Numerical Implementation of Gradient Algorithms

A numerical method for computational implementation of gradient dynamical systems is presented. The method is based upon the development of geometric integration numerical methods, which aim at preserving the dynamical properties of the original ordinary differential equation under discretization. In particular, the proposed method belongs to the class of discrete gradients methods, which substitute the gradient of the continuous equation with a discrete gradient, leading to a map that possesses the same Lyapunov function of the dynamical system, thus preserving the qualitative properties regardless of the step size. In this work, we apply a discrete gradient method to the implementation of Hopfield neural networks. Contrary to most geometric integration methods, the proposed algorithm can be rewritten in explicit form, which considerably improves its performance and stability. Simulation results show that the preservation of the Lyapunov function leads to an improved performance, compared to the conventional discretization.Spanish Government project no. TIN2010-16556 Junta de Andalucía project no. P08-TIC-04026 Agencia Española de Cooperación Internacional para el Desarrollo project no. A2/038418/1

A simple CSP-based model for unmanned air vehicle mission planning

Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. C. Ramírez-Atencia, G. Bello-Orgaz, M. D. R.-Moreno, and D. Camacho, "A simple CSP-based model for Unmanned Air Vehicle Mission Planning", in 2014 IEEE International Symposium on Innovations in Intelligent Systems and Applications (INISTA) Proceedings, 2014, pp. 146 - 153The problem of Mission Planning for a large number of Unmanned Air Vehicles (UAV) can be formulated as a Temporal Constraint Satisfaction Problem (TCSP). It consists on a set of locations that should visit in different time windows, and the actions that the vehicle can perform based on its features such as the payload, speed or fuel capacity. In this paper, a temporal constraint model is implemented and tested by performing Backtracking search in several missions where its complexity has been incrementally modified. The experimental phase consists on two different phases. On the one hand, several mission simulations containing (n) UAVs using different sensors and characteristics located in different waypoints, and (m) requested tasks varying mission priorities have been carried out. On the other hand, the second experimental phase uses a backtracking algorithm to look through the whole solutions space to measure the scalability of the problem. This scalability has been measured as a relation between the number of tasks to be performed in the mission and the number of UAVs needed to perform it.This work is supported by the Spanish Ministry of Science and Education under Project Code TIN2010-19872 and Savier Project (Airbus Defence & Space, FUAM-076915). The authors would like to acknowledge the support obtained from Airbus Defence & Space, specially from Savier Open Innovation project members: Jose Insenser, C ´ esar Castro and ´ Gemma Blasco

Branching to find feasible solutions in unmanned air vehicle mission planning

The final publication is available at Springer via http://dx.doi.org/10.1007/978-3-319-10840-7_35Proceedings 15th International Conference, Salamanca, Spain, September 10-12, 2014.Mission Planning is a classical problem that has been traditionally studied in several cases from Robotics to Space missions. This kind of problems can be extremely difficult in real and dynamic scenarios. This paper provides a first analysis for mission planning to Unmanned Air Vehicles (UAVs), where sensors and other equipment of UAVs to perform a task are modelled based on Temporal Constraint Satisfaction Problems (TCSPs). In this model, a set of resources and temporal constraints are designed to represent the main characteristics (task time, fuel consumption, ...) of this kind of aircrafts. Using this simplified TCSP model, and a Branch and Bound (B&B) search algorithm, a set of feasible solutions will be found trying to minimize the fuel cost, flight time spent and the number of UAVs used in the mission. Finally, some experiments will be carried out to validate both the quality of the solutions found and the spent runtime to found them.This work is supported by the Spanish Ministry of Science and Education under Project Code TIN2010-19872 and Savier Project (Airbus Defence & Space, FUAM-076915)

Successful acclimatization of mandrills (Mandrillus sphinx) translocated to Conkouati-Douli National Park, Republic of Congo, as measured by fecal glucocorticoid metabolites

Translocation and reintroduction are common tools in conservation management and can be very successful. However, translocation can be stressful for the animals involved, and stress is implicated as a major cause of failure in release programs. Conservation managers should therefore seek to understand how the stages of translocation impact stress physiology in the animals involved. We quantified fecal glucocorticoid metabolites (fGCMs) as a noninvasive measure of response to potential stressors during a translocation of 15 mandrills (Mandrillus sphinx) into Conkouati-Douli National Park, Republic of Congo. The mandrills were initially housed in a sanctuary, transferred to a pre-release enclosure in the National Park and then released into the forest. We collected repeated fecal samples (n = 1101) from known individuals and quantified fGCMs using a previously validated enzyme immunoassay. Transfer from the sanctuary to the pre-release enclosure correlated with a significant 1.93-fold increase in fGCMs, suggesting that transfer was a stressor for the mandrills. fGCM values decreased over time in the pre-release enclosure, suggesting that the mandrills recovered from the transfer and acclimatized to the enclosure. Release to the forest was not linked to a significant increase in fGCMs over the final values in the enclosure. Following release, fGCMs continued to decrease, fell below sanctuary values after just over a month and were about half the sanctuary values after 1 year. Overall, our results suggest that the translocation, although initially presenting a physiological challenge to the animals, was not detrimental to the well-being of the animals over the timescale of the study and, in fact, may have been beneficial. Our findings show the value of non-invasive physiology in monitoring, evaluating and designing wildlife translocations and, ultimately, contributing to their success

Dynamics of gravity driven three-dimensional thin films on hydrophilic-hydrophobic patterned substrates

We investigate numerically the dynamics of unstable gravity driven three-dimensional thin liquid films on hydrophilic-hydrophobic patterned substrates of longitudinal stripes and checkerboard arrangements. The thin film can be guided preferentially on hydrophilic longitudinal stripes, while fingers develop on adjacent hydrophobic stripes if their width is large enough. On checkerboard patterns, the film fingering occurs on hydrophobic domains, while lateral spreading is favoured on hydrophilic domains, providing a mechanism to tune the growth rate of the film. By means of kinematical arguments, we quantitatively predict the growth rate of the contact line on checkerboard arrangements, providing a first step towards potential techniques that control thin film growth in experimental setups.Comment: 30 pages, 12 figure

Probing Cellular Dynamics with a Chemical Signal Generator

Observations of material and cellular systems in response to time-varying chemical stimuli can aid the analysis of dynamic processes. We describe a microfluidic “chemical signal generator,” a technique to apply continuously varying chemical concentration waveforms to arbitrary locations in a microfluidic channel through feedback control of the interface between parallel laminar (co-flowing) streams. As the flow rates of the streams are adjusted, the channel walls are exposed to a chemical environment that shifts between the individual streams. This approach can be used to probe the dynamic behavior of objects or substances adherent to the interior of the channel. To demonstrate the technique, we exposed live fibroblast cells to ionomycin, a membrane-permeable calcium ionophore, while assaying cytosolic calcium concentration. Through the manipulation of the laminar flow interface, we exposed the cells' endogenous calcium handling machinery to spatially-contained discrete and oscillatory intracellular disturbances, which were observed to elicit a regulatory response. The spatiotemporal precision of the generated signals opens avenues to previously unapproachable areas for potential investigation of cell signaling and material behavior

Microfluidics with fluid walls

Microfluidics has great potential, but the complexity of fabricating and operating devices has limited its use. Here we describe a method - Freestyle Fluidics - that overcomes many key limitations. In this method, liquids are confined by fluid (not solid) walls. Aqueous circuits with any 2D shape are printed in seconds on plastic or glass Petri dishes; then, interfacial forces pin liquids to substrates, and overlaying an immiscible liquid prevents evaporation. Confining fluid walls are pliant and resilient; they self-heal when liquids are pipetted through them. We drive flow through a wide range of circuits passively by manipulating surface tension and hydrostatic pressure, and actively using external pumps. Finally, we validate the technology with two challenging applications - triggering an inflammatory response in human cells and chemotaxis in bacterial biofilms. This approach provides a powerful and versatile alternative to traditional microfluidics.The complexity of fabricating and operating microfluidic devices limits their use. Walsh et al. describe a method in which circuits are printed as quickly and simply as writing with a pen, and liquids in them are confined by fluid instead of solid walls

Microfluidic Perfusion for Regulating Diffusible Signaling in Stem Cells

Background Autocrine & paracrine signaling are widespread both in vivo and in vitro, and are particularly important in embryonic stem cell (ESC) pluripotency and lineage commitment. Although autocrine signaling via fibroblast growth factor-4 (FGF4) is known to be required in mouse ESC (mESC) neuroectodermal specification, the question of whether FGF4 autocrine signaling is sufficient, or whether other soluble ligands are also involved in fate specification, is unknown. The spatially confined and closed-loop nature of diffusible signaling makes its experimental control challenging; current experimental approaches typically require prior knowledge of the factor/receptor in order to modulate the loop. A new approach explored in this work is to leverage transport phenomena at cellular resolution to downregulate overall diffusible signaling through the physical removal of cell-secreted ligands. Methodology/Principal Findings We develop a multiplex microfluidic platform to continuously remove cell-secreted (autocrine\paracrine) factors to downregulate diffusible signaling. By comparing cell growth and differentiation in side-by-side chambers with or without added cell-secreted factors, we isolate the effects of diffusible signaling from artifacts such as shear, nutrient depletion, and microsystem effects, and find that cell-secreted growth factor(s) are required during neuroectodermal specification. Then we induce FGF4 signaling in minimal chemically defined medium (N2B27) and inhibit FGF signaling in fully supplemented differentiation medium with cell-secreted factors to determine that the non-FGF cell-secreted factors are required to promote growth of differentiating mESCs. Conclusions/Significance Our results demonstrate for the first time that flow can downregulate autocrine\paracrine signaling and examine sufficiency of extracellular factors. We show that autocrine\paracrine signaling drives neuroectodermal commitment of mESCs through both FGF4-dependent and -independent pathways. Overall, by uncovering autocrine\paracrine processes previously hidden in conventional culture systems, our results establish microfluidic perfusion as a technique to study and manipulate diffusible signaling in cell systems.National Institutes of Health (U.S.) (NIH grant No. EB007278)Swiss National Science FoundationSwiss National Science Foundatio

Characterization of HCV Interactions with Toll-Like Receptors and RIG-I in Liver Cells

The aim of this study was to examine the mechanisms of IFN induction and viral escape. In order to accomplish the goal we compared our new hepatoma cell line LH86, which has intact TLR3 and RIG-I expression and responds to HCV by inducing IFN, with Huh7.5 cells which lack those features.The initial interaction of LH86 cells, Huh7.5 cells or their transfected counter parts (LH86 siRIG-I, siTLR3 or siTLR7 and Huh7.5 RIG-I, TLR3 or TLR7) after infection with HCV (strain JFH-1) was studied by measuring the expression levels of IFNβ, TRAIL, DR4, DR5 and their correlation to viral replication.HCV replicating RNA induces IFN in LH86 cells. The IFN induction system is functional in LH86, and the expression of the RIG-I and TLR3 in LH86 is comparable to the primary hepatocytes. Both proteins appear to play important roles in suppression of viral replication. We found that innate immunity against HCV is associated with the induction of apoptosis by RIG-I through the TRAIL pathway and the establishment of an antiviral state by TLR3. HCV envelope proteins interfere with the expression of TLR3 and RIG-I.These findings correlate with the lower expression level of PRRs in HCV chronic patients and highlight the importance of the PRRs in the initial interaction of the virus and its host cells. This work represents a novel mechanism of viral pathogenesis for HCV and demonstrates the role of PRRs in viral infection