Improved heuristic drift elimination with magnetically-aided dominant directions (MiHDE) for pedestrian navigation in complex buildings

The main problem of pedestrian dead-reckoning (PDR) using only a body-attached inertial measurement unit is the accumulation of heading errors. The heading provided by magnetometers in indoor buildings is in general not reliable and therefore it is commonly not used. Recently, a new method was proposed called heuristic drift elimination (HDE) that minimises the heading error when navigating in buildings. It assumes that the majority of buildings have their corridors parallel to each other, or they intersect at right angles, and consequently most of the time the person walks along a straight path with a heading constrained to one of the four possible directions. In this article we study the performance of HDE-based methods in complex buildings, i.e. with pathways also oriented at 45°, long curved corridors, and wide areas where non-oriented motion is possible. We explain how the performance of the original HDE method can be deteriorated in complex buildings, and also, how severe errors can appear in the case of false matches with the building's dominant directions. Although magnetic compassing indoors has a chaotic behaviour, in this article we analyse large data-sets in order to study the potential use that magnetic compassing has to estimate the absolute yaw angle of a walking person. Apart from these analysis, this article also proposes an improved HDE method called Magnetically-aided Improved Heuristic Drift Elimination (MiHDE), that is implemented over a PDR framework that uses foot-mounted inertial navigation with an extended Kalman filter (EKF). The EKF is fed with the MiHDE-estimated orientation error, gyro bias corrections, as well as the confidence over that corrections. We experimentally evaluated the performance of the proposed MiHDE-based PDR method, comparing it with the original HDE implementation. Results show that both methods perform very well in ideal orthogonal narrow-corridor buildings, and MiHDE outperforms HDE for non-ideal trajectories (e.g. curved paths) and also makes it robust against potential false dominant direction matchings.

Effect of control method on impedance-based interactions in a buck converter

All the interconnected regulated systems are prone to impedance-based interactions making them sensitive to instability and transient-performance degradation. The applied control method affects significantly the characteristics of the converter in terms of sensitivity to different impedance interactions. This paper provides for the first time the whole set of impedance-type internal parameters and the formulas according to which the interaction sensitivity can be fully explained and analyzed. The formulation given in this paper can be utilized equally either based on measured frequency responses or on predicted analytic transfer functions. Usually, the distributed dc-dc systems are constructed by using ready-made power modules without having thorough knowledge on the actual power-stage and control-system designs. As a consequence, the interaction characterization has to be based on the frequency responses measureable via the input and output terminals. A buck converter with four different control methods is experimentally characterized in frequency domain to demonstrate the effect of control method on the interaction sensitivity. The presented analytical models are used to explain the phenomena behind the changes in the interaction sensitivity.

Time domain passivity control for delayed teleoperation

La telepesencia combina diferentes modalidades sensoriales, incluyendo, entre otras, la visual y la del tacto, para producir una sensación de presencia remota en el operador. Un elemento clave en la implementación de sistemas de telepresencia para permitir una telemanipulación del entorno remoto es el retorno de fuerza. Durante una telemanipulación, la energía mecánica es transferida entre el operador humano y el entorno remoto. En general, la energía es una propiedad de los objetos físicos, fundamental en su mutual interacción. En esta interacción, la energía se puede transmitir entre los objetos, puede cambiar de forma pero no puede crearse ni destruirse. En esta tesis, se aplica este principio fundamental para derivar un nuevo método de control bilateral que permite el diseño de sistemas de teleoperación estables para cualquier arquitectura concebible. El razonamiento parte del hecho de que la energía mecánica insertada por el operador humano en el sistema debe transferirse hacia el entorno remoto y viceversa. Tal como se verá, el uso de la energía como variable de control permite un tratamiento más general del sistema que el control convencional basado en variables específicas del sistema. Mediante el concepto de Red de Potencia de Retardo Temporal (RPRT), el problema de definir los flujos de energía en un sistema de teleoperación es solucionado con independencia de la arquitectura de comunicación. Como se verá, los retardos temporales son la principal causa de generación de energía virtual. Este hecho se observa con retardos a partir de 1 milisegundo. Esta energía virtual es añadida al sistema de forma intrínseca y representa la causa principal de inestabilidad. Se demuestra que las RPRTs son transportadoras de la energía deseada intercambiada entre maestro y esclavo pero a la vez generadoras de energía virtual debido al retardo temporal. Una vez estas redes son identificadas, el método de Control de Pasividad en el Dominio Temporal para RPRTs se propone como mecanismo de control para asegurar la pasividad del sistema, y as__ la estabilidad. El método se basa en el simple hecho de que esta energía virtual debido al retardo debe transformarse en disipación. As__ el sistema se aproxima al sistema deseado, donde solo la energía insertada desde un extremo es transferida hacia el otro. El sistema resultante presenta dos cualidades: por un lado la estabilidad del sistema queda garantizada con independencia de la arquitectura del sistema y del canal de comunicación; por el otro, el rendimiento es maximizado en términos de fidelidad de transmisión energética. Los métodos propuestos se sustentan con sistemas experimentales con diferentes arquitecturas de control y retardos entre 2 y 900 ms. La tesis concluye con un experimento que incluye una comunicación espacial basada en el satélite geoestacionario ASTRA. ABSTRACT Telepresence combines different sensorial modalities, including vision and touch, to produce a feeling of being present in a remote location. The key element to successfully implement a telepresence system and thus to allow telemanipulation of a remote environment is force feedback. In a telemanipulation, mechanical energy must convey from the human operator to the manipulated object found in the remote environment. In general, energy is a property of all physical objects, fundamental to their mutual interactions in which the energy can be transferred among the objects and can change form but cannot be created or destroyed. In this thesis, we exploit this fundamental principle to derive a novel bilateral control mechanism that allows designing stable teleoperation systems with any conceivable communication architecture. The rationale starts from the fact that the mechanical energy injected by a human operator into the system must be conveyed to the remote environment and Vice Versa. As will be seen, setting energy as the control variable allows a more general treatment of the controlled system in contrast to the more conventional control of specific systems variables. Through the Time Delay Power Network (TDPN) concept, the issue of defining the energy flows involved in a teleoperation system is solved with independence of the communication architecture. In particular, communication time delays are found to be a source of virtual energy. This fact is observed with delays starting from 1 millisecond. Since this energy is added, the resulting teleoperation system can be non-passive and thus become unstable. The Time Delay Power Networks are found to be carriers of the desired exchanged energy but also generators of virtual energy due to the time delay. Once these networks are identified, the Time Domain Passivity Control approach for TDPNs is proposed as a control mechanism to ensure system passivity and therefore, system stability. The proposed method is based on the simple fact that this intrinsically added energy due to the communication must be transformed into dissipation. Then the system becomes closer to the ambitioned one, where only the energy injected from one end of the system is conveyed to the other one. The resulting system presents two benefits: On one hand, system stability is guaranteed through passivity independently from the chosen control architecture and communication channel; on the other, performance is maximized in terms of energy transfer faithfulness. The proposed methods are sustained with a set of experimental implementations using different control architectures and communication delays ranging from 2 to 900 milliseconds. An experiment that includes a communication Space link based on the geostationary satellite ASTRA concludes this thesis.

Elimination of variability sources in NIR spectra for the determination of fat content in olive fruits

Models for prediction of oil content as percentage of dried weight in olive fruits were comput- ed through PLS regression on NIR spectra. Spectral preprocessing was carried out by apply- ing multiplicative signal correction (MSC), Sa vitzky–Golay algorithm, standard normal variate correction (SNV), and detrending (D) to NIR spectra. MSC was the preprocessing technique showing the best performance. Further reduction of variability was performed by applying the Wold method of orthogonal signal correction (OSC). The calibration model achieved a R 2 of 0.93, a SEPc of 1.42, and a RPD of 3.8. The R 2 obtained with the validation set remained 0.93, and the SEPc was 1.41.

Mechanical properties up to 1900 K of Al2O3/Er3Al5O12/ZrO2 eutectic ceramics grown by the laser floating zone method

Directionally solidified Al2O3–Er3Al5O12–ZrO2 eutectic rods were processed using the laser floating zone method at growth rates of 25, 350and 750 mm/h to obtain microstructures with different domain size. The mechanical properties were investigated as a function of the processing rate. The hardness, 15.6 GPa, and the fracture toughness, 4 MPa m1/2, obtained from Vickers indentation at room temperature were practically independent of the size of the eutectic phases. However, the flexural strength increased as the domain size decreased, reaching outstanding strength values close to 3 GPa in the samples grown at 750 mm/h. A high retention of the flexural strength was observed up to 1500 K in the materials processed at 25 and 350 mm/h, while superplastic behaviour was observed at 1700 K in the eutectic rods solidified at the highest rate of 750 mm/h

Application of the Boundary Method to the determination of the properties of the beam cross-sections

Using the 3-D equations of linear elasticity and the asylllptotic expansion methods in terms of powers of the beam cross-section area as small parameter different beam theories can be obtained, according to the last term kept in the expansion. If it is used only the first two terms of the asymptotic expansion the classical beam theories can be recovered without resort to any "a priori" additional hypotheses. Moreover, some small corrections and extensions of the classical beam theories can be found and also there exists the possibility to use the asymptotic general beam theory as a basis procedure for a straightforward derivation of the stiffness matrix and the equivalent nodal forces of the beam. In order to obtain the above results a set of functions and constants only dependent on the cross-section of the beam it has to be computed them as solutions of different 2-D laplacian boundary value problems over the beam cross section domain. In this paper two main numerical procedures to solve these boundary value pf'oblems have been discussed, namely the Boundary Element Method (BEM) and the Finite Element Method (FEM). Results for some regular and geometrically simple cross-sections are presented and compared with ones computed analytically. Extensions to other arbitrary cross-sections are illustrated.

The SH3p4/Sh3p8/SH3p13 protein family: Binding partners for synaptojanin and dynamin via a Grb2-like Src homology 3 domain

The GTPase dynamin I and the inositol 5-phosphatase synaptojanin are nerve terminal proteins implicated in synaptic vesicle recycling. Both proteins contain COOH-terminal proline-rich domains that can interact with a variety of Src homology 3 (SH3) domains. A major physiological binding partner for dynamin I and synaptojanin in the nervous system is amphiphysin I, an SH3 domain-containing protein also concentrated in nerve terminals. We have used the proline-rich tail of synaptojanin to screen a rat brain library by the two-hybrid method to identify additional interacting partners of synaptojanin. Three related proteins containing SH3 domains that are closely related to the SH3 domains of Grb2 were isolated: SH3p4, SH3p8, and SH3p13. Further biochemical studies demonstrated that the SH3p4/8/13 proteins bind to both synaptojanin and dynamin I. The SH3p4/8/13 transcripts are differentially expressed in tissues: SH3p4 mRNA was detected only in brain, SH3p13 mRNA was present in brain and testis, and the SH3p8 transcript was detected at similar levels in multiple tissues. Members of the SH3p4/8/13 protein family were found to be concentrated in nerve terminals, and pools of synaptojanin and dynamin I were coprecipitated from brain extracts with antibodies recognizing SH3p4/8/13. These findings underscore the important role of SH3-mediated interactions in synaptic vesicle recycling.

A general method to design dominant negatives to B-HLHZip proteins that abolish DNA binding

We describe a method to design dominant-negative proteins (D-N) to the basic helix–loop–helix–leucine zipper (B-HLHZip) family of sequence-specific DNA binding transcription factors. The D-Ns specifically heterodimerize with the B-HLHZip dimerization domain of the transcription factors and abolish DNA binding in an equimolar competition. Thermal denaturation studies indicate that a heterodimer between a Myc B-HLHZip domain and a D-N consisting of a 12-amino acid sequence appended onto the Max dimerization domain (A-Max) is −6.3 kcal⋅mol−1 more stable than the Myc:Max heterodimer. One molar equivalent of A-Max can totally abolish the DNA binding activity of a Myc:Max heterodimer. This acidic extension also has been appended onto the dimerization domain of the B-HLHZip protein Mitf, a member of the transcription factor enhancer binding subfamily, to produce A-Mitf. The heterodimer between A-Mitf and the B-HLHZip domain of Mitf is −3.7 kcal⋅mol−1 more stable than the Mitf homodimer. Cell culture studies show that A-Mitf can inhibit Mitf-dependent transactivation both in acidic extension and in a dimerization-dependent manner. A-Max can inhibit Myc-dependent foci formation twice as well as the Max dimerization domain (HLHZip). This strategy of producing D-Ns may be applicable to other B-HLHZip or B-HLH proteins because it provides a method to inhibit the DNA binding of these transcription factors in a dimerization-specific manner.

Mapping of a Myosin-binding Domain and a Regulatory Phosphorylation Site in M-Protein, a Structural Protein of the Sarcomeric M Band

The myofibrils of cross-striated muscle fibers contain in their M bands cytoskeletal proteins whose main function seems to be the stabilization of the three-dimensional arrangement of thick filaments. We identified two immunoglobin domains (Mp2–Mp3) of M-protein as a site binding to the central region of light meromyosin. This binding is regulated in vitro by phosphorylation of a single serine residue (Ser76) in the immediately adjacent amino-terminal domain Mp1. M-protein phosphorylation by cAMP-dependent kinase A inhibits binding to myosin LMM. Transient transfection studies of cultured cells revealed that the myosin-binding site seems involved in the targeting of M-protein to its location in the myofibril. Using the same method, a second myofibril-binding site was uncovered in domains Mp9–Mp13. These results support the view that specific phosphorylation events could be also important for the control of sarcomeric M band formation and remodeling.

Solution 19F nuclear Overhauser effects in structural studies of the cytoplasmic domain of mammalian rhodopsin

19F nuclear Overhauser effects (NOEs) between fluorine labels on the cytoplasmic domain of rhodopsin solubilized in detergent micelles are reported. Previously, high-resolution solution 19F NMR spectra of fluorine-labeled rhodopsin in detergent micelles were described, demonstrating the applicability of this technique to studies of tertiary structure in the cytoplasmic domain. To quantitate tertiary contacts we have applied a transient one-dimensional difference NOE solution 19F NMR experiment to this system, permitting assessment of proximities between fluorine labels specifically incorporated into different regions of the cytoplasmic face. Three dicysteine substitution mutants (Cys-140–Cys-316, Cys-65–Cys-316, and Cys-139–Cys-251) were labeled by attachment of the trifluoroethylthio group through a disulfide linkage. Each mutant rhodopsin was prepared (8–10 mg) in dodecylmaltoside and analyzed at 20°C by solution 19F NMR. Distinct chemical shifts were observed for all of the rhodopsin 19F labels in the dark. An up-field shift of the Cys-316 resonance in the Cys-65–Cys-316 mutant suggests a close proximity between the two residues. When analyzed for 19F-19F NOEs, a moderate negative enhancement was observed for the Cys-65–Cys-316 pair and a strong negative enhancement was observed for the Cys-139–Cys-251 pair, indicating proximity between these sites. No NOE enhancement was observed for the Cys-140–Cys-316 pair. These NOE effects demonstrate a solution 19F NMR method for analysis of tertiary contacts in high molecular weight proteins, including membrane proteins.

Agonist-induced conformational changes in the G-protein-coupling domain of the β2 adrenergic receptor

The majority of extracellular physiologic signaling molecules act by stimulating GTP-binding protein (G-protein)-coupled receptors (GPCRs). To monitor directly the formation of the active state of a prototypical GPCR, we devised a method to site specifically attach fluorescein to an endogenous cysteine (Cys-265) at the cytoplasmic end of transmembrane 6 (TM6) of the β2 adrenergic receptor (β2AR), adjacent to the G-protein-coupling domain. We demonstrate that this tag reports agonist-induced conformational changes in the receptor, with agonists causing a decline in the fluorescence intensity of fluorescein-β2AR that is proportional to the biological efficacy of the agonist. We also find that agonists alter the interaction between the fluorescein at Cys-265 and fluorescence-quenching reagents localized to different molecular environments of the receptor. These observations are consistent with a rotation and/or tilting of TM6 on agonist activation. Our studies, when compared with studies of activation in rhodopsin, indicate a general mechanism for GPCR activation; however, a notable difference is the relatively slow kinetics of the conformational changes in the β2AR, which may reflect the different energetics of activation by diffusible ligands.

Random circular permutation of genes and expressed polypeptide chains: application of the method to the catalytic chains of aspartate transcarbamoylase.

Recent studies on proteins whose N and C termini are in close proximity have demonstrated that folding of polypeptide chains and assembly of oligomers can be accomplished with circularly permuted chains. As yet no methodical study has been conducted to determine how extensively new termini can be introduced and where such termini cannot be tolerated. We have devised a procedure to generate random circular permutations of the catalytic chains of Escherichia coli aspartate transcarbamoylase (ATCase; EC 2.1.3.2) and to select clones that produce active or stable holoenzyme containing permuted chains. A tandem gene construct was made, based on the desired linkage between amino acid residues in the C- and N-terminal regions of the polypeptide chain, and this DNA was treated with a suitable restriction enzyme to yield a fragment containing the rearranged coding sequence for the chain. Circularization achieved with DNA ligase, followed by linearization at random with DNase I, and incorporation of the linearized, repaired, blunt-ended, rearranged genes into a suitable plasmid permitted the expression of randomly permuted polypeptide chains. The plasmid with appropriate stop codons also contained pyrI, the gene encoding the regulatory chain of ATCase. Colonies expressing detectable amounts of ATCase-like molecules containing permuted catalytic chains were identified by an immunoblot technique or by their ability to grow in the absence of pyrimidines in the growth medium. Sequencing of positive clones revealed a variety of novel circular permutations. Some had N and C termini within helices of the wild-type enzyme as well as deletions and insertions. Permutations were concentrated in the C-terminal domain and only few were detected in the N-terminal domain. The technique, which is adaptable generally to proteins whose N and C termini are near each other, can be of value in relating in vivo folding of nascent, growing polypeptide chains to in vitro renaturation of complete chains and determining the role of protein sequence in folding kinetics.

The fifth epidermal growth factor-like domain of thrombomodulin does not have an epidermal growth factor-like disulfide bonding pattern.

The disulfide bonding pattern of the fourth and fifth epidermal growth factor (EGF)-like domains within the smallest active fragment of thrombomodulin have been determined. In previous work, this fragment was expressed and purified to homogeneity, and its cofactor activity, as measured by Kcat for thrombin activation of protein C, was the same as that for full-length thrombomodulin. CNBr cleavage at the single methionine in the connecting region between the domains and subsequent deglycosylation yielded the individual EGF-like domains. The disulfide bonds were mapped by partial reduction with tris(2-carboxyethyl)phosphine according to the method of Gray [Gray, W. R. (1993) Protein Sci. 2, 1732-1748], which provides unambiguous results. The disulfide bonding pattern of the fourth EGF-like domain was (1-3, 2-4, 5-6), which is the same as that found previously in EGF and in a synthetic version of the fourth EGF-like domain. Surprisingly, the disulfide bonding pattern of the fifth domain was (1-2, 3-4, 5-6), which is unlike that found in EGF or in any other EGF-like domain analyzed so far. This result is in line with an earlier observation that the (1-2, 3-4, 5-6) isomer bound to thrombin more tightly than the EGF-like (1-3, 2-4, 5-6) isomer. The observation that not all EGF-like domains have an EGF-like disulfide bonding pattern reveals an additional element of diversity in the structure of EGF-like domains.

Neuregulins with an Ig-like domain are essential for mouse myocardial and neuronal development.

Neuregulins are ligands for the erbB family of receptor tyrosine kinases and mediate growth and differentiation of neural crest, muscle, breast cancer, and Schwann cells. Neuregulins contain an epidermal growth factor-like domain located C-terminally to either an Ig-like domain or a cysteine-rich domain specific to the sensory and motor neuron-derived isoform. Here it is shown that elimination of the Ig-like domain-containing neuregulins by homologous recombination results in embryonic lethality associated with a deficiency of ventricular myocardial trabeculation and impairment of cranial ganglion development. The erbB receptors are expressed in myocardial cells and presumably mediate the neuregulin signal originating from endocardial cells. The trigeminal ganglion is reduced in size and lacks projections toward the brain stem and mandible. We conclude that IgL-domain-containing neuregulins play a major role in cardiac and neuronal development.

A detergent-free method for purifying caveolae membrane from tissue culture cells.

Current methods for purifying caveolae from tissue culture cells take advantage of the Triton X-100 insolubility of this membrane domain. To circumvent the use of detergents, we have developed a method that depends upon the unique buoyant density of caveolae membrane. The caveolae fractions that we obtain are highly enriched in caveolin. As a consequence we are able to identify caveolae-associated proteins that had previously gone undetected. Moreover, resident caveolae proteins that are soluble in Triton X-100 are retained during the isolation.