Teaching Accommodation Task Skills: from Human Demonstration to Robot Control via Artificial Neural Networks

A simple edge-mating task, performed automatically by accommodation control, was used to study the feasibility of using data collected during a human demonstration to train an artificial neural network (ANN) to control a common robot manipulator to complete similar tasks. The 2-dimensional (planar) edge-mating task which aligns a peg normal to a fiat table served as the basis for the investigation. A simple multi-layered perceptron (MLP) ANN with a single hidden layer and linear output nodes was trained using the back-propagation algorithm with momentum. The inputs to the ANN were the planar components of the contact force between the peg and the table. The outputs from the ANN were the planar components of a commanded velocity. The controller was architected so the ANN could learn a configuration-independent solution by operating in the tool-frame coordinates. As a baseline of performance, a simple accommodation matrix capable of completing the edge- mating task was determined and implemented in simulation and on the PUMA manipulator. The accommodation matrix was also used to synthesize various forms of training data which were used to gain insights into the function and vulnerabilities of the proposed control scheme. Human demonstration data were collected using a gravity-compensated PUMA 562 manipulator and using a custom-built planar, low-impedance motion measurement system (PLIMMS)

Slush Hydrogen (SLH2) technology development for application to the National Aerospace Plane (NASP)

The National Aerospace Plane (NASP) program is giving us the opportunity to reach new unique answers in a number of engineering categories. The answers are considered enhancing technology or enabling technology. Airframe materials and densified propellants are examples of enabling technology. The National Aeronautics and Space Administration's Lewis Research Center has the task of providing the technology data which will be used as the basis to decide if slush hydrogen (SLH2) will be the fuel of choice for the NASP. The objectives of this NASA Lewis program are: (1) to provide, where possible, verified numerical models of fluid production, storage, transfer, and feed systems, and (2) to provide verified design criteria for other engineered aspects of SLH2 systems germane to a NASP. This program is a multiyear multimillion dollar effort. The present pursuit of the above listed objectives is multidimensional, covers a range of problem areas, works these to different levels of depth, and takes advantage of the resources available in private industry, academia, and the U.S. Government. The NASA Lewis overall program plan is summarized. The initial implementation of the plan will be unfolded and the present level of efforts in each of the resource areas will be discussed. Results already in hand will be pointed out. A description of additionally planned near-term experimental and analytical work is described

Biosynthesis of coral settlement cue tetrabromopyrrole in marine bacteria by a uniquely adapted brominase-thioesterase enzyme pair

Author Posting. © The Author(s), 2016. This is the author's version of the work. It is posted here by permission of National Academy of Sciences for personal use, not for redistribution. The definitive version was published in Proceedings of the National Academy of Sciences of United States of America 113 (2016): 3797-3802, doi: 10.1073/pnas.1519695113.Halogenated pyrroles (halopyrroles) are common chemical moieties found in bioactive bacterial natural products. The halopyrrole moieties of mono- and di- halopyrrole-containing compounds arise from a conserved mechanism in which a proline-derived pyrrolyl group bound to a carrier protein is first halogenated then elaborated by peptidic or polyketide extensions. This paradigm is broken during the marine pseudoalteromonad bacterial biosynthesis of the coral larval settlement cue tetrabromopyrrole (1), which arises from the substitution of the proline-derived carboxylate by a bromine atom. To understand the molecular basis for decarboxylative bromination in the biosynthesis of 1, we sequenced two Pseudoalteromonas genomes and identified a conserved four-gene locus encoding the enzymes involved its complete biosynthesis. Through total in vitro reconstitution of the biosynthesis of 1 using purified enzymes and biochemical interrogation of individual biochemical steps, we show that all four bromine atoms in 1 are installed by the action of a single flavin-dependent halogenase- Bmp2. Tetrabromination of the pyrrole induces a thioesterase-mediated offloading reaction from the carrier protein and activates the biosynthetic intermediate for decarboxylation. Insights into the tetrabrominating activity of Bmp2 were obtained from the high-resolution crystal structure of the halogenase contrasted against structurally homologous halogenase Mpy16 that forms only a dihalogenated pyrrole in marinopyrrole biosynthesis. Structure-guided mutagenesis of the proposed substrate-binding pocket of Bmp2 led to a reduction in the degree of halogenation catalyzed. Our study provides a biogenetic basis for the biosynthesis of 1, and sets a firm foundation for querying the biosynthetic potential for the production of 1 in marine (meta)genomes.This work was jointly supported by the US National Science Foundation (OCE-1313747) and the US National Institute of Environmental Health Sciences (P01-ES021921) through the Ocean and Human Health Program to B.S.M., and the US National Institute of Allergy and Infectious Disease R01-AI47818 to B.S.M. and R21- AI119311 to K.E.W. and T.J.M., the Mote Protect Our Reef Grant Program (POR-2012-3), the Dart Foundation, the Smithsonian Competitive Grants Program for Science to V.J.P., the Howard Hughes Medical Institute to J.P.N., the US National Institutes of Health (NIH) Marine Biotechnology Training Grant predoctoral fellowship to A.E. (T32-GM067550), the Helen Hay Whitney Foundation postdoctoral fellowship to V.A., and a Swiss National Science Foundation (SNF) postdoctoral Fellowship to S.D.2016-09-2

Cosmological radiative transfer comparison project - II. The radiation-hydrodynamic tests

The development of radiation hydrodynamical methods that are able to follow gas dynamics and radiative transfer (RT) self-consistently is key to the solution of many problems in numerical astrophysics. Such fluid flows are highly complex, rarely allowing even for approximate analytical solutions against which numerical codes can be tested. An alternative validation procedure is to compare different methods against each other on common problems, in order to assess the robustness of the results and establish a range of validity for the methods. Previously, we presented such a comparison for a set of pure RT tests (i.e. for fixed, non-evolving density fields). This is the second paper of the Cosmological Radiative Transfer Comparison Project, in which we compare nine independent RT codes directly coupled to gas dynamics on three relatively simple astrophysical hydrodynamics problems: (i) the expansion of an H ii region in a uniform medium, (ii) an ionization front in a 1/r2 density profile with a flat core and (iii) the photoevaporation of a uniform dense clump. Results show a broad agreement between the different methods and no big failures, indicating that the participating codes have reached a certain level of maturity and reliability. However, many details still do differ, and virtually every code has showed some shortcomings and has disagreed, in one respect or another, with the majority of the results. This underscores the fact that no method is universal and all require careful testing of the particular features which are most relevant to the specific problem at han

The role of multixenobiotic transporters in predatory marine molluscs as counter-defense mechanisms against dietary allelochemicals

Author Posting. © The Author(s), 2010. This is the author's version of the work. It is posted here by permission of Elsevier B.V. for personal use, not for redistribution. The definitive version was published in Comparative Biochemistry and Physiology Part C: Toxicology & Pharmacology 152 (2010): 288-300, doi:10.1016/j.cbpc.2010.05.003.Multixenobiotic transporters have been extensively studied for their ability to modulate the disposition and toxicity of pharmacological agents, yet their influence in regulating the levels of dietary toxins within marine consumers has only recently been explored. This study presents functional and molecular evidence for multixenobiotic transporter-mediated efflux activity and expression in the generalist gastropod Cyphoma gibbosum, and the specialist nudibranch Tritonia hamnerorum, obligate predators of chemically defended gorgonian corals. Immunochemical analysis revealed that proteins with homology to permeability glycoprotein (P-gp) were highly expressed in T. hamnerorum whole animal homogenates and localized to the apical tips of the gut epithelium, a location consistent with a role in protection against ingested prey toxins. In vivo dye assays with specific inhibitors of efflux transporters demonstrated the activity of P-gp and multidrug resistance-associated protein (MRP) families of ABC transporters in T. hamnerorum. In addition, we identified eight partial cDNA sequences encoding two ABCB and two ABCC proteins from each molluscan species. Digestive gland transcripts of C. gibbosum MRP-1, which have homology to vertebrate glutathione-conjugate transporters, were constitutively expressed regardless of gorgonian diet. This constitutive expression may reflect the ubiquitous presence of high affinity substrates for C. gibbosum glutathione transferases in gorgonian tissues likely necessitating export by MRPs. Our results suggest that differences in multixenobiotic transporter expression patterns and activity in molluscan predators may stem from the divergent foraging strategies of each consumer.Financial support was provided by the Ocean Life Institute Tropical Research Initiative Grant (WHOI) to KEW and MEH; the Robert H. Cole Endowed Ocean Ventures Fund (WHOI) to KEW; the National Undersea Research Center – Program Development Proposal (CMRC-03PRMN0103A) to KEW; and the National Science Foundation (Graduate Research Fellowship to KEW and DEB-0919064 to EES)

A pan-Arctic initiative on the spatial and temporal dynamics of Arctic coasts

Permafrost coasts make up roughly one third of all coasts worldwide. Their erosion leads to the release of previously locked organic carbon, changes in ecosystems and the destruction of cultural heritage, infrastructure and whole communities. Since rapid environmental changes lead to an intensification of Arctic coastal dynamics, it is of great importance to adequately quantify current and future coastal changes. However, the remoteness of the Arctic and scarcity of data limit our understanding of coastal dynamics at a pan-Arctic scale and prohibit us from getting a complete picture of the diversity of impacts on the human and natural environment. In a joint effort of the EU project NUNATARYUK and the NSF project PerCS-Net, we seek to close this knowledge gap by collecting and analyzing all accessible high-resolution shoreline position data for the Arctic coastline. These datasets include geographical coordinates combined with coastal positions derived from archived data, surveying data, air and space born remote sensing products, or LiDAR products. The compilation of this unique dataset will enable us to reach unprecedented data coverage and will allow us a first insight into the magnitude and trends of shoreline changes on a pan-Arctic scale with locally highly resolved temporal and spatial changes in shoreline dynamics. By comparing consistently derived shoreline change data from all over the Arctic we expect that the trajectory of coastal change in the Arctic becomes evident. A synthesis of some initial results will be presented in the 2020 Arctic Report Card on Arctic Coastal Dynamics. This initiative is an ongoing effort – new data contributions are welcome

Performance of the CMS Cathode Strip Chambers with Cosmic Rays

The Cathode Strip Chambers (CSCs) constitute the primary muon tracking device in the CMS endcaps. Their performance has been evaluated using data taken during a cosmic ray run in fall 2008. Measured noise levels are low, with the number of noisy channels well below 1%. Coordinate resolution was measured for all types of chambers, and fall in the range 47 microns to 243 microns. The efficiencies for local charged track triggers, for hit and for segments reconstruction were measured, and are above 99%. The timing resolution per layer is approximately 5 ns

Extracellular vimentin is sufficient to promote cell attachment, spreading, and motility by a mechanism involving N-acetyl glucosamine-containing structures

Vimentin intermediate !laments form part of the cytoskeleton of mesenchymal cells, but under pathological conditions often associatedwith in ammation, vimentin !laments depolymerize as the result of phosphorylation or citrullination, and vimentin oligomers are secreted or released into the extracellular environment. In the extracellular space, vimentin can bind surfaces of cells and the extracellular matrix, and the interaction between extracellular vimentin and cells can trigger changes in cellular functions, such as activation of !broblasts to a !brotic phenotype. The mechanism by which extracellular vimentin binds external cell membranes and whether vimentin alone can act as an adhesive anchor for cells is largely uncharacterized. Here, we show that various cell types (normal and vimentin null !broblasts, mesenchymal stem cells, and A549 lung carcinoma cells) attach to and spread on polyacrylamide hydrogel substrates covalently linked to vimentin. Using traction force microscopy and spheroid expansion assays, we characterize how different cell types respond to extracellular vimentin. Cell attachment to and spreading on vimentin-coated surfaces is inhibited by hyaluronic acid degrading enzymes, hyaluronic acid synthase inhibitors, soluble heparin or N-acetyl glucosamine, all of which are treatments that have little or no effect on the same cell types binding to collagen-coated hydrogels. These studies highlight the effectiveness of substratebound vimentin as a ligand for cells and suggest that carbohydrate structures, including the glycocalyx and glycosylated cell surface proteins that contain N-acetyl glucosamine, form a novel class of adhesion receptors for extracellular vimentin that can either directly support cell adhesion to a substrate or !ne-tune the glycocalyx adhesive properties

Proteomic identification, cDNA cloning and enzymatic activity of glutathione S-transferases from the generalist marine gastropod, Cyphoma gibbosum

Author Posting. © Elsevier B.V., 2008. This is the author's version of the work. It is posted here by permission of Elsevier B.V. for personal use, not for redistribution. The definitive version was published in Archives of Biochemistry and Biophysics 478 (2008): 7-17, doi:10.1016/j.abb.2008.07.007.Glutathione S-transferases (GST) were characterized from the digestive gland of Cyphoma gibbosum (Mollusca; Gastropoda), to investigate the possible role of these detoxification enzymes in conferring resistance to allelochemicals present in its gorgonian coral diet. We identified the collection of expressed cytosolic Cyphoma GST classes using a proteomic approach involving affinity chromatography, HPLC and nanospray liquid chromatography-tandem mass spectrometry (LC-MS/MS). Two major GST subunits were identified as putative mu-class GSTs; while one minor GST subunit was identified as a putative theta-class GST, apparently the first theta-class GST identified from a mollusc. Two Cyphoma GST cDNAs (CgGSTM1 and CgGSTM2) were isolated by RT-PCR using primers derived from peptide sequences. Phylogenetic analyses established both cDNAs as mu-class GSTs and revealed a mollusc-specific subclass of the GST-mu clade. These results provide new insights into metazoan GST diversity and the biochemical mechanisms used by marine organisms to cope with their chemically defended prey.Support was provided by the WHOI-Cole Ocean Ventures Fund (KEW), the WHOI Ocean Life Institute (KEW and MEH), a grant from Walter A. and Hope Noyes Smith (MEH), the National Science Foundation Graduate Research Fellowship (KEW), and by the National Institutes of Health (P42-ES007381 and R01-ES015912 to JVG)

A Pleistocene legacy structures variation in modern seagrass ecosystems

Distribution of Earth's biomes is structured by the match between climate and plant traits, which in turn shape associated communities and ecosystem processes and services. However, that climate-trait match can be disrupted by historical events, with lasting ecosystem impacts. As Earth's environment changes faster than at any time in human history, critical questions are whether and how organismal traits and ecosystems can adjust to altered conditions. We quantified the relative importance of current environmental forcing versus evolutionary history in shaping the growth form (stature and biomass) and associated community of eelgrass (Zostera marina), a widespread foundation plant of marine ecosystems along Northern Hemisphere coastlines, which experienced major shifts in distribution and genetic composition during the Pleistocene. We found that eelgrass stature and biomass retain a legacy of the Pleistocene colonization of the Atlantic from the ancestral Pacific range and of more recent within-basin bottlenecks and genetic differentiation. This evolutionary legacy in turn influences the biomass of associated algae and invertebrates that fuel coastal food webs, with effects comparable to or stronger than effects of current environmental forcing. Such historical lags in phenotypic acclimatization may constrain ecosystem adjustments to rapid anthropogenic climate change, thus altering predictions about the future functioning of ecosystems.This work was supported by the US NSF (OCE-1031061, OCE-1336206, OCE0-1336741, OCE-1336905) and the Smithsonian Institution. F.T. was supported by José Castillejo Award CAS14/00177. A.H.E. was supported by the FCT (Foundation for Science and Technology) through Project UIDB/04326/2020 and Contract CEECINST/00114/2018. This is Contribution 106 from the Smithsonian’s MarineGEO and Tennenbaum Marine Observatories Network and Contribution 4105 of the Virginia Institute of Marine Science, College of William & Mary