Whisking with robots from rat vibrissae to biomimetic technology for active touch

This article summarizes some of the key features of the rat vibrissal system, including the actively controlled sweeping movements of the vibrissae known as whisking, and reviews the past and ongoing research aimed at replicating some of this functionality in biomimetic robots

Trust in the psychological contract: an international employee perspective

The results of 37 medial canthal resection procedures performed for the correction of severe paralytic or involutional medial ectropion are presented with an average follow-up of 5.4 years. Epiphora was improved in 33 out of the 37 cases and all but one patient had an anatomically improved lid-globe apposition, medial canthal angle, and posterofixation of the medial canthus. These results confirmed the long-term value of the operation

Perception of simple stimuli using sparse data from a tactile whisker array

We introduce a new multi-element sensory array built from tactile whiskers and modelled on the mammalian whisker sensory system. The new array adds, over previous designs, an actuated degree of freedom corresponding approximately to the mobility of the mystacial pad of the animal. We also report on its performance in a preliminary test of simultaneous identification and localisation of simple stimuli (spheres and a plane). The sensory processing system uses prior knowledge of the set of possible stimuli to generate percepts of the form and location of extensive stimuli from sparse and highly localised sensory data. Our results suggest that the additional degree of freedom has the potential to offer a benefit to perception accuracy for this type of sensor. © 2013 Springer-Verlag Berlin Heidelberg

Brain-inspired Bayesian perception for biomimetic robot touch

Studies of decision making in animals suggest a neural mechanism of evidence accumulation for competing percepts according to Bayesian sequential analysis. This model of perception is embodied here in a biomimetic tactile sensing robot based on the rodent whisker system. We implement simultaneous perception of object shape and location using two psychological test paradigms: first, a free-response paradigm in which the agent decides when to respond, implemented with Bayesian sequential analysis; and second an interrogative paradigm in which the agent responds after a fixed interval, implemented with maximum likelihood estimation. A benefit of free-response Bayesian perception is that it allows tuning of reaction speed against accuracy. In addition, we find that large gains in decision performance are achieved with unforced responses that allow null decisions on ambiguous data. Therefore free-response Bayesian perception offers benefits for artificial systems that make them more animal-like in behavior

Threshold effects of air pollution and climate change on understory plant communities at forested sites in the eastern United States

Forest understory plant communities in the eastern United States are often diverse and are potentially sensitive to changes in climate and atmospheric inputs of nitrogen caused by air pollution. In recent years, empirical and processed-based mathematical models have been developed to investigate such changes in plant communities. In the study reported here, a robust set of understory vegetation response functions (expressed as version 2 of the Probability of Occurrence of Plant Species model for the United States [US-PROPS v2]) was developed based on observations of forest understory and grassland plant species presence/absence and associated abiotic characteristics derived from spatial datasets. Improvements to the US-PROPS model, relative to version 1, were mostly focused on inclusion of additional input data, development of custom species-level input datasets, and implementation of methods to address uncertainty. We investigated the application of US-PROPS v2 to evaluate the potential impacts of atmospheric nitrogen (N) and sulfur (S) deposition, and climate change on forest ecosystems at three forested sites located in New Hampshire, Virginia, and Tennessee in the eastern United States. Species-level N and S critical loads (CLs) were determined under ambient deposition at all three modeled sites. The lowest species-level CLs of N deposition at each site were between 2 and 11 kg N/ha/yr. Similarly, the lowest CLs of S deposition, based on the predicted soil pH response, were less than 2 kg S/ha/yr among the three sites. Critical load exceedance was found at all three model sites. The New Hampshire site included the largest percentage of species in exceedance. Simulated warming air temperature typically resulted in lower maximum occurrence probability, which contributed to lower CLs of N and S deposition. The US-PROPS v2 model, together with the PROPS-CLF model to derive CL functions, can be used to develop site-specific CLs for understory plants within broad regions of the United States. This study demonstrates that species-level CLs of N and S deposition are spatially variable according to the climate, light availability, and soil characteristics at a given location. Although the species niche models generally performed well in predicting occurrence probability, there remains uncertainty with respect to the accuracy of reported CLs. As such, the specific CLs reported here should be considered as preliminary estimates. Graphical abstrac

Development of a Displacement-Based Design Method for Steel Frame-RC Wall Buildings

A Displacement-Based Design (DBD) methodology for steel frame-RC wall structures has been proposed. The effectiveness of the methodology in limiting lateral displacements has been tested by designing a set of case studies. Their structural performance was investigated through nonlinear time-history analyses by using seven spectrum-compatible accelerograms. For the seismic intensity and modeling assumptions considered in this work, it is found that the proposed design methodology controls the lateral displacements of the buildings well

Towards a synthesized critique of neoliberal biodiversity conservation

During the last three decades, the arena of biodiversity conservation has largely aligned itself with the globally dominant political ideology of neoliberalism and associated governmentalities. Schemes such as payments for ecological services are promoted to reach the multiple ‘wins’ so desired: improved biodiversity conservation, economic development, (international) cooperation and poverty alleviation, amongst others. While critical scholarship with respect to understanding the linkages between neoliberalism, capitalism and the environment has a long tradition, a synthesized critique of neoliberal conservation - the ideology (and related practices) that the salvation of nature requires capitalist expansion - remains lacking. This paper aims to provide such a critique. We commence with the assertion that there has been a conflation between ‘economics’ and neoliberal ideology in conservation thinking and implementation. As a result, we argue, it becomes easier to distinguish the main problems that neoliberal win-win models pose for biodiversity conservation. These are framed around three points: the stimulation of contradictions; appropriation and misrepresentation and the disciplining of dissent. Inspired by Bruno Latour’s recent ‘compositionist manifesto’, the conclusion outlines some ideas for moving beyond critique

Modulation of ConA-induced inflammatory ascites by histamine — Short communication

The early phase of the ConA-induced inflammatory ascites was studied, with special reference to histamine. Concanavalin A (ConA), a cell-surface binding lectin was injected i.p. (25 mg/kg bw) to mice. After 1 h the animals were killed, the ascitic fluid collected and measured. Other agents were injected s.c., 10 min before the ConA-challenge. Exogenous histamine markedly inhibited the ConA-induced ascites. Release of endogenous vasoactive agents from the mast cells by Compound 48/80 had a similar, but slight effect. Cromolyn, a mast cell stabilizing agent, and chloropyramine, a histamine H1 receptor antagonist was ineffective. Although histamine increases endothelial permeability, it did not enhance the formation of ascitic fluid, on the contrary, it inhibited the ConA-induced ascites, presumably due to its known hypotonic effect. It is concluded that ConA-induced ascites is not mediated by mast cell histamine

Topological mirror symmetry with fluxes

Motivated by SU(3) structure compactifications, we show explicitly how to construct half--flat topological mirrors to Calabi--Yau manifolds with NS fluxes. Units of flux are exchanged with torsion factors in the cohomology of the mirror; this is the topological complement of previous differential--geometric mirror rules. The construction modifies explicit SYZ fibrations for compact Calabi--Yaus. The results are of independent interest for SU(3) compactifications. For example one can exhibit explicitly which massive forms should be used for Kaluza--Klein reduction, proving previous conjectures. Formality shows that these forms carry no topological information; this is also confirmed by infrared limits and old classification theorems.Comment: 35 pages, 5 figure