A Modified Positive Velocity and Position Feedback scheme with delay compensation for improved nanopositioning performance

Acknowledgments This paper was sponsored by the Spanish FPU12/00984 Program (Ministerio de Educacion, Cultura y Deporte). It was also sponsored by the Spanish Government Research Program with the Project DPI2012-37062-CO2-01 (Ministerio de Economia y Competitividad) and by the European Social Fund.

Dynamics of a minimal model of interlocked positive and negative feedback loops of transcriptional regulation by cAMP-response element binding proteins.

cAMP-response element binding (CREB) proteins are involved in transcriptional regulation in a number of cellular processes (e.g., neural plasticity and circadian rhythms). The CREB family contains activators and repressors that may interact through positive and negative feedback loops. These loops can be generated by auto- and cross-regulation of expression of CREB proteins, via CRE elements in or near their genes. Experiments suggest that such feedback loops may operate in several systems (e.g., Aplysia and rat). To understand the functional implications of such feedback loops, which are interlocked via cross-regulation of transcription, a minimal model with a positive and negative loop was developed and investigated using bifurcation analysis. Bifurcation analysis revealed diverse nonlinear dynamics (e.g., bistability and oscillations). The stability of steady states or oscillations could be changed by time delays in the synthesis of the activator (CREB1) or the repressor (CREB2). Investigation of stochastic fluctuations due to small numbers of molecules of CREB1 and CREB2 revealed a bimodal distribution of CREB molecules in the bistability region. The robustness of the stable HIGH and LOW states of CREB expression to stochastic noise differs, and a critical number of molecules was required to sustain the HIGH state for days or longer. Increasing positive feedback or decreasing negative feedback also increased the lifetime of the HIGH state, and persistence of this state may correlate with long-term memory formation. A critical number of molecules was also required to sustain robust oscillations of CREB expression. If a steady state was near a deterministic Hopf bifurcation point, stochastic resonance could induce oscillations. This comparative analysis of deterministic and stochastic dynamics not only provides insights into the possible dynamics of CREB regulatory motifs, but also demonstrates a framework for understanding other regulatory processes with similar network architecture.

Dynamics of a minimal model of interlocked positive and negative feedback loops of transcriptional regulation by cAMP-response element binding proteins.

cAMP-response element binding (CREB) proteins are involved in transcriptional regulation in a number of cellular processes (e.g., neural plasticity and circadian rhythms). The CREB family contains activators and repressors that may interact through positive and negative feedback loops. These loops can be generated by auto- and cross-regulation of expression of CREB proteins, via CRE elements in or near their genes. Experiments suggest that such feedback loops may operate in several systems (e.g., Aplysia and rat). To understand the functional implications of such feedback loops, which are interlocked via cross-regulation of transcription, a minimal model with a positive and negative loop was developed and investigated using bifurcation analysis. Bifurcation analysis revealed diverse nonlinear dynamics (e.g., bistability and oscillations). The stability of steady states or oscillations could be changed by time delays in the synthesis of the activator (CREB1) or the repressor (CREB2). Investigation of stochastic fluctuations due to small numbers of molecules of CREB1 and CREB2 revealed a bimodal distribution of CREB molecules in the bistability region. The robustness of the stable HIGH and LOW states of CREB expression to stochastic noise differs, and a critical number of molecules was required to sustain the HIGH state for days or longer. Increasing positive feedback or decreasing negative feedback also increased the lifetime of the HIGH state, and persistence of this state may correlate with long-term memory formation. A critical number of molecules was also required to sustain robust oscillations of CREB expression. If a steady state was near a deterministic Hopf bifurcation point, stochastic resonance could induce oscillations. This comparative analysis of deterministic and stochastic dynamics not only provides insights into the possible dynamics of CREB regulatory motifs, but also demonstrates a framework for understanding other regulatory processes with similar network architecture.

On the Velocity and Acceleration Estimation from Discrete Time-Position Sensors

In this work is addressed the topic of estimation of velocity and acceleration from digital position data. It is presented a review of several classic methods and implemented with real position data from a low cost digital sensor of a hydraulic linear actuator. The results are analyzed and compared. It is shown that static methods have a limited bandwidth application, and that the performance of some methods may be enhanced by adapting its parameters according to the current state.

Distribution of events of positive selection and population differentiation in a metabolic pathway: the case of asparagine N-glycosylation

Background: Asparagine N-Glycosylation is one of the most important forms of protein post-translational modification in eukaryotes. This metabolic pathway can be subdivided into two parts: an upstream sub-pathway required for achieving proper folding for most of the proteins synthesized in the secretory pathway, and a downstream sub-pathway required to give variability to trans-membrane proteins, and involved in adaptation to the environment andinnate immunity. Here we analyze the nucleotide variability of the genes of this pathway in human populations, identifying which genes show greater population differentiation and which genes show signatures of recent positive selection. We also compare how these signals are distributed between the upstream and the downstream parts of the pathway, with the aim of exploring how forces of population differentiation and positive selection vary among genes involved in the same metabolic pathway but subject to different functional constraints. Results:Our results show that genes in the downstream part of the pathway are more likely to show a signature of population differentiation, while events of positive selection are equally distributed among the two parts of the pathway. Moreover, events of positive selection arefrequent on genes that are known to be at bifurcation points, and that are identified as beingin key position by a network-level analysis such as MGAT3 and GCS1.Conclusions: These findings indicate that the upstream part of the Asparagine N-Glycosylation pathway has lower diversity among populations, while the downstream part is freer to tolerate diversity among populations. Moreover, the distribution of signatures of population differentiation and positive selection can change between parts of a pathway, especially between parts that are exposed to different functional constraints. Our results support the hypothesis that genes involved in constitutive processes can be expected to show lower population differentiation, while genes involved in traits related to the environment should show higher variability. Taken together, this work broadens our knowledge on how events of population differentiation and of positive selection are distributed among different parts of a metabolic pathway.

Distribution of events of positive selection and population differentiation in a metabolic pathway: the case of asparagine N-glycosylation

Asparagine N-Glycosylation is one of the most important forms of protein post-translational modification in eukaryotes. This metabolic pathway can be subdivided into two parts: an upstream sub-pathway required for achieving proper folding for most of the proteins synthesized in the secretory pathway, and a downstream sub-pathway required to give variability to trans-membrane proteins, and involved in adaptation to the environment and innate immunity. Here we analyze the nucleotide variability of the genes of this pathway in human populations, identifying which genes show greater population differentiation and which genes show signatures of recent positive selection. We also compare how these signals are distributed between the upstream and the downstream parts of the pathway, with the aim of exploring how forces of population differentiation and positive selection vary among genes involved in the same metabolic pathway but subject to different functional constraints. Our results show that genes in the downstream part of the pathway are more likely to show a signature of population differentiation, while events of positive selection are equally distributed among the two parts of the pathway. Moreover, events of positive selection are frequent on genes that are known to be at bifurcation points, and that are identified as being in key position by a network-level analysis such as MGAT3 and GCS1. These findings indicate that the upstream part of the Asparagine N-Glycosylation pathway has lower diversity among populations, while the downstream part is freer to tolerate diversity among populations. Moreover, the distribution of signatures of population differentiation and positive selection can change between parts of a pathway, especially between parts that are exposed to different functional constraints. Our results support the hypothesis that genes involved in constitutive processes can be expected to show lower population differentiation, while genes involved in traits related to the environment should show higher variability. Taken together, this work broadens our knowledge on how events of population differentiation and of positive selection are distributed among different parts of a metabolic pathway.

Investigations into Velocity and Distance Perception Based on Different Types of Moving Sound Sources with Respect to Auditory Virtual Environments

The characteristics of moving sound sources have strong implications on the listener's distance perception and the estimation of velocity. Modifications of the typical sound emissions as they are currently occurring due to the tendency towards electromobility have an impact on the pedestrian's safety in road traffic. Thus, investigations of the relevant cues for velocity and distance perception of moving sound sources are not only of interest for the psychoacoustic community, but also for several applications, like e.g. virtual reality, noise pollution and safety aspects of road traffic. This article describes a series of psychoacoustic experiments in this field. Dichotic and diotic stimuli of a set of real-life recordings taken from a passing passenger car and a motorcycle were presented to test subjects who in turn were asked to determine the velocity of the object and its minimal distance from the listener. The results of these psychoacoustic experiments show that the estimated velocity is strongly linked to the object's distance. Furthermore, it could be shown that binaural cues contribute significantly to the perception of velocity. In a further experiment, it was shown that - independently of the type of the vehicle - the main parameter for distance determination is the maximum sound pressure level at the listener's position. The article suggests a system architecture for the adequate consideration of moving sound sources in virtual auditory environments. Virtual environments can thus be used to investigate the influence of new vehicle powertrain concepts and the related sound emissions of these vehicles on the pedestrians' ability to estimate the distance and velocity of moving objects.

Locomotor velocity and striatal adaptive gene expression changes of the direct and indirect pathways in Parkinsonian rats

BACKGROUND In Parkinson's disease (PD), bradykinesia, or slowness of movement, only appears after a large striatal dopamine depletion. Compensatory mechanisms probably play a role in this delayed appearance of symptoms. OBJECTIVE Our hypothesis is that the striatal direct and indirect pathways participate in these compensatory mechanisms. METHODS We used the unilateral 6-hydroxydopamine (6-OHDA) rat model of PD and control animals. Four weeks after the lesion, the spontaneous locomotor activity of the rats was measured and then the animals were killed and their brain extracted. We quantified the mRNA expression of markers of the striatal direct and indirect pathways as well as the nigral expression of dopamine transporter (DAT) and tyrosine hydroxylase (TH) mRNA. We also carried out an immunohistochemistry for the striatal TH protein expression. RESULTS As expected, the unilateral 6-OHDA rats presented a tendency to an ipsilateral head turning and a low locomotor velocity. In 6-OHDA rats only, we observed a significant and positive correlation between locomotor velocity and both D1-class dopamine receptor (D1R) (direct pathway) and enkephalin (ENK) (indirect pathway) mRNA in the lesioned striatum, as well as between D1R and ENK mRNA. CONCLUSIONS Our results demonstrate a strong relationship between both direct and indirect pathways and spontaneous locomotor activity in the parkinsonian rat model. We suggest a synergy between both pathways which could play a role in compensatory mechanisms and may contribute to the delayed appearance of bradykinesia in PD.

Surface velocity and mass balance of Livingston Island ice cap, Antarctica

The mass budget of the ice caps surrounding the Antarctica Peninsula and, in particular, the partitioning of its main components are poorly known. Here we approximate frontal ablation (i.e. the sum of mass losses by calving and submarine melt) and surface mass balance of the ice cap of Livingston Island, the second largest island in the South Shetland Islands archipelago, and analyse variations in surface velocity for the period 2007–2011. Velocities are obtained from feature tracking using 25 PALSAR-1 images, and used in conjunction with estimates of glacier ice thicknesses inferred from principles of glacier dynamics and ground-penetrating radar observations to estimate frontal ablation rates by a flux-gate approach. Glacier-wide surface mass-balance rates are approximated from in situ observations on two glaciers of the ice cap. Within the limitations of the large uncertainties mostly due to unknown ice thicknesses at the flux gates, we find that frontal ablation (−509 ± 263 Mt yr−1, equivalent to −0.73 ± 0.38 m w.e. yr−1 over the ice cap area of 697 km2) and surface ablation (−0.73 ± 0.10 m w.e. yr−1) contribute similar shares to total ablation (−1.46 ± 0.39 m w.e. yr−1). Total mass change (δM = −0.67 ± 0.40 m w.e. yr−1) is negative despite a slightly positive surface mass balance (0.06 ± 0.14 m w.e. yr−1). We find large interannual and, for some basins, pronounced seasonal variations in surface velocities at the flux gates, with higher velocities in summer than in winter. Associated variations in frontal ablation (of ~237 Mt yr−1; −0.34 m w.e. yr−1) highlight the importance of taking into account the seasonality in ice velocities when computing frontal ablation with a flux-gate approach.

Differential Expression and Internal Feedback Regulation of 1-Aminocyclopropane-1-Carboxylate Synthase, 1-Aminocyclopropane-1-Carboxylate Oxidase, and Ethylene Receptor Genes in Tomato Fruit during Development and Ripening1

We investigated the feedback regulation of ethylene biosynthesis in tomato (Lycopersicon esculentum) fruit with respect to the transition from system 1 to system 2 ethylene production. The abundance of LE-ACS2, LE-ACS4, and NR mRNAs increased in the ripening fruit concomitant with a burst in ethylene production. These increases in mRNAs with ripening were prevented to a large extent by treatment with 1-methylcyclopropene (MCP), an ethylene action inhibitor. Transcripts for the LE-ACS6 gene, which accumulated in preclimacteric fruit but not in untreated ripening fruit, did accumulate in ripening fruit treated with MCP. Treatment of young fruit with propylene prevented the accumulation of transcripts for this gene. LE-ACS1A, LE-ACS3, and TAE1 genes were expressed constitutively in the fruit throughout development and ripening irrespective of whether the fruit was treated with MCP or propylene. The transcripts for LE-ACO1 and LE-ACO4 genes already existed in preclimacteric fruit and increased greatly when ripening commenced. These increases in LE-ACO mRNA with ripening were also prevented by treatment with MCP. The results suggest that in tomato fruit the preclimacteric system 1 ethylene is possibly mediated via constitutively expressed LE-ACS1A and LE-ACS3 and negatively feedback-regulated LE-ACS6 genes with preexisting LE-ACO1 and LE-ACO4 mRNAs. At the onset of the climacteric stage, it shifts to system 2 ethylene, with a large accumulation of LE-ACS2, LE-ACS4, LE-ACO1, and LE-ACO4 mRNAs as a result of a positive feedback regulation. This transition from system 1 to system 2 ethylene production might be related to the accumulated level of NR mRNA.

(Table T4) Final depth vs. velocity and two-way traveltime data, ODP Site 178-1103

Site 1103 was one of a transect of three sites drilled across the Antarctic Peninsula continental shelf during Leg 178. The aim of drilling on the shelf was to determine the age of the sedimentary sequences and to ground truth previous interpretations of the depositional environment (i.e., topsets and foresets) of progradational seismostratigraphic sequences S1, S2, S3, and S4. The ultimate objective was to obtain a better understanding of the history of glacial advances and retreats in this west Antarctic margin. Drilling the topsets of the progradational wedge (0-247 m below seafloor [mbsf]), which consist of unsorted and unconsolidated materials of seismic Unit S1, was very unfavorable, resulting in very low (2.3%) core recovery. Recovery improved (34%) below 247 mbsf, corresponding to sediments of seismic Unit S3, which have a consolidated matrix. Logs were only obtained from the interval between 75 and 244 mbsf, and inconsistencies on the automatic analog picking of the signals received from the sonic log at the array and at the two other receivers prevented accurate shipboard time-depth conversions. This, in turn, limited the capacity for making seismic stratigraphic interpretations at this site and regionally. This study is an attempt to compile all available data sources, perform quality checks, and introduce nonstandard processing techniques for the logging data obtained to arrive at a reliable and continuous depth vs. velocity profile. We defined 13 data categories using differential traveltime information. Polynomial exclusion techniques with various orders and low-pass filtering reduced the noise of the initial data pool and produced a definite velocity depth profile that is synchronous with the resistivity logging data. A comparison of the velocity profile produced with various other logs of Site 1103 further validates the presented data. All major logging units are expressed within the new velocity data. A depth-migrated section with the new velocity data is presented together with the original time section and initial depth estimates published within the Leg 178 Initial Reports volume. The presented data confirms the location of the shelf unconformity at 222 ms two-way traveltime (TWT), or 243 mbsf, and allows its seismic identification as a strong negative and subsequent positive reflection.

GPS inferred velocity and strain rate fields in eastern Canada

La vallée du fleuve Saint-Laurent, dans l’est du Canada, est l’une des régions sismiques les plus actives dans l’est de l’Amérique du Nord et est caractérisée par de nombreux tremblements de terre intraplaques. Après la rotation rigide de la plaque tectonique, l’ajustement isostatique glaciaire est de loin la plus grande source de signal géophysique dans l’est du Canada. Les déformations et les vitesses de déformation de la croûte terrestre de cette région ont été étudiées en utilisant plus de 14 ans d’observations (9 ans en moyenne) de 112 stations GPS fonctionnant en continu. Le champ de vitesse a été obtenu à partir de séries temporelles de coordonnées GPS quotidiennes nettoyées en appliquant un modèle combiné utilisant une pondération par moindres carrés. Les vitesses ont été estimées avec des modèles de bruit qui incluent les corrélations temporelles des séries temporelles des coordonnées tridimensionnelles. Le champ de vitesse horizontale montre la rotation antihoraire de la plaque nord-américaine avec une vitesse moyenne de 16,8±0,7 mm/an dans un modèle sans rotation nette (no-net-rotation) par rapport à l’ITRF2008. Le champ de vitesse verticale confirme un soulèvement dû à l’ajustement isostatique glaciaire partout dans l’est du Canada avec un taux maximal de 13,7±1,2 mm/an et un affaissement vers le sud, principalement au nord des États-Unis, avec un taux typique de −1 à −2 mm/an et un taux minimum de −2,7±1,4 mm/an. Le comportement du bruit des séries temporelles des coordonnées GPS tridimensionnelles a été analysé en utilisant une analyse spectrale et la méthode du maximum de vraisemblance pour tester cinq modèles de bruit: loi de puissance; bruit blanc; bruit blanc et bruit de scintillation; bruit blanc et marche aléatoire; bruit blanc, bruit de scintillation et marche aléatoire. Les résultats montrent que la combinaison bruit blanc et bruit de scintillation est le meilleur modèle pour décrire la partie stochastique des séries temporelles. Les amplitudes de tous les modèles de bruit sont plus faibles dans la direction nord et plus grandes dans la direction verticale. Les amplitudes du bruit blanc sont à peu près égales à travers la zone d’étude et sont donc surpassées, dans toutes les directions, par le bruit de scintillation et de marche aléatoire. Le modèle de bruit de scintillation augmente l’incertitude des vitesses estimées par un facteur de 5 à 38 par rapport au modèle de bruit blanc. Les vitesses estimées de tous les modèles de bruit sont statistiquement cohérentes. Les paramètres estimés du pôle eulérien de rotation pour cette région sont légèrement, mais significativement, différents de la rotation globale de la plaque nord-américaine. Cette différence reflète potentiellement les contraintes locales dans cette région sismique et les contraintes causées par la différence des vitesses intraplaques entre les deux rives du fleuve Saint-Laurent. La déformation de la croûte terrestre de la région a été étudiée en utilisant la méthode de collocation par moindres carrés. Les vitesses horizontales interpolées montrent un mouvement cohérent spatialement: soit un mouvement radial vers l’extérieur pour les centres de soulèvement maximal au nord et un mouvement radial vers l’intérieur pour les centres d’affaissement maximal au sud, avec une vitesse typique de 1 à 1,6±0,4 mm/an. Cependant, ce modèle devient plus complexe près des marges des anciennes zones glaciaires. Basées selon leurs directions, les vitesses horizontales intraplaques peuvent être divisées en trois zones distinctes. Cela confirme les conclusions d’autres chercheurs sur l’existence de trois dômes de glace dans la région d’étude avant le dernier maximum glaciaire. Une corrélation spatiale est observée entre les zones de vitesses horizontales intraplaques de magnitude plus élevée et les zones sismiques le long du fleuve Saint-Laurent. Les vitesses verticales ont ensuite été interpolées pour modéliser la déformation verticale. Le modèle montre un taux de soulèvement maximal de 15,6 mm/an au sud-est de la baie d’Hudson et un taux d’affaissement typique de 1 à 2 mm/an au sud, principalement dans le nord des États-Unis. Le long du fleuve Saint-Laurent, les mouvements horizontaux et verticaux sont cohérents spatialement. Il y a un déplacement vers le sud-est d’une magnitude d’environ 1,3 mm/an et un soulèvement moyen de 3,1 mm/an par rapport à la plaque l’Amérique du Nord. Le taux de déformation verticale est d’environ 2,4 fois plus grand que le taux de déformation horizontale intraplaque. Les résultats de l’analyse de déformation montrent l’état actuel de déformation dans l’est du Canada sous la forme d’une expansion dans la partie nord (la zone se soulève) et d’une compression dans la partie sud (la zone s’affaisse). Les taux de rotation sont en moyenne de 0,011°/Ma. Nous avons observé une compression NNO-SSE avec un taux de 3.6 à 8.1 nstrain/an dans la zone sismique du Bas-Saint-Laurent. Dans la zone sismique de Charlevoix, une expansion avec un taux de 3,0 à 7,1 nstrain/an est orientée ENE-OSO. Dans la zone sismique de l’Ouest du Québec, la déformation a un mécanisme de cisaillement avec un taux de compression de 1,0 à 5,1 nstrain/an et un taux d’expansion de 1.6 à 4.1 nstrain/an. Ces mesures sont conformes, au premier ordre, avec les modèles d’ajustement isostatique glaciaire et avec la contrainte de compression horizontale maximale du projet World Stress Map, obtenue à partir de la théorie des mécanismes focaux (focal mechanism method).

Physical controls on carbon dioxide transfer velocity and flux in low-gradient river systems and implications for regional carbon budgets

Outgassing of carbon dioxide (CO(2)) from rivers and streams to the atmosphere is a major loss term in the coupled terrestrial-aquatic carbon cycle of major low-gradient river systems (the term ""river system"" encompasses the rivers and streams of all sizes that compose the drainage network in a river basin). However, the magnitude and controls on this important carbon flux are not well quantified. We measured carbon dioxide flux rates (F(CO2)), gas transfer velocity (k), and partial pressures (p(CO2)) in rivers and streams of the Amazon and Mekong river systems in South America and Southeast Asia, respectively. F(CO2) and k values were significantly higher in small rivers and streams (channels <100 m wide) than in large rivers (channels >100 m wide). Small rivers and streams also had substantially higher variability in k values than large rivers. Observed F(CO2) and k values suggest that previous estimates of basinwide CO(2) evasion from tropical rivers and wetlands have been conservative and are likely to be revised upward substantially in the future. Data from the present study combined with data compiled from the literature collectively suggest that the physical control of gas exchange velocities and fluxes in low-gradient river systems makes a transition from the dominance of wind control at the largest spatial scales (in estuaries and river mainstems) toward increasing importance of water current velocity and depth at progressively smaller channel dimensions upstream. These results highlight the importance of incorporating scale-appropriate k values into basinwide models of whole ecosystem carbon balance.

Ultrasound Propagation Velocity and Broadband Attenuation Can Help Evaluate the Healing Process of an Experimental Fracture

Ultrasonometry seems to have a future for the evaluation of fracture healing. Ultrasound propagation velocity (USPV) significantly decreases at the same time that bone diameter decreases as healing takes place, thus approaching normal values. In this investigation, both USPV and broadband ultrasound attenuation (BUA) were measured using a model of a transverse mid-diaphyseal osteotomy of sheep tibiae. Twenty-one sheep were operated and divided into three groups of seven, according to the follow-up period of 30, 60, and 90 days, respectively. The progress of healing of the osteotomy was checked with monthly conventional radiographs. The animals were killed at the end of the period of observation of each group, both operated-upon and intact tibiae being resected and submitted to the measurement of underwater transverse and direct contact transverse and longitudinal USPV and BUA at the osteotomy site. The intact left tibia of the 21 animals was used for control, being examined on a symmetrical diaphyseal segment. USPV increased while BUA decreased with the progression of healing, with significant differences between the operated and untouched tibiae and between the periods of observation, for most of the comparisons. There was a strong negative correlation between USPV and BUA. Both USPV and BUA directly reflect and can help predict the healing of fractures, but USPV alone can be used as a fundamental parameter. Ultrasonometry may be of use in clinical application to humans provided adequate adaptations can be developed. (C) 2010 Orthopaedic Research Society. Published by Wiley Periodicals, Inc. J Orthop Res 29:444-451, 2011