Active Control Stabilization of High Power Rocket

High power rockets could become dynamically unstable due to outside disturbances after takeoff. The instability is augmented when the rocket is slow off the launch rail, which happens when the thrust-to-weight ratio is less than 5:1. Due to these reasons, the objective of this project was to design and build an active control system that will make sure the rocket follows a straight path all the way to apogee. This will be done through a model-based design approach, in which a 6DOF mathematical model of the flight dynamics will be created

ED-BioRob: A Neuromorphic Robotic Arm With FPGA-Based Infrastructure for Bio-Inspired Spiking Motor Controllers

Compared to classic robotics, biological nervous systems respond to stimuli in a fast and efficient way regarding the body motor actions. Decision making, once the sensory information arrives to the brain, is in the order of ms, while the whole process from sensing to movement requires tens of ms. Classic robotic systems usually require complex computational abilities. Key differences between biological systems and robotic machines lie in the way information is coded and transmitted. A neuron is the "basic" element that constitutes biological nervous systems. Neurons communicate in an event-driven way through small currents or ionic pulses (spikes). When neurons are arranged in networks, they allow not only for the processing of sensory information, but also for the actuation over the muscles in the same spiking manner. This paper presents the application of a classic motor control model (proportional-integral-derivative) developed with the biological spike processing principle, including the motor actuation with time enlarged spikes instead of the classic pulse-width-modulation. This closed-loop control model, called spike-based PID controller (sPID), was improved and adapted for a dual FPGA-based system to control the four joints of a bioinspired light robot (BioRob X5), called event-driven BioRob (ED-BioRob). The use of spiking signals allowed the system to achieve a current consumption bellow 1A for the entire 4 DoF working at the same time. Furthermore, the robot joints commands can be received from a population of silicon-neurons running on the Dynap-SE platform. Thus, our proposal aims to bridge the gap between a general purpose processing analog neuromorphic hardware and the spiking actuation of a robotic platform

First biological data, associated fauna, and microclimate preferences of the enigmatic cave-dwelling beetle Dalyat mirabilis Mateu, 2002 (Coleoptera, Carabidae)

Dalyat mirabilis is an extraordinary troglobite carabid described in 2002 from the cave Simarrón II in the southeast of the Iberian Peninsula (Spain). A new subfamily Dalyatinae was erected to accommodate this species with remarkable morphological characters and adaptations to live underground. In addition to the former original descriptions, there is only one more study and it aimed to elucidate its evolutionary history. Its closest living relative belongs to the genus Promecognathus in North America and both groups seem to have diverged sometime in the late Jurassic to early Cretaceous. In this work, the phenology of D. mirabilis, its associated invertebrate fauna and the environmental conditions of the cave Simarrón II were studied for a full year cycle. This carabid is not evenly distributed in the cave, in time or space. It is most abundant during the winter months, wet season, and it disappears from the top layer of the substrate in the summer. A positive correlation was found between the number of carabids captured per trap and the distance to the entrance of the cave; most specimens were captured in traps farthest from the entrance and located in the chamber known as Vias Salas Negras. Furthermore, several spatially-resolved analyses integrating relative humidity, temperature, and the number of captures per trap showed that D. mirabilis prefers Vias Salas Negras for having a higher and more stable relative humidity than other chambers in the cave. Larvae were never captured, regardless of intense efforts to collect them for years. Finally, 30 other invertebrate species belonging to 12 different Orders were captured in the cave and are listed here, 25.8% are troglobites, 29.0% troglophiles and 45.2% troglexenes. The data from this study was used for an initiative to protect this cave and its remarkable fauna. Some of the measures taken by the Administration include the control of human visits to the cave, the installation of a perimetral fence surrounding the entrance, and the installation of an informative panel at the exterior of the cave describing the endemic entomological fauna it contains

Involvement of extracellular vesicle-encapsulated miRNAs in human reproductive disorders: a systematic review

In recent years, extracellular vesicles (EVs) have emerged as essential players in cell-to-cell communication, particularly having an active regulating role in biological systems. Because reproductive-associated processes are not exempt of this communication, multiple studies have been devoted to this realm, focusing on gamete maturation, embryo implantation or fetal development. The aim of the present review was to comprehensively and systematically collect evidence about the function of the microRNA (miRNA) encapsulated in EVs isolated from different reproductive tissues or fluids in reproductive-related diseases. Following PRISMA guidelines, we conducted a systematic search of the literature published in MEDLINE-PubMed until the end of February 2021. After selection, 32 studies were included in the qualitative review comparing the miRNA expression profile in EVs between different pathological disorders. Most reports showed the potential of the miRNAs carried by EVs to be used as putative biomarkers of reproductive disorders, including pregnancy affections, disease progression and quality of preimplantation embryos. The most relevant miRNAs were found to be highly heterogeneous among studies, with some conflicting results. Further research is thus warranted to address whether cofounding factors, such as the methods to isolate EVs and miRNAs, the subset of EVs, the criteria of patient selection, the timing of sample retrieval, or any other factor, may explain the inconsistencies between studies

Electronic modeling of a PEMFC with logarithmic amplifiers

The main purpose of this project has been to simulate the behavior of a PEM-type fuel cell working in a stationary regimen using an equivalent circuit (EC). The EC designed with Multisim circuit design software reproduces the three characteristics sections of a polarization curve for a proton exchange membrane fuel cell (PEMFC). The main characteristic of this EC is that it offers the possibility to adapt the power range of the fuel cell in the simulated electronic model. To do so, a transconductance is used to allow adjusting the load current range. The EC allows fitting the simulated results to any commercial PEM fuel cell polarization curves and power ranges, adjusting parameters such as the charge current IFC and the reversible voltage of the PEM fuel cell Erev, and then setting the resistor values in the losses blocks and in the amplifiers. Validation of the EC has been performed by simply adjusting the empirical data obtained with an Electrochem commercial 25 cm2 active area PEMFC to the different analog blocks of the EC. Adjustments were carried out by using Mathcad 14 calculation algorithms

The contribution of sulfate ions and protons to the specific capacitance of microporous carbon monoliths

The monoliths studied in this work show large specific surface areas (up to 1600 m2 g-1), high densities (up to 1.17 g cm-3) and high electrical conductivities (up to 9.5 S cm-1). They are microporous carbons with pore sizes up to 1.3 nm but most of them below 0.75 nm. They also show oxygen functionalities. The electrochemical behavior of the monoliths is studied in three-electrode cells with aqueous H2SO4 solution as electrolyte. This work deals with the contribution of the sulfate ions and protons to the specific capacitance of carbon monoliths having different surface areas and different contents of oxygen groups. Protons contribute with a pseudocapacitance (up to 152 F g-1) in addition to the double layer capacitance. Sulfate ions contribute with a double layer capacitance only. At the double layer, the capacitance of the sulfate ions (up to 291 F g-1) is slightly higher than that of protons (up to 251 F g-1); both capacitances increase as the surface area increases. The preference of protons to be electroadsorbed at the double layer and the broader voltage window of these ions account for their higher contribution (70 %) to the double layer capacitance.Financial support through the projects MAT2011-25198, MP 1004 and PROMETEO/2009/047 is gratefully acknowledged. V.B. thanks MINECO for R&C contract

Continuous Cultivation as a Tool Toward the Rational Bioprocess Development With Pichia Pastoris Cell Factory

The methylotrophic yeast Pichia pastoris (Komagataella phaffii) is currently considered one of the most promising hosts for recombinant protein production (RPP) and metabolites due to the availability of several tools to efficiently regulate the recombinant expression, its ability to perform eukaryotic post-translational modifications and to secrete the product in the extracellular media. The challenge of improving the bioprocess efficiency can be faced from two main approaches: the strain engineering, which includes enhancements in the recombinant expression regulation as well as overcoming potential cell capacity bottlenecks; and the bioprocess engineering, focused on the development of rational-based efficient operational strategies. Understanding the effect of strain and operational improvements in bioprocess efficiency requires to attain a robust knowledge about the metabolic and physiological changes triggered into the cells. For this purpose, a number of studies have revealed chemostat cultures to provide a robust tool for accurate, reliable, and reproducible bioprocess characterization. It should involve the determination of key specific rates, productivities, and yields for different C and N sources, as well as optimizing media formulation and operating conditions. Furthermore, studies along the different levels of systems biology are usually performed also in chemostat cultures. Transcriptomic, proteomic and metabolic flux analysis, using different techniques like differential target gene expression, protein description and 13 C-based metabolic flux analysis, are widely described as valued examples in the literature. In this scenario, the main advantage of a continuous operation relies on the quality of the homogeneous samples obtained under steady-state conditions, where both the metabolic and physiological status of the cells remain unaltered in an all-encompassing picture of the cell environment. This contribution aims to provide the state of the art of the different approaches that allow the design of rational strain and bioprocess engineering improvements in Pichia pastoris toward optimizing bioprocesses based on the results obtained in chemostat cultures. Interestingly, continuous cultivation is also currently emerging as an alternative operational mode in industrial biotechnology for implementing continuous process operations

Closed-loop sound source localization in neuromorphic systems

Sound source localization (SSL) is used in various applications such as industrial noise-control, speech detection in mobile phones, speech enhancement in hearing aids and many more. Newest video conferencing setups use SSL. The position of a speaker is detected from the difference in the audio waves received by a microphone array. After detection the camera focuses onto the location of the speaker. The human brain is also able to detect the location of a speaker from auditory signals. It uses, among other cues, the difference in amplitude and arrival time of the sound wave at the two ears, called interaural level and time difference. However, the substrate and computational primitives of our brain are different from classical digital computing. Due to its low power consumption of around 20 W and its performance in real time the human brain has become a great source of inspiration for emerging technologies. One of these technologies is neuromorphic hardware which implements the fundamental principles of brain computing identified until today using complementary metal-oxide-semiconductor technologies and new devices. In this work we propose the first neuromorphic closed-loop robotic system that uses the interaural time difference for SSL in real time. Our system can successfully locate sound sources such as human speech. In a closed-loop experiment, the robotic platform turned immediately into the direction of the sound source with a turning velocity linearly proportional to the angle difference between sound source and binaural microphones. After this initial turn, the robotic platform remains at the direction of the sound source. Even though the system only uses very few resources of the available hardware, consumes around 1 W, and was only tuned by hand, meaning it does not contain any learning at all, it already reaches performances comparable to other neuromorphic approaches. The SSL system presented in this article brings us one step closer towards neuromorphic event-based systems for robotics and embodied computing

Specific growth rate governs AOX1 gene expression, affecting the production kinetics of Pichia pastoris (Komagataella phaffii) P-driven recombinant producer strains with different target gene dosage

The P-based expression system is the most widely used for producing recombinant proteins in the methylotrophic yeast Pichia pastoris (Komagataella phaffii). Despite relevant recent advances in regulation of the methanol utilization (MUT) pathway have been made, the role of specific growth rate (µ) in AOX1 regulation remains unknown, and therefore, its impact on protein production kinetics is still unclear. The influence of heterologous gene dosage, and both, operational mode and strategy, on culture physiological state was studied by cultivating the two P-driven Candida rugosa lipase 1 (Crl1) producer clones. Specifically, a clone integrating a single expression cassette of CRL1 was compared with one containing three cassettes over broad dilution rate and µ ranges in both chemostat and fed-batch cultivations. Chemostat cultivations allowed to establish the impact of µ on the MUT-related MIT1 pool which leads to a bell-shaped relationship between µ and P-driven gene expression, influencing directly Crl1 production kinetics. Also, chemostat and fed-batch cultivations exposed the favorable effects of increasing the CRL1 gene dosage (up to 2.4 fold in q ) on Crl1 production with no significant detrimental effects on physiological capabilities. P-driven gene expression and Crl1 production kinetics in P. pastoris were successfully correlated with µ. In fact, µ governs MUT-related MIT1 amount that triggers P-driven gene expression-heterologous genes included-, thus directly influencing the production kinetics of recombinant protein

A Neuro-Inspired Spike-Based PID Motor Controller for Multi-Motor Robots with Low Cost FPGAs

In this paper we present a neuro-inspired spike-based close-loop controller written in VHDL and implemented for FPGAs. This controller has been focused on controlling a DC motor speed, but only using spikes for information representation, processing and DC motor driving. It could be applied to other motors with proper driver adaptation. This controller architecture represents one of the latest layers in a Spiking Neural Network (SNN), which implements a bridge between robotics actuators and spike-based processing layers and sensors. The presented control system fuses actuation and sensors information as spikes streams, processing these spikes in hard real-time, implementing a massively parallel information processing system, through specialized spike-based circuits. This spike-based close-loop controller has been implemented into an AER platform, designed in our labs, that allows direct control of DC motors: the AER-Robot. Experimental results evidence the viability of the implementation of spike-based controllers, and hardware synthesis denotes low hardware requirements that allow replicating this controller in a high number of parallel controllers working together to allow a real-time robot control