The renormalized superperturbation theory (SPT) approach to the Anderson model in and out of equilibrium

The properties of current-carrying steady states of strongly correlated systems away from the linear-response regime are of topical interest. In this article, we review the renormalized perturbation theory, or renormalized SPT of reference [1] for the Anderson model. We present an extension to higher orders and compare the higher-order results with NRG calculations. Finally, we elucidate the role of Ward identities in calculating out-of-equilibrium properties and address claims made in the literature

A vibrissa-inspired highly flexible tactile sensor: scanning 3D object surfaces providing tactile images

Just as the sense of touch complements vision in various species, several robots could benefit from advanced tactile sensors, in particular when operating under poor visibility. A prominent tactile sense organ, frequently serving as a natural paragon for developing tactile sensors, is the vibrissae of, e.g., rats. Within this study, we present a vibrissa-inspired sensor concept for 3D object scanning and reconstruction to be exemplarily used in mobile robots. The setup consists of a highly flexible rod attached to a 3D force-torque transducer (measuring device). The scanning process is realized by translationally shifting the base of the rod relative to the object. Consequently, the rod sweeps over the object’s surface, undergoing large bending deflections. Then, the support reactions at the base of the rod are evaluated for contact localization. Presenting a method of theoretically generating these support reactions, we provide an important basis for future parameter studies. During scanning, lateral slip of the rod is not actively prevented, in contrast to literature. In this way, we demonstrate the suitability of the sensor for passively dragging it on a mobile robot. Experimental scanning sweeps using an artificial vibrissa (steel wire) of length 50 mm and a glass sphere as a test object with a diameter of 60 mm verify the theoretical results and serve as a proof of concept

Effects of multi-point contacts during object contour scanning using a biologically-inspired tactile sensor

Vibrissae are an important tactile sense organ of many mammals, in particular rodents like rats and mice. For instance, these animals use them in order to detect different object features, e.g., object-distances and -shapes. In engineering, vibrissae have long been established as a natural paragon for developing tactile sensors. So far, having object shape scanning and reconstruction in mind, almost all mechanical vibrissa models are restricted to contact scenarios with a single discrete contact force. Here, we deal with the effect of multi-point contacts in a specific scanning scenario, where an artificial vibrissa is swept along partly concave object contours. The vibrissa is modeled as a cylindrical, one-sided clamped Euler-Bernoulli bending rod undergoing large deflections. The elasticae and the support reactions during scanning are theoretically calculated and measured in experiments, using a spring steel wire, attached to a force/torque-sensor. The experiments validate the simulation results and show that the assumption of a quasi-static scanning displacement is a satisfying approach. Beyond single- and two-point contacts, a distinction is made between tip and tangential contacts. It is shown that, in theory, these contact phases can be identified solely based on the support reactions, what is new in literature. In this way, multipoint contacts are reliably detected and filtered in order to discard incorrectly reconstructed contact points

Object contour sensing using artificial rotatable vibrissae

Recent research topics in bionics focus on the analysis and synthesis of mammal’s perception of their environment by means of their vibrissae. Using these complex tactile sense organs, rats and mice, for example, are capable of detecting the distance to an object, its contour and its surface texture. In this paper, we focus on developing and investigating a biologically inspired mechanical model for object scanning and contour reconstruction. A vibrissa – used for the transmission of a stimulus – is frequently modeled as a cylindrically shaped Euler-Bernoulli-bending rod, which is one-sided clamped and swept along an object translationally. Due to the biological paradigm, the scanning process within the present paper is adapted for a rotational movement of the vibrissa. Firstly, we consider a single quasi-static sweep of the vibrissa along a strictly convex profile using nonlinear Euler-Bernoulli theory. The investigation leads to a general boundary-value problem with some unknown parameters, which have to be determined in using shooting methods. Then, it is possible to calculate the support reactions of the system. These support reactions together with the boundary conditions to the support, which all form quantities an animal solely relies on in nature, are used for the reconstruction of the object contour. Afterwards, the scanning process is extended by rotating the vibrissa in opposite direction in order to enlarge the reconstructable area of the profile

Object shape recognition and reconstruction using pivoted tactile sensors

Many mammals use some special tactile hairs, the so-called mystacial macrovibrissae, to acquire information about their environment. In doing so, rats and mice, e.g., are able to detect object distances, shapes, and surface textures. Inspired by the biological paradigm, we present a mechanical model for object contour scanning and shape reconstruction, considering a single vibrissa as a cylindrically shaped Euler-Bernoulli-bending rod, which is pivoted by a bearing. In doing so, we adapt our model for a rotational scanning movement, which is in contrast to many previous modeling approaches. Describing a single rotational quasi-static sweep of the vibrissa along a strict convex contour function using nonlinear Euler-Bernoulli theory, we end up in a boundary-value problem with some unknown parameters. In a first step, we use shooting methods in an algorithm to repeatedly solve this boundary-value problem (changing the vibrissa base angle) and generate the support reactions during a sweep along an object contour. Afterwards, we use these support reactions to reconstruct the object contour solving an initial-value problem. Finally, we extend the scanning process adding a second sweep of the vibrissa in opposite direction in order to enlarge the reconstructable area of the profile

A Novel Role for MAPKAPK2 in Morphogenesis during Zebrafish Development

One of the earliest morphogenetic processes in the development of many animals is epiboly. In the zebrafish, epiboly ensues when the animally localized blastoderm cells spread, thin over, and enclose the vegetally localized yolk. Only a few factors are known to function in this fundamental process. We identified a maternal-effect mutant, betty boop (bbp), which displays a novel defect in epiboly, wherein the blastoderm margin constricts dramatically, precisely when half of the yolk cell is covered by the blastoderm, causing the yolk cell to burst. Whole-blastoderm transplants and mRNA microinjection rescue demonstrate that Bbp functions in the yolk cell to regulate epiboly. We positionally cloned the maternal-effect bbp mutant gene and identified it as the zebrafish homolog of the serine-threonine kinase Mitogen Activated Protein Kinase Activated Protein Kinase 2, or MAPKAPK2, which was not previously known to function in embryonic development. We show that the regulation of MAPKAPK2 is conserved and p38 MAP kinase functions upstream of MAPKAPK2 in regulating epiboly in the zebrafish embryo. Dramatic alterations in calcium dynamics, together with the massive marginal constrictive force observed in bbp mutants, indicate precocious constriction of an F-actin network within the yolk cell, which first forms at 50% epiboly and regulates epiboly progression. We show that MAPKAPK2 activity and its regulator p38 MAPK function in the yolk cell to regulate the process of epiboly, identifying a new pathway regulating this cell movement process. We postulate that a p38 MAPKAPK2 kinase cascade modulates the activity of F-actin at the yolk cell margin circumference allowing the gradual closure of the blastopore as epiboly progresses

Identification of constrained sequence elements across 239 primate genomes

Noncoding DNA is central to our understanding of human gene regulation and complex diseases1,2, and measuring the evolutionary sequence constraint can establish the functional relevance of putative regulatory elements in the human genome3–9. Identifying the genomic elements that have become constrained specifically in primates has been hampered by the faster evolution of noncoding DNA compared to protein-coding DNA10, the relatively short timescales separating primate species11, and the previously limited availability of whole-genome sequences12. Here we construct a whole-genome alignment of 239 species, representing nearly half of all extant species in the primate order. Using this resource, we identified human regulatory elements that are under selective constraint across primates and other mammals at a 5% false discovery rate. We detected 111,318 DNase I hypersensitivity sites and 267,410 transcription factor binding sites that are constrained specifically in primates but not across other placental mammals and validate their cis-regulatory effects on gene expression. These regulatory elements are enriched for human genetic variants that affect gene expression and complex traits and diseases. Our results highlight the important role of recent evolution in regulatory sequence elements differentiating primates, including humans, from other placental mammals

Mycobacterium tuberculosis lineage 4 comprises globally distributed and geographically restricted sublineages

Generalist and specialist species differ in the breadth of their ecological niches. Little is known about the niche width of obligate human pathogens. Here we analyzed a global collection of Mycobacterium tuberculosis lineage 4 clinical isolates, the most geographically widespread cause of human tuberculosis. We show that lineage 4 comprises globally distributed and geographically restricted sublineages, suggesting a distinction between generalists and specialists. Population genomic analyses showed that, whereas the majority of human T cell epitopes were conserved in all sublineages, the proportion of variable epitopes was higher in generalists. Our data further support a European origin for the most common generalist sublineage. Hence, the global success of lineage 4 reflects distinct strategies adopted by different sublineages and the influence of human migration.We thank S. Lecher, S. Li and J. Zallet for technical support. Calculations were performed at the sciCORE scientific computing core facility at the University of Basel. This work was supported by the Swiss National Science Foundation (grants 310030_166687 (S.G.) and 320030_153442 (M.E.) and Swiss HIV Cohort Study grant 740 to L.F.), the European Research Council (309540-EVODRTB to S.G.), TB-PAN-NET (FP7-223681 to S.N.), PathoNgenTrace projects (FP7-278864-2 to S.N.), SystemsX.ch (S.G.), the German Center for Infection Research (DZIF; S.N.), the Novartis Foundation (S.G.), the Natural Science Foundation of China (91631301 to Q.G.), and the National Institute of Allergy and Infectious Diseases (5U01-AI069924-05) of the US National Institutes of Health (M.E.)

A global catalog of whole-genome diversity from 233 primate species.

The rich diversity of morphology and behavior displayed across primate species provides an informative context in which to study the impact of genomic diversity on fundamental biological processes. Analysis of that diversity provides insight into long-standing questions in evolutionary and conservation biology and is urgent given severe threats these species are facing. Here, we present high-coverage whole-genome data from 233 primate species representing 86% of genera and all 16 families. This dataset was used, together with fossil calibration, to create a nuclear DNA phylogeny and to reassess evolutionary divergence times among primate clades. We found within-species genetic diversity across families and geographic regions to be associated with climate and sociality, but not with extinction risk. Furthermore, mutation rates differ across species, potentially influenced by effective population sizes. Lastly, we identified extensive recurrence of missense mutations previously thought to be human specific. This study will open a wide range of research avenues for future primate genomic research