A negative regulator mediates quorum-sensing control of exopolysaccharide production in Pantoea stewartii subsp. stewartii

Classical quorum-sensing (autoinduction) regulation, as exemplified by the lux system of Vibrio fischeri, requires N-acyl homoserine lactone (AHL) signals to stimulate cognate transcriptional activators for the cell density-dependent expression of specific target gene systems. For Pantoea stewartii subsp. stewartii, a bacterial pathogen of sweet corn and maize, the extracellular polysaccharide (EPS) stewartan is a major virulence factor, and its production is controlled by quorum sensing in a population density-dependent manner. Two genes, esaI and esaR, encode essential regulatory proteins for quorum sensing. EsaI is the AHL signal synthase, and EsaR is the cognate gene regulator. esaI, ΔesaR, and ΔesaI-esaR mutations were constructed to establish the regulatory role of EsaR. We report here that strains containing an esaR mutation produce high levels of EPS independently of cell density and in the absence of the AHL signal. Our data indicate that quorum-sensing regulation in P. s. subsp. stewartii, in contrast to most other described systems, uses EsaR to repress EPS synthesis at low cell density, and that derepression requires micromolar amounts of AHL. In addition, derepressed esaR strains, which synthesize EPS constitutively at low cell densities, were significantly less virulent than the wild-type parent. This finding suggests that quorum sensing in P. s. subsp. stewartii may be a mechanism to delay the expression of EPS during the early stages of infection so that it does not interfere with other mechanisms of pathogenesis.

QscR, a modulator of quorum-sensing signal synthesis and virulence in Pseudomonas aeruginosa

The opportunistic pathogenic bacterium Pseudomonas aeruginosa uses quorum-sensing signaling systems as global regulators of virulence genes. There are two quorum-sensing signal receptor and signal generator pairs, LasR–LasI and RhlR–RhlI. The recently completed P. aeruginosa genome-sequencing project revealed a gene coding for a homolog of the signal receptors, LasR and RhlR. Here we describe a role for this gene, which we call qscR. The qscR gene product governs the timing of quorum-sensing-controlled gene expression and it dampens virulence in an insect model. We present evidence that suggests the primary role of QscR is repression of lasI. A qscR mutant produces the LasI-generated signal prematurely, and this results in premature transcription of a number of quorum-sensing-regulated genes. When fed to Drosophila melanogaster, the qscR mutant kills the animals more rapidly than the parental P. aeruginosa. The repression of lasI by QscR could serve to ensure that quorum-sensing-controlled genes are not activated in environments where they are not useful.

System for robot control inspired by the functionality and organisation of the human nervous system

This paper presents a model of a control system for robot systems inspired by the functionality and organisation of human neuroregulatory system. Our model was specified using software agents within a formal framework and implemented through Web Services. This approach allows the implementation of the control logic of a robot system with relative ease, in an incremental way, using the addition of new control centres to the system as its behaviour is observed or needs to be detailed with greater precision, without the need to modify existing functionality. The tests performed verify that the proposed model has the general characteristics of biological systems together with the desirable features of software, such as robustness, flexibility, reuse and decoupling.

A grammatical approach to the modeling of an autonomous robot

Virtual Worlds Generator is a grammatical model that is proposed to define virtual worlds. It integrates the diversity of sensors and interaction devices, multimodality and a virtual simulation system. Its grammar allows the definition and abstraction in symbols strings of the scenes of the virtual world, independently of the hardware that is used to represent the world or to interact with it. A case study is presented to explain how to use the proposed model to formalize a robot navigation system with multimodal perception and a hybrid control scheme of the robot. The result is an instance of the model grammar that implements the robotic system and is independent of the sensing devices used for perception and interaction. As a conclusion the Virtual Worlds Generator adds value in the simulation of virtual worlds since the definition can be done formally and independently of the peculiarities of the supporting devices.

Guidance of robot arms using depth data from RGB-D camera

Image Based Visual Servoing (IBVS) is a robotic control scheme based on vision. This scheme uses only the visual information obtained from a camera to guide a robot from any robot pose to a desired one. However, IBVS requires the estimation of different parameters that cannot be obtained directly from the image. These parameters range from the intrinsic camera parameters (which can be obtained from a previous camera calibration), to the measured distance on the optical axis between the camera and visual features, it is the depth. This paper presents a comparative study of the performance of D-IBVS estimating the depth from three different ways using a low cost RGB-D sensor like Kinect. The visual servoing system has been developed over ROS (Robot Operating System), which is a meta-operating system for robots. The experiments prove that the computation of the depth value for each visual feature improves the system performance.

3D visual sensing of human hand for remote operation of a robotic hand

New low cost sensors and open free libraries for 3D image processing are making important advances in robot vision applications possible, such as three-dimensional object recognition, semantic mapping, navigation and localization of robots, human detection and/or gesture recognition for human-machine interaction. In this paper, a novel method for recognizing and tracking the fingers of a human hand is presented. This method is based on point clouds from range images captured by a RGBD sensor. It works in real time and it does not require visual marks, camera calibration or previous knowledge of the environment. Moreover, it works successfully even when multiple objects appear in the scene or when the ambient light is changed. Furthermore, this method was designed to develop a human interface to control domestic or industrial devices, remotely. In this paper, the method was tested by operating a robotic hand. Firstly, the human hand was recognized and the fingers were detected. Secondly, the movement of the fingers was analysed and mapped to be imitated by a robotic hand.

Active Visual Features Based on Events to Guide Robot Manipulators in Tracking Tasks

Traditional visual servoing systems do not deal with the topic of moving objects tracking. When these systems are employed to track a moving object, depending on the object velocity, visual features can go out of the image, causing the fail of the tracking task. This occurs specially when the object and the robot are both stopped and then the object starts the movement. In this work, we have employed a retina camera based on Address Event Representation (AER) in order to use events as input in the visual servoing system. The events launched by the camera indicate a pixel movement. Event visual information is processed only at the moment it occurs, reducing the response time of visual servoing systems when they are used to track moving objects.

RGBD Human-Hand recognition for the Interaction with Robot-Hand

New low cost sensors and the new open free libraries for 3D image processing are permitting to achieve important advances for robot vision applications such as tridimensional object recognition, semantic mapping, navigation and localization of robots, human detection and/or gesture recognition for human-machine interaction. In this paper, a method to recognize the human hand and to track the fingers is proposed. This new method is based on point clouds from range images, RGBD. It does not require visual marks, camera calibration, environment knowledge and complex expensive acquisition systems. Furthermore, this method has been implemented to create a human interface in order to move a robot hand. The human hand is recognized and the movement of the fingers is analyzed. Afterwards, it is imitated from a Barret hand, using communication events programmed from ROS.

The Multiple Signaling Systems Regulating Virulence in Pseudomonas aeruginosa

Cell-to-cell communication is a major process that allows bacteria to sense and coordinately react to the fluctuating conditions of the surrounding environment. In several pathogens, this process triggers the production of virulence factors and/or a switch in bacterial lifestyle that is a major determining factor in the outcome and severity of the infection. Understanding how bacteria control these signaling systems is crucial to the development of novel antimicrobial agents capable of reducing virulence while allowing the immune system of the host to clear bacterial infection, an approach likely to reduce the selective pressures for development of resistance. We provide here an up-to-date overview of the molecular basis and physiological implications of cell-to-cell signaling systems in Gram-negative bacteria, focusing on the well-studied bacterium Pseudomonas aeruginosa. All of the known cell-to-cell signaling systems in this bacterium are described, from the most-studied systems, i.e., N-acyl homoserine lactones (AHLs), the 4-quinolones, the global activator of antibiotic and cyanide synthesis (GAC), the cyclic di-GMP (c-di-GMP) and cyclic AMP (cAMP) systems, and the alarmones guanosine tetraphosphate (ppGpp) and guanosine pentaphosphate (pppGpp), to less-well-studied signaling molecules, including diketopiperazines, fatty acids (diffusible signal factor [DSF]-like factors), pyoverdine, and pyocyanin. This overview clearly illustrates that bacterial communication is far more complex than initially thought and delivers a clear distinction between signals that are quorum sensing dependent and those relying on alternative factors for their production.

Advanced vehicle monitoring and communication systems for bus transit: benefits and economic feasibility. Final report.

Federal Transit Administration, Washington, D.C.

FROG (formulation of a robot organization that generalizes) : a hardwardware [sic] experiment in machine cognition /

Vita.

Basic studies of rotating stall and an investigation of flow-instability sensing devices

pt. 1. Basic studies of rotating stall flow mechanisms.--pt. 2. Investigation of flow-instability sensing devices.

Introducing the pressure-sensing palatograph - the next frontier in electropalatography

Primary Objective. To extend the capabilities of current electropalatography (EPG) systems by developing a pressure-sensing EPG system. An initial trial of a prototype pressure-sensing palate will be presented. Research Design. The processes involved in designing the pressure sensors are outlined, with Hall effect transistors being selected. These units are compact, offer high sensitivity and are inexpensive. An initial prototype acrylic palate was constructed with five embedded pressure sensors. Syllable repetitions were recorded from one adult female. Main Outcomes, Results and Future Directions. The pressure-sensing palate was capable of recording dynamic tongue-to-palate pressures, with minimal to no interference to speech detected perceptually. With a restricted number of sensors, problems were encountered in optimally positioning the sensors to detect the consonant lingual pressures. Further developments are planned for various aspects of the pressure-sensing system. Conclusions. Although only in the prototype stage, the pressure-sensing palate represents the new generation of EPG. Comprehensive analysis of tongue-to-palate contacts, including pressure measures, is expected to enable more specific and effective therapeutic techniques to be developed for a variety of speech disorders.

Biologically inspired joint control for a humanoid robot

The GuRm is a 1.2m tall, 23 degree of freedom humanoid consuucted at the University of Queensland for research into humanoid robotics. The key challenge being addressed by the GuRw projcct is the development of appropriate learning strategies for control and coodinadon of the robot’s many joints. The development of learning strategies is Seen as a way to sidestep the inherent intricacy of modeling a multi-DOP biped robot. This paper outlines the approach taken to generate an appmpria*e control scheme for the joinis of the GuRoo. The paper demonsrrates the determination of local feedback control parameters using a genetic algorithm. The feedback loop is then augmented by a predictive modulator that learns a form of feed-fonward control to overcome the irregular loads experienced at each joint during the gait cycle. The predictive modulator is based on thc CMAC architecture. Results from tats on the GuRoo platform show that both systems provide improvements in stability and tracking of joint control.

Mud, algae or seagrass: An assessment of remote sensing techniques for mapping inter-tidal seagrass cover and composition in turbid tropical environments

Large areas of tropical sub- and inter-tidal seagrass beds occur in highly turbid environments and cannot be mapped through the water column. The purpose of this project was to determine if and how airborne and satellite imaging systems could be used to map inter-tidal seagrass properties along the wet-tropics coast in north Queensland, Australia. The work aimed to: (1) identify the minimum level of seagrass foliage cover that could be detected from airborne and satellite imagery; and (2) define the minimum detectable differences in seagrass foliage cover in exposed intertidal seagrass beds. High resolution spectral-reflectance data (2040 bands, 350 – 2500nm) were collected over 40cm diameter plots from 240 sites on Magnetic Island, Pallarenda Beach and Green Island in North Queensland at spring low tides in April 2006. The seagrass species sampled were: Thalassia hemprechii, Halophila ovalis, Halodule uninerivs; Syringodium isoetifolium, Cymodocea serrulata, and Cymodoea rotundata. Digital photos were captured for each plot and used to derive estimates of seagrass species cover, epiphytic growth, micro- and macro-algal cover, and substrate colour. Sediment samples were also collected and analysed to measure the concentration of Chlorophyll-a associated with benthic micro-algae. The field reflectance spectra were analysed in combination with their corresponding seagrass species foliage cover levels to establish the minimum foliage projective cover required for each seagrass to be significantly different from bare substrate and substrate with algal cover. This analysis was repeated with reflectance spectra resampled to the bandpass functions of Quickbird, Ikonos, SPOT 5 and Landsat 7 ETM. Preliminary results indicate that conservative minimum detectable seagrass cover levels across most the species sampled were between 30%- 35% on dark substrates. Further analysis of these results will be conducted to determine their separability and satellite images and to assess the effects epiphytes and algal cover.