Mechanisms of place recognition and path integration based on the insect visual system

Animals are often able to solve complex navigational tasks in very challenging terrain, despite using low resolution sensors and minimal computational power, providing inspiration for robots. In particular, many species of insect are known to solve complex navigation problems, often combining an array of different behaviours (Wehner et al., 1996; Collett, 1996). Their nervous system is also comparatively simple, relative to that of mammals and other vertebrates. In the first part of this thesis, the visual input of a navigating desert ant, Cataglyphis velox, was mimicked by capturing images in ultraviolet (UV) at similar wavelengths to the ant’s compound eye. The natural segmentation of ground and sky lead to the hypothesis that skyline contours could be used by ants as features for navigation. As proof of concept, sky-segmented binary images were used as input for an established localisation algorithm SeqSLAM (Milford and Wyeth, 2012), validating the plausibility of this claim (Stone et al., 2014). A follow-up investigation sought to determine whether using the sky as a feature would help overcome image matching problems that the ant often faced, such as variance in tilt and yaw rotation. A robotic localisation study showed that using spherical harmonics (SH), a representation in the frequency domain, combined with extracted sky can greatly help robots localise on uneven terrain. Results showed improved performance to state of the art point feature localisation methods on fast bumpy tracks (Stone et al., 2016a). In the second part, an approach to understand how insects perform a navigational task called path integration was attempted by modelling part of the brain of the sweat bee Megalopta genalis. A recent discovery that two populations of cells act as a celestial compass and visual odometer, respectively, led to the hypothesis that circuitry at their point of convergence in the central complex (CX) could give rise to path integration. A firing rate-based model was developed with connectivity derived from the overlap of observed neural arborisations of individual cells and successfully used to build up a home vector and steer an agent back to the nest (Stone et al., 2016b). This approach has the appeal that neural circuitry is highly conserved across insects, so findings here could have wide implications for insect navigation in general. The developed model is the first functioning path integrator that is based on individual cellular connections

Disrupted CXCR2 Signaling in Oligodendroglia Lineage Cells Enhances Myelin Repair in a Viral Model of Multiple Sclerosis.

CXCR2 is a chemokine receptor expressed on oligodendroglia that has been implicated in the pathogenesis of neuroinflammatory demyelinating diseases as well as enhancement of the migration, proliferation, and myelin production by oligodendroglia. Using an inducible proteolipid protein (Plp) promoter-driven Cre-loxP recombination system, we were able to assess how timed ablation of Cxcr2 in oligodendroglia affected disease following intracranial infection with the neurotropic JHM strain of mouse hepatitis virus (JHMV). Generation of Plp-Cre-ER(T)::Cxcr2flox/flox transgenic mice (termed Cxcr2-CKO mice) allows for Cxcr2 to be silenced in oligodendrocytes in adult mice following treatment with tamoxifen. Ablation of oligodendroglia Cxcr2 did not influence clinical severity in response to intracranial infection with JHMV. Infiltration of activated T cells or myeloid cells into the central nervous system (CNS) was not affected, nor was the ability to control viral infection. In addition, the severity of demyelination was similar between tamoxifen-treated mice and vehicle-treated controls. Notably, deletion of Cxcr2 resulted in increased remyelination, as assessed by g-ratio (the ratio of the inner axonal diameter to the total outer fiber diameter) calculation, compared to that in vehicle-treated control mice. Collectively, our findings argue that CXCR2 signaling in oligodendroglia is dispensable with regard to contributing to neuroinflammation, but its deletion enhances remyelination in a preclinical model of the human demyelinating disease multiple sclerosis (MS).IMPORTANCE Signaling through the chemokine receptor CXCR2 in oligodendroglia is important for developmental myelination in rodents, while chemical inhibition or nonspecific genetic deletion of CXCR2 appears to augment myelin repair in animal models of the human demyelinating disease multiple sclerosis (MS). To better understand the biology of CXCR2 signaling on oligodendroglia, we generated transgenic mice in which Cxcr2 is selectively ablated in oligodendroglia upon treatment with tamoxifen. Using a viral model of neuroinflammation and demyelination, we demonstrate that genetic silencing of CXCR2 on oligodendroglia did not affect clinical disease, neuroinflammation, or demyelination, yet there was increased remyelination. These findings support and extend previous findings suggesting that targeting CXCR2 may offer a therapeutic avenue for enhancing remyelination in patients with demyelinating diseases

Antibodies in the Diagnosis, Prognosis, and Prediction of Psychotic Disorders.

Blood-based biomarker discovery for psychotic disorders has yet to impact upon routine clinical practice. In physical disorders antibodies have established roles as diagnostic, prognostic and predictive (theranostic) biomarkers, particularly in disorders thought to have a substantial autoimmune or infective aetiology. Two approaches to antibody biomarker identification are distinguished: a top-down approach, in which antibodies to specific antigens are sought based on the known function of the antigen and its putative role in the disorder, and emerging bottom-up or omics approaches that are agnostic as to the significance of any one antigen, using high-throughput arrays to identify distinctive components of the antibody repertoire. Here we review the evidence for antibodies (to self-antigens as well as infectious organism and dietary antigens) as biomarkers of diagnosis, prognosis, and treatment response in psychotic disorders. Neuronal autoantibodies have current, and increasing, clinical utility in the diagnosis of organic or atypical psychosis syndromes. Antibodies to selected infectious agents show some promise in predicting cognitive impairment and possibly other symptom domains (eg, suicidality) within psychotic disorders. Finally, infectious antibodies and neuronal and other autoantibodies have recently emerged as potential biomarkers of response to anti-infective therapies, immunotherapies, or other novel therapeutic strategies in psychotic disorders, and have a clear role in stratifying patients for future clinical trials. As in nonpsychiatric disorders, combining biomarkers and large-scale use of bottom-up approaches to biomarker identification are likely to maximize the eventual clinical utility of antibody biomarkers in psychotic disorders

Communications for the TechEdSat5/PhoneSat5 Mission

The TechEdSat5/PhoneSat5 (T5/P5) Mission continues the series of orbital CubeSats from NASA Ames Research Center that incorporates advanced avionics and communications to support the testing of an exo-atmospheric parachute. This “exo-brake” slows down a spacecraft allowing controlled deorbit and recovery of payloads from International Space Station (ISS) by modulating the drag coefficient. The T5/P5 spacecraft consists of baseline avionics from the TechEdSat line together with new avionics based on the Intel Edison that forms the PhoneSat core. The T5 avionics controls solar power generation and power management, and provides spacecraft telemetry and is the primary control unit. The P5 avionics supports additional sensors and cameras, using separate communication systems for low-rate uplink and downlink and a high-speed downlink based on WiFi technology operating in the 2.4 GHz ISM frequency band. Orbit determination is performed using an on-board GPS unit, which is powered up every day to gather precise orbital location information. The T5/P5 CubeSat supports a compact wireless sensor module that uses radio signals to communicate temperature, barometric, translational and rotational acceleration and a magnetometer to the avionics. Two cameras take pictures of the exo-brake after deployment, confirming the shape and modulation of the effective area. The telemetry, sensor data and image data are downlinked via the Iridium communication link or through the high-speed ISM-band downlink to our Wallops Flight Facility ground station. Commands are received through two Iridium modems, one for T5 and the other for P5 avionics. The paper will describe the spacecraft, the communication links, mission operations and the results from the deorbit experiment. The power management of the various T5/P5 subsystems is described in the context of available power generation from the new solar panels. Of particular interest is the number of telemetry packets sent and commands received during the low-earth orbital mission using the Iridium satellite constellation. Communication is only possible when proper alignment between the CubeSat antenna and an Iridium satellite occurs, so the probability of message transfer is a key operational issue. The use of image compression for sending pictures down this low-rate link is demonstrated as well. In comparison, the number of successful passes and the data volume received using the WiFi ISM-band downlink to the dedicated ground station is analyzed, comparing actual link margin to that predicted. This analysis provides insight into potential improvements in uplink and downlink capability for subsequent CubeSat missions

The Bristol CMIP6 Data Hackathon

The Bristol CMIP6 Data Hackathon formed part of the Met Office Climate Data Challenge Hackathon series during 2021, bringing together around 100 UK early career researchers from a wide range of environmental disciplines. The purpose was to interrogate the under-utilised but currently most advanced climate model inter-comparison project datasets to develop new research ideas, create new networks and outreach opportunities in the lead up to COP26. Experts in different science fields, supported by a core team of scientists and data specialists at Bristol, had the unique opportunity to explore together interdisciplinary environmental topics summarised in this article

Detection of intrinsic source structure at ~3 Schwarzschild radii with Millimeter-VLBI observations of SAGITTARIUS A*

We report results from very long baseline interferometric (VLBI) observations of the supermassive black hole in the Galactic center, Sgr A*, at 1.3 mm (230 GHz). The observations were performed in 2013 March using six VLBI stations in Hawaii, California, Arizona, and Chile. Compared to earlier observations, the addition of the APEX telescope in Chile almost doubles the longest baseline length in the array, provides additional {\it uv} coverage in the N-S direction, and leads to a spatial resolution of $\sim$30 $\mu$as ($\sim$3 Schwarzschild radii) for Sgr A*. The source is detected even at the longest baselines with visibility amplitudes of $\sim$4-13% of the total flux density. We argue that such flux densities cannot result from interstellar refractive scattering alone, but indicate the presence of compact intrinsic source structure on scales of $\sim$3 Schwarzschild radii. The measured nonzero closure phases rule out point-symmetric emission. We discuss our results in the context of simple geometric models that capture the basic characteristics and brightness distributions of disk- and jet-dominated models and show that both can reproduce the observed data. Common to these models are the brightness asymmetry, the orientation, and characteristic sizes, which are comparable to the expected size of the black hole shadow. Future 1.3 mm VLBI observations with an expanded array and better sensitivity will allow a more detailed imaging of the horizon-scale structure and bear the potential for a deep insight into the physical processes at the black hole boundary.Comment: 11 pages, 5 figures, accepted to Ap