Learning Motion Predictors for Smart Wheelchair using Autoregressive Sparse Gaussian Process

Constructing a smart wheelchair on a commercially available powered wheelchair (PWC) platform avoids a host of seating, mechanical design and reliability issues but requires methods of predicting and controlling the motion of a device never intended for robotics. Analog joystick inputs are subject to black-box transformations which may produce intuitive and adaptable motion control for human operators, but complicate robotic control approaches; furthermore, installation of standard axle mounted odometers on a commercial PWC is difficult. In this work, we present an integrated hardware and software system for predicting the motion of a commercial PWC platform that does not require any physical or electronic modification of the chair beyond plugging into an industry standard auxiliary input port. This system uses an RGB-D camera and an Arduino interface board to capture motion data, including visual odometry and joystick signals, via ROS communication. Future motion is predicted using an autoregressive sparse Gaussian process model. We evaluate the proposed system on real-world short-term path prediction experiments. Experimental results demonstrate the system's efficacy when compared to a baseline neural network model.Comment: The paper has been accepted to the International Conference on Robotics and Automation (ICRA2018

Function of the Signal Peptide and N- and C-terminal Propeptides in the Leucine Aminopeptidase from \u3cem\u3eAeromonas proteolytica\u3c/em\u3e

The leucine aminopeptidase from Aeromonas proteolytica (also known as Vibrio proteolyticus) (AAP) is a metalloenzyme with broad substrate specificity. The open reading frame (ORF) for AAP encodes a 54 kDa enzyme, however, the extracellular enzyme has a molecular weight of 43 kDa. This form of AAP is further processed to a mature, thermostable 32 kDa form but the exact nature of this process is unknown. Over-expression of different forms of AAP in Escherichia coli (with AAP\u27s native leader sequence, with and without the N- and/or C-terminal propeptides, and as fusion protein) has allowed a model for the processing of wild-type AAP to be proposed. The role of the A. proteolytica signal peptide in protein secretion as well as comparison to other known signal peptides reveals a close resemblance of the A. proteolytica signal peptide to the outer membrane protein (OmpA) signal peptide. Over-expression of the full 54 kDa AAP enzyme provides an enzyme that is significantly less active, due to a cooperative inhibitory interaction between both propeptides. Over-expression of AAP lacking its C-terminal propeptide provided an enzyme with an identical kcat value to wild-type AAP but exhibited a larger Km value, suggesting competitive inhibition of AAP by the N-terminal propeptide (Ki∼0.13 nM). The recombinant 32 kDa form of AAP was characterized by kinetic and spectroscopic methods and was shown to be identical to mature, wild-type AAP. Therefore, the ease of purification and processing of rAAP along with the fact that large quantities can be obtained now allow new detailed mechanistic studies to be performed on AAP through site-directed mutagenesis

Living on the edge of chaos: minimally nonlinear models of genetic regulatory dynamics

Linearized catalytic reaction equations modeling e.g. the dynamics of genetic regulatory networks under the constraint that expression levels, i.e. molecular concentrations of nucleic material are positive, exhibit nontrivial dynamical properties, which depend on the average connectivity of the reaction network. In these systems the inflation of the edge of chaos and multi-stability have been demonstrated to exist. The positivity constraint introduces a nonlinearity which makes chaotic dynamics possible. Despite the simplicity of such minimally nonlinear systems, their basic properties allow to understand fundamental dynamical properties of complex biological reaction networks. We analyze the Lyapunov spectrum, determine the probability to find stationary oscillating solutions, demonstrate the effect of the nonlinearity on the effective in- and out-degree of the active interaction network and study how the frequency distributions of oscillatory modes of such system depend on the average connectivity.Comment: 11 pages, 5 figure

Surgical site infection and transfusion rates are higher in underweight total knee arthroplasty patients.

BACKGROUND: Underweight (UW) patients undergoing total hip arthroplasty have exhibited higher complication rates, including infection and transfusion. No study to our knowledge has evaluated UW total knee arthroplasty (TKA) patients. We, therefore, conducted a study to investigate if these patients are at increased risk for complications, including infection and transfusion. METHODS: A case-control study was conducted using a prospectively collected institutional database. Twenty-seven TKA patients were identified as UW (body mass index [BMI] \u3c 18.5 kg/m RESULTS: The average BMI was 17.1 kg/m CONCLUSIONS: Our study demonstrates that UW TKA patients have a higher likelihood of developing SSI and requiring blood transfusions. The specific reasons are unclear, but we conjecture that it may be related to decreased wound healing capabilities and low preoperative hemoglobin. Investigation of local tissue coverage and hematologic status may be beneficial in this patient population to prevent SSI. Based on the results of this study, a prospective evaluation of these factors should be undertaken

Quasiperiodic Envelope Solitons

We analyse nonlinear wave propagation and cascaded self-focusing due to second-harmonic generation in Fibbonacci optical superlattices and introduce a novel concept of nonlinear physics, the quasiperiodic soliton, which describes spatially localized self-trapping of a quasiperiodic wave. We point out a link between the quasiperiodic soliton and partially incoherent spatial solitary waves recently generated experimentally.Comment: Submitted to PRL. 4 pages with 5 figure

The infrared properties of the new outburst star IRAS 05436-0007 in quiescent phase

We compiled and investigated the infrared/sub-mm/mm SED of the new outburst star IRAS 05436-0007 in quiescent phase. The star is a flat-spectrum source, with an estimated total luminosity of L_bol ~ 5.6 L_sun, typical of low-mass T Tauri stars. The derived circumstellar mass of 0.5 M_sun is rather high among low-mass YSOs. The observed SED differs from the SEDs of typical T Tauri stars and of 4 well-known EXors, and resembles more the SEDs of FU Orionis objects indicating the presence of a circumstellar envelope. IRAS 05436-0007 seems to be a Class II source with an age of approximately 4x10^5 yr. In this evolutionary stage an accretion disk is already fully developed, though a circumstellar envelope may also be present. Observations of the present outburst will provide additional knowledge on the source.Comment: 4 pages, 4 figures, to be published in Astronomy & Astrophysics Letter

Statistical Theory for Incoherent Light Propagation in Nonlinear Media

A novel statistical approach based on the Wigner transform is proposed for the description of partially incoherent optical wave dynamics in nonlinear media. An evolution equation for the Wigner transform is derived from a nonlinear Schrodinger equation with arbitrary nonlinearity. It is shown that random phase fluctuations of an incoherent plane wave lead to a Landau-like damping effect, which can stabilize the modulational instability. In the limit of the geometrical optics approximation, incoherent, localized, and stationary wave-fields are shown to exist for a wide class of nonlinear media.Comment: 4 pages, REVTeX4. Submitted to Physical Review E. Revised manuscrip

The retinoic acid receptor alpha (RARA) gene is not associated with myopia, hypermetropia, and ocular biometric measures

Purpose: The Retinoic Acid Receptor Alpha (RARA) gene is a potential candidate gene for myopia due to its differential expression in animal models during experimentally induced myopia. To test for whether RARA is associated with myopia we have undertaken a case-control study assessing for associations between RARA and myopia, hypermetropia, and ocular biometric measures. Methods: A total of 802 Anglo-Celtic individuals were genotyped. Five tag single nucleotide polymorphisms (tSNPs) in RARA with an r2 of 0.8 and a minor allele frequency greater than 5% were selected for genotyping. Genotype frequencies of these 5 tSNPs were compared between individuals with emmetropia and those with myopia or hypermetropia. A quantitative analysis was also performed to assess associations with ocular biometric measures including axial length, corneal curvature and anterior chamber depth. Results: We did not identify any significant association between tSNPs in RARA with either myopia or hypermetropia as qualitative traits. Neither did we identify any significant associations of these tSNPs with the quantitative traits of axial length, corneal curvature and anterior chamber depth. Conclusions: This is the first study to assess for associations between RARA and myopia, hypermetropia, and ocular biometric measures. Our findings suggest that variations in the nucleotide sequence of RARA are not associated with myopia, hypermetropia, or ocular biometric measures in our population