Combining central pattern generators with the electromagnetism-like algorithm for head motion stabilization during quadruped robot locomotion

Visually-guided locomotion is important for autonomous robotics. However, there are several difficulties, for instance, the head shaking that results from the robot locomotion itself that constraints stable image acquisition and the possibility to rely on that information to act accordingly. In this article, we propose a controller architecture that is able to generate locomotion for a quadruped robot and to generate head motion able to minimize the head motion induced by locomotion itself. The movement controllers are biologically inspired in the concept of Central Pattern Generators (CPGs). CPGs are modelled based on nonlinear dynamical systems, coupled Hopf oscillators. This approach allows to explicitly specify parameters such as amplitude, offset and frequency of movement and to smoothly modulate the generated oscillations according to changes in these parameters. We take advantage of this particularity and propose a combined approach to generate head movement stabilization on a quadruped robot, using CPGs and a global optimization algorithm. The best set of parameters that generates the head movement are computed by the electromagnetism-like algorithm in order to reduce the head shaking caused by locomotion. Experimental results on a simulated AIBO robot demonstrate that the proposed approach generates head movement that does not eliminate but reduces the one induced by locomotion

Numerical Evolution of axisymmetric vacuum spacetimes: a code based on the Galerkin method

We present the first numerical code based on the Galerkin and Collocation methods to integrate the field equations of the Bondi problem. The Galerkin method like all spectral methods provide high accuracy with moderate computational effort. Several numerical tests were performed to verify the issues of convergence, stability and accuracy with promising results. This code opens up several possibilities of applications in more general scenarios for studying the evolution of spacetimes with gravitational waves.Comment: 11 pages, 6 figures. To appear in Classical and Quantum Gravit

Gravitational waves from axisymmetrically oscillating neutron stars in general relativistic simulations

Gravitational waves from oscillating neutron stars in axial symmetry are studied performing numerical simulations in full general relativity. Neutron stars are modeled by a polytropic equation of state for simplicity. A gauge-invariant wave extraction method as well as a quadrupole formula are adopted for computation of gravitational waves. It is found that the gauge-invariant variables systematically contain numerical errors generated near the outer boundaries in the present axisymmetric computation. We clarify their origin, and illustrate it possible to eliminate the dominant part of the systematic errors. The best corrected waveforms for oscillating and rotating stars currently contain errors of magnitude $\sim 10^{-3}$ in the local wave zone. Comparing the waveforms obtained by the gauge-invariant technique with those by the quadrupole formula, it is shown that the quadrupole formula yields approximate gravitational waveforms besides a systematic underestimation of the amplitude of $O(M/R)$ where $M$ and $R$ denote the mass and the radius of neutron stars. However, the wave phase and modulation of the amplitude can be computed accurately. This indicates that the quadrupole formula is a useful tool for studying gravitational waves from rotating stellar core collapse to a neutron star in fully general relativistic simulations. Properties of the gravitational waveforms from the oscillating and rigidly rotating neutron stars are also addressed paying attention to the oscillation associated with fundamental modes

Bondian frames to couple matter with radiation

A study is presented for the non linear evolution of a self gravitating distribution of matter coupled to a massless scalar field. The characteristic formulation for numerical relativity is used to follow the evolution by a sequence of light cones open to the future. Bondian frames are used to endow physical meaning to the matter variables and to the massless scalar field. Asymptotic approaches to the origin and to infinity are achieved; at the boundary surface interior and exterior solutions are matched guaranteeing the Darmois--Lichnerowicz conditions. To show how the scheme works some numerical models are discussed. We exemplify evolving scalar waves on the following fixed backgrounds: A) an atmosphere between the boundary surface of an incompressible mixtured fluid and infinity; B) a polytropic distribution matched to a Schwarzschild exterior; C) a Schwarzschild- Schwarzschild spacetime. The conservation of energy, the Newman--Penrose constant preservation and other expected features are observed.Comment: 20 pages, 6 figures; to appear in General Relativity and Gravitatio

Understanding Hematopoietic Stem Cell Development through Functional Correlation of Their Proliferative Status with the Intra-aortic Cluster Architecture

During development, hematopoietic stem cells (HSCs) emerge in the aorta-gonad-mesonephros (AGM) region through a process of multi-step maturation and expansion. While proliferation of adult HSCs is implicated in the balance between self-renewal and differentiation, very little is known about the proliferation status of nascent HSCs in the AGM region. Using Fucci reporter mice that enable in vivo visualization of cell-cycle status, we detect increased proliferation during pre-HSC expansion followed by a slowing down of cycling once cells start to acquire a definitive HSC state, similar to fetal liver HSCs. We observe time-specific changes in intra-aortic hematopoietic clusters corresponding to HSC maturation stages. The proliferative architecture of the clusters is maintained in an orderly anatomical manner with slowly cycling cells at the base and more actively proliferating cells at the more apical part of the cluster, which correlates with c-KIT expression levels, thus providing an anatomical basis for the role of SCF in HSC maturation

Scalar field induced oscillations of neutron stars and gravitational collapse

We study the interaction of massless scalar fields with self-gravitating neutron stars by means of fully dynamic numerical simulations of the Einstein-Klein-Gordon perfect fluid system. Our investigation is restricted to spherical symmetry and the neutron stars are approximated by relativistic polytropes. Studying the nonlinear dynamics of isolated neutron stars is very effectively performed within the characteristic formulation of general relativity, in which the spacetime is foliated by a family of outgoing light cones. We are able to compactify the entire spacetime on a computational grid and simultaneously impose natural radiative boundary conditions and extract accurate radiative signals. We study the transfer of energy from the scalar field to the fluid star. We find, in particular, that depending on the compactness of the neutron star model, the scalar wave forces the neutron star either to oscillate in its radial modes of pulsation or to undergo gravitational collapse to a black hole on a dynamical timescale. The radiative signal, read off at future null infinity, shows quasi-normal oscillations before the setting of a late time power-law tail.Comment: 12 pages, 13 figures, submitted to Phys. Rev.

Notch1 mutations drive clonal expansion in normal esophageal epithelium but impair tumor growth

NOTCH1 mutant clones occupy the majority of normal human esophagus by middle age but are comparatively rare in esophageal cancers, suggesting NOTCH1 mutations drive clonal expansion but impede carcinogenesis. Here we test this hypothesis. Sequencing NOTCH1 mutant clones in aging human esophagus reveals frequent biallelic mutations that block NOTCH1 signaling. In mouse esophagus, heterozygous Notch1 mutation confers a competitive advantage over wild-type cells, an effect enhanced by loss of the second allele. Widespread Notch1 loss alters transcription but has minimal effects on the epithelial structure and cell dynamics. In a carcinogenesis model, Notch1 mutations were less prevalent in tumors than normal epithelium. Deletion of Notch1 reduced tumor growth, an effect recapitulated by anti-NOTCH1 antibody treatment. Notch1 null tumors showed reduced proliferation. We conclude that Notch1 mutations in normal epithelium are beneficial as wild-type Notch1 favors tumor expansion. NOTCH1 blockade may have therapeutic potential in preventing esophageal squamous cancer

Epidermal Notch1 recruits RORγ+ group 3 innate lymphoid cells to orchestrate normal skin repair

Notch has a well-defined role in controlling cell fate decisions in the embryo and the adult epidermis and immune systems, yet emerging evidence suggests Notch also directs non-cell-autonomous signalling in adult tissues. Here, we show that Notch1 works as a damage response signal. Epidermal Notch induces recruitment of immune cell subsets including RORγ + ILC3s into wounded dermis; RORγ + ILC3s are potent sources of IL17F in wounds and control immunological and epidermal cell responses. Mice deficient for RORγ + ILC3s heal wounds poorly resulting from delayed epidermal proliferation and macrophage recruitment in a CCL3-dependent process. Notch1 upregulates TNFα and the ILC3 recruitment chemokines CCL20 and CXCL13. TNFα, as a Notch1 effector, directs ILC3 localization and rates of wound healing. Altogether these findings suggest that Notch is a key stress/injury signal in skin epithelium driving innate immune cell recruitment and normal skin tissue repair

Computing gravitational waves from slightly nonspherical stellar collapse to black hole: Odd-parity perturbation

Nonspherical stellar collapse to a black hole is one of the most promising gravitational wave sources for gravitational wave detectors. We numerically study gravitational waves from a slightly nonspherical stellar collapse to a black hole in linearized Einstein theory. We adopt a spherically collapsing star as the zeroth-order solution and gravitational waves are computed using perturbation theory on the spherical background. In this paper we focus on the perturbation of odd-parity modes. Using the polytropic equations of state with polytropic indices $n_p=1$ and 3, we qualitatively study gravitational waves emitted during the collapse of neutron stars and supermassive stars to black holes from a marginally stable equilibrium configuration. Since the matter perturbation profiles can be chosen arbitrarily, we provide a few types for them. For $n_p=1$, the gravitational waveforms are mainly characterized by a black hole quasinormal mode ringing, irrespective of perturbation profiles given initially. However, for $n_p=3$, the waveforms depend strongly on the initial perturbation profiles. In other words, the gravitational waveforms strongly depend on the stellar configuration and, in turn, on the ad hoc choice of the functional form of the perturbation in the case of supermassive stars.Comment: 31 pages, accepted for publication in Phys. Rev. D, typos and minor errors correcte