Reflex assisted walking for a hexapod robot

Abstract: This paper describes the performance of a hexapod robot that uses low level leg reflexes to aid in walking over uneven terrain, and is currently being developed at the University of Johannesburg. The goal of this research is a robot able to deploy in both the inspection and search and rescue roles, within an underground mine environment. The robot has six legs with three degrees of freedom per leg, and is equipped with a two degree of freedom arm with a sensor payload attached to a pan-tilt system. Throughout the development of this new robot the Design Science Research Methodology was used to guide the decision making process. This paper presents an overview of the robot, including the control architecture, and the testing conducted to verify the robot’s performance when walking over a laboratory test field

Elevated interferon-stimulated gene transcription in peripheral blood mononuclear cells occurs in patients infected with genotype 1 but not genotype 3 hepatitis C virus

Hepatitis C virus (HCV) can be classified into seven distinct genotypes that are associated with differing pathologies and respond differently to antiviral therapy. In the UK, genotype 1 and 3 are present in approximately equal proportions. Chronic infection with HCV genotype 3 is associated with increased liver steatosis and reduced peripheral total cholesterol levels, which potentially influences peripheral immune responses. To understand these differences, we investigated host gene transcription in peripheral blood mononuclear cells by microarray and quantitative PCR in patients with genotype 1 (n = 22) or genotype 3 infection (n = 22) and matched healthy controls (n = 15). Enrichment of genes involved in immune response and inflammatory pathways were present in patients infected with HCV genotype 1; however, no differences in genes involved in lipid or cholesterol metabolism were detected. This genotype-specific induction of genes is unrelated to IL28B genotype or previous treatment failure. Our data support the hypothesis that genotype 1 infection drives a skewed Type I interferon response and provides a foundation for future investigations into the host–pathogen interactions that underlie the genotype-specific clinical outcomes of chronic HCV infection

Cats, connectivity and conservation: incorporating datasets and integrating scales for wildlife management

Understanding resource selection and quantifying habitat connectivity are fundamental to conservation planning for both land-use and species management plans. However, datasets available to management authorities for resource selection and connectivity analyses are often highly limited and fragmentary. As a result, measuring connectivity is challenging, and often poorly integrated within conservation planning and wildlife management. To exacerbate the challenge, scale-dependent resource use makes inference across scales problematic, resource use is often modelled in areas where the species is not present, and connectivity is typically measured using a source-to-sink approach, erroneously assuming animals possess predefined destinations. Here, we used a large carnivore, the leopard Panthera pardus, to characterise resource use and landscape connectivity across a vast, biodiverse region of southern Africa. Using a range of datasets to counter data deficiencies inherent in carnivore management, we overcame methodological limitations by employing occupancy modelling and resource selection functions across three orders of selection, and estimated landscape-scale habitat connectivity – independent of a priori source and sink locations – using circuit theory. We evaluated whether occupancy modelling on its own was capable of accurately informing habitat connectivity, and identified conservation priorities necessary for applied management. We detected markedly different scale-dependent relationships across all selection orders. Our multi-data, multi-scale approach accurately predicted resource use across multiple scales and demonstrates how management authorities can more suitably utilise fragmentary datasets. We further developed an unbiased landscape-scale depiction of habitat connectivity, and identified key linkages in need of targeted management. We did not find support for the use of occupancy modelling as a proxy for landscape-scale habitat connectivity and further caution its use within a management context. Synthesis and applications. Maintaining habitat connectivity remains a fundamental component of wildlife management and conservation, yet data to inform these biological and ecological processes are often scarce. We present a robust approach that incorporates multi-scale fragmentary datasets (e.g. mortality data, permit data, sightings data), routinely collected by management authorities, to inform wildlife management and land-use planning. We recommend that management authorities employ a multi-data, multi-scale connectivity approach—as we present here—to identify management units at risk of low connectivity

Road exposure and the detectability of birds in field surveys

Road ecology, the study of the impacts of roads and their traffic on wildlife, including birds, is a rapidly growing field, with research showing effects on local avian population densities up to several kilometres from a road. However, in most studies, the effects of roads on the detectability of birds by surveyors are not accounted for. This could be a significant source of error in estimates of the impacts of roads on birds and could also affect other studies of bird populations. Using road density, traffic volume and bird count data from across Great Britain, we assess the relationships between roads and detectability of a range of bird species. Of 51 species analysed, the detectability of 36 was significantly associated with road exposure, in most cases inversely. Across the range of road exposure recorded for each species, the mean positive change in detectability was 52% and the mean negative change was 36%, with the strongest negative associations found in smaller-bodied species and those for which aural cues are more important in detection. These associations between road exposure and detectability could be caused by a reduction in surveyors’ abilities to hear birds or by changes in birds’ behaviour, making them harder or easier to detect. We suggest that future studies of the impacts of roads on populations of birds or other taxa, and other studies using survey data from road-exposed areas, should account for the potential impacts of roads on detectability.The BBS is jointly funded by the BTO, JNCC and RSPB. Stuart Newson is supported by the BTO’s Young Scientists’ Programme. Sophia C. Cooke is funded by the Natural Environment Research Council

Quantum spin systems at positive temperature

We develop a novel approach to phase transitions in quantum spin models based on a relation to their classical counterparts. Explicitly, we show that whenever chessboard estimates can be used to prove a phase transition in the classical model, the corresponding quantum model will have a similar phase transition, provided the inverse temperature $\beta$ and the magnitude of the quantum spins \CalS satisfy \beta\ll\sqrt\CalS. From the quantum system we require that it is reflection positive and that it has a meaningful classical limit; the core technical estimate may be described as an extension of the Berezin-Lieb inequalities down to the level of matrix elements. The general theory is applied to prove phase transitions in various quantum spin systems with \CalS\gg1. The most notable examples are the quantum orbital-compass model on $\Z^2$ and the quantum 120-degree model on $\Z^3$ which are shown to exhibit symmetry breaking at low-temperatures despite the infinite degeneracy of their (classical) ground state.Comment: 47 pages, version to appear in CMP (style files included