Oscillating latent dynamics in robot systems during walking and reaching.

Sensorimotor control of complex, dynamic systems such as humanoids or quadrupedal robots is notoriously difficult. While artificial systems traditionally employ hierarchical optimisation approaches or black-box policies, recent results in systems neuroscience suggest that complex behaviours such as locomotion and reaching are correlated with limit cycles in the primate motor cortex. A recent result suggests that, when applied to a learned latent space, oscillating patterns of activation can be used to control locomotion in a physical robot. While reminiscent of limit cycles observed in primate motor cortex, these dynamics are unsurprising given the cyclic nature of the robot's behaviour (walking). In this preliminary investigation, we consider how a similar approach extends to a less obviously cyclic behaviour (reaching). This has been explored in prior work using computational simulations. But simulations necessarily make simplifying assumptions that do not necessarily correspond to reality, so do not trivially transfer to real robot platforms. Our primary contribution is to demonstrate that we can infer and control real robot states in a learnt representation using oscillatory dynamics during reaching tasks. We further show that the learned latent representation encodes interpretable movements in the robot's workspace. Compared to robot locomotion, the dynamics that we observe for reaching are not fully cyclic, as they do not begin and end at the same position of latent space. However, they do begin to trace out the shape of a cycle, and, by construction, they are driven by the same underlying oscillatory mechanics.

Peer Support for Caregivers of People Living with Posterior Cortical Atrophy in Melbourne, Australia: A Feasibility Study.

Posterior Cortical Atrophy (PCA) is a rare form of young-onset dementia that causes early visuospatial and visuoperceptual deficits. The symptom profile of Posterior Cortical Atrophy leads to very specific care needs for those affected, who often rely on informal caregivers (including friends and family). Rare dementia support groups can be useful for both patients and their caregivers to assist with knowledge sharing, psychoeducation, and the provision of psychosocial support. Despite this, few such support groups exist. The purpose of this study was to examine a PCA support group for caregivers of individuals living with PCA. We held a structured psychoeducation support group comprised of four sessions with the aim being to provide education, strategies for the management of the disease, and peer support. Caregivers' mental health and quality of life were assessed. The results of our study showed that support group participation was a positive experience and assisted with increasing the knowledge of caregivers and fostering social connections. We suggest that peer support groups may be beneficial for both people living with PCA and their caregivers. We recommend that future quantitative and qualitative research is conducted to further assess health-promotion benefits to people living with PCA and their caregivers, and to assess their development and implementation in different contexts.

Papilloedema: a highly specific predictor of raised intracranial pressure in a complex neurosurgical paediatric cohort.

PURPOSE: Papilloedema is recognised as an indicator of raised intracranial pressure, although there is a paucity of literature describing the utility of fundoscopy in screening for raised ICP in children with craniofacial synostosis, particularly young children. We sought to investigate the association of optic disc morphology with ICP in children, and to define the sensitivity and specificity of papilloedema as a clinical indicator of raised ICP and determine if age, or underlying conditions impact the findings. METHOD: Retrospective analysis of all patients undergoing ICP monitoring at a designated paediatric neurosurgical and craniofacial unit in the United Kingdom between October 2009 and October 2018. The fundoscopy findings and ICP monitoring data were analysed for 31 children with craniosynostosis and 29 children without craniosynostosis. RESULTS: All children who had papilloedema had raised ICP confirmed with monitoring. Across the 60-patient cohort, confirmed papilloedema on fundoscopy had Positive Predictive Value (PPV) of 1.00, Negative Predictive Value (NPV) of 0.64 with sensitivity 48% and specificity 100% for the presence of raised ICP (p = < 0.0001). In the craniosynostosis group, PPV was 1.00, NPV was 0.39, sensitivity 48% and specificity 100% (p = < 0.03). There is no correlation between severity of optic disc swelling using Frisen grading and elevation of ICP. Age did not affect the presence of papilloedema in those with raised ICP. CONCLUSION: The presence of papilloedema is a strong indicator of raised ICP in a child, regardless of underlying aetiology. Detailed fundoscopy can prevent the need for further investigations including imaging-related radiation and invasive CSF pressure monitoring.

Reducing suspicion of sexual abuse in paediatric chlamydial conjunctivitis using ompA genotyping.

Chlamydia trachomatis is a Gram-negative bacterium that causes urogenital tract infections, and ocular infections including trachoma, neonatal conjunctivitis and adult chlamydial inclusion conjunctivitis. A positive C. trachomatis diagnosis in children often raises suspicions of sexual abuse. While outer membrane protein A (ompA) genotypes A-C are non-invasive and are associated with trachoma; ompA genotypes D-K are often associated with sexually transmitted urogenital infections or sexually acquired chlamydial conjunctivitis. A 10-year-old female presented with a 7-month history of unilateral conjunctivitis with itching, watering and hyperaemia. She had recently moved from an urban centre in Afghanistan to the UK. A conjunctival swab taken from the child tested positive for C. trachomatis Application of ompA genotyping to conjunctival swab chlamydial DNA demonstrated that the C. trachomatis had an ompA genotype C. Chlamydial strains with this ompA genotype cause trachoma and have never previously been associated with urogenital infection. This result supported cessation of child protection investigations.

Satellite glial cells modulate cholinergic transmission between sympathetic neurons.

Postganglionic sympathetic neurons and satellite glial cells are the two major cell types of the peripheral sympathetic ganglia. Sympathetic neurons project to and provide neural control of peripheral organs and have been implicated in human disorders ranging from cardiovascular disease to peripheral neuropathies. Here we show that satellite glia regulate synaptic activity of cultured postnatal sympathetic neurons, providing evidence for local ganglionic control of sympathetic drive. In addition to modulating neuron-to-neuron cholinergic neurotransmission, satellite glia promote synapse formation and contribute to neuronal survival. Examination of the cellular architecture of the rat sympathetic ganglia in vivo shows this regulation of neuronal properties takes place during a developmental period in which neuronal morphology and density are actively changing and satellite glia enwrap sympathetic neuronal somata. Cultured satellite glia make and release factors that promote neuronal activity and that can partially rescue the neurons from cell death following nerve growth factor deprivation. Thus, satellite glia play an early and ongoing role within the postnatal sympathetic ganglia, expanding our understanding of the contributions of local and target-derived factors in the regulation of sympathetic neuron function.

Skeletal weathering in central Florida: A preliminary approach for developing a scoring protocol to estimate time since death.

Regardless of region, skeletal remains deposited in subaerial contexts are subjected to a progression of taphonomic alterations. However, there are limited postmortem interval (PMI) standards developed, particularly in environments where skeletonization can occur quickly. The research purpose was to evaluate the timing and progression of early weathering alterations in two microenvironments (shaded and open) using pig carcasses (Sus scrofa) in the subtropical humid environment of central Florida. Over nine months, sun bleaching was assessed using Munsell® Soil Color Charts (2009) and scored based on percentage of the bone sun bleached, while bone weathering was further evaluated using Behrensmeyer's (1978) stages. Results indicate that microenvironment has a significant influence, with the onset and progression of sun bleaching and Behrensmeyer's (1978) Stages 2 and 3 occurring earlier in the open microenvironment. Sun bleaching stages and Behrensmeyer's (1978) weathering stages can be utilized in conjunction for developing regionally specific PMI taphonomic models for different microenvironments.

Avian Scavenging of Small-Sized Pig Carcasses in Central Florida: Utilizing GIS to Analyze Site Variables Affecting Skeletal Dispersal.

Scavengers can significantly alter a forensic scene and consume, modify, disarticulate, and disperse bodies on the ground surface. The research purpose was to examine vulture scavenging in central Florida, USA. Four small-sized pig (Sus scrofa) carcasses were left on the ground surface of two microenvironments (shaded and open) at a secure site with game cameras. Dispersal data were mapped and analyzed using geographical information systems spatial analysis digital mapping tools. The primary avian scavengers recorded included black vultures (Coragyps atratus) and turkey vultures (Cathartes aura), as well as bald eagles (Haliaeetus leucocephalus). Carcass dispersal patterns were impacted by foliage density (grass height and concentrations of bushes and trees) and proximity to the perimeter fence. While the majority of skeletal elements were dispersed within 6 m of the carcass deposition locations, dispersion occurred over a greater distance in the wooded microenvironment. Overall, vulture behaviors deleteriously destroyed and changed the context of the scene, with black vultures having the greatest impact.

Evaluation of the impacts of biodiesel and second generation biofuels on NO(x) emissions for CARB diesel fuels.

The impact of biodiesel and second generation biofuels on nitrogen oxides (NO(x)) emissions from heavy-duty engines was investigated using a California Air Resources Board (CARB) certified diesel fuel. Two heavy-duty engines, a 2006 engine with no exhaust aftertreatment, and a 2007 engine with a diesel particle filter (DPF), were tested on an engine dynamometer over four different test cycles. Emissions from soy- and animal-based biodiesels, a hydrotreated renewable diesel, and a gas to liquid (GTL) fuel were evaluated at blend levels from 5 to 100%. NO(x) emissions consistently increased with increasing biodiesel blend level, while increasing renewable diesel and GTL blends showed NO(x) emissions reductions with blend level. NO(x) increases ranged from 1.5% to 6.9% for B20, 6.4% to 18.2% for B50, and 14.1% to 47.1% for B100. The soy-biodiesel showed higher NO(x) emissions increases compared to the animal-biodiesel. NO(x) emissions neutrality with the CARB diesel was achieved by blending GTL or renewable diesel fuels with various levels of biodiesel or by using di-tert-butyl peroxide (DTBP). It appears that the impact of biodiesel on NO(x) emissions might be a more important consideration when blended with CARB diesel or similar fuels, and that some form of NO(x) mitigation might be needed for biodiesel blends with such fuels.

Prediction of reduction potentials from calculated electron affinities for metal-salen compounds.

The electron affinities (EAs) of a training set of 19 metal-salen compounds were calculated using density functional theory. Concurrently, the experimental reduction potentials for the training set were measured using cyclic voltammetry. The EAs and reduction potentials were found to be linearly correlated by metal. The reduction potentials of a test set of 14 different metal-salens were then measured and compared to the predicted reduction potentials based upon the training set correlation. The method was found to work well, with a mean unsigned error of 99 mV for the entire test set. This method could be used to predict the reduction potentials of a variety of metal-salen compounds, an important class of coordination compounds used in synthetic organic electrochemistry as electrocatalysts.

Bruce Merrifield and solid-phase peptide synthesis: a historical assessment.

Bruce Merrifield, trained as a biochemist, had to address three major challenges related to the development and acceptance of solid-phase peptide synthesis (SPPS). The challenges were (1) to reduce the concept of peptide synthesis on a insoluble support to practice, (2) overcome the resistance of synthetic chemists to this novel approach, and (3) establish that a biochemist had the scientific credentials to effect the proposed revolutionary change in chemical synthesis. How these challenges were met is discussed in this article.

Studies in solid-phase peptide synthesis: a personal perspective.

By the early 1970s it had became apparent that the solid-phase synthesis of ribonuclease A could not be generalized. Consequently, virtually every aspect of solid-phase peptide synthesis (SPPS) was reexamined and improved during the decade of the 1970s. The sensitive detection and elimination of possible side reactions (amino acid insertion, N(alpha)-trifluoroacetylation, N(alphaepsilon)-alkylation) were examined. The quantitation of coupling efficiency in SPPS as a function of chain length was studied. A new and improved support for SPPS, the "PAM-resin," was prepared and evaluated. These and many other studies from the Merrifield laboratory and elsewhere increased the general acceptance of SPPS leading to the 1984 Nobel Prize in Chemistry for Bruce Merrifield.

Synthesis of proteins by native chemical ligation using Fmoc-based chemistry.

C-terminal peptide alpha-thioesters are valuable intermediates in the synthesis/semisynthesis of proteins by native chemical ligation. They are prepared either by solid-phase peptide synthesis (SPPS) or biosynthetically by protein splicing techniques. The present paper reviews the different methods available for the chemical synthesis of peptide alpha-thioesters using Fmoc-based SPPS.

Flash ignition and initiation of explosives-nanotubes mixture.

Optical ignition and initiation of energetic materials could thus far be only accomplished through lasers, with specific characteristics of high power, pulse length, wavelength, and a small target area that greatly inhibit their applications. Here, we report that an ignition and an initiation process, further leading to actual detonation, does occur for energetic materials in lax contact with carbon nanotubes that are prone to opto-thermal activity via a conventional flashbulb. Our results show that, for the first time, optical initiation of energetic materials is possible on a large surface area and using ordinary light intensity of several W/cm2. The implication is that energetic materials mixed with optically active nanotubes could be new ideal candidates for safety apparatus, such as the firing of bolts on space shuttle rockets and aircraft exit doors.

Identification of putative rat ribonuclease III by differential display: a novel rat mRNA expressed in a circadian manner in the rat suprachiasmatic nucleus.

The suprachiasmatic nucleus (SCN) of the hypothalamus constitutes the principal site responsible for the generation and entrainment of circadian rhythms in mammals. The mechanisms of the circadian clock involve periodic gene expression. Here we report the use of differential display reverse transcriptase polymerase chain reaction to identify a novel rat mRNA sequence which is highly homologous to human ribonuclease III. Analysis of its expression in the rat brain by in situ hybridization histochemistry showed this transcript to be expressed at differing intensities at various sites. Temporal variation in expression was observed in the SCN, with a peak at circadian time (CT) 2 and a nadir at CT14. No significant changes in its expression were detected across the cycle within the supraoptic nucleus, cingulate cortex or caudate putamen.

Preparation of peptide p-nitroanilides using an aryl hydrazine resin.

[reaction: see text] Peptide p-nitroanilides are useful compounds for studying protease activity; however, the poor nucleophilicity of p-nitroaniline makes their preparation difficult. We describe a new efficient approach for the Fmoc-based synthesis of peptide p-nitroanilides using an aryl hydrazine resin. Mild oxidation of the peptide hydrazide resin yields a highly reactive acyl diazene that efficiently reacts with weak nucleophiles. We have prepared several peptide p-nitroanilides, including substrates for the Lethal Factor protease from B. anthracis.

Fmoc-based synthesis of peptide alpha-thioesters using an aryl hydrazine support.

C-Terminal peptide thioesters are key intermediates in the synthesis/semisynthesis of proteins and of cyclic peptides by native chemical ligation. They are prepared by solid-phase peptide synthesis (SPPS) or biosynthetically by protein splicing techniques. Until recently, the chemical synthesis of C-terminal alpha-thioester peptides by SPPS was largely restricted to the use of Boc/Benzyl chemistry due to the poor stability of the thioester bond to the basic conditions required for the deprotection of the N(alpha)-Fmoc group. In the present work, we describe a new method for the SPPS of C-terminal thioesters using Fmoc/t-Bu chemistry. This method is based on the use of an aryl hydrazine linker, which is totally stable to conditions required for Fmoc-SPPS. When the peptide synthesis has been completed, activation of the linker is achieved by mild oxidation. This step converts the acyl hydrazine group into a highly reactive acyl diazene intermediate which reacts with an alpha-amino acid alkyl thioester (H-AA-SR) to yield the corresponding peptide alpha-thioester in good yield. This method has been successfully used to prepare a variety of peptide thioesters, cyclic peptides, and a fully functional Src homology 3 (SH3) protein domain.

Direct amination of 1-substituted 3,5-dinitrobenzenes by 1,1,1-trimethylhydrazinium iodide.

The amination of 1-X-3,5-dinitrobenzenes via the vicarious nucleophilic substitution of hydrogen (VNS) with 1,1,1-trimethylhydrazinium iodide (TMHI) in the presence of t-BuOK or NaOMe in DMSO was studied. It was observed (when X = OMe, OCH(2)CF(3), OCH(2)CF(2)CF(2)H, OPh) that the amination occurs regioselectively (ratio of ortho/para-isomers is approximately 9:1) and with high yield. For X = SPh or SCH(2)Ph, the reaction proceeded with a low yield (less than 20%), with a ratio of ortho/para-isomers approximately 1:1. For X = PhSO(2) and 2 equiv of TMHI, a double amination occurs and 2,4-diamino-3,5-dinitro-1-phenylsulfonylbenzene predominates in the mixture of isomers. Under the same conditions, 1,3,5-trinitrobenzene undergoes a double amination to yield 2,4-diamino-1,3,5-trinitrobenzene. A proposed mechanism for this reaction is discussed.

Origins of Apathy.

A new book, reporting on a research programme, sheds more light on the vexed question of the adverse effects on schizophrenics of a prolonged stay in hospital.