomial time.Comment: 72 pages, 59 figures. Revised proof of Lemma 3.5. A short version of this paper appeared at the 9th International Conference on Fun with Algorithms (FUN 2018

Who Needs Crossings? Hardness of Plane Graph Rigidity

We exactly settle the complexity of graph realization, graph rigidity, and graph global rigidity as applied to three types of graphs: "globally noncrossing" graphs, which avoid crossings in all of their configurations; matchstick graphs, with unit-length edges and where only noncrossing configurations are considered; and unrestricted graphs (crossings allowed) with unit edge lengths (or in the global rigidity case, edge lengths in {1,2}). We show that all nine of these questions are complete for the class Exists-R, defined by the Existential Theory of the Reals, or its complement Forall-R; in particular, each problem is (co)NP-hard. One of these nine results - that realization of unit-distance graphs is Exists-R-complete - was shown previously by Schaefer (2013), but the other eight are new. We strengthen several prior results. Matchstick graph realization was known to be NP-hard (Eades & Wormald 1990, or Cabello et al. 2007), but its membership in NP remained open; we show it is complete for the (possibly) larger class Exists-R. Global rigidity of graphs with edge lengths in {1,2} was known to be coNP-hard (Saxe 1979); we show it is Forall-R-complete. The majority of the paper is devoted to proving an analog of Kempe\u27s Universality Theorem - informally, "there is a linkage to sign your name" - for globally noncrossing linkages. In particular, we show that any polynomial curve phi(x,y)=0 can be traced by a noncrossing linkage, settling an open problem from 2004. More generally, we show that the nontrivial regions in the plane that may be traced by a noncrossing linkage are precisely the compact semialgebraic regions. Thus, no drawing power is lost by restricting to noncrossing linkages. We prove analogous results for matchstick linkages and unit-distance linkages as well

Capacity Value of Solar Power: Report of the IEEE PES Task Force on Capacity Value of Solar Power

This paper reviews methods used for adequacy risk assessment considering solar power, and for assessment of the capacity value of solar power. The properties of solar power are described as seen from the perspective of the balancing authority, comparing differences in energy availability and capacity factors with those of wind. Methodology for risk calculations considering variable generation (VG) are then surveyed, including the probability background, statistical estimation approaches, and capacity value metrics. Issues in incorporating VG in capacity markets are described, followed by a review of applied studies considering solar power. Finally, recommendations for further research will be presented

Who witnesses The Witness? Finding witnesses in The Witness is hard and sometimes impossible

We analyze the computational complexity of the many types of pencil-and-paper-style puzzles featured in the 2016 puzzle video game The Witness. In all puzzles, the goal is to draw a path in a rectangular grid graph from a start vertex to a destination vertex. The different puzzle types place different constraints on the path: preventing some edges from being visited (broken edges); forcing some edges or vertices to be visited (hexagons); forcing some cells to have certain numbers of incident path edges (triangles); or forcing the regions formed by the path to be partially monochromatic (squares), have exactly two special cells (stars), or be singly covered by given shapes (polyominoes) and/or negatively counting shapes (antipolyominoes). We show that any one of these clue types (except the first) is enough to make path finding NP-complete ("witnesses exist but are hard to find"), even for rectangular boards. Furthermore, we show that a final clue type (antibody), which necessarily "cancels" the effect of another clue in the same region, makes path finding Sigma_2-complete ("witnesses do not exist"), even with a single antibody (combined with many anti/polyominoes), and the problem gets no harder with many antibodies

Structure-function analysis of the curli accessory protein CsgE defines surfaces essential for coordinating amyloid fiber formation

Curli amyloid fibers are produced as part of the extracellular biofilm matrix and are composed primarily of the major structural subunit CsgA. The CsgE chaperone facilitates the secretion of CsgA through CsgG by forming a cap at the base of the nonameric CsgG outer membrane pore. We elucidated a series of finely tuned nonpolar and charge-charge interactions that facilitate the oligomerization of CsgE and its ability to transport unfolded CsgA to CsgG for translocation. CsgE oligomerization in vitro is temperature dependent and is disrupted by mutations in the W48 and F79 residues. Using nuclear magnetic resonance (NMR), we identified two regions of CsgE involved in the CsgE-CsgA interaction: a head comprising a positively charged patch centered around R47 and a stem comprising a negatively charged patch containing E31 and E85. Negatively charged residues in the intrinsically disordered N- and C-terminal “tails” were not implicated in this interaction. Head and stem residues were mutated and interrogated using in vivo measurements of curli production and in vitro amyloid polymerization assays. The R47 head residue of CsgE is required for stabilization of CsgA- and CsgE-mediated curli fiber formation. Mutation of the E31 and E85 stem residues to positively charged side chains decreased CsgE-mediated curli fiber formation but increased CsgE-mediated stabilization of CsgA. No single-amino-acid substitutions in the head, stem, or tail regions affected the ability of CsgE to cap the CsgG pore as determined by a bile salt sensitivity assay. These mechanistic insights into the directed assembly of functional amyloids in extracellular biofilms elucidate possible targets for biofilm-associated bacterial infections.Curli represent a class of functional amyloid fibers produced by Escherichia coli and other Gram-negative bacteria that serve as protein scaffolds in the extracellular biofilm matrix. Despite the lack of sequence conservation among different amyloidogenic proteins, the structural and biophysical properties of functional amyloids such as curli closely resemble those of amyloids associated with several common neurodegenerative diseases. These parallels are underscored by the observation that certain proteins and chemicals can prevent amyloid formation by the major curli subunit CsgA and by alpha-synuclein, the amyloid-forming protein found in Lewy bodies during Parkinson’s disease. CsgA subunits are targeted to the CsgG outer membrane pore by CsgE prior to secretion and assembly into fibers. Here, we use biophysical, biochemical, and genetic approaches to elucidate a mechanistic understanding of CsgE function in curli biogenesis

Finding a Hamiltonian Path in a Cube with Specified Turns is Hard

We prove the NP-completeness of finding a Hamiltonian path in an N × N × N cube graph with turns exactly at specified lengths along the path. This result establishes NP-completeness of Snake Cube puzzles: folding a chain of N3 unit cubes, joined at face centers (usually by a cord passing through all the cubes), into an N × N × N cube. Along the way, we prove a universality result that zig-zag chains (which must turn every unit) can fold into any polycube after 4 × 4 × 4 refinement, or into any Hamiltonian polycube after 2 × 2 × 2 refinement