Software Abstractions for Simulation and Control of a Continuum Robot

Nordmann A, Rolf M, Wrede S. Software Abstractions for Simulation and Control of a Continuum Robot. In: SIMPAR2012 - SIMULATION, MODELING, and PROGRAMMING for AUTONOMOUS ROBOTS. 2012

Defining the Prion Type of Fatal Familial Insomnia

Fatal familial insomnia (FFI) belongs to the genetic human transmissible spongiform encephalopathies (TSE), such as genetic Creutzfeldt-Jakob disease (CJD) or Gerstmann-StraeusslerScheinker syndrome (GSS). Here, we analyzed the properties of the pathological prion protein in six FFI cases by Western blot analysis, a protein aggregate stability assay, and aggregate deposition characteristics visualized with the paraffin-embedded tissue blot. While in all cases the unglycosylated fragment in Western blot analysis shared the same size with sporadic CJD prion type 2, the reticular/synaptic deposition pattern of the prion aggregates resembled the ones found in sporadic CJD type 1 (CJD types according to the Parchi classification from 1999). Regarding the conformational stability against denaturation with GdnHCl, FFI prion aggregates resembled CJD type 1 more than type 2. Our results suggest that the size of the proteinase-K-resistant fragments is not a valid criterion on its own. Additional criteria supplying information about conformational differences or similarities need to be taken into account. FFI may resemble a prion type with its own conformation sharing properties partly with type 1 and type 2 prions

A Survey on Domain-Specific Languages in Robotics

Nordmann A, Hochgeschwender N, Wrede S. A Survey on Domain-Specific Languages in Robotics. In: International Conference on Simulation, Modeling, and Programming for Autonomous Robots. 2014.The design, simulation and programming of robotics systems is challenging as expertise from multiple domains needs to be integrated conceptually and technically. Domain-specific modeling promises an efficient and flexible concept for developing robotics applications that copes with this challenge. It allows to raise the level of abstraction through the use of specific concepts that are closer to the respective domain concerns and easier to understand and validate. Furthermore, it focuses on increasing the level of automation, e.g. through code generation, to bridge the gap between the modeling and the implementation levels and to improve the efficiency and quality of the software development process. Within this contribution, we survey the literature available on domain-specific (modeling) languages in robotics required to realize a state-of-the-art real-world example from the RoboCup@Work competition. We classify 41 publications in the field as reference for potential DSL users. Furthermore, we analyze these contributions from a DSL-engineering viewpoint and discuss quantitative and qualitative aspects such as the methods and tools used for DSL implementation as well as their documentation status and platform integration. Finally, we conclude with some recommendations for discussion in the robotics programming and simulation community based on the insights gained with this survey

Interrelation of inflammation and APP in sIBM: IL-1 beta induces accumulation of beta-amyloid in skeletal muscle.

Distinct interrelationships between inflammation and beta-amyloid-associated degeneration, the two major hallmarks of the skeletal muscle pathology in sporadic inclusion body myositis (sIBM), have remained elusive. Expression of markers relevant for these pathomechanisms were analysed in biopsies of sIBM, polymyositis (PM), dermatomyositis (DM), dystrophic and non-myopathic muscle as controls, and cultured human myotubes. By quantitative PCR, a higher upregulation was noted for the mRNA-expression of CXCL-9, CCL-3, CCL-4, IFN-gamma, TNF-alpha and IL-1 beta in sIBM muscle compared to PM, DM and controls. All inflammatory myopathies displayed overexpression of degeneration-associated markers, yet only in sIBM, expression of the mRNA of amyloid precursor protein (APP) significantly and consistently correlated with inflammation in the muscle and mRNA-levels of chemokines and IFN-gamma. Only in sIBM, immunohistochemical analysis revealed that inflammatory mediators including IL-1 beta co-localized to beta-amyloid depositions within myofibres. In human myotubes, exposure to IL-1 beta caused upregulation of APP with subsequent intracellular aggregation of beta-amyloid. Our data suggest that, in sIBM muscle, production of high amounts of pro-inflammatory mediators specifically induces beta-amyloid-associated degeneration. The observations may help to design targeted treatment strategies for chronic inflammatory disorders of the skeletal muscle

Prion type 2 selection in sporadic Creutzfeldt-Jakob disease affecting peripheral ganglia

In sporadic Creutzfeldt–Jakob disease (sCJD), the pathological changes appear to be restricted to the central nervous system. Only involvement of the trigeminal ganglion is widely accepted. The present study systematically examined the involvement of peripheral ganglia in sCJD utilizing the currently most sensitive technique for detecting prions in tissue morphologically. The trigeminal, nodose, stellate, and celiac ganglia, as well as ganglia of the cervical, thoracic and lumbar sympathetic trunk of 40 patients were analyzed with the paraffin-embedded tissue (PET)-blot method. Apart from the trigeminal ganglion, which contained protein aggregates in five of 19 prion type 1 patients, evidence of prion protein aggregation was only found in patients associated with type 2 prions. With the PET-blot, aggregates of prion protein type 2 were found in all trigeminal (17/17), in some nodose (5 of 7) and thoracic (3 of 6) ganglia, as well as in a few celiac (4 of 19) and lumbar (1 of 5) ganglia of sCJD patients. Whereas aggregates of both prion types may spread to dorsal root ganglia, more CNS-distant ganglia seem to be only involved in patients accumulating prion type 2. Whether the prion type association is due to selection by prion type-dependent replication, or due to a prion type-dependent property of axonal spread remains to be resolved in further studies

Modeling of Movement Control Architectures based on Motion Primitives using Domain-Specific Languages

Nordmann A, Wrede S, Steil JJ. Modeling of Movement Control Architectures based on Motion Primitives using Domain-Specific Languages. Presented at the Int. Conf. on Robotics and Automation

A Survey on Domain-Specific Modeling and Languages in Robotics

Nordmann A, Hochgeschwender N, Wigand DL, Wrede S. A Survey on Domain-Specific Modeling and Languages in Robotics. Journal of Software Engineering in Robotics. 2016;7(1):75-99

The Cognitive Interaction Toolkit – Improving Reproducibility of Robotic Systems Experiments (POSTER)

Lier F, Wienke J, Nordmann A, Wachsmuth S, Wrede S. The Cognitive Interaction Toolkit – Improving Reproducibility of Robotic Systems Experiments (POSTER). Presented at the International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), Bergamo, Italy

PrPSc spreading patterns in the brain of sheep linked to different prion types

Scrapie in sheep and goats has been known for more than 250 years and belongs nowadays to the so-called prion diseases that also include e.g. bovine spongiform encephalopathy in cattle (BSE) and Creutzfeldt-Jakob disease in humans. According to the prion hypothesis, the pathological isoform (PrPSc) of the cellular prion protein (PrPc) comprises the essential, if not exclusive, component of the transmissible agent. Currently, two types of scrapie disease are known - classical and atypical/Nor98 scrapie. In the present study we examine 24 cases of classical and 25 cases of atypical/Nor98 scrapie with the sensitive PET blot method and validate the results with conventional immunohistochemistry. The sequential detection of PrPSc aggregates in the CNS of classical scrapie sheep implies that after neuroinvasion a spread from spinal cord and obex to the cerebellum, diencephalon and frontal cortex via the rostral brainstem takes place. We categorize the spread of PrPSc into four stages: the CNS entry stage, the brainstem stage, the cruciate sulcus stage and finally the basal ganglia stage. Such a sequential development of PrPSc was not detectable upon analysis of the present atypical/Nor98 scrapie cases. PrPSc distribution in one case of atypical/Nor98 scrapie in a presumably early disease phase suggests that the spread of PrPSc aggregates starts in the di- or telencephalon. In addition to the spontaneous generation of PrPSc, an uptake of the infectious agent into the brain, that bypasses the brainstem and starts its accumulation in the thalamus, needs to be taken into consideration for atypical/Nor98 scrapie