Dynamics of spread of Salmonella enterica in the systemic compartment.

Traditional microbiological and immunological tools, combined with modern imaging, and molecular and mathematical approaches, have revealed the dispersive nature of Salmonella infections. Bacterial escape from infected cells, spread in the tissues and attempts to restrain this process by the host give rise to fascinating scenarios that underpin the pathogenesis of salmonelloses.

Dynamics of spread of Salmonella enterica in the systemic compartment

Traditional microbiological and immunological tools, combined with modern imaging, and molecular and mathematical approaches, have revealed the dispersive nature of Salmonella infections. Bacterial escape from infected cells, spread in the tissues and attempts to restrain this process by the host give rise to fascinating scenarios that underpin the pathogenesis of salmonelloses. © 2013 Institut Pasteur.

Exploiting passive dynamics for robot throwing task

Throwing is a complex and highly dynamic task. Humans usually exploit passive dynamics of their limbs to optimize their movement and muscle activation. In order to approach human throwing, we developed a double pendulum robotic platform. To introduce passivity into the actuated joints, clutches were included in the drive train. In this paper, we demonstrate the advantage of exploiting passive dynamics in reducing the mechanical work. However, engaging and disengaging the clutches are done in discrete fashions. Therefore, we propose an optimization approach which can deal with such discontinuities. It is shown that properly engaging/disengaging the clutches can reduce the mechanical work of a throwing task. The result is compared to the solution of fully actuated double pendulum, both in simulation and experiment. © 2012 IEEE.

Sensing through body dynamics

It has been shown that sensory morphology and sensory-motor coordination enhance the capabilities of sensing in robotic systems. The tasks of categorization and category learning, for example, can be significantly simplified by exploiting the morphological constraints, sensory-motor couplings and the interaction with the environment. This paper argues that, in the context of sensory-motor control, it is essential to consider body dynamics derived from morphological properties and the interaction with the environment in order to gain additional insight into the underlying mechanisms of sensory-motor coordination, and more generally the nature of perception. A locomotion model of a four-legged robot is used for the case studies in both simulation and real world. The locomotion model demonstrates how attractor states derived from body dynamics influence the sensory information, which can then be used for the recognition of stable behavioral patterns and of physical properties in the environment. A comprehensive analysis of behavior and sensory information leads to a deeper understanding of the underlying mechanisms by which body dynamics can be exploited for category learning of autonomous robotic systems. © 2006 Elsevier Ltd. All rights reserved.