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Sample records for control underwater locomotor

  1. Buoyancy under control: underwater locomotor performance in a deep diving seabird suggests respiratory strategies for reducing foraging effort.

    PubMed

    Cook, Timothée R; Kato, Akiko; Tanaka, Hideji; Ropert-Coudert, Yan; Bost, Charles-André

    2010-03-23

    Because they have air stored in many body compartments, diving seabirds are expected to exhibit efficient behavioural strategies for reducing costs related to buoyancy control. We study the underwater locomotor activity of a deep-diving species from the Cormorant family (Kerguelen shag) and report locomotor adjustments to the change of buoyancy with depth. Using accelerometers, we show that during both the descent and ascent phases of dives, shags modelled their acceleration and stroking activity on the natural variation of buoyancy with depth. For example, during the descent phase, birds increased swim speed with depth. But in parallel, and with a decay constant similar to the one in the equation explaining the decrease of buoyancy with depth, they decreased foot-stroke frequency exponentially, a behaviour that enables birds to reduce oxygen consumption. During ascent, birds also reduced locomotor cost by ascending passively. We considered the depth at which they started gliding as a proxy to their depth of neutral buoyancy. This depth increased with maximum dive depth. As an explanation for this, we propose that shags adjust their buoyancy to depth by varying the amount of respiratory air they dive with. Calculations based on known values of stored body oxygen volumes and on deep-diving metabolic rates in avian divers suggest that the variations of volume of respiratory oxygen associated with a respiration mediated buoyancy control only influence aerobic dive duration moderately. Therefore, we propose that an advantage in cormorants--as in other families of diving seabirds--of respiratory air volume adjustment upon diving could be related less to increasing time of submergence, through an increased volume of body oxygen stores, than to reducing the locomotor costs of buoyancy control.

  2. Buoyancy under Control: Underwater Locomotor Performance in a Deep Diving Seabird Suggests Respiratory Strategies for Reducing Foraging Effort

    PubMed Central

    Cook, Timothée R.; Kato, Akiko; Tanaka, Hideji; Ropert-Coudert, Yan; Bost, Charles-André

    2010-01-01

    Background Because they have air stored in many body compartments, diving seabirds are expected to exhibit efficient behavioural strategies for reducing costs related to buoyancy control. We study the underwater locomotor activity of a deep-diving species from the Cormorant family (Kerguelen shag) and report locomotor adjustments to the change of buoyancy with depth. Methodology/Principal Findings Using accelerometers, we show that during both the descent and ascent phases of dives, shags modelled their acceleration and stroking activity on the natural variation of buoyancy with depth. For example, during the descent phase, birds increased swim speed with depth. But in parallel, and with a decay constant similar to the one in the equation explaining the decrease of buoyancy with depth, they decreased foot-stroke frequency exponentially, a behaviour that enables birds to reduce oxygen consumption. During ascent, birds also reduced locomotor cost by ascending passively. We considered the depth at which they started gliding as a proxy to their depth of neutral buoyancy. This depth increased with maximum dive depth. As an explanation for this, we propose that shags adjust their buoyancy to depth by varying the amount of respiratory air they dive with. Conclusions/Significance Calculations based on known values of stored body oxygen volumes and on deep-diving metabolic rates in avian divers suggest that the variations of volume of respiratory oxygen associated with a respiration mediated buoyancy control only influence aerobic dive duration moderately. Therefore, we propose that an advantage in cormorants - as in other families of diving seabirds - of respiratory air volume adjustment upon diving could be related less to increasing time of submergence, through an increased volume of body oxygen stores, than to reducing the locomotor costs of buoyancy control. PMID:20352122

  3. Underwater Glider Dynamics and Control

    DTIC Science & Technology

    2002-09-30

    colleagues for underactuated systems (see, for example, Bloch, Leonard and Marsden [2001]). The method of controlled Lagrangians is a control...suited to underactuated systems , i.e., systems like underwater gliders that have fewer control inputs than system degrees of freedom. We will also... underactuated and constrained systems . In earlier work we have developed coordinated control strategies for fully actuated point mass vehicle models

  4. UNDERWATER COATINGS FOR CONTAMINATION CONTROL

    SciTech Connect

    Julia L. Tripp; Kip Archibald; Ann Marie Phillips; Joseph Campbell

    2004-02-01

    The Idaho National Laboratory (INL) deactivated several aging nuclear fuel storage basins. Planners for this effort were greatly concerned that radioactive contamination present on the basin walls could become airborne as the sides of the basins became exposed during deactivation and allowed to dry after water removal. One way to control this airborne contamination was to fix the contamination in place while the pool walls were still submerged. There are many underwater coatings available on the market for marine, naval and other applications. A series of tests were run to determine whether the candidate underwater fixatives were easily applied and adhered well to the substrates (pool wall materials) found in INL fuel pools. Lab-scale experiments were conducted by applying fourteen different commercial underwater coatings to four substrate materials representative of the storage basin construction materials, and evaluating their performance. The coupons included bare concrete, epoxy painted concrete, epoxy painted carbon steel, and stainless steel. The evaluation criteria included ease of application, adherence to the four surfaces of interest, no change on water clarity or chemistry, non-hazardous in final applied form and be proven in underwater applications. A proprietary two-part, underwater epoxy owned by S. G. Pinney and Associates was selected from the underwater coatings tested for application to all four pools. Divers scrubbed loose contamination off the basin walls and floors using a ship hull scrubber and vacuumed up the sludge. The divers then applied the coating using a special powered roller with two separate heated hoses that allowed the epoxy to mix at the roller surface was used to eliminate pot time concerns. The walls were successfully coated and water was removed from the pools with no detectable airborne contamination releases.

  5. Underwater Glider Dynamics and Control

    DTIC Science & Technology

    2003-09-30

    Lyapunov function design for proving stability of mechanical systems that we have recently developed with colleagues for underactuated systems (see...that modifies system energy so that the motion of interest is stable. The method is particularly well suited to underactuated systems , i.e., systems ...like underwater gliders that have fewer control inputs than system degrees of freedom. To make this method relevant to mechanical systems with

  6. Neuronal control of locomotor handedness in Drosophila

    PubMed Central

    Buchanan, Sean M.; Kain, Jamey S.; de Bivort, Benjamin L.

    2015-01-01

    Genetically identical individuals display variability in their physiology, morphology, and behaviors, even when reared in essentially identical environments, but there is little mechanistic understanding of the basis of such variation. Here, we investigated whether Drosophila melanogaster displays individual-to-individual variation in locomotor behaviors. We developed a new high-throughout platform capable of measuring the exploratory behavior of hundreds of individual flies simultaneously. With this approach, we find that, during exploratory walking, individual flies exhibit significant bias in their left vs. right locomotor choices, with some flies being strongly left biased or right biased. This idiosyncrasy was present in all genotypes examined, including wild-derived populations and inbred isogenic laboratory strains. The biases of individual flies persist for their lifetime and are nonheritable: i.e., mating two left-biased individuals does not yield left-biased progeny. This locomotor handedness is uncorrelated with other asymmetries, such as the handedness of gut twisting, leg-length asymmetry, and wing-folding preference. Using transgenics and mutants, we find that the magnitude of locomotor handedness is under the control of columnar neurons within the central complex, a brain region implicated in motor planning and execution. When these neurons are silenced, exploratory laterality increases, with more extreme leftiness and rightiness. This observation intriguingly implies that the brain may be able to dynamically regulate behavioral individuality. PMID:25953337

  7. Neuronal control of locomotor handedness in Drosophila.

    PubMed

    Buchanan, Sean M; Kain, Jamey S; de Bivort, Benjamin L

    2015-05-26

    Genetically identical individuals display variability in their physiology, morphology, and behaviors, even when reared in essentially identical environments, but there is little mechanistic understanding of the basis of such variation. Here, we investigated whether Drosophila melanogaster displays individual-to-individual variation in locomotor behaviors. We developed a new high-throughout platform capable of measuring the exploratory behavior of hundreds of individual flies simultaneously. With this approach, we find that, during exploratory walking, individual flies exhibit significant bias in their left vs. right locomotor choices, with some flies being strongly left biased or right biased. This idiosyncrasy was present in all genotypes examined, including wild-derived populations and inbred isogenic laboratory strains. The biases of individual flies persist for their lifetime and are nonheritable: i.e., mating two left-biased individuals does not yield left-biased progeny. This locomotor handedness is uncorrelated with other asymmetries, such as the handedness of gut twisting, leg-length asymmetry, and wing-folding preference. Using transgenics and mutants, we find that the magnitude of locomotor handedness is under the control of columnar neurons within the central complex, a brain region implicated in motor planning and execution. When these neurons are silenced, exploratory laterality increases, with more extreme leftiness and rightiness. This observation intriguingly implies that the brain may be able to dynamically regulate behavioral individuality.

  8. Underwater Coatings for Contamination Control

    SciTech Connect

    Julia L. Tripp; Kip Archibald; Ann-Marie Phillips; Joseph Campbell

    2004-02-01

    The Idaho National Engineering and Environmental Laboratory (INEEL) is deactivating several fuel storage basins. Airborne contamination is a concern when the sides of the basins are exposed and allowed to dry during water removal. One way of controlling this airborne contamination is to fix the contamination in place while the pool walls are still submerged. There are many underwater coatings available on the market that are used in marine, naval and other applications. A series of tests were run to determine whether the candidate underwater fixatives are easily applied and adhere well to the substrates (pool wall materials) found in INEEL fuel pools. The four pools considered included 1) Test Area North (TAN-607) with epoxy painted concrete walls; 2) Idaho Nuclear Technology and Engineering Center (INTEC) (CPP-603) with bare concrete walls; 3) Materials Test Reactor (MTR) Canal with stainless steel lined concrete walls; and 4) Power Burst Facility (PBF-620) with stainless steel lined concrete walls on the bottom and epoxy painted carbon steel lined walls on the upper portions. Therefore, the four materials chosen for testing included bare concrete, epoxy painted concrete, epoxy painted carbon steel, and stainless steel. The typical water temperature of the pools varies from 55oF to 80oF dependent on the pool and the season. These tests were done at room temperature. The following criteria were used during this evaluation. The underwater coating must: · Be easy to apply · Adhere well to the four surfaces of interest · Not change or have a negative impact on water chemistry or clarity · Not be hazardous in final applied form · Be proven in other underwater applications. In addition, it is desirable for the coating to have a high pigment or high cross-link density to prevent radiation from penetrating. This paper will detail the testing completed and the test results. A proprietary two-part, underwater epoxy owned by S. G. Pinney and Associates was selected to

  9. Control Strategies for Unmanned Underwater Vehicles

    NASA Astrophysics Data System (ADS)

    Craven, Paul J.; Sutton, Robert; Burns, Roland S.

    In recent years, both the offshore industry and the navies of the world have become increasingly interested in the potential operational usage of unmanned underwater vehicles. This paper provides a comprehensive review of a number of modern control approaches and artificial intelligence techniques which have been applied to the autopilot design problem for such craft.

  10. Locomotor training improves premotoneuronal control after chronic spinal cord injury.

    PubMed

    Knikou, Maria; Mummidisetty, Chaithanya K

    2014-06-01

    Spinal inhibition is significantly reduced after spinal cord injury (SCI) in humans. In this work, we examined if locomotor training can improve spinal inhibition exerted at a presynaptic level. Sixteen people with chronic SCI received an average of 45 training sessions, 5 days/wk, 1 h/day. The soleus H-reflex depression in response to low-frequency stimulation, presynaptic inhibition of soleus Ia afferent terminals following stimulation of the common peroneal nerve, and bilateral EMG recovery patterns were assessed before and after locomotor training. The soleus H reflexes evoked at 1.0, 0.33, 0.20, 0.14, and 0.11 Hz were normalized to the H reflex evoked at 0.09 Hz. Conditioned H reflexes were normalized to the associated unconditioned H reflex evoked with subjects seated, while during stepping both H reflexes were normalized to the maximal M wave evoked after the test H reflex at each bin of the step cycle. Locomotor training potentiated homosynaptic depression in all participants regardless the type of the SCI. Presynaptic facilitation of soleus Ia afferents remained unaltered in motor complete SCI patients. In motor incomplete SCIs, locomotor training either reduced presynaptic facilitation or replaced presynaptic facilitation with presynaptic inhibition at rest. During stepping, presynaptic inhibition was modulated in a phase-dependent manner. Locomotor training changed the amplitude of locomotor EMG excitability, promoted intralimb and interlimb coordination, and altered cocontraction between knee and ankle antagonistic muscles differently in the more impaired leg compared with the less impaired leg. The results provide strong evidence that locomotor training improves premotoneuronal control after SCI in humans at rest and during walking. Copyright © 2014 the American Physiological Society.

  11. Locomotor Sub-functions for Control of Assistive Wearable Robots.

    PubMed

    Sharbafi, Maziar A; Seyfarth, Andre; Zhao, Guoping

    2017-01-01

    A primary goal of comparative biomechanics is to understand the fundamental physics of locomotion within an evolutionary context. Such an understanding of legged locomotion results in a transition from copying nature to borrowing strategies for interacting with the physical world regarding design and control of bio-inspired legged robots or robotic assistive devices. Inspired from nature, legged locomotion can be composed of three locomotor sub-functions, which are intrinsically interrelated: Stance: redirecting the center of mass by exerting forces on the ground. Swing: cycling the legs between ground contacts. Balance: maintaining body posture. With these three sub-functions, one can understand, design and control legged locomotory systems with formulating them in simpler separated tasks. Coordination between locomotor sub-functions in a harmonized manner appears then as an additional problem when considering legged locomotion. However, biological locomotion shows that appropriate design and control of each sub-function simplifies coordination. It means that only limited exchange of sensory information between the different locomotor sub-function controllers is required enabling the envisioned modular architecture of the locomotion control system. In this paper, we present different studies on implementing different locomotor sub-function controllers on models, robots, and an exoskeleton in addition to demonstrating their abilities in explaining humans' control strategies.

  12. Locomotor Sub-functions for Control of Assistive Wearable Robots

    PubMed Central

    Sharbafi, Maziar A.; Seyfarth, Andre; Zhao, Guoping

    2017-01-01

    A primary goal of comparative biomechanics is to understand the fundamental physics of locomotion within an evolutionary context. Such an understanding of legged locomotion results in a transition from copying nature to borrowing strategies for interacting with the physical world regarding design and control of bio-inspired legged robots or robotic assistive devices. Inspired from nature, legged locomotion can be composed of three locomotor sub-functions, which are intrinsically interrelated: Stance: redirecting the center of mass by exerting forces on the ground. Swing: cycling the legs between ground contacts. Balance: maintaining body posture. With these three sub-functions, one can understand, design and control legged locomotory systems with formulating them in simpler separated tasks. Coordination between locomotor sub-functions in a harmonized manner appears then as an additional problem when considering legged locomotion. However, biological locomotion shows that appropriate design and control of each sub-function simplifies coordination. It means that only limited exchange of sensory information between the different locomotor sub-function controllers is required enabling the envisioned modular architecture of the locomotion control system. In this paper, we present different studies on implementing different locomotor sub-function controllers on models, robots, and an exoskeleton in addition to demonstrating their abilities in explaining humans' control strategies. PMID:28928650

  13. Effects of space flight on locomotor control

    NASA Technical Reports Server (NTRS)

    Bloomberg, Jacob J.; Layne, Charles S.; McDonald, P. Vernon; Peters, Brian T.; Huebner, William P.; Reschke, Millard F.; Berthoz, Alain; Glasauer, Stefan; Newman, Dava; Jackson, D. Keoki

    1999-01-01

    In the microgravity environment of spaceflight, the relationship between sensory input and motor output is altered. During prolonged missions, neural adaptive processes come into play to recalibrate central nervous system function, thereby permitting new motor control strategies to emerge in the novel sensory environment of microgravity. However, the adaptive state achieved during spaceflight is inappropriate for a unit gravity environment and leads to motor control alterations upon return to Earth that include disturbances in locomotion. Indeed, gait and postural instabilities following the return to Earth have been reported in both U.S. astronauts and Russian cosmonauts even after short duration (5- to 10-day) flights. After spaceflight, astronauts may: (1) experience the sensation of turning while attempting to walk a straight path, (2) encounter sudden loss of postural stability, especially when rounding corners, (3) perceive exaggerated pitch and rolling head movements during walking, (4) experience sudden loss of orientation in unstructured visual environments, or (5) experience significant oscillopsia during locomotion.

  14. Locomotor adaptation to a soleus EMG-controlled antagonistic exoskeleton.

    PubMed

    Gordon, Keith E; Kinnaird, Catherine R; Ferris, Daniel P

    2013-04-01

    Locomotor adaptation in humans is not well understood. To provide insight into the neural reorganization that occurs following a significant disruption to one's learned neuromuscular map relating a given motor command to its resulting muscular action, we tied the mechanical action of a robotic exoskeleton to the electromyography (EMG) profile of the soleus muscle during walking. The powered exoskeleton produced an ankle dorsiflexion torque proportional to soleus muscle recruitment thus limiting the soleus' plantar flexion torque capability. We hypothesized that neurologically intact subjects would alter muscle activation patterns in response to the antagonistic exoskeleton by decreasing soleus recruitment. Subjects practiced walking with the exoskeleton for two 30-min sessions. The initial response to the perturbation was to "fight" the resistive exoskeleton by increasing soleus activation. By the end of training, subjects had significantly reduced soleus recruitment resulting in a gait pattern with almost no ankle push-off. In addition, there was a trend for subjects to reduce gastrocnemius recruitment in proportion to the soleus even though only the soleus EMG was used to control the exoskeleton. The results from this study demonstrate the ability of the nervous system to recalibrate locomotor output in response to substantial changes in the mechanical output of the soleus muscle and associated sensory feedback. This study provides further evidence that the human locomotor system of intact individuals is highly flexible and able to adapt to achieve effective locomotion in response to a broad range of neuromuscular perturbations.

  15. Locomotor adaptation to a soleus EMG-controlled antagonistic exoskeleton

    PubMed Central

    Kinnaird, Catherine R.; Ferris, Daniel P.

    2013-01-01

    Locomotor adaptation in humans is not well understood. To provide insight into the neural reorganization that occurs following a significant disruption to one's learned neuromuscular map relating a given motor command to its resulting muscular action, we tied the mechanical action of a robotic exoskeleton to the electromyography (EMG) profile of the soleus muscle during walking. The powered exoskeleton produced an ankle dorsiflexion torque proportional to soleus muscle recruitment thus limiting the soleus' plantar flexion torque capability. We hypothesized that neurologically intact subjects would alter muscle activation patterns in response to the antagonistic exoskeleton by decreasing soleus recruitment. Subjects practiced walking with the exoskeleton for two 30-min sessions. The initial response to the perturbation was to “fight” the resistive exoskeleton by increasing soleus activation. By the end of training, subjects had significantly reduced soleus recruitment resulting in a gait pattern with almost no ankle push-off. In addition, there was a trend for subjects to reduce gastrocnemius recruitment in proportion to the soleus even though only the soleus EMG was used to control the exoskeleton. The results from this study demonstrate the ability of the nervous system to recalibrate locomotor output in response to substantial changes in the mechanical output of the soleus muscle and associated sensory feedback. This study provides further evidence that the human locomotor system of intact individuals is highly flexible and able to adapt to achieve effective locomotion in response to a broad range of neuromuscular perturbations. PMID:23307949

  16. Underwater space suit pressure control regulator

    NASA Technical Reports Server (NTRS)

    Aldrich, B. R.; Cooper, C. R.; Rasquin, J. R. (Inventor)

    1973-01-01

    A device is reported for regulating the pneumatic pressure in a ventilated space suit relative to the pressure imposed on the suit when being worn by a person underwater to simulate space environment for testing and experimentation. A box unit located on the chest area of the suit comprises connections for suit air supply and return lines and carries a regulator valve that stabilizes the air pressure differential between the inside and outside of the suit. The valve and suit pressure is controlled by the suit occupant and the valve includes a mechanism for quickly dumping the suit pressure in case of emergency. Pressure monitoring and relief devices are also included in the box unit.

  17. Measurements of optical underwater turbulence under controlled conditions

    NASA Astrophysics Data System (ADS)

    Kanaev, A. V.; Gladysz, S.; Almeida de Sá Barros, R.; Matt, S.; Nootz, G. A.; Josset, D. B.; Hou, W.

    2016-05-01

    Laser beam propagation underwater is becoming an important research topic because of high demand for its potential applications. Namely, ability to image underwater at long distances is highly desired for scientific and military purposes, including submarine awareness, diver visibility, and mine detection. Optical communication in the ocean can provide covert data transmission with much higher rates than that available with acoustic techniques, and it is now desired for certain military and scientific applications that involve sending large quantities of data. Unfortunately underwater environment presents serious challenges for propagation of laser beams. Even in clean ocean water, the extinction due to absorption and scattering theoretically limit the useful range to few attenuation lengths. However, extending the laser light propagation range to the theoretical limit leads to significant beam distortions due to optical underwater turbulence. Experiments show that the magnitude of the distortions that are caused by water temperature and salinity fluctuations can significantly exceed the magnitude of the beam distortions due to atmospheric turbulence even for relatively short propagation distances. We are presenting direct measurements of optical underwater turbulence in controlled conditions of laboratory water tank using two separate techniques involving wavefront sensor and LED array. These independent approaches will enable development of underwater turbulence power spectrum model based directly on the spatial domain measurements and will lead to accurate predictions of underwater beam propagation.

  18. Remote Control of Respiratory Neural Network by Spinal Locomotor Generators

    PubMed Central

    Le Gal, Jean-Patrick; Juvin, Laurent; Cardoit, Laura; Thoby-Brisson, Muriel; Morin, Didier

    2014-01-01

    During exercise and locomotion, breathing rate rapidly increases to meet the suddenly enhanced oxygen demand. The extent to which direct central interactions between the spinal networks controlling locomotion and the brainstem networks controlling breathing are involved in this rhythm modulation remains unknown. Here, we show that in isolated neonatal rat brainstem-spinal cord preparations, the increase in respiratory rate observed during fictive locomotion is associated with an increase in the excitability of pre-inspiratory neurons of the parafacial respiratory group (pFRG/Pre-I). In addition, this locomotion-induced respiratory rhythm modulation is prevented both by bilateral lesion of the pFRG region and by blockade of neurokinin 1 receptors in the brainstem. Thus, our results assign pFRG/Pre-I neurons a new role as elements of a previously undescribed pathway involved in the functional interaction between respiratory and locomotor networks, an interaction that also involves a substance P-dependent modulating mechanism requiring the activation of neurokinin 1 receptors. This neurogenic mechanism may take an active part in the increased respiratory rhythmicity produced at the onset and during episodes of locomotion in mammals. PMID:24586951

  19. Application of Sampling Based Model Predictive Control to an Autonomous Underwater Vehicle

    DTIC Science & Technology

    2010-07-01

    55 Application of Sampling Based Model Predictive Control to an Autonomous Underwater Vehicle Unmanned Underwater Vehicles (UUVs) can be utilized...the vehicle can feasibly traverse. As a result, Sampling- Based Model Predictive Control (SBMPC) is proposed to simultaneously generate control...inputs and system trajectories for an autonomous underwater vehicle (AUV). The algorithm combines the benefits of sampling- based motion planning with

  20. Control of locomotor stability in stabilizing and destabilizing environments.

    PubMed

    Wu, Mengnan/Mary; Brown, Geoffrey; Gordon, Keith E

    2017-06-01

    To develop effective interventions targeting locomotor stability, it is crucial to understand how people control and modify gait in response to changes in stabilization requirements. Our purpose was to examine how individuals with and without incomplete spinal cord injury (iSCI) control lateral stability in haptic walking environments that increase or decrease stabilization demands. We hypothesized that people would adapt to walking in a predictable, stabilizing viscous force field and unpredictable destabilizing force field by increasing and decreasing feedforward control of lateral stability, respectively. Adaptations in feedforward control were measured using after-effects when fields were removed. Both groups significantly (p<0.05) decreased step width in the stabilizing field. When the stabilizing field was removed, narrower steps persisted in both groups and subjects with iSCI significantly increased movement variability (p<0.05). The after-effect of walking in the stabilizing field was a suppression of ongoing general stabilization mechanisms. In the destabilizing field, subjects with iSCI took faster steps and increased lateral margins of stability (p<0.05). Step frequency increases persisted when the destabilizing field was removed (p<0.05), suggesting that subjects with iSCI made feedforward adaptions to increase control of lateral stability. In contrast, in the destabilizing field, non-impaired subjects increased movement variability (p<0.05) and did not change step width, step frequency, or lateral margin of stability (p>0.05). When the destabilizing field was removed, increases in movement variability persisted (p<0.05), suggesting that non-impaired subjects made feedforward decreases in resistance to perturbations. Published by Elsevier B.V.

  1. Active Gaze, Visual Look-Ahead, and Locomotor Control

    ERIC Educational Resources Information Center

    Wilkie, Richard M.; Wann, John P.; Allison, Robert S.

    2008-01-01

    The authors examined observers steering through a series of obstacles to determine the role of active gaze in shaping locomotor trajectories. Participants sat on a bicycle trainer integrated with a large field-of-view simulator and steered through a series of slalom gates. Steering behavior was determined by examining the passing distance through…

  2. Active Gaze, Visual Look-Ahead, and Locomotor Control

    ERIC Educational Resources Information Center

    Wilkie, Richard M.; Wann, John P.; Allison, Robert S.

    2008-01-01

    The authors examined observers steering through a series of obstacles to determine the role of active gaze in shaping locomotor trajectories. Participants sat on a bicycle trainer integrated with a large field-of-view simulator and steered through a series of slalom gates. Steering behavior was determined by examining the passing distance through…

  3. Nested task constraints shape continuous perception-action coupling control during human locomotor pointing.

    PubMed

    Renshaw, Ian; Davids, Keith

    2004-10-14

    Behavioural studies of human locomotor pointing have been dominated by specific task constraints of generating maximal approach velocity towards spatial targets. To examine locomotor pointing under different nested task constraints, at sub-maximal approach velocities and with concomitant differences in speed-accuracy trade offs, run-ups of professional cricket bowlers (n = 6) were analysed. Inter- and intra-trial analyses of step length adjustments revealed how differences between current and required locomotor pointing behaviour constrained visual adaptations of gait. Results supported a continuous perception-action coupling control mechanism, although no relationship was observed between step number in sequence and total amount of adjustment made, implying that visual adaptations did not continue to the end of a run-up once initiated. Rather, bowlers made step adjustments throughout the run-up, with strong associations for amount of adjustment made and amount needed. Significant variations were observed in inter-individual strategies for making most adjustments at different points of the run-up. A key premise of prospective control models of locomotor pointing was found to be robust, since regulation of cricketer's gait was continuous and based on perception of current and required behaviour. Findings extend understanding of the nature and range of nested task constraints under which perception-action coupling controls locomotor pointing performance.

  4. Cell-Type-Specific Control of Brainstem Locomotor Circuits by Basal Ganglia

    PubMed Central

    Roseberry, Thomas K.; Lee, A. Moses; Lalive, Arnaud L.; Wilbrecht, Linda; Bonci, Antonello; Kreitzer, Anatol C.

    2015-01-01

    Summary The basal ganglia (BG) are critical for adaptive motor control, but the circuit principles underlying their pathway-specific modulation of target regions are not well understood. Here, we dissect the mechanisms underlying BG direct- and indirect-pathway-mediated control of the mesencephalic locomotor region (MLR), a brainstem target of the BG that is critical for locomotion. We optogenetically dissect the locomotor function of the three neurochemically-distinct cell types within the MLR: glutamatergic, GABAergic, and cholinergic neurons. We find that the glutamatergic subpopulation encodes locomotor state and speed, is necessary and sufficient for locomotion, and is selectively innervated by BG. We further show activation and suppression, respectively, of MLR glutamatergic neurons by direct and indirect pathways, which is required for bidirectional control of locomotion by BG circuits. These findings provide a fundamental understanding of how the BG can initiate or suppress a motor program through cell-type-specific regulation of neurons linked to specific actions. PMID:26824660

  5. Tracking Control for Autonomous Underwater Vehicles

    DTIC Science & Technology

    2002-12-01

    Unclassified 20. LIMITATION OF ABSTRACT UL NSN 7540-01-280-5500 Standard Form 298 (Rev. 2-89) Prescribed by ANSI Std. 239-18 ii...could be developed and tuned to better handle this tracking control problem. This example will merely set a standard for which to compare later control...Change to disrcete [Ecd,Fcd]=c2d(Ec,Fc,dt); [Asd,Bsd]=c2d(As,Bs,dt); [ Asdm ,Bsdm]=c2d(Asm,Bsm,dt); % Aries response with error space

  6. Monitoring and Controlling an Underwater Robotic Arm

    NASA Technical Reports Server (NTRS)

    Haas, John; Todd, Brian Keith; Woodcock, Larry; Robinson, Fred M.

    2009-01-01

    The SSRMS Module 1 software is part of a system for monitoring an adaptive, closed-loop control of the motions of a robotic arm in NASA s Neutral Buoyancy Laboratory, where buoyancy in a pool of water is used to simulate the weightlessness of outer space. This software is so named because the robot arm is a replica of the Space Shuttle Remote Manipulator System (SSRMS). This software is distributed, running on remote joint processors (RJPs), each of which is mounted in a hydraulic actuator comprising the joint of the robotic arm and communicating with a poolside processor denoted the Direct Control Rack (DCR). Each RJP executes the feedback joint-motion control algorithm for its joint and communicates with the DCR. The DCR receives joint-angular-velocity commands either locally from an operator or remotely from computers that simulate the flight like SSRMS and perform coordinated motion calculations based on hand-controller inputs. The received commands are checked for validity before they are transmitted to the RJPs. The DCR software generates a display of the statuses of the RJPs for the DCR operator and can shut down the hydraulic pump when excessive joint-angle error or failure of a RJP is detected.

  7. Optimizing Optics For Remotely Controlled Underwater Vehicles

    NASA Astrophysics Data System (ADS)

    Billet, A. B.

    1984-09-01

    The past decade has shown a dramatic increase in the use of unmanned tethered vehicles in worldwide marine fields. These vehicles are used for inspection, debris removal and object retrieval. With advanced robotic technology, remotely operated vehicles (ROVs) are now able to perform a variety of jobs previously accomplished only by divers. The ROVs can be used at greater depths and for riskier jobs, and safety to the diver is increased, freeing him for safer, more cost-effective tasks requiring human capabilities. Secondly, the ROV operation becomes more cost effective to use as work depth increases. At 1000 feet a diver's 10 minutes of work can cost over $100,000 including support personnel, while an ROV operational cost might be 1/20 of the diver cost per day, based on the condition that the cost for ROV operation does not change with depth, as it does for divers. In the ROV operation the television lens must be as good as the human eye, with better light gathering capability than the human eye. The RCV-150 system is an example of these advanced technology vehicles. With the requirements of manueuverability and unusual inspection, a responsive, high performance, compact vehicle was developed. The RCV-150 viewing subsystem consists of a television camera, lights, and topside monitors. The vehicle uses a low light level Newvicon television camera. The camera is equipped with a power-down iris that closes for burn protection when the power is off. The camera can pan f 50 degrees and tilt f 85 degrees on command from the surface. Four independently controlled 250 watt quartz halogen flood lamps illuminate the viewing area as required; in addition, two 250 watt spotlights are fitted. A controlled nine inch CRT monitor provides real time camera pictures for the operator. The RCV-150 vehicle component system consists of the vehicle structure, the vehicle electronics, and hydraulic system which powers the thruster assemblies and the manipulator. For this vehicle, a light

  8. Controlling autonomous underwater floating platforms using bacterial fermentation.

    PubMed

    Biffinger, Justin C; Fitzgerald, Lisa A; Howard, Erinn C; Petersen, Emily R; Fulmer, Preston A; Wu, Peter K; Ringeisen, Bradley R

    2013-01-01

    Biogenic gas has a wide range of energy applications from being used as a source for crude bio-oil components to direct ignition for heating. The current study describes the use of biogenic gases from Clostridium acetobutylicum for a new application-renewable ballast regeneration for autonomous underwater devices. Uninterrupted (continuous) and blocked flow (pressurization) experiments were performed to determine the overall biogas composition and total volume generated from a semirigid gelatinous matrix. For stopped flow experiments, C. acetobutylicum generated a maximum pressure of 55 psi over 48 h composed of 60 % hydrogen gas when inoculated in a 5 % agar (w/v) support with 5 % glucose (w/v) in the matrix. Typical pressures over 24 h at 318 K ranged from 10 to 33 psi. These blocked flow experiments show for the first time the use of microbial gas production as a way to repressurize gas cylinders. Continuous flow experiments successfully demonstrated how to deliver biogas to an open ballast control configuration for deployable underwater platforms. This study is a starting point for engineering and microbiology investigations of biogas which will advance the integration of biology within autonomous systems.

  9. Modular control of varied locomotor tasks in children with incomplete spinal cord injuries.

    PubMed

    Fox, Emily J; Tester, Nicole J; Kautz, Steven A; Howland, Dena R; Clark, David J; Garvan, Cyndi; Behrman, Andrea L

    2013-09-01

    A module is a functional unit of the nervous system that specifies functionally relevant patterns of muscle activation. In adults, four to five modules account for muscle activation during walking. Neurological injury alters modular control and is associated with walking impairments. The effect of neurological injury on modular control in children is unknown and may differ from adults due to their immature and developing nervous systems. We examined modular control of locomotor tasks in children with incomplete spinal cord injuries (ISCIs) and control children. Five controls (8.6 ± 2.7 yr of age) and five children with ISCIs (8.6 ± 3.7 yr of age performed treadmill walking, overground walking, pedaling, supine lower extremity flexion/extension, stair climbing, and crawling. Electromyograms (EMGs) were recorded in bilateral leg muscles. Nonnegative matrix factorization was applied, and the minimum number of modules required to achieve 90% of the "variance accounted for" (VAF) was calculated. On average, 3.5 modules explained muscle activation in the controls, whereas 2.4 modules were required in the children with ISCIs. To determine if control is similar across tasks, the module weightings identified from treadmill walking were used to reconstruct the EMGs from each of the other tasks. This resulted in VAF values exceeding 86% for each child and each locomotor task. Our results suggest that 1) modularity is constrained in children with ISCIs and 2) for each child, similar neural control mechanisms are used across locomotor tasks. These findings suggest that interventions that activate the neuromuscular system to enhance walking also may influence the control of other locomotor tasks.

  10. Mine Avoidance and Localization for Underwater Vehicles Using Continuous Curvature Path Generation and Non-Linear Tracking Control

    DTIC Science & Technology

    1993-09-01

    NAVAL POSTGRADUATE SCHOOL Monterey, California X A DTICSt FLCTT THESIS MINE AVOIDANCE AND LOCALIZATION FOR UNDERWATER VEHICLES USING CONTINUOUS...Claitficaion) MINE AVOIDANCE AND LOCALIZATION FOR UNDERWATER VEHICLES USING CONTINUOUS CURVATURE PATH GENERATION AND NON-LINEAR TRACKING CONTROL 12 PERSONAL...SUB-GROUP Mine avoidance and localization; Autonomous underwater vehicles (ALV); Autopilot and guidance of AUV II; Sliding mode control 19 ABSTRACT

  11. Underwater birth.

    PubMed

    Simpson, Kathleen Rice

    2013-01-01

    To determine potential risks and/or benefits of underwater birth for mother and infant. The PubMed, Cochrane Library, EMBASE, and CINAHL online databases were searched for relevant English language articles related to research about underwater birth published from 1966 to April 2013. Reference lists of articles retrieved were reviewed to identify additional potentially pertinent publications. Two randomized controlled trials comparing underwater birth to traditional birth ("on land") were identified and served as the primary focus of the analysis. One systematic review of water immersion during labor and birth, one systematic review of neonatal risks of underwater birth, and case reports of neonatal morbidity after underwater birth were also identified. Guidelines regarding underwater birth from professional organizations were reviewed. Data from the two randomized controlled trials were extracted and organized under the following headings: author, year, setting, country, study design, sample size, participants, outcomes, findings and comments. Systematic reviews, case reports, and guidelines from professional organizations were summarized. Research findings and guidelines from professional associations were evaluated regarding potential risks and benefits of underwater birth to the mother and infant. Only two randomized controlled trials comparing underwater birth to birth on land have been published. Results suggest minimal benefit of underwater birth to the mother and no benefit to the infant. Both studies were underpowered to adequately evaluate risk of neonatal harm; however, a number of cases of neonatal morbidity have been reported. Based on these findings, underwater birth requires more rigorous study. In the United States, underwater birth is not supported by the American Academy of Pediatrics or the American College of Obstetricians and Gynecologists outside the context of a randomized controlled trial. © 2013 AWHONN, the Association of Women's Health

  12. Postural and locomotor control in normal and vestibularly deficient mice

    PubMed Central

    Vidal, P-P; Degallaix, L; Josset, P; Gasc, J-P; Cullen, K E

    2004-01-01

    We investigated how vestibular information is used to maintain posture and control movement by studying vestibularly deficient mice (IsK−/− mutant). In these mutants, microscopy showed degeneration of the cristae of the semicircular canals and of the maculae of the utriculi and sacculi, while behavioural and vestibulo-ocular reflex testing showed that vestibular function was completely absent. However, the histology of Scarpa's ganglia and the vestibular nerves was normal in mutant mice, indicating the presence of intact central pathways. Using X-ray and high-speed cineradiography, we compared resting postures and locomotion patterns between these vestibularly deficient mice and vestibularly normal mice (wild-type and IsK+/−). The absence of vestibular function did not affect resting posture but had profound effects on locomotion. At rest, the S-shaped, sagittal posture of the vertebral column was the same for wild-type and mutant mice. Both held the head with the atlanto-occipital joint fully flexed, the cervico-thoracic junction fully flexed, and the cervical column upright. Wild-type mice extended the head and vertebral column and could walk in a straight line. In marked contrast, locomotion in vestibularly deficient mice was characterized by circling episodes, during which the vertebral column maintained an S-shaped posture. Thus, vestibular information is not required to control resting posture but is mandatory for normal locomotion. We propose that vestibular inputs are required to signal the completion of a planned trajectory because mutant mice continued rotating after changing heading direction. Our findings support the hypothesis that vertebrates limit the number of degrees of freedom to be controlled by adopting just a few of the possible skeletal configurations. PMID:15243133

  13. Dynamic modulation of visual and electrosensory gains for locomotor control

    PubMed Central

    Sutton, Erin E.; Demir, Alican; Stamper, Sarah A.; Fortune, Eric S.; Cowan, Noah J.

    2016-01-01

    Animal nervous systems resolve sensory conflict for the control of movement. For example, the glass knifefish, Eigenmannia virescens, relies on visual and electrosensory feedback as it swims to maintain position within a moving refuge. To study how signals from these two parallel sensory streams are used in refuge tracking, we constructed a novel augmented reality apparatus that enables the independent manipulation of visual and electrosensory cues to freely swimming fish (n = 5). We evaluated the linearity of multisensory integration, the change to the relative perceptual weights given to vision and electrosense in relation to sensory salience, and the effect of the magnitude of sensory conflict on sensorimotor gain. First, we found that tracking behaviour obeys superposition of the sensory inputs, suggesting linear sensorimotor integration. In addition, fish rely more on vision when electrosensory salience is reduced, suggesting that fish dynamically alter sensorimotor gains in a manner consistent with Bayesian integration. However, the magnitude of sensory conflict did not significantly affect sensorimotor gain. These studies lay the theoretical and experimental groundwork for future work investigating multisensory control of locomotion. PMID:27170650

  14. Boxfishes as unusually well-controlled autonomous underwater vehicles.

    PubMed

    Gordon, M S; Hove, J R; Webb, P W; Weihs, D

    2000-01-01

    Boxfishes (family Ostraciidae) are tropical reef-dwelling marine bony fishes that have about three-fourths of their body length encased in a rigid bony test. As a result, almost all of their swimming movements derive from complex combinations of movements of their median and paired fins (MPF locomotion). In terms of both body design and swimming performance, they are among the most sophisticated examples known of naturally evolved vertebrate autonomous underwater vehicles. Quantitative studies of swimming performance, biomechanics, and energetics in one model species have shown that (i) they are surprisingly strong, fast swimmers with great endurance; (ii) classical descriptions of how they swim were incomplete: they swim at different speeds using three different gaits; (iii) they are unusually dynamically well controlled and stable during sustained and prolonged rectilinear swimming; and (iv) despite unusually high parasite (fuselage) drag, they show energetic costs of transport indistinguishable from those of much better streamlined fishes using body and caudal fin (BCF) swimming modes at similar water temperatures and over comparable ranges of swimming speeds. We summarize an analysis of these properties based on a dynamic model of swimming in these fishes. This model accounts for their control, stability, and efficiency in moving through the water at moderate speeds in terms of gait changes, of water-flow patterns over body surfaces, and of complex interactions of thrust vectors generated by fin movements.

  15. Human spinal locomotor control is based on flexibly organized burst generators.

    PubMed

    Danner, Simon M; Hofstoetter, Ursula S; Freundl, Brigitta; Binder, Heinrich; Mayr, Winfried; Rattay, Frank; Minassian, Karen

    2015-03-01

    Constant drive provided to the human lumbar spinal cord by epidural electrical stimulation can cause local neural circuits to generate rhythmic motor outputs to lower limb muscles in people paralysed by spinal cord injury. Epidural spinal cord stimulation thus allows the study of spinal rhythm and pattern generating circuits without their configuration by volitional motor tasks or task-specific peripheral feedback. To reveal spinal locomotor control principles, we studied the repertoire of rhythmic patterns that can be generated by the functionally isolated human lumbar spinal cord, detected as electromyographic activity from the legs, and investigated basic temporal components shared across these patterns. Ten subjects with chronic, motor-complete spinal cord injury were studied. Surface electromyographic responses to lumbar spinal cord stimulation were collected from quadriceps, hamstrings, tibialis anterior, and triceps surae in the supine position. From these data, 10-s segments of rhythmic activity present in the four muscle groups of one limb were extracted. Such samples were found in seven subjects. Physiologically adequate cycle durations and relative extension- and flexion-phase durations similar to those needed for locomotion were generated. The multi-muscle activation patterns exhibited a variety of coactivation, mixed-synergy and locomotor-like configurations. Statistical decomposition of the electromyographic data across subjects, muscles and samples of rhythmic patterns identified three common temporal components, i.e. basic or shared activation patterns. Two of these basic patterns controlled muscles to contract either synchronously or alternatingly during extension- and flexion-like phases. The third basic pattern contributed to the observed muscle activities independently from these extensor- and flexor-related basic patterns. Each bifunctional muscle group was able to express both extensor- and flexor-patterns, with variable ratios across the

  16. Synthesis of a PID-controller of a trim robust control system of an autonomous underwater vehicle

    NASA Astrophysics Data System (ADS)

    Khozhaev, I. V.; Gayvoronskiy, S. A.

    2016-04-01

    Autonomous underwater vehicles are often used for performing scientific, emergency or other types of missions under harsh conditions and environments, which can have non-stable, variable parameters. So, the problem of developing autonomous underwater vehicle motion control systems, capable of operating properly in random environments, is highly relevant. The paper is dedicated to the synthesis of a PID-controller of a trim robust control system, capable of keeping an underwater vehicle stable during a translation at different angles of attack. In order to synthesize the PID-controller, two problems were solved: a new method of synthesizing a robust controller was developed and a mathematical model of an underwater vehicle motion process was derived. The newly developed mathematical model structure is simpler than others due to acceptance of some of the system parameters as interval ones. The synthesis method is based on a system poles allocation approach and allows providing the necessary transient process quality in a considered system.

  17. Gradual training reduces the challenge to lateral balance control during practice and subsequent performance of a novel locomotor task.

    PubMed

    Sawers, Andrew; Kelly, Valerie E; Kartin, Deborah; Hahn, Michael E

    2013-09-01

    Locomotor balance control mechanisms and impairments have been well described in the literature. In contrast, the role of evidence-based motor learning strategies in the recovery or restoration of locomotor balance control has received much less attention. Little is known about the efficacy of motor learning strategies to improve locomotor tasks and their unique requirements, such as lateral balance control. This study examined whether gradual versus sudden training influenced lateral balance control among unimpaired adults (n=16) during training and 24-h transfer performance of a novel locomotor task. This was accomplished by examining the variability of whole-body frontal plane kinematics throughout training and 24-h transfer performance of asymmetric split-belt treadmill walking. Compared to sudden training, gradual training significantly reduced the challenge to lateral balance control (exhibited by a reduction in frontal plane kinematic variability) during training and during subsequent transfer task performance. These results indicate that gradual training could play an important role in restoring locomotor balance control during physical rehabilitation. Copyright © 2013 Elsevier B.V. All rights reserved.

  18. Underwater characterization of control rods for waste disposal using SMOPY

    SciTech Connect

    Gallozzi-Ulmann, A.; Couturier, P.; Amgarou, K.; Rothan, D.; Menaa, N.; Chard, P.

    2015-07-01

    Storage of spent fuel assemblies in cooling ponds requires careful control of the geometry and proximity of adjacent assemblies. Measurement of the fuel burnup makes it possible to optimise the storage arrangement of assemblies taking into account the effect of the burnup on the criticality safety margins ('burnup credit'). Canberra has developed a measurement system for underwater measurement of spent fuel assemblies. This system, known as 'SMOPY', performs burnup measurements based on gamma spectroscopy (collimated CZT detector) and neutron counting (fission chamber). The SMOPY system offers a robust and waterproof detection system as well as the needed capability of performing radiometric measurements in the harsh high dose - rate environments of the cooling ponds. The gamma spectroscopy functionality allows powerful characterization measurements to be performed, in addition to burnup measurement. Canberra has recently performed waste characterisation measurements at a Nuclear Power Plant. Waste activity assessment is important to control costs and risks of shipment and storage, to ensure that the activity level remains in the range allowed by the facility, and to declare activity data to authorities. This paper describes the methodology used for the SMOPY measurements and some preliminary results of a radiological characterisation of AIC control rods. After describing the features and normal operation of the SMOPY system, we describe the approach used for establishing an optimum control rod geometric scanning approach (optimum count time and speed) and the method of the gamma spectrometry measurements as well as neutron check measurements used to verify the absence of neutron sources in the waste. We discuss the results obtained including {sup 60}Co, {sup 110m}Ag and {sup 108m}Ag activity profiles (along the length of the control rods) and neutron results including Total Measurement Uncertainty evaluations. Full self-consistency checks were performed and these

  19. Distinct sets of locomotor modules control the speed and modes of human locomotion

    PubMed Central

    Yokoyama, Hikaru; Ogawa, Tetsuya; Kawashima, Noritaka; Shinya, Masahiro; Nakazawa, Kimitaka

    2016-01-01

    Although recent vertebrate studies have revealed that different spinal networks are recruited in locomotor mode- and speed-dependent manners, it is unknown whether humans share similar neural mechanisms. Here, we tested whether speed- and mode-dependence in the recruitment of human locomotor networks exists or not by statistically extracting locomotor networks. From electromyographic activity during walking and running over a wide speed range, locomotor modules generating basic patterns of muscle activities were extracted using non-negative matrix factorization. The results showed that the number of modules changed depending on the modes and speeds. Different combinations of modules were extracted during walking and running, and at different speeds even during the same locomotor mode. These results strongly suggest that, in humans, different spinal locomotor networks are recruited while walking and running, and even in the same locomotor mode different networks are probably recruited at different speeds. PMID:27805015

  20. Locomotor adaptation to a powered ankle-foot orthosis depends on control method

    PubMed Central

    Cain, Stephen M; Gordon, Keith E; Ferris, Daniel P

    2007-01-01

    Background We studied human locomotor adaptation to powered ankle-foot orthoses with the intent of identifying differences between two different orthosis control methods. The first orthosis control method used a footswitch to provide bang-bang control (a kinematic control) and the second orthosis control method used a proportional myoelectric signal from the soleus (a physiological control). Both controllers activated an artificial pneumatic muscle providing plantar flexion torque. Methods Subjects walked on a treadmill for two thirty-minute sessions spaced three days apart under either footswitch control (n = 6) or myoelectric control (n = 6). We recorded lower limb electromyography (EMG), joint kinematics, and orthosis kinetics. We compared stance phase EMG amplitudes, correlation of joint angle patterns, and mechanical work performed by the powered orthosis between the two controllers over time. Results During steady state at the end of the second session, subjects using proportional myoelectric control had much lower soleus and gastrocnemius activation than the subjects using footswitch control. The substantial decrease in triceps surae recruitment allowed the proportional myoelectric control subjects to walk with ankle kinematics close to normal and reduce negative work performed by the orthosis. The footswitch control subjects walked with substantially perturbed ankle kinematics and performed more negative work with the orthosis. Conclusion These results provide evidence that the choice of orthosis control method can greatly alter how humans adapt to powered orthosis assistance during walking. Specifically, proportional myoelectric control results in larger reductions in muscle activation and gait kinematics more similar to normal compared to footswitch control. PMID:18154649

  1. A Probabilistic and Highly Efficient Topology Control Algorithm for Underwater Cooperating AUV Networks.

    PubMed

    Li, Ning; Cürüklü, Baran; Bastos, Joaquim; Sucasas, Victor; Fernandez, Jose Antonio Sanchez; Rodriguez, Jonathan

    2017-05-04

    The aim of the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs) project is to make autonomous underwater vehicles (AUVs), remote operated vehicles (ROVs) and unmanned surface vehicles (USVs) more accessible and useful. To achieve cooperation and communication between different AUVs, these must be able to exchange messages, so an efficient and reliable communication network is necessary for SWARMs. In order to provide an efficient and reliable communication network for mission execution, one of the important and necessary issues is the topology control of the network of AUVs that are cooperating underwater. However, due to the specific properties of an underwater AUV cooperation network, such as the high mobility of AUVs, large transmission delays, low bandwidth, etc., the traditional topology control algorithms primarily designed for terrestrial wireless sensor networks cannot be used directly in the underwater environment. Moreover, these algorithms, in which the nodes adjust their transmission power once the current transmission power does not equal an optimal one, are costly in an underwater cooperating AUV network. Considering these facts, in this paper, we propose a Probabilistic Topology Control (PTC) algorithm for an underwater cooperating AUV network. In PTC, when the transmission power of an AUV is not equal to the optimal transmission power, then whether the transmission power needs to be adjusted or not will be determined based on the AUV's parameters. Each AUV determines their own transmission power adjustment probability based on the parameter deviations. The larger the deviation, the higher the transmission power adjustment probability is, and vice versa. For evaluating the performance of PTC, we combine the PTC algorithm with the Fuzzy logic Topology Control (FTC) algorithm and compare the performance of these two algorithms. The simulation results have demonstrated that the PTC is efficient at reducing the transmission power

  2. A Probabilistic and Highly Efficient Topology Control Algorithm for Underwater Cooperating AUV Networks

    PubMed Central

    Li, Ning; Cürüklü, Baran; Bastos, Joaquim; Sucasas, Victor; Fernandez, Jose Antonio Sanchez; Rodriguez, Jonathan

    2017-01-01

    The aim of the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs) project is to make autonomous underwater vehicles (AUVs), remote operated vehicles (ROVs) and unmanned surface vehicles (USVs) more accessible and useful. To achieve cooperation and communication between different AUVs, these must be able to exchange messages, so an efficient and reliable communication network is necessary for SWARMs. In order to provide an efficient and reliable communication network for mission execution, one of the important and necessary issues is the topology control of the network of AUVs that are cooperating underwater. However, due to the specific properties of an underwater AUV cooperation network, such as the high mobility of AUVs, large transmission delays, low bandwidth, etc., the traditional topology control algorithms primarily designed for terrestrial wireless sensor networks cannot be used directly in the underwater environment. Moreover, these algorithms, in which the nodes adjust their transmission power once the current transmission power does not equal an optimal one, are costly in an underwater cooperating AUV network. Considering these facts, in this paper, we propose a Probabilistic Topology Control (PTC) algorithm for an underwater cooperating AUV network. In PTC, when the transmission power of an AUV is not equal to the optimal transmission power, then whether the transmission power needs to be adjusted or not will be determined based on the AUV’s parameters. Each AUV determines their own transmission power adjustment probability based on the parameter deviations. The larger the deviation, the higher the transmission power adjustment probability is, and vice versa. For evaluating the performance of PTC, we combine the PTC algorithm with the Fuzzy logic Topology Control (FTC) algorithm and compare the performance of these two algorithms. The simulation results have demonstrated that the PTC is efficient at reducing the transmission power

  3. Locomotor Adaptation Improves Balance Control, Multitasking Ability and Reduces the Metabolic Cost of Postural Instability

    NASA Technical Reports Server (NTRS)

    Bloomberg, J. J.; Peters, B. T.; Mulavara, A. P.; Brady, R. A.; Batson, C. D.; Miller, C. A.; Ploutz-Snyder, R. J.; Guined, J. R.; Buxton, R. E.; Cohen, H. S.

    2011-01-01

    During exploration-class missions, sensorimotor disturbances may lead to disruption in the ability to ambulate and perform functional tasks during the initial introduction to a novel gravitational environment following a landing on a planetary surface. The overall goal of our current project is to develop a sensorimotor adaptability training program to facilitate rapid adaptation to these environments. We have developed a unique training system comprised of a treadmill placed on a motion-base facing a virtual visual scene. It provides an unstable walking surface combined with incongruent visual flow designed to enhance sensorimotor adaptability. Greater metabolic cost incurred during balance instability means more physical work is required during adaptation to new environments possibly affecting crewmembers? ability to perform mission critical tasks during early surface operations on planetary expeditions. The goal of this study was to characterize adaptation to a discordant sensory challenge across a number of performance modalities including locomotor stability, multi-tasking ability and metabolic cost. METHODS: Subjects (n=15) walked (4.0 km/h) on a treadmill for an 8 -minute baseline walking period followed by 20-minutes of walking (4.0 km/h) with support surface motion (0.3 Hz, sinusoidal lateral motion, peak amplitude 25.4 cm) provided by the treadmill/motion-base system. Stride frequency and auditory reaction time were collected as measures of locomotor stability and multi-tasking ability, respectively. Metabolic data (VO2) were collected via a portable metabolic gas analysis system. RESULTS: At the onset of lateral support surface motion, subj ects walking on our treadmill showed an increase in stride frequency and auditory reaction time indicating initial balance and multi-tasking disturbances. During the 20-minute adaptation period, balance control and multi-tasking performance improved. Similarly, throughout the 20-minute adaptation period, VO2 gradually

  4. Design and implementation of control system for range-gated underwater laser imaging

    NASA Astrophysics Data System (ADS)

    Ge, Wei-Long; Zhang, Xiao-Hui; Han, Hong-Wei; Hua, Liang-Hong

    2011-11-01

    There is currently considerable in developing underwater target detection, the underwater imaging system can be divided into active imaging system and passive system. The main feature of the active imaging system is that they use light sources to illuminate the targets and collect the reflection from targets. The advantages of active imaging system over passive imaging systems are high contrast and without the affection of environment sources. In this article, a range-gated underwater laser imaging system is built, which consists of laser illumination system, photoelectric imaging system and control system. The laser illumination system includes a light-pumped solid state doubled ND-YAG laser(532nm) which laser power and frequency can be adjusted and an optics expanding system of variable ratio. The photoelectric imaging system includes a gated Intensified CCD(ICCD) cameras which ICCD scheduling, gate width, delay time and gain can be adjusted and a optics received system of variable ratio. In order to acquire effectual target image using range-gated underwater laser imaging system, appropriate control parameters that include laser power and frequency, ICCD scheduling, gate width, delay time and gain, optics expanding system ratio and optics received system ratio must be given accurately. A control system which used C8051F320 and C8051F040 (MCU) as the core is designed, the control system can effectively control seven parameters that given above. The construction of software and hardware of the control system is introduced. And target image of underwater distance 25 m and 40m is given, Experimental results showed that the control system has high control precision, safe and stable operation and good speed adjusting performance can be achieved. It can be satisfied to apply to underwater target detection.

  5. Design and implementation of control system for range-gated underwater laser imaging

    NASA Astrophysics Data System (ADS)

    Ge, Wei-long; Zhang, Xiao-hui; Han, Hong-wei; Hua, Liang-hong

    2012-01-01

    There is currently considerable in developing underwater target detection, the underwater imaging system can be divided into active imaging system and passive system. The main feature of the active imaging system is that they use light sources to illuminate the targets and collect the reflection from targets. The advantages of active imaging system over passive imaging systems are high contrast and without the affection of environment sources. In this article, a range-gated underwater laser imaging system is built, which consists of laser illumination system, photoelectric imaging system and control system. The laser illumination system includes a light-pumped solid state doubled ND-YAG laser(532nm) which laser power and frequency can be adjusted and an optics expanding system of variable ratio. The photoelectric imaging system includes a gated Intensified CCD(ICCD) cameras which ICCD scheduling, gate width, delay time and gain can be adjusted and a optics received system of variable ratio. In order to acquire effectual target image using range-gated underwater laser imaging system, appropriate control parameters that include laser power and frequency, ICCD scheduling, gate width, delay time and gain, optics expanding system ratio and optics received system ratio must be given accurately. A control system which used C8051F320 and C8051F040 (MCU) as the core is designed, the control system can effectively control seven parameters that given above. The construction of software and hardware of the control system is introduced. And target image of underwater distance 25 m and 40m is given, Experimental results showed that the control system has high control precision, safe and stable operation and good speed adjusting performance can be achieved. It can be satisfied to apply to underwater target detection.

  6. Diverse neuronal lineages make stereotyped contributions to the Drosophila locomotor control center, the central complex

    PubMed Central

    He, Yisheng; Ding, Peng; Kao, Jui-Chun; Lee, Tzumin

    2013-01-01

    Summary The Drosophila central brain develops from a fixed number of neuroblasts. Each neuroblast makes a clone of neurons that exhibit common trajectories. Here we identified 15 distinct clones that carry larval-born neurons innervating the Drosophila central complex (CX), which consists of four midline structures including the protocerebral bridge (PB), fan-shape body (FB), ellipsoid body (EB), and noduli (NO). Clonal analysis revealed that the small-field CX neurons, which establish intricate projections across different CX substructures, exist in four isomorphic groups that respectively derive from four complex posterior asense-negative lineages. About the region-characteristic large-field CX neurons, we found that two lineages make PB neurons, ten lineages produce FB neurons, three lineages generate EB neurons, and two lineages yield NO neurons. The diverse FB developmental origins reflect the discrete input pathways for different FB subcompartments. Clonal analysis enlightens both development and anatomy of the insect locomotor control center. PMID:23696496

  7. H∞ robust fault-tolerant controller design for an autonomous underwater vehicle's navigation control system

    NASA Astrophysics Data System (ADS)

    Cheng, Xiang-Qin; Qu, Jing-Yuan; Yan, Zhe-Ping; Bian, Xin-Qian

    2010-03-01

    In order to improve the security and reliability for autonomous underwater vehicle (AUV) navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain. Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities (LMI) to solve for the H∞ controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H∞ robust fault-tolerant controller could provide precise AUV navigation control with strong robustness.

  8. Experimental investigations of the controlled motion of a screwless underwater robot

    NASA Astrophysics Data System (ADS)

    Karavaev, Yury L.; Kilin, Alexander A.; Klekovkin, Anton V.

    2016-12-01

    In this paper we describe the results of experimental investigations of the motion of a screwless underwater robot controlled by rotating internal rotors. We present the results of comparison of the trajectories obtained with the results of numerical simulation using the model of an ideal fluid.

  9. The Interplay Between Strategic And Adaptive Control Mechanisms In Plastic Recalibration Of Locomotor Function

    NASA Technical Reports Server (NTRS)

    Richards, J. T.; Mulavara, A. P.; Bloomberg, J. J.

    2006-01-01

    We have previously shown that viewing simulated rotary self-motion during treadmill locomotion causes immediate strategic modifications (Richards et al. 2004) as well as an after effect reflecting adaptive modification of the control of position and trajectory during over-ground locomotion (Mulavara et al. 2005). The process of sensorimotor adaptation is comprised of both strategic and adaptive control mechanisms. Strategic control involves cognitive, on-line corrections to limb movements once one is aware of a sensory discordance. Over an extended period of exposure to the sensory discordance, new strategic sensorimotor coordination patterns are reinforced until they become more automatic, and therefore adaptive, in nature. The objective of this study was to investigate how strategic changes in trunk control during exposure to simulated rotary self-motion during treadmill walking influences adaptive modification of locomotor heading direction during over-ground stepping. Subjects (n = 10) walked on a motorized linear treadmill while viewing a wide field-of-view virtual scene for 24 minutes. The scene was static for the first 4 minutes and then, for the last 20 minutes, depicted constant rate self-motion equivalent to walking in a counter-clockwise, circular path around the perimeter of a room. Subjects performed five stepping trials both before and after the exposure period to assess after effects. Results from our previous study showed a significant change in heading direction (HD) during post-exposure step tests that was opposite the direction in which the scene rotated during the adaptation period. For the present study, we quantified strategic modifications in trunk movement control during scene exposure using normalized root mean square (R(sub p)) variation of the subject's 3D trunk positions and normalized sum of standard deviations (R(sub o)) variation of 3D trunk orientations during scene rotation relative to that during static scene presentation

  10. Modeling and control of an unmanned underwater vehicle using a mass moving system

    NASA Astrophysics Data System (ADS)

    Byun, Seung-Woo; Kim, Donghee; Choi, Hyeung-Sik; Kim, Joon-Young

    2015-03-01

    This paper describes the mathematical modeling and control algorithms of an unmanned underwater vehicle (UUV) named Minekiller. This UUV has two longitudinal thrusters, one vertical thruster, and an internal mass moving system, which can control the pitch rate. The UUV is equipped with a movable mass for pitch control. It is different from other common UUVs, in that it can maintain a static pitch angle. The UUV's 6-DOF (Degrees of Freedom) dynamics model is derived from the hydrodynamic forces and moments acting on it. We applied these hydrodynamic coefficients to dynamic modeling for numerical simulations by MATLAB/SIMULINK©. To compare the performance in various cases, we used a PID controller for depth and heading control. Also, the navigation controller can analyze the way-point tracking performance. These simulation results show the performance of the control algorithms and maneuvering performance of the underwater vehicle.

  11. Hepatic mTORC1 controls locomotor activity, body temperature, and lipid metabolism through FGF21

    PubMed Central

    Cornu, Marion; Oppliger, Wolfgang; Albert, Verena; Robitaille, Aaron M.; Trapani, Francesca; Quagliata, Luca; Fuhrer, Tobias; Sauer, Uwe; Terracciano, Luigi; Hall, Michael N.

    2014-01-01

    The liver is a key metabolic organ that controls whole-body physiology in response to nutrient availability. Mammalian target of rapamycin (mTOR) is a nutrient-activated kinase and central controller of growth and metabolism that is negatively regulated by the tumor suppressor tuberous sclerosis complex 1 (TSC1). To investigate the role of hepatic mTOR complex 1 (mTORC1) in whole-body physiology, we generated liver-specific Tsc1 (L-Tsc1 KO) knockout mice. L-Tsc1 KO mice displayed reduced locomotor activity, body temperature, and hepatic triglyceride content in a rapamycin-sensitive manner. Ectopic activation of mTORC1 also caused depletion of hepatic and plasma glutamine, leading to peroxisome proliferator–activated receptor γ coactivator-1α (PGC-1α)–dependent fibroblast growth factor 21 (FGF21) expression in the liver. Injection of glutamine or knockdown of PGC-1α or FGF21 in the liver suppressed the behavioral and metabolic defects due to mTORC1 activation. Thus, mTORC1 in the liver controls whole-body physiology through PGC-1α and FGF21. Finally, mTORC1 signaling correlated with FGF21 expression in human liver tumors, suggesting that treatment of glutamine-addicted cancers with mTOR inhibitors might have beneficial effects at both the tumor and whole-body level. PMID:25082895

  12. The effects of Robotic-Assisted Locomotor training on spasticity and volitional control.

    PubMed

    Mirbagheri, M M; Ness, L L; Patel, C; Quiney, K; Rymer, W Z

    2011-01-01

    We studied the effects of Robotic-Assisted Locomotor (LOKOMAT) Training on spasticity and volitional control of the spastic ankle in persons with incomplete Spinal Cord Injury (SCI). LOKOMAT training was performed 3 days/week during a 1-hr period including set-up time with up to 30 minutes of training during a single session. The training was provided for 4 weeks and subjects were evaluated before and after 1, 2, and 4 weeks of training. Spasticity was charterized in terms of neuromuscular abnormalities associated with the spastic joint. A system identification technique was used to quantify the effects of LOKOMAT training on these neuromuscular abnormalities. The effect of LOKOMAT training on volitional control was determined by measuring isometric maximum voluntary contraction (MVC) of ankle extensor and flexor muscles. Our results indicated that the reflex stiffness, abnormally increases in SCI, was significantly reduced (up to 65%) following 4-weeks of LOKOMAT training. Similarly, intrinsic (muscular) stiffness, which also abnormally increases in SCI, decreased significantly (up to 60%). MVCs were increased substantially (up to 93% in extensors and 180% in flexors) following 4-week training. These findings demonstrate that LOKOMAT training is effective in reducing spasticity and improving volitional control in SCI. © 2011 IEEE

  13. The role of leg touchdown for the control of locomotor activity in the walking stick insect

    PubMed Central

    Schmitz, Joscha; Büschges, Ansgar

    2015-01-01

    Much is known on how select sensory feedback contributes to the activation of different motoneuron pools in the locomotor control system of stick insects. However, even though activation of the stance phase muscles depressor trochanteris, retractor unguis, flexor tibiae and retractor coxae is correlated with the touchdown of the leg, the potential sensory basis of this correlation or its connection to burst intensity remains unknown. In our experiments, we are using a trap door setup to investigate how ground contact contributes to stance phase muscle activation and burst intensity in different stick insect species, and which afferent input is involved in the respective changes. While the magnitude of activation is changed in all of the above stance phase muscles, only the timing of the flexor tibiae muscle is changed if the animal unexpectedly steps into a hole. Individual and combined ablation of different force sensors on the leg demonstrated influence from femoral campaniform sensilla on flexor muscle timing, causing a significant increase in the latencies during control and air steps. Our results show that specific load feedback signals determine the timing of flexor tibiae activation at the swing-to-stance transition in stepping stick insects, but that additional feedback may also be involved in flexor muscle activation during stick insect locomotion. With respect to timing, all other investigated stance phase muscles appear to be under sensory control other than that elicited through touchdown. PMID:25652931

  14. The role of leg touchdown for the control of locomotor activity in the walking stick insect.

    PubMed

    Schmitz, Joscha; Gruhn, Matthias; Büschges, Ansgar

    2015-04-01

    Much is known on how select sensory feedback contributes to the activation of different motoneuron pools in the locomotor control system of stick insects. However, even though activation of the stance phase muscles depressor trochanteris, retractor unguis, flexor tibiae and retractor coxae is correlated with the touchdown of the leg, the potential sensory basis of this correlation or its connection to burst intensity remains unknown. In our experiments, we are using a trap door setup to investigate how ground contact contributes to stance phase muscle activation and burst intensity in different stick insect species, and which afferent input is involved in the respective changes. While the magnitude of activation is changed in all of the above stance phase muscles, only the timing of the flexor tibiae muscle is changed if the animal unexpectedly steps into a hole. Individual and combined ablation of different force sensors on the leg demonstrated influence from femoral campaniform sensilla on flexor muscle timing, causing a significant increase in the latencies during control and air steps. Our results show that specific load feedback signals determine the timing of flexor tibiae activation at the swing-to-stance transition in stepping stick insects, but that additional feedback may also be involved in flexor muscle activation during stick insect locomotion. With respect to timing, all other investigated stance phase muscles appear to be under sensory control other than that elicited through touchdown. Copyright © 2015 the American Physiological Society.

  15. Hepatic mTORC1 controls locomotor activity, body temperature, and lipid metabolism through FGF21.

    PubMed

    Cornu, Marion; Oppliger, Wolfgang; Albert, Verena; Robitaille, Aaron M; Trapani, Francesca; Quagliata, Luca; Fuhrer, Tobias; Sauer, Uwe; Terracciano, Luigi; Hall, Michael N

    2014-08-12

    The liver is a key metabolic organ that controls whole-body physiology in response to nutrient availability. Mammalian target of rapamycin (mTOR) is a nutrient-activated kinase and central controller of growth and metabolism that is negatively regulated by the tumor suppressor tuberous sclerosis complex 1 (TSC1). To investigate the role of hepatic mTOR complex 1 (mTORC1) in whole-body physiology, we generated liver-specific Tsc1 (L-Tsc1 KO) knockout mice. L-Tsc1 KO mice displayed reduced locomotor activity, body temperature, and hepatic triglyceride content in a rapamycin-sensitive manner. Ectopic activation of mTORC1 also caused depletion of hepatic and plasma glutamine, leading to peroxisome proliferator-activated receptor γ coactivator-1α (PGC-1α)-dependent fibroblast growth factor 21 (FGF21) expression in the liver. Injection of glutamine or knockdown of PGC-1α or FGF21 in the liver suppressed the behavioral and metabolic defects due to mTORC1 activation. Thus, mTORC1 in the liver controls whole-body physiology through PGC-1α and FGF21. Finally, mTORC1 signaling correlated with FGF21 expression in human liver tumors, suggesting that treatment of glutamine-addicted cancers with mTOR inhibitors might have beneficial effects at both the tumor and whole-body level.

  16. Advanced Non-Linear Control Algorithms Applied to Design Highly Maneuverable Autonomous Underwater Vehicles (AUVs)

    DTIC Science & Technology

    2007-08-01

    Advanced non- linear control algorithms applied to design highly maneuverable Autonomous Underwater Vehicles (AUVs) Vladimir Djapic, Jay A. Farrell...hierarchical such that an ”inner loop” non- linear controller (outputs the appropriate thrust values) is the same for all mission scenarios while a...library of ”outer-loop” non- linear controllers are available to implement specific maneuvering scenarios. On top of the outer-loop is the mission planner

  17. Plasticity of Corticospinal Neural Control after Locomotor Training in Human Spinal Cord Injury

    PubMed Central

    Knikou, Maria

    2012-01-01

    Spinal lesions substantially impair ambulation, occur generally in young and otherwise healthy individuals, and result in devastating effects on quality of life. Restoration of locomotion after damage to the spinal cord is challenging because axons of the damaged neurons do not regenerate spontaneously. Body-weight-supported treadmill training (BWSTT) is a therapeutic approach in which a person with a spinal cord injury (SCI) steps on a motorized treadmill while some body weight is removed through an upper body harness. BWSTT improves temporal gait parameters, muscle activation patterns, and clinical outcome measures in persons with SCI. These changes are likely the result of reorganization that occurs simultaneously in supraspinal and spinal cord neural circuits. This paper will focus on the cortical control of human locomotion and motor output, spinal reflex circuits, and spinal interneuronal circuits and how corticospinal control is reorganized after locomotor training in people with SCI. Based on neurophysiological studies, it is apparent that corticospinal plasticity is involved in restoration of locomotion after training. However, the neural mechanisms underlying restoration of lost voluntary motor function are not well understood and translational neuroscience research is needed so patient-orientated rehabilitation protocols to be developed. PMID:22701805

  18. EFFECT OF SEX, AGE, AND BMI ON THE DEVELOPMENT OF LOCOMOTOR SKILLS AND OBJECT CONTROL SKILLS AMONG PRESCHOOL CHILDREN.

    PubMed

    Yang, Shu-Chu; Lin, Shu-Jung; Tsai, Chia-Yen

    2015-12-01

    Purposive sampling was used to recruit 1,200 preschoolers between the ages of three and seven from 12 preschools throughout Taiwan in order to examine locomotor skills, object control skills, and fundamental motor skills with respect to sex, age, and body mass index (BMI). Fundamental motor skills were measured using the TGMD-2. Only age had a significant influence on locomotor skills, object control skills, and fundamental motor skills; sex had a small influence on object control skills, and BMI had a very limited influence on all three categories. The difference from previous studies related to BMI may be due to the different items included in the various tests, the number of trials conducted, and ways in which BMI was categorized.

  19. A Controlled Laboratory Environment to Study EO Signal Degradation Due to Underwater Turbulence

    DTIC Science & Technology

    2015-05-11

    turbulence Iii. uf Paper or P resentation A controlled laboratory environment to AUTHOR(s) LEGAL NAMES(s) OF RECORD Silvia Matt 7333, Wellin Hou 7333, A...controlled laboratory environment to study EO signal degradation due to underwater turbulence Silvia Matt*a, Weilin Houa, Wesley Goodea, Guigen Liub, Ming...to examine and mitigate turbulence effects, we set up a laboratory turbulence environment allowing the variation of turbulence intensity. Convective

  20. The role of serotonin in the control of locomotor movements and strategies for restoring locomotion after spinal cord injury.

    PubMed

    Sławińska, Urszula; Miazga, Krzysztof; Jordan, Larry M

    2014-01-01

    In this review we will discuss different ways for re-establishing serotonergic activity that can enhance recovery of coordinated plantar stepping after spinal cord injury in adult rats. It is well known that serotoninergic neurons located in the medulla are able to initiate locomotor activity. This effect is exerted by actions on motoneurons and on neurons of the locomotor CPG (Central Pattern Generator). Motoneuron and interneuron excitability is increased, and putative CPG interneurons display oscillatory behaviour in response to serotonin receptor activation. The medullary serotonergic nuclei play multiple roles in the control of locomotion, and they terminate on specific target neurons with different types of serotonergic receptors in the spinal cord. Activation of these serotonergic receptors can restore locomotor movements after spinal cord injury. Specifically, using defined serotonergic agonists the 5-HT2 receptors can be stimulated to control CPG activation as well as motoneuron output, while 5-HT7 receptors to control activity of the locomotor CPG. These results are consistent with the roles for these receptors during locomotion in intact rodents and in rodent brainstem-spinal cord in vitro preparations. The other possibility to encourage the remaining spinal cord circuitry below the total transection to control recovery of plantar hindlimb stepping is restoration of serotonergic innervation by intraspinal grafting of embryonic 5-HT neurons. Our data show that grafting of different populations of 5-HT neurons dissected from embryonic brainstem provides differential control over multiple components of the spinal locomotor circuitry through specific serotonin receptors. Moreover, we demonstrated that the best effect of motor recovery is obtained after grafting of neurons destined to form the B1, B2 and B3 descending 5-HT systems. Using only one of the subpopulations for intraspinal grafting, for example, B3 or the lateral group of 5-HT neurons, induces only

  1. Measuring human locomotor control using EMG and EEG: Current knowledge, limitations and future considerations.

    PubMed

    Enders, Hendrik; Nigg, Benno M

    2016-01-01

    Electrical signals encoding different forms of information can be observed at multiple levels of the human nervous system. Typically, these signals have been recorded in a rather isolated fashion with little overlap between the static recordings of electroencephalography (EEG) commonly used in neuroscience and the typical surface electromyography (EMG) recordings used in biomechanics. However, within the last decade, there has been an emerging need to link the electrical activation patterns of brain areas during movement to the behavior of the musculoskeletal system. This review discusses some of the most recent studies using the EEG and/or EMG to study the neural control of movement and human locomotion as well as studies quantifying the connectivity between brain and muscles. The focus is on rhythmic locomotor-type activities; however, results are discussed within the framework of initial work that has been done in upper and lower limbs during static and dynamic contractions. Limitations and current challenges as well as the possibility and functional interpretation of studying the connectivity between the cortex and skeletal muscles using a measure of coherence are discussed. The manuscript is geared toward scientists interested in the application of EEG in the field of locomotion, sports and exercise.

  2. Robotic resistance/assistance training improves locomotor function in individuals poststroke: a randomized controlled study.

    PubMed

    Wu, Ming; Landry, Jill M; Kim, Janis; Schmit, Brian D; Yen, Sheng-Che; Macdonald, Jillian

    2014-05-01

    To determine whether providing a controlled resistance versus assistance to the paretic leg at the ankle during treadmill training will improve walking function in individuals poststroke. Repeated assessment of the same patients with parallel design and randomized controlled study between 2 groups. Research units of rehabilitation hospitals. Patients (N=30) with chronic stroke. Subjects were stratified based on self-selected walking speed and were randomly assigned to the resistance or assistance training group. For the resistance group, a controlled resistance load was applied to the paretic leg at the ankle to resist leg swing during treadmill walking. For the assistance group, a load that assists swing was applied. Primary outcome measures were walking speed and 6-minute walking distance. Secondary measures included clinical assessments of balance, muscle tone, and quality of life. Outcome measures were evaluated before and after 6 weeks of training and at 8 weeks' follow-up, and compared within group and between the 2 groups. After 6 weeks of robotic training, walking speed significantly increased for both groups, with no significant differences in walking speed gains observed between the 2 groups. In addition, 6-minute walking distance and balance significantly improved for the assistance group but not for the resistance group. Applying a controlled resistance or an assistance load to the paretic leg during treadmill training may induce improvements in walking speed in individuals poststroke. Resistance training was not superior to assistance training in improving locomotor function in individuals poststroke. Copyright © 2014 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

  3. The interplay between strategic and adaptive control mechanisms in plastic recalibration of locomotor function.

    PubMed

    Richards, Jason T; Mulavara, Ajitkumar P; Bloomberg, Jacob J

    2007-04-01

    We have previously shown that viewing simulated rotary self-motion during treadmill locomotion causes immediate strategic modifications (Richards et al. in Presence Teleoper Vir Real 13:371-384, 2004) as well as an after effect reflecting adaptive modification of the control of position and trajectory during over-ground locomotion (Mulavara et al. in Exp Brain Res 166:210-219, 2005). The process of sensorimotor adaptation is comprised of both strategic and adaptive control mechanisms. Strategic control involves cognitive, on-line corrections to motor outputs once one is aware of a sensory discordance. Over an extended period of exposure to the sensory discordance, new strategic sensorimotor coordination patterns are reinforced until they become more automatic, and therefore adaptive in nature. The objective of this study was to investigate how strategic changes in trunk control during exposure to simulated rotary self-motion during treadmill walking influences adaptive modification of locomotor heading direction during over-ground stepping. Subjects (n = 10) walked on a motorized linear treadmill while viewing a wide field-of-view virtual scene for 24 min. The scene was static for the first 4 min and then, for the last 20 min, depicted constant rate self-motion equivalent to walking in a counter-clockwise, circular path around the perimeter of a room. Subjects performed five stepping trials both before and after the exposure period to assess after effects. Results from our previous study showed a significant change in heading direction (HD) during post-exposure step tests that was opposite to the direction in which the scene rotated during the adaptation period. For the present study, we quantified strategic modifications in trunk movement control during scene exposure using normalized root mean square (R(P)) variation of the subject's 3D trunk positions and normalized sum of standard deviations (R (O)) variation of 3D trunk orientations during scene rotation

  4. When wings touch wakes: understanding locomotor force control by wake wing interference in insect wings.

    PubMed

    Lehmann, Fritz-Olaf

    2008-01-01

    Understanding the fluid dynamics of force control in flying insects requires the exploration of how oscillating wings interact with the surrounding fluid. The production of vorticity and the shedding of vortical structures within the stroke cycle thus depend on two factors: the temporal structure of the flow induced by the wing's own instantaneous motion and the flow components resulting from both the force production in previous wing strokes and the motion of other wings flapping in close proximity. These wake-wing interactions may change on a stroke-by-stroke basis, confronting the neuro-muscular system of the animal with a complex problem for force control. In a single oscillating wing, the flow induced by the preceding half stroke may lower the wing's effective angle of attack but permits the recycling of kinetic energy from the wake via the wake capture mechanism. In two-winged insects, the acceleration fields produced by each wing may strongly interact via the clap-and-fling mechanism during the dorsal stroke reversal. Four-winged insects must cope with the fact that the flow over their hindwings is affected by the presence of the forewings. In these animals, a phase-shift between the stroke cycles of fore- and hindwing modulates aerodynamic performance of the hindwing via leading edge vortex destruction and changes in local flow condition including wake capture. Moreover, robotic wings demonstrate that phase-lag during peak performance and the strength of force modulation depend on the vertical spacing between the two stroke planes and the size ratio between fore- and hindwing. This study broadly summarizes the most prominent mechanisms of wake-wing and wing-wing interactions found in flapping insect wings and evaluates the consequences of these processes for the control of locomotor forces in the behaving animal.

  5. Plasticity and modular control of locomotor patterns in neurological disorders with motor deficits

    PubMed Central

    Ivanenko, Y. P.; Cappellini, G.; Solopova, I. A.; Grishin, A. A.; MacLellan, M. J.; Poppele, R. E.; Lacquaniti, F.

    2013-01-01

    Human locomotor movements exhibit considerable variability and are highly complex in terms of both neural activation and biomechanical output. The building blocks with which the central nervous system constructs these motor patterns can be preserved in patients with various sensory-motor disorders. In particular, several studies highlighted a modular burst-like organization of the muscle activity. Here we review and discuss this issue with a particular emphasis on the various examples of adaptation of locomotor patterns in patients (with large fiber neuropathy, amputees, stroke and spinal cord injury). The results highlight plasticity and different solutions to reorganize muscle patterns in both peripheral and central nervous system lesions. The findings are discussed in a general context of compensatory gait mechanisms, spatiotemporal architecture and modularity of the locomotor program. PMID:24032016

  6. Admixture enhanced controlled low-strength material for direct underwater injection with minimal cross-contamination

    SciTech Connect

    Hepworth, H.K.; Davidson, J.S.; Hooyman, J.L.

    1997-03-01

    Commercially available admixtures have been developed for placing traditional concrete products under water. This paper evaluates adapting anti-washout admixture (AWA) and high range water reducing admixture (HRWRA) products to enhance controlled low-strength materials (CLSMs) for underwater placement. A simple experimental scale model (based on dynamic and geometric similitude) of typical grout pump emplacement equipment has been developed to determine the percentage of cementing material washed out. The objective of this study was to identify proportions of admixtures and underwater CLSM emplacement procedures which would minimize the cross-contamination of the displaced water while maintaining the advantages of CLSM. Since the displaced water from radioactively contaminated systems must be subsequently treated prior to release to the environment, the amount of cross-contamination is important for cases in which cementing material could form hard sludges in a water treatment facility and contaminate the in-place CLSM stabilization medium.

  7. Remote-Controlled Inspection Robot for Nuclear Facilities in Underwater Environment

    SciTech Connect

    Yasuhiro Miwa; Syuichi Satoh; Naoya Hirose

    2002-07-01

    A remote-controlled inspection robot for nuclear facilities was developed. This is a underwater robot technology combined with inspection and flaw removal technologies. This report will describe the structure and performance of this robot. The inspection robot consists of two parts. The one is driving equipment, and the other is inspection and grinding units. It can swim in the tank, move around the tank wall, and stay on the inspection area. After that it starts inspection and flaw removal with a special grinding wheel. This technology had been developed to inspect some Radioactive Waste (RW) tanks in operating nuclear power plants. There are many RW tanks in these plants, which human workers can be hard to access because of a high level dose. This technology is too useful for inspection works of human-inaccessible areas. And also, in conventional inspection process, some worker go into the tank and set up scaffolding after full drainage and decontamination. It spends too much time for these preparations. If tank inspection and flaw removal can be performed in underwater, the outage period will be reduced. Remote-controlled process can be performed in underwater. This is the great advantage for plant owners. Since 1999 we have been applying this inspection robot to operating nuclear 11 facilities in Japan. (authors)

  8. Supervisory Control of Underwater Telemanipulators: Design and Experiment.

    DTIC Science & Technology

    1982-08-30

    control ........ 61 3.6 Descriptions for process level control ......... 67 Chapter 4 The design of a software man-machine interface...different types of human oriented interfaces for achieving such control will be presented. 4. The design of a new man-machine interface system intended 11...under the direction of a human operator [6]. Supervisory control fits on a continuum between manually controlled

  9. Real Time Adaptive Control of an Autonomous Underwater Vehicle (AUV)

    DTIC Science & Technology

    1989-09-01

    design of a control system f or the AUV, since knowledge of an accurate dynamic model is in general the basis of a reliable control design. Also, tests...designer the possibility of using this simple nominal model, possibly linear while still preserving the global stability ol. he controlled system . 3...control system . The parameters a, c arid K0 in (2.4a) depend on the operating 9 conditions (speed, primarily) of the vehicle, and can be determined on the

  10. A controlled laboratory environment to study EO signal degradation due to underwater turbulence

    NASA Astrophysics Data System (ADS)

    Matt, Silvia; Hou, Weilin; Goode, Wesley; Liu, Guigen; Han, Ming; Kanaev, Andrey; Restaino, Sergio

    2015-05-01

    Temperature microstructure in the ocean can lead to localized changes in the index of refraction and can distort underwater electro-optical (EO) signal transmission. A similar phenomenon is well-known from atmospheric optics and generally referred to as "optical turbulence". Though turbulent fluctuations in the ocean distort EO signal transmission and can impact various underwater applications, from diver visibility to active and passive remote sensing, there have been few studies investigating the subject. To provide a test bed for the study of impacts from turbulent flows on underwater EO signal transmission, and to examine and mitigate turbulence effects, we set up a laboratory turbulence environment allowing the variation of turbulence intensity. Convective turbulence is generated in a large Rayleigh- Bénard tank and the turbulent flow is quantified using high-resolution Acoustic Doppler Velocimeter profilers and fast thermistor probes. The turbulence measurements are complemented by computational fluid dynamics simulations of convective turbulence emulating the tank environment. These numerical simulations supplement the sparse laboratory measurements. The numerical data compared well to the laboratory data and both conformed to the Kolmogorov spectrum of turbulence and the Batchelor spectrum of temperature fluctuations. The controlled turbulence environment can be used to assess optical image degradation in the tank in relation to turbulence intensity, as well as to apply adaptive optics techniques. This innovative approach that combines optical techniques, turbulence measurements and numerical simulations can help understand how to mitigate the effects of turbulence impacts on underwater optical signal transmission, as well as advance optical techniques to probe oceanic processes.

  11. A Hypothetical Perspective on the Relative Contributions of Strategic and Adaptive Control Mechanisms in Plastic Recalibration of Locomotor Heading Direction

    NASA Technical Reports Server (NTRS)

    Richards, J. T.; Mulavara, A. P.; Ruttley, T.; Peters, B. T.; Warren, L. E.; Bloomberg, J. J.

    2006-01-01

    We have previously shown that viewing simulated rotary self-motion during treadmill locomotion causes adaptive modification of the control of position and trajectory during over-ground locomotion, which functionally reflects adaptive changes in the sensorimotor integration of visual, vestibular, and proprioceptive cues (Mulavara et al., 2005). The objective of this study was to investigate how strategic changes in torso control during exposure to simulated rotary self-motion during treadmill walking influences adaptive modification of locomotor heading direction during over-ground stepping.

  12. Biomimetic approaches to the control of underwater walking machines.

    PubMed

    Ayers, Joseph; Witting, Jan

    2007-01-15

    We have developed a biomimetic robot based on the American lobster. The robot is designed to achieve the performance advantages of the animal model by adopting biomechanical features and neurobiological control principles. Three types of controllers are described. The first is a state machine based on the connectivity and dynamics of the lobster central pattern generator (CPG). The state machine controls myomorphic actuators based on shape memory alloys (SMAs) and responds to environmental perturbation through sensors that employ a labelled-line code. The controller supports a library of action patterns and exteroceptive reflexes to mediate tactile navigation, obstacle negotiation and adaptation to surge. We are extending this controller to neuronal network-based models. A second type of leg CPG is based on synaptic networks of electronic neurons and has been adapted to control the SMA actuated leg. A brain is being developed using layered reflexes based on discrete time map-based neurons.

  13. Locomotor exercise in weightlessness

    NASA Technical Reports Server (NTRS)

    Thornton, W.; Whitmore, H.

    1991-01-01

    The requirements for exercise in space by means of locomotion are established and addressed with prototype treadmills for use during long-duration spaceflight. The adaptation of the human body to microgravity is described in terms of 1-G locomotor biomechanics, the effects of reduced activity, and effective activity-replacement techniques. The treadmill is introduced as a complement to other techniques of force replacement with reference given to the angle required for exercise. A motor-driven unit is proposed that can operate at a variety of controlled speeds and equivalent grades. The treadmills permit locomotor exercise as required for long-duration space travel to sustain locomotor and cardiorespiratory capacity at a level consistent with postflight needs.

  14. Slow Versus Fast Robot-Assisted Locomotor Training After Severe Stroke: A Randomized Controlled Trial.

    PubMed

    Rodrigues, Thais Amanda; Goroso, Daniel Gustavo; Westgate, Philip M; Carrico, Cheryl; Batistella, Linamara R; Sawaki, Lumy

    2017-10-01

    Robot-assisted locomotor training on a bodyweight-supported treadmill is a rehabilitation intervention that compels repetitive practice of gait movements. Standard treadmill speed may elicit rhythmic movements generated primarily by spinal circuits. Slower-than-standard treadmill speed may elicit discrete movements, which are more complex than rhythmic movements and involve cortical areas. Compare effects of fast (i.e., rhythmic) versus slow (i.e., discrete) robot-assisted locomotor training on a bodyweight-supported treadmill in subjects with chronic, severe gait deficit after stroke. Subjects (N = 18) were randomized to receive 30 sessions (5 d/wk) of either fast or slow robot-assisted locomotor training on a bodyweight-supported treadmill in an inpatient setting. Functional ambulation category, time up and go, 6-min walk test, 10-m walk test, Berg Balance Scale, and Fugl-Meyer Assessment were administered at baseline and postintervention. The slow group had statistically significant improvement on functional ambulation category (first quartile-third quartile, P = 0.004), 6-min walk test (95% confidence interval [CI] = 1.8 to 49.0, P = 0.040), Berg Balance Scale (95% CI = 7.4 to 14.8, P < 0.0001), time up and go (95% CI = -79.1 to 5.0, P < 0.0030), and Fugl-Meyer Assessment (95% CI = 24.1 to 45.1, P < 0.0001). The fast group had statistically significant improvement on Berg Balance Scale (95% CI = 1.5 to 10.5, P = 0.02). In initial stages of robot-assisted locomotor training on a bodyweight-supported treadmill after severe stroke, slow training targeting discrete movement may yield greater benefit than fast training.

  15. Locomotor training improves reciprocal and nonreciprocal inhibitory control of soleus motoneurons in human spinal cord injury.

    PubMed

    Knikou, Maria; Smith, Andrew C; Mummidisetty, Chaithanya K

    2015-04-01

    Pathologic reorganization of spinal networks and activity-dependent plasticity are common neuronal adaptations after spinal cord injury (SCI) in humans. In this work, we examined changes of reciprocal Ia and nonreciprocal Ib inhibition after locomotor training in 16 people with chronic SCI. The soleus H-reflex depression following common peroneal nerve (CPN) and medial gastrocnemius (MG) nerve stimulation at short conditioning-test (C-T) intervals was assessed before and after training in the seated position and during stepping. The conditioned H reflexes were normalized to the unconditioned H reflex recorded during seated. During stepping, both H reflexes were normalized to the maximal M wave evoked at each bin of the step cycle. In the seated position, locomotor training replaced reciprocal facilitation with reciprocal inhibition in all subjects, and Ib facilitation was replaced by Ib inhibition in 13 out of 14 subjects. During stepping, reciprocal inhibition was decreased at early stance and increased at midswing in American Spinal Injury Association Impairment Scale C (AIS C) and was decreased at midstance and midswing phases in AIS D after training. Ib inhibition was decreased at early swing and increased at late swing in AIS C and was decreased at early stance phase in AIS D after training. The results of this study support that locomotor training alters postsynaptic actions of Ia and Ib inhibitory interneurons on soleus motoneurons at rest and during stepping and that such changes occur in cases with limited or absent supraspinal inputs. Copyright © 2015 the American Physiological Society.

  16. Locomotor training improves reciprocal and nonreciprocal inhibitory control of soleus motoneurons in human spinal cord injury

    PubMed Central

    Smith, Andrew C.; Mummidisetty, Chaithanya K.

    2015-01-01

    Pathologic reorganization of spinal networks and activity-dependent plasticity are common neuronal adaptations after spinal cord injury (SCI) in humans. In this work, we examined changes of reciprocal Ia and nonreciprocal Ib inhibition after locomotor training in 16 people with chronic SCI. The soleus H-reflex depression following common peroneal nerve (CPN) and medial gastrocnemius (MG) nerve stimulation at short conditioning-test (C-T) intervals was assessed before and after training in the seated position and during stepping. The conditioned H reflexes were normalized to the unconditioned H reflex recorded during seated. During stepping, both H reflexes were normalized to the maximal M wave evoked at each bin of the step cycle. In the seated position, locomotor training replaced reciprocal facilitation with reciprocal inhibition in all subjects, and Ib facilitation was replaced by Ib inhibition in 13 out of 14 subjects. During stepping, reciprocal inhibition was decreased at early stance and increased at midswing in American Spinal Injury Association Impairment Scale C (AIS C) and was decreased at midstance and midswing phases in AIS D after training. Ib inhibition was decreased at early swing and increased at late swing in AIS C and was decreased at early stance phase in AIS D after training. The results of this study support that locomotor training alters postsynaptic actions of Ia and Ib inhibitory interneurons on soleus motoneurons at rest and during stepping and that such changes occur in cases with limited or absent supraspinal inputs. PMID:25609110

  17. Research on framework for formation control of multiple underwater robots in a dynamic environment

    NASA Astrophysics Data System (ADS)

    Meng, Xian-Song; Xu, Hong-Gen; Zhang, Ming-Jun

    2004-12-01

    In this paper a practical framework is proposed to keep formation control of multiple underwater robots in a dynamic environment. The approach is a viable solution to solve formation problem. The approach allows online planning of the formation paths using a Dijkstra’s search algorithm based on the current sensor data. The formation is allowed to be dynamically changed in order to avoid obstacles in the environment. A controller is designed to keep the robots in their planned trajectories. It is shown that the approach is effective and feasible by the simulation of computer.

  18. Protocol for the Locomotor Experience Applied Post-stroke (LEAPS) trial: a randomized controlled trial

    PubMed Central

    Duncan, Pamela W; Sullivan, Katherine J; Behrman, Andrea L; Azen, Stanley P; Wu, Samuel S; Nadeau, Stephen E; Dobkin, Bruce H; Rose, Dorian K; Tilson, Julie K

    2007-01-01

    Background Locomotor training using body weight support and a treadmill as a therapeutic modality for rehabilitation of walking post-stroke is being rapidly adopted into clinical practice. There is an urgent need for a well-designed trial to determine the effectiveness of this intervention. The objective of the Locomotor Experience Applied Post-Stroke (LEAPS) trial is to determine if there is a difference in the proportion of participants who recover walking ability at one year post-stroke when randomized to a specialized locomotor training program (LTP), conducted at 2- or 6-months post-stroke, or those randomized to a home based non-specific, low intensity exercise intervention (HEP) provided 2 months post-stroke. We will determine if the timing of LTP delivery affects gait speed at 1 year and whether initial impairment severity interacts with the timing of LTP. The effect of number of treatment sessions will be determined by changes in gait speed taken pre-treatment and post-12, -24, and -36 sessions. Methods/Design We will recruit 400 adults with moderate or severe walking limitations within 30 days of stroke onset. At two months post stroke, participants are stratified by locomotor impairment severity as determined by overground walking speed and randomly assigned to one of three groups: (a) LTP-Early; (b) LTP-Late or (c) Home Exercise Program -Early. The LTP program includes body weight support on a treadmill and overground training. The LTP and HEP interventions are delivered for 36 sessions over 12 weeks. Primary outcome measure include successful walking recovery defined as the achievement of a 0.4 m/s gait speed or greater by persons with initial severe gait impairment or the achievement of a 0.8 m/s gait speed or greater by persons with initial moderate gait impairment. LEAPS is powered to detect a 20% difference in the proportion of participants achieving successful locomotor recovery between the LTP groups and the HEP group, and a 0.1 m/s mean

  19. Communication and Control for Fleets of Autonomous Underwater Vehicles

    DTIC Science & Technology

    2006-10-30

    Figure 2. In addition, we have shown that a leader - follower platoon formation is inherently stable where the leader continuously broadcasts its...also demonstrated for this leader - follower platoon formation. RESULTS We changed a formation control problem into a formation regulation problem and...of unstable fixed modes. It was also shown that the stability of the n- vehicle leader - follower system was achieved by stabilizing each vehicle

  20. Alpha1b-adrenergic receptors control locomotor and rewarding effects of psychostimulants and opiates.

    PubMed

    Drouin, Candice; Darracq, Laurent; Trovero, Fabrice; Blanc, Gérard; Glowinski, Jacques; Cotecchia, Susanna; Tassin, Jean-Pol

    2002-04-01

    Drugs of abuse, such as psychostimulants and opiates, are generally considered as exerting their locomotor and rewarding effects through an increased dopaminergic transmission in the nucleus accumbens. Noradrenergic transmission may also be implicated because most psychostimulants increase norepinephrine (NE) release, and numerous studies have indicated interactions between noradrenergic and dopaminergic neurons through alpha1-adrenergic receptors. However, analysis of the effects of psychostimulants after either destruction of noradrenergic neurons or pharmacological blockade of alpha1-adrenergic receptors led to conflicting results. Here we show that the locomotor hyperactivities induced by d-amphetamine (1-3 mg/kg), cocaine (5-20 mg/kg), or morphine (5-10 mg/kg) in mice lacking the alpha1b subtype of adrenergic receptors were dramatically decreased when compared with wild-type littermates. Moreover, behavioral sensitizations induced by d-amphetamine (1-2 mg/kg), cocaine (5-15 mg/kg), or morphine (7.5 mg/kg) were also decreased in knock-out mice when compared with wild-type. Ruling out a neurological deficit in knock-out mice, both strains reacted similarly to novelty, to intraperitoneal saline, or to the administration of scopolamine (1 mg/kg), an anti-muscarinic agent. Finally, rewarding properties could not be observed in knock-out mice in an oral preference test (cocaine and morphine) and conditioned place preference (morphine) paradigm. Because catecholamine tissue levels, autoradiography of D1 and D2 dopaminergic receptors, and of dopamine reuptake sites and locomotor response to a D1 agonist showed that basal dopaminergic transmission was similar in knock-out and wild-type mice, our data indicate a critical role of alpha1b-adrenergic receptors and noradrenergic transmission in the vulnerability to addiction.

  1. EFPC: An Environmentally Friendly Power Control Scheme for Underwater Sensor Networks

    PubMed Central

    Yang, Qiuling; Su, Yishan; Jin, Zhigang; Yao, Guidan

    2015-01-01

    In oceans, the limited acoustic spectrum resource is heavily shared by marine mammals and manmade systems including underwater sensor networks. In order to limit the negative impact of acoustic signal on marine mammals, we propose an environmentally friendly power control (EFPC) scheme for underwater sensor networks. EFPC allocates transmission power of sensor nodes with a consideration of the existence of marine mammals. By applying a Nash Equilibrium based utility function with a set of limitations to optimize transmission power, the proposed power control algorithm can conduct parallel transmissions to improve the network’s goodput, while avoiding interference with marine mammals. Additionally, to localize marine mammals, which is a prerequisite of EFPC, we propose a novel passive hyperboloid localization algorithm (PHLA). PHLA passively localize marine mammals with the help of the acoustic characteristic of these targets. Simulation results show that PHLA can localize most of the target with a relatively small localization error and EFPC can achieve a close goodput performance compared with an existing power control algorithm while avoiding interfering with marine mammals. PMID:26593922

  2. EFPC: An Environmentally Friendly Power Control Scheme for Underwater Sensor Networks.

    PubMed

    Yang, Qiuling; Su, Yishan; Jin, Zhigang; Yao, Guidan

    2015-11-17

    In oceans, the limited acoustic spectrum resource is heavily shared by marine mammals and manmade systems including underwater sensor networks. In order to limit the negative impact of acoustic signal on marine mammals, we propose an environmentally friendly power control (EFPC) scheme for underwater sensor networks. EFPC allocates transmission power of sensor nodes with a consideration of the existence of marine mammals. By applying a Nash Equilibrium based utility function with a set of limitations to optimize transmission power, the proposed power control algorithm can conduct parallel transmissions to improve the network's goodput, while avoiding interference with marine mammals. Additionally, to localize marine mammals, which is a prerequisite of EFPC, we propose a novel passive hyperboloid localization algorithm (PHLA). PHLA passively localize marine mammals with the help of the acoustic characteristic of these targets. Simulation results show that PHLA can localize most of the target with a relatively small localization error and EFPC can achieve a close goodput performance compared with an existing power control algorithm while avoiding interfering with marine mammals.

  3. Remote full control, by an Internet link, of an underwater acoustics laboratory

    NASA Astrophysics Data System (ADS)

    Ranz-Guerra, Carlos; Cobo-Parra, Pedro; Siguero-Guerra, Manuel; Fernandez-Fernandez, Alejandro

    2002-11-01

    The Underwater Tank Laboratory located at the Instituto de Acustica, CSIC, Madrid, has been fully reshaped. Now, the two bridges (emission and reception) have full automatic motion control by the operator. These capabilities were complemented by a new management of signal generation, signal acquisition, processing and storing of data. This new framework makes many of the tasks to be performed in this kind of facility easier by putting at the hands of the operator specific friendly software programs that attend to the main aspects of the ongoing experiment. In one step forward, the remote control of all the functionalities was considered feasible. The potentialities of the Internet were thought to provide a new dimension to the laboratory by lowering the difficulties of taking over the full control of the installation, by any user around the world. Here is one real example of how this achievement can be carried out. The Underwater Acoustics Laboratory at the Instituto de Acustica, CSIC, is now ready to be run by any one interested. The main lines, over which this problem has been considered, are described in this paper. [Work supported by PN on Science and Technology and CSIC, Spain.

  4. Intelligent Co-ordinate control for mating process of underwater vehicle based on TFPN

    NASA Astrophysics Data System (ADS)

    Yan, Zhe-Ping; Dai, Xue-Feng; Bian, Xin-Qian

    2002-12-01

    In order to reduce time and improve the probability of successful matting it is useful to co-ordinate between the movement control and mating process of the underwater vehicle. Because it is hard to control with the common method under the condition of mating process, the hierarchical intelligent control is introduced. Timed fuzzy Petri net (TFPN), which is the integration of PN and fuzzy reasoning, is used in the design of coordinate level of hierarchically intelligent control. It made the control process better in reflecting the characteristics of time-driven, event-driven, fuzzy information and so on. The test shows that TF-PN could shorten the time of mating and enhance the efficiency.

  5. Planar maneuvering control of underwater snake robots using virtual holonomic constraints.

    PubMed

    Kohl, Anna M; Kelasidi, Eleni; Mohammadi, Alireza; Maggiore, Manfredi; Pettersen, Kristin Y

    2016-11-24

    This paper investigates the problem of planar maneuvering control for bio-inspired underwater snake robots that are exposed to unknown ocean currents. The control objective is to make a neutrally buoyant snake robot which is subject to hydrodynamic forces and ocean currents converge to a desired planar path and traverse the path with a desired velocity. The proposed feedback control strategy enforces virtual constraints which encode biologically inspired gaits on the snake robot configuration. The virtual constraints, parametrized by states of dynamic compensators, are used to regulate the orientation and forward speed of the snake robot. A two-state ocean current observer based on relative velocity sensors is proposed. It enables the robot to follow the path in the presence of unknown constant ocean currents. The efficacy of the proposed control algorithm for several biologically inspired gaits is verified both in simulations for different path geometries and in experiments.

  6. Active control of elastic and rigid body response of a three-dimensional underwater structure

    SciTech Connect

    Suzuki, H.; Yoshida, K.; Watanabe, K.

    1995-02-01

    One key technology for the offshore development of the increasing water depth will be remotely operated installation and construction of flexible structure in the deep water or on the seabed. The flexibility comes from scale-up or weight reduction of the structure. Conventional operation from the sea surfaces is affected by the weather conditions, and, therefore, not so efficient. This paper presents basic research on active control of elastic response and rigid body motion of an underwater elastic structure toward the remotely operated installation technique. The numerical model of the dynamics of the structural model is formulated, and based on the numerical model the control is formulated. The formulated control is tested by computer simulations and model experiments. The structural model is propelled by thrusters and taken from initial position to another position, while the elastic responses are controlled by variable buoyancy-type actuators.

  7. Neural Network-Based Self-Tuning PID Control for Underwater Vehicles

    PubMed Central

    Hernández-Alvarado, Rodrigo; García-Valdovinos, Luis Govinda; Salgado-Jiménez, Tomás; Gómez-Espinosa, Alfonso; Fonseca-Navarro, Fernando

    2016-01-01

    For decades, PID (Proportional + Integral + Derivative)-like controllers have been successfully used in academia and industry for many kinds of plants. This is thanks to its simplicity and suitable performance in linear or linearized plants, and under certain conditions, in nonlinear ones. A number of PID controller gains tuning approaches have been proposed in the literature in the last decades; most of them off-line techniques. However, in those cases wherein plants are subject to continuous parametric changes or external disturbances, online gains tuning is a desirable choice. This is the case of modular underwater ROVs (Remotely Operated Vehicles) where parameters (weight, buoyancy, added mass, among others) change according to the tool it is fitted with. In practice, some amount of time is dedicated to tune the PID gains of a ROV. Once the best set of gains has been achieved the ROV is ready to work. However, when the vehicle changes its tool or it is subject to ocean currents, its performance deteriorates since the fixed set of gains is no longer valid for the new conditions. Thus, an online PID gains tuning algorithm should be implemented to overcome this problem. In this paper, an auto-tune PID-like controller based on Neural Networks (NN) is proposed. The NN plays the role of automatically estimating the suitable set of PID gains that achieves stability of the system. The NN adjusts online the controller gains that attain the smaller position tracking error. Simulation results are given considering an underactuated 6 DOF (degrees of freedom) underwater ROV. Real time experiments on an underactuated mini ROV are conducted to show the effectiveness of the proposed scheme. PMID:27608018

  8. Neural Network-Based Self-Tuning PID Control for Underwater Vehicles.

    PubMed

    Hernández-Alvarado, Rodrigo; García-Valdovinos, Luis Govinda; Salgado-Jiménez, Tomás; Gómez-Espinosa, Alfonso; Fonseca-Navarro, Fernando

    2016-09-05

    For decades, PID (Proportional + Integral + Derivative)-like controllers have been successfully used in academia and industry for many kinds of plants. This is thanks to its simplicity and suitable performance in linear or linearized plants, and under certain conditions, in nonlinear ones. A number of PID controller gains tuning approaches have been proposed in the literature in the last decades; most of them off-line techniques. However, in those cases wherein plants are subject to continuous parametric changes or external disturbances, online gains tuning is a desirable choice. This is the case of modular underwater ROVs (Remotely Operated Vehicles) where parameters (weight, buoyancy, added mass, among others) change according to the tool it is fitted with. In practice, some amount of time is dedicated to tune the PID gains of a ROV. Once the best set of gains has been achieved the ROV is ready to work. However, when the vehicle changes its tool or it is subject to ocean currents, its performance deteriorates since the fixed set of gains is no longer valid for the new conditions. Thus, an online PID gains tuning algorithm should be implemented to overcome this problem. In this paper, an auto-tune PID-like controller based on Neural Networks (NN) is proposed. The NN plays the role of automatically estimating the suitable set of PID gains that achieves stability of the system. The NN adjusts online the controller gains that attain the smaller position tracking error. Simulation results are given considering an underactuated 6 DOF (degrees of freedom) underwater ROV. Real time experiments on an underactuated mini ROV are conducted to show the effectiveness of the proposed scheme.

  9. Formation Learning Control of Multiple Autonomous Underwater Vehicles With Heterogeneous Nonlinear Uncertain Dynamics.

    PubMed

    Yuan, Chengzhi; Licht, Stephen; He, Haibo

    2017-09-26

    In this paper, a new concept of formation learning control is introduced to the field of formation control of multiple autonomous underwater vehicles (AUVs), which specifies a joint objective of distributed formation tracking control and learning/identification of nonlinear uncertain AUV dynamics. A novel two-layer distributed formation learning control scheme is proposed, which consists of an upper-layer distributed adaptive observer and a lower-layer decentralized deterministic learning controller. This new formation learning control scheme advances existing techniques in three important ways: 1) the multi-AUV system under consideration has heterogeneous nonlinear uncertain dynamics; 2) the formation learning control protocol can be designed and implemented by each local AUV agent in a fully distributed fashion without using any global information; and 3) in addition to the formation control performance, the distributed control protocol is also capable of accurately identifying the AUVs' heterogeneous nonlinear uncertain dynamics and utilizing experiences to improve formation control performance. Extensive simulations have been conducted to demonstrate the effectiveness of the proposed results.

  10. Leptin-Dependent Control of Glucose Balance and Locomotor Activity by POMC Neurons

    PubMed Central

    Huo, Lihong; Gamber, Kevin; Greeley, Sarah; Silva, Jose; Huntoon, Nicholas; Leng, Xinghong; Bjørbæk, Christian

    2009-01-01

    Summary Leptin plays a pivotal role in regulation of energy balance. Via unknown central pathways leptin also affects peripheral glucose homeostasis and locomotor activity. We hypothesized that specifically Pro-opiomelanocortin (POMC) neurons mediate those actions. To examine this possibility we applied Cre-Lox technology to express leptin receptors (ObRb) exclusively in POMC neurons of the morbidly obese, profoundly diabetic, and severely hypoactive leptin receptor deficient Leprdb/db mice. We here show that expression of ObRb only in POMC neurons leads to a marked decrease in energy intake and a modest reduction in body weight in Leprdb/db mice. Remarkably, blood glucose levels are entirely normalized. This normalization occurs independently of changes in food intake and body weight. In addition, physical activity is greatly increased despite profound obesity. Our results suggest that leptin signaling exclusively in POMC neurons is sufficient to stimulate locomotion and prevent diabetes in the severely hypoactive and hyperglycemic obese Leprdb/db mice. PMID:19490908

  11. Adaptive changes in locomotor control after partial denervation of triceps surae muscles in the cat.

    PubMed

    Gritsenko, V; Mushahwar, V; Prochazka, A

    2001-05-15

    This report concerns a test of the hypothesis that gain in the stretch reflex pathway of cat medial gastrocnemius (MG) muscle during locomotion increases after denervation of its synergists, lateral gastrocnemius (LG), soleus (SOL) and plantaris (PL) muscles. In four cats, MG, tibialis anterior (TA) and vastus lateralis (VL) muscles were implanted with electromyogram (EMG) electrodes. The cats walked on a row of elevated pegs, some of which were spring-loaded and could be triggered to pop up at the moment of foot touchdown, rapidly dorsiflexing the foot. Pre-stretch EMG activity in MG as well as short-, medium- and long-latency responses to the dorsiflexions were compared before and after unilateral denervation of synergists. Short- and medium-latency responses of MG to perturbations increased in proportion to the increase in pre-stretch EMG in the days and weeks after partial denervation. This argues against an adaptive increase in stretch reflex gain independent of centrally generated extensor drive. Local anaesthesia of the skin of the paw did not significantly change the sizes of the stretch responses of MG before or after partial denervation. We conclude that pre-stretch EMG activity as well as stretch reflexes in MG muscle increased substantially after denervation of synergistic muscles. The data were consistent with an adaptive increase in central locomotor drive, causing more motoneuronal activity, which in turn resulted in an increase in the size of stretch reflexes.

  12. Mouse aldehyde-oxidase-4 controls diurnal rhythms, fat deposition and locomotor activity

    PubMed Central

    Terao, Mineko; Barzago, Maria Monica; Kurosaki, Mami; Fratelli, Maddalena; Bolis, Marco; Borsotti, Andrea; Bigini, Paolo; Micotti, Edoardo; Carli, Mirjana; Invernizzi, Roberto William; Bagnati, Renzo; Passoni, Alice; Pastorelli, Roberta; Brunelli, Laura; Toschi, Ivan; Cesari, Valentina; Sanoh, Seigo; Garattini, Enrico

    2016-01-01

    Aldehyde-oxidase-4 (AOX4) is one of the mouse aldehyde oxidase isoenzymes and its physiological function is unknown. The major source of AOX4 is the Harderian-gland, where the enzyme is characterized by daily rhythmic fluctuations. Deletion of the Aox4 gene causes perturbations in the expression of the circadian-rhythms gene pathway, as indicated by transcriptomic analysis. AOX4 inactivation alters the diurnal oscillations in the expression of master clock-genes. Similar effects are observed in other organs devoid of AOX4, such as white adipose tissue, liver and hypothalamus indicating a systemic action. While perturbations of clock-genes is sex-independent in the Harderian-gland and hypothalamus, sex influences this trait in liver and white-adipose-tissue which are characterized by the presence of AOX isoforms other than AOX4. In knock-out animals, perturbations in clock-gene expression are accompanied by reduced locomotor activity, resistance to diet induced obesity and to hepatic steatosis. All these effects are observed in female and male animals. Resistance to obesity is due to diminished fat accumulation resulting from increased energy dissipation, as white-adipocytes undergo trans-differentiation towards brown-adipocytes. Metabolomics and enzymatic data indicate that 5-hydroxyindolacetic acid and tryptophan are novel endogenous AOX4 substrates, potentially involved in AOX4 systemic actions. PMID:27456060

  13. Design and Initial In-Water Testing of Advanced Non-Linear Control Algorithms onto an Unmanned Underwater Vehicle (UUV)

    DTIC Science & Technology

    2007-10-01

    Design and initial in-water testing of advanced non- linear control algorithms onto an Unmanned Underwater Vehicle (UUV) Vladimir Djapic Unmanned...attitude or translating in a direction different from that of the surface. Non- linear controller that compensates for non-linear forces (such as drag...loop” non- linear controller (outputs the appropriate thrust values) is the same for all mission scenarios while an appropriate ”outer-loop” non

  14. Postural Control during Upper Body Locomotor-Like Movements: Similar Synergies Based on Dissimilar Muscle Modes

    PubMed Central

    Danna-Dos-Santos, Alessander; Shapkova, Elena Yu.; Shapkova, Alexandra L.; Degani, Adriana M.; Latash, Mark L.

    2009-01-01

    We studied the organization of leg and trunk muscles into groups (M-modes) and co-variation of M-mode involvement (M-mode synergies) during whole-body tasks associated with large variations of the moment of force about the vertical body axis. Our major questions were: (1) Can muscle activation patterns during such tasks be described with a few M-modes common across tasks and subjects? (2) Do these modes form the basis for synergies stabilizing MZ time pattern? (3) Will this organization differ between an explicit body rotation task and a task associated with locomotor-like alternating arm movements? Healthy subjects stood barefoot on the force platform and performed two motor tasks while paced by the metronome at 0.7, 1.0, and 1.4 Hz: Cyclic rotation of the upper body about the vertical body axis (body rotation task), and alternating rhythmic arm movements imitating those during running or quick walking (arm movement task). Principal component analysis was used to identify three M-modes within the space of integrated indices of muscle activity. The M-mode vectors showed clustering neither across subjects nor across frequencies. Variance in the M-mode space across sway cycles was partitioned into two components, one that did not affect the average value of MZ shift ("good variance") and the other that did. An index was computed reflecting the relative amount of the "good variance"; positive values of this index have been interpreted as reflecting a multi-M-mode synergy stabilizing the MZ trajectory. On average, the index was positive for both tasks and across all frequencies studied. However, the magnitude of the index was smaller for the intermediate frequency (1 Hz). The results show that the organization of muscles into groups during relatively complex whole-body tasks can differ significantly across both task variations and subjects. Nevertheless, the central nervous system seems to be able to build MZ stabilizing synergies based on different sets of M

  15. Containment control of networked autonomous underwater vehicles: A predictor-based neural DSC design.

    PubMed

    Peng, Zhouhua; Wang, Dan; Wang, Wei; Liu, Lu

    2015-11-01

    This paper investigates the containment control problem of networked autonomous underwater vehicles in the presence of model uncertainty and unknown ocean disturbances. A predictor-based neural dynamic surface control design method is presented to develop the distributed adaptive containment controllers, under which the trajectories of follower vehicles nearly converge to the dynamic convex hull spanned by multiple reference trajectories over a directed network. Prediction errors, rather than tracking errors, are used to update the neural adaptation laws, which are independent of the tracking error dynamics, resulting in two time-scales to govern the entire system. The stability property of the closed-loop network is established via Lyapunov analysis, and transient property is quantified in terms of L2 norms of the derivatives of neural weights, which are shown to be smaller than the classical neural dynamic surface control approach. Comparative studies are given to show the substantial improvements of the proposed new method. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  16. Underwater manipulator

    DOEpatents

    Schrum, P.B.; Cohen, G.H.

    1993-04-20

    Self-contained, waterproof, water-submersible, remote-controlled apparatus is described for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer [plus minus]45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer [plus minus]10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion.

  17. Underwater manipulator

    DOEpatents

    Schrum, Phillip B.; Cohen, George H.

    1993-01-01

    Self-contained, waterproof, water-submersible, remote-controlled apparatus is provided for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer .+-.45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer .+-.10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion.

  18. Underwater manipulator

    SciTech Connect

    Schrum, P.B.; Cohen, G.H.

    1992-12-31

    This invention is comprised of a self-contained, waterproof, water-submersible, remote-controlled apparatus provided for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer {plus_minus} 45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer {plus_minus} 10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion.

  19. Cerebellum Transcriptome of Mice Bred for High Voluntary Activity Offers Insights into Locomotor Control and Reward-Dependent Behaviors

    PubMed Central

    Caetano-Anollés, Kelsey; Rhodes, Justin S.; Garland, Theodore; Perez, Sam D.; Hernandez, Alvaro G.; Southey, Bruce R.; Rodriguez-Zas, Sandra L.

    2016-01-01

    The role of the cerebellum in motivation and addictive behaviors is less understood than that in control and coordination of movements. High running can be a self-rewarding behavior exhibiting addictive properties. Changes in the cerebellum transcriptional networks of mice from a line selectively bred for High voluntary running (H) were profiled relative to an unselected Control (C) line. The environmental modulation of these changes was assessed both in activity environments corresponding to 7 days of Free (F) access to running wheel and to Blocked (B) access on day 7. Overall, 457 genes exhibited a significant (FDR-adjusted P-value < 0.05) genotype-by-environment interaction effect, indicating that activity genotype differences in gene expression depend on environmental access to running. Among these genes, network analysis highlighted 6 genes (Nrgn, Drd2, Rxrg, Gda, Adora2a, and Rab40b) connected by their products that displayed opposite expression patterns in the activity genotype contrast within the B and F environments. The comparison of network expression topologies suggests that selection for high voluntary running is linked to a predominant dysregulation of hub genes in the F environment that enables running whereas a dysregulation of ancillary genes is favored in the B environment that blocks running. Genes associated with locomotor regulation, signaling pathways, reward-processing, goal-focused, and reward-dependent behaviors exhibited significant genotype-by-environment interaction (e.g. Pak6, Adora2a, Drd2, and Arhgap8). Neuropeptide genes including Adcyap1, Cck, Sst, Vgf, Npy, Nts, Penk, and Tac2 and related receptor genes also exhibited significant genotype-by-environment interaction. The majority of the 183 differentially expressed genes between activity genotypes (e.g. Drd1) were under-expressed in C relative to H genotypes and were also under-expressed in B relative to F environments. Our findings indicate that the high voluntary running mouse

  20. Output Feedback Fractional-Order Nonsingular Terminal Sliding Mode Control of Underwater Remotely Operated Vehicles

    PubMed Central

    Chen, Jiawang; Gu, Linyi

    2014-01-01

    For the 4-DOF (degrees of freedom) trajectory tracking control problem of underwater remotely operated vehicles (ROVs) in the presence of model uncertainties and external disturbances, a novel output feedback fractional-order nonsingular terminal sliding mode control (FO-NTSMC) technique is introduced in light of the equivalent output injection sliding mode observer (SMO) and TSMC principle and fractional calculus technology. The equivalent output injection SMO is applied to reconstruct the full states in finite time. Meanwhile, the FO-NTSMC algorithm, based on a new proposed fractional-order switching manifold, is designed to stabilize the tracking error to equilibrium points in finite time. The corresponding stability analysis of the closed-loop system is presented using the fractional-order version of the Lyapunov stability theory. Comparative numerical simulation results are presented and analyzed to demonstrate the effectiveness of the proposed method. Finally, it is noteworthy that the proposed output feedback FO-NTSMC technique can be used to control a broad range of nonlinear second-order dynamical systems in finite time. PMID:24983004

  1. Output feedback fractional-order nonsingular terminal sliding mode control of underwater remotely operated vehicles.

    PubMed

    Wang, Yaoyao; Chen, Jiawang; Gu, Linyi

    2014-01-01

    For the 4-DOF (degrees of freedom) trajectory tracking control problem of underwater remotely operated vehicles (ROVs) in the presence of model uncertainties and external disturbances, a novel output feedback fractional-order nonsingular terminal sliding mode control (FO-NTSMC) technique is introduced in light of the equivalent output injection sliding mode observer (SMO) and TSMC principle and fractional calculus technology. The equivalent output injection SMO is applied to reconstruct the full states in finite time. Meanwhile, the FO-NTSMC algorithm, based on a new proposed fractional-order switching manifold, is designed to stabilize the tracking error to equilibrium points in finite time. The corresponding stability analysis of the closed-loop system is presented using the fractional-order version of the Lyapunov stability theory. Comparative numerical simulation results are presented and analyzed to demonstrate the effectiveness of the proposed method. Finally, it is noteworthy that the proposed output feedback FO-NTSMC technique can be used to control a broad range of nonlinear second-order dynamical systems in finite time.

  2. Communications and Control for Enhanced Autonomy in Underwater Vehicles for Deep Oceanographic Research

    NASA Astrophysics Data System (ADS)

    Jakuba, M.; Kinsey, J. C.; Yoerger, D. R.; Whitcomb, L. L.; Camilli, R.; Murphy, C.; Bowen, A.; German, C. R.

    2010-12-01

    NASA’s Astrobiology Science and Technology for Exploring Planets (ASTEP) program is a science-driven program to produce advances in scientific and technological capabilities for planetary exploration. Oceanographic robotic vehicles and planetary exploration robots have proven to be highly effective scientific tools for performing scientific research in remote, extreme, and hostile environments that preclude direct human presence. In both domains, the planets and the world’s oceans, human oversight of remote robotic exploration can dramatically enhance scientific return in comparison to purely pre-planned missions by combining the perception, intelligence, and domain knowledge of the human operators with the super-human physical and sensory capabilities of robots. The degree of human oversight, however, is restricted in sea and space by physical limits on the bandwidth and time delay of communications between human operators and remote robotic platforms. Enhanced robotic autonomy can alleviate this obstacle. We present a communications and control architecture for underwater oceanographic robot vehicles that has permitted us to introduce elements of enhanced autonomy into operations with the Woods Hole Oceanographic Institution's Autonomous Underwater Vehicles (AUVs) Nereus and Sentry. Our architecture is designed to facilitate: (1) autonomous distillation of scientific data and transmission of salient synopses from the remote vehicle to its human operators; (2) high-level near real-time human supervision and control of mission programming; (3) semi-supervised learning of environmental models for enhanced survey and search mission effectiveness. Specific capabilities our group has demonstrated include selective data delivery via acoustic link; near real-time reprogramming of vehicle mission programs during otherwise preplanned dives; and validation of autonomous decision-making processes with human-supervision. These elements have been recently demonstrated

  3. Locomotor therapy in neurorehabilitation.

    PubMed

    Hesse, S

    2001-01-01

    Gait rehabilitation is a major aspect of neurological rehabilitation. This review is on locomotor therapy by treadmill stimulation with partial body weight support evolving as a very promising treatment concept over the last years. It enables severely affected patients the repetitive practice of complex gait cycles and thus follows modern aspects of motor learning favoring a task-specific approach. Several studies have shown its potential in patients after stroke, spinal cord injury, M. Parkinson and cerebral palsy. An electromechanical gait trainer relieving the strenuous effort of the therapists and controlling the trunk in a phase-dependent manner is a new alternative.

  4. Bio-Inspired Pressure Sensing for Active Yaw Control of Underwater Vehicles

    NASA Astrophysics Data System (ADS)

    Gao, Amy; Triantafyllou, Michael

    2012-11-01

    A towed underwater vehicle equipped with a bio-inspired artificial lateral line was constructed and tested with the goal of active detection and correction of the vehicle's angle of attack. Preliminary experiments demonstrate that a low number of sensors are sufficient to enable the discrimination between different orientations, and that a basic proportional controller is capable of keeping the vehicle aligned with the direction of flow. We propose that a model based controller could be developed to improve system response. Toward this, we derive a vehicle model based on a first-order 3D Rankine Source Panel Method, which is shown to be competent in estimating the pressure field in the region of interest during motion at constant angles of attack, and during execution of dynamic maneuvers. To solve the inverse problem of estimating the vehicle orientation given specific pressure measurements, an Unscented Kalman Filter is developed around the model. It is shown to provide a close estimation of the vehicle state using experimentally collected pressure measurements. This demonstrates that an artificial lateral line is a promising technology for dynamically mediating the angle of a body relative to the oncoming flow.

  5. MEMS sensors for assessing flow-related control of an underwater biomimetic robotic stingray.

    PubMed

    Asadnia, Mohsen; Kottapalli, Ajay Giri Prakash; Haghighi, Reza; Cloitre, Audren; Alvarado, Pablo Valdivia Y; Miao, Jianmin; Triantafyllou, Michael

    2015-05-18

    A major difference between manmade underwater robotic vehicles (URVs) and undersea animals is the dense arrays of sensors on the body of the latter which enable them to execute extreme control of their limbs and demonstrate super-maneuverability. There is a high demand for miniaturized, low-powered, lightweight and robust sensors that can perform sensing on URVs to improve their control and maneuverability. In this paper, we present the design, fabrication and experimental testing of two types of microelectromechanical systems (MEMS) sensors that benefit the situational awareness and control of a robotic stingray. The first one is a piezoresistive liquid crystal polymer haircell flow sensor which is employed to determine the velocity of propagation of the stingray. The second one is Pb(Zr(0.52)Ti(0.48))O3 piezoelectric micro-diaphragm pressure sensor which measures various flapping parameters of the stingray's fins that are key parameters to control the robot locomotion. The polymer flow sensors determine that by increasing the flapping frequency of the fins from 0.5 to 3 Hz the average velocity of the stingray increases from 0.05 to 0.4 BL s(-1), respectively. The role of these sensors in detecting errors in control and functioning of the actuators in performing tasks like flapping at a desired amplitude and frequency, swimming at a desired velocity and direction are quantified. The proposed sensors are also used to provide inputs for a model predictive control which allows the robot to track a desired trajectory. Although a robotic stingray is used as a platform to emphasize the role of the MEMS sensors, the applications can be extended to most URVs.

  6. Google™ underwater

    NASA Astrophysics Data System (ADS)

    Showstack, Randy

    2012-10-01

    The first underwater panoramic images were added to Google Maps™, the company announced on 25 September. This first “underwater Street View collection,” launched in partnership with the Caitlin Seaview Survey, provides people with the opportunity to “become the next virtual Jacques Cousteau.” For more information, see: maps.google.com/ocean.

  7. An Integrated Gait and Balance Analysis System to Define Human Locomotor Control

    DTIC Science & Technology

    2016-04-29

    common in the “real-world”. Furthermore, BCI controllers need some sort of direct link into neural signals and this requires invasive surgery and...L. J., Simon, A. M., Young, A. J., Lipschutz, R. D., Finucane, S. B., Smith, D. G., & Kuiken, T. A. (2013). Robotic leg control with EMG decoding in

  8. Locomotor Expertise Predicts Infants' Perseverative Errors

    ERIC Educational Resources Information Center

    Berger, Sarah E.

    2010-01-01

    This research examined the development of inhibition in a locomotor context. In a within-subjects design, infants received high- and low-demand locomotor A-not-B tasks. In Experiment 1, walking 13-month-old infants followed an indirect path to a goal. In a control condition, infants took a direct route. In Experiment 2, crawling and walking…

  9. Obstacle avoidance and smooth trajectory control: neural areas highlighted during improved locomotor performance

    PubMed Central

    Billington, Jac; Wilkie, Richard M.; Wann, John P.

    2013-01-01

    Visual control of locomotion typically involves both detection of current egomotion as well as anticipation of impending changes in trajectory. To determine if there are distinct neural systems involved in these aspects of steering control we used a slalom paradigm, which required participants to steer around objects in a computer simulated environment using a joystick. In some trials the whole slalom layout was visible (steering “preview” trials) so planning of the trajectory around future waypoints was possible, whereas in other trials the slalom course was only revealed one object at a time (steering “near” trials) so that future planning was restricted. In order to control for any differences in the motor requirements and visual properties between “preview” and “near” trials, we also interleaved control trials which replayed a participants' previous steering trials, with the task being to mimic the observed steering. Behavioral and fMRI results confirmed previous findings of superior parietal lobe (SPL) recruitment during steering trials, with a more extensive parietal and sensorimotor network during steering “preview” compared to steering “near” trials. Correlational analysis of fMRI data with respect to individual behavioral performance revealed that there was increased activation in the SPL in participants who exhibited smoother steering performance. These findings indicate that there is a role for the SPL in encoding path defining targets or obstacles during forward locomotion, which also provides a potential neural underpinning to explain improved steering performance on an individual basis. PMID:23423825

  10. Striatopallidal Neuron NMDA Receptors Control Synaptic Connectivity, Locomotor, and Goal-Directed Behaviors

    PubMed Central

    Lambot, Laurie; Chaves Rodriguez, Elena; Houtteman, Delphine; Li, Yuquing; Schiffmann, Serge N.; Gall, David

    2016-01-01

    The basal ganglia (BG) control action selection, motor programs, habits, and goal-directed learning. The striatum, the principal input structure of BG, is predominantly composed of medium-sized spiny neurons (MSNs). Arising from these spatially intermixed MSNs, two inhibitory outputs form two main efferent pathways, the direct and indirect pathways. Striatonigral MSNs give rise to the activating, direct pathway MSNs and striatopallidal MSNs to the inhibitory, indirect pathway (iMSNs). BG output nuclei integrate information from both pathways to fine-tune motor procedures and to acquire complex habits and skills. Therefore, balanced activity between both pathways is crucial for harmonious functions of the BG. Despite the increase in knowledge concerning the role of glutamate NMDA receptors (NMDA-Rs) in the striatum, understanding of the specific functions of NMDA-R iMSNs is still lacking. For this purpose, we generated a conditional knock-out mouse to address the functions of the NMDA-R in the indirect pathway. At the cellular level, deletion of GluN1 in iMSNs leads to a reduction in the number and strength of the excitatory corticostriatopallidal synapses. The subsequent scaling down in input integration leads to dysfunctional changes in BG output, which is seen as reduced habituation, delay in goal-directed learning, lack of associative behavior, and impairment in action selection or skill learning. The NMDA-R deletion in iMSNs causes a decrease in the synaptic strength of striatopallidal neurons, which in turn might lead to a imbalanced integration between direct and indirect MSN pathways, making mice less sensitive to environmental change. Therefore, their ability to learn and adapt to the environment-based experience was significantly affected. SIGNIFICANCE STATEMENT The striatum controls habits, locomotion, and goal-directed behaviors by coordinated activation of two antagonistic pathways. Insofar as NMDA receptors (NMDA-Rs) play a key role in synaptic

  11. High-brightness organic light-emitting diodes for optogenetic control of Drosophila locomotor behaviour

    NASA Astrophysics Data System (ADS)

    Morton, Andrew; Murawski, Caroline; Pulver, Stefan R.; Gather, Malte C.

    2016-08-01

    Organic light emitting diodes (OLEDs) are in widespread use in today’s mobile phones and are likely to drive the next generation of large area displays and solid-state lighting. Here we show steps towards their utility as a platform technology for biophotonics, by demonstrating devices capable of optically controlling behaviour in live animals. Using devices with a pin OLED architecture, sufficient illumination intensity (0.3 mW.mm-2) to activate channelrhodopsins (ChRs) in vivo was reliably achieved at low operating voltages (5 V). In Drosophila melanogaster third instar larvae expressing ChR2(H134R) in motor neurons, we found that pulsed illumination from blue and green OLEDs triggered robust and reversible contractions in animals. This response was temporally coupled to the timing of OLED illumination. With blue OLED illumination, the initial rate and overall size of the behavioural response was strongest. Green OLEDs achieved roughly 70% of the response observed with blue OLEDs. Orange OLEDs did not produce contractions in larvae, in agreement with the spectral response of ChR2(H134R). The device configuration presented here could be modified to accommodate other small model organisms, cell cultures or tissue slices and the ability of OLEDs to provide patterned illumination and spectral tuning can further broaden their utility in optogenetics experiments.

  12. Enhancement of Contralesional Motor Control Promotes Locomotor Recovery after Unilateral Brain Lesion

    PubMed Central

    Hua, Xu-Yun; Qiu, Yan-Qun; Wang, Meng; Zheng, Mou-Xiong; Li, Tie; Shen, Yun-Dong; Jiang, Su; Xu, Jian-Guang; Gu, Yu-Dong; Tsien, JoeZ.; Xu, Wen-Dong

    2016-01-01

    There have been controversies on the contribution of contralesional hemispheric compensation to functional recovery of the upper extremity after a unilateral brain lesion. Some studies have demonstrated that contralesional hemispheric compensation may be an important recovery mechanism. However, in many cases where the hemispheric lesion is large, this form of compensation is relatively limited, potentially due to insufficient connections from the contralesional hemisphere to the paralyzed side. Here, we used a new procedure to increase the effect of contralesional hemispheric compensation by surgically crossing a peripheral nerve at the neck in rats, which may provide a substantial increase in connections between the contralesional hemisphere and the paralyzed limb. This surgical procedure, named cross-neck C7-C7 nerve transfer, involves cutting the C7 nerve on the healthy side and transferring it to the C7 nerve on the paretic side. Intracortical microstimulation, Micro-PET and histological analysis were employed to explore the cortical changes in contralesional hemisphere and to reveal its correlation with behavioral recovery. These results showed that the contralesional hemispheric compensation was markedly strengthened and significantly related to behavioral improvements. The findings also revealed a feasible and effective way to maximize the potential of one hemisphere in controlling both limbs. PMID:26732072

  13. High-brightness organic light-emitting diodes for optogenetic control of Drosophila locomotor behaviour

    PubMed Central

    Morton, Andrew; Murawski, Caroline; Pulver, Stefan R.; Gather, Malte C.

    2016-01-01

    Organic light emitting diodes (OLEDs) are in widespread use in today’s mobile phones and are likely to drive the next generation of large area displays and solid-state lighting. Here we show steps towards their utility as a platform technology for biophotonics, by demonstrating devices capable of optically controlling behaviour in live animals. Using devices with a pin OLED architecture, sufficient illumination intensity (0.3 mW.mm−2) to activate channelrhodopsins (ChRs) in vivo was reliably achieved at low operating voltages (5 V). In Drosophila melanogaster third instar larvae expressing ChR2(H134R) in motor neurons, we found that pulsed illumination from blue and green OLEDs triggered robust and reversible contractions in animals. This response was temporally coupled to the timing of OLED illumination. With blue OLED illumination, the initial rate and overall size of the behavioural response was strongest. Green OLEDs achieved roughly 70% of the response observed with blue OLEDs. Orange OLEDs did not produce contractions in larvae, in agreement with the spectral response of ChR2(H134R). The device configuration presented here could be modified to accommodate other small model organisms, cell cultures or tissue slices and the ability of OLEDs to provide patterned illumination and spectral tuning can further broaden their utility in optogenetics experiments. PMID:27484401

  14. Neuroanatomical clues to peripheral locomotor control in small crustaceans (Artemia salina).

    PubMed

    Kane, E S

    1975-08-01

    Brine shrimp (Artemia salina) were prepared for light and electron microscopy at several stages. Immersion-fixed, rapid Golgi impregnations demonstrated two distinct neuronal types in thoracic appendages of mature, freely swimming Artemia. Isolated motor neurons had large cell somas and thick, radiating dendrites at the body wall-limb junction. A long, elaborate axon extended into the limb. Groups of a second type of neuron with smaller somas and very thin, radiating processes occurred in the distal limb near presumably tactile bristles. Thick axons from motor neurons were traced to terminals associated with limb muscle. Both muscle and axon were best seen with Nomarski optics. Motor axons possessed elongate, irregularly shaped boutons en passant and morphologically variable boutons terminaux; the latter included huge endings with knobbed projectiles arising from thick collaterals, or smaller, round boutons from thin collaterals. In addition, a thick unidentified axon coursed longitudinally within the central body wall, sending short collaterals peripherally. The elaborate peripheral neurons described in this Golgi study may be anatomical correlates for the extraordinary coordination of mature brine shrimp. Because Artemia movements resemble those of leech and decapods, which have been studied extensively electrophysiologically, the possibility of similarly elaborate peripheral structures supplementing central control of locomotion in those invertebrates should be considered.

  15. A genetically defined asymmetry underlies the inhibitory control of flexor–extensor locomotor movements

    PubMed Central

    Britz, Olivier; Zhang, Jingming; Grossmann, Katja S; Dyck, Jason; Kim, Jun C; Dymecki, Susan; Gosgnach, Simon; Goulding, Martyn

    2015-01-01

    V1 and V2b interneurons (INs) are essential for the production of an alternating flexor–extensor motor output. Using a tripartite genetic system to selectively ablate either V1 or V2b INs in the caudal spinal cord and assess their specific functions in awake behaving animals, we find that V1 and V2b INs function in an opposing manner to control flexor–extensor-driven movements. Ablation of V1 INs results in limb hyperflexion, suggesting that V1 IN-derived inhibition is needed for proper extension movements of the limb. The loss of V2b INs results in hindlimb hyperextension and a delay in the transition from stance phase to swing phase, demonstrating V2b INs are required for the timely initiation and execution of limb flexion movements. Our findings also reveal a bias in the innervation of flexor- and extensor-related motor neurons by V1 and V2b INs that likely contributes to their differential actions on flexion–extension movements. DOI: http://dx.doi.org/10.7554/eLife.04718.001 PMID:26465208

  16. Vision Underwater.

    ERIC Educational Resources Information Center

    Levine, Joseph S.

    1980-01-01

    Provides information regarding underwater vision. Includes a discussion of optically important interfaces, increased eye size of organisms at greater depths, visual peculiarities regarding the habitat of the coastal environment, and various pigment visual systems. (CS)

  17. Vision Underwater.

    ERIC Educational Resources Information Center

    Levine, Joseph S.

    1980-01-01

    Provides information regarding underwater vision. Includes a discussion of optically important interfaces, increased eye size of organisms at greater depths, visual peculiarities regarding the habitat of the coastal environment, and various pigment visual systems. (CS)

  18. Physiological responses to repeated apneas in underwater hockey players and controls.

    PubMed

    Lemaître, F; Polin, D; Joulia, F; Boutry, A; Le Pessot, D; Chollet, D; Tourny-Chollet, C

    2007-01-01

    The aim of this study was to investigate the effects of short repeated apneas on breathing pattern and circulatory response in trained (underwater hockey players: UHP) and untrained (controls: CTL) subjects. The subjects performed five apneas (A1-A5) while cycling with the face immersed in thermoneutral water. Respiratory parameters were recorded 1 minute before and after each apnea and venous blood samples were collected before each apnea and at 0, 2, 5 and 10 minutes after the last apnea. Arterial saturation (SaO2) and heart rate were continuously recorded during the experiment. Before the repeated apneas, UHP had lower ventilation, higher P(ET)CO2 (p < 0.05) and lower P(ET)O2 than CTL (p < 0.001). After the apneas, the P(ET)O2 values were always lower in UHP (p < 0.001) than CTL but with no difference for averaged P(ET)CO2 (p = 0.32). The apnea response, i.e., bradycardia and increased mean arterial blood pressure, was observed and it remained unchanged throughout the series in the two groups. The SaO, decreased in both groups during each apnea but the post-exercise SaO2 values were higher in UHP after A2 to A5 than in CTL (p < 0.01). The post-apnea lactate concentrations were lower in UHP than in CTL. These results indicate that more pronounced bradycardia could lead to less oxygen desaturation during repeated apneas in UHP. The UHP show a specific hypoventilatory pattern after repeated apneas, as well as a more pronounced cardiovascular response than CTL. They indeed showed no detraining of the diving response.

  19. An acoustically controlled tetherless underwater vehicle for installation and maintenance of neutrino detectors in the deep ocean

    SciTech Connect

    Ballou, Philip J.

    1997-02-01

    The task of installing and servicing high energy neutrino detectors in the deep ocean from a surface support vessel is problematic using conventional tethered systems. An array of multiple detector strings rising 500 m from the ocean floor, and forming a grid with 50 m spacing between the strings, presents a substantial entanglement hazard for equipment cables deployed from the surface. Such tasks may be accomplished with fewer risks using a tetherless underwater remotely operated vehicle that has a local acoustic telemetry link to send control commands and sensor data between the vehicle and a stationary hydrophone suspended above or just outside the perimeter of the work site. The Phase I effort involves the development of an underwater acoustic telemetry link for vehicle control and sensor feedback, the evaluation of video compression methods for real-time acoustic transmission of video through the water, and the defining of local control routines on board the vehicle to allow it to perform certain basic maneuvering tasks autonomously, or to initiate a self-rescue if the acoustic control link should be lost. In Phase II, a prototype tetherless vehicle system will be designed and constructed to demonstrate the ability to install cable interconnections within a detector array at 4 km depth. The same control technology could be used with a larger more powerful vehicle to maneuver the detector strings into desired positions as they are being lowered to the ocean floor.

  20. Semi-active control of piezoelectric coating's underwater sound absorption by combining design of the shunt impedances

    NASA Astrophysics Data System (ADS)

    Sun, Yang; Li, Zhaohui; Huang, Aigen; Li, Qihu

    2015-10-01

    Piezoelectric shunt damping technology has been applied in the field of underwater sound absorption in recent years. In order to achieve broadband echo reduction, semi-active control of sound absorption of multi-layered piezoelectric coating by shunt damping is significant. In this paper, a practical method is proposed to control the underwater sound absorption coefficients of piezoelectric coating layers by combining design of the shunt impedance that allows certain sound absorption coefficients at setting frequencies. A one-dimensional electro-acoustic model of the piezoelectric coating and the backing is established based on the Mason equivalent circuit theory. First, the shunt impedance of the coating is derived under the constraint of sound absorption coefficient at one frequency. Then, taking the 1-3 piezoelectric composite coating as an example, the sound absorption properties of the coating shunted to the designed shunt impedance are investigated. Next, on the basis of that, an iterative method for two constrained frequencies and an optimizing algorithm for multiple constrained frequencies are provided for combining design of the shunt impedances. At last, an experimental sample with four piezoelectric material layers is manufactured, of which the sound absorption coefficients are measured in an impedance tube. The experimental results show good agreement with the finite element simulation results. It is proved that a serial R-L circuit can control the peak frequency, maximum and bandwidth of the sound absorption coefficient and the combining R-L circuits shunted to multiple layers can control the sound absorption coefficients at multiple frequencies.

  1. Rule Based Control for Mission Execution for an Autonomous Underwater Vehicle

    DTIC Science & Technology

    1992-02-01

    potential ability to operate at over-the-horizon distances make autonomous underwater vehicles highly desirable for many subsea activities and operations...discussed in the following sections. reptan Mission LogI reques decisions’ mission Fig’ure 1: The Interface 3.1 Downloading Mission Profile from the...Because of the relatively limited distance of the AUV sonar, avoidance action must be taken early. An obstacle is initially checked for its potential to

  2. Autonomous Underwater Vehicle Control Coordination Using a Tri-Level Hybrid Software Architecture

    DTIC Science & Technology

    1996-01-01

    Tri-Level Hybrid Software Architecture A. J. Healey1, D. B. Marco, R. B. McGhee Autonomous Underwater Vehicle Laboratory Naval Postgraduate School...the software architecture to implement them is often composed of three levels for ease of segregation and development of functionality. An...the development of coastal environmental understanding, new technology is being aimed at using (semi)autonomous vehicles, requiring acoustic

  3. Underwater Transparent Miniature "Mechanical Hand" Based on Femtosecond Laser-Induced Controllable Oil-Adhesive Patterned Glass for Oil Droplet Manipulation.

    PubMed

    Huo, Jinglan; Yang, Qing; Chen, Feng; Yong, Jiale; Fang, Yao; Zhang, Jingzhou; Liu, Lin; Hou, Xun

    2017-04-03

    Development of underwater superoleophobic surfaces has captured the imagination of researchers because of their applications; especially, oil manipulation based on such surfaces has attracted much attention. Here, we show a simple and effective way to fabricate an underwater transparent miniature "mechanical hand" based on controllable oil-adhesive patterned glass using a femtosecond laser. The underwater oil-adhesive force of the patterned glasses that compose the "mechanical hand" device can be controlled from ultralow to ultrahigh by adjusting the ratio of the untreated flat glass area to the laser-ablated rough area. These surfaces also showed favorable transparency in water. Various oils such as chloroform, hexadecane, n-dodecane, decane, liquid paraffin, and petroleum ether were tested, and their repellency against the as-prepared surfaces in water medium was confirmed. Moreover, the "mechanical hand" was used to implement oil transportation, fusion, and rapid capture, which can be applied in the construction of microfluidic devices, in situ detectors, and bioreactors.

  4. Underwater Rays

    ERIC Educational Resources Information Center

    Cepic, Mojca

    2008-01-01

    Light beams in wavy unclear water, also called underwater rays, and caustic networks of light formed at the bottom of shallow water are two faces of a single phenomenon. Derivation of the caustic using only simple geometry, Snell's law and simple derivatives accounts for observations such as the existence of the caustic network on vertical walls,…

  5. Underwater Rays

    ERIC Educational Resources Information Center

    Cepic, Mojca

    2008-01-01

    Light beams in wavy unclear water, also called underwater rays, and caustic networks of light formed at the bottom of shallow water are two faces of a single phenomenon. Derivation of the caustic using only simple geometry, Snell's law and simple derivatives accounts for observations such as the existence of the caustic network on vertical walls,…

  6. Hierarchical Model Predictive Image-Based Visual Servoing of Underwater Vehicles With Adaptive Neural Network Dynamic Control.

    PubMed

    Gao, Jian; Proctor, Alison A; Shi, Yang; Bradley, Colin

    2016-10-01

    This paper proposes a hierarchical image-based visual servoing (IBVS) strategy for dynamic positioning of a fully actuated underwater vehicle. In the kinematic loop, the desired velocity is generated by a nonlinear model predictive controller, which optimizes a cost function of the predicted image trajectories under the constraints of visibility and velocity. A velocity reference model, representing the desired closed-loop vehicle dynamics, is integrated with an IBVS kinematic model to predict the future trajectories. In the dynamic velocity tracking loop, a neural-network-based model reference adaptive controller is designed to ensure the convergence of the velocity tracking error in the presence of uncertainties associated with vehicle dynamic parameters, water velocity, and thrust forces. Comparative simulations with different control and system configurations are performed to verify the effectiveness of the proposed scheme and to illustrate the influences of the prediction horizon, cost function, closed-loop vehicle dynamics, and predictive velocity reference model on the IBVS system performance.

  7. Abiotic control of underwater light in a drinking water reservoir: Photon budget analysis and implications for water quality monitoring

    NASA Astrophysics Data System (ADS)

    Watanabe, Shohei; Laurion, Isabelle; Markager, Stiig; Vincent, Warwick F.

    2015-08-01

    In optically complex inland waters, the underwater attenuation of photosynthetically active radiation (PAR) is controlled by a variable combination of absorption and scattering components of the lake or river water. Here we applied a photon budget approach to identify the main optical components affecting PAR attenuation in Lake St. Charles, a drinking water reservoir for Québec City, Canada. This analysis showed the dominant role of colored dissolved organic matter (CDOM) absorption (average of 44% of total absorption during the sampling period), but with large changes over depth in the absolute and relative contribution of the individual absorption components (water, nonalgal particulates, phytoplankton and CDOM) to PAR attenuation. This pronounced vertical variation occurred because of the large spectral changes in the light field with depth, and it strongly affected the average in situ diffuse absorption coefficients in the water column. For example, the diffuse absorption coefficient for pure-water in the ambient light field was 10-fold higher than the value previously measured in the blue open ocean and erroneously applied to lakes and coastal waters. Photon absorption budget calculations for a range of limnological conditions confirmed that phytoplankton had little direct influence on underwater light, even at chlorophyll a values above those observed during harmful algal blooms in the lake. These results imply that traditional measures of water quality such as Secchi depth and radiometric transparency do not provide a meaningful estimate of the biological state of the water column in CDOM-colored lakes and reservoirs.

  8. Glucosamine-containing supplement improves locomotor functions in subjects with knee pain: a randomized, double-blind, placebo-controlled study

    PubMed Central

    Kanzaki, Noriyuki; Ono, Yoshiko; Shibata, Hiroshi; Moritani, Toshio

    2015-01-01

    Background The aim of this study was to investigate the ability of a glucosamine-containing supplement to improve locomotor functions in subjects with knee pain. Methods A randomized, double-blind, placebo-controlled, parallel-group comparative study was conducted for 16 weeks in 100 Japanese subjects (age, 51.8±0.8 years) with knee pain. Subjects were randomly assigned to one of the two supplements containing 1) 1,200 mg of glucosamine hydrochloride, 60 mg of chondroitin sulfate, 45 mg of type II collagen peptides, 90 mg of quercetin glycosides, 10 mg of imidazole peptides, and 5 μg of vitamin D per day (GCQID group, n=50) or 2) a placebo (placebo group, n=50). Japanese Knee Osteoarthritis Measure, visual analog scale score, normal walking speed, and knee-extensor strength were measured to evaluate the effects of the supplement on knee-joint functions and locomotor functions. Results In subjects eligible for efficacy assessment, there was no significant group × time interaction, and there were improvements in knee-joint functions and locomotor functions in both groups, but there was no significant difference between the groups. In subjects with mild-to-severe knee pain at baseline, knee-extensor strength at week 8 (104.6±5.0% body weight vs 92.3±5.5% body weight, P=0.030) and the change in normal walking speed at week 16 (0.11±0.03 m/s vs 0.05±0.02 m/s, P=0.038) were significantly greater in the GCQID group than in the placebo group. Further subgroup analysis based on Kellgren–Lawrence (K–L) grade showed that normal walking speed at week 16 (1.36±0.05 m/s vs 1.21±0.02 m/s, P<0.05) was significantly greater in the GCQID group than in the placebo group in subjects with K–L grade I. No adverse effect of treatment was identified in the safety assessment. Conclusion In subjects with knee pain, GCQID supplementation was effective for relieving knee pain and improving locomotor functions. PMID:26604721

  9. Distributed flow estimation and closed-loop control of an underwater vehicle with a multi-modal artificial lateral line.

    PubMed

    DeVries, Levi; Lagor, Francis D; Lei, Hong; Tan, Xiaobo; Paley, Derek A

    2015-03-25

    Bio-inspired sensing modalities enhance the ability of autonomous vehicles to characterize and respond to their environment. This paper concerns the lateral line of cartilaginous and bony fish, which is sensitive to fluid motion and allows fish to sense oncoming flow and the presence of walls or obstacles. The lateral line consists of two types of sensing modalities: canal neuromasts measure approximate pressure gradients, whereas superficial neuromasts measure local flow velocities. By employing an artificial lateral line, the performance of underwater sensing and navigation strategies is improved in dark, cluttered, or murky environments where traditional sensing modalities may be hindered. This paper presents estimation and control strategies enabling an airfoil-shaped unmanned underwater vehicle to assimilate measurements from a bio-inspired, multi-modal artificial lateral line and estimate flow properties for feedback control. We utilize potential flow theory to model the fluid flow past a foil in a uniform flow and in the presence of an upstream obstacle. We derive theoretically justified nonlinear estimation strategies to estimate the free stream flowspeed, angle of attack, and the relative position of an upstream obstacle. The feedback control strategy uses the estimated flow properties to execute bio-inspired behaviors including rheotaxis (the tendency of fish to orient upstream) and station-holding (the tendency of fish to position behind an upstream obstacle). A robotic prototype outfitted with a multi-modal artificial lateral line composed of ionic polymer metal composite and embedded pressure sensors experimentally demonstrates the distributed flow sensing and closed-loop control strategies.

  10. The effect of traveling wave shapes in the maneuver control and efficiency of an underwater robot propelled by an undulating fin

    NASA Astrophysics Data System (ADS)

    Liu, Hanlin; Curet, Oscar

    2016-11-01

    Effective control of propulsive undulating fins has the potential to enhance the maneuverability and efficiency of underwater vehicles allowing them to navigate in more complex environments. Aquatic animals using this type of propulsion are able to perform complex maneuvers by sending different traveling waves along one or multiple elongated fins. Recent work has investigated the propulsive forces, the hydrodynamics and the efficiency of an undulating ribbon fin. However, it is still not understood how different traveling wave shapes along the fin can be used to control the hydrodynamic forces and torques to perform different maneuvers. In this work, we study the effect of traveling wave shapes on the hydrodynamic forces and torques, swimming speed, maneuver control and propulsive performance of an underwater vehicle propelled by an undulating fin. The underwater robot propels by actuating a fin that is composed of sixteen independent rays interconnected with a flexible membrane. The hull contains all the electronics, batteries, motors and sensors. The underwater vehicle was tested in a water tank-flume facility. In a series of experiments, we measured the motion of the vessel and the power consumption for different traveling wave patterns. In addition, we measured the flow around the fin using Particle Image Velocimetry. We present the results concerning the power distribution along the fin, propulsive efficiency, free-swimming speed and pitch control based on different fin kinematics. National Science Foundation under Grant No. 1420774.

  11. Unmanned Surface and Underwater Vehicles

    DTIC Science & Technology

    2007-07-03

    configured for a wide range of research, surveying or monitoring tasks. On the 9th of september 2005, following an accident just outside Reykjavik, Gavia...crew from a Russian submarine in June 2005, see http://english.pravda.ru/ accidents /21/97/384/1593 1_minisub.htn-d) Classification: Location: Underwater...english.pravda.ru/ accidents /21/97/384/1593 1_minisub.html) Classification: Location: Underwater. Control: Remotely Operated. Function: Rescue. Table 30

  12. Effectiveness of Automated Locomotor Training in Patients with Acute Incomplete Spinal Cord Injury: A Randomized, Controlled, Multicenter Trial.

    PubMed

    Wirz, Markus; Mach, Orpheus; Maier, Doris; Benito-Penalva, Jesus; Taylor, Julian; Esclarin, Ana; Dietz, Volker

    2016-12-02

    The aim of this study was to evaluate whether the effect of longer training times (50 instead of 25 min per day) using a robotic device results in a better outcome of walking ability of subjects with a subacute motor complete (American Spinal Injury Association Impairment Scale [AIS]-B) and incomplete (AIS-C) spinal cord injury. Twenty-one patients were enrolled in the study, whereof 18 completed, on average, 34 trainings in 8 weeks. Longer training times resulted in better locomotor function. The second important result of the study is that a beneficial effect can be achieved by the application of a robotic device for prolonged training sessions without requiring more personal resources. It has to remain open whether even longer training times (more than 50 min) would result in a still better outcome. In any case, the extent of possible recovery in an individual patient is determined by the level and severity of spinal cord damage.

  13. A parallel cholinergic brainstem pathway for enhancing locomotor drive

    PubMed Central

    Smetana, Roy; Juvin, Laurent; Dubuc, Réjean; Alford, Simon

    2010-01-01

    The brainstem locomotor system is believed to be organized serially from the mesencephalic locomotor region (MLR) to reticulospinal neurons, which in turn, project to locomotor neurons in the spinal cord. In contrast, we now identify in lampreys, brainstem muscarinoceptive neurons receiving parallel inputs from the MLR and projecting back to reticulospinal cells to amplify and extend durations of locomotor output. These cells respond to muscarine with extended periods of excitation, receive direct muscarinic excitation from the MLR, and project glutamatergic excitation to reticulospinal neurons. Targeted block of muscarine receptors over these neurons profoundly reduces MLR-induced excitation of reticulospinal neurons and markedly slows MLR-evoked locomotion. Their presence forces us to rethink the organization of supraspinal locomotor control, to include a sustained feedforward loop that boosts locomotor output. PMID:20473293

  14. Underwater optical wireless communication network

    NASA Astrophysics Data System (ADS)

    Arnon, Shlomi

    2010-01-01

    The growing need for underwater observation and subsea monitoring systems has stimulated considerable interest in advancing the enabling technologies of underwater wireless communication and underwater sensor networks. This communication technology is expected to play an important role in investigating climate change, in monitoring biological, biogeochemical, evolutionary, and ecological changes in the sea, ocean, and lake environments, and in helping to control and maintain oil production facilities and harbors using unmanned underwater vehicles (UUVs), submarines, ships, buoys, and divers. However, the present technology of underwater acoustic communication cannot provide the high data rate required to investigate and monitor these environments and facilities. Optical wireless communication has been proposed as the best alternative to meet this challenge. Models are presented for three kinds of optical wireless communication links: (a) a line-of-sight link, (b) a modulating retroreflector link, and (c) a reflective link, all of which can provide the required data rate. We analyze the link performance based on these models. From the analysis, it is clear that as the water absorption increases, the communication performance decreases dramatically for the three link types. However, by using the scattered light it was possible to mitigate this decrease in some cases. It is concluded from the analysis that a high-data-rate underwater optical wireless network is a feasible solution for emerging applications such as UUV-to-UUV links and networks of sensors, and extended ranges in these applications could be achieved by applying a multi-hop concept.

  15. Decreased locomotor activity in mice expressing tTA under control of the CaMKII alpha promoter.

    PubMed

    McKinney, B C; Schneider, J S; Schafer, G L; Lowing, J L; Mohan, S; Zhao, M X; Heng, M Y; Albin, R L; Seasholtz, A F; Akil, H; Murphy, G G

    2008-03-01

    Transgenic mice in which the tetracycline transactivator (tTA) is driven by the forebrain-specific calcium-calmodulin-dependent kinase II alpha promoter (CaMKII alpha-tTA mice) are used to study the molecular genetics of many behaviors. These mice can be crossed with other transgenic mice carrying a transgene of interest coupled to the tetracycline-responsive promoter element to produce mice with forebrain-specific expression of the transgene under investigation. The value of using CaMKII alpha-tTA mice to study behavior, however, is dependent on the CaMKII alpha-tTA mice themselves lacking a behavioral phenotype with respect to the behaviors being studied. Here we present data that suggest CaMKII alpha-tTA mice have a behavioral phenotype distinct from that of their wild-type (WT) littermates. Most strikingly, we find that CaMKII alpha-tTA mice, both those with a C57BL/6NTac genetic background (B6-tTA) and those with a 129S6B6F1/Tac hybrid genetic background (F1-tTA), exhibit decreased locomotor activity compared with WT littermates that could be misinterpreted as altered anxiety-like behavior. Despite this impairment, neither B6-tTA nor F1-tTA mice perform differently than their WT littermates in two commonly used learning and memory paradigms - Pavlovian fear conditioning and Morris water maze. Additionally, we find data regarding motor coordination and balance to be mixed: B6-tTA mice, but not F1-tTA mice, exhibit impaired performance on the accelerating rotarod and both perform as well as their WT littermates on the balance beam.

  16. Locomotor expertise predicts infants' perseverative errors.

    PubMed

    Berger, Sarah E

    2010-03-01

    This research examined the development of inhibition in a locomotor context. In a within-subjects design, infants received high- and low-demand locomotor A-not-B tasks. In Experiment 1, walking 13-month-old infants followed an indirect path to a goal. In a control condition, infants took a direct route. In Experiment 2, crawling and walking 13-month-old infants crawled through a tunnel to reach a goal at the other end and received the same control condition as in Experiment 1. In both experiments, perseverative errors occurred more often in the high-demand condition than in the low-demand condition. Moreover, in Experiment 2, walkers perseverated more than crawlers, and extent of perseveration was related to infants' locomotor experience. In Experiment 3, the authors addressed a possible confound in Experiment 2 between locomotor expertise and locomotor posture. Novice crawlers perseverated in the difficult tunnels condition, behaving more like novice walkers than expert crawlers. As predicted by a cognitive capacity account of infant perseveration, overtaxed attentional resources resulted in a cognition-action trade-off. Experts who found the task less motorically effortful than novices had more cognitive resources available for problem solving.

  17. GE underwater test facility studies in zero G simulation

    NASA Technical Reports Server (NTRS)

    Fry, R. H.

    1972-01-01

    The underwater test facility (UTF) is described as an indoor controlled environment test facility designed specifically for zero G simulation, hydrospace manned and unmanned equipment development, and personnel training for both space and underwater exploration. Programs conducted in the UTF include: human engineering criteria for maintenance and repairs of space stations, astronaut performance, helmet distortion, underwater telemetry, and blood transfusion.

  18. Natural Underwater Adhesives.

    PubMed

    Stewart, Russell J; Ransom, Todd C; Hlady, Vladimir

    2011-06-01

    The general topic of this review is protein-based underwater adhesives produced by aquatic organisms. The focus is on mechanisms of interfacial adhesion to native surfaces and controlled underwater solidification of natural water-borne adhesives. Four genera that exemplify the broad range of function, general mechanistic features, and unique adaptations are discussed in detail: blue mussels, acorn barnacles, sandcastle worms, and freshwater caddisfly larva. Aquatic surfaces in nature are charged and in equilibrium with their environment, populated by an electrical double layer of ions as well as adsorbed natural polyelectrolytes and microbial biofilms. Surface adsorption of underwater bioadhesives likely occurs by exchange of surface bound ligands by amino acid sidechains, driven primarily by relative affinities and effective concentrations of polymeric functional groups. Most aquatic organisms exploit modified amino acid sidechains, in particular phosphorylated serines and hydroxylated tyrosines (dopa), with high-surface affinity that form coordinative surface complexes. After delivery to the surfaces as a fluid, permanent natural adhesives solidify to bear sustained loads. Mussel plaques are assembled in a manner superficially reminiscent of in vitro layer-by-layer strategies, with sequentially delivered layers associated through Fe(dopa)(3) coordination bonds. The adhesives of sandcastle worms, caddisfly larva, and barnacles may be delivered in a form somewhat similar to in vitro complex coacervation. Marine adhesives are secreted, or excreted, into seawater that has a significantly higher pH and ionic strength than the internal environment. Empirical evidence suggests these environment triggers could provide minimalistic, fail-safe timing mechanisms to prevent premature solidification (insolubilization) of the glue within the secretory system, yet allow rapid solidification after secretion. Underwater bioadhesives are further strengthened by secondary covalent

  19. Natural Underwater Adhesives

    PubMed Central

    Stewart, Russell J.; Ransom, Todd C.; Hlady, Vladimir

    2011-01-01

    The general topic of this review is protein-based underwater adhesives produced by aquatic organisms. The focus is on mechanisms of interfacial adhesion to native surfaces and controlled underwater solidification of natural water-borne adhesives. Four genera that exemplify the broad range of function, general mechanistic features, and unique adaptations are discussed in detail: blue mussels, acorn barnacles, sandcastle worms, and freshwater caddisfly larva. Aquatic surfaces in nature are charged and in equilibrium with their environment, populated by an electrical double layer of ions as well as adsorbed natural polyelectrolytes and microbial biofilms. Surface adsorption of underwater bioadhesives likely occurs by exchange of surface bound ligands by amino acid sidechains, driven primarily by relative affinities and effective concentrations of polymeric functional groups. Most aquatic organisms exploit modified amino acid sidechains, in particular phosphorylated serines and hydroxylated tyrosines (dopa), with high-surface affinity that form coordinative surface complexes. After delivery to the surfaces as a fluid, permanent natural adhesives solidify to bear sustained loads. Mussel plaques are assembled in a manner superficially reminiscent of in vitro layer-by-layer strategies, with sequentially delivered layers associated through Fe(dopa)3 coordination bonds. The adhesives of sandcastle worms, caddisfly larva, and barnacles may be delivered in a form somewhat similar to in vitro complex coacervation. Marine adhesives are secreted, or excreted, into seawater that has a significantly higher pH and ionic strength than the internal environment. Empirical evidence suggests these environment triggers could provide minimalistic, fail-safe timing mechanisms to prevent premature solidification (insolubilization) of the glue within the secretory system, yet allow rapid solidification after secretion. Underwater bioadhesives are further strengthened by secondary covalent

  20. Lack of locomotor-cardiac coupling in trotting dogs.

    PubMed

    Simmons, A D; Carrier, D R; Farmer, C G; Gregersen, C S

    1997-10-01

    Coupling of locomotor and cardiac cycles has been suggested to facilitate effective arterial delivery and venous return during vigorous exercise. In an attempt to document locomotor-cardiac coupling, we ran five dogs on a motorized treadmill while monitoring heart activity with surface electrocardiogram electrodes and locomotor events with high-speed video and an accelerometer mounted on the dog's back. Analysis of the cardiac and locomotor frequencies revealed that heart rate was usually slightly greater than stride frequency. Hence the timing of the cardiac cycles varied with respect to the phase of the locomotor cycles, and therefore consistent coupling of the locomotor and cardiac cycles was not observed in any of the dogs. However, the period of the cardiac cycle sometimes varied in a rhythmic way that caused brief periods of transient coupling of the locomotor and cardiac cycles in three of the five dogs. These brief periods of coupling (5-20 heartbeats) occurred at approximately the same phase relationship in each of the three dogs. We hypothesize that the variation in cardiac period and the resulting transient coupling are a function of locomotor and ventilatory influences on venous return and/or ventricular ejection. Because venous return and ejection fraction are likely to vary in an unpredictable manner when animals run in a complex environment, we suggest that reflex control of heart rate will be important during locomotion and strict integer coupling of the locomotor and cardiac cycles is unlikely to evolve.

  1. Locomotor behaviour of Blattella germanica modified by DEET.

    PubMed

    Sfara, Valeria; Mougabure-Cueto, Gastón A; Zerba, Eduardo N; Alzogaray, Raúl A

    2013-01-01

    N,N-diethyl-3-methylbenzamide (DEET) is the active principle of most insect repellents used worldwide. However, its toxicity on insects has not been widely studied. The aim of this work is to study the effects of DEET on the locomotor activity of Blattella germanica. DEET has a dose-dependent repellent activity on B. germanica. Locomotor activity was significantly lower when insects were pre-exposed to 700 µg/cm(2) of DEET for 20 or 30 minutes, but it did not change when pre-exposure was shorter. Locomotor activity of insects that were pre-exposed to 2.000 µg/cm(2) of DEET for 10 minutes was significantly lower than the movement registered in controls. No differences were observed when insects were pre-exposed to lower concentrations of DEET. A 30-minute pre-exposure to 700 µg/cm(2) of DEET caused a significant decrease in locomotor activity. Movement was totally recovered 24 h later. The locomotor activity measured during the exposure to different concentrations of DEET remained unchanged. Insects with decreased locomotor activity were repelled to the same extent than control insects by the same concentration of DEET. We demonstrated that the repellency and modification of locomotor activity elicited by DEET are non-associated phenomena. We also suggested that the reduction in locomotor activity indicates toxicity of DEET, probably to insect nervous system.

  2. Locomotor Behaviour of Blattella germanica Modified by DEET

    PubMed Central

    Sfara, Valeria; Mougabure-Cueto, Gastón A.; Zerba, Eduardo N.; Alzogaray, Raúl A.

    2013-01-01

    N,N-diethyl-3-methylbenzamide (DEET) is the active principle of most insect repellents used worldwide. However, its toxicity on insects has not been widely studied. The aim of this work is to study the effects of DEET on the locomotor activity of Blattella germanica. DEET has a dose-dependent repellent activity on B. germanica. Locomotor activity was significantly lower when insects were pre-exposed to 700 µg/cm2 of DEET for 20 or 30 minutes, but it did not change when pre-exposure was shorter. Locomotor activity of insects that were pre-exposed to 2.000 µg/cm2 of DEET for 10 minutes was significantly lower than the movement registered in controls. No differences were observed when insects were pre-exposed to lower concentrations of DEET. A 30-minute pre-exposure to 700 µg/cm2 of DEET caused a significant decrease in locomotor activity. Movement was totally recovered 24 h later. The locomotor activity measured during the exposure to different concentrations of DEET remained unchanged. Insects with decreased locomotor activity were repelled to the same extent than control insects by the same concentration of DEET. We demonstrated that the repellency and modification of locomotor activity elicited by DEET are non-associated phenomena. We also suggested that the reduction in locomotor activity indicates toxicity of DEET, probably to insect nervous system. PMID:24376701

  3. Underwater Sensor Nodes and Networks

    PubMed Central

    Lloret, Jaime

    2013-01-01

    Sensor technology has matured enough to be used in any type of environment. The appearance of new physical sensors has increased the range of environmental parameters for gathering data. Because of the huge amount of unexploited resources in the ocean environment, there is a need of new research in the field of sensors and sensor networks. This special issue is focused on collecting recent advances on underwater sensors and underwater sensor networks in order to measure, monitor, surveillance of and control of underwater environments. On the one hand, from the sensor node perspective, we will see works related with the deployment of physical sensors, development of sensor nodes and transceivers for sensor nodes, sensor measurement analysis and several issues such as layer 1 and 2 protocols for underwater communication and sensor localization and positioning systems. On the other hand, from the sensor network perspective, we will see several architectures and protocols for underwater environments and analysis concerning sensor network measurements. Both sides will provide us a complete view of last scientific advances in this research field. PMID:24013489

  4. AURP: An AUV-Aided Underwater Routing Protocol for Underwater Acoustic Sensor Networks

    PubMed Central

    Yoon, Seokhoon; Azad, Abul K.; Oh, Hoon; Kim, Sunghwan

    2012-01-01

    Deploying a multi-hop underwater acoustic sensor network (UASN) in a large area brings about new challenges in reliable data transmissions and survivability of network due to the limited underwater communication range/bandwidth and the limited energy of underwater sensor nodes. In order to address those challenges and achieve the objectives of maximization of data delivery ratio and minimization of energy consumption of underwater sensor nodes, this paper proposes a new underwater routing scheme, namely AURP (AUV-aided underwater routing protocol), which uses not only heterogeneous acoustic communication channels but also controlled mobility of multiple autonomous underwater vehicles (AUVs). In AURP, the total data transmissions are minimized by using AUVs as relay nodes, which collect sensed data from gateway nodes and then forward to the sink. Moreover, controlled mobility of AUVs makes it possible to apply a short-range high data rate underwater channel for transmissions of a large amount of data. To the best to our knowledge, this work is the first attempt to employ multiple AUVs as relay nodes in a multi-hop UASN to improve the network performance in terms of data delivery ratio and energy consumption. Simulations, which are incorporated with a realistic underwater acoustic communication channel model, are carried out to evaluate the performance of the proposed scheme, and the results indicate that a high delivery ratio and low energy consumption can be achieved. PMID:22438740

  5. Underwater lab

    NASA Astrophysics Data System (ADS)

    Bell, Peter M.

    The University of Southern California's Catalina Marine Science Center (CMSC) has announced plans to build an underwater marine research laboratory near Santa Catalina Island off the California coast. The project, which will take 2 years to build, will be sponsored by the National Oceanic and Atmospheric Administration (NOAA). The laboratory will be similar in concept to the U.S. Navy Sea Lab III, which was canceled some time ago.The project's purpose is to give divers access to a laboratory without having to surface. The project leader, Andrew Pilmanis, of the University of Southern California, stated recently (Industrial Research and Development, July 1983): “By the nature of the work, scientists require a lot of bottom time, and to do it by scuba isn't practical…. The only way to do that is with saturation diving. Once the diver is saturated with inert gas, whether the individual stays a few days or for months, only one decompression is required.” Divers will typically stay in the laboratory for 7-10 days. The laboratory will initially be placed at a depth of 20 m, later to be refloated and located at depths to 37 m.

  6. Cooperative Control of Unmanned Surface Vessels and Unmanned Underwater Vessels for Asset Protection

    DTIC Science & Technology

    2015-05-18

    manipulator , capability, heterogeneous swarm 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT 18. NUMBER OF PAGES 19a. NAME OF...systems of a cooperative nature. Keywords Hybrid Control Cooperative Control Swarm Control Redundant Manipulator Capability Heterogeneous Swarm...that a swarm can effectively be treated as a redundant manipulator . In robotics, a redundant manipulator is characterized by having more joint space

  7. Panic disorder and locomotor activity

    PubMed Central

    Sakamoto, Noriyuki; Yoshiuchi, Kazuhiro; Kikuchi, Hiroe; Takimoto, Yoshiyuki; Kaiya, Hisanobu; Kumano, Hiroaki; Yamamoto, Yoshiharu; Akabayashi, Akira

    2008-01-01

    Background Panic disorder is one of the anxiety disorders, and anxiety is associated with some locomotor activity changes such as "restlessness". However, there have been few studies on locomotor activity in panic disorder using actigraphy, although many studies on other psychiatric disorders have been reported using actigraphy. Therefore, the aim of the present study was to investigate the relationship between panic disorder and locomotor activity pattern using a wrist-worn activity monitor. In addition, an ecological momentary assessment technique was used to record panic attacks in natural settings. Methods Sixteen patients with panic disorder were asked to wear a watch-type computer as an electronic diary for recording panic attacks for two weeks. In addition, locomotor activity was measured and recorded continuously in an accelerometer equipped in the watch-type computer. Locomotor activity data were analyzed using double cosinor analysis to calculate mesor and the amplitude and acrophase of each of the circadian rhythm and 12-hour harmonic component. Correlations between panic disorder symptoms and locomotor activity were investigated. Results There were significant positive correlations between the frequency of panic attacks and mesor calculated from double cosinor analysis of locomotor activity (r = 0.55) and between HAM-A scores and mesor calculated from double cosinor analysis of locomotor activity (r = 0.62). Conclusion Panic disorder patients with more panic attacks and more anxiety have greater objectively assessed locomotor activity, which may reflect the "restlessness" of anxiety disorders. PMID:19017383

  8. A Study of Model Based Maneuvering Controls for Autonomous Underwater Vehicles

    DTIC Science & Technology

    1987-12-01

    relatively simple functions of the forward speed. Also, since the nominal path is associated with neither rotation nor cross-track or depth translation...modern multivariable system controls methods used in modern autopilot design. B. CLASSICAL CONTROL OF COURSE AND DEPTH Simple autopilots have long been of...principle, is simple , consisting of a sequence of stepwise control actions, yet knowledge of switching times for anything other than very low order

  9. Fabrication of Slippery Lubricant-Infused Porous Surface with High Underwater Transparency for the Control of Marine Biofouling.

    PubMed

    Wang, Peng; Zhang, Dun; Sun, Shimei; Li, Tianping; Sun, Yan

    2017-01-11

    Marine optical instruments are bearing serious biofouling problem, which affects the accuracy of data collected. To solve the biofouling problem of marine optical instruments, a novel instance of slippery lubricant-infused porous surface (SLIPS) with high underwater-transparency was designed over glass substrate via infusing lubricant into its porous microstructure fabricated with hydrothermal method. The advantage of SLIPS as antibiofouling strategy to marine optical instruments was proven by comparing its underwater optical and antibiofouling performances with three kinds of samples (hydrophilic glass sample, textured hydrophilic glass sample, and superhydrophobic glass sample). The modification of SLIPS enhances the underwater-transparency of glass sample within the wavelength of 500-800 nm, for the infusion of lubricant with lower refractive index than glass substrate. In contrast with hydrophilic surface, textured hydrophilic surface and superhydrophobic surface, SLIPS can significantly inhibit bacterial and algal settlements, thereby maintaining high underwater-transparency in both dynamic and static seawater. The inhibition of bacterial and algal settlements over SLIPS results from its liquid-like property. The contact angle hysteresis of water over SLIPS increases with immersion time in seawater under different conditions (static, dynamic, and vibration conditions). Both dynamic and vibration conditions accelerate the failure of SLIPS exposed in seawater. This research provides valuable information for solving biofouling problem of marine optical instruments with SLIPS.

  10. Mode-dependent control of human walking and running as revealed by split-belt locomotor adaptation.

    PubMed

    Ogawa, Tetsuya; Kawashima, Noritaka; Obata, Hiroki; Kanosue, Kazuyuki; Nakazawa, Kimitaka

    2015-10-01

    Here, we investigate the association of neural control between walking and running, and in particular, how these two gait modes at different velocities are controlled by the central nervous system. The subjects were fully adapted by acquiring modified motor patterns to either walk or run on a split-belt treadmill driven in split mode (asymmetry in the velocities of two belts at 1.0 and 2.0 m s(-1)). Subsequently, we tested how the adaptation affected walking and running at three different velocities in the tied mode (equal belt velocities). At 0.75 m s(-1), we found a preference to walk, at 1.50 m s(-1), there was a preference to both walk and run, and at a velocity of 2.25 m s(-1) there was a preference to run. Both walking and running on the split belt resulted in the emergence of a significant aftereffect (asymmetrical movement) at all of the velocities tested when walking after adapting to walk and running after adapting to run. However, for contrasting modes (i.e. running after adapting to walk and walking after adapting to run), such aftereffects were far less evident at all velocities; thus showing only limited transfer across gait modes. The results demonstrate a clear mode dependency in the neural control of human walking and running. In addition, only for walking, was there a degree of velocity dependency.

  11. Chronic electrical stimulation of the intact corticospinal system after unilateral injury restores skilled locomotor control and promotes spinal axon outgrowth.

    PubMed

    Carmel, Jason B; Berrol, Lauren J; Brus-Ramer, Marcel; Martin, John H

    2010-08-11

    Injury to the brain or spinal cord usually preserves some corticospinal (CS) connections. These residual circuits sprout spontaneously and in response to activity-based treatments. We hypothesized that augmenting activity in spared CS circuits would restore the skilled motor control lost after injury and augment outgrowth of CS terminations in the spinal cord. After selective injury of one half of the CS tract (CST) in the rat, we applied 10 d of electrical stimulation to the forelimb area of motor cortex of the spared half and tested motor performance for 30 d. Rats with injury and CST stimulation showed substantial improvements in skilled paw placement while walking over a horizontal ladder. By the end of the testing period, the walking errors of the previously impaired forelimb in rats with injury and stimulation returned to baseline, while the errors remained elevated in rats with injury only. Whereas the time to perform the task returned to normal in all animals, the pattern of errors returned to normal only in the stimulated group. Electrical stimulation also caused robust outgrowth of CST axon terminations in the ipsilateral spinal cord, the side of impairment, compared with rats with injury only. The outgrowth was directed to the normal gray matter territory of ipsilateral CST axon terminations. Thus, stimulation of spared CS circuits induced substantial axon outgrowth to the largely denervated side of the spinal cord and restored normal motor control in the previously impaired limbs.

  12. A Microcomputer-Based Controller for an Autonomous Underwater Vehicle (AUV)

    DTIC Science & Technology

    1990-03-01

    possible dynamic situations. In the case of the AUV, a model based on the United States Navy’s Swimmer Delivery Vehicle is used. This model is...mul(Matrix MI, int rl, int cl, Matrix M2, imt r2, int c2, Matrix M3); void control8( double *mstate, double *inputs, double ordereddepth, double...12 states depicted in Table 2. of this thesis using the dynamic equations of motion modeled after the U.S. Navy’s Swimmer Delivery Vehicle. The

  13. Underwater hearing: A review

    NASA Astrophysics Data System (ADS)

    Al-Masri, M.; Martin, A.; Nedwell, J.

    1993-05-01

    In view of the prevalence of hearing loss among commercial divers and the absence of widely accepted noise exposure limits for occupational underwater use, a review of studies of underwater hearing thresholds and hearing mechanisms was undertaken with the ultimate aim of developing noise exposure limits. Previous studies of underwater hearing thresholds appear to show that the ear underwater is less sensitive than compared with air. However, a surprisingly wide range of values for underwater hearing thresholds was reported, for example 35-90 dB SPL(re 20 MuPa) at 0.25 kHz and 30-80 dB at 1 kHz. No representative single threshold curve can be extracted with any validity. Possible reasons for such a wide scatter of results include high underwater ambient noise levels which may have masked the subjects underwater hearing thresholds, ill defined stimuli and underwater sound fields, and variable and informal audiometric methodology. Previous authors have proposed three somewhat interlinked theories to explain how sound is transmitted from water to the cochlea. These involve: the 'auricular' conduction pathway, the bone conduction pathway, and the dual conduction pathway. Up to this day, no one pathway has been shown to predominate, and all of them have been poorly evaluated. It is also possible that the presence of air bubbles in the ear canal and increased water depth may have significant effects on underwater hearing thresholds. These effects may be dependent on the underwater hearing mechanism. Again, the studies reviewed give conflicting results and no valid conclusion can be drawn. It is apparent that further experimental studies are required to establish underwater hearing thresholds and to provide an understanding of the mechanisms of hearing underwater. These should be based upon suitable facilities and methodologies for testing hearing thresholds underwater following modern and scientific audio metric practice.

  14. Underwater gait analysis in Parkinson's disease.

    PubMed

    Volpe, Daniele; Pavan, Davide; Morris, Meg; Guiotto, Annamaria; Iansek, Robert; Fortuna, Sofia; Frazzitta, Giuseppe; Sawacha, Zimi

    2017-02-01

    Although hydrotherapy is one of the physical therapies adopted to optimize gait rehabilitation in people with Parkinson disease, the quantitative measurement of gait-related outcomes has not been provided yet. This work aims to document the gait improvements in a group of parkinsonians after a hydrotherapy program through 2D and 3D underwater and on land gait analysis. Thirty-four parkinsonians and twenty-two controls were enrolled, divided into two different cohorts. In the first one, 2 groups of patients underwent underwater or land based walking training; controls underwent underwater walking training. Hence pre-treatment 2D underwater and on land gait analysis were performed, together with post-treatment on land gait analysis. Considering that current literature documented a reduced movement amplitude in parkinsonians across all lower limb joints in all movement planes, 3D underwater and on land gait analysis were performed on a second cohort of subjects (10 parkinsonians and 10 controls) who underwent underwater gait training. Baseline land 2D and 3D gait analysis in parkinsonians showed shorter stride length and slower speed than controls, in agreement with previous findings. Comparison between underwater and on land gait analysis showed reduction in stride length, cadence and speed on both parkinsonians and controls. Although patients who underwent underwater treatment exhibited significant changes on spatiotemporal parameters and sagittal plane lower limb kinematics, 3D gait analysis documented a significant (p<0.05) improvement in all movement planes. These data deserve attention for research directions promoting the optimal recovery and maintenance of walking ability.

  15. Advancements in Underwater Inspection

    DTIC Science & Technology

    1989-05-01

    Guard. For example, the Underwater Survey in Lieu of Dry Dock program, mobile offshore drilling unit (MODU) underwater hull inspection, tension leg...could be used to perform various types of underwater inspection on tension leg platform (TLP) tendons and templates. Understanding inspection...intervention (Ref. 6). This technique has application to the inspection of the mooring chains and terminations on floating facilities, and tension leg

  16. Reliability review of the remote tool delivery system locomotor

    SciTech Connect

    Chesser, J.B.

    1999-04-01

    The locomotor being built by RedZone Robotics is designed to serve as a remote tool delivery (RID) system for waste retrieval, tank cleaning, viewing, and inspection inside the high-level waste tanks 8D-1 and 8D-2 at West Valley Nuclear Services (WVNS). The RTD systm is to be deployed through a tank riser. The locomotor portion of the RTD system is designed to be inserted into the tank and is to be capable of moving around the tank by supporting itself and moving on the tank internal structural columns. The locomotor will serve as a mounting platform for a dexterous manipulator arm. The complete RTD system consists of the locomotor, dexterous manipulator arm, cameras, lights, cables, hoses, cable/hose management system, power supply, and operator control station.

  17. Colorful Underwater Sea Creatures

    ERIC Educational Resources Information Center

    McCutcheon, Heather

    2011-01-01

    In this article, the author describes a project wherein students created colorful underwater sea creatures. This project began with a discussion about underwater sea creatures and how they live. The first step was making the multi-colored tissue paper that would become sea creatures and seaweed. Once students had the shapes of their sea creatures…

  18. Colorful Underwater Sea Creatures

    ERIC Educational Resources Information Center

    McCutcheon, Heather

    2011-01-01

    In this article, the author describes a project wherein students created colorful underwater sea creatures. This project began with a discussion about underwater sea creatures and how they live. The first step was making the multi-colored tissue paper that would become sea creatures and seaweed. Once students had the shapes of their sea creatures…

  19. Underwater Scene Composition

    ERIC Educational Resources Information Center

    Kim, Nanyoung

    2009-01-01

    In this article, the author describes an underwater scene composition for elementary-education majors. This project deals with watercolor with crayon or oil-pastel resist (medium); the beauty of nature represented by fish in the underwater scene (theme); texture and pattern (design elements); drawing simple forms (drawing skill); and composition…

  20. Underwater Scene Composition

    ERIC Educational Resources Information Center

    Kim, Nanyoung

    2009-01-01

    In this article, the author describes an underwater scene composition for elementary-education majors. This project deals with watercolor with crayon or oil-pastel resist (medium); the beauty of nature represented by fish in the underwater scene (theme); texture and pattern (design elements); drawing simple forms (drawing skill); and composition…

  1. Locomotor adaptations of some gelatinous zooplankton.

    PubMed

    Bone, Q

    1985-01-01

    Swimming behaviour and locomotor adaptations are described in chaetognaths, larvacean tunicates, some cnidaria, and thaliacean tunicates. The first two groups swim by oscillating a flattened tail, the others by jet propulsion. In chaetognaths, the locomotor muscle fibres are extensively coupled and relatively sparsely innervated, they exhibit compound spike-like potentials. The motoneurons controlling the rhythmic activity of the locomotor muscle lie in a ventral ganglion whose organization is briefly described. Rhythmic swimming bursts in larvaceans are similarly driven by a caudal ganglion near the base of the tail, but each caudal muscle cell is separately innervated by two sets of motor nerves, as well as being coupled to its neighbours. The external epithelium is excitable, and linked to the caudal ganglion by the axons of central cells. Mechanical stimulation of the epithelium evokes receptor potentials followed by action potentials and by bursts of rapid swimming. The trachyline medusa Aglantha and the small siphonophore Chelophyes also show rapid escape responses; in Aglantha these are driven by a specialized giant axon system lacking in other hydromedusae, and in Chelophyes. Slow swimming in Aglantha apparently involves a second nerve supply to the same muscle sheets used in rapid swimming, whereas in Chelophyes slow swimming results from the activity of the smaller posterior nectophore. Slow swimming in siphonophores is more economical than the rapid responses. In the hydrozoan medusa Polyorchis (as in Chelophyes) action potentials in the locomotor muscle sheet change in shape during swimming bursts, and their duration is related to the size of the medusa; they are not simply triggers of muscular contraction. The two groups of thaliacean tunicates are specialized differently. Doliolum is adapted for single rapid jet pulses (during which it achieves instantaneous velocities of 50 body lengths s-l), whilst salps are adapted for slow continuous swimming. The

  2. Effects of underwater ultrasound therapy on pain, inflammation, hand function and quality of life in patients with rheumatoid arthritis - a randomized controlled trial.

    PubMed

    Király, Márta; Varga, Zsuzsanna; Szanyó, Ferenc; Kiss, Rita; Hodosi, Katalin; Bender, Tamás

    To investigate the effects of underwater ultrasound (US) therapy in 48 patients with moderately active rheumatoid arthritis (disease activity score in 28 joints [DAS28]>3.2 and<5.1). Patients randomly assigned to the ultrasound group (n=25) received underwater continuous ultrasound therapy to both wrists and hands for 7min per session with an intensity of 0.7W/cm(2) for 10 sessions. The control group (n=23) received sham treatment under the same conditions. At baseline, at the end of treatment (end of Week 2) and at the follow-up visit (Week 14), the following outcomes were evaluated: disease activity (erythrocyte sedimentation rate [ESR], C-reactive protein [CRP], tender and swollen joint counts, pain on a visual analog scale, DAS28, hand function (fist making, wrist extension and flexion, hand grip strength) and quality of life (Health Assessment Questionnaire [HAQ]). A significant decrease in C-reactive protein at the end of Week 2 and Week 14 compared to control group (mean between-group difference at 2 weeks=-5.77, 95% CI=-10.86 to -0.68, mean between-group difference at 14 weeks=-5.07, 95% CI=-10.13 to -0.01), and non-significant decrease in DAS28 was observed. By the end of treatments at the end of week 2, ultrasound alleviated pain significantly (mean between-group difference at two weeks=-8.35 95% CI=-16.12 to -0.58), as well as improved left wrist extension compared to the control group (mean between-group difference at 14 weeks=4.35, 95% CI=1.09-7.60). Underwater ultrasound therapy was better than sham treatment at the end of 2 weeks of treatment, but not at long term (14 weeks) in patients with rheumatoid arthritis. NCT02706028 (https://clinicaltrials.gov/ct2/show/NCT02706028). Copyright © 2017 Associação Brasileira de Pesquisa e Pós-Graduação em Fisioterapia. Publicado por Elsevier Editora Ltda. All rights reserved.

  3. Locomotor requirements for bipedal locomotion: a Delphi survey.

    PubMed

    Hedman, Lois Deming; Morris, David M; Graham, Cecilia L; Brown, Cynthia J; Ford, Matthew P; Ingram, Debbie A; Hilliard, Marjorie J; Salzman, Alice J

    2014-01-01

    Bipedal locomotor control requirements may be useful as classifications for walking dysfunction because they go beyond gait analysis to address all issues contributing to walking dysfunction. The objective of this study was to determine whether locomotor experts could achieve consensus about the requirements for bipedal locomotion. Locomotor experts from physical therapy and other related professions participated in an electronic mail Delphi survey. Experts recommended additions, deletions, rewording, and merges for 15 proposed locomotor requirements in round 1. In rounds 2 and 3, panelists commented on and rated the validity, mutual exclusiveness, and understandability of each requirement. Consensus was defined a priori as: (1) 75% or more panelists agree or strongly agree that a requirement is valid, mutually exclusive, and understandable in round 3; (2) no difference between round 2 and 3 ratings with kappa coefficients ≥.60; and (3) a reduction in panelists who commented and convergence of comments between rounds 1 and 3. Content analysis and nonparametric statistics were used. Fifty-eight panelists reached full consensus on 5 locomotor requirements (Initiation, Termination, Anticipatory Dynamic Balance, Multi-Task Capacity, and Walking Confidence) and partial consensus for 7 other requirements. There were no significant differences in ratings between rounds 2 and 3, and there was a decrease in the percentage of panelists who commented between rounds 1 and 3. The study's 6-month time frame may have contributed to panelist attrition. Locomotor experts achieved consensus on several bipedal locomotor requirements. With validation, these requirements can provide the framework for a clinically feasible and systematic diagnostic tool for physical therapists to categorize locomotor problems and standardize intervention for walking dysfunction.

  4. Analysis of recordings from underwater controlled sources in the Pacific Ocean received by the International Monitoring System (IMS) of the Comprehensive Nuclear-Test-Ban Treaty Organization (CTBTO)

    NASA Astrophysics Data System (ADS)

    Yamada, Tomoaki; Zampolli, Mario; Haralabus, Georgios; Heaney, Kevin; Prior, Mark; Isse, Takeshi

    2016-04-01

    Controlled impulsive scientific underwater sound sources in the Northwestern Pacific were observed at two IMS hydroacoustic stations in the Pacific Ocean. Although these experiments were conducted with the aim of studying the physical properties of the plate boundaries inside the Earth, they are also suitable for the investigation of long range underwater acoustic detections. In spite of the fact that the energy of these controlled impulsive scientific sources is significantly smaller than that of nuclear explosions, the signals were obtained by IMS hydrophone stations thousands of kilometres away and also by distant ocean bottom instruments operated by various Institutes, such as the Earthquake Research Institute, University of Tokyo. These experiments provide calibrated (yield, time, location) long-range acoustic transmissions, which enable one to examine the physics of long-range acoustic propagation and to verify the capabilities of the CTBTO IMS network to detect even small explosions.The two IMS stations used are H03 (Juan Fernandez Island, Chile) off the coast of Chile in the Southeastern Pacific and H11 (Wake Island, USA) in the Western Pacific. Both stations consist of two triplets of hydrophones in the SOFAR channel, which monitor the oceans for signs of nuclear explosions. H03 detected low-yield explosions above flat terrain at distances of 15,000 km across the Pacific as well as explosions above the landward slope off the coast of Japan at distances above 16,000 km across the Pacific. These records showed that source signatures, such as short duration and bubble pulses, were preserved over the long propagation distances. It was found that the observed maximum amplitudes from each source exhibit order of magnitude variations even when the yield and detonation depth are the same. The experimental data and transmission loss simulations suggest that bathymetric features around the sources and between the sources and the receivers are the main causes for

  5. Optimal Scheduling for Underwater Communications in Multiple-User Scenarios

    DTIC Science & Technology

    2015-09-30

    investigate the possibility that these underwater acoustic networks disrupt the behavior of surrounding species of marine mammals . As a consequence of...In order to investigate the possibility that underwater acoustic communications disrupt behaviors of surrounding marine mammals , we identified the...the controller. By interacting with both bioacusticians and the marine mammal behavioral biologists at WHOI, Saint Andrews University, Duke University

  6. Advanced Concepts for Underwater Acoustic Channel Modeling

    NASA Astrophysics Data System (ADS)

    Etter, P. C.; Haas, C. H.; Ramani, D. V.

    2014-12-01

    This paper examines nearshore underwater-acoustic channel modeling concepts and compares channel-state information requirements against existing modeling capabilities. This process defines a subset of candidate acoustic models suitable for simulating signal propagation in underwater communications. Underwater-acoustic communications find many practical applications in coastal oceanography, and networking is the enabling technology for these applications. Such networks can be formed by establishing two-way acoustic links between autonomous underwater vehicles and moored oceanographic sensors. These networks can be connected to a surface unit for further data transfer to ships, satellites, or shore stations via a radio-frequency link. This configuration establishes an interactive environment in which researchers can extract real-time data from multiple, but distant, underwater instruments. After evaluating the obtained data, control messages can be sent back to individual instruments to adapt the networks to changing situations. Underwater networks can also be used to increase the operating ranges of autonomous underwater vehicles by hopping the control and data messages through networks that cover large areas. A model of the ocean medium between acoustic sources and receivers is called a channel model. In an oceanic channel, characteristics of the acoustic signals change as they travel from transmitters to receivers. These characteristics depend upon the acoustic frequency, the distances between sources and receivers, the paths followed by the signals, and the prevailing ocean environment in the vicinity of the paths. Properties of the received signals can be derived from those of the transmitted signals using these channel models. This study concludes that ray-theory models are best suited to the simulation of acoustic signal propagation in oceanic channels and identifies 33 such models that are eligible candidates.

  7. Smelling and Tasting Underwater.

    ERIC Educational Resources Information Center

    Atema, Jelle

    1980-01-01

    Discusses differences between smell and taste, comparing these senses in organisms in aquatic and terrestrial environments. Describes the chemical environment underwater and in air, differences in chemoreceptors to receive stimuli, and the organs, brain, and behavior involved in chemoreception. (CS)

  8. Underwater hydrophone location survey

    NASA Technical Reports Server (NTRS)

    Cecil, Jack B.

    1993-01-01

    The Atlantic Undersea Test and Evaluation Center (AUTEC) is a U.S. Navy test range located on Andros Island, Bahamas, and a Division of the Naval Undersea Warfare Center (NUWC), Newport, RI. The Headquarters of AUTEC is located at a facility in West Palm Beach, FL. AUTEC's primary mission is to provide the U.S. Navy with a deep-water test and evaluation facility for making underwater acoustic measurements, testing and calibrating sonars, and providing accurate underwater, surface, and in-air tracking data on surface ships, submarines, aircraft, and weapon systems. Many of these programs are in support of Antisubmarine Warfare (ASW), undersea research and development programs, and Fleet assessment and operational readiness trials. Most tests conducted at AUTEC require precise underwater tracking (plus or minus 3 yards) of multiple acoustic signals emitted with the correct waveshape and repetition criteria from either a surface craft or underwater vehicle.

  9. Smelling and Tasting Underwater.

    ERIC Educational Resources Information Center

    Atema, Jelle

    1980-01-01

    Discusses differences between smell and taste, comparing these senses in organisms in aquatic and terrestrial environments. Describes the chemical environment underwater and in air, differences in chemoreceptors to receive stimuli, and the organs, brain, and behavior involved in chemoreception. (CS)

  10. Remote repair grinding of cracks underwater

    SciTech Connect

    Thomessen, T.; Lien, T.K.; Johnsen, K.

    1994-12-31

    This paper presents a new approach for remote repair grinding of cracks underwater. The approach uses Controlled Material Removal Rate (CMRR) grinding strategy which is based on a force controlled manipulator for handling the grinding machine. The CMRR-strategy requires an empirical model of the grinding process. Different grinding wheels were tested in underwater grinding, and experiments were carried out to derived an empirical model of the grinding process for a cylindrical grinding wheel. Finally, the CMRR-strategy was applied to grind a groove according to given specifications. The force control system was used to measure the groove geometry after grinding. The results were promising and demonstrate clearly that the CMRR-strategy is very useful in underwater grinding due to its high flexibility.

  11. Degradation of mouse locomotor pattern in the absence of proprioceptive sensory feedback.

    PubMed

    Akay, Turgay; Tourtellotte, Warren G; Arber, Silvia; Jessell, Thomas M

    2014-11-25

    Mammalian locomotor programs are thought to be directed by the actions of spinal interneuron circuits collectively referred to as "central pattern generators." The contribution of proprioceptive sensory feedback to the coordination of locomotor activity remains less clear. We have analyzed changes in mouse locomotor pattern under conditions in which proprioceptive feedback is attenuated genetically and biomechanically. We find that locomotor pattern degrades upon elimination of proprioceptive feedback from muscle spindles and Golgi tendon organs. The degradation of locomotor pattern is manifest as the loss of interjoint coordination and alternation of flexor and extensor muscles. Group Ia/II sensory feedback from muscle spindles has a predominant influence in patterning the activity of flexor muscles, whereas the redundant activities of group Ia/II and group Ib afferents appear to determine the pattern of extensor muscle firing. These findings establish a role for proprioceptive feedback in the control of fundamental aspects of mammalian locomotor behavior.

  12. Movement Exploration and Locomotor Skills.

    ERIC Educational Resources Information Center

    National Center on Educational Media and Materials for the Handicapped, Columbus, OH.

    Selected from the National Instructional Materials Information System (NIMIS)--a computer based on-line interactive retrieval system on special education materials--the bibliography covers 23 materials for teaching movement exploration and locomotor skills to handicapped students at all educational levels. Entries are presented in order of NIMIS…

  13. Survivability design for a hybrid underwater vehicle

    SciTech Connect

    Wang, Biao; Wu, Chao; Li, Xiang; Zhao, Qingkai; Ge, Tong

    2015-03-10

    A novel hybrid underwater robotic vehicle (HROV) capable of working to the full ocean depth has been developed. The battery powered vehicle operates in two modes: operate as an untethered autonomous vehicle in autonomous underwater vehicle (AUV) mode and operate under remote control connected to the surface vessel by a lightweight, fiber optic tether in remotely operated vehicle (ROV) mode. Considering the hazardous underwater environment at the limiting depth and the hybrid operating modes, survivability has been placed on an equal level with the other design attributes of the HROV since the beginning of the project. This paper reports the survivability design elements for the HROV including basic vehicle design of integrated navigation and integrated communication, emergency recovery strategy, distributed architecture, redundant bus, dual battery package, emergency jettison system and self-repairing control system.

  14. Sex differences in locomotor effects of morphine in the rat

    PubMed Central

    Craft, Rebecca M.; Clark, James L.; Hart, Stephen P.; Pinckney, Megan K.

    2007-01-01

    Sex differences in reinforcing, analgesic and other effects of opioids have been demonstrated; however, the extent to which sex differences in motoric effects of opioids contribute to apparent sex differences in their primary effects is not known. The goal of this study was to compare the effects of the prototypic mu opioid agonist morphine on locomotor activity in male vs. female rats. Saline or morphine (1-10 mg/kg) was administered s.c. to adult Sprague-Dawley rats, which were placed into a photobeam apparatus for 3-5 hr to measure activity. Modulation of morphine's effects by gonadal hormones and by handling (either during the test session or for 4 days before the test session) were examined. Morphine initially suppressed and later increased locomotor activity in both sexes relative to their saline-injected controls, but males were more sensitive than females to the initial locomotor suppressant effect of morphine. Intermittent, brief handling during the 3-hr test session blunted morphine-induced locomotor activation in both sexes. Females in proestrus were the most sensitive to morphine's locomotor-stimulant effect, with females in estrus showing the least response to morphine. Gonadectomized (GDX) males with or without testosterone were equally sensitive to morphine's effects, whereas GDX females treated with estradiol showed a blunted response to morphine's effects, similar to intact females in estrus. Brief handling on each of 4 consecutive days pre-test attenuated morphine's locomotor suppressant effect in males but had no effect in females, thereby eliminating the sex difference. These data suggest that sex differences in morphine's effects on locomotor activity can be attributed to gonadal hormones in females, and to differential stress-induced modulation of morphine's effects in males vs. females. PMID:17217999

  15. Perception--action coupling model for human locomotor pointing.

    PubMed

    de Rugy, A; Taga, G; Montagne, G; Buekers, M J; Laurent, M

    2002-08-01

    How do humans achieve the precise positioning of the feet during walking, for example, to reach the first step of a stairway? We addressed this question at the visuomotor integration level. Based on the optical specification of the required adaptation, a dynamical system model of the visuomotor control of human locomotor pointing was devised for the positioning of a foot on a visible target on the floor during walking. Visuomotor integration consists of directly linking optical information to a motor command that specifically modulates step length in accordance with the ongoing dynamics of locomotor pattern generation. The adaptation of locomotion emerges from a perception-action coupling type of control based on temporal information rather than on feedforward planning of movements. The proposed model reproduces experimental results obtained for human locomotor pointing.

  16. Ring Wing for an underwater missile

    NASA Astrophysics Data System (ADS)

    August, Henry; Carapezza, Edward

    Hughes Aircraft has performed exploratory wind tunnel studies of compressed carriage missile designs having extendable Ring Wing and wrap-around tail control surfaces. These force and moment data indicate that significant improvements in a missile's lift and aerodynamic efficiency can be realized. Low speed test results of these data were used to estimate potential underwater improved hydrodynamic characteristics that a Ring Wing and wrap-around tails can bring to an advanced torpedo design. Estimates of improved underwater flight performance of a heavyweight torpedo (4000 lbs.) having an extendable Ring Wing and wrap-around tails were made. The compressed volume design of this underwater missile is consistent with tube-launch constraints and techniques. Study results of this novel Ring Wing torpedo design include extended flight performance in range and endurance due to lowered speeds capable of sustaining underwater level flight. Correspondingly, reduced radiated noise for enhanced stealth qualities is projected. At high speeds, greater maneuverability and aimpoint selection can be realized by a Ring Wing underwater missile.

  17. Biosensor for underwater chemical sensing (Invited Paper)

    NASA Astrophysics Data System (ADS)

    Kusterbeck, Anne W.; Deschamps, Jeffrey R.; Charles, Paul T.

    2005-05-01

    Emerging biosensor approaches may prove useful in reducing false positives and improving detection probabilities for unexploded ordnance (UXO) and underwater explosives. NRL researchers previously developed a biosensor that was field-tested and validated for use in environmental remediation to detect explosives in groundwater. The sensor relies on the selective recognition by antibodies of target analytes, including the common explosives TNT and RDX. Laboratory work has demonstrated that sensors based on these displacement immunoassay formats can detect explosives at the part-per-trillion level in seawater. More recently, participating in an Office of Naval Research program on Chemical Sensing in the Marine Environment (CSME), tests were conducted in controlled underwater experiments at San Clemente, CA and Duck, NC. Simulated UXO targets, autonomous underwater vehicles (AUV) and multiple sensor approaches were used to demonstrate the feasibility of underwater chemical sensing. Efforts are now underway to integrate the biosensor into an underwater platform as part of a broader sensor system. We will describe results of these studies and outline possible operational scenarios for applications in harbor security.

  18. Underwater Sensor Network Redeployment Algorithm Based on Wolf Search

    PubMed Central

    Jiang, Peng; Feng, Yang; Wu, Feng

    2016-01-01

    This study addresses the optimization of node redeployment coverage in underwater wireless sensor networks. Given that nodes could easily become invalid under a poor environment and the large scale of underwater wireless sensor networks, an underwater sensor network redeployment algorithm was developed based on wolf search. This study is to apply the wolf search algorithm combined with crowded degree control in the deployment of underwater wireless sensor networks. The proposed algorithm uses nodes to ensure coverage of the events, and it avoids the prematurity of the nodes. The algorithm has good coverage effects. In addition, considering that obstacles exist in the underwater environment, nodes are prevented from being invalid by imitating the mechanism of avoiding predators. Thus, the energy consumption of the network is reduced. Comparative analysis shows that the algorithm is simple and effective in wireless sensor network deployment. Compared with the optimized artificial fish swarm algorithm, the proposed algorithm exhibits advantages in network coverage, energy conservation, and obstacle avoidance. PMID:27775659

  19. Underwater Acoustic Carbon Nanotube Thermophone

    DTIC Science & Technology

    2016-09-23

    Attorney Docket No. 300042 1 of 10 UNDERWATER ACOUSTIC CARBON NANOTUBE THERMOPHONE STATEMENT OF GOVERNMENT INTEREST [0001] The invention...the Invention [0003] The present invention is an acoustically transparent carbon nanotube underwater acoustic source which acts as a thermophone...development of underwater acoustic carbon nanotube (CNT) yarn sheets capable of producing high acoustic output at low frequencies with broad bandwidth. An

  20. Resources for Underwater Robotics Education

    ERIC Educational Resources Information Center

    Wallace, Michael L.; Freitas, William M.

    2016-01-01

    4-H clubs can build and program underwater robots from raw materials. An annotated resource list for engaging youth in building underwater remotely operated vehicles (ROVs) is provided. This article is a companion piece to the Research in Brief article "Building Teen Futures with Underwater Robotics" in this issue of the "Journal of…

  1. Resources for Underwater Robotics Education

    ERIC Educational Resources Information Center

    Wallace, Michael L.; Freitas, William M.

    2016-01-01

    4-H clubs can build and program underwater robots from raw materials. An annotated resource list for engaging youth in building underwater remotely operated vehicles (ROVs) is provided. This article is a companion piece to the Research in Brief article "Building Teen Futures with Underwater Robotics" in this issue of the "Journal of…

  2. Autonomous underwater pipeline monitoring navigation system

    NASA Astrophysics Data System (ADS)

    Mitchell, Byrel; Mahmoudian, Nina; Meadows, Guy

    2014-06-01

    This paper details the development of an autonomous motion-control and navigation algorithm for an underwater autonomous vehicle, the Ocean Server IVER3, to track long linear features such as underwater pipelines. As part of this work, the Nonlinear and Autonomous Systems Laboratory (NAS Lab) developed an algorithm that utilizes inputs from the vehicles state of the art sensor package, which includes digital imaging, digital 3-D Sidescan Sonar, and Acoustic Doppler Current Profilers. The resulting algorithms should tolerate real-world waterway with episodic strong currents, low visibility, high sediment content, and a variety of small and large vessel traffic.

  3. Advanced underwater lift device

    NASA Technical Reports Server (NTRS)

    Flanagan, David T.; Hopkins, Robert C.

    1993-01-01

    Flexible underwater lift devices ('lift bags') are used in underwater operations to provide buoyancy to submerged objects. Commercially available designs are heavy, bulky, and awkward to handle, and thus are limited in size and useful lifting capacity. An underwater lift device having less than 20 percent of the bulk and less than 10 percent of the weight of commercially available models was developed. The design features a dual membrane envelope, a nearly homogeneous envelope membrane stress distribution, and a minimum surface-to-volume ratio. A proof-of-concept model of 50 kg capacity was built and tested. Originally designed to provide buoyancy to mock-ups submerged in NASA's weightlessness simulators, the device may have application to water-landed spacecraft which must deploy flotation upon impact, and where launch weight and volume penalties are significant. The device may also be useful for the automated recovery of ocean floor probes or in marine salvage applications.

  4. Training Locomotor Networks

    PubMed Central

    Edgerton, V. Reggie; Courtine, Grégoire; Gerasimenko, Yury P.; Lavrov, Igor; Ichiyama, Ronaldo M.; Fong, Andy J.; Cai, Lance L.; Otoshi, Chad K.; Tillakaratne, Niranjala J.K.; Burdick, Joel W.; Roy, Roland R.

    2008-01-01

    For a complete adult spinal rat to regain some weight-bearing stepping capability, it appears that a sequence of specific proprioceptive inputs that are similar, but not identical, from step to step must be generated over repetitive step cycles. Furthermore, these cycles must include the activation of specific neural circuits that are intrinsic to the lumbosacral spinal cord segments. For these sensorimotor pathways to be effective in generating stepping, the spinal circuitry must be modulated to an appropriate excitability level. This level of modulation is sustained from supraspinal input in intact, but not spinal, rats. In a series of experiments with complete spinal rats, we have shown that an appropriate level of excitability of the spinal circuitry can be achieved using widely different means. For example, this modulation level can be acquired pharmacologically, via epidural electrical stimulation over specific lumbosacral spinal cord segments, and/or by use-dependent mechanisms such as step or stand training. Evidence as to how each of these treatments can “tune” the spinal circuitry to a “physiological state” that enables it to respond appropriately to proprioceptive input will be presented. We have found that each of these interventions can enable the proprioceptive input to actually control extensive details that define the dynamics of stepping over a range of speeds, loads, and directions. A series of experiments will be described that illustrate sensory control of stepping and standing after a spinal cord injury and the necessity for the “physiological state” of the spinal circuitry to be modulated within a critical window of excitability for this control to be manifested. The present findings have important consequences not only for our understanding of how the motor pattern for stepping is formed, but also for the design of rehabilitation intervention to restore lumbosacral circuit function in humans following a spinal cord injury. PMID

  5. Underwater vehicle propulsion and power generation

    NASA Technical Reports Server (NTRS)

    Jones, Jack A. (Inventor); Chao, Yi (Inventor)

    2008-01-01

    An underwater vehicle includes a shaft with a propeller disposed thereon; a generator/motor having a stator and a rotor, the rotor being operable to rotate with the propeller; at least one energy storage device connected to the generator/motor; and a controller for setting the generator/motor in a charge mode, a propulsion mode and an idle mode.

  6. Underwater Acoustic Source Localisation Among Blind and Sighted Scuba Divers

    PubMed Central

    Cambi, Jacopo; Livi, Ludovica; Livi, Walter

    2017-01-01

    Objectives Many blind individuals demonstrate enhanced auditory spatial discrimination or localisation of sound sources in comparison to sighted subjects. However, this hypothesis has not yet been confirmed with regards to underwater spatial localisation. This study therefore aimed to investigate underwater acoustic source localisation among blind and sighted scuba divers. Methods This study took place between February and June 2015 in Elba, Italy, and involved two experimental groups of divers with either acquired (n = 20) or congenital (n = 10) blindness and a control group of 30 sighted divers. Each subject took part in five attempts at an under-water acoustic source localisation task, in which the divers were requested to swim to the source of a sound originating from one of 24 potential locations. The control group had their sight obscured during the task. Results The congenitally blind divers demonstrated significantly better underwater sound localisation compared to the control group or those with acquired blindness (P = 0.0007). In addition, there was a significant correlation between years of blindness and underwater sound localisation (P <0.0001). Conclusion Congenital blindness was found to positively affect the ability of a diver to recognise the source of a sound in an underwater environment. As the correct localisation of sounds underwater may help individuals to avoid imminent danger, divers should perform sound localisation tests during training sessions. PMID:28690888

  7. NaNet3: The on-shore readout and slow-control board for the KM3NeT-Italia underwater neutrino telescope

    NASA Astrophysics Data System (ADS)

    Ammendola, R.; Biagioni, A.; Frezza, O.; Lo Cicero, F.; Martinelli, M.; Paolucci, P. S.; Pontisso, L.; Simula, F.; Vicini, P.; Ameli, F.; Nicolau, C. A.; Pastorelli, E.; Simeone, F.; Tosoratto, L.; Lonardo, A.

    2016-04-01

    The KM3NeT-Italia underwater neutrino detection unit, the tower, consists of 14 floors. Each floor supports 6 Optical Modules containing front-end electronics needed to digitize the PMT signal, format and transmit the data and 2 hydrophones that reconstruct in real-time the position of Optical Modules, for a maximum tower throughput of more than 600 MB/s. All floor data are collected by the Floor Control Module (FCM) board and transmitted by optical bidirectional virtual point-to-point connections to the on-shore laboratory, each FCM needing an on-shore counterpart as communication endpoint. In this contribution we present NaNet3, an on-shore readout board based on Altera Stratix V GX FPGA able to manage multiple FCM data channels with a capability of 800 Mbps each. The design is a NaNet customization for the KM3NeT-Italia experiment, adding support in its I/O interface for a synchronous link protocol with deterministic latency at physical level and for a Time Division Multiplexing protocol at data level.

  8. Nitric oxide-mediated modulation of the murine locomotor network.

    PubMed

    Foster, Joshua D; Dunford, Catherine; Sillar, Keith T; Miles, Gareth B

    2014-02-01

    Spinal motor control networks are regulated by neuromodulatory systems to allow adaptability of movements. The present study aimed to elucidate the role of nitric oxide (NO) in the modulation of mammalian spinal locomotor networks. This was investigated with isolated spinal cord preparations from neonatal mice in which rhythmic locomotor-related activity was induced pharmacologically. Bath application of the NO donor diethylamine NONOate (DEA/NO) decreased the frequency and modulated the amplitude of locomotor-related activity recorded from ventral roots. Removal of endogenous NO with coapplication of a NO scavenger (PTIO) and a nitric oxide synthase (NOS) blocker [nitro-l-arginine methyl ester (l-NAME)] increased the frequency and decreased the amplitude of locomotor-related activity. This demonstrates that endogenously derived NO can modulate both the timing and intensity of locomotor-related activity. The effects of DEA/NO were mimicked by the cGMP analog 8-bromo-cGMP. In addition, the soluble guanylyl cyclase (sGC) inhibitor ODQ blocked the effects of DEA/NO on burst amplitude and frequency, although the frequency effect was only blocked at low concentrations of DEA/NO. This suggests that NO-mediated modulation involves cGMP-dependent pathways. Sources of NO were studied within the lumbar spinal cord during postnatal development (postnatal days 1-12) with NADPH-diaphorase staining. NOS-positive cells in the ventral horn exhibited a rostrocaudal gradient, with more cells in rostral segments. The number of NOS-positive cells was also found to increase during postnatal development. In summary, we have shown that NO, derived from sources within the mammalian spinal cord, modulates the output of spinal motor networks and is therefore likely to contribute to the fine-tuning of locomotor behavior.

  9. Diversity in underwater inspection

    SciTech Connect

    Goldberg, L.

    1996-03-01

    Underwater nondestructive testing (NDT) of deepwater structures provides a diverse, hostile, and challenging means to implement NDT. Given a warm, shallow water with good visibility, working underwater approaches the category of ``I get paid for this.`` This environment allows for identical reliability as ``topside`` NDT. Underwater visual, magnetic particle, and ultrasonic testing have been in place since the early 1980s, with equipment modified for submergence and closely resembling topside NDT tools. However, deepwater structures represent the most unique of NDT considerations. In the Gulf of Mexico, there are approximately 15 fixed structures installed at a depth of 243--400 m. This article describes safety, technical, and commercial issues relating to inspecting deepwater structures and focuses especially on a comparison of remote operated vehicles (ROVs) and atmospheric diving suits (ADSs). Deepwater structures have excellent records of structural integrity with an extremely low incidence of corrosion or fatigue cracking problems. The primary reason for developing deepwater NDT capabilities is contingency for damage during installation impact damage from dropped objects. There are three means used for underwater NDT: diving, atmospheric diving suits (ADSs), and remotely operated vehicles (ROVs).

  10. Design and implementation of an omni-directional underwater acoustic micro-modem based on a low-power micro-controller unit.

    PubMed

    Won, Tae-Hee; Park, Sung-Joon

    2012-01-01

    For decades, underwater acoustic communication has been restricted to the point-to-point long distance applications such as deep sea probes and offshore oil fields. For this reason, previous acoustic modems were typically characterized by high data rates and long working ranges at the expense of large size and high power consumption. Recently, as the need for underwater wireless sensor networks (UWSNs) has increased, the research and development of compact and low-power consuming communication devices has become the focus. From the consideration that the requisites of acoustic modems for UWSNs are low power consumption, omni-directional beam pattern, low cost and so on, in this paper, we design and implement an omni-directional underwater acoustic micro-modem satisfying these requirements. In order to execute fast digital domain signal processing and support flexible interfaces with other peripherals, an ARM Cortex-M3 is embedded in the micro-modem. Also, for the realization of small and omni-directional properties, a spherical transducer having a resonant frequency of 70 kHz and a diameter of 34 mm is utilized for the implementation. Physical layer frame format and symbol structure for efficient packet-based underwater communication systems are also investigated. The developed acoustic micro-modem is verified analytically and experimentally in indoor and outdoor environments in terms of functionality and performance. Since the modem satisfies the requirements for use in UWSNs, it could be deployed in a wide range of applications requiring underwater acoustic communication.

  11. Design and Implementation of an Omni-Directional Underwater Acoustic Micro-Modem Based on a Low-Power Micro-Controller Unit

    PubMed Central

    Won, Tae-Hee; Park, Sung-Joon

    2012-01-01

    For decades, underwater acoustic communication has been restricted to the point-to-point long distance applications such as deep sea probes and offshore oil fields. For this reason, previous acoustic modems were typically characterized by high data rates and long working ranges at the expense of large size and high power consumption. Recently, as the need for underwater wireless sensor networks (UWSNs) has increased, the research and development of compact and low-power consuming communication devices has become the focus. From the consideration that the requisites of acoustic modems for UWSNs are low power consumption, omni-directional beam pattern, low cost and so on, in this paper, we design and implement an omni-directional underwater acoustic micro-modem satisfying these requirements. In order to execute fast digital domain signal processing and support flexible interfaces with other peripherals, an ARM Cortex-M3 is embedded in the micro-modem. Also, for the realization of small and omni-directional properties, a spherical transducer having a resonant frequency of 70 kHz and a diameter of 34 mm is utilized for the implementation. Physical layer frame format and symbol structure for efficient packet-based underwater communication systems are also investigated. The developed acoustic micro-modem is verified analytically and experimentally in indoor and outdoor environments in terms of functionality and performance. Since the modem satisfies the requirements for use in UWSNs, it could be deployed in a wide range of applications requiring underwater acoustic communication. PMID:22438765

  12. Integrated Locomotor Function Tests for Countermeasure Evaluation

    NASA Technical Reports Server (NTRS)

    Bloomberg, J. J.; Mulavara, A. P.; Peters, B. T.; Cohen, H. S.; Landsness, E. C.; Black, F. O.

    2005-01-01

    Following spaceflight crewmembers experience locomotor dysfunction due to inflight adaptive alterations in sensorimotor function. Countermeasures designed to mitigate these postflight gait alterations need to be assessed with a new generation of tests that evaluate the interaction of various sensorimotor sub-systems central to locomotor control. The goal of the present study was to develop new functional tests of locomotor control that could be used to test the efficacy of countermeasures. These tests were designed to simultaneously examine the function of multiple sensorimotor systems underlying the control of locomotion and be operationally relevant to the astronaut population. Traditionally, gaze stabilization has been studied almost exclusively in seated subjects performing target acquisition tasks requiring only the involvement of coordinated eye-head movements. However, activities like walking involve full-body movement and require coordination between lower limbs and the eye-head-trunk complex to achieve stabilized gaze during locomotion. Therefore the first goal of this study was to determine how the multiple, interdependent, full-body sensorimotor gaze stabilization subsystems are functionally coordinated during locomotion. In an earlier study we investigated how alteration in gaze tasking changes full-body locomotor control strategies. Subjects walked on a treadmill and either focused on a central point target or read numeral characters. We measured: temporal parameters of gait, full body sagittal plane segmental kinematics of the head, trunk, thigh, shank and foot, accelerations along the vertical axis at the head and the shank, and the vertical forces acting on the support surface. In comparison to the point target fixation condition, the results of the number reading task showed that compensatory head pitch movements increased, peak head acceleration was reduced and knee flexion at heel-strike was increased. In a more recent study we investigated the

  13. Study on underwater wireless communication system using LED

    NASA Astrophysics Data System (ADS)

    Son, Hyun-Joong; Choi, Hyeung-Sik; Tran, Ngoc-Huy; Ha, Ji-Hoon; Ji, Dae-Hyeung; Kim, Joon-Young

    2015-03-01

    In this paper, a new variable-focus LED light device is developed for underwater communication. Usually used as an underwater lighting fixture, the LED light device in this study is utilized as an underwater communication device (UCD) by controlling the distance between light source and lens when communication is needed. A transmission and a receiving part of LED light for communication using photoelectric sensor and Fresnel lens are also developed. The communication system was tested in fresh water and sea water to verify its communication performance; results of which are presented in this study.

  14. Investigation of Button Size and Spacing for Underwater Controls (Etude sur la Taille et L’Espacement des Boutons de Commandes Utilisees dans des Activites Sous-Marines)

    DTIC Science & Technology

    2008-04-01

    ergonomic design improvements. It is concluded that keypads designed for use in air are not optimal for use underwater. Résumé La présente étude...impractical without ergonomic design improvements. It is concluded that keypads designed for use in air are not optimal for use underwater. This...subject’s hands were immersed in a 4 water filled glass tank (0.3 m width x 0.9 m length x 0.3 m depth). The subject was seated on a high stool and

  15. Locomotor training: experiencing the changing body.

    PubMed

    Hannold, Elizabeth M; Young, Mary Ellen; Rittman, Maude R; Bowden, Mark G; Behrman, Andrea L

    2006-01-01

    This study examined the experiences of persons with incomplete spinal cord injury who participated in loco-motor training (LT). LT is an emerging rehabilitation intervention for enhancing the recovery of walking in persons with central nervous system disorders. Multiple interviews and field observations provided data from eight participants, including four veterans. Findings indicate that experiences of bodily changes were prevalent among participants. Themes included (1) experiencing impaired or absent proprioception, (2) struggling for bodily control, and (3) experiencing emergent bodily sensations. Themes 1 and 2 reflected bodily disruption as a result of spinal cord injury and were challenging to participants as they attempted to reconnect the body and self through LT. Theme 3 reflected bodily sensations (burning, soreness) that were seen as positive signs of recovery and resulted in hope and motivation. Understanding how LT participants experience bodily changes may enable therapists to develop improved participant-centered intervention approaches.

  16. Underwater welding, cutting and inspection

    SciTech Connect

    Tsai, C.L. . Ohio Underwater Welding Center)

    1995-02-01

    Underwater welding, cutting and inspection of offshore, inland waterway and port facilities are becoming a requirement for both military and industrial communities, as maintenance and repair costs continue to escalate, and as many of the facilities are in operation well beyond their intended design life. In nuclear applications, underwater welding, cutting and inspection for repair and modification of irradiated nuclear power plant components are also a requirement. This article summarizes recent developments in this emerging underwater technology.

  17. Mirtazapine attenuates the expression of nicotine-induced locomotor sensitization in rats.

    PubMed

    Barbosa-Méndez, Susana; Jurado, Noé; Matus-Ortega, Maura; Martiñon, Susana; Heinze, Gerardo; Salazar-Juárez, Alberto

    2017-10-05

    Nicotine is the primary psychoactive component of tobacco. Many addictive nicotinic actions are mediated by an increase in the activity of the serotonin (5-HT) system. Some studies show that the 5-HT2A, 5-HT2C, and 5-HT3 receptors have a central role in the induction and expression of nicotine-induced locomotor sensitization. Mirtazapine, an antagonist of the α2-adrenergic receptors, the 5-HT2A/C, and the 5-HT3 receptors, has proven effective in reducing behavioral effects induced by drugs like cocaine and methamphetamines in human and animal. In this study, we evaluated the effect of mirtazapine on the locomotor activity and on the expression of nicotine-induced locomotor sensitization. We used the nicotine locomotor sensitization paradigm to assess the effects of mirtazapine on nicotine-induced locomotor activity and locomotor sensitization. Mirtazapine (30mg/kg, i.p.) was administered during extinction. Our study found that mirtazapine attenuated the expression of locomotor sensitization induced by different nicotine doses, decreased the duration of locomotor effects and locomotor activity induced by binge administration of nicotine. In addition, our study revealed that treatment with mirtazapine for 60 days produced an enhanced attenuation of nicotine-induced locomotor activity during the expression phase of behavioral sensitization, compared to that obtained when mirtazapine was administered for 30 days. This suggests that use of mirtazapine in controlled clinical trials may be a useful therapy to maintain abstinence for long periods. Copyright © 2017 Elsevier B.V. All rights reserved.

  18. Conventional Weapons Underwater Explosions

    DTIC Science & Technology

    1988-12-01

    Bubble and a Solid Submerged Body, TRACOR Hydronautics Technical Report 86029-1 (1988). 26. Solomon, J., Szymczak , W., and Berger, A., private...FIELD GROUP SUB-GROUP Explosions, underwater, bubbles , detonatiohs, metal combustion, combustion 19 ABSTRACT (Continue on reverse if necessary and...detonations, bubble dynamics, bubble -water interface phencmena an~d metal combustion behavior, It was concluded that there are many potertial researCh areas

  19. NEW APPROACHES: Vision underwater

    NASA Astrophysics Data System (ADS)

    Steele, Alan L.

    1997-11-01

    A tutorial type problem examining the focusing performance of the human eye in air and in water is solved by two different approaches. Calculations show that light can be effectively focused on the retina when the eye is in air but not underwater, even with the usual accommodation. We then examine how some vertebrates have accommodation processes that permit them to see effectively both above and below water.

  20. Underwater laser detection system

    NASA Astrophysics Data System (ADS)

    Gomaa, Walid; El-Sherif, Ashraf F.; El-Sharkawy, Yasser H.

    2015-02-01

    The conventional method used to detect an underwater target is by sending and receiving some form of acoustic energy. But the acoustic systems have limitations in the range resolution and accuracy; while, the potential benefits of a laserbased underwater target detection include high directionality, high response, and high range accuracy. Lasers operating in the blue-green region of the light spectrum(420 : 570nm)have a several applications in the area of detection and ranging of submersible targets due to minimum attenuation through water ( less than 0.1 m-1) and maximum laser reflection from estimated target (like mines or submarines) to provide a long range of detection. In this paper laser attenuation in water was measured experimentally by new simple method by using high resolution spectrometer. The laser echoes from different targets (metal, plastic, wood, and rubber) were detected using high resolution CCD camera; the position of detection camera was optimized to provide a high reflection laser from target and low backscattering noise from the water medium, digital image processing techniques were applied to detect and discriminate the echoes from the metal target and subtract the echoes from other objects. Extraction the image of target from the scattering noise is done by background subtraction and edge detection techniques. As a conclusion, we present a high response laser imaging system to detect and discriminate small size, like-mine underwater targets.

  1. Automation Middleware and Algorithms for Robotic Underwater Sensor Networks

    DTIC Science & Technology

    2010-09-30

    international ROV competition with capability of underwater manipulation , as shown in Figure 4b. RESULTS 1. We noticed similar behaviors for all three...underwater robot control systems. We develop a testbed that including ROVs and AUVs to test this system. 2 Figure 1. Similar behaviors of the...Figure 3. Demonstrations of three dimensional cooperative exploration algorithms. We have developed a remotely operative vehicle ( ROV ) that has won a

  2. In Situ Control of Underwater-Pinning of Organic Droplets on a Surfactant-Doped Conjugated Polymer Surface.

    PubMed

    Xu, Wei; Xu, Jian; Choi, Chang-Hwan; Yang, Eui-Hyeok

    2015-11-25

    Controlling the pinning of organic droplets on solid surfaces is of fundamental and practical interest in the field of material science and engineering, which has numerous applications such as surface cleaning, water treatment, and microfluidics. Here, a rapid in situ control of pinning and actuation of organic droplets is demonstrated on dodecylbenzenesulfonate-doped polypyrrole (PPy(DBS)) surfaces in an aqueous environment via an electrochemical redox process. A dramatic change of the pinning results from the transport of DBS(-) molecules between the PPy(DBS) surface and the aqueous environment, as well as from a simultaneous alternation of the surface oleophobicity to organic liquids during the redox process. This in situ control of the droplet pinning enables a stop-and-go droplet actuation, applicable to both polar and apolar organic droplets, at low voltages (∼0.9 V) with an extremely low roll-off angle (∼0.4°).

  3. Design and Initial In-Water Testing of Advanced Non-Linear Control Algorithms onto an Unmanned Underwater Vehicle (UUV)

    DTIC Science & Technology

    2007-10-01

    controllable speeds, the ability to maintain a set distance and attitude ( pitch and roll ) relative to some surface for optimal sensor (both sonar and...bottom by adjusting its pitch and roll based on the information coming from the sonar sensor. Another task for the vehicle was to track a line along...are the roll , pitch , and yaw backstepping terms, Θbs. For attitude control, based on eqn. (2), we define the signal ωoc = Ω −1 ( −KΘΘ̃ + Θ̇c −Θbs

  4. Interpreting locomotor biomechanics from the morphology of human footprints.

    PubMed

    Hatala, Kevin G; Wunderlich, Roshna E; Dingwall, Heather L; Richmond, Brian G

    2016-01-01

    Fossil hominin footprints offer unique direct windows to the locomotor behaviors of our ancestors. These data could allow a clearer understanding of the evolution of human locomotion by circumventing issues associated with indirect interpretations of habitual locomotor patterns from fossil skeletal material. However, before we can use fossil hominin footprints to understand better the evolution of human locomotion, we must first develop an understanding of how locomotor biomechanics are preserved in, and can be inferred from, footprint morphologies. In this experimental study, 41 habitually barefoot modern humans created footprints under controlled conditions in which variables related to locomotor biomechanics could be quantified. Measurements of regional topography (depth) were taken from 3D models of those footprints, and principal components analysis was used to identify orthogonal axes that described the largest proportions of topographic variance within the human experimental sample. Linear mixed effects models were used to quantify the influences of biomechanical variables on the first five principal axes of footprint topographic variation, thus providing new information on the biomechanical variables most evidently expressed in the morphology of human footprints. The footprint's overall depth was considered as a confounding variable, since biomechanics may be linked to the extent to which a substrate deforms. Three of five axes showed statistically significant relationships with variables related to both locomotor biomechanics and substrate displacement; one axis was influenced only by biomechanics and another only by the overall depth of the footprint. Principal axes of footprint morphological variation were significantly related to gait type (walking or running), kinematics of the hip and ankle joints and the distribution of pressure beneath the foot. These results provide the first quantitative framework for developing hypotheses regarding the

  5. Particle swarm inspired underwater sensor self-deployment.

    PubMed

    Du, Huazheng; Xia, Na; Zheng, Rong

    2014-08-19

    Underwater sensor networks (UWSNs) can be applied in sea resource reconnaissance, pollution monitoring and assistant navigation, etc., and have become a hot research field in wireless sensor networks. In open and complicated underwater environments, targets (events) tend to be highly dynamic and uncertain. It is important to deploy sensors to cover potential events in an optimal manner. In this paper, the underwater sensor deployment problem and its performance evaluation metrics are introduced. Furthermore, a particle swarm inspired sensor self-deployment algorithm is presented. By simulating the flying behavior of particles and introducing crowd control, the proposed algorithm can drive sensors to cover almost all the events, and make the distribution of sensors match that of events. Through extensive simulations, we demonstrate that it can solve the underwater sensor deployment problem effectively, with fast convergence rate, and amiable to distributed implementation.

  6. Carbon Nanotube Underwater Acoustic Thermophone

    DTIC Science & Technology

    2016-09-23

    Attorney Docket No. 300009 1 of 8 A CARBON NANOTUBE UNDERWATER ACOUSTIC THERMOPHONE STATEMENT OF GOVERNMENT INTEREST [0001] The...the Invention [0003] The present invention is an acoustically transparent carbon nanotube thermophone. (2) Description of the Prior Art [0004...amplitude of the resulting sound waves. [0006] Recently, there has been development of underwater acoustic carbon nanotube (CNT) yarn sheets capable

  7. NOESY-WaterControl: a new NOESY sequence for the observation of under-water protein resonances.

    PubMed

    Torres, Allan M; Zheng, Gang; Price, William S

    2017-03-07

    Highly selective and efficient water signal suppression is indispensable in biomolecular 2D nuclear Overhauser effect spectroscopy (NOESY) experiments. However, the application of conventional water suppression schemes can cause a significant or complete loss of the biomolecular resonances at and around the water chemical shift (ω2). In this study, a new sequence, NOESY-WaterControl, was developed to address this issue. The new sequence was tested on lysozyme and bovine pancreatic trypsin inhibitor (BPTI), demonstrating its efficiency in both water suppression and, more excitingly, preserving water-proximate biomolecular resonances in ω2. The 2D NOESY maps obtained using the new sequence thus provide more information than the maps obtained with conventional water suppression, thereby lessening the number of experiments needed to complete resonance assignments of biomolecules. The 2D NOESY-WaterControl map of BPTI showed strong bound water and exchangeable proton signals in ω1 but these signals were absent in ω2, indicating the possibility of using the new sequence to discriminate bound water and exchangeable proton resonances from non-labile proton resonances with similar chemical shifts to water.

  8. Involvement of nigral oxytocin in locomotor activity: A behavioral, immunohistochemical and lesion study in male rats.

    PubMed

    Angioni, Laura; Cocco, Cristina; Ferri, Gian-Luca; Argiolas, Antonio; Melis, Maria Rosaria; Sanna, Fabrizio

    2016-07-01

    Oxytocin is involved in the control of different behaviors, from sexual behavior and food consumption to empathy, social and affective behaviors. An imbalance of central oxytocinergic neurotransmission has been also associated with different mental pathologies, from depression, anxiety and anorexia/bulimia to schizophrenia, autism and drug dependence. This study shows that oxytocin may also play a role in the control of locomotor activity. Accordingly, intraperitoneal oxytocin (0.5-2000μg/kg) reduced locomotor activity of adult male rats. This effect was abolished by d(CH2)5Tyr(Me)(2)-Orn(8)-vasotocin, an oxytocin receptor antagonist, given into the lateral ventricles at the dose of 2μg/rat, which was ineffective on locomotor activity. Oxytocin (50-200ng/site) also reduced and d(CH2)5Tyr(Me)(2)-Orn(8)-vasotocin (2μg/site) increased locomotor activity when injected bilaterally into the substantia nigra, a key area in the control of locomotor activity. Conversely, the destruction of nigral neurons bearing oxytocin receptors by the recently characterized neurotoxin oxytocin-saporin injected into the substantia nigra, increased basal locomotor activity. Since oxytocin-saporin injected into the substantia nigra caused a marked reduction of neurons immunoreactive for tyrosine hydroxylase (e.g., nigrostriatal dopaminergic neurons) and for vesicular glutamate transporters VGluT1, VGluT2 and VGluT3 (e.g., glutamatergic neurons), but not for glutamic acid decarboxylase (e.g., GABAergic neurons), together these findings suggest that oxytocin influences locomotor activity by acting on receptors localized presynaptically in nigral glutamatergic nerve terminals (which control the activity of nigral GABAergic efferent neurons projecting to brain stem nuclei controlling locomotor activity), rather than on receptors localized in the cell bodies/dendrites of nigrostriatal dopaminergic neurons. Copyright © 2016 The Authors. Published by Elsevier Inc. All rights reserved.

  9. Muscle spindle feedback directs locomotor recovery and circuit reorganization after spinal cord injury.

    PubMed

    Takeoka, Aya; Vollenweider, Isabel; Courtine, Grégoire; Arber, Silvia

    2014-12-18

    Spinal cord injuries alter motor function by disconnecting neural circuits above and below the lesion, rendering sensory inputs a primary source of direct external drive to neuronal networks caudal to the injury. Here, we studied mice lacking functional muscle spindle feedback to determine the role of this sensory channel in gait control and locomotor recovery after spinal cord injury. High-resolution kinematic analysis of intact mutant mice revealed proficient execution in basic locomotor tasks but poor performance in a precision task. After injury, wild-type mice spontaneously recovered basic locomotor function, whereas mice with deficient muscle spindle feedback failed to regain control over the hindlimb on the lesioned side. Virus-mediated tracing demonstrated that mutant mice exhibit defective rearrangements of descending circuits projecting to deprived spinal segments during recovery. Our findings reveal an essential role for muscle spindle feedback in directing basic locomotor recovery and facilitating circuit reorganization after spinal cord injury.

  10. Underwater gas tornado

    NASA Astrophysics Data System (ADS)

    Byalko, Alexey V.

    2013-07-01

    We present the first experimental observation of a new hydrodynamic phenomenon, the underwater tornado. Simple measurements show that the tornado forms a vortex of the Rankine type, i.e. the rising gas rotates as a solid body and the liquid rotates with a velocity decreasing hyperbolically with the radius. We obtain the dependence of the tornado radius a on the gas stream value j theoretically: a ∼ j2/5. Processing of a set of experiments yielded the value 0.36 for the exponent in this expression. We also report the initial stages of the theoretical study of this phenomenon.

  11. Performance of Underwater Weldments

    DTIC Science & Technology

    1990-09-05

    background on the underwater wet and wet-backed SMAW process, including discussion of data gathered from the literature and from industry sources and...for wet-backed welds and HVN = 282 + 566(C.E.) for wet welds 18 TABLE 2.1. EFFECT OF WELDING VARIABLES ON HAZ HARDNESS A. SMAW Only, All Coatings...HARDNESS. 21 TABLE 2.2. EFFECT OF WELDING VARIABLES ON WELD METAL TENSILE STRENGTH A. SMAW Only, All Coatings --95 Observations (All were wet welds.) Range

  12. Overview of a hybrid underwater camera system

    NASA Astrophysics Data System (ADS)

    Church, Philip; Hou, Weilin; Fournier, Georges; Dalgleish, Fraser; Butler, Derek; Pari, Sergio; Jamieson, Michael; Pike, David

    2014-05-01

    The paper provides an overview of a Hybrid Underwater Camera (HUC) system combining sonar with a range-gated laser camera system. The sonar is the BlueView P900-45, operating at 900kHz with a field of view of 45 degrees and ranging capability of 60m. The range-gated laser camera system is based on the third generation LUCIE (Laser Underwater Camera Image Enhancer) sensor originally developed by the Defence Research and Development Canada. LUCIE uses an eye-safe laser generating 1ns pulses at a wavelength of 532nm and at the rate of 25kHz. An intensified CCD camera operates with a gating mechanism synchronized with the laser pulse. The gate opens to let the camera capture photons from a given range of interest and can be set from a minimum delay of 5ns with increments of 200ps. The output of the sensor is a 30Hz video signal. Automatic ranging is achieved using a sonar altimeter. The BlueView sonar and LUCIE sensors are integrated with an underwater computer that controls the sensors parameters and displays the real-time data for the sonar and the laser camera. As an initial step for data integration, graphics overlays representing the laser camera field-of-view along with the gate position and width are overlaid on the sonar display. The HUC system can be manually handled by a diver and can also be controlled from a surface vessel through an umbilical cord. Recent test data obtained from the HUC system operated in a controlled underwater environment will be presented along with measured performance characteristics.

  13. Development of a Countermeasure to Enhance Postflight Locomotor Adaptability

    NASA Technical Reports Server (NTRS)

    Bloomberg, Jacob J.

    2006-01-01

    Astronauts returning from space flight experience locomotor dysfunction following their return to Earth. Our laboratory is currently developing a gait adaptability training program that is designed to facilitate recovery of locomotor function following a return to a gravitational environment. The training program exploits the ability of the sensorimotor system to generalize from exposure to multiple adaptive challenges during training so that the gait control system essentially learns to learn and therefore can reorganize more rapidly when faced with a novel adaptive challenge. We have previously confirmed that subjects participating in adaptive generalization training programs using a variety of visuomotor distortions can enhance their ability to adapt to a novel sensorimotor environment. Importantly, this increased adaptability was retained even one month after completion of the training period. Adaptive generalization has been observed in a variety of other tasks requiring sensorimotor transformations including manual control tasks and reaching (Bock et al., 2001, Seidler, 2003) and obstacle avoidance during walking (Lam and Dietz, 2004). Taken together, the evidence suggests that a training regimen exposing crewmembers to variation in locomotor conditions, with repeated transitions among states, may enhance their ability to learn how to reassemble appropriate locomotor patterns upon return from microgravity. We believe exposure to this type of training will extend crewmembers locomotor behavioral repertoires, facilitating the return of functional mobility after long duration space flight. Our proposed training protocol will compel subjects to develop new behavioral solutions under varying sensorimotor demands. Over time subjects will learn to create appropriate locomotor solution more rapidly enabling acquisition of mobility sooner after long-duration space flight. Our laboratory is currently developing adaptive generalization training procedures and the

  14. Locomotor behavior of fish hatched from embryos exposed to flight conditions

    NASA Technical Reports Server (NTRS)

    Kleerekoper, H.

    1978-01-01

    Embryos of Fundulus heteroclitus in various stages of development were exposed to space flight conditions aboard Apollo spacecraft and Cosmos satellites. The objective of the study was to ascertain whether fish hatched from these embryos displayed locomotor behavior different from that of control fish of the same age. An electronic monitoring technique was used to record behavior. Results indicate no change in locomotor behavior in fish on Apollo Spacecraft, but inexplicable significant changes were noted in fish aboard Cosmos Satellites.

  15. Evaluation of Underwater Welding and Cutting Equipment Available in 1969.

    DTIC Science & Technology

    UNDERWATER CUTTING, TORCHES), (*ARC WELDING , UNDERWATER EQUIPMENT), (*UNDERWATER EQUIPMENT, STATISTICAL DATA), SALVAGE, WELDABILITY, PERFORMANCE(ENGINEERING), PERFORMANCE(HUMAN), ANALYSIS OF VARIANCE.

  16. Dynamics and plasticity of spinal locomotor circuits.

    PubMed

    El Manira, Abdeljabbar

    2014-12-01

    Spinal circuits generate coordinated locomotor movements. These hardwired circuits are supplemented with neuromodulation that provide the necessary flexibility for animals to move smoothly through their environment. This review will highlight some recent insights gained in understanding the functional dynamics and plasticity of the locomotor circuits. First the mechanisms governing the modulation of the speed of locomotion will be discussed. Second, advantages of the modular organization of the locomotor networks with multiple circuits engaged in a task-dependent manner will be examined. Finally, the neuromodulation and the resulting plasticity of the locomotor circuits will be summarized with an emphasis on endocannabinoids and nitric oxide. The intention is to extract general principles of organization and discuss some onto-genetic and phylogenetic divergences.

  17. Effects of Innovative WALKBOT Robotic-Assisted Locomotor Training on Balance and Gait Recovery in Hemiparetic Stroke: A Prospective, Randomized, Experimenter Blinded Case Control Study With a Four-Week Follow-Up.

    PubMed

    Kim, Soo-Yeon; Yang, Li; Park, In Jae; Kim, Eun Joo; JoshuaPark, Min Su; You, Sung Hyun; Kim, Yun-Hee; Ko, Hyun-Yoon; Shin, Yong-Il

    2015-07-01

    The present clinical investigation was to ascertain whether the effects of WALKBOT-assisted locomotor training (WLT) on balance, gait, and motor recovery were superior or similar to the conventional locomotor training (CLT) in patients with hemiparetic stroke. Thirty individuals with hemiparetic stroke were randomly assigned to either WLT or CLT. WLT emphasized on a progressive, conventional locomotor retraining practice (40 min) combined with the WALKBOT-assisted, haptic guidance and random variable locomotor training (40 min) whereas CLT involved conventional physical therapy alone (80 min). Both intervention dosages were standardized and provided for 80 min, five days/week for four weeks. Clinical outcomes included function ambulation category (FAC), Berg balance scale (BBS), Korean modified Barthel index (K-MBI), modified Ashworth scale (MAS), and EuroQol-5 dimension (EQ-5D) before and after the four-week program as well as at follow-up four weeks after the intervention. Two-way repeated measure ANOVA showed significant interaction effect (time × group) for FAC (p=0.02), BBS (p=0.03) , and K-MBI (p=0.00) across the pre-training, post-training, and follow-up tests, indicating that WLT was more beneficial for balance, gait and daily activity function than CLT alone. However, no significant difference in other variables was observed. This is the first clinical trial that highlights the superior, augmented effects of the WALKBOT-assisted locomotor training on balance, gait and motor recovery when compared to the conventional locomotor training alone in patients with hemiparetic stroke.

  18. Optimal Sensor Layouts in Underwater Locomotory Systems

    NASA Astrophysics Data System (ADS)

    Colvert, Brendan; Kanso, Eva

    2015-11-01

    Retrieving and understanding global flow characteristics from local sensory measurements is a challenging but extremely relevant problem in fields such as defense, robotics, and biomimetics. It is an inverse problem in that the goal is to translate local information into global flow properties. In this talk we present techniques for optimization of sensory layouts within the context of an idealized underwater locomotory system. Using techniques from fluid mechanics and control theory, we show that, under certain conditions, local measurements can inform the submerged body about its orientation relative to the ambient flow, and allow it to recognize local properties of shear flows. We conclude by commenting on the relevance of these findings to underwater navigation in engineered systems and live organisms.

  19. Underwater splice for submarine coaxial cable

    SciTech Connect

    Inouye, A.T.; Roe, T. Jr.; Tausing, W.R.; Wilson, J.V.

    1984-10-30

    The invention is a device for splicing submarine coaxial cable underwater on the seafloor with a simple push-on operation to restore and maintain electrical and mechanical strength integrity; the splice device is mateable directly with the severed ends of a coaxial cable to be repaired. Splicing assemblies comprise a dielectric pressure compensating fluid filled guide cavity, a gelled castor oil cap and wiping seals for exclusion of seawater, electrical contacts, a cable strength restoration mechanism, and a pressure compensation system for controlled extrusion of and depletion loss prevention of dielectric seal fluid during cable splicing. A splice is made underwater by directly inserting prepared ends of coaxial cable, having no connector attachments, into splicing assemblies.

  20. Underwater laser scanning system

    NASA Astrophysics Data System (ADS)

    Austin, Roswell W.; Duntley, Seibert Q.; Ensminger, Richard L.; Petzold, Theodore J.; Smith, Raymond C.

    1991-12-01

    A system is described that produces high quality images through turbid waters by means of time encoded reflected light transmitted by scattering. The system consists of a compact battery operated laser scanning unit that scans the underwater scene with the laser beam in a manner similar to a television raster. Light reflected from any object in the scene varies in accordance with the reflectance of the minute spot being illuminated. This time varying intensity (TVI) signal is transmitted through the water to a remote receiver by both scattered and unscattered light where the received signal may be stored and/or displayed. The underwater laser scanning unit can be moved freely about the field of interest by scuba diver or ROV, unencumbered by entangling umbilicals, and can send real-time images over distances of 15 to 20 attenuation lengths to observers in a shirt-sleeve environment for critical viewing on an image display monitor. This previously undescribed system was developed in the early 1970s for proof of concept tests and used technology that is now 18 or more years old. The physical principles and the experimental hardware are described and examples are given of images providing exquisite detail that were made in an experimental tank together with some images obtained in ocean trials.

  1. Underwater Hearing in Turtles.

    PubMed

    Willis, Katie L

    2016-01-01

    The hearing of turtles is poorly understood compared with the other reptiles. Although the mechanism of transduction of sound into a neural signal via hair cells has been described in detail, the rest of the auditory system is largely a black box. What is known is that turtles have higher hearing thresholds than other reptiles, with best frequencies around 500 Hz. They also have lower underwater hearing thresholds than those in air, owing to resonance of the middle ear cavity. Further studies demonstrated that all families of turtles and tortoises share a common middle ear cavity morphology, with scaling best suited to underwater hearing. This supports an aquatic origin of the group. Because turtles hear best under water, it is important to examine their vulnerability to anthropogenic noise. However, the lack of basic data makes such experiments difficult because only a few species of turtles have published audiograms. There are also almost no behavioral data available (understandable due to training difficulties). Finally, few studies show what kinds of sounds are behaviorally relevant. One notable paper revealed that the Australian snake-necked turtle (Chelodina oblonga) has a vocal repertoire in air, at the interface, and under water. Findings like these suggest that there is more to the turtle aquatic auditory scene than previously thought.

  2. Loudness for tone underwater

    NASA Astrophysics Data System (ADS)

    Cudahy, Edward; Schwaller, Derek

    2002-05-01

    The loudness for pure tones was measured by loudness matching for 1-s pure tones from 100 to 50000 Hz. The standard tone was 1000 Hz. Subjects were instructed to match the loudness of the comparison tone at one of the test frequencies to the loudness of the standard tone. The standard was presented at one of five sound pressure levels (SPL) for each set of frequencies. The standard SPL was varied randomly across test series. The subjects were bareheaded US Navy divers tested at a depth of 3 m. All subjects had normal hearing. The tones were presented to the right side of the subject from an array of underwater sound projectors. The SPL was calibrated at the location of the subject's head with the subject absent. The loudness increased more rapidly as a function of standard SPL at mid-frequencies than at either high or low frequencies. The most compact loudness contours (least SPL change across range of standard SPL) were at 50000 Hz. The underwater loudness contours across frequency are significantly different from in-air measurements and have a minimum in the 1000 Hz region rather than the 2-4 kHz region observed for in-air measurements. [Work supported by ONR.

  3. Repeatability of locomotor performance and morphology-locomotor performance relationships.

    PubMed

    Conradsen, Cara; Walker, Jeffrey A; Perna, Catherine; McGuigan, Katrina

    2016-09-15

    There is good evidence that natural selection drives the evolution of locomotor performance, but the processes that generate the among-individual variation for selection to act on are relatively poorly understood. We measured prolonged swimming performance, Ucrit, and morphology in a large cohort (n=461) of wild-type zebrafish (Danio rerio) at ∼6 months and again at ∼9 months. Using mixed-model analyses to estimate repeatability as the intraclass correlation coefficient, we determined that Ucrit was significantly repeatable (r=0.55; 95% CI: 0.45-0.64). Performance differences between the sexes (males 12% faster than females) and changes with age (decreasing 0.07% per day) both contributed to variation in Ucrit and, therefore, the repeatability estimate. Accounting for mean differences between sexes within the model decreased the estimate of Ucrit repeatability to 21% below the naïve estimate, while fitting age in the models increased the estimate to 14% above the naïve estimate. Greater consideration of factors such as age and sex is therefore necessary for the interpretation of performance repeatability in wild populations. Body shape significantly predicted Ucrit in both sexes in both assays, with the morphology-performance relationship significantly repeatable at the population level. However, morphology was more strongly predicative of performance in older fish, suggesting a change in the contribution of morphology relative to other factors such as physiology and behaviour. The morphology-performance relationship changed with age to a greater extent in males than females.

  4. Using an electrohydraulic ankle foot orthosis to study modifications in feedforward control during locomotor adaptation to force fields applied in stance.

    PubMed

    Noel, Martin; Fortin, Karine; Bouyer, Laurent J

    2009-06-03

    Adapting to external forces during walking has been proposed as a tool to improve locomotion after central nervous system injury. However, sensorimotor integration during walking varies according to the timing in the gait cycle, suggesting that adaptation may also depend on gait phases. In this study, an ElectroHydraulic AFO (EHO) was used to apply forces specifically during mid-stance and push-off to evaluate if feedforward movement control can be adapted in these 2 gait phases. Eleven healthy subjects walked on a treadmill before (3 min), during (5 min) and after (5 min) exposure to 2 force fields applied by the EHO (mid-stance/push-off; approximately 10 Nm, towards dorsiflexion). To evaluate modifications in feedforward control, strides with no force field ('catch strides') were unexpectedly inserted during the force field walking period. When initially exposed to a mid-stance force field (FF 20%), subjects showed a significant increase in ankle dorsiflexion velocity. Catches applied early into the FF 20% were similar to baseline (P > 0.99). Subjects gradually adapted by returning ankle velocity to baseline over approximately 50 strides. Catches applied thereafter showed decreased ankle velocity where the force field was normally applied, indicating the presence of feedforward adaptation. When initially exposed to a push-off force field (FF 50%), plantarflexion velocity was reduced in the zone of force field application. No adaptation occurred over the 5 min exposure. Catch strides kinematics remained similar to control at all times, suggesting no feedforward adaptation. As a control, force fields assisting plantarflexion (-3.5 to -9.5 Nm) were applied and increased ankle plantarflexion during push-off, confirming that the lack of kinematic changes during FF 50% catch strides were not simply due to a large ankle impedance. Together these results show that ankle exoskeletons such as the EHO can be used to study phase-specific adaptive control of the ankle during

  5. Underwater reflectance transformation imaging: a technology for in situ underwater cultural heritage object-level recording

    NASA Astrophysics Data System (ADS)

    Selmo, David; Sturt, Fraser; Miles, James; Basford, Philip; Malzbender, Tom; Martinez, Kirk; Thompson, Charlie; Earl, Graeme; Bevan, George

    2017-01-01

    There is an increasing demand for high-resolution recording of in situ underwater cultural heritage. Reflectance transformation imaging (RTI) has a proven track record in terrestrial contexts for acquiring high-resolution diagnostic data at small scales. The research presented here documents the first adaptation of RTI protocols to the subaquatic environment, with a scuba-deployable method designed around affordable off-the-shelf technologies. Underwater RTI (URTI) was used to capture detail from historic shipwrecks in both the Solent and the western Mediterranean. Results show that URTI can capture submillimeter levels of qualitative diagnostic detail from in situ archaeological material. In addition, this paper presents the results of experiments to explore the impact of turbidity on URTI. For this purpose, a prototype fixed-lighting semisubmersible RTI photography dome was constructed to allow collection of data under controlled conditions. The signal-to-noise data generated reveals that the RGB channels of underwater digital images captured in progressive turbidity degraded faster than URTI object geometry calculated from them. URTI is shown to be capable of providing analytically useful object-level detail in conditions that would render ordinary underwater photography of limited use.

  6. Dengue Infection Increases the Locomotor Activity of Aedes aegypti Females

    PubMed Central

    Luz, Paula M.; Castro, Márcia G.; Lourenço-de-Oliveira, Ricardo; Sorgine, Marcos H. F.; Peixoto, Alexandre A.

    2011-01-01

    Background Aedes aegypti is the main vector of the virus causing Dengue fever, a disease that has increased dramatically in importance in recent decades, affecting many tropical and sub-tropical areas of the globe. It is known that viruses and other parasites can potentially alter vector behavior. We investigated whether infection with Dengue virus modifies the behavior of Aedes aegypti females with respect to their activity level. Methods/Principal Findings We carried out intrathoracic Dengue 2 virus (DENV-2) infections in Aedes aegypti females and recorded their locomotor activity behavior. We observed an increase of up to ∼50% in the activity of infected mosquitoes compared to the uninfected controls. Conclusions Dengue infection alters mosquito locomotor activity behavior. We speculate that the higher levels of activity observed in infected Aedes aegypti females might involve the circadian clock. Further studies are needed to assess whether this behavioral change could have implications for the dynamics of Dengue virus transmission. PMID:21408119

  7. Locomotor development of zebrafish (Danio rerio) under novel hydrodynamic conditions.

    PubMed

    Danos, Nicole

    2012-02-01

    The kinematics, neuromuscular control, and hydrodynamic aspects of normal locomotor activity in larval zebrafish have been extensively studied. Although locomotion depends heavily on the fluid properties of water, we have little knowledge of what sensory and developmental cues zebrafish larvae receive from their interaction with the fluid medium in which they grow. In this study, I manipulate the viscosity of water in which larvae grow until 5 and 7 days postfertilization (dpf) and record the kinematics of routine turns in their growth medium. Larvae are then transferred to a new medium of different viscosity and filmed again after short and long acclimation periods. Four hypotheses are tested: (1) larval kinematics are constrained by muscle activation patterns, (2) larval kinematics are guided by kinematic objectives, (3) routine turning control is independent of early locomotor experience, and (4) response to novel fluid environment is independent of developmental stage. The results indicate that a kinematic parameter, stage 1 angle, correlates with the kinematics of stage 1 while muscle activation patterns likely constrain stage 2. Development of this behavior is not dependent on locomotor experience both at 5 and 7 dpf, although the two age groups respond differently to increased viscosity. © 2012 WILEY PERIODICALS, INC.

  8. Underwater wet welding of steel

    SciTech Connect

    Ibarra, S.; Liu, S.; Olson, D.L.

    1995-05-01

    Underwater wet welding is conducted directly in water with the shielded metal arc (SMA) and flux cored arc (FCA) welding processes. Underwater wet welding has been demonstrated as an acceptable repair technique down to 100 meters (325 ft.) in depth, but wet welds have been attempted on carbon steel structures down to 200 meters (650 ft.). The primary purpose of this interpretive report is to document and evaluate current understanding of metallurgical behavior of underwater wet welds so that new welding consumables can be designed and new welding practices can be developed for fabrication and repair of high strength steel structures at greater depths. First the pyrometallurgical and physical metallurgy behaviors of underwater weldments are discussed. Second, modifications of the welding consumables and processes are suggested to enhance the ability to apply wet welding techniques.

  9. Astronauts Practice Station Spacewalk Underwater

    NASA Image and Video Library

    Astronauts Robert Satcher Jr. and Rick Sturckow conduct an underwater practice spacewalk session at Johnson Space Center’s Neutral Buoyancy Laboratory. The session was used to help International Sp...

  10. Underwater Flow Noise

    NASA Astrophysics Data System (ADS)

    Dowling, A. P.

    Lighthill's theory of aerodynamic sound provides an effective way of investigating underwater flow noise. When combined with a model of the coherent vortical structures in a turbulent boundary layer, it predicts the wave-number frequency pressure spectrum on a rigid surface and, in particular, highlights the rôle of surface viscous stresses as a source of low wave-number pressure fluctuations on a plane surface. The inclusion of surface curvature and flexibility enables the theory to be applied to acoustic streamers (sometimes known as towed arrays). The effect of the interior mechanical structure of the streamers on the flow noise is investigated. Simple algebraic forms are derived for the comparative performance of liquid and visco-elastic-filled streamers. The introduction of porous foam into a liquid streamer is found to be a particularly effective way of attenuating low wave-number disturbances, and theoretical predictions are compared with experiment.

  11. Underwater boom box

    NASA Astrophysics Data System (ADS)

    White, M. Catherine

    So far, there is no evidence that humpback whales are negatively affected by noise emitted from underwater speakers that may one day be used to measure warming in the oceans. A group of independent biologists from Cornell University monitored the behavior of the whales before, during, and after a scaled-down version of the controversial Acoustic Thermometry of Ocean Climate (ATOC) experiment off the coast of Hawaii. In 84 trials from February through March, they “saw no overt response from the whales.” Previous observations of similar sound transmissions at California's Pioneer Seamount, the other site planned for the experiment, also found no sign of disturbance among marine mammals, including elephant seals and several whale species. More observations are needed, however, before the experiment can be deemed safe, the Cornell biologists advised.

  12. Locomotor sequence learning in visually guided walking.

    PubMed

    Choi, Julia T; Jensen, Peter; Nielsen, Jens Bo

    2016-04-01

    Voluntary limb modifications must be integrated with basic walking patterns during visually guided walking. In this study we tested whether voluntary gait modifications can become more automatic with practice. We challenged walking control by presenting visual stepping targets that instructed subjects to modify step length from one trial to the next. Our sequence learning paradigm is derived from the serial reaction-time (SRT) task that has been used in upper limb studies. Both random and ordered sequences of step lengths were used to measure sequence-specific and sequence-nonspecific learning during walking. In addition, we determined how age (i.e., healthy young adults vs. children) and biomechanical factors (i.e., walking speed) affected the rate and magnitude of locomotor sequence learning. The results showed that healthy young adults (age 24 ± 5 yr,n= 20) could learn a specific sequence of step lengths over 300 training steps. Younger children (age 6-10 yr,n= 8) had lower baseline performance, but their magnitude and rate of sequence learning were the same compared with those of older children (11-16 yr,n= 10) and healthy adults. In addition, learning capacity may be more limited at faster walking speeds. To our knowledge, this is the first study to demonstrate that spatial sequence learning can be integrated with a highly automatic task such as walking. These findings suggest that adults and children use implicit knowledge about the sequence to plan and execute leg movement during visually guided walking.

  13. Locomotor-respiratory coupling during wheelchair propulsion.

    PubMed

    MacDonald, M L; Kirby, R L; Nugent, S T; MacLeod, D A

    1992-04-01

    Visceral movement due to impact loading is believed to play a role in the locomotor-respiratory coupling (LRC) that has been detected in a number of mammalian species. In the bird and bat species in which LRC has been described, the effect of the wing muscles on the timing of respiration appears to be a dominant influence. To test the hypothesis that LRC occurs in humans propelling wheelchairs (where there is no impact loading and the arms are used for locomotion), we studied 10 wheelchair athletes on a motorized treadmill at three speeds. Each subject's data were analyzed by spectral analysis (based on the fast Fourier transform), which detected apparent LRC (rates within 1% of a single-digit integer ratio) in 12 (40%) of the 30 test settings. However, a control analysis, in which each subject's arm-thrust rates were compared with another subject's breathing rates, revealed apparent (but false) coupling in 8 (27%), not significantly less often (using the chi 2 test). These findings appear to refute the hypothesis that LRC occurs during wheelchair propulsion. These data are consistent with the theory that the visceral piston is important to LRC and suggest that rhythmic arm movements are insufficient to induce the phenomenon in this setting.

  14. A potential flow based flight simulator for an underwater glider

    NASA Astrophysics Data System (ADS)

    Phoemsapthawee, Surasak; Le Boulluec, Marc; Laurens, Jean-Marc; Deniset, François

    2013-03-01

    Underwater gliders are recent innovative types of autonomous underwater vehicles (AUVs) used in ocean exploration and observation. They adjust their buoyancy to dive and to return to the ocean surface. During the change of altitude, they use the hydrodynamic forces developed by their wings to move forward. Their flights are controlled by changing the position of their centers of gravity and their buoyancy to adjust their trim and heel angles. For better flight control, the understanding of the hydrodynamic behavior and the flight mechanics of the underwater glider is necessary. A 6-DOF motion simulator is coupled with an unsteady potential flow model for this purpose. In some specific cases, the numerical study demonstrates that an inappropriate stabilizer dimension can cause counter-steering behavior. The simulator can be used to improve the automatic flight control. It can also be used for the hydrodynamic design optimization of the devices.

  15. Underwater Acoustic Beacon Location System

    DTIC Science & Technology

    2016-12-23

    300087 1 of 31 UNDERWATER ACOUSTIC BEACON LOCATION SYSTEM [0001] The present application claims the benefit of United States Provisional...Application Serial Number 62/297,179 filed on February 19, 2016 by the inventor, Steven E. Crocker and entitled “Underwater Acoustic Beacon...None. BACKGROUND OF THE INVENTION (1) Field of the Invention [0004] An acoustic detection system is provided in which the detection system can

  16. Organization of mammalian locomotor rhythm and pattern generation

    PubMed Central

    McCrea, David A.; Rybak, Ilya A.

    2008-01-01

    Central pattern generators (CPGs) located in the spinal cord produce the coordinated activation of flexor and extensor motoneurons during locomotion. Previously proposed architectures for the spinal locomotor CPG have included the classical half-center oscillator and the unit burst generator (UBG) comprised of multiple coupled oscillators. We have recently proposed another organization in which a two-level CPG has a common rhythm generator (RG) that controls the operation of the pattern formation (PF) circuitry responsible for motoneuron activation. These architectures are discussed in relation to recent data obtained during fictive locomotion in the decerebrate cat. The data show that the CPG can maintain the period and phase of locomotor oscillations both during spontaneous deletions of motoneuron activity and during sensory stimulation affecting motoneuron activity throughout the limb. The proposed two-level CPG organization has been investigated with a computational model which incorporates interactions between the CPG, spinal circuits and afferent inputs. The model includes interacting populations of spinal interneurons and motoneurons modeled in the Hodgkin-Huxley style. Our simulations demonstrate that a relatively simple CPG with separate RG and PF networks can realistically reproduce many experimental phenomena including spontaneous deletions of motoneuron activity and a variety of effects of afferent stimulation. The model suggests plausible explanations for a number of features of real CPG operation that would be difficult to explain in the framework of the classical single-level CPG organization. Some modeling predictions and directions for further studies of locomotor CPG organization are discussed. PMID:17936363

  17. Locomotor skills and balance strategies in adolescents idiopathic scoliosis.

    PubMed

    Mallau, Sophie; Bollini, Gérard; Jouve, Jean-Luc; Assaiante, Christine

    2007-01-01

    Locomotor balance control assessment was performed to study the effect of idiopathic scoliosis on head-trunk coordination in 17 patients with adolescent idiopathic scoliosis (AIS) and 16 control subjects. The aim of this study was to explore the functional effects of structural spinal deformations like idiopathic scoliosis on the balance strategies used during locomotion. Up to now, the repercussion of the idiopathic scoliosis on head-trunk coordination and balance strategies during locomotion is relatively unknown. Seventeen patients with AIS (mean age 14 years 3 months, 10 degrees < Cobb angle > 30 degrees) and 16 control subjects (mean age 14 years 1 month) were tested during various locomotor tasks: walking on the ground, walking on a line, and walking on a beam. Balance control was examined in terms of rotation about the vertical axis (yaw) and on a frontal plane (roll). Kinematics of foot, pelvis, trunk, shoulder, and head rotations were measured with an automatic optical TV image processor in order to calculate angular dispersions and segmental stabilizations. Decreasing the walking speed is the main adaptive strategy used in response to balance problems in control subjects as well as patients with AIS. However, patients with AIS performed walking tasks more slowly than normal subjects (around 15%). Moreover, the pelvic stabilization is preserved, despite the structural changes affecting the spine. Lastly, the biomechanical defect resulting from idiopathic scoliosis mainly affects the yaw head stabilization during locomotion. Patients with AIS show substantial similarities with control subjects in adaptive strategies relative to locomotor velocity as well as balance control based on segmental stabilization. In contrast, the loss of the yaw head stabilization strategies, mainly based on the use of vestibular information, probably reflects the presence of vestibular deficits in the patients with AIS.

  18. Effect of locomotor training in completely spinalized cats previously submitted to a spinal hemisection.

    PubMed

    Martinez, Marina; Delivet-Mongrain, Hugo; Leblond, Hugues; Rossignol, Serge

    2012-08-08

    After a spinal hemisection in cats, locomotor plasticity occurring at the spinal level can be revealed by performing, several weeks later, a complete spinalization below the first hemisection. Using this paradigm, we recently demonstrated that the hemisection induces durable changes in the symmetry of locomotor kinematics that persist after spinalization. Can this asymmetry be changed again in the spinal state by interventions such as treadmill locomotor training started within a few days after the spinalization? We performed, in 9 adult cats, a spinal hemisection at thoracic level 10 and then a complete spinalization at T13, 3 weeks later. Cats were not treadmill trained during the hemispinal period. After spinalization, 5 of 9 cats were not trained and served as control while 4 of 9 cats were trained on the treadmill for 20 min, 5 d a week for 3 weeks. Using detailed kinematic analyses, we showed that, without training, the asymmetrical state of locomotion induced by the hemisection was retained durably after the subsequent spinalization. By contrast, training cats after spinalization induced a reversal of the left/right asymmetries, suggesting that new plastic changes occurred within the spinal cord through locomotor training. Moreover, training was shown to improve the kinematic parameters and the performance of the hindlimb on the previously hemisected side. These results indicate that spinal locomotor circuits, previously modified by past experience such as required for adaptation to the hemisection, can remarkably respond to subsequent locomotor training and improve bilateral locomotor kinematics, clearly showing the benefits of locomotor training in the spinal state.

  19. Treadmill exercise facilitates recovery of locomotor function through axonal regeneration following spinal cord injury in rats.

    PubMed

    Jung, Sun-Young; Seo, Tae-Beom; Kim, Dae-Young

    2016-08-01

    Spinal cord injury (SCI) disrupts both axonal pathways and segmental spinal cord circuity, resulting in permanent neurological deficits. Physical exercise is known to increase the expression of neurotrophins for improving the injured spinal cord. In the present study, we investigated the effects of treadmill exercise on locomotor function in relation with brain-derived neurotrophic factor (BDNF) expression after SCI. The rats were divided into five groups: control group, sham operation group, sham operation and exercise group, SCI group, and SCI and exercise group. The laminectomy was performed at the T9-T10 level. The exposed dorsal surface of the spinal cord received contusion injury (10 g × 25 mm) using the impactor. Treadmill exercise was performed 6 days per a week for 6 weeks. In order to evaluate the locomotor function of animals, Basso-Beattie-Bresnahan (BBB) locomotor scale was conducted once a week for 6 weeks. We examined BDNF expression and axonal sprouting in the injury site of the spinal cord using Western blot analysis and immunofluorescence staining. SCI induced loss of locomotor function with decreased BDNF expression in the injury site. Treadmill exercise increased the score of BBB locomotor scale and reduced cavity formation in the injury site. BDNF expression and axonal sprouting within the trabecula were further facilitated by treadmill exercise in SCI-exposed rats. The present study provides the evidence that treadmill exercise may facilitate recovery of locomotor function through axonal regeneration via BDNF expression following SCI.

  20. Effects of sex pheromones and sexual maturation on locomotor activity in female sea lamprey (Petromyzon marinus).

    PubMed

    Walaszczyk, Erin J; Johnson, Nicholas S; Steibel, Juan Pedro; Li, Weiming

    2013-06-01

    Synchronization of male and female locomotor rhythmicity can play a vital role in ensuring reproductive success. Several physiological and environmental factors alter these locomotor rhythms. As sea lamprey, Petromyzon marinus, progress through their life cycle, their locomotor activity rhythm changes multiple times. The goal of this study was to elucidate the activity patterns of adult female sea lamprey during the sexual maturation process and discern the interactions of these patterns with exposure to male pheromones. During these stages, preovulated and ovulated adult females are exposed to sex pheromone compounds, which are released by spermiated males and attract ovulated females to the nest for spawning. The locomotor behavior of adult females was monitored in a natural stream with a passive integrated tag responder system as they matured, and they were exposed to a sex pheromone treatment (spermiated male washings) or a control (prespermiated male washings). Results showed that, dependent on the hour of day, male sex pheromone compounds reduce total activity (p < 0.05) and cause increases in activity during several daytime hours in preovulated and ovulated females. These results are one of the first examples of how sex pheromones modulate a locomotor rhythm in a vertebrate, and they suggest that the interaction between maturity stage and sex pheromone exposure contributes to the differential locomotor rhythms found in adult female sea lamprey. This phenomenon may contribute to the reproductive synchrony of mature adults, thus increasing reproductive success in this species.

  1. Treadmill exercise facilitates recovery of locomotor function through axonal regeneration following spinal cord injury in rats

    PubMed Central

    Jung, Sun-Young; Seo, Tae-Beom; Kim, Dae-Young

    2016-01-01

    Spinal cord injury (SCI) disrupts both axonal pathways and segmental spinal cord circuity, resulting in permanent neurological deficits. Physical exercise is known to increase the expression of neurotrophins for improving the injured spinal cord. In the present study, we investigated the effects of treadmill exercise on locomotor function in relation with brain-derived neurotrophic factor (BDNF) expression after SCI. The rats were divided into five groups: control group, sham operation group, sham operation and exercise group, SCI group, and SCI and exercise group. The laminectomy was performed at the T9–T10 level. The exposed dorsal surface of the spinal cord received contusion injury (10 g × 25 mm) using the impactor. Treadmill exercise was performed 6 days per a week for 6 weeks. In order to evaluate the locomotor function of animals, Basso-Beattie-Bresnahan (BBB) locomotor scale was conducted once a week for 6 weeks. We examined BDNF expression and axonal sprouting in the injury site of the spinal cord using Western blot analysis and immunofluorescence staining. SCI induced loss of locomotor function with decreased BDNF expression in the injury site. Treadmill exercise increased the score of BBB locomotor scale and reduced cavity formation in the injury site. BDNF expression and axonal sprouting within the trabecula were further facilitated by treadmill exercise in SCI-exposed rats. The present study provides the evidence that treadmill exercise may facilitate recovery of locomotor function through axonal regeneration via BDNF expression following SCI. PMID:27656624

  2. Effects of sex pheromones and sexual maturation on locomotor activity in female sea lamprey (Petromyzon marinus)

    USGS Publications Warehouse

    Walaszczyk, Erin J.; Johnson, Nicholas S.; Steibel, Juan Pedro; Li, Weiming

    2013-01-01

    Synchronization of male and female locomotor rhythmicity can play a vital role in ensuring reproductive success. Several physiological and environmental factors alter these locomotor rhythms. As sea lamprey, Petromyzon marinus, progress through their life cycle, their locomotor activity rhythm changes multiple times. The goal of this study was to elucidate the activity patterns of adult female sea lamprey during the sexual maturation process and discern the interactions of these patterns with exposure to male pheromones. During these stages, preovulated and ovulated adult females are exposed to sex pheromone compounds, which are released by spermiated males and attract ovulated females to the nest for spawning. The locomotor behavior of adult females was monitored in a natural stream with a passive integrated tag responder system as they matured, and they were exposed to a sex pheromone treatment (spermiated male washings) or a control (prespermiated male washings). Results showed that, dependent on the hour of day, male sex pheromone compounds reduce total activity (p < 0.05) and cause increases in activity during several daytime hours in preovulated and ovulated females. These results are one of the first examples of how sex pheromones modulate a locomotor rhythm in a vertebrate, and they suggest that the interaction between maturity stage and sex pheromone exposure contributes to the differential locomotor rhythms found in adult female sea lamprey. This phenomenon may contribute to the reproductive synchrony of mature adults, thus increasing reproductive success in this species.

  3. Pipeline inspection using an autonomous underwater vehicle

    SciTech Connect

    Egeskov, P.; Bech, M.; Bowley, R.; Aage, C.

    1995-12-31

    Pipeline inspection can be carried out by means of small Autonomous Underwater Vehicles (AUVs), operating either with a control link to a surface vessel, or totally independently. The AUV offers an attractive alternative to conventional inspection methods where Remotely Operated Vehicles (ROVs) or paravanes are used. A flatfish type AUV ``MARTIN`` (Marine Tool for Inspection) has been developed for this purpose. The paper describes the proposed types of inspection jobs to be carried out by ``MARTIN``. The design and construction of the vessel, its hydrodynamic properties, its propulsion and control systems are discussed. The pipeline tracking and survey systems, as well as the launch and recovery systems are described.

  4. Fish and chips: implementation of a neural network model into computer chips to maximize swimming efficiency in autonomous underwater vehicles.

    PubMed

    Blake, R W; Ng, H; Chan, K H S; Li, J

    2008-09-01

    Recent developments in the design and propulsion of biomimetic autonomous underwater vehicles (AUVs) have focused on boxfish as models (e.g. Deng and Avadhanula 2005 Biomimetic micro underwater vehicle with oscillating fin propulsion: system design and force measurement Proc. 2005 IEEE Int. Conf. Robot. Auto. (Barcelona, Spain) pp 3312-7). Whilst such vehicles have many potential advantages in operating in complex environments (e.g. high manoeuvrability and stability), limited battery life and payload capacity are likely functional disadvantages. Boxfish employ undulatory median and paired fins during routine swimming which are characterized by high hydromechanical Froude efficiencies (approximately 0.9) at low forward speeds. Current boxfish-inspired vehicles are propelled by a low aspect ratio, 'plate-like' caudal fin (ostraciiform tail) which can be shown to operate at a relatively low maximum Froude efficiency (approximately 0.5) and is mainly employed as a rudder for steering and in rapid swimming bouts (e.g. escape responses). Given this and the fact that bioinspired engineering designs are not obligated to wholly duplicate a biological model, computer chips were developed using a multilayer perception neural network model of undulatory fin propulsion in the knifefish Xenomystus nigri that would potentially allow an AUV to achieve high optimum values of propulsive efficiency at any given forward velocity, giving a minimum energy drain on the battery. We envisage that externally monitored information on flow velocity (sensory system) would be conveyed to the chips residing in the vehicle's control unit, which in turn would signal the locomotor unit to adopt kinematics (e.g. fin frequency, amplitude) associated with optimal propulsion efficiency. Power savings could protract vehicle operational life and/or provide more power to other functions (e.g. communications).

  5. Statistical Analysis of Zebrafish Locomotor Response

    PubMed Central

    Zhang, Gaonan; Venkatraman, Prahatha; Brown, Skye Ashton; Pang, Chi-Pui; Zhang, Mingzhi; Ma, Ping; Leung, Yuk Fai

    2015-01-01

    Zebrafish larvae display rich locomotor behaviour upon external stimulation. The movement can be simultaneously tracked from many larvae arranged in multi-well plates. The resulting time-series locomotor data have been used to reveal new insights into neurobiology and pharmacology. However, the data are of large scale, and the corresponding locomotor behavior is affected by multiple factors. These issues pose a statistical challenge for comparing larval activities. To address this gap, this study has analyzed a visually-driven locomotor behaviour named the visual motor response (VMR) by the Hotelling’s T-squared test. This test is congruent with comparing locomotor profiles from a time period. Different wild-type (WT) strains were compared using the test, which shows that they responded differently to light change at different developmental stages. The performance of this test was evaluated by a power analysis, which shows that the test was sensitive for detecting differences between experimental groups with sample numbers that were commonly used in various studies. In addition, this study investigated the effects of various factors that might affect the VMR by multivariate analysis of variance (MANOVA). The results indicate that the larval activity was generally affected by stage, light stimulus, their interaction, and location in the plate. Nonetheless, different factors affected larval activity differently over time, as indicated by a dynamical analysis of the activity at each second. Intriguingly, this analysis also shows that biological and technical repeats had negligible effect on larval activity. This finding is consistent with that from the Hotelling’s T-squared test, and suggests that experimental repeats can be combined to enhance statistical power. Together, these investigations have established a statistical framework for analyzing VMR data, a framework that should be generally applicable to other locomotor data with similar structure. PMID

  6. Underwater Shock Wave Research Applied to Therapeutic Device Developments

    NASA Astrophysics Data System (ADS)

    Takayama, K.; Yamamoto, H.; Shimokawa, H.

    2013-07-01

    The chronological development of underwater shock wave research performed at the Shock Wave Research Center of the Institute of Fluid Science at the Tohoku University is presented. Firstly, the generation of planar underwater shock waves in shock tubes and their visualization by using the conventional shadowgraph and schlieren methods are described. Secondly, the generation of spherical underwater shock waves by exploding lead azide pellets weighing from several tens of micrograms to 100 mg, that were ignited by irradiating with a Q-switched laser beam, and their visualization by using double exposure holographic interferometry are presented. The initiation, propagation, reflection, focusing of underwater shock waves, and their interaction with various interfaces, in particular, with air bubbles, are visualized quantitatively. Based on such a fundamental underwater shock wave research, collaboration with the School of Medicine at the Tohoku University was started for developing a shock wave assisted therapeutic device, which was named an extracorporeal shock wave lithotripter (ESWL). Miniature shock waves created by irradiation with Q-switched HO:YAG laser beams are studied, as applied to damaged dysfunctional nerve cells in the myocardium in a precisely controlled manner, and are effectively used to design a catheter for treating arrhythmia.

  7. Underwater cutting technology of thick stainless steel with YAG laser

    NASA Astrophysics Data System (ADS)

    Chida, Itaru; Okazaki, Koki; Shima, Seishi; Kurihara, Kenji; Yuguchi, Yasuhiro; Sato, Ikuko

    2003-03-01

    In nuclear power plants, irradiated materials like Control Rod (CR) should be stored underwater after service. Due to reducing the storage space, underwater cutting technology is expected. In this study, we developed underwater cutting technology of thick stainless steel with YAG laser in order to cut used CR. Preliminary tests were performed with flat plate test-pieces to optimize the cutting conditions. Due to creating a local dry area between nozzle and test-piece, high-pressure air was blown from the nozzle. Underwater laser cutting was carried out by laser irradiation power of 4 kW, changing the parameters of cutting speed, distance between the nozzle and test-piece, and thickness of the test-piece. We also investigated the wastes like dross and aerosols by laser cutting. Amount of dross was approximately 0.1 kg/m after cutting a 14 mm thick stainless steel plate, which is estimated to be less than other cutting method. Based on these results, we developed underwater cutting system of CR test-piece with YAG laser as a mock-up test. In the cutting torch, there was tracking system was introduced to keep the distance between the nozzle and the test-piece constant, and cutting monitor was also set-in to detect whether the test-piece was successfully cut or not. We have already tried to cut the CR test-piece with this facility and successfully cut in half.

  8. Covert underwater acoustic communications.

    PubMed

    Ling, Jun; He, Hao; Li, Jian; Roberts, William; Stoica, Petre

    2010-11-01

    Low probability of detection (LPD) communications are conducted at a low received signal-to-noise ratio (SNR) to deter eavesdroppers to sense the presence of the transmitted signal. Successful detection at intended receiver heavily relies on the processing gain achieved by employing the direct-sequence spread-spectrum (DSSS) technique. For scenarios that lack a sufficiently low SNR to maintain LPD, another metric, referred to as low probability of interception (LPI), is of interest to protect the privacy of the transmitted information. If covert communications take place in underwater acoustic (UWA) environments, then additional challenges are present. The time-varying nature of the UWA channel prevents the employment of a long spreading waveform. Furthermore, UWA environments are frequency-selective channels with long memory, which imposes challenges to the design of the spreading waveform. In this paper, a covert UWA communication system that adopts the DSSS technique and a coherent RAKE receiver is investigated. Emphasis is placed on the design of a spreading waveform that not only accounts for the transceiver structure and frequency-selective nature of the UWA channel, but also possesses a superior LPI. The proposed techniques are evaluated using both simulated and SPACE'08 in-water experimental data.

  9. Underwater loudness for tones

    NASA Astrophysics Data System (ADS)

    Cudahy, Edward A.; Schwaller, Derek

    2002-05-01

    The loudness for pure tones was measured by loudness matching for 1-s pure tones from 100 to 50000 Hz. The standard tone was 1000 Hz. Subjects were instructed to match the loudness of the comparison tone at one of the test frequencies to the loudness of the standard tone. The standard was presented at one of five sound pressure levels (SPL) for each set of frequencies. The SPL was varied randomly across a test series. The subjects were bareheaded U.S. Navy divers tested at a depth of 3 m. All subjects had normal hearing. The tones were presented to the right side of the subject from an array of underwater sound projectors. The SPL was calibrated at the location of the subject's head with the subject absent. The loudness increased more rapidly as a function of standard SPL at mid-frequencies than at either high or low frequencies. The most compact loudness contours (the least SPL change across the range of standard SPL) were at the highest frequency. Loudness contours across frequency derived from these measurements are significantly different from in-air measurements with minimum audibility in the 1000 Hz region rather than the 2-4 kHz region observed for in-air measurements.

  10. The Effect of Underwater Gait Training on Balance Ability of Stroke Patients

    PubMed Central

    Park, Seok Woo; Lee, Kyoung Jin; Shin, Doo Chul; Shin, Seung Ho; Lee, Myung Mo; Song, Chang Ho

    2014-01-01

    [Purpose] The purpose of this study was to investigate the effects of underwater treadmill gait training on the balance ability of stroke patients. [Subjects] Twenty-two patients with stroke were randomly assigned to an underwater treadmill group (n =11) or a control group (n =11). [Methods] Both groups received general rehabilitation for 30 min per session, 5 times per week, over a 4-week period. The underwater treadmill group received additional underwater gait training for 30 min per session, 5 times per week, over the same 4-week period. Static and dynamic balances were evaluated before and after the intervention. [Results] The means of static and dynamic balance ability increased significantly in both groups, but there was no significant difference between the two groups. [Conclusion] Compared to the general rehabilitation program, underwater treadmill gait training was not more effective at improving the balance ability of stroke patients than land-based training. PMID:25013292

  11. Non-intrusive underwater measurement of mobile bottom surface

    NASA Astrophysics Data System (ADS)

    Chourasiya, Shikha; Mohapatra, P. K.; Tripathi, Shivam

    2017-06-01

    This paper reports a novel approach for underwater measurement of mobile bottom surface by using an inexpensive 3-D depth sensor - Kinect. The sensor is tested in controlled conditions for surface profiling of rigid objects of different colors placed under varying water depths, turbidity, illuminosity and sensor height. Measurements indicate random errors are present when the object is in air only and these errors can be eliminated by smoothing. However, systematic errors were observed in the presence of water and are attributed to refraction. A refractive correction equation is developed to remove those systematic errors. Validation of the sensor's performance, quantification of its limitations and a systematic procedure for its use in underwater profiling is presented. Finally, capabilities of the sensor as an underwater measurement device for laboratory applications are demonstrated by measuring erosion of cross-stream sand bar due to overtopping and evolution of mining-pit.

  12. Adaptive locomotor behavior in larval zebrafish.

    PubMed

    Portugues, Ruben; Engert, Florian

    2011-01-01

    In this study we report that larval zebrafish display adaptive locomotor output that can be driven by unexpected visual feedback. We develop a new assay that addresses visuomotor integration in restrained larval zebrafish. The assay involves a closed-loop environment in which the visual feedback a larva receives depends on its own motor output in a way that resembles freely swimming conditions. The experimenter can control the gain of this closed feedback loop, so that following a given motor output the larva experiences more or less visual feedback depending on whether the gain is high or low. We show that increases and decreases in this gain setting result in adaptive changes in behavior that lead to a generalized decrease or increase of motor output, respectively. Our behavioral analysis shows that both the duration and tail beat frequency of individual swim bouts can be modified, as well as the frequency with which bouts are elicited. These changes can be implemented rapidly, following an exposure to a new gain of just 175 ms. In addition, modifications in some behavioral parameters accumulate over tens of seconds and effects last for at least 30 s from trial to trial. These results suggest that larvae establish an internal representation of the visual feedback expected from a given motor output and that the behavioral modifications are driven by an error signal that arises from the discrepancy between this expectation and the actual visual feedback. The assay we develop presents a unique possibility for studying visuomotor integration using imaging techniques available in the larval zebrafish.

  13. Adaptive Locomotor Behavior in Larval Zebrafish

    PubMed Central

    Portugues, Ruben; Engert, Florian

    2011-01-01

    In this study we report that larval zebrafish display adaptive locomotor output that can be driven by unexpected visual feedback. We develop a new assay that addresses visuomotor integration in restrained larval zebrafish. The assay involves a closed-loop environment in which the visual feedback a larva receives depends on its own motor output in a way that resembles freely swimming conditions. The experimenter can control the gain of this closed feedback loop, so that following a given motor output the larva experiences more or less visual feedback depending on whether the gain is high or low. We show that increases and decreases in this gain setting result in adaptive changes in behavior that lead to a generalized decrease or increase of motor output, respectively. Our behavioral analysis shows that both the duration and tail beat frequency of individual swim bouts can be modified, as well as the frequency with which bouts are elicited. These changes can be implemented rapidly, following an exposure to a new gain of just 175 ms. In addition, modifications in some behavioral parameters accumulate over tens of seconds and effects last for at least 30 s from trial to trial. These results suggest that larvae establish an internal representation of the visual feedback expected from a given motor output and that the behavioral modifications are driven by an error signal that arises from the discrepancy between this expectation and the actual visual feedback. The assay we develop presents a unique possibility for studying visuomotor integration using imaging techniques available in the larval zebrafish. PMID:21909325

  14. Locomotor Experience Affects Self and Emotion

    ERIC Educational Resources Information Center

    Uchiyama, Ichiro; Anderson, David I.; Campos, Joseph J.; Witherington, David; Frankel, Carl B.; Lejeune, Laure; Barbu-Roth, Marianne

    2008-01-01

    Two studies investigated the role of locomotor experience on visual proprioception in 8-month-old infants. "Visual proprioception" refers to the sense of self-motion induced in a static person by patterns of optic flow. A moving room apparatus permitted displacement of an entire enclosure (except for the floor) or the side walls and…

  15. Locomotor Experience Affects Self and Emotion

    ERIC Educational Resources Information Center

    Uchiyama, Ichiro; Anderson, David I.; Campos, Joseph J.; Witherington, David; Frankel, Carl B.; Lejeune, Laure; Barbu-Roth, Marianne

    2008-01-01

    Two studies investigated the role of locomotor experience on visual proprioception in 8-month-old infants. "Visual proprioception" refers to the sense of self-motion induced in a static person by patterns of optic flow. A moving room apparatus permitted displacement of an entire enclosure (except for the floor) or the side walls and…

  16. Predictive Measures of Locomotor Performance on an Unstable Walking Surface

    NASA Technical Reports Server (NTRS)

    Bloomberg, J. J.; Peters, B. T.; Mulavara, A. P.; Caldwell, E. E.; Batson, C. D.; De Dios, Y. E.; Gadd, N. E.; Goel, R.; Wood, S. J.; Cohen, H. S.; hide

    2016-01-01

    Locomotion requires integration of visual, vestibular, and somatosensory information to produce the appropriate motor output to control movement. The degree to which these sensory inputs are weighted and reorganized in discordant sensory environments varies by individual and may be predictive of the ability to adapt to novel environments. The goals of this project are to: 1) develop a set of predictive measures capable of identifying individual differences in sensorimotor adaptability, and 2) use this information to inform the design of training countermeasures designed to enhance the ability of astronauts to adapt to gravitational transitions improving balance and locomotor performance after a Mars landing and enhancing egress capability after a landing on Earth.

  17. Underwater measurements of muon intensity

    NASA Technical Reports Server (NTRS)

    Fedorov, V. M.; Pustovetov, V. P.; Trubkin, Y. A.; Kirilenkov, A. V.

    1985-01-01

    Experimental measurements of cosmic ray muon intensity deep underwater aimed at determining a muon absorption curve are of considerable interest, as they allow to reproduce independently the muon energy spectrum at sea level. The comparison of the muon absorption curve in sea water with that in rock makes it possible to determine muon energy losses caused by nuclear interactions. The data available on muon absorption in water and that in rock are not equivalent. Underground measurements are numerous and have been carried out down to the depth of approx. 15km w.e., whereas underwater muon intensity have been measured twice and only down to approx. 3km deep.

  18. Underwater laser imaging system (UWLIS)

    SciTech Connect

    DeLong, M.

    1994-11-15

    Practical limitations with underwater imaging systems area reached when the noise in the back scattered radiation generated in the water between the imaging system and the target obscures the spatial contrast and resolution necessary for target discovery and identification. The advent of high power lasers operating in the blue-green portion of the visible spectrum (oceanic transmission window) has led to improved experimental illumination systems for underwater imaging. Range-gated and synchronously scanned devices take advantage of the unique temporal and spatial coherence properties of laser radiation, respectively, to overcome the deleterious effects of common volume back scatter.

  19. Circadian regulation of bird song, call, and locomotor behavior by pineal melatonin in the zebra finch.

    PubMed

    Wang, Gang; Harpole, Clifford E; Trivedi, Amit K; Cassone, Vincent M

    2012-04-01

    As both a photoreceptor and pacemaker in the avian circadian clock system, the pineal gland is crucial for maintaining and synchronizing overt circadian rhythms in processes such as locomotor activity and body temperature through its circadian secretion of the pineal hormone melatonin. In addition to receptor presence in circadian and visual system structures, high-affinity melatonin binding and receptor mRNA are present in the song control system of male oscine passeriform birds. The present study explores the role of pineal melatonin in circadian organization of singing and calling behavior in comparison to locomotor activity under different lighting conditions. Similar to locomotor activity, both singing and calling behavior were regulated on a circadian basis by the central clock system through pineal melatonin, since these behaviors free-ran with a circadian period and since pinealectomy abolished them in constant environmental conditions. Further, rhythmic melatonin administration restored their rhythmicity. However, the rates by which these behaviors became arrhythmic and the rates of their entrainment to rhythmic melatonin administration differed among locomotor activity, singing and calling under constant dim light and constant bright light. Overall, the study demonstrates a role for pineal melatonin in regulating circadian oscillations of avian vocalizations in addition to locomotor activity. It is suggested that these behaviors might be controlled by separable circadian clockworks and that pineal melatonin entrains them all through a circadian clock.

  20. Nicotine-induced perturbations on heart rate, body temperature and locomotor activity daily rhythms in rats.

    PubMed

    Pelissier, A L; Gantenbein, M; Bruguerolle, B

    1998-08-01

    The aim of this study was to evaluate the influence of nicotine on the daily rhythms of heart rate, body temperature and locomotor activity in unrestrained rats by use of implanted radiotelemetry transmitters. The study was divided into three seven-day periods: a control period, a treatment period and a recovery period. The control period was used for baseline measurement of heart rate, body temperature and locomotor activity. During the treatment period three rats received nicotine (1 mg kg(-1), s.c.) at 0900 h. Three rats received saline under the same experimental conditions. Heart rate, body temperature and locomotor activity were continuously monitored and plotted every 10 min. During the three periods a power spectrum analysis was used to determine the dominant period of rhythmicity. If daily rhythms of heart rate, body temperature and locomotor activity were detected, the characteristics of these rhythms, i.e. the mesors, amplitudes and acrophases, were determined by cosinor analysis, expressed as means +/- s.e.m. and compared by analysis of variance. Nicotine did not suppress daily rhythmicity but induced decreases of amplitudes and phase-advances of acrophases for heart rate, body temperature and locomotor activity. These perturbations might result from the effects of nicotine on the suprachiasmatic nucleus, the hypothalamic clock that co-ordinates biological rhythms.

  1. Altered locomotor and stereotyped responses to acute methamphetamine in adolescent, maternally separated rats.

    PubMed

    Pritchard, Laurel M; Hensleigh, Emily; Lynch, Sarah

    2012-09-01

    Neonatal maternal separation (MS) has been used to model the effects of early life stress in rodents. MS alters behavioral responses to a variety of abused drugs, but few studies have examined its effects on methamphetamine sensitivity. We sought to determine the effects of MS on locomotor and stereotyped responses to low-to-moderate doses of methamphetamine in male and female adolescent rats. Male and female rat pups were subjected to 3 h per day of MS on postnatal days (PN) 2-14 or a brief handling control procedure during the same period. During adolescence (approximately PN 40), all rats were tested for locomotor activity and stereotyped behavior in response to acute methamphetamine administration (0, 1.0, or 3.0 mg/kg, s.c.). MS rats of both sexes exhibited increased locomotor activity in a novel environment, relative to handled controls. MS increased the locomotor response to methamphetamine (METH), and this effect occurred at different doses for male (3.0 mg/kg) and female (1.0 mg/kg) rats. MS also increased stereotyped behavior in response to METH (1.0 mg/kg) in both sexes. MS enhances the locomotor response to METH in a dose- and sex-dependent manner. These results suggest that individuals with a history of early life stress may be particularly vulnerable to the psychostimulant effects of METH, even at relatively low doses.

  2. Modelling spinal circuitry involved in locomotor pattern generation: insights from deletions during fictive locomotion

    PubMed Central

    Rybak, Ilya A; Shevtsova, Natalia A; Lafreniere-Roula, Myriam; McCrea, David A

    2006-01-01

    The mammalian spinal cord contains a locomotor central pattern generator (CPG) that can produce alternating rhythmic activity of flexor and extensor motoneurones in the absence of rhythmic input and proprioceptive feedback. During such fictive locomotor activity in decerebrate cats, spontaneous omissions of activity occur simultaneously in multiple agonist motoneurone pools for a number of cycles. During these ‘deletions’, antagonist motoneurone pools usually become tonically active but may also continue to be rhythmic. The rhythmic activity that re-emerges following a deletion is often not phase shifted. This suggests that some neuronal mechanism can maintain the locomotor period when motoneurone activity fails. To account for these observations, a simplified computational model of the spinal circuitry has been developed in which the locomotor CPG consists of two levels: a half-centre rhythm generator (RG) and a pattern formation (PF) network, with reciprocal inhibitory interactions between antagonist neural populations at each level. The model represents a network of interacting neural populations with single interneurones and motoneurones described in the Hodgkin-Huxley style. The model reproduces the range of locomotor periods and phase durations observed during real locomotion in adult cats and permits independent control of the level of motoneurone activity and of step cycle timing. By altering the excitability of neural populations within the PF network, the model can reproduce deletions in which motoneurone activity fails but the phase of locomotor oscillations is maintained. The model also suggests criteria for the functional identification of spinal interneurones involved in the mammalian locomotor pattern generation. PMID:17008376

  3. Altered patterns of reflex excitability, balance, and locomotion following spinal cord injury and locomotor training.

    PubMed

    Bose, Prodip K; Hou, Jiamei; Parmer, Ronald; Reier, Paul J; Thompson, Floyd J

    2012-01-01

    Spasticity is an important problem that complicates daily living in many individuals with spinal cord injury (SCI). While previous studies in human and animals revealed significant improvements in locomotor ability with treadmill locomotor training, it is not known to what extent locomotor training influences spasticity. In addition, it would be of considerable practical interest to know how the more ergonomically feasible cycle training compares with treadmill training as therapy to manage SCI-induced spasticity and to improve locomotor function. Thus the main objective of our present studies was to evaluate the influence of different types of locomotor training on measures of limb spasticity, gait, and reflex components that contribute to locomotion. For these studies, 30 animals received midthoracic SCI using the standard Multicenter Animal Spinal cord Injury Studies (MASCIS) protocol (10 g 2.5 cm weight drop). They were divided randomly into three equal groups: control (contused untrained), contused treadmill trained, and contused cycle trained. Treadmill and cycle training were started on post-injury day 8. Velocity-dependent ankle torque was tested across a wide range of velocities (612-49°/s) to permit quantitation of tonic (low velocity) and dynamic (high velocity) contributions to lower limb spasticity. By post-injury weeks 4 and 6, the untrained group revealed significant velocity-dependent ankle extensor spasticity, compared to pre-surgical control values. At these post-injury time points, spasticity was not observed in either of the two training groups. Instead, a significantly milder form of velocity-dependent spasticity was detected at postcontusion weeks 8-12 in both treadmill and bicycle training groups at the four fastest ankle rotation velocities (350-612°/s). Locomotor training using treadmill or bicycle also produced significant increase in the rate of recovery of limb placement measures (limb axis, base of support, and open field

  4. Altered Patterns of Reflex Excitability, Balance, and Locomotion Following Spinal Cord Injury and Locomotor Training

    PubMed Central

    Bose, Prodip K.; Hou, Jiamei; Parmer, Ronald; Reier, Paul J.; Thompson, Floyd J.

    2012-01-01

    Spasticity is an important problem that complicates daily living in many individuals with spinal cord injury (SCI). While previous studies in human and animals revealed significant improvements in locomotor ability with treadmill locomotor training, it is not known to what extent locomotor training influences spasticity. In addition, it would be of considerable practical interest to know how the more ergonomically feasible cycle training compares with treadmill training as therapy to manage SCI-induced spasticity and to improve locomotor function. Thus the main objective of our present studies was to evaluate the influence of different types of locomotor training on measures of limb spasticity, gait, and reflex components that contribute to locomotion. For these studies, 30 animals received midthoracic SCI using the standard Multicenter Animal Spinal cord Injury Studies (MASCIS) protocol (10 g 2.5 cm weight drop). They were divided randomly into three equal groups: control (contused untrained), contused treadmill trained, and contused cycle trained. Treadmill and cycle training were started on post-injury day 8. Velocity-dependent ankle torque was tested across a wide range of velocities (612–49°/s) to permit quantitation of tonic (low velocity) and dynamic (high velocity) contributions to lower limb spasticity. By post-injury weeks 4 and 6, the untrained group revealed significant velocity-dependent ankle extensor spasticity, compared to pre-surgical control values. At these post-injury time points, spasticity was not observed in either of the two training groups. Instead, a significantly milder form of velocity-dependent spasticity was detected at postcontusion weeks 8–12 in both treadmill and bicycle training groups at the four fastest ankle rotation velocities (350–612°/s). Locomotor training using treadmill or bicycle also produced significant increase in the rate of recovery of limb placement measures (limb axis, base of support, and open field

  5. Visual training improves underwater vision in children.

    PubMed

    Gislén, Anna; Warrant, Eric J; Dacke, Marie; Kröger, Ronald H H

    2006-10-01

    Children in a tribe of sea-gypsies from South-East Asia have been found to have superior underwater vision compared to European children. In this study, we show that the improved underwater vision of these Moken children is not due to better contrast sensitivity in general. We also show that European children can achieve the same underwater acuity as the Moken children. After 1 month of underwater training (11 sessions) followed by 4 months with no underwater activities, European children showed improved underwater vision and distinct bursts of pupil constriction. When tested 8 months after the last training session in an outdoor pool in bright sunlight-comparable to light environments in South-East Asia-the children had attained the same underwater acuity as the sea-gypsy children. The achieved performance can be explained by the combined effect of pupil constriction and strong accommodation.

  6. Compressive line sensing underwater imaging system

    NASA Astrophysics Data System (ADS)

    Ouyang, Bing; Dalgleish, Fraser R.; Caimi, Frank M.; Giddings, Thomas E.; Britton, Walter; Vuorenkoski, Anni K.; Nootz, Gero

    2014-05-01

    Compressive sensing (CS) theory has drawn great interest and led to new imaging techniques in many different fields. Over the last few years, the authors have conducted extensive research on CS-based active electro-optical imaging in a scattering medium, such as the underwater environment. This paper proposes a compressive line sensing underwater imaging system that is more compatible with conventional underwater survey operations. This new imaging system builds on our frame-based CS underwater laser imager concept, which is more advantageous for hover capable platforms. We contrast features of CS underwater imaging with those of traditional underwater electro-optical imaging and highlight some advantages of the CS approach. Simulation and initial underwater validation test results are also presented.

  7. Development of a Countermeasure to Mitigate Postflight Locomotor Dysfunction

    NASA Technical Reports Server (NTRS)

    Bloomberg, J. J.; Mulavara, A. P.; Peters, B. T.; Cohen, H. S.; Richards, J. T.; Miller, C. A.; Brady, R.; Warren, L. E.; Ruttley, T. M.

    2006-01-01

    Astronauts returning from space flight experience locomotor dysfunction following their return to Earth. Our laboratory is currently developing a gait adaptability training program that is designed to facilitate recovery of locomotor function following a return to a gravitational environment. The training program exploits the ability of the sensorimotor system to generalize from exposure to multiple adaptive challenges during training so that the gait control system essentially learns to learn and therefore can reorganize more rapidly when faced with a novel adaptive challenge. Evidence for the potential efficacy of an adaptive generalization gait training program can be obtained from numerous studies in the motor learning literature which have demonstrated that systematically varying the conditions of training enhances the ability of the performer to learn and retain a novel motor task. These variable practice training approaches have been used in applied contexts to improve motor skills required in a number of different sports. The central nervous system (CNS) can produce voluntary movement in an almost infinite number of ways. For example, locomotion can be achieved with many different combinations of joint angles, muscle activation patterns and forces. The CNS can exploit these degrees of freedom to enhance motor response adaptability during periods of adaptive flux like that encountered during a change in gravitational environment. Ultimately, the functional goal of an adaptive generalization countermeasure is not necessarily to immediately return movement patterns back to normal. Rather the training regimen should facilitate the reorganization of available sensory and motor subsystems to achieve safe and effective locomotion as soon as possible after long duration space flight. Indeed, this approach has been proposed as a basic feature underlying effective neurological rehabilitation. We have previously confirmed that subjects participating in an adaptive

  8. Development of a Countermeasure to Mitigate Postflight Locomotor Dysfunction

    NASA Technical Reports Server (NTRS)

    Bloomberg, J. J.; Mulavara, A. P.; Peters, B. T.; Cohen, H. S.; Richards, J. T.; Miller, C. A.; Brady, R.; Warren, L. E.; Ruttley, T. M.

    2006-01-01

    Astronauts returning from space flight experience locomotor dysfunction following their return to Earth. Our laboratory is currently developing a gait adaptability training program that is designed to facilitate recovery of locomotor function following a return to a gravitational environment. The training program exploits the ability of the sensorimotor system to generalize from exposure to multiple adaptive challenges during training so that the gait control system essentially learns to learn and therefore can reorganize more rapidly when faced with a novel adaptive challenge. Evidence for the potential efficacy of an adaptive generalization gait training program can be obtained from numerous studies in the motor learning literature which have demonstrated that systematically varying the conditions of training enhances the ability of the performer to learn and retain a novel motor task. These variable practice training approaches have been used in applied contexts to improve motor skills required in a number of different sports. The central nervous system (CNS) can produce voluntary movement in an almost infinite number of ways. For example, locomotion can be achieved with many different combinations of joint angles, muscle activation patterns and forces. The CNS can exploit these degrees of freedom to enhance motor response adaptability during periods of adaptive flux like that encountered during a change in gravitational environment. Ultimately, the functional goal of an adaptive generalization countermeasure is not necessarily to immediately return movement patterns back to normal. Rather the training regimen should facilitate the reorganization of available sensory and motor subsystems to achieve safe and effective locomotion as soon as possible after long duration space flight. Indeed, this approach has been proposed as a basic feature underlying effective neurological rehabilitation. We have previously confirmed that subjects participating in an adaptive

  9. Locomotor Dysfunction after Spaceflight: Characterization and Countermeasure Development

    NASA Technical Reports Server (NTRS)

    Mulavara, A. P.; Cohen, H. S.; Peters, B. T.; Miller, C. A.; Brady, R.; Bloomberg, Jacob J.

    2007-01-01

    Astronauts returning from space flight show disturbances in locomotor control manifested by changes in various sub-systems including head-trunk coordination, dynamic visual acuity, lower limb muscle activation patterning and kinematics (Glasauer, et al., 1995; Bloomberg, et al., 1997; McDonald, et al., 1996; 1997; Layne, et al., 1997; 1998, 2001, 2004; Newman, et al., 1997; Bloomberg and Mulavara, 2003). These post flight changes in locomotor performance, due to neural adaptation to the microgravity conditions of space flight, affect the ability of crewmembers especially after a long duration mission to egress their vehicle and perform extravehicular activities soon after landing on Earth or following a landing on the surface of the Moon or Mars. At present, no operational training intervention is available pre- or in- flight to mitigate post flight locomotor disturbances. Our laboratory is currently developing a gait adaptability training program that is designed to facilitate recovery of locomotor function following a return to a gravitational environment. The training program exploits the ability of the sensorimotor system to generalize from exposure to multiple adaptive challenges during training so that the gait control system essentially "learns to learn" and therefore can reorganize more rapidly when faced with a novel adaptive challenge. Ultimately, the functional goal of an adaptive generalization countermeasure is not necessarily to immediately return movement patterns back to "normal". Rather the training regimen should facilitate the reorganization of available sensorimotor sub-systems to achieve safe and effective locomotion as soon as possible after space flight. We have previously confirmed that subjects participating in adaptive generalization training programs, using a variety of visuomotor distortions and different motor tasks from throwing to negotiating an obstacle course as the dependent measure, can learn to enhance their ability to adapt to a

  10. Underwater Robots Surface in Utah

    ERIC Educational Resources Information Center

    Hurd, Randy C.; Hacking, Kip S.; Damarjian, Jennifer L.; Wright, Geoffrey A.; Truscott, Tadd

    2015-01-01

    Underwater robots (or ROVs: Remotely Operated Vehicles as they are typically called in industry) have recently become a very popular instructional STEM activity. Nationally, ROVs have been used in science and technology classrooms for several years in cities such as Seattle, San Diego, Virginia Beach, and other coastal areas. In the past two…

  11. Underwater cold tap machine tested

    SciTech Connect

    Not Available

    1985-05-01

    Tests are complete on a strategic cold tap machine for underwater lines. The system was designed around Total's Norway-UK Frigg gas line. It provides a permanent, easily mobilized, mechanical insurance against damage to the Frigg line but also provides a proven, workable principle for the repair or modification of other lines. The design of the system is discussed.

  12. Underwater Robots Surface in Utah

    ERIC Educational Resources Information Center

    Hurd, Randy C.; Hacking, Kip S.; Damarjian, Jennifer L.; Wright, Geoffrey A.; Truscott, Tadd

    2015-01-01

    Underwater robots (or ROVs: Remotely Operated Vehicles as they are typically called in industry) have recently become a very popular instructional STEM activity. Nationally, ROVs have been used in science and technology classrooms for several years in cities such as Seattle, San Diego, Virginia Beach, and other coastal areas. In the past two…

  13. Underwater Multimode Directional Transducer Evaluation

    DTIC Science & Technology

    2003-12-01

    The work described in the present thesis is intended to establish a procedure for analyzing directional transducers for future underwater wireless...networks, as well as to carry out the performance evaluation of a multimode transducer prototype with respect to its main operational requirements

  14. Locomotor function in the early stage of Parkinson's disease.

    PubMed

    Carpinella, Ilaria; Crenna, Paolo; Calabrese, Elena; Rabuffetti, Marco; Mazzoleni, Paolo; Nemni, Raffaello; Ferrarin, Maurizio

    2007-12-01

    The cardinal motor symptoms of Parkinson's disease (PD) have been widely investigated with particular reference to abnormalities of steady-state walking. The great majority of studies, however are related to severe forms of PD patients (phases > = 3 of Hoehn and Yahr scale), where locomotor abnormalities are clearly manifested. Goal of the present study was to quantitatively describe locomotor symptoms in subjects with mild PD. Accordingly, a multitask protocol involving instrumental analysis of steady-state linear walking, initiation of gait, and turning while walking was applied to a group of patients with idiopathic PD in their early clinical stage (phases 1 and 2 of Hoehn and Yahr scale), as well as in age-matched elderly controls. Kinematic, kinetic, and myoelectric measures were obtained by optoelectronic motion analysis, force platform, and telemetric electromyography. Results in PD patients showed a tendency to bradykinetic gait, with reduction of walking speed and cadence. Impairments of gait initiation consisted in reduction of the backward shift of the center of pressure (CoP) and prolongation of the stepping phase. Alterations of the turning task were more consistent and included delayed reorientation of the head toward the new direction, altered head-upper trunk rotational strategy, and adoption of a greater number of steps to complete the turning. It is concluded that patients in the early stage of PD reveal mild alterations of steady-state linear walking and more significant anomalies in the transitional conditions, especially during changes in the travel direction. Quantitative analysis of nonstationary locomotor tasks might be a potentially useful starting point for further studies on the pathophysiology of PD.

  15. Effects of caffeine on locomotor activity in streptozotocin-induced diabetic rats.

    PubMed

    Bădescu, S V; Tătaru, C P; Kobylinska, L; Georgescu, E L; Zahiu, D M; Zăgrean, A M; Zăgrean, L

    2016-01-01

    Diabetes mellitus modifies the expression of adenosine receptors in the brain. Caffeine acts as an antagonist of A1 and A2A adenosine receptors and was shown to have a dose-dependent biphasic effect on locomotion in mice. The present study investigated the link between diabetes and locomotor activity in an animal model of streptozotocin-induced diabetes, and the effects of a low-medium dose of caffeine in this relation. The locomotor activity was investigated by using Open Field Test at 6 weeks after diabetes induction and after 2 more weeks of chronic caffeine administration. Diabetes decreased locomotor activity (total distance moved and mobility time). Chronic caffeine exposure impaired the locomotor activity in control rats, but not in diabetic rats. Our data suggested that the medium doses of caffeine might block the A2A receptors, shown to have an increased density in the brain of diabetic rats, and improve or at least maintain the locomotor activity, offering a neuroprotective support in diabetic rats. Abbreviations: STZ = streptozotocin, OFT = Open Field Test.

  16. Individual differences in rats' reactivity to novelty and the unconditioned and conditioned locomotor effects of methamphetamine.

    PubMed

    Bevins, Rick A; Peterson, Jessica L

    2004-09-01

    Rat's reactivity to inescapable novelty can predict the subsequent psychomotor effects of many stimulants. This relation has not been examined for methamphetamine. Experiment 1 assessed the locomotor effects of methamphetamine (0.0625-1.0 mg/kg). On average, acute administration of methamphetamine (0.25, 0.5, and 1 mg/kg) had a stimulant effect on activity; locomotor sensitization was seen after repeated administration of 0.5 and 1 mg/kg. In a subsequent drug-free test, rats that had the locomotor chamber paired with 0.25, 0.5, or 1 mg/kg methamphetamine on eight separate occasions were more active than controls--conditioned hyperactivity. Experiment 2 used the 0.5-mg/kg dose to examine whether forced novelty exposure (novelty-induced activity) or free-choice novelty (approach to novel environment or object interaction) was predictive of methamphetamine's psychomotor effects. Only reactivity to inescapable novelty was systematically correlated with methamphetamine-induced activity. Rats more reactive to novelty [high responders (HR)] were more active to the acute and chronic methamphetamine challenge. Furthermore, these HR showed more conditioned hyperactivity than low responders (LR). Although acute methamphetamine did not have a stimulant effect in LR, only the LR displayed locomotor sensitization after chronic methamphetamine. This research extends the predictive variable of reactivity to inescapable novelty to methamphetamine's conditioned and unconditioned locomotor effects.

  17. Locomotor Muscle Fatigue Does Not Alter Oxygen Uptake Kinetics during High-Intensity Exercise

    PubMed Central

    Hopker, James G.; Caporaso, Giuseppe; Azzalin, Andrea; Carpenter, Roger; Marcora, Samuele M.

    2016-01-01

    The V˙O2 slow component (V˙O2sc) that develops during high-intensity aerobic exercise is thought to be strongly associated with locomotor muscle fatigue. We sought to experimentally test this hypothesis by pre-fatiguing the locomotor muscles used during subsequent high-intensity cycling exercise. Over two separate visits, eight healthy male participants were asked to either perform a non-metabolically stressful 100 intermittent drop-jumps protocol (pre-fatigue condition) or rest for 33 min (control condition) according to a random and counterbalanced order. Locomotor muscle fatigue was quantified with 6-s maximal sprints at a fixed pedaling cadence of 90 rev·min−1. Oxygen kinetics and other responses (heart rate, capillary blood lactate concentration and rating of perceived exertion, RPE) were measured during two subsequent bouts of 6 min cycling exercise at 50% of the delta between the lactate threshold and V˙O2max determined during a preliminary incremental exercise test. All tests were performed on the same cycle ergometer. Despite significant locomotor muscle fatigue (P = 0.03), the V˙O2sc was not significantly different between the pre-fatigue (464 ± 301 mL·min−1) and the control (556 ± 223 mL·min−1) condition (P = 0.50). Blood lactate response was not significantly different between conditions (P = 0.48) but RPE was significantly higher following the pre-fatiguing exercise protocol compared with the control condition (P < 0.01) suggesting higher muscle recruitment. These results demonstrate experimentally that locomotor muscle fatigue does not significantly alter the V˙O2 kinetic response to high intensity aerobic exercise, and challenge the hypothesis that the V˙O2sc is strongly associated with locomotor muscle fatigue. PMID:27790156

  18. On the efficient swimming of a ray-inspired underwater vehicle Part I: Experimental study on swimming optimization of control and fin structure

    NASA Astrophysics Data System (ADS)

    Zhu, Jianzhong; Lopez, Mervyn; Williams, Ventress; Aluko, Theophilus; Dong, Haibo; Bart-Smith, Hilary

    2014-11-01

    Batoid fish such as manta and cownose rays are among the most agile and energy efficient swimming creatures. These capabilities arise from flapping and bending their dorsally flattened pectoral fins. To assess this contribution, this study focuses on the study of a bio-inspired underwater vehicle--the MantaBot--where biological design criteria are applied. The MantaBot consists of two parts: a rigid body rendered from a CT scanning image of a cownose ray and two flexible fins driven by tensegrity actuators. The experiments were conducted in a water tank where the MantaBot was attached to a rail for rectilinear swimming. Three stereo-videos were taken and digitized to measure the 3D kinematics. Results showed that the fins conduct deformations in both spanwise and chordwise directions during steady swimming. Optimal operation conditions were determined for fastest swimming by surveying a wide range of parameters. Contributions of thrust generation and amplitude hindrance of various portions of the fin volume were examined. Additionally, fin tip structure, material and bending properties were studied for optimal swimming. This research was supported by the Office of Naval Research (ONR) under the Multidisciplinary University Research Initiative (MURI) Grant N00014-08-1-0642 and Grant N00014-14-1-0533.

  19. Remote Underwater Characterization System - Innovative Technology Summary Report

    SciTech Connect

    Willis, W D

    1999-04-01

    Characterization and inspection of water-cooled and moderated nuclear reactors and fuel storage pools requires equipment capable of operating underwater. Similarly, the deactivation and decommissioning of older nuclear facilities often requires the facility owner to accurately characterize underwater structures and equipment which may have been sitting idle for years. The Remote Underwater Characterization System (RUCS) is a small, remotely operated submersible vehicle intended to serve multiple purposes in underwater nuclear operations. It is based on the commercially-available "Scallop" vehicle 1 , but has been modified by the Department of Energy's Robotics Technology Development Program to add auto-depth control, and vehicle orientation and depth monitoring at the operator control panel. The RUCS is designed to provide visual and gamma radiation characterization, even in confined or limited access areas. It was demonstrated in August 1998 at the Idaho National Engineering and Environmental Laboratory (INEEL) as part of the INEEL Large Scale Demonstration and Deployment Project. During the demonstration it was compared in a "head-to-head" fashion with the baseline characterization technology. This paper summarizes the results of the demonstration and lessons learned; comparing and contrasting both technologies in the areas of cost, visual characterization, radiological characterization, and overall operations.

  20. Effects of repeated blood samplings on locomotor activity, evasion and wheel-running activity in mice.

    PubMed

    Pfeil, R

    1988-01-01

    The effects of serial blood sampling on nocturnal locomotor activity, evasion, wheel-running activity and body mass were studied in male NMRI mice aged 7-8 weeks. The erythrocyte count, haematocrit and haemoglobin concentration at the beginning and end of the study showed no difference in group 1 (two samples per week, 0.08 ml each) while there was a significant decrease in the group 2 values (three samples per week, 0.08 ml each). The total amount of nocturnal locomotor activity decreased in the animals bled repeatedly while the periods with locomotor activity increased. These alterations appeared particularly after bleeding. In the test-group animals evasion showed a decrease compared with the untreated control animals, but there was no evidence of a relation to the timing of the bleedings.

  1. Locomotor activity and tissue levels following acute ...

    EPA Pesticide Factsheets

    Pyrethroids produce neurotoxicity that depends, in part, on the chemical structure. Common behavioral effects include locomotor activity changes and specific toxic syndromes (types I and II). In general these neurobehavioral effects correlate well with peak internal dose metrics. Products of cyhalothrin, a type II pyrethroid, include mixtures of isomers (e.g., λ-cyhalothrin) as well as enriched active isomers (e.g., γ-cyhalothrin). We measured acute changes in locomotor activity in adult male rats and directly correlated these changes to peak brain and plasma concentrations of λ- and γ-cyhalothrin using a within-subject design. One-hour locomotor activity studies were conducted 1.5 h after oral gavage dosing, and immediately thereafter plasma and brains were collected for analyzing tissue levels using LC/MS/MS methods. Both isomers produced dose-related decreases in activity counts, and the effective dose range for γ-cyhalothrin was lower than for λ-cyhalothrin. Doses calculated to decrease activity by 50% were 2-fold lower for the γ-isomer (1.29 mg/kg) compared to λ-cyhalothrin (2.65 mg/kg). Salivation, typical of type II pyrethroids, was also observed at lower doses of γ-cyhalothrin. Administered dose correlated well with brain and plasma concentrations, which furthermore showed good correlations with activity changes. Brain and plasma levels were tightly correlated across doses. While γ-cyhalothrin was 2-fold more potent based on administ

  2. Effect of physical exercise prelabyrinthectomy on locomotor balance compensation in the squirrel monkey

    NASA Technical Reports Server (NTRS)

    Igarashi, M.; Ohashi, K.; Yoshihara, T.; MacDonald, S.

    1989-01-01

    This study examines the effectiveness of physical exercise, during a prepathology state, on locomotor balance compensation after subsequent unilateral labyrinthectomy in squirrel monkeys. An experimental group underwent 3 hr. of daily running exercise on a treadmill for 3 mo. prior to the surgery, whereas a control group was not exercised. Postoperatively, the locomotor balance function of both groups was tested for 3 mo. There was no significant difference in gait deviation counts in the acute phase of compensation. However, in the chronic compensation maintenance phase, the number of gait deviation counts was fewer in the exercise group, which showed significantly better performance stability.

  3. Effect of physical exercise prelabyrinthectomy on locomotor balance compensation in the squirrel monkey

    NASA Technical Reports Server (NTRS)

    Igarashi, M.; Ohashi, K.; Yoshihara, T.; MacDonald, S.

    1989-01-01

    This study examines the effectiveness of physical exercise, during a prepathology state, on locomotor balance compensation after subsequent unilateral labyrinthectomy in squirrel monkeys. An experimental group underwent 3 hr. of daily running exercise on a treadmill for 3 mo. prior to the surgery, whereas a control group was not exercised. Postoperatively, the locomotor balance function of both groups was tested for 3 mo. There was no significant difference in gait deviation counts in the acute phase of compensation. However, in the chronic compensation maintenance phase, the number of gait deviation counts was fewer in the exercise group, which showed significantly better performance stability.

  4. Software architecture of biomimetic underwater vehicle

    NASA Astrophysics Data System (ADS)

    Praczyk, Tomasz; Szymak, Piotr

    2016-05-01

    Autonomous underwater vehicles are vehicles that are entirely or partly independent of human decisions. In order to obtain operational independence, the vehicles have to be equipped with a specialized software. The main task of the software is to move the vehicle along a trajectory with collision avoidance. Moreover, the software has also to manage different devices installed on the vehicle board, e.g. to start and stop cameras, sonars etc. In addition to the software embedded on the vehicle board, the software responsible for managing the vehicle by the operator is also necessary. Its task is to define mission of the vehicle, to start, to stop the mission, to send emergency commands, to monitor vehicle parameters, and to control the vehicle in remotely operated mode. An important objective of the software is also to support development and tests of other software components. To this end, a simulation environment is necessary, i.e. simulation model of the vehicle and all its key devices, the model of the sea environment, and the software to visualize behavior of the vehicle. The paper presents architecture of the software designed for biomimetic autonomous underwater vehicle (BAUV) that is being constructed within the framework of the scientific project financed by Polish National Center of Research and Development.

  5. Underwater sediment-contact radiation survey method

    SciTech Connect

    Lee, D.R.; St. Aubin, M.; Welch, S.J. )

    1991-11-01

    The authors are striving to produce a practical system for mapping lateral distributions in gamma activity on submerged sediments. This is in response to the need for quality control and interpretation of data obtainable by sediment sampling and analyses near nuclear utilities. A prototype gamma probe has been constructed and tested. The prototype is essentially a background survey meter packaged in a 53-cm-long {times} 5.4-cm-diam waterproof vehicle. This usage-shaped vehicle is connected to a cable for towing in contact with bottom sediments of lakes, rivers, and coastal waters. This vehicle, or sediment probe as it is called, was initially developed for measuring sediment electrical conductances, a parameter that can be used to locate underwater areas of groundwater and contaminant upwelling. During towing, the probe does not roll or twist around its longitudinal axis by more than 10 deg, so that sensors, which have been fixed within the vehicle, can be oriented to look up, down, or sideways. In over 450 lin-km of underwater survey, only a single sediment probe has been irretrievably snagged on sunken rocks or other debris. Work in the Ottawa River near the Chalk River Laboratories has shown good agreement among point measurements of river sediment with continuous measurements using the moving probe.

  6. Arc spot welding technique for underwater use

    SciTech Connect

    Koga, H.; Ide, Y.; Ogawa, Y.

    1995-12-31

    An arc spot welding equipment with special local cavity shroud was developed for underwater salvaging activity. Arc spot welding for lapped plates is an effective method to recover defects. This method in surface is so simple to use widely in the field of railways and chemical plants manufacturing. But there is some problems on the reliability of joint strength and bead shapes. A special arc spot nozzle to improve welding quality was developed. A small outlet of air jet at the bottom of the nozzle was created to maintain the swirl flow of shielding gas and certain rejection of excessive molten metal. This nozzle covers the welding part completely, then it also works as a local cavity shroud under water. This paper describes the design and function of the nozzle for CO{sub 2} arc spot welding system. A programmable controller manages the welding sequence of shielding gas flow, air jet flow, and arcing time. This welding gun is operated manually, but the operation is only to press the gun on the weld point. After that welding will proceed automatically, and arcing time is about three seconds. Whole time for welding which includes pre and post gas flow time is less than ten seconds for surface use, it is required some more additional pre drying process of welding point for underwater use to guarantee the high quality welding results. Fundamental analysis of welding conditions and the effects of air jet were considered.

  7. Underwater remote-reading dosimeter evaluation

    SciTech Connect

    Clow, H.E.; Emmons, G. )

    1985-01-01

    This paper reports on problems inherent in attempting to measure underwater dose rates and monitor and control diver exposures. At Connecticut Yankee, the authors had a specific procedure in effect to cover diving evolutions; however, the authors were not satisfied with the methods available to us for monitoring a diver's dose during a dive. The authors looked around and discovered that the ideal monitoring method was already at hand. In the past, the authors had successfully used the Xetex 503A Teledose system for high dose rate jobs under are variety of circumstances, but not underwater. The basic Teledose system consists of a base station and five individual electronic dosimeter/transmitters that can be worn by workers. The dosimeters are GM-tube types packaged in high-impact plastic or metal cases, each powered by a single 9-volt battery. The dosimeters do not have their own read-outs - instead, they transmit a coded pulse for each mR detected via a loop antenna to the base station, where the accumulated exposure for each of the five dosimeter units is displayed.

  8. Fabrication of Long-Term Underwater Superoleophobic Al Surfaces and Application on Underwater Lossless Manipulation of Non-Polar Organic Liquids

    NASA Astrophysics Data System (ADS)

    Song, Jinlong; Huang, Liu; Lu, Yao; Liu, Xin; Deng, Xu; Yang, Xiaolong; Huang, Shuai; Sun, Jing; Jin, Zhuji; Parkin, Ivan P.

    2016-08-01

    Underwater superoleophobic surfaces have different applications in fields from oil/water separation to underwater lossless manipulation. This kind of surfaces can be easily transformed from superhydrophilic surfaces in air, which means the stability of superhydrophilicity in air determines the stability of underwater superoleophobicity. However, superhydrophilic surfaces fabricated by some existing methods easily become hydrophobic or superhydrophobic in air with time. Here, a facile method combined with electrochemical etching and boiling water immersion is developed to fabricate long-term underwater superoleophobic surfaces. The surface morphologies and chemical compositions are investigated. The results show that the electrochemically etched and boiling-water immersed Al surfaces have excellent long-term superhydrophilicity in air for over 1 year and boehmite plays an important role in maintaining long-term stability of wettability. Based on the fabricated underwater superoleophobic surfaces, a special method and device were developed to realize the underwater lossless manipulation of immiscible organic liquid droplets with a large volume. The capture and release of liquid droplets were realized by controlling the resultant force of the applied driving pressure, gravity and buoyancy. The research has potential application in research-fields such as the transfer of valuable reagents, accurate control of miniature chemical reactions, droplet-based reactors, and eliminates contamination of manipulator components.

  9. Fabrication of Long-Term Underwater Superoleophobic Al Surfaces and Application on Underwater Lossless Manipulation of Non-Polar Organic Liquids.

    PubMed

    Song, Jinlong; Huang, Liu; Lu, Yao; Liu, Xin; Deng, Xu; Yang, Xiaolong; Huang, Shuai; Sun, Jing; Jin, Zhuji; Parkin, Ivan P

    2016-08-23

    Underwater superoleophobic surfaces have different applications in fields from oil/water separation to underwater lossless manipulation. This kind of surfaces can be easily transformed from superhydrophilic surfaces in air, which means the stability of superhydrophilicity in air determines the stability of underwater superoleophobicity. However, superhydrophilic surfaces fabricated by some existing methods easily become hydrophobic or superhydrophobic in air with time. Here, a facile method combined with electrochemical etching and boiling water immersion is developed to fabricate long-term underwater superoleophobic surfaces. The surface morphologies and chemical compositions are investigated. The results show that the electrochemically etched and boiling-water immersed Al surfaces have excellent long-term superhydrophilicity in air for over 1 year and boehmite plays an important role in maintaining long-term stability of wettability. Based on the fabricated underwater superoleophobic surfaces, a special method and device were developed to realize the underwater lossless manipulation of immiscible organic liquid droplets with a large volume. The capture and release of liquid droplets were realized by controlling the resultant force of the applied driving pressure, gravity and buoyancy. The research has potential application in research-fields such as the transfer of valuable reagents, accurate control of miniature chemical reactions, droplet-based reactors, and eliminates contamination of manipulator components.

  10. Fabrication of Long-Term Underwater Superoleophobic Al Surfaces and Application on Underwater Lossless Manipulation of Non-Polar Organic Liquids

    PubMed Central

    Song, Jinlong; Huang, Liu; Lu, Yao; Liu, Xin; Deng, Xu; Yang, Xiaolong; Huang, Shuai; Sun, Jing; Jin, Zhuji; Parkin, Ivan P.

    2016-01-01

    Underwater superoleophobic surfaces have different applications in fields from oil/water separation to underwater lossless manipulation. This kind of surfaces can be easily transformed from superhydrophilic surfaces in air, which means the stability of superhydrophilicity in air determines the stability of underwater superoleophobicity. However, superhydrophilic surfaces fabricated by some existing methods easily become hydrophobic or superhydrophobic in air with time. Here, a facile method combined with electrochemical etching and boiling water immersion is developed to fabricate long-term underwater superoleophobic surfaces. The surface morphologies and chemical compositions are investigated. The results show that the electrochemically etched and boiling-water immersed Al surfaces have excellent long-term superhydrophilicity in air for over 1 year and boehmite plays an important role in maintaining long-term stability of wettability. Based on the fabricated underwater superoleophobic surfaces, a special method and device were developed to realize the underwater lossless manipulation of immiscible organic liquid droplets with a large volume. The capture and release of liquid droplets were realized by controlling the resultant force of the applied driving pressure, gravity and buoyancy. The research has potential application in research-fields such as the transfer of valuable reagents, accurate control of miniature chemical reactions, droplet-based reactors, and eliminates contamination of manipulator components. PMID:27550427

  11. Locomotor Training and Factors Associated with Blood Glucose Regulation After Spinal Cord Injury.

    PubMed

    Chilibeck, Philip D; Guertin, Pierre A

    2017-01-01

    Individuals with spinal cord injury (SCI) have increased rates of glucose intolerance, insulin insensitivity, and type II diabetes caused mainly by the deconditioning of paralyzed muscle. The purpose of this systematic review was to determine the effectiveness of locomotor training in individuals with SCI on blood glucose control. We searched studies on locomotor training for individuals with SCI with outcomes of glucose, insulin, or outcomes that could change glucose handling (i.e. increases in muscle mass, shifts in muscle fiber type composition, changes in transport proteins, or enzymes involved in glucose metabolism) in PubMed and EMBASE. Eleven studies (10 with incomplete SCI; 1 with complete SCI) were included in our review. Locomotor training included body weight supported treadmill training (BWSTT) with manual or robotic assistance, with and without functional electrical stimulation (FES), or involved FES-assisted over ground training. Six months of locomotor training in individuals with SCI resulted in significant decreases in glucose (15%) and insulin (33%) areas under the curve during oral glucose tolerance tests. Two to twelve months of locomotor training reversed some of the muscle atrophy - with muscle being the site of most glucose consumption, this is important for glucose control. Training also increased capacity for glucose storage, enzymes involved in glucose phosphorylation (hexokinase) and oxidation (citrate synthase), and glucose transport proteins (GLUT-4). Fiber type composition shifted to a slower fiber type, which favors glucose handling. There were no effects on fat mass. Locomotor training in individuals with SCI (generally an incomplete injury) increases capacity to handle glucose and results in muscular changes that should reduce the risk of type II diabetes. Copyright© Bentham Science Publishers; For any queries, please email at epub@benthamscience.org.

  12. OPTICAL correlation identification technology applied in underwater laser imaging target identification

    NASA Astrophysics Data System (ADS)

    Yao, Guang-tao; Zhang, Xiao-hui; Ge, Wei-long

    2012-01-01

    The underwater laser imaging detection is an effective method of detecting short distance target underwater as an important complement of sonar detection. With the development of underwater laser imaging technology and underwater vehicle technology, the underwater automatic target identification has gotten more and more attention, and is a research difficulty in the area of underwater optical imaging information processing. Today, underwater automatic target identification based on optical imaging is usually realized with the method of digital circuit software programming. The algorithm realization and control of this method is very flexible. However, the optical imaging information is 2D image even 3D image, the amount of imaging processing information is abundant, so the electronic hardware with pure digital algorithm will need long identification time and is hard to meet the demands of real-time identification. If adopt computer parallel processing, the identification speed can be improved, but it will increase complexity, size and power consumption. This paper attempts to apply optical correlation identification technology to realize underwater automatic target identification. The optics correlation identification technology utilizes the Fourier transform characteristic of Fourier lens which can accomplish Fourier transform of image information in the level of nanosecond, and optical space interconnection calculation has the features of parallel, high speed, large capacity and high resolution, combines the flexibility of calculation and control of digital circuit method to realize optoelectronic hybrid identification mode. We reduce theoretical formulation of correlation identification and analyze the principle of optical correlation identification, and write MATLAB simulation program. We adopt single frame image obtained in underwater range gating laser imaging to identify, and through identifying and locating the different positions of target, we can improve

  13. Dopamine and the Brainstem Locomotor Networks: From Lamprey to Human

    PubMed Central

    Ryczko, Dimitri; Dubuc, Réjean

    2017-01-01

    In vertebrates, dopamine neurons are classically known to modulate locomotion via their ascending projections to the basal ganglia that project to brainstem locomotor networks. An increased dopaminergic tone is associated with increase in locomotor activity. In pathological conditions where dopamine cells are lost, such as in Parkinson's disease, locomotor deficits are traditionally associated with the reduced ascending dopaminergic input to the basal ganglia. However, a descending dopaminergic pathway originating from the substantia nigra pars compacta was recently discovered. It innervates the mesencephalic locomotor region (MLR) from basal vertebrates to mammals. This pathway was shown to increase locomotor output in lampreys, and could very well play an important role in mammals. Here, we provide a detailed account on the newly found dopaminergic pathway in lamprey, salamander, rat, monkey, and human. In lampreys and salamanders, dopamine release in the MLR is associated with the activation of reticulospinal neurons that carry the locomotor command to the spinal cord. Dopamine release in the MLR potentiates locomotor movements through a D1-receptor mechanism in lampreys. In rats, stimulation of the substantia nigra pars compacta elicited dopamine release in the pedunculopontine nucleus, a known part of the MLR. In a monkey model of Parkinson's disease, a reduced dopaminergic innervation of the brainstem locomotor networks was reported. Dopaminergic fibers are also present in human pedunculopontine nucleus. We discuss the conserved locomotor role of this pathway from lamprey to mammals, and the hypothesis that this pathway could play a role in the locomotor deficits reported in Parkinson's disease. PMID:28603482

  14. Age-Related Differences in Locomotor Strategies During Adaptive Walking.

    PubMed

    Lowry, Kristin A; Sebastian, Katherine; Perera, Subashan; Van Swearingen, Jessie; Smiley-Oyen, Ann L

    2016-11-21

    Simultaneous control of lower limb stepping movements and trunk motion is important for skilled walking; adapting gait to environmental constraints requires frequent alternations in stepping and trunk motion. These alterations provide a window into the locomotor strategies adopted by the walker. The authors examined gait strategies in young and healthy older adults when manipulating step width. Anteroposterior (AP) and mediolateral (ML) smoothness (quantified by harmonic ratios) and stepping consistency (quantified by gait variability) were analyzed during narrow and wide walking while controlling cadence to preferred pace. Results indicated older adults preserved ML smoothness at the expense of AP smoothness, shortened their steps, and exhibited reduced stepping consistency. The authors conclude that older adults prioritized ML control over forward progression during adaptive walking challenges.

  15. Research on biomimetic underwater vehicles for underwater ISR

    NASA Astrophysics Data System (ADS)

    Szymak, Piotr; Praczyk, Tomasz; Naus, Krzysztof; Szturomski, Bogdan; Malec, Marcin; Morawski, Marcin

    2016-05-01

    Autonomous Biomimetic Underwater Vehicles BUVs driven by an undulating propulsion are a new branch in an area of an underwater robotics. They imitate both the construction and kinematics of a motion of underwater living organisms, e.g. fishes. Such vehicles have several features crucial from the point of view of military applications, e.g. larger secrecy and potential range of operation. The paper presents results of the research on BUVs carried out within two (Polish and EDA) projects both led by Polish Naval Academy. At the beginning, the initial efforts in building Polish BUV called CyberFish are included. Then, selected results of the tests of subsystems, e.g. navigational and 3D model of BUV built within national project are described. Next, the initial research achieved in the international project are showed. At the end, the schedule of the research planned to carry out within both projects is inserted. The paper is mainly focused on the hardware development of the BUVs.

  16. Compressive line sensing underwater imaging system

    NASA Astrophysics Data System (ADS)

    Ouyang, B.; Dalgleish, F. R.; Vuorenkoski, A. K.; Caimi, F. M.; Britton, W.

    2013-05-01

    Compressive sensing (CS) theory has drawn great interest and led to new imaging techniques in many different fields. In recent years, the FAU/HBOI OVOL has conducted extensive research to study the CS based active electro-optical imaging system in the scattering medium such as the underwater environment. The unique features of such system in comparison with the traditional underwater electro-optical imaging system are discussed. Building upon the knowledge from the previous work on a frame based CS underwater laser imager concept, more advantageous for hover-capable platforms such as the Hovering Autonomous Underwater Vehicle (HAUV), a compressive line sensing underwater imaging (CLSUI) system that is more compatible with the conventional underwater platforms where images are formed in whiskbroom fashion, is proposed in this paper. Simulation results are discussed.

  17. Archerfish use their shooting technique to produce adaptive underwater jets.

    PubMed

    Dewenter, Jana; Gerullis, Peggy; Hecker, Alexander; Schuster, Stefan

    2017-03-15

    Archerfish are renowned for dislodging aerial prey using well-aimed shots of water. Recently it has been shown that these fish can shape their aerial jets by adjusting the dynamics of their mouth opening and closing. This allows the fish to adjust their jet to target distance so that they can forcefully hit prey over considerable distances. Here, we suggest that archerfish use the same technique to also actively control jets under water. Fired from close range, the underwater jets are powerful enough to lift up buried food particles, which the fish then can pick up. We trained fish so that we could monitor their mouth opening and closing maneuvers during underwater shooting and compare them with those employed in aerial shooting. Our analysis suggests that the fish use the same dynamic mechanism to produce aerial and underwater jets and that they employ the same basic technique to adjust their jets in both conditions. When food is buried in substrate that consists of large particles, the fish use a brief pulse, but they use a longer one when the substrate is more fine-grained. These findings extend the notion that archerfish can flexibly shape their jets to be appropriate in different contexts and suggest that archerfish shooting might have been shaped both by constraints in aerial and underwater shooting.

  18. Quantifying turbulence microstructure for improvement of underwater imaging

    NASA Astrophysics Data System (ADS)

    Woods, Sarah; Hou, Weilin; Goode, Wesley; Jarosz, Ewa; Weidemann, Alan

    2011-06-01

    Enhancing visibility through scattering media is important in many fields for gaining information from the scattering medium. In the ocean, in particular, enhancement of imaging and visibility is important for divers, navigation, robotics, and target and mine detection and classification. Light scattering from particulates and turbulence in the ocean strongly affects underwater visibility. The magnitude of this degrading effect depends upon the underwater environment, and can rapidly degrade the quality of underwater imaging under certain conditions. To facilitate study of the impact of turbulence upon underwater imaging and to check against our previously developed model, quantified observation of the image degradation concurrent with characterization of the turbulent flow is necessary, spanning a variety of turbulent strengths. Therefore, we present field measurements of turbulence microstructure from the July 2010 Skaneateles Optical Turbulence Exercise (SOTEX), during which images of a target were collected over a 5 m path length at various depths in the water column, concurrent with profiles of the turbulent strength, optical properties, temperature, and conductivity. Turbulence was characterized by the turbulent kinetic energy dissipation (TKED) and thermal dissipation (TD) rates, which were obtained using both a Rockland Scientific Vertical Microstructure Profiler (VMP) and a Nortek Vector velocimeter in combination with a PME CT sensor. While the two instrumental setups demonstrate reasonable agreement, some irregularities highlight the spatial and temporal variability of the turbulence field. Supplementary measurements with the Vector/CT in a controlled laboratory convective tank will shed additional light on the quantitative relationship between image degradation and turbulence strength.

  19. Operation of electrothermal and electrostatic MUMPs microactuators underwater

    NASA Astrophysics Data System (ADS)

    Sameoto, Dan; Hubbard, Ted; Kujath, Marek

    2004-10-01

    Surface-micromachined actuators made in multi-user MEMS processes (MUMPs) have been operated underwater without modifying the manufacturing process. Such actuators have generally been either electro-thermally or electro-statically actuated and both actuator styles are tested here for suitability underwater. This is believed to be the first time that thermal and electrostatic actuators have been compared for deflection underwater relative to air performance. A high-frequency ac square wave is used to replicate a dc-driven actuator output without the associated problem of electrolysis in water. This method of ac activation, with frequencies far above the mechanical resonance frequencies of the MEMS actuators, has been termed root mean square (RMS) operation. Both thermal and electrostatic actuators have been tested and proved to work using RMS control. Underwater performance has been evaluated by using in-air operation of these actuators as a benchmark. When comparing deflection per volt applied, thermal actuators operate between 5 and 9% of in-air deflection and electrostatic actuators show an improvement in force per volt applied of upwards of 6000%. These results agree with predictions based on the physical properties of the surrounding medium.

  20. Supervised Classification of Underwater Optical Imagery for Improved Detection and Characterization of Underwater Military Munitions

    DTIC Science & Technology

    2015-06-01

    FINAL REPORT Supervised Classification of Underwater Optical Imagery for Improved Detection and Characterization of Underwater Military...SUBTITLE Supervised Classification of Underwater Optical Imagery for 5a. CONTRACT NUMBER W912HQ-14-P-0012 Improved Detection and...image classification algorithm was tested for identifying UWMM and seabed types. Also, an extension to the algorithm using seabed microtopography

  1. Overview of a Hybrid Underwater Camera System

    DTIC Science & Technology

    2014-07-01

    298 (Rev. 8/98) Prescribed by ANSI Std. Z39.18 Overview of a Hybrid Underwater Camera System Philip Church*, WeiHn Hou’*, Georges Fournier ...2678-2686, 2012 [3] Fournier G. R.,Bonnier D., Forand J. L., Pace P., "Range-gated underwater laser imaging system", Optical Engineering 32(9...pp. 2185-2190, Sept. 1993. [4] A. D. Weidemann, G. R. Fournier , J. L. Forand and P. Mathieu, 2005. In harbor underwater threat

  2. Bathymetric Mapping: Making Underwater Profile Charts.

    ERIC Educational Resources Information Center

    Pettus, Alvin M.

    1998-01-01

    Focuses on mapping activities designed to provide simulated experiences that help students understand the techniques used to measure and represent underwater terrain without making direct visual observations. (DDR)

  3. Taiwan's underwater cultural heritage documentation management

    NASA Astrophysics Data System (ADS)

    Tung, Y.-Y.

    2015-09-01

    Taiwan is an important trading and maritime channels for many countries since ancient time. Numerous relics lie underwater due to weather, wars, and other factors. In the year of 2006, Bureau of Cultural Heritage (BOCH) entrusted the Underwater Archaeological Team of Academia Sinica to execute the underwater archaeological investigation projects. Currently, we verified 78 underwater targets, with 78 site of those had been recognized as shipwrecks sites. Up to date, there is a collection of 638 underwater objects from different underwater archaeological sites. Those artefacts are distributed to different institutions and museums. As very diverse management methods/systems are applied for every individual institution, underwater cultural heritage data such as survey, excavation report, research, etc. are poorly organized and disseminated for use. For better communication regarding to Taiwan's underwater cultural heritage in every level, a universal format of documentation should be established. By comparing the existing checklist used in Taiwan with guidelines that are followed in other countries, a more intact and appropriate underwater cultural heritage condition documentation system can be established and adapted in Taiwan.

  4. Underwater laser imaging system (UWLIS)

    SciTech Connect

    DeLong, M.L.; Kulp, T.J.

    1995-03-10

    Practical limitations of underwater imaging systems are reached when the noise in the back scattered radiation generated in the water between the imaging system and the target obscures the spatial contrast and the resolution necessary for target discovery and identification. The advent of high power lasers operating in the oceanic transmission window of the visible spectrum (blue-green portion) has led to improved experimental illumination systems for underwater imaging The properties of laser bearm in range-gated and synchronously scanned devices take advantage of the unique temporal and spatial coherence effect of common volume back scatter to reduce or eliminate noise, increase signal to noise levels. Synchronously scanned systems rely on the highly collimated nature of the laser beam for spatial rejection of common volume back scatter. A synchronous, raster-scanning underwater laser imaging system (UWLIS) has been developed at Lawrence liver-more National Laboratory. The present UWLIS system differs from earlier synchronous scanners in its ability to scan in two dimensions at conventional video frame rate (30 Hz). The imaging performance of the present UWLIS was measured at distances of up to 6.3 AL (at a physical distance of 15.2 meters) during an in-water tank test and 4.5 to 5.0 AL (at a physical distance of 30 meters) during open water oceanic testing. The test results indicate that the UWLIS system is already capable of extending the underwater imaging range beyond that of conventional floodlight illuminated SIT cameras. The real or near real time frame rates of the UWLIS make possible operations in a mode in which the platform speed is randomly varied. This is typical of the operational environment in which the platform is often maneuvered above and around rugged seafloor terrain`s and obstacles.

  5. High-content behavioral profiling reveals neuronal genetic network modulating Drosophila larval locomotor program.

    PubMed

    Aleman-Meza, Boanerges; Loeza-Cabrera, Mario; Peña-Ramos, Omar; Stern, Michael; Zhong, Weiwei

    2017-05-12

    Two key questions in understanding the genetic control of behaviors are: what genes are involved and how these genes interact. To answer these questions at a systems level, we conducted high-content profiling of Drosophila larval locomotor behaviors for over 100 genotypes. We studied 69 genes whose C. elegans orthologs were neuronal signalling genes with significant locomotor phenotypes, and conducted RNAi with ubiquitous, pan-neuronal, or motor-neuronal Gal4 drivers. Inactivation of 42 genes, including the nicotinic acetylcholine receptors nAChRα1 and nAChRα3, in the neurons caused significant movement defects. Bioinformatic analysis suggested 81 interactions among these genes based on phenotypic pattern similarities. Comparing the worm and fly data sets, we found that these genes were highly conserved in having neuronal expressions and locomotor phenotypes. However, the genetic interactions were not conserved for ubiquitous profiles, and may be mildly conserved for the neuronal profiles. Unexpectedly, our data also revealed a possible motor-neuronal control of body size, because inactivation of Rdl and Gαo in the motor neurons reduced the larval body size. Overall, these data established a framework for further exploring the genetic control of Drosophila larval locomotion. High content, quantitative phenotyping of larval locomotor behaviours provides a framework for system-level understanding of the gene networks underlying such behaviours.

  6. Voluntary and reactive recruitment of locomotor muscle synergies during perturbed walking.

    PubMed

    Chvatal, Stacie A; Ting, Lena H

    2012-08-29

    The modular control of muscles in groups, often referred to as muscle synergies, has been proposed to provide a motor repertoire of actions for the robust control of movement. However, it is not clear whether muscle synergies identified in one task are also recruited by different neural pathways subserving other motor behaviors. We tested the hypothesis that voluntary and reactive modifications to walking in humans result from the recruitment of locomotor muscle synergies. We recorded the activity of 16 muscles in the right leg as subjects walked a 7.5 m path at two different speeds. To elicit a second motor behavior, midway through the path we imposed ramp and hold translation perturbations of the support surface in each of four cardinal directions. Variations in the temporal recruitment of locomotor muscle synergies could account for cycle-by-cycle variations in muscle activity across strides. Locomotor muscle synergies were also recruited in atypical phases of gait, accounting for both anticipatory gait modifications before perturbations and reactive feedback responses to perturbations. Our findings are consistent with the idea that a common pool of spatially fixed locomotor muscle synergies can be recruited by different neural pathways, including the central pattern generator for walking, brainstem pathways for balance control, and cortical pathways mediating voluntary gait modifications. Together with electrophysiological studies, our work suggests that muscle synergies may provide a library of motor subtasks that can be flexibly recruited by parallel descending pathways to generate a variety of complex natural movements in the upper and lower limbs.

  7. Yawning and locomotor behavior induced by dopamine receptor agonists in mice and rats.

    PubMed

    Li, Su-Min; Collins, Gregory T; Paul, Noel M; Grundt, Peter; Newman, Amy H; Xu, Ming; Grandy, David K; Woods, James H; Katz, Jonathan L

    2010-05-01

    Dopaminergic (DA) agonist-induced yawning in rats seems to be mediated by DA D3 receptors, and low doses of several DA agonists decrease locomotor activity, an effect attributed to presynaptic D2 receptors. Effects of several DA agonists on yawning and locomotor activity were examined in rats and mice. Yawning was reliably produced in rats, and by the cholinergic agonist, physostigmine, in both the species. However, DA agonists were ineffective in producing yawning in Swiss-Webster or DA D2R and DA D3R knockout or wild-type mice. The drugs significantly decreased locomotor activity in rats at one or two low doses, with activity returning to control levels at higher doses. In mice, the drugs decreased locomotion across a 1000-10 000-fold range of doses, with activity at control levels (U-91356A) or above control levels [(+/-)-7-hydroxy-2-dipropylaminotetralin HBr, quinpirole] at the highest doses. Low doses of agonists decreased locomotion in all mice except the DA D2R knockout mice, but were not antagonized by DA D2R or D3R antagonists (L-741 626, BP 897, or PG01037). Yawning does not provide a selective in-vivo indicator of DA D3R agonist activity in mice. Decreases in mouse locomotor activity by the DA agonists seem to be mediated by D2 DA receptors.

  8. Solidification of underwater wet welds

    SciTech Connect

    Pope, A.M.; Medeiros, R.C. de; Liu, S.

    1995-12-31

    It is well known that the shape of a weld pool can influence the microstructure and segregation pattern of the final solidified weld metal. Mechanical properties and susceptibility to defects are consequently affected by the solidification mode of the weld. In this work the solidification behavior of weld beads deposited in air and underwater wet welding using rutile electrodes were compared. The welds were deposited by gravity feed, on low carbon, manganese steel plates using similar welding conditions. Macroscopic observation of the weld craters showed that welds deposited in air presented an elliptical weld pool. The underwater wet welds, on the other hand, solidified with a tear drop shape. Although the welds differed in shape, their lengths were approximately the same. Microscopic examinations carried out on transverse, normal and longitudinal sections revealed a coarser columnar grain structure in the underwater welds. These results suggest that the tear-drop shaped pool induced solidification in a preferred orientation with segregation more likely in welds deposited under wet conditions. This change in weld pool geometry can be explained by the surface heat loss conditions that occur in a wet weld: slower when covered by the steam bubble and faster in the region in contact with water behind the pool.

  9. Functional Reorganization of the Locomotor Network in Parkinson Patients with Freezing of Gait

    PubMed Central

    Fling, Brett W.; Cohen, Rajal G.; Mancini, Martina; Carpenter, Samuel D.; Fair, Damien A.; Nutt, John G.; Horak, Fay B.

    2014-01-01

    Freezing of gait (FoG) is a transient inability to initiate or maintain stepping that often accompanies advanced Parkinson’s disease (PD) and significantly impairs mobility. The current study uses a multimodal neuroimaging approach to assess differences in the functional and structural locomotor neural network in PD patients with and without FoG and relates these findings to measures of FoG severity. Twenty-six PD patients and fifteen age-matched controls underwent resting-state functional magnetic resonance imaging and diffusion tensor imaging along with self-reported and clinical assessments of FoG. After stringent movement correction, fifteen PD patients and fourteen control participants were available for analysis. We assessed functional connectivity strength between the supplementary motor area (SMA) and the following locomotor hubs: 1) subthalamic nucleus (STN), 2) mesencephalic and 3) cerebellar locomotor region (MLR and CLR, respectively) within each hemisphere. Additionally, we quantified structural connectivity strength between locomotor hubs and assessed relationships with metrics of FoG. FoG+ patients showed greater functional connectivity between the SMA and bilateral MLR and between the SMA and left CLR compared to both FoG− and controls. Importantly, greater functional connectivity between the SMA and MLR was positively correlated with i) clinical, ii) self-reported and iii) objective ratings of freezing severity in FoG+, potentially reflecting a maladaptive neural compensation. The current findings demonstrate a re-organization of functional communication within the locomotor network in FoG+ patients whereby the higher-order motor cortex (SMA) responsible for gait initiation communicates with the MLR and CLR to a greater extent than in FoG− patients and controls. The observed pattern of altered connectivity in FoG+ may indicate a failed attempt by the CNS to compensate for the loss of connectivity between the STN and SMA and may reflect a loss

  10. Modelling the locomotor energetics of extinct hominids.

    PubMed

    Kramer, P A

    1999-10-01

    Bipedality is the defining characteristic of Hominidae and, as such, an understanding of the adaptive significance and functional implications of bipedality is imperative to any study of human evolution. Hominid bipedality is, presumably, a solution to some problem for the early hominids, one that has much to do with energy expenditure. Until recently, however, little attention could be focused on the quantifiable energetic aspects of bipedality as a unique locomotor form within Primates because of the inability to measure empirically the energy expenditure of non-modern hominids. A recently published method provides a way of circumventing the empirical measurement dilemma by calculating energy expenditure directly from anatomical variables and movement profiles. Although the origins of bipedality remain clouded, two discernible forms of locomotor anatomy are present in the hominid fossil record: the australopithecine and modern configurations. The australopithecine form is best represented by AL 288-1, a partial skeleton of Australopithecus afarensis, and is characterized as having short legs and a wide pelvis. The modern form is represented by modern humans and has long legs and a narrow pelvis. Human walking is optimized to take advantage of the changing levels of potential and kinetic energy that occur as the body and limbs move through the stride cycle. Although this optimization minimizes energy expenditure, some energy is required to maintain motion. I quantify this energy by developing a dynamic model that uses kinematic equations to determine energy expenditure. By representing both configurations with such a model, I can compare their rates of energy expenditure. I find that the australopithecine configuration uses less energy than that of a modern human. Despite arguments presented in the anthropological literature, the shortness of the legs of AL 288-1 provides no evidence that she was burdened with a compromised or transitional locomotor anatomy

  11. Development of tools and techniques for monitoring underwater artifacts

    NASA Astrophysics Data System (ADS)

    Lazar, Iulian; Ghilezan, Alin; Hnatiuc, Mihaela

    2016-12-01

    The different assessments provide information on the best methods to approach an artifact. The presence and extent of potential threats to archaeology must also be determined. In this paper we present an underwater robot, built in the laboratory, able to identify the artifact and to get it to the surface. It is an underwater remotely operated vehicle (ROV) which can be controlled remotely from the shore, a boat or a control station and communication is possible through an Ethernet cable with a maximum length of 100 m. The robot is equipped with an IP camera which sends real time images that can be accessed anywhere from within the network. The camera also has a microSD card to store the video. The methods developed for data communication between the robot and the user is present. A communication protocol between the client and server is developed to control the ROV.

  12. The hyperactive syndrome: metanalysis of genetic alterations, pharmacological treatments and brain lesions which increase locomotor activity.

    PubMed

    Viggiano, Davide

    2008-12-01

    synthesis usually results in hypoactive behaviour. However, a chronic increase in norepinephrine may result in hypoactivity too. Similarly, changes in both directions of serotonin levels may reduce locomotor activity, whereas alterations in specific serotonin receptors can induce hyperactivity. The lesion of at least 12 different brain regions can increase locomotor activity too. Comparatively, few focal lesions decrease locomotor activity. Finally, a large number of toxic events can increase locomotor activity, particularly if delivered during the prepuberal time window. These data show that there is a net imbalance in the number of altered genes/brain lesions/toxics that induce hyperactivity versus hypoactive behaviour. Although some of these data may be explained in terms of the activating role of subcortical systems (such as catecholamines), the larger number of alterations that induce hyperactivity suggests a different scenario. Specifically, we hypothesize (i) the existence of a control system that continuously inhibit a basally hyperactive locomotor tone and (ii) that this control system is highly vulnerable (intrinsic fragility) to any change in the genetic asset or to any toxic/drug delivered during prepuberal stages. Brain lesion studies suggest that the putative control system is located along an axis that connects the olfactory bulb and the enthorhinal cortex (enthorhinal-hippocampal-septal-prefrontal cortex-olfactory bulb axis). We suggest that the increased locomotor activity in many psychiatric diseases may derive from the interference with the development of this brain axis during a specific postnatal time window.

  13. Locomotor activity and body temperature in selected mouse lines differing greatly in feed intake.

    PubMed

    Sojka, P A; Griess, R S; Nielsen, M K

    2013-08-01

    Locomotor activity, body temperature, feed intake, and BW were measured on 382 mature male mice sampled from lines previously selected (25 generations) for either high (MH) or low (ML) heat loss and an unselected control (MC). Animals were from all 3 independent replicates of the 3 lines and across 4 generations (68 through 71). Locomotor activity and body temperatures were obtained using implanted transmitters with data collection over 4 d following a 3-d postsurgery recovery period. Data were collected every minute and then averaged into 30-min periods, thus providing 192 data points for each mouse. Least-squares means for feed intake adjusted for BW (Feed/BW, feed·BW(-1)·d(-1), g/g) were 0.1586, 0.1234, and 0.1125 (±0.0022) for MH, MC, and ML, respectively, with line being a highly significant source of variation (P < 0.0003). Line effects for locomotor activity counts, transformed to the 0.25 power for analysis, were significantly different, with MH mice being 2.1 times more active than ML mice (P < 0.003); MC mice were intermediate. Differences in body temperature were significant for both line (P < 0.03) and day effects (P < 0.001), with a 0.32°C difference between the MH and ML lines. Fourier series analysis used the combined significant periodicities of 24, 18, 12, 9, 6, and 3 h to describe circadian cycles for activity and body temperature. All 3 lines expressed daily peaks in body temperature and locomotor activity ∼3 h into darkness and ∼2 h after lights were turned on. There was a stronger relationship between locomotor activity and Feed/BW (P < 0.0001) than between body temperature and Feed/BW (P < 0.01); differences between lines in locomotor activity and body temperature explained 17% and 3%, respectively, of differences between lines in Feed/BW. Thus, line differences in locomotor activity contribute to line differences in maintenance, but approximately 80% of the differences between the MH and ML selection lines in Feed/BW remains

  14. Lumbar muscle inflammation alters spinally mediated locomotor recovery induced by training in a mouse model of complete spinal cord injury.

    PubMed

    Jeffrey-Gauthier, Renaud; Piché, Mathieu; Leblond, Hugues

    2017-09-17

    Locomotor networks after spinal cord injury (SCI) are shaped by training-activated proprioceptive and cutaneous inputs. Nociception from injured tissues may alter these changes but has largely been overlooked. The objective of the present study was to ascertain whether lumbar muscle inflammation hinders locomotion recovery in a mouse model of complete SCI. Lower limb kinematics during treadmill training was assessed before and after complete SCI at T8 (2, 7, 14, 21 and 28days post-injury). Locomotor recovery was compared in 4 groups of CD1 mice: control spinal mice; spinal mice with daily locomotor training; spinal mice with lumbar muscle inflammation (Complete Freund's Adjuvant (CFA) injection); and spinal mice with locomotor training and CFA. On day 28, H-reflex excitability and its inhibition at high-frequency stimulation (frequency-dependent depression: FDD) were compared between groups, all of which showed locomotor recovery. Recovery was enhanced by training, whereas lumbar muscle inflammation hindered these effects (knee angular excursion and paw drag: p's<0.05). In addition, lumbar muscle inflammation impaired hind limb coupling during locomotion (p<0.05) throughout recovery. Also, H-reflex disinhibition was prevented by training, with or without CFA injection (p's<0.05). Altogether, these results indicate that back muscle inflammation modulates spinally mediated locomotor recovery in mice with complete SCI, in part, by reducing adaptive changes induced by training. Copyright © 2017 IBRO. Published by Elsevier Ltd. All rights reserved.

  15. Effect of Environmental Conditions and Toxic Compounds on the Locomotor Activity of Pediculus humanus capitis (Phthiraptera: Pediculidae).

    PubMed

    Ortega-Insaurralde, I; Toloza, A C; Gonzalez-Audino, P; Mougabure-Cueto, G A; Alvarez-Costa, A; Roca-Acevedo, G; Picollo, M I

    2015-09-01

    In this work, we evaluated the effect of environmental variables such as temperature, humidity, and light on the locomotor activity of Pediculus humanus capitis. In addition, we used selected conditions of temperature, humidity, and light to study the effects of cypermethrin and N,N-diethyl-3-methylbenzamide (DEET) on the locomotor activity of head lice. Head lice increased their locomotor activity in an arena at 30°C compared with activity at 20°C. When we tested the influence of the humidity level, the locomotor activity of head lice showed no significant differences related to humidity level, both at 30°C and 20°C. Concerning light influence, we observed that the higher the intensity of light, the slower the movement of head lice. We also demonstrated that sublethal doses of toxics may alter locomotor activity in adults of head lice. Sublethal doses of cypermethrin induced hyperactivated responses in adult head lice. Sublethal doses of DEET evocated hypoactivated responses in head lice. The observation of stereotyped behavior in head lice elicited by toxic compounds proved that measuring locomotor activity in an experimental set-up where environmental conditions are controlled would be appropriate to evaluate compounds of biological importance, such as molecules involved in the host-parasite interaction and intraspecific relationships. © The Authors 2015. Published by Oxford University Press on behalf of Entomological Society of America. All rights reserved. For Permissions, please email: journals.permissions@oup.com.

  16. Underwater audiogram of the California sea lion by the conditioned vocalization technique1

    PubMed Central

    Schusterman, Ronald J.; Balliet, Richard F.; Nixon, James

    1972-01-01

    Conditioning techniques were developed demonstrating that pure tone frequencies under water can exert nearly perfect control over the underwater click vocalizations of the California sea lion (Zalophus californianus). Conditioned vocalizations proved to be a reliable way of obtaining underwater sound detection thresholds in Zalophus at 13 different frequencies, covering a frequency range of 250 to 64,000 Hz. The audiogram generated by these threshold measurements suggests that under water, the range of maximal sensitivity for Zalophus lies between one and 28 kHz with best sensitivity at 16 kHz. Between 28 and 36 kHz there is a loss in sensitivity of 60 dB/octave. However, with relatively intense acoustic signals (> 38 dB re 1 μb underwater), Zalophus will respond to frequencies at least as high as 192 kHz. These results are compared with the underwater hearing of other marine mammals. ImagesFig. 1. PMID:5033891

  17. Visual inspection of sea bottom structures by an autonomous underwater vehicle.

    PubMed

    Foresti, G L

    2001-01-01

    This paper describes a vision-based system for inspections of underwater structures, e.g., pipelines, cables, etc., by an autonomous underwater vehicle (AUV). Usually underwater inspections are performed by remote operated vehicles (ROVs) driven by human operators placed in a support vessel. However, this task is often challenging, especially in conditions of poor visibility or in presence of strong currents. The system proposed allows the AUV to accomplish the task in autonomy. Moreover, the use of a three-dimensional (3-D) model of the environment and of an extended Kalman filter (EKF) allows the guidance and the control of the vehicle in real time. Experiments done on real underwater images have demonstrated the validity of the proposed method and its efficiency in the case of critical and complex situations.

  18. Underwater Ship Husbandry Discharges

    DTIC Science & Technology

    2011-11-01

    California Regional Water Quality Control Board, Los Angeles Region, 2005; USEPA, 2002). Increased biocide release rates may also occur during hull...Control Board, Los Angeles Region. 2005. Draft Total Maximum Daily Load for Toxic Pollutants in Marina del Rey Harbor. Retrieved from: http...Hull Fouling on the vessels Point Loma and Florence in the reserve fleet at Suisun Bay, CA: A pilot study with respect to potential transfer of non

  19. 29 CFR 1926.912 - Underwater blasting.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... 29 Labor 8 2011-07-01 2011-07-01 false Underwater blasting. 1926.912 Section 1926.912 Labor... Underwater blasting. (a) A blaster shall conduct all blasting operations, and no shot shall be fired without... swimming or diving operations are in progress in the vicinity of the blasting area. If such operations are...

  20. 29 CFR 1926.912 - Underwater blasting.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... 29 Labor 8 2010-07-01 2010-07-01 false Underwater blasting. 1926.912 Section 1926.912 Labor... Underwater blasting. (a) A blaster shall conduct all blasting operations, and no shot shall be fired without... swimming or diving operations are in progress in the vicinity of the blasting area. If such operations are...

  1. Seeking Teachers for Underwater Robotics PD Program

    ERIC Educational Resources Information Center

    McGrath, Beth; Sayres, Jason

    2012-01-01

    With funding from the National Science Foundation (NSF), ITEEA members will contribute to the development of a hybrid professional development program designed to facilitate the scale-up of an innovative underwater robotics curriculum. WaterBotics[TM] is an underwater robotics curriculum that targets students in middle and high school classrooms…

  2. Passive Mode Carbon Nanotube Underwater Acoustic Transducer

    DTIC Science & Technology

    2016-09-20

    300151 1 of 14 PASSIVE MODE CARBON NANOTUBE UNDERWATER ACOUSTIC TRANSDUCER STATEMENT OF GOVERNMENT INTEREST [0001] The invention described...0003] The present invention is an acoustically transparent carbon nanotube transducer that can operate in a passive acoustic mode for data...acoustic carbon nanotube (CNT) yarn sheets capable of producing high acoustic output at low frequencies with broad bandwidth. An underwater acoustic

  3. MAS Bulletin. DM 109 Underwater Acoustic Signal

    DTIC Science & Technology

    1989-05-02

    0700 Phone (AV)235-4131 (Comm) 409-4131 MASB 30-89 2 May 1989 DM 109 UNDERWATER ACOUSTIC SIGNAL Background. DIEHL GmbH & Co. has developed the DM 109...EUROPEAN OFFICE Box 39, FPO New York 09510-0700 Phone (AV)235-4131 (Comm) 4094131 MASB 30-89 2 May 1989 DM 109 UNDERWATER ACOUSTIC SIGNAL Background

  4. Seeking Teachers for Underwater Robotics PD Program

    ERIC Educational Resources Information Center

    McGrath, Beth; Sayres, Jason

    2012-01-01

    With funding from the National Science Foundation (NSF), ITEEA members will contribute to the development of a hybrid professional development program designed to facilitate the scale-up of an innovative underwater robotics curriculum. WaterBotics[TM] is an underwater robotics curriculum that targets students in middle and high school classrooms…

  5. Melatonin and locomotor activity in the fiddler crab Uca pugilator.

    PubMed

    Tilden, Andrea R; Shanahan, J Kearney; Khilji, Zahra S; Owen, Jeffrey G; Sterio, Thomas W; Thurston, Kristy T

    2003-05-01

    The influence of melatonin on locomotor activity levels was measured in the fiddler crab Uca pugilator. First, activity in untreated, laboratory-acclimated crabs was measured over 48 hours in a 12L:12D photoperiod; this study showed a nocturnal increase in activity. In eyestalk-ablated crabs, overall activity was significantly reduced, and no significant activity pattern occurred. Next, crabs were injected with melatonin or saline (controls) at various times during the 12L:12D photoperiod (0900h, 1200h, and twice at 2100h; each trial was separated by 3-4 days) and monitored for 3 hr post-injection. Control crabs had low activity during early photophase, high at mid-photophase, increasing activity during the first scotophase trial, and decreasing activity during the second scotophase trial. Melatonin had no significant influence on activity when injected during the early-photophase activity trough or early-scotophase activity decline, but significantly increased activity when injected during the mid-photophase activity peak and early-scotophase activity incline. Next, crabs were injected during an early scotophase activity trough and monitored throughout the twelve-hour scotophase. Melatonin did not increase activity until the mid-scotophase activity increase, approximately 6 hours later, showing that the pharmacological dosage persisted in the crabs' systems and had later effects during the incline and peak of activity but not the trough. Eyestalk-ablated crabs were injected with melatonin or saline during early photo- and scotophase. Melatonin significantly increased activity in the photophase but not the scotophase trial, indicating that the responsiveness to melatonin continues following eyestalk removal, but the timing may not match that of intact crabs. Melatonin may be involved in the transmission of environmental timing information from the eyestalks to locomotor centers in U. pugilator.

  6. Developing and testing a pushbroom camera motion control system: using a lidar-based streak tube camera for studying the influence of water waves on underwater light structure detection

    NASA Astrophysics Data System (ADS)

    Bostater, Charles R., Jr.; Ghir, Teddy; Naro-Norman, Scott; Huddleston, Lisa H.; Bassetti, Luce; Mitra, Kunal; Das, Champak; Trivedi, Ashish

    2004-02-01

    A pushbroom sensor motion control system was developed for use in conjunction with a pulsed laser fan beam, streak tube camera, and a high speed low light level camera . The LIDAR and camera control system was tested to study the influence of water waves upon active-passive remote sensing systems and associated models that require pushbroom sensor motion. A pulsed laser fan beam signal at 532 nm was recorded using a streak tube camera and a (high speed, low light level, high quantum efficiency) digital CCD camera. Tests were conducted in 3 different water tanks, including 2 tanks with water waves (the longest wave tank or channel is 60 m long). Capillary waves, ~1 cm wavelength) were generated using an acoustic wave source generator. Streak tube camera and CCD images were collected in conjunction with a 532 nm pico-second short pulse laser. Images collected demonstrate the pulse stretching around submerged water targets as well as the ability to discriminate water depth of submerged targets in shallow water types. In turbid water, the pulsed layer backscatter structure showed a nearly random return as a function of depth if the signal was attenuated before reaching the bottom of the water column. The data collected indicated the motion control testing system can accommodate a variety of cameras and instruments in the lab and in the outdoor water wave channel. Data from these camera systems are being used to help validate analytical and Monte Carlo models of the water surface structure, and the underwater light field structure (pulse stretching) as well as to validate other LIDAR applications used in bathymetric and hydrographic surveys of coastal waters and marine inlets for physical and biological (submerged vegetation) surveys.

  7. Quantum imaging for underwater arctic navigation

    NASA Astrophysics Data System (ADS)

    Lanzagorta, Marco

    2017-05-01

    The precise navigation of underwater vehicles is a difficult task due to the challenges imposed by the variable oceanic environment. It is particularly difficult if the underwater vehicle is trying to navigate under the Arctic ice shelf. Indeed, in this scenario traditional navigation devices such as GPS, compasses and gyrocompasses are unavailable or unreliable. In addition, the shape and thickness of the ice shelf is variable throughout the year. Current Arctic underwater navigation systems include sonar arrays to detect the proximity to the ice. However, these systems are undesirable in a wartime environment, as the sound gives away the position of the underwater vehicle. In this paper we briefly describe the theoretical design of a quantum imaging system that could allow the safe and stealthy navigation of underwater Arctic vehicles.

  8. Quantifying the Dynamic Ocean Surface Using Underwater Radiometric Measurements

    DTIC Science & Technology

    2013-09-30

    Radiometric Measurements Dick K.P. Yue Center for Ocean Engineering Massachusetts Institute of Technology Room 5-321 77 Massachusetts Ave...comply with a collection of information if it does not display a currently valid OMB control number. 1. REPORT DATE 30 SEP 2013 2. REPORT TYPE 3. DATES ...COVERED 00-00-2013 to 00-00-2013 4. TITLE AND SUBTITLE Quantifying the Dynamic Ocean Surface Using Underwater Radiometric Measurements 5a

  9. Quantifying the Dynamic Ocean Surface Using Underwater Radiometric Measurement

    DTIC Science & Technology

    2013-09-30

    Radiometric Measurement Lian Shen Department of Mechanical Engineering & St. Anthony Falls Laboratory University of Minnesota Minneapolis, MN...information if it does not display a currently valid OMB control number. 1. REPORT DATE 30 SEP 2013 2. REPORT TYPE 3. DATES COVERED 00-00-2013 to 00-00...2013 4. TITLE AND SUBTITLE Quantifying the Dynamic Ocean Surface Using Underwater Radiometric Measurement 5a. CONTRACT NUMBER 5b. GRANT NUMBER

  10. 7α-Hydroxypregnenolone regulating locomotor behavior identified in the brain and pineal gland across vertebrates.

    PubMed

    Tsutsui, Kazuyoshi; Haraguchi, Shogo; Vaudry, Hubert

    2017-09-14

    The brain synthesizes steroids de novo from cholesterol, which are called neurosteroids. Based on extensive studies on neurosteroids over the past thirty years, it is now accepted that neurosteroidogenesis in the brain is a conserved property across vertebrates. However, the formation of bioactive neurosteroids in the brain is still incompletely elucidated in vertebrates. In fact, we recently identified 7α-hydroxypregnenolone (7α-OH PREG) as a novel bioactive neurosteroid stimulating locomotor behavior in the brain of several vertebrates. The follow-up studies have demonstrated that the stimulatory action of brain 7α-OH PREG on locomotor behavior is mediated by the dopaminergic system across vertebrates. More recently, we have further demonstrated that the pineal gland, an endocrine organ located close to the brain, is a major site of the formation of bioactive neurosteroids. In addition to the brain, the pineal gland actively produces 7α-OH PREG de novo from cholesterol as a major pineal neurosteroid that acts on the brain to control locomotor rhythms. This review summarizes the identification, biosynthesis and mode of action of brain and pineal 7α-OH PREG, a new bioactive neurosteroid regulating locomotor behavior, across vertebrates. Copyright © 2017 Elsevier Inc. All rights reserved.

  11. The GABAB agonist baclofen blocks the expression of sensitisation to the locomotor stimulant effect of amphetamine.

    PubMed

    Bartoletti, M; Gubellini, C; Ricci, F; Gaiardi, M

    2004-09-01

    The purpose of the present study was to test the possible influence of baclofen, a GABAB agonist, on the long-term sensitisation to amphetamine in rats. As expected, chronic amphetamine treatment (1.5 mg/kg i.p. daily for 10 days) led to an increased locomotor response to amphetamine (0.75 mg/kg i.p.), when the animals were challenged 20 days after the end of repeated treatment. Baclofen (2 mg/kg i.p.), administered before the test session, did not significantly modify the spontaneous locomotor activity of rats, but decreased the normal and, to a greater extent, the sensitised locomotor response to amphetamine; thus baclofen prevented the expression of sensitisation to amphetamine. Moreover a previous chronic treatment with baclofen (2 mg/kg i.p. daily for 10 days) attenuated the amphetamine-induced locomotor activity in sensitised, but not in control animals. This effect was observed 20 days after the last baclofen administration. In conclusion, the present results demonstrate that GABAB receptors play an important role in the expression of the sensitised behavioural response to amphetamine and further support a potential role of GABAB agonists in the treatment of psychostimulant addiction.

  12. METHAMPHETAMINE TREATMENT CAUSES DELAYED DECREASE IN NOVELTY-INDUCED LOCOMOTOR ACTIVITY IN MICE

    PubMed Central

    Krasnova, Irina N.; Hodges, Amber B.; Ladenheim, Bruce; Rhoades, Raina; Phillip, Crystal G.; Ceseňa, Angela; Ivanova, Ekaterina; Hohmann, Christine F.; Cadet, Jean Lud

    2009-01-01

    Methamphetamine (METH) is a psychostimulant that causes damage to dopamine (DA) axons and to non-monoaminergic neurons in the brain. The aim of the present study was to investigate short- and long-term effects of neurotoxic METH treatment on novelty-induced locomotor activity in mice. Male BALB/c mice, 12–14 weeks old, were injected with saline or METH (i.p., 7.5 mg/kg × 4 times, every 2 hours). Behavior and neurotoxic effects were assessed at 10 days, 3 and 5 months following drug treatment. METH administration caused marked decreases in DA levels in the mouse striatum and cortex at 10 days post-drug. However, METH did not induce any changes in novelty-induced locomotor activity. At 3 and 5 months after treatment METH-exposed mice showed significant recovery of DA levels in the striatum and cortex. In contrast, these animals demonstrated significant decreases in locomotor activity at 5 months in comparison to aged-matched control mice. Further assessment of METH toxicity using TUNEL staining showed that the drug induced increased cell death in the striatum and cortex at 3 days after administration. Taken together, these data suggest that delayed deficits in novelty-induced locomotor activity observed in METH exposed animals are not due to neurodegeneration of DA terminals but to combined effects of METH and age-dependent dysfunction of non-DA intrinsic striatal and/or corticostriatal neurons. PMID:19559060

  13. Dissociation of locomotor and cerebellar deficits in a murine Angelman syndrome model

    PubMed Central

    Bruinsma, Caroline F.; Schonewille, Martijn; Gao, Zhenyu; Aronica, Eleonora M.A.; Judson, Matthew C.; Philpot, Benjamin D.; Hoebeek, Freek E.; van Woerden, Geeske M.; De Zeeuw, Chris I.; Elgersma, Ype

    2015-01-01

    Angelman syndrome (AS) is a severe neurological disorder that is associated with prominent movement and balance impairments that are widely considered to be due to defects of cerebellar origin. Here, using the cerebellar-specific vestibulo-ocular reflex (VOR) paradigm, we determined that cerebellar function is only mildly impaired in the Ube3am–/p+ mouse model of AS. VOR phase-reversal learning was singularly impaired in these animals and correlated with reduced tonic inhibition between Golgi cells and granule cells. Purkinje cell physiology, in contrast, was normal in AS mice as shown by synaptic plasticity and spontaneous firing properties that resembled those of controls. Accordingly, neither VOR phase-reversal learning nor locomotion was impaired following selective deletion of Ube3a in Purkinje cells. However, genetic normalization of αCaMKII inhibitory phosphorylation fully rescued locomotor deficits despite failing to improve cerebellar learning in AS mice, suggesting extracerebellar circuit involvement in locomotor learning. We confirmed this hypothesis through cerebellum-specific reinstatement of Ube3a, which ameliorated cerebellar learning deficits but did not rescue locomotor deficits. This double dissociation of locomotion and cerebellar phenotypes strongly suggests that the locomotor deficits of AS mice do not arise from impaired cerebellar cortex function. Our results provide important insights into the etiology of the motor deficits associated with AS. PMID:26485287

  14. Locomotor tests predict community mobility in children and youth with cerebral palsy.

    PubMed

    Ferland, Chantale; Moffet, Hélène; Maltais, Désirée B

    2012-07-01

    Ambulatory children and youth with cerebral palsy have limitations in locomotor capacities and in community mobility. The ability of three locomotor tests to predict community mobility in this population (N = 49, 27 boys, 6-16 years old) was examined. The tests were a level ground walking test, the 6-min-Walk-Test (6MWT), and two tests of advanced locomotor capacities, the 10-meter-Shuttle-Run-Test (10mSRT) and the Timed-Up-and-Down-Stairs-Test (TUDS). Community mobility was measured with the Assessment of Life Habits mobility category. After age and height were controlled, regression analysis identified 10mSRT and TUDS values as significant predictors of community mobility. They explained about 40% of the variance in the Life Habits mobility category scores. The 10mSRT was the strongest predictor (standardized Beta coefficient = 0.48, p = 0.002). The 6MWT was not a significant predictor. Thus, advanced locomotor capacity tests may be better predictors of community mobility in this population than level ground walking tests.

  15. Influences of acute ethanol exposure on locomotor activities of zebrafish larvae under different illumination.

    PubMed

    Guo, Ning; Lin, Jia; Peng, Xiaolan; Chen, Haojun; Zhang, Yinglan; Liu, Xiuyun; Li, Qiang

    2015-11-01

    Larval zebrafish present unique opportunities to study the behavioral responses of a model organism to environmental challenges during early developmental stages. The purpose of the current study was to investigate the locomotor activities of AB strain zebrafish larvae at 5 and 7 days post-fertilization (dpf) in response to light changes under the influence of ethanol, and to explore potential neurological mechanisms that are involved in ethanol intoxication. AB strain zebrafish larvae at both 5 and 7 dpf were treated with ethanol at 0% (control), 0.1%, 0.25%, 0.5%, 1%, and 2% (v/v%). The locomotor activities of the larvae during alternating light-dark challenges, as well as the locomotor responses immediately following the light transitions, were investigated. The levels of various neurotransmitters were also measured in selected ethanol-treated groups. The larvae at 5 and 7 dpf demonstrated similar patterns of locomotor responses to ethanol treatment. Ethanol treatment at 1% increased the swimming distances of the zebrafish larvae in the dark periods, but had no effect on the swimming distances in the light periods. In contrast, ethanol treatment at 2% increased the swimming distances in the light periods, but did not potentiate the swimming activity in the dark periods, compared to controls. Differences in the levels of neurotransmitters that are involved in norepinephrine, dopamine, and serotonin pathways were also observed in groups with different ethanol treatments. These results indicated the behavioral studies concerning the ethanol effects on locomotor activities of zebrafish larvae could be carried out as early as 5 dpf. The 1% and 2% ethanol-treated zebrafish larvae modeled ethanol effects at different intoxication states, and the differences in neurotransmitter levels suggested the involvement of various neurotransmitter pathways in different ethanol intoxication states.

  16. Oxidized trilinoleate and tridocosahexaenoate induce pica behavior and change locomotor activity.

    PubMed

    Kitamura, Fuki; Watanabe, Hiroyuki; Umeno, Aya; Yoshida, Yasukazu; Kurata, Kenji; Gotoh, Naohiro

    2013-01-01

    Pica behavior, a behavior that is characterized by eating a nonfood material such as kaolin and relates to the degree of discomfort in animals, and the variations of locomotor activity of rats after eating deteriorated fat and oil extracted from instant noodles were examined in our previous study. The result shows that oxidized fat and oil with at least 100 meq/kg in peroxide value (PV) increase pica behavior and decrease locomotor activity. In the present study, the same two behaviors were measured using autoxidized trilinoleate (tri-LA) and tridocosahexaenoate (tri-DHA) as a model of vegetable and fish oil, respectively, to compare fatty acid differences against the induction of two behaviors. The oxidized levels of tri-LA and tri-DHA were analyzed with PV and p-anisidine value (AnV), the method to analyze secondary oxidized products. The oxidation levels of respective triacylglycerol (TAG) samples were carefully adjusted to make them having almost the same PV and AnV. As the results, 600 or more meq/kg in PV of both TAGs significantly increased the consumption of kaolin pellets compared to the control group. Furthermore, 300 or more meq/kg in PV of tri-LA and 200 or more meq/kg in PV of tri-DHA demonstrated significant decrease in locomotor activity compared to control group. These results would indicate that the oxidized TAG having the same PV and/or AnV would induce the same type of pica behavior and locomotor activity. Furthermore, that the structure of oxidized products might not be important and the amount of hydroperoxide group and/or aldehyde group in deteriorated fats and oils might affect the pica behavior and locomotor activity were thought.

  17. Noise From Shallow Underwater Explosions

    NASA Astrophysics Data System (ADS)

    Soloway, Alexander G.

    Naval activities such as ordnance disposal, demolition and requisite training, can involve detonation of small explosive charges in shallow water that have the potential to harm nearby marine life. Measurements of the underwater sound generated by sub-surface explosions were collected as part of a naval training exercise. In this thesis the noise levels from these explosions will be investigated using peak pressure, sound exposure level and energy spectral density. Measurements of very-low frequency Scholte interface waves will also be presented and used to investigate elastic parameters in the sediment.

  18. Drosophila Clock Is Required in Brain Pacemaker Neurons to Prevent Premature Locomotor Aging Independently of Its Circadian Function

    PubMed Central

    Issa, Abdul-Raouf; Seugnet, Laurent; Klarsfeld, André

    2017-01-01

    Circadian clocks control many self-sustained rhythms in physiology and behavior with approximately 24-hour periodicity. In many organisms, oxidative stress and aging negatively impact the circadian system and sleep. Conversely, loss of the clock decreases resistance to oxidative stress, and may reduce lifespan and speed up brain aging and neurodegeneration. Here we examined the effects of clock disruptions on locomotor aging and longevity in Drosophila. We found that lifespan was similarly reduced in three arrhythmic mutants (ClkAR, cyc0 and tim0) and in wild-type flies under constant light, which stops the clock. In contrast, ClkAR mutants showed significantly faster age-related locomotor deficits (as monitored by startle-induced climbing) than cyc0 and tim0, or than control flies under constant light. Reactive oxygen species accumulated more with age in ClkAR mutant brains, but this did not appear to contribute to the accelerated locomotor decline of the mutant. Clk, but not Cyc, inactivation by RNA interference in the pigment-dispersing factor (PDF)-expressing central pacemaker neurons led to similar loss of climbing performance as ClkAR. Conversely, restoring Clk function in these cells was sufficient to rescue the ClkAR locomotor phenotype, independently of behavioral rhythmicity. Accelerated locomotor decline of the ClkAR mutant required expression of the PDF receptor and correlated to an apparent loss of dopaminergic neurons in the posterior protocerebral lateral 1 (PPL1) clusters. This neuronal loss was rescued when the ClkAR mutation was placed in an apoptosis-deficient background. Impairing dopamine synthesis in a single pair of PPL1 neurons that innervate the mushroom bodies accelerated locomotor decline in otherwise wild-type flies. Our results therefore reveal a novel circadian-independent requirement for Clk in brain circadian neurons to maintain a subset of dopaminergic cells and avoid premature locomotor aging in Drosophila. PMID:28072817

  19. Drosophila Clock Is Required in Brain Pacemaker Neurons to Prevent Premature Locomotor Aging Independently of Its Circadian Function.

    PubMed

    Vaccaro, Alexandra; Issa, Abdul-Raouf; Seugnet, Laurent; Birman, Serge; Klarsfeld, André

    2017-01-01

    Circadian clocks control many self-sustained rhythms in physiology and behavior with approximately 24-hour periodicity. In many organisms, oxidative stress and aging negatively impact the circadian system and sleep. Conversely, loss of the clock decreases resistance to oxidative stress, and may reduce lifespan and speed up brain aging and neurodegeneration. Here we examined the effects of clock disruptions on locomotor aging and longevity in Drosophila. We found that lifespan was similarly reduced in three arrhythmic mutants (ClkAR, cyc0 and tim0) and in wild-type flies under constant light, which stops the clock. In contrast, ClkAR mutants showed significantly faster age-related locomotor deficits (as monitored by startle-induced climbing) than cyc0 and tim0, or than control flies under constant light. Reactive oxygen species accumulated more with age in ClkAR mutant brains, but this did not appear to contribute to the accelerated locomotor decline of the mutant. Clk, but not Cyc, inactivation by RNA interference in the pigment-dispersing factor (PDF)-expressing central pacemaker neurons led to similar loss of climbing performance as ClkAR. Conversely, restoring Clk function in these cells was sufficient to rescue the ClkAR locomotor phenotype, independently of behavioral rhythmicity. Accelerated locomotor decline of the ClkAR mutant required expression of the PDF receptor and correlated to an apparent loss of dopaminergic neurons in the posterior protocerebral lateral 1 (PPL1) clusters. This neuronal loss was rescued when the ClkAR mutation was placed in an apoptosis-deficient background. Impairing dopamine synthesis in a single pair of PPL1 neurons that innervate the mushroom bodies accelerated locomotor decline in otherwise wild-type flies. Our results therefore reveal a novel circadian-independent requirement for Clk in brain circadian neurons to maintain a subset of dopaminergic cells and avoid premature locomotor aging in Drosophila.

  20. Suprachiasmatic vasopressin and the circadian regulation of voluntary locomotor behavior.

    PubMed

    Cormier, Holly C; Della-Maggiore, Valeria; Karatsoreos, Ilia N; Koletar, Margaret M; Ralph, Martin R

    2015-01-01

    A role for arginine vasopressin in the circadian regulation of voluntary locomotor behavior (wheel running activity) was investigated in the golden hamster, Mesocricetus auratus. Spontaneous nocturnal running was suppressed in a dose-dependent manner by systemic injections of vasopressin, and also in a concentration-dependent manner by microinjections directly into the hypothalamic suprachiasmatic nucleus. Pre-injections of a vasopressin V1 receptor antagonist into the nucleus reduced the suppression of behavior by vasopressin. Ethogram analyses revealed that peripheral drug injections predominantly increased grooming, flank marking, and sleep-related behaviors. Central injections did not induce sleep, but increased grooming and periods of 'quiet vigilance' (awake but not moving). Nocturnal behavioral profiles following either peripheral or central injections were similar to those shown by untreated animals in the hour prior to the onset of nocturnal wheel running. Site control vasopressin injections into the medial preoptic area or periaqueductal gray increased flank marking and grooming, but had no significant effect on locomotion, suggesting behavioral specificity of a vasopressin target near the suprachiasmatic nucleus. Both peripheral and central administration increased FOS-like immunoreactivity in the retinorecipient core of the suprachiasmatic nucleus. The distribution of FOS-positive cells overlapped the calbindin subregion, but was more extensive, and most calbindin-positive cells did not co-express FOS. We propose a model of temporal behavioral regulation wherein voluntary behavior, such as nocturnal locomotor activity, is inhibited by the activity of neurons in the suprachiasmatic ventrolateral core that project to the posterior hypothalamus and are driven by rhythmic vasopressin input from the dorsomedial shell.

  1. Immature Spinal Locomotor Output in Children with Cerebral Palsy

    PubMed Central

    Cappellini, Germana; Ivanenko, Yury P.; Martino, Giovanni; MacLellan, Michael J.; Sacco, Annalisa; Morelli, Daniela; Lacquaniti, Francesco

    2016-01-01

    Detailed descriptions of gait impairments have been reported in cerebral palsy (CP), but it is still unclear how maturation of the spinal motoneuron output is affected. Spatiotemporal alpha-motoneuron activation during walking can be assessed by mapping the electromyographic activity profiles from several, simultaneously recorded muscles onto the anatomical rostrocaudal location of the motoneuron pools in the spinal cord, and by means of factor analysis of the muscle activity profiles. Here, we analyzed gait kinematics and EMG activity of 11 pairs of bilateral muscles with lumbosacral innervation in 35 children with CP (19 diplegic, 16 hemiplegic, 2–12 years) and 33 typically developing (TD) children (1–12 years). TD children showed a progressive reduction of EMG burst durations and a gradual reorganization of the spatiotemporal motoneuron output with increasing age. By contrast, children with CP showed very limited age-related changes of EMG durations and motoneuron output, as well as of limb intersegmental coordination and foot trajectory control (on both sides for diplegic children and the affected side for hemiplegic children). Factorization of the EMG signals revealed a comparable structure of the motor output in children with CP and TD children, but significantly wider temporal activation patterns in children with CP, resembling the patterns of much younger TD infants. A similar picture emerged when considering the spatiotemporal maps of alpha-motoneuron activation. Overall, the results are consistent with the idea that early injuries to developing motor regions of the brain substantially affect the maturation of the spinal locomotor output and consequently the future locomotor behavior. PMID:27826251

  2. Underwater holography: past and future

    NASA Astrophysics Data System (ADS)

    Watson, John

    2006-05-01

    Holography is a well-known optical technique which can provide valuable information on the location and distribution of small particles in three-dimensional space. For several years now, we have utilised holography for high-precision subsea inspection and measurement. One specific application which spurred much of our work was the need for high-precision inspection and analysis of plankton sizes, distribution and species identification. To this end we have developed a subsea holographic camera (HoloMar) for recording of plankton and other marine organisms in situ in their natural environment. This camera is unique in that it is able to record simultaneous in-line and off-axis holograms to cover a range of size of marine organisms from a few microns to tens of millimetres and at concentrations from a few particles per cubic centimetre to dense aggregates. Holograms of aquatic systems of up to 50000 cm 3 volume (off-axis) and 9500 cm 3 (in-line), have been recorded in situ, using a pulsed laser (Q-switched, frequency-doubled Nd-YAG, 532 nm). The use of a pulsed laser effectively "freezes" the scene at a given instant. Although the recording of the holograms takes place in water, replay of the image is carried out in the laboratory in air, using the projected (real) image mode of reconstruction. By precision translation of a computer-controlled video-camera through the replayed image volume and performing "optical sectioning" on the image, individual organisms can be isolated and their size, shape and relative location precisely determined. Image processing algorithms, will allow optimisation of the holographic image together with automated identification of individual species and enumeration of concentrations. The local interactions between different organisms and particles can be observed, recorded and quantitatively determined. Following initial laboratory and observation tank testing, the holo-camera was deployed in a sea loch in the West of Scotland to a depth of

  3. SOUNET: Self-Organized Underwater Wireless Sensor Network

    PubMed Central

    Kim, Hee-won; Cho, Ho-Shin

    2017-01-01

    In this paper, we propose an underwater wireless sensor network (UWSN) named SOUNET where sensor nodes form and maintain a tree-topological network for data gathering in a self-organized manner. After network topology discovery via packet flooding, the sensor nodes consistently update their parent node to ensure the best connectivity by referring to the time-varying neighbor tables. Such a persistent and self-adaptive method leads to high network connectivity without any centralized control, even when sensor nodes are added or unexpectedly lost. Furthermore, malfunctions that frequently happen in self-organized networks such as node isolation and closed loop are resolved in a simple way. Simulation results show that SOUNET outperforms other conventional schemes in terms of network connectivity, packet delivery ratio (PDR), and energy consumption throughout the network. In addition, we performed an experiment at the Gyeongcheon Lake in Korea using commercial underwater modems to verify that SOUNET works well in a real environment. PMID:28157164

  4. SOUNET: Self-Organized Underwater Wireless Sensor Network.

    PubMed

    Kim, Hee-Won; Cho, Ho-Shin

    2017-02-02

    In this paper, we propose an underwater wireless sensor network (UWSN) named SOUNET where sensor nodes form and maintain a tree-topological network for data gathering in a self-organized manner. After network topology discovery via packet flooding, the sensor nodes consistently update their parent node to ensure the best connectivity by referring to the timevarying neighbor tables. Such a persistent and self-adaptive method leads to high network connectivity without any centralized control, even when sensor nodes are added or unexpectedly lost. Furthermore, malfunctions that frequently happen in self-organized networks such as node isolation and closed loop are resolved in a simple way. Simulation results show that SOUNET outperforms other conventional schemes in terms of network connectivity, packet delivery ratio (PDR), and energy consumption throughout the network. In addition, we performed an experiment at the Gyeongcheon Lake in Korea using commercial underwater modems to verify that SOUNET works well in a real environment.

  5. Underwater camera with depth measurement

    NASA Astrophysics Data System (ADS)

    Wang, Wei-Chih; Lin, Keng-Ren; Tsui, Chi L.; Schipf, David; Leang, Jonathan

    2016-04-01

    The objective of this study is to develop an RGB-D (video + depth) camera that provides three-dimensional image data for use in the haptic feedback of a robotic underwater ordnance recovery system. Two camera systems were developed and studied. The first depth camera relies on structured light (as used by the Microsoft Kinect), where the displacement of an object is determined by variations of the geometry of a projected pattern. The other camera system is based on a Time of Flight (ToF) depth camera. The results of the structural light camera system shows that the camera system requires a stronger light source with a similar operating wavelength and bandwidth to achieve a desirable working distance in water. This approach might not be robust enough for our proposed underwater RGB-D camera system, as it will require a complete re-design of the light source component. The ToF camera system instead, allows an arbitrary placement of light source and camera. The intensity output of the broadband LED light source in the ToF camera system can be increased by putting them into an array configuration and the LEDs can be modulated comfortably with any waveform and frequencies required by the ToF camera. In this paper, both camera were evaluated and experiments were conducted to demonstrate the versatility of the ToF camera.

  6. Fish kill from underwater explosions

    USGS Publications Warehouse

    Stuart, David J.

    1962-01-01

    The U.S. Geological Survey has used 23 different shotpoints during two seasons of field work in our seismic study of crustal structure in western United States. Without exception, it has been found that under-water shotpoints result in a more efficient conversion of explosive energy into seismic energy than do drilled-hole shotpoints. This experience, together with elimination of drilling costs, has led to the use of underwater shotpoints wherever possible. Three of the 23 shotpoints were in the Pacific Ocean, and for these we have no detailed information on the fish kill. Another six shotpoints were located in inland bodies of water. These are: * Soda Lake near Fallon, Nevada * Mono Lake near Lee Vining, California * Lake Mead near Boulder City, Nevada * Shasta Lake near Redding, California * C.J. Strike Reservoir near Bruneau, Idaho * Lucky Peak Reservoir near Boise, Idaho The 22 high-explosive charges, weighing a total of 95,100 pounds, that were fired in lakes containing fish life resulted in the known death of 2,413 game fish with a total weight of 759 pounds. The average mortality was 110 game fish or 34.5 pounds of game fish killed per average shot of 4,325 pounds of high-explosives.

  7. The influence of locomotor rehabilitation on module quality and post-stroke hemiparetic walking performance.

    PubMed

    Routson, Rebecca L; Clark, David J; Bowden, Mark G; Kautz, Steven A; Neptune, Richard R

    2013-07-01

    Recent studies have suggested the biomechanical subtasks of walking can be produced by a reduced set of co-excited muscles or modules. Individuals post-stroke often exhibit poor inter-muscular coordination characterized by poor timing and merging of modules that are normally independent in healthy individuals. However, whether locomotor therapy can influence module composition and timing and whether these improvements lead to improved walking performance is unclear. The goal of this study was to examine the influence of a locomotor rehabilitation therapy on module composition and timing and post-stroke hemiparetic walking performance. Twenty-seven post-stroke hemiparetic subjects participated in a 12-week locomotor intervention incorporating treadmill training with body weight support and manual trainers accompanied by training overground walking. Electromyography (EMG), kinematic and ground reaction force data were collected from subjects both pre- and post-therapy and from 19 age-matched healthy controls walking on an instrumented treadmill at their self-selected speed. Non-negative matrix factorization was used to identify the module composition and timing from the EMG data. Module timing and composition, and various measures of walking performance were compared pre- and post-therapy. In subjects with four modules pre- and post-therapy, locomotor training resulted in improved timing of the ankle plantarflexor module and a more extended paretic leg angle that allowed the subjects to walk faster and with more symmetrical propulsion. In addition, subjects with three modules pre-therapy increased their number of modules and improved walking performance post-therapy. Thus, locomotor training has the potential to influence module composition and timing, which can lead to improvements walking performance. Copyright © 2013 Elsevier B.V. All rights reserved.

  8. The Influence of Locomotor Rehabilitation on Module Quality and Post-Stroke Hemiparetic Walking Performance

    PubMed Central

    Routson, Rebecca L.; Clark, David J.; Bowden, Mark G.; Kautz, Steven A.; Neptune, Richard R.

    2013-01-01

    Recent studies have suggested the biomechanical subtasks of walking can be produced by a reduced set of co-excited muscles or modules. Individuals post-stroke often exhibit poor inter-muscular coordination characterized by poor timing and merging of modules that are normally independent in healthy individuals. However, whether locomotor therapy can influence module composition and timing and whether these improvements lead to improved walking performance is unclear. The goal of this study was to examine the influence of a locomotor rehabilitation therapy on module composition and timing and post-stroke hemiparetic walking performance. Twenty-eight post-stroke hemiparetic subjects participated in a 12-week locomotor intervention incorporating treadmill training with body weight support and manual trainers accompanied by training overground walking. Electromyography (EMG), kinematic and ground reaction force data were collected from subjects both pre- and post-therapy and from 19 age-matched healthy controls walking on an instrumented treadmill at their self-selected speed. Non-negative matrix factorization was used to identify the module composition and timing from the EMG data. Module timing and composition, and various measures of walking performance were compared pre- and post-therapy. In subjects with four modules pre- and post-therapy, locomotor training resulted in improved timing of the ankle plantarflexor module and a more extended paretic leg angle that allowed the subjects to walk faster and with more symmetrical propulsion. In addition, subjects with three modules pre-therapy increased their number of modules and improved walking performance post-therapy. Thus, locomotor training has the potential to influence module composition and timing, which can lead to improvements walking performance. PMID:23489952

  9. Differential Effects of Inhaled Toluene on Locomotor Activity in Adolescent and Adult Rats

    PubMed Central

    Batis, Jeffery C.; Hannigan, John H.; Bowen, Scott E.

    2010-01-01

    Inhalant abuse is a world-wide public health concern among adolescents. Most preclinical studies have assessed inhalant effects in adult animals leaving unclear how behavioral effects differ in younger animals. We exposed adolescent (postnatal day [PN] 28) and adult (PN90) male rats to toluene using 1 of 3 exposure patterns. These patterns modeled those reported in toluene abuse in teens and varied concentration, number and length of exposures, as well as the inter-exposure interval. Animals were exposed repeatedly over 12 days to toluene concentrations of 0, 8,000 or 16,000 parts per million (ppm). Locomotor activity was quantified during toluene exposures and for 30 min following completion of the final daily toluene exposure. For each exposure pattern, there were significant toluene concentration-related increases and decreases in locomotor activity compared to the 0-ppm “air” controls at both ages. These changes depended upon when activity was measured – during or following exposure. Compared to adults, adolescents displayed greater locomotor activity on the first day and generally greater increases in activity over days than adults during toluene exposure. Adults displayed greater locomotor activity than adolescents in the “recovery” period following exposure on the first and subsequent days. Age group differences were clearest following the pattern of paced, brief (5-min) repeated binge exposures. The results suggest that locomotor behavior in rats during and following inhalation of high concentrations of toluene depends on age and the pattern of exposure. The results are consistent with dose-dependent shifts in sensitivity and sensitization or tolerance to repeated toluene in the adolescent animals compared to the adult animals. Alternate interpretations are possible and our interpretation is limited by the range of very high concentrations of toluene used. The results imply that both pharmacological and psychosocial factors contribute to the teen

  10. The effects of long-term dopaminergic treatment on locomotor behavior in rats

    PubMed Central

    Oliveira de Almeida, Welinton Alessandro; Maculano Esteves, Andrea; Leite de Almeida-Júnior, Canuto; Lee, Kil Sun; Kannebley Frank, Miriam; Oliveira Mariano, Melise; Frussa-Filho, Roberto; Tufik, Sergio; Tulio de Mello, Marco

    2014-01-01

    Long-term treatments with dopaminergic agents are associated with adverse effects, including augmentation. Augmentation consists of an exacerbation of restless legs syndrome (a sleep-related movement disorder) symptoms during treatment compared to those experienced during the period before therapy was initiated. The objective of this study was to examine locomotor activity in rats after long-term dopaminergic treatment and its relationship with expression of the D2 receptor, in addition to demonstrating possible evidence of augmentation. The rats were divided into control (CTRL) and drug (Pramipexole—PPX) groups that received daily saline vehicle and PPX treatments, respectively, for 71 days. The locomotor behavior of the animals was evaluated weekly in the Open Field test for 71 days. The expression of the dopamine D2 receptor was evaluated by Western Blot analysis. The animals that received the PPX demonstrated a significant reduction in locomotor activity from day 1 to day 57 and a significant increase in immobility time from day 1 to day 64 relative to baseline values, but these values had returned to baseline levels at 71 days. No changes in the expression of the D2 receptor were demonstrated after treatment with a dopaminergic agonist. This study suggests changes in locomotor activity in rats after long-term PPX treatment that include an immediate reduction of locomotion and an increase in immobilization, and after 64 days, these values returned to baseline levels without evidence of augmentation. In addition, it was not possible to demonstrate a relationship between locomotor activity and the expression of D2 receptors under these conditions. PMID:26483930

  11. The D₂ dopamine receptor and locomotor hyperactivity following bilateral vestibular deafferentation in the rat.

    PubMed

    Stiles, Lucy; Zheng, Yiwen; Darlington, Cynthia L; Smith, Paul F

    2012-02-01

    Rats and mice with bilateral vestibular loss exhibit dramatic locomotor hyperactivity and circling behaviours, which to date cannot be explained. Dysfunction of the striatal dopaminergic system is responsible for a number of known movement disorders and the D(2) dopamine receptor is known to be implicated. Therefore, it is possible that changes in striatal function are responsible for locomotor hyperactivity and circling following bilateral vestibular lesions. The aim of this study was to investigate the effects of the D(2) receptor antagonist, eticlopride (0.02, 0.04 and 0.06mg/kg; s.c.), on locomotor behaviour in rats at 5 months following bilateral vestibular deafferentation (BVD), using an open field maze. The levels of the D(2) receptor protein in the striatum were measured at 1 and 6 months post-BVD using western blotting. BVD rats exhibited locomotor hyperactivity and circling, which eticlopride did not eliminate. However, BVD rats did exhibit a decreased response to the inhibitory effect of eticlopride compared to sham controls at the 0.02 mg/kg dose. There were no changes in the amount of the D(2) receptor in the striatum at 1 or 6 months post-BVD; however, D(2) receptor levels were significantly higher on the right side than the left in both sham and BVD animals. These results suggest that locomotor hyperactivity and circling behaviours following BVD are not due simply to changes in D(2) receptor protein expression in the striatum and that other neurophysiological changes in the brain account for these behaviours following BVD.

  12. Inbreeding affects locomotor activity in Drosophila melanogaster at different ages.

    PubMed

    Manenti, Tommaso; Pertoldi, Cino; Moghadam, Neda Nasiri; Nasiri, Neda; Schou, Mads Fristrup; Kjærsgaard, Anders; Cavicchi, Sandro; Loeschcke, Volker

    2015-01-01

    The ability to move is essential for many behavioural traits closely related to fitness. Here we studied the effect of inbreeding on locomotor activity (LA) of Drosophila melanogaster at different ages under both dark and light regimes. We expected to find a decreased LA in inbred lines compared to control lines. We also predicted an increased differentiation between lines due to inbreeding. LA was higher in the dark compared to the light regime for both inbred and outbred control lines. As expected, inbreeding increased phenotypic variance in LA, with some inbred lines showing higher and some lower LA than control lines. Moreover, age per se did not affect LA neither in control nor in inbred lines, while we found a strong line by age interaction between inbred lines. Interestingly, inbreeding changed the daily activity pattern of the flies: these patterns were consistent across all control lines but were lost in some inbred lines. The departure in the daily pattern of LA in inbred lines may contribute to the inbreeding depression observed in inbred natural populations.

  13. Underwater Acoustic Networks: An Acoustic Propagation Model for Simulation of Underwater Acoustic Networks

    DTIC Science & Technology

    2005-12-01

    Applications Underwater sound propagation has been used either for military applications like sonar, mine fields, voice communication , or civilian use such...as hydrographic surveys, oceanographic studies, and marine life research. Wireless communications to this date are a common part in our daily life...and the term wireless is usually associated with over the air communications and not related to underwater communications . Underwater networks may

  14. Locomotor Profiling from Rodents to the Clinic and Back Again.

    PubMed

    Young, Jared W; Minassian, Arpi; Geyer, Mark A

    The quantification of unconditioned motoric activity is one of the oldest and most commonly utilized tools in behavioral studies. Although typically measured in reference to psychiatric disorders, e.g., amphetamine-induced hyperactivity used as a model of schizophrenia, bipolar disorder (BD), and Tourette's syndrome, the motoric behavior of psychiatric patients had not been quantified similarly to rodents until recently. The rodent behavioral pattern monitor (BPM) was reverse-translated for use in humans, providing the quantification of not only motoric activity but also the locomotor exploratory profile of various psychiatric populations. This measurement includes the quantification of specific exploration and locomotor patterns. As an example, patients with BD, schizophrenia, and those with history of methamphetamine dependence exhibited unique locomotor profiles. It was subsequently determined that reducing dopamine transporter function selectively recreated the locomotor profile of BD mania patients and not any other patient population. Hence, multivariate locomotor profiling offers a first-step approach toward understanding the neural mechanism(s) underlying abnormal behavior in patients with psychiatric disorders. Advances in wearable technology will undoubtedly enable similar multivariate assessments of exploratory and locomotor behavior in "real-world" contexts. Furthermore, trans-diagnostic studies of locomotor activity profiles will inform about essential brain-based functions that cut across diagnostic nosologies.

  15. System for increasing the recovery of product fluids from underwater marine deposits

    SciTech Connect

    Chaudot, G.

    1985-07-09

    A system according to the invention includes a working well head whose producing head is connected by a rigid or flexible pipe to at least one underwater degasifier tank. A pump for lifting the product from the well or wells is regulated by a control valve which responds to the discharge flow of liquids and/or variations in weight and/or bouyancy of the degasifier tank. A valve for regulating the flow of product from the well is controlled by a second control means. The second control means may modulate the gas sealing pressure by pinching a stream of gas at some point in the piping in response to the relative bouyancy of said underwater degasification tank. Combinations of the various systems disclosed in the invention make it possible to increase the recovery of desired product fluids from an underwater deposit.

  16. Angular scale expansion theory and the misperception of egocentric distance in locomotor space

    PubMed Central

    Durgin, Frank H.

    2014-01-01

    Perception is crucial for the control of action, but perception need not be scaled accurately to produce accurate actions. This paper reviews evidence for an elegant new theory of locomotor space perception that is based on the dense coding of angular declination so that action control may be guided by richer feedback. The theory accounts for why so much direct-estimation data suggests that egocentric distance is underestimated despite the fact that action measures have been interpreted as indicating accurate perception. Actions are calibrated to the perceived scale of space and thus action measures are typically unable to distinguish systematic (e.g., linearly scaled) misperception from accurate perception. Whereas subjective reports of the scaling of linear extent are difficult to evaluate in absolute terms, study of the scaling of perceived angles (which exist in a known scale, delimited by vertical and horizontal) provides new evidence regarding the perceptual scaling of locomotor space. PMID:25610539

  17. Intelligent mission planner for autonomous underwater vehicles

    NASA Astrophysics Data System (ADS)

    Vasudevan, C.; Ganesan, K.

    1994-03-01

    We describe the design of an architecture for an intelligent integrated mission planner for autonomous underwater vehicles (AUVs). Mission planning is an integral and important part of the software architecture of an AUV. Among the several functional modules of an AUV such as planner, controller, navigator, and perception, the planner plays the key role in generating, monitoring, and controlling of all mission tasks. In order to perform complex missions, the planner needs a wide range of knowledge and efficient reasoning techniques. Mission planning involves navigational planning, resource planning, safety planning, and mission-specific task planning. These functions require reasoning about the knowledge of the environment, vehicle, on-board resources, and mission tasks. The proposed design employs a mixture of hierarchical and heterarchical architectures. Case-based reasoning is employed for synthesizing mission plans. Among the different planner modules, design details of the navigational planner have been elaborated. The approach integrates advanced artificial intelligence techniques with AUV control architecture to make mission planning and execution simpler and flexible. The design takes into consideration the limited availability of AUV resources, scalability, and portability to other autonomous systems.

  18. Underwater image bidirectional matching for localization based on SIFT

    NASA Astrophysics Data System (ADS)

    Lin, Yan; Liu, Bo

    2014-06-01

    For the purpose of identifying the stern of the SWATH (Small Waterplane Area Twin Hull) availably and perfecting the detection technique of the SWATH ship's performance, this paper presents a novel bidirectional image registration strategy and mosaicing technique based on the scale invariant feature transform (SIFT) algorithm. The proposed method can help us observe the stern with a great visual angle for analyzing the performance of the control fins of the SWATH. SIFT is one of the most effective local features of the scale, rotation and illumination invariant. However, there are a few false match rates in this algorithm. In terms of underwater machine vision, only by acquiring an accurate match rate can we find an underwater robot rapidly and identify the location of the object. Therefore, firstly, the selection of the match ratio principle is put forward in this paper; secondly, some advantages of the bidirectional registration algorithm are concluded by analyzing the characteristics of the unidirectional matching method. Finally, an automatic underwater image splicing method is proposed on the basis of fixed dimension, and then the edge of the image's overlapping section is merged by the principal components analysis algorithm. The experimental results achieve a better registration and smooth mosaicing effect, demonstrating that the proposed method is effective.

  19. Comparison of three underwater antennas for use in radiotelemetry

    USGS Publications Warehouse

    Beeman, J.W.; Grant, C.; Haner, P.V.

    2004-01-01

    The radiation patterns of three versions of underwater radiotelemetry antennas were measured to compare the relative reception ranges in the horizontal and vertical planes, which are important considerations when designing detection systems. The received signal strengths of an antenna made by stripping shielding from a section of coaxial cable (stripped coax) and by two versions of a dipole antenna were measured at several orientations relative to a dipole transmit antenna under controlled field conditions. The received signal strengths were greater when the transmit and receive antennas were parallel to each other than when they were perpendicular, indicating that a parallel orientation provides optimal detection range. The horizontal plane radiation pattern of the flexible, stripped coax antenna was similar to that of a rigid dipole antenna, but movement of underwater stripped coax antennas in field applications could affect the orientation of transmit and receive antennas in some applications, resulting in decreased range and variation in received signal strengths. Compared with a standard dipole, a dipole antenna armored by housing within a polyvinyl chloride fitting had a smaller radiation pattern in the horizontal plane but a larger radiation pattern in the vertical plane. Each of these types of underwater antenna can be useful, but detection ranges can be maximized by choosing an appropriate antenna after consideration of the location, relation between transmit and receive antenna orientations, radiation patterns, and overall antenna resiliency.

  20. Underwater Grass Comeback Helps Chesapeake Bay

    EPA Pesticide Factsheets

    The fortified Susquehanna Flats, the largest bed of underwater grasses in the Chesapeake Bay, seems able to withstand a major weather punch. Its resilience is contributing to an overall increase in the Bay’s submerged aquatic vegetation.

  1. Administrator Bolden Calls Underwater NEEMO Crew

    NASA Image and Video Library

    From outside their underwater laboratory in Florida, NASA Astronaut and NEEMO 16 Commander Dottie Metcalf-Lindenburger and European Space Agency astronaut Timothy Peake took a call from NASA Admini...

  2. Sensor Network Architectures for Monitoring Underwater Pipelines

    PubMed Central

    Mohamed, Nader; Jawhar, Imad; Al-Jaroodi, Jameela; Zhang, Liren

    2011-01-01

    This paper develops and compares different sensor network architecture designs that can be used for monitoring underwater pipeline infrastructures. These architectures are underwater wired sensor networks, underwater acoustic wireless sensor networks, RF (Radio Frequency) wireless sensor networks, integrated wired/acoustic wireless sensor networks, and integrated wired/RF wireless sensor networks. The paper also discusses the reliability challenges and enhancement approaches for these network architectures. The reliability evaluation, characteristics, advantages, and disadvantages among these architectures are discussed and compared. Three reliability factors are used for the discussion and comparison: the network connectivity, the continuity of power supply for the network, and the physical network security. In addition, the paper also develops and evaluates a hierarchical sensor network framework for underwater pipeline monitoring. PMID:22346669

  3. Piezoelectric materials used in underwater acoustic transducers

    SciTech Connect

    Li, Huidong; Deng, Zhiqun; Carlson, Thomas J.

    2012-07-07

    Piezoelectric materials have been used in underwater acoustic transducers for nearly a century. In this paper, we reviewed four different types of piezoelectric materials: piezoelectric ceramics, single crystals, composites, and polymers, which are widely used in underwater acoustic transducers nowadays. Piezoelectric ceramics are the most dominant material type and are used as a single-phase material or one of the end members in composites. Piezoelectric single crystals offer outstanding electromechanical response but are limited by their manufacturing cost. Piezoelectric polymers provide excellent acoustic impedance matching and transducer fabrication flexibility although their piezoelectric properties are not as good as ceramics and single crystals. Composites combined the merits of ceramics and polymers and are receiving increased attention. The typical structure and electromechanical properties of each type of materials are introduced and discussed with respect to underwater acoustic transducer applications. Their advantages and disadvantages are summarized. Some of the critical design considerations when developing underwater acoustic transducers with these materials are also touched upon.

  4. Active-imaging-based underwater navigation

    NASA Astrophysics Data System (ADS)

    Monnin, David; Schmitt, Gwenaël.; Fischer, Colin; Laurenzis, Martin; Christnacher, Frank

    2015-10-01

    Global navigation satellite systems (GNSS) are widely used for the localization and the navigation of unmanned and remotely operated vehicles (ROV). In contrast to ground or aerial vehicles, GNSS cannot be employed for autonomous underwater vehicles (AUV) without the use of a communication link to the water surface, since satellite signals cannot be received underwater. However, underwater autonomous navigation is still possible using self-localization methods which determines the relative location of an AUV with respect to a reference location using inertial measurement units (IMU), depth sensors and even sometimes radar or sonar imaging. As an alternative or a complementary solution to common underwater reckoning techniques, we present the first results of a feasibility study of an active-imaging-based localization method which uses a range-gated active-imaging system and can yield radiometric and odometric information even in turbid water.

  5. Astro Stars Camp features underwater robotics

    NASA Image and Video Library

    2010-06-29

    Ian Tonglet, 13, (left) and Seth Malley, 13, both of Picayune, Miss., and both participants in the 2010 Astro Stars session at Stennis Space Center, work with an underwater robot during a camp activity June 29. NASA joined with the U.S. Navy for the underwater robotics exercise involving Sea Perch robots, which are simple, remotely operated underwater vehicles made from PVC pipe and other inexpensive, easily available materials. During the Stennis exercise, students used robots constructed earlier in the day to maneuver underwater and collect plastic rings, as seen to the left of Tonglet. Astro STARS (Spaceflight, Technology, Astronomy & Robotics @ Stennis) is a science and technology camp for 13-15 year olds.

  6. Underwater probing with laser radar

    NASA Technical Reports Server (NTRS)

    Carswell, A. I.; Sizgoric, S.

    1975-01-01

    Recent advances in laser and electro optics technology have greatly enhanced the feasibility of active optical probing techniques aimed at the remote sensing of water parameters. This paper describes a LIDAR (laser radar) that has been designed and constructed for underwater probing. The influence of the optical properties of water on the general design parameters of a LIDAR system is considered. Discussion of the specific details in the choice of the constructed LIDAR is given. This system utilizes a cavity dumped argon ion laser transmitter capable of 50 watt peak powers, 10 nanosecond pulses and megahertz pulse repetition rates at 10 different wavelengths in the blue green region of the spectrum. The performance of the system, in proving various types of water, is demonstrated by summarizing the results of initial laboratory and field experiments.

  7. High bandwidth underwater optical communication

    NASA Astrophysics Data System (ADS)

    Hanson, Frank; Radic, Stojan

    2008-01-01

    We report error-free underwater optical transmission measurements at 1 Gbit/s (109 bits/s) over a 2 m path in a laboratory water pipe with up to 36 dB of extinction. The source at 532 nm was derived from a 1064 nm continuous-wave laser diode that was intensity modulated, amplified, and frequency doubled in periodically poled lithium niobate. Measurements were made over a range of extinction by the addition of a Mg(OH)2 and Al(OH)3 suspension to the water path, and we were not able to observe any evidence of temporal pulse broadening. Results of Monte Carlo simulations over ocean water paths of several tens of meters indicate that optical communication data rates >1 Gbit/s can be supported and are compatible with high-capacity data transfer applications that require no physical contact.

  8. Morphine-induced sensitization of locomotor activity in mice: effect of social isolation on plasma corticosterone levels.

    PubMed

    Francès, H; Graulet, A; Debray, M; Coudereau, J P; Guéris, J; Bourre, J M

    2000-03-31

    This study examined the influence of social isolation on behavioural sensitization to the locomotor effect of morphine and the link between this behaviour and plasma corticosterone concentrations. Four weeks isolation induced an increase in the locomotor effect of morphine. In social and isolated mice, repeated administrations (6) of morphine (one injection every 3 or 4 days) followed by 3 h in an actimeter induced behavioural sensitization to the locomotor effect of morphine. No interaction was observed between social isolation and behavioural sensitization to morphine. Resocializing previously isolated mice for 3 weeks reduced the morphine-induced locomotor effect without altering the behavioural sensitization. Corticosterone plasma levels were more increased (416%) in mice isolated 5 weeks than in mice isolated for 2 weeks (243%) and they return to the control levels following 3 weeks of resocialization. Since there was no interaction between the increase in morphine locomotor effect induced by social isolation and the morphine-induced behavioural sensitization, it is suggested that each of these two events acts independently. Whether or not a common mechanism (plasma corticosterone levels?) partly underlies both effects, the result resembles a simple additive effect.

  9. Optical Magnetometry for Detecting Underwater Objects

    DTIC Science & Technology

    2015-09-21

    underwater object. The two mechanisms responsible for the polarization rotation are the Surface Magneto-Optical Kerr Effect ( SMOKE ) and the Faraday effect...due to an underwater object will result in variations in the polarization rotation of the laser light reflected off the water’s surface ( SMOKE ) and off...Washington, DC 20375-5320 October 2014 – August 2015 NRL *University of Maryland, College Park, MD 20742-4111 Faraday SMOKE 67-4374-C4 1 Optical

  10. Sources of Underwater Sound and Their Characterization.

    PubMed

    Ainslie, Michael A; de Jong, Christ A F

    2016-01-01

    Because of the history of sonar and sonar engineering, the concept of "source level" is widely used to characterize anthropogenic sound sources, but is it useful for sources other than sonar transmitters? The concept and applicability of source level are reviewed for sonar, air guns, explosions, ships, and pile drivers. International efforts toward the harmonization of the terminology for underwater sound and measurement procedures for underwater sound sources are summarized, with particular attention to the initiatives of the International Organization for Standardization.

  11. The Effects of Underwater Blast on Divers

    DTIC Science & Technology

    2007-11-02

    Any process that causes a non-uniform pressure field generates sound. The acoustic pressure of the sound is related to the rate of change of... caused by the shock wave. Conventionally, this is usually considered to be in the initial peak of the waveform. This quantity is related to the...underwater sound events. The term has been mainly used to describe the pressure pulses caused by the detonation of high explosives underwater, but the term

  12. The design of underwater superoleophobic Ni/NiO microstructures with tunable oil adhesion

    NASA Astrophysics Data System (ADS)

    Zhang, Enshuang; Cheng, Zhongjun; Lv, Tong; Li, Li; Liu, Yuyan

    2015-11-01

    Controlling oil adhesion in water is a fundamental issue in many practical applications for surfaces. Currently, almost all studies on underwater oil adhesion control are concentrated on regulating surface chemistry on polymer surfaces, and structure-dependent underwater oil adhesion is still rare, especially on inorganic materials. Herein, we report a series of underwater superoleophobic Ni/NiO surfaces with controlled oil adhesions by combining electro-deposition and heating techniques. The adhesive forces between an oil droplet and the surfaces can be adjusted from an extremely low (less than 1 μN) to a very high value (about 60 μN), and the tunable effect can be attributed to different wetting states that result from different microstructures on the surfaces. Moreover, the oil-adhesion controllability for different types of oils was also analyzed and the applications of the surface including oil droplet transportation and self-cleaning were discussed. The results reported herein provide a new feasible method for fabrication of underwater superoleophobic surfaces with controlled adhesion, and improve the understanding of the relationship between surface microstructures, adhesion, and the fabrication principle of tunable oil adhesive surfaces.Controlling oil adhesion in water is a fundamental issue in many practical applications for surfaces. Currently, almost all studies on underwater oil adhesion control are concentrated on regulating surface chemistry on polymer surfaces, and structure-dependent underwater oil adhesion is still rare, especially on inorganic materials. Herein, we report a series of underwater superoleophobic Ni/NiO surfaces with controlled oil adhesions by combining electro-deposition and heating techniques. The adhesive forces between an oil droplet and the surfaces can be adjusted from an extremely low (less than 1 μN) to a very high value (about 60 μN), and the tunable effect can be attributed to different wetting states that result from

  13. Role of DSCAM in the development of the spinal locomotor and sensorimotor circuits.

    PubMed

    Thiry, Louise; Lemieux, Maxime; D Laflamme, Olivier; Bretzner, Frédéric

    2016-03-01

    Locomotion is controlled by spinal circuits that generate rhythm and coordinate left-right and flexor-extensor motoneuronal activities. The outputs of motoneurons and spinal interneuronal circuits are shaped by sensory feedback, relaying peripheral signals that are critical to the locomotor and postural control. Several studies in invertebrates and vertebrates have argued that the Down syndrome cell adhesion molecule (DSCAM) would play an important role in the normal development of neural circuits through cell spacing and targeting, axonal and dendritic branching, and synapse establishment and maintenance. Although there is evidence that DSCAM is important for the normal development of neural circuits, little is known about its functional contribution to spinal motor circuits. We show here that adult DSCAM(2J) mutant mice, lacking DSCAM, exhibit a higher variability in their locomotor pattern and rhythm during treadmill locomotion. Retrograde tracing studies in neonatal isolated spinal cords show an increased number of spinal commissural interneurons, which likely contributes to reducing the left-right alternation and to increasing the flexor/swing duration during neonatal and adult locomotion. Moreover, our results argue that, by reducing the peripheral excitatory drive onto spinal motoneurons, the DSCAM mutation reduces or abolishes spinal reflexes in both neonatal isolated spinal cords and adult mice, thus likely impairing sensorimotor control. Collectively, our functional, electrophysiological, and anatomical studies suggest that the mammalian DSCAM protein is involved in the normal development of spinal locomotor and sensorimotor circuits. Copyright © 2016 the American Physiological Society.

  14. A disparity between locomotor economy and territory-holding ability in male house mice.

    PubMed

    Morris, Jeremy S; Ruff, James S; Potts, Wayne K; Carrier, David R

    2017-07-15

    Both economical locomotion and physical fighting are important performance traits to many species because of their direct influence on components of Darwinian fitness. Locomotion represents a substantial portion of the total daily energy budget of many animals. Fighting performance often determines individual reproductive fitness through the means of resource control, social dominance and access to mates. However, phenotypic traits that improve either locomotor economy or fighting ability may diminish performance in the other. Here, we tested for a predicted disparity between locomotor economy and competitive ability in wild-derived house mice (Mus musculus). We used 8 week social competition trials in semi-natural enclosures to directly measure male competitive ability through territorial control and female occupancy within territories. We also measured oxygen consumption during locomotion for each mouse using running trials in an enclosed treadmill and open-flow respirometry. Our results show that territory-holding males have higher absolute and mass-specific oxygen consumption when running (i.e. reduced locomotor economy) compared with males that do not control territories. This relationship was present both before and after 8 week competition trials in semi-natural enclosures. This disparity between physical competitive ability and economical locomotion may impose viability costs on males in species for which competition over mates is common and may constrain the evolution of behavioral and phenotypic diversity, particularly in natural settings with environmental and resource variability. © 2017. Published by The Company of Biologists Ltd.

  15. Affordable underwater wireless optical communication using LEDs

    NASA Astrophysics Data System (ADS)

    Pilipenko, Vladimir; Arnon, Shlomi

    2013-09-01

    In recent years the need for high data rate underwater wireless communication (WC) has increased. Nowadays, the conventional technology for underwater communication is acoustic. However, the maximum data rate that acoustic technology can provide is a few kilobits per second. On the other hand, emerging applications such as underwater imaging, networks of sensors and swarms of underwater vehicles require much faster data rates. As a result, underwater optical WC, which can provide much higher data rates, has been proposed as an alternative means of communication. In addition to high data rates, affordable communication systems become an important feature in the development requirements. The outcome of these requirements is a new system design based on off-the-shelf components such as blue and green light emitting diodes (LEDs). This is due to the fact that LEDs offer solutions characterized by low cost, high efficiency, reliability and compactness. However, there are some challenges to be met when incorporating LEDs as part of the optical transmitter, such as low modulation rates and non linearity. In this paper, we review the main challenges facing the incorporation of LEDs as an integral part of underwater WC systems and propose some techniques to mitigate the LED limitations in order to achieve high data rate communication

  16. The locomotor anatomy of Australopithecus afarensis.

    PubMed

    Stern, J T; Susman, R L

    1983-03-01

    The postcranial skeleton of Australopithecus afarensis from the Hadar Formation, Ethiopia, and the footprints from the Laetoli Beds of northern Tanzania, are analyzed with the goal of determining (1) the extent to which this ancient hominid practiced forms of locomotion other than terrestrial bipedality, and (2) whether or not the terrestrial bipedalism of A. afarensis was notably different from that of modern humans. It is demonstrated that A. afarensis possessed anatomic characteristics that indicate a significant adaptation for movement in the trees. Other structural features point to a mode of terrestrial bipedality that involved less extension at the hip and knee than occurs in modern humans, and only limited transfer of weight onto the medial part of the ball of the foot, but such conclusions remain more tentative than that asserting substantive arboreality. A comparison of the specimens representing smaller individuals, presumably female, to those of larger individuals, presumably male, suggests sexual differences in locomotor behavior linked to marked size dimorphism. The males were probably less arboreal and engaged more frequently in terrestrial bipedalism. In our opinion, A. afarensis from Hadar is very close to what can be called a "missing link." We speculate that earlier representatives of the A. afarensis lineage will present not a combination of arboreal and bipedal traits, but rather the anatomy of a generalized ape.

  17. Evidence That GABA Mediates Dopaminergic and Serotonergic Pathways Associated with Locomotor Activity in Juvenile Chinook Salmon (Oncorhynchus tshawytscha)

    USGS Publications Warehouse

    Clements, S.; Schreck, C.B.

    2004-01-01

    The authors examined the control of locomotor activity in juvenile salmon (Oncorhynchus tshawytscha) by manipulating 3 neurotransmitter systems-gamma-amino-n-butyric acid (GABA), dopamine, and serotonin-as well as the neuropeptide corticotropin releasing hormone (CRH). Intracerebroventricular (ICV) injections of CRH and the GABAAagonist muscimol stimulated locomotor activity. The effect of muscimol was attenuated by administration of a dopamine receptor antagonist, haloperidol. Conversely, the administration of a dopamine uptake inhibitor (4???,4??? -difluoro-3-alpha-[diphenylmethoxy] tropane hydrochloride [DUI]) potentiated the effect of muscimol. They found no evidence that CRH-induced hyperactivity is mediated by dopaminergic systems following concurrent injections of haloperidol or DUI with CRH. Administration of muscimol either had no effect or attenuated the locomotor response to concurrent injections of CRH and fluoxetine, whereas the GABAA antagonist bicuculline methiodide potentiated the effect of CRH and fluoxetine.

  18. [The new technologies of kinesiotherapy for the rehabilitation of the patients suffering from the post-stroke locomotor disorders].

    PubMed

    Gusarova, S A; Styazhkina, E M; Gurkina, M V; Chesnikova, E I; Sycheva, A Yu

    2016-01-01

    This paper was designed to report the results of the application of two therapeutic modalities for the rehabilitation of 44 patients presenting with post-stroke locomotor disorders in the form of spastic hemiparesis. The patients allocated to the main group were treated with the use of the new kinesiotherapeutic methods including cryomassage and the Armeo robotic complex. The patients of the control group had to perform traditional therapeutic physical exercises in combination with classical massage and remedial gymnastics. It is concluded that the application of the combination of the modern kinesiotherapeutic factors exerting the positive corrective influence on different aspects of the locomotor deficiency in the upper extremities and the psychoemotional status of the patients has advantages over traditional physical exercise therapy in terms of clinical efficiency because it enhances the rehabilitative potential for these patients with serious locomotor problems.

  19. The anatomy and physiology of the locomotor system.

    PubMed

    Farley, Alistair; McLafferty, Ella; Hendry, Charles

    Mobilisation is one of the activities of living. The term locomotor system refers to those body tissues and organs responsible for movement. Nurses and healthcare workers should be familiar with the body structures that enable mobilisation to assist those in their care with this activity. This article outlines the structure and function of the locomotor system, including the skeleton, joints, muscles and muscle attachments. Two common bone disorders, osteoporosis and osteoarthritis, are also considered.

  20. Voluntary and reactive recruitment of locomotor muscle synergies during perturbed walking

    PubMed Central

    Chvatal, Stacie A.; Ting, Lena H.

    2012-01-01

    The modular control of muscles in groups, often referred to as muscle synergies, has been proposed to provide a motor repertoire of actions for the robust control of movement. However it is not clear whether muscle synergies identified in one task are also recruited by different neural pathways subserving other motor behaviors. We tested the hypothesis that voluntary and reactive modifications to walking in humans result from the recruitment of locomotor muscle synergies. We recorded the activity of 16 muscles in the right leg as subjects walked a 7.5 m path at two different speeds. To elicit a second motor behavior, midway through the path we imposed ramp and hold translation perturbations of the support surface in each of four cardinal directions. Variations in the temporal recruitment of locomotor muscle synergies could account for cycle-by-cycle variations in muscle activity across strides. Locomotor muscle synergies were also recruited in atypical phases of gait, accounting for both anticipatory gait modifications prior to perturbations and reactive feedback responses to perturbations. Our findings are consistent with the idea that a common pool of spatially-fixed locomotor muscle synergies can be recruited by different neural pathways, including the central pattern generator for walking, brainstem pathways for balance control, and cortical pathways mediating voluntary gait modifications. Together with electrophysiological studies, our work suggests that muscle synergies may provide a library of motor subtasks that can be flexibly recruited by parallel descending pathways to generate a variety of complex natural movements in the upper and lower limbs. PMID:22933805

  1. Dynamics modeling and simulation of autonomous underwater vehicles with appendages

    NASA Astrophysics Data System (ADS)

    Su, Yumin; Zhao, Jinxin; Cao, Jian; Zhang, Guocheng

    2013-03-01

    To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle's (AUV) motion controller, a six-degree of freedom (6-DOF) dynamic model for AUV controlled by thruster and fins with appendages is examined. Based on the dynamic model, a simulation system for the AUV's motion is established. The different kinds of typical motions are simulated to analyze the motion performance and the maneuverability of the AUV. In order to evaluate the influences of appendages on the motion performance of the AUV, simulations of the AUV with and without appendages are performed and compared. The results demonstrate the AUV has good maneuverability with and without appendages.

  2. Underwater Acoustic Wireless Sensor Networks: Advances and Future Trends in Physical, MAC and Routing Layers

    PubMed Central

    Climent, Salvador; Sanchez, Antonio; Capella, Juan Vicente; Meratnia, Nirvana; Serrano, Juan Jose

    2014-01-01

    This survey aims to provide a comprehensive overview of the current research on underwater wireless sensor networks, focusing on the lower layers of the communication stack, and envisions future trends and challenges. It analyzes the current state-of-the-art on the physical, medium access control and routing layers. It summarizes their security threads and surveys the currently proposed studies. Current envisioned niches for further advances in underwater networks research range from efficient, low-power algorithms and modulations to intelligent, energy-aware routing and medium access control protocols. PMID:24399155

  3. Motor and locomotor responses to systemic amphetamine in three lines of selectively bred Long-Evans rats.

    PubMed

    Brudzynski, Stefan M; Gibson, Brittany; Silkstone, Michael; Burgdorf, Jeffrey; Kroes, Roger A; Moskal, Joseph R; Panksepp, Jaak

    2011-11-01

    The goal of the study was to measure spontaneous and amphetamine-induced motor and locomotor activity in three selectively bred lines of male Long-Evans rats. The number of 50 kHz ultrasonic vocalizations (USVs) emitted in response to heterospecific play with human hand ("tickling") had been measured daily in these lines of rats from 21 to 24 days of age, as a criterion for dividing them into high vocalizing line, low vocalizing line, and random breeding and testing lines. This study sought to determine whether selection of rats based on their affective social-vocalizations also had effects on their locomotor performance and sensitivity to amphetamine. In this study adult animals from the 25th generation (with no further selection) were tested. The results showed that rats, which were selectively bred to emit high numbers of 50 kHz vocalizations, also exhibited elevated levels of spontaneous locomotor activity. After systemic injection of d-amphetamine (1.5mg/kg), the level of motor and locomotor activity significantly increased further in all the lines as compared to saline controls. The horizontal and vertical activities and the distance covered by rats of the high line, both at the baseline and after amphetamine challenge, were significantly higher than those of the low line animals in absolute scores but not as proportion of relevant saline controls. Since appetitive 50 kHz USVs and locomotor activity are both dependent on the activity of the dopamine system, it is concluded that selection of rats based on the expression of their positive emotional state is also selecting other features than vocalization, namely locomotor behavior. This may help explain why these animals are relatively resistant to depressogenic manipulations.

  4. Control of Movement Initiation Underlies the Development of Balance.

    PubMed

    Ehrlich, David E; Schoppik, David

    2017-02-06

    Balance arises from the interplay of external forces acting on the body and internally generated movements. Many animal bodies are inherently unstable, necessitating corrective locomotion to maintain stability. Understanding how developing animals come to balance remains a challenge. Here we study the interplay among environment, sensation, and action as balance develops in larval zebrafish. We first model the physical forces that challenge underwater balance and experimentally confirm that larvae are subject to constant destabilization. Larvae propel in swim bouts that, we find, tend to stabilize the body. We confirm the relationship between locomotion and balance by changing larval body composition, exacerbating instability and eliciting more frequent swimming. Intriguingly, developing zebrafish come to control the initiation of locomotion, swimming preferentially when unstable, thus restoring preferred postures. To test the sufficiency of locomotor-driven stabilization and the developing control of movement timing, we incorporate both into a generative model of swimming. Simulated larvae recapitulate observed postures and movement timing across early development, but only when locomotor-driven stabilization and control of movement initiation are both utilized. We conclude the ability to move when unstable is the key developmental improvement to balance in larval zebrafish. Our work informs how emerging sensorimotor ability comes to impact how and why animals move when they do.

  5. Building Zebrafish Neurobehavioral Phenomics: Effects of Common Environmental Factors on Anxiety and Locomotor Activity.

    PubMed

    Stewart, Adam Michael; Kaluyeva, Alexandra A; Poudel, Manoj K; Nguyen, Michael; Song, Cai; Kalueff, Allan V

    2015-10-01

    Zebrafish are emerging as an important model organism for neurobehavioral phenomics research. Given the likely variation of zebrafish behavioral phenotypes between and within laboratories, in this study, we examine the influence and variability of several common environmental modifiers on adult zebrafish anxiety and locomotor activity. Utilizing the novel tank paradigm, this study assessed the role of various laboratory factors, including experimenter/handling, testing time and days, batch, and the order of testing, on the behavior of a large population of experimentally naive control fish. Although time of the day, experimenter identity, and order of testing had little effect on zebrafish anxiety and locomotor activity levels, subtle differences were found for testing days and batches. Our study establishes how zebrafish behaviors are modulated by common environmental/laboratory factors and outlines several implications for zebrafish neurobehavioral phenomics research.

  6. Diurnal locomotor activity and oxidative metabolism of the suprachiasmatic nucleus in two models of hepatic insufficiency.

    PubMed

    Lopez, Laudino; Cimadevilla, Jose M; Aller, Maria A; Arias, Jaime; Nava, M Paz; Arias, Jorge L

    2003-08-15

    Subjects with hepatic cirrhosis develop alterations of several rhythmic behavioural and biochemical patterns. Since most cirrhotic patients combine portal hypertension and hepatic impairment, our work aims to assess the extent to which rhythmical changes can be due to hepatic insufficiency or portal hypertension. This was done using two experimental models in rats, portacaval shunt model (PC) and portal hypertension by a triple stenosing ligature of the portal vein (PH). We assess diurnal locomotor activity and determine the oxidative metabolism of the suprachiasmatic nucleus (SCN) by histochemical determination of cytochrome oxidase (COX). The results show that animals with PC have altered diurnal locomotor rhythm compared to control and PH rats (p<0.001). They also present lower COX activity in the SCN (p<0.05). We conclude that rhythmic alterations are due to hepatic insufficiency and not to portal hypertension.

  7. LMTK3 deficiency causes pronounced locomotor hyperactivity and impairs endocytic trafficking.

    PubMed

    Inoue, Takeshi; Hoshina, Naosuke; Nakazawa, Takanobu; Kiyama, Yuji; Kobayashi, Shizuka; Abe, Takaya; Yamamoto, Toshifumi; Manabe, Toshiya; Yamamoto, Tadashi

    2014-04-23

    LMTK3 belongs to the LMTK family of protein kinases that are predominantly expressed in the brain. Physiological functions of LMTK3 and other members of the LMTK family in the CNS remain unknown. In this study, we performed a battery of behavioral analyses using Lmtk3(-/-) mice and showed that these mice exhibit abnormal behaviors, including pronounced locomotor hyperactivity, reduced anxiety behavior, and decreased depression-like behavior. Concurrently, the dopamine metabolite levels and dopamine turnover rate are increased in the striata of Lmtk3(-/-) mice compared with wild-type controls. In addition, using cultured primary neurons from Lmtk3(-/-) mice, we found that LMTK3 is involved in the endocytic trafficking of N-methyl-d-aspartate receptors, a type of ionotropic glutamate receptor. Altered membrane traffic of the receptor in Lmtk3(-/-) neurons may underlie behavioral abnormalities in the mutant animals. Together, our data suggest that LMTK3 plays an important role in regulating locomotor behavior in mice.

  8. Habituation Training Improves Locomotor Performance in a Forced Running Wheel System in Rats

    PubMed Central

    Toval, Angel; Baños, Raúl; De la Cruz, Ernesto; Morales-Delgado, Nicanor; Pallarés, Jesús G.; Ayad, Abdelmalik; Tseng, Kuei Y.; Ferran, Jose L.

    2017-01-01

    Increasing evidence supports that physical activity promotes mental health; and regular exercise may confer positive effects in neurological disorders. There is growing number of reports that requires the analysis of the impact of physical activity in animal models. Exercise in rodents can be performed under voluntary or forced conditions. The former presents the disadvantage that the volume and intensity of exercise varies from subject to subject. On the other hand, a major challenge of the forced training protocol is the low level of performance typically achieved within a given session. Thus, the aim of the present study was to evaluate the effectiveness of gradual increasing of the volume and intensity (training habituation protocol) to improve the locomotor performance in a forced running-wheel system in rats. Sprague-Dawley rats were randomly assigned to either a group that received an exercise training habituation protocol, or a control group. The locomotor performance during forced running was assessed by an incremental exercise test. The experimental results reveal that the total running time and the distance covered by habituated rats was significantly higher than in control ones. We conclude that the exercise habituation protocol improves the locomotor performance in forced running wheels. PMID:28337132

  9. Poststroke hemiparesis impairs the rate but not magnitude of adaptation of spatial and temporal locomotor features.

    PubMed

    Savin, Douglas N; Tseng, Shih-Chiao; Whitall, Jill; Morton, Susanne M

    2013-01-01

    Persons with stroke and hemiparesis walk with a characteristic pattern of spatial and temporal asymmetry that is resistant to most traditional interventions. It was recently shown in nondisabled persons that the degree of walking symmetry can be readily altered via locomotor adaptation. However, it is unclear whether stroke-related brain damage affects the ability to adapt spatial or temporal gait symmetry. Determine whether locomotor adaptation to a novel swing phase perturbation is impaired in persons with chronic stroke and hemiparesis. Participants with ischemic stroke (14) and nondisabled controls (12) walked on a treadmill before, during, and after adaptation to a unilateral perturbing weight that resisted forward leg movement. Leg kinematics were measured bilaterally, including step length and single-limb support (SLS) time symmetry, limb angle center of oscillation, and interlimb phasing, and magnitude of "initial" and "late" locomotor adaptation rates were determined. All participants had similar magnitudes of adaptation and similar initial adaptation rates both spatially and temporally. All 14 participants with stroke and baseline asymmetry temporarily walked with improved SLS time symmetry after adaptation. However, late adaptation rates poststroke were decreased (took more strides to achieve adaptation) compared with controls. Mild to moderate hemiparesis does not interfere with the initial acquisition of novel symmetrical gait patterns in both the spatial and temporal domains, though it does disrupt the rate at which "late" adaptive changes are produced. Impairment of the late, slow phase of learning may be an important rehabilitation consideration in this patient population.

  10. Phenotypic Characterization of Speed-Associated Gait Changes in Mice Reveals Modular Organization of Locomotor Networks

    PubMed Central

    Bellardita, Carmelo; Kiehn, Ole

    2015-01-01

    SUMMARY Studies of locomotion in mice suggest that circuits controlling the alternating between left and right limbs may have a modular organization with distinct locomotor circuits being recruited at different speeds. It is not clear, however, whether such a modular organization reflects specific behavioral outcomes expressed at different speeds of locomotion. Here, we use detailed kinematic analyses to search for signatures of a modular organization of locomotor circuits in intact and genetically modified mice moving at different speeds of locomotion. We show that wild-type mice display three distinct gaits: two alternating, walk and trot, and one synchronous, bound. Each gait is expressed in distinct ranges of speed with phenotypic inter-limb and intra-limb coordination. A fourth gait, gallop, closely resembled bound in most of the locomotor parameters but expressed diverse inter-limb coordination. Genetic ablation of commissural V0V neurons completely removed the expression of one alternating gait, trot, but left intact walk, gallop, and bound. Ablation of commissural V0V and V0D neurons led to a loss of walk, trot, and gallop, leaving bound as the default gait. Our study provides a benchmark for studies of the neuronal control of locomotion in the full range of speeds. It provides evidence that gait expression depends upon selection of different modules of neuronal ensembles. PMID:25959968

  11. Phenotypic characterization of speed-associated gait changes in mice reveals modular organization of locomotor networks.

    PubMed

    Bellardita, Carmelo; Kiehn, Ole

    2015-06-01

    Studies of locomotion in mice suggest that circuits controlling the alternating between left and right limbs may have a modular organization with distinct locomotor circuits being recruited at different speeds. It is not clear, however, whether such a modular organization reflects specific behavioral outcomes expressed at different speeds of locomotion. Here, we use detailed kinematic analyses to search for signatures of a modular organization of locomotor circuits in intact and genetically modified mice moving at different speeds of locomotion. We show that wild-type mice display three distinct gaits: two alternating, walk and trot, and one synchronous, bound. Each gait is expressed in distinct ranges of speed with phenotypic inter-limb and intra-limb coordination. A fourth gait, gallop, closely resembled bound in most of the locomotor parameters but expressed diverse inter-limb coordination. Genetic ablation of commissural V0V neurons completely removed the expression of one alternating gait, trot, but left intact walk, gallop, and bound. Ablation of commissural V0V and V0D neurons led to a loss of walk, trot, and gallop, leaving bound as the default gait. Our study provides a benchmark for studies of the neuronal control of locomotion in the full range of speeds. It provides evidence that gait expression depends upon selection of different modules of neuronal ensembles. Copyright © 2015 Elsevier Ltd. All rights reserved.

  12. Modelling spinal circuitry involved in locomotor pattern generation: insights from the effects of afferent stimulation

    PubMed Central

    Rybak, Ilya A; Stecina, Katinka; Shevtsova, Natalia A; McCrea, David A

    2006-01-01

    A computational model of the mammalian spinal cord circuitry incorporating a two-level central pattern generator (CPG) with separate half-centre rhythm generator (RG) and pattern formation (PF) networks has been developed from observations obtained during fictive locomotion in decerebrate cats. Sensory afferents have been incorporated in the model to study the effects of afferent stimulation on locomotor phase switching and step cycle period and on the firing patterns of flexor and extensor motoneurones. Here we show that this CPG structure can be integrated with reflex circuits to reproduce the reorganization of group I reflex pathways occurring during locomotion. During the extensor phase of fictive locomotion, activation of extensor muscle group I afferents increases extensor motoneurone activity and prolongs the extensor phase. This extensor phase prolongation may occur with or without a resetting of the locomotor cycle, which (according to the model) depends on the degree to which sensory input affects the RG and PF circuits, respectively. The same stimulation delivered during flexion produces a temporary resetting to extension without changing the timing of following locomotor cycles. The model reproduces this behaviour by suggesting that this sensory input influences the PF network without affecting the RG. The model also suggests that the different effects of flexor muscle nerve afferent stimulation observed experimentally (phase prolongation versus resetting) result from opposing influences of flexor group I and II afferents on the PF and RG circuits controlling the activity of flexor and extensor motoneurones. The results of modelling provide insights into proprioceptive control of locomotion. PMID:17008375

  13. Biological Response to the Dynamic Spectral-Polarized Underwater Light Field

    DTIC Science & Technology

    2009-01-01

    2) Quantify the biological response in fish and cephalopods to these dynamic underwater optical environments (3) Identify the internal...controls and structural mechanisms that coordinate the camouflage response in fish and cephalopods APPROACH Our first aim is to measure and model...response (Cummings). Through these approaches we will characterize the internal control features regulating camouflage in both fish and cephalopods

  14. Energy shaping and dissipation: Underwater vehicle stabilization using internal rotors

    NASA Astrophysics Data System (ADS)

    Woolsey, Craig Arthur

    This dissertation concerns nonlinear feedback stabilization of mechanical systems using energy-based methods. Nonlinear techniques are appealing because they can yield large regions of attraction for feedback-stabilized equilibria. Energy-based methods are particularly attractive for mechanical systems because these methods preserve a physical view of a system's dynamics and because they yield Lyapunov functions. For conservative systems, proof of stability typically requires the existence of a Lyapunov function. For systems with damping, Lyapunov functions can be used to design feedback dissipation to ensure or enhance asymptotic stability and to obtain more global conclusions. Both as a case study of a particular control methodology and as a practical contribution in the area of underwater vehicle control, we consider stabilization of an underwater vehicle using internal rotors as actuators. The methodology used to develop stabilizing control laws consists of three steps. The first step involves shaping the kinetic energy of the conservative dynamics. For the underwater vehicle, the control term in this step may be interpreted as modifying the system inertia. In the second step, feedback dissipation is designed based on a Lyapunov function developed in the first step. In the third step, it is verified that the effect of external damping due to viscous forces does not destroy the stability results. This method is applied first to a vehicle whose centers of gravity and buoyancy coincide and then to a vehicle with noncoincident centers of gravity and buoyancy. The method of controlled Lagrangians, developed in recent years, is a generalization of the idea of kinetic energy shaping. The method applies to underactuated mechanical systems (systems with more degrees of freedom than independent actuators). Motivated by the results of the investigation into the effect of external damping on an underwater vehicle with internal rotors, we study the effect of damping on more

  15. Autonomous Underwater Vehicle Magnetic Mapping System

    NASA Astrophysics Data System (ADS)

    Steigerwalt, R.; Johnson, R. M.; Trembanis, A. C.; Schmidt, V. E.; Tait, G.

    2012-12-01

    An Autonomous Underwater Vehicle (AUV) Magnetic Mapping (MM) System has been developed and tested for military munitions detection as well as pipeline locating, wreck searches, and geologic surveys in underwater environments. The system is comprised of a high sensitivity Geometrics G-880AUV cesium vapor magnetometer integrated with a Teledyne-Gavia AUV and associated Doppler enabled inertial navigation further utilizing traditional acoustic bathymetric and side scan imaging. All onboard sensors and associated electronics are managed through customized crew members to autonomously operate through the vehicles primary control module. Total field magnetic measurements are recorded with asynchronous time-stamped data logs which include position, altitude, heading, pitch, roll, and electrical current usage. Pre-planned mission information can be uploaded to the system operators to define data collection metrics including speed, height above seafloor, and lane or transect spacing specifically designed to meet data quality objectives for the survey. As a result of the AUVs modular design, autonomous navigation and rapid deployment capabilities, the AUV MM System provides cost savings over current surface vessel surveys by reducing the mobilization/demobilization effort, thus requiring less manpower for operation and reducing or eliminating the need for a surface support vessel altogether. When the system completes its mission, data can be remotely downloaded via W-LAN and exported for use in advanced signal processing platforms. Magnetic compensation software has been concurrently developed to accept electrical current measurements directly from the AUV to address distortions from permanent and induced magnetization effects on the magnetometer. Maneuver and electrical current compensation terms can be extracted from the magnetic survey missions to perform automated post-process corrections. Considerable suppression of system noise has been observed over traditional

  16. Locomotor adaptation and locomotor adaptive learning in Parkinson's disease and normal aging.

    PubMed

    Roemmich, Ryan T; Nocera, Joe R; Stegemöller, Elizabeth L; Hassan, Anhar; Okun, Michael S; Hass, Chris J

    2014-02-01

    Locomotor adaptation enables safe, efficient navigation among changing environments. We investigated how healthy young (HYA) and older (HOA) adults and persons with Parkinson's disease (PD) adapt to walking on a split-belt treadmill, retain adapted gait parameters during re-adaptation, and store aftereffects to conventional treadmill walking. Thirteen PD, fifteen HYA, and fifteen HOA walked on a split-belt treadmill for ten minutes with one leg twice as fast as the other. Participants later re-adapted to the same conditions to assess retention of the split-belt gait pattern. After re-adaptation, we assessed aftereffects of this pattern during conventional treadmill walking. Persons with PD exhibited step length asymmetry throughout many adaptation and adaptive learning conditions. Early adaptation was similar across groups, though HYA and HOA continued to adapt into late adaptation while PD did not. Despite pervasive step length asymmetry among conditions which were symmetric in HYA and HOA, persons with PD demonstrated significant step length aftereffects during conventional treadmill walking after split-belt walking. Though they may exhibit a default asymmetry under various walking conditions, persons with PD can adapt and store new walking patterns. Locomotor adaptation therapy may be effective in ameliorating asymmetric gait deficits in persons with PD. Copyright © 2013 International Federation of Clinical Neurophysiology. Published by Elsevier Ireland Ltd. All rights reserved.

  17. Clothing buoyancy and underwater horizontal swim distance after exiting a submersed vehicle simulator.

    PubMed

    Gagnon, Dominique; McDonald, Gerren K; Pretorius, Thea; Giesbrecht, Gordon G

    2012-11-01

    Winter road workers, who drive heavy vehicles over ice-covered waterways, are at risk for ice failure, vehicle submersion, and subsequent drowning in frigid water. Although some jurisdictions require these workers to wear flotation clothing, there are concerns that, following an underwater exit in fast-moving water, increased clothing buoyancy may reduce ability to swim against the current to safely return to the ice opening. Using a simulator in a swimming pool (3.7 m deep, 28 degrees C), 11 volunteers (5 women) were submersed 8 times each to test the effects from both an Upright and an Inverted position of a normal nonflotation winter jacket (Control), a flotation Jacket, a flotation Overall, and a personal inflatable vest which was inflated (Inflated Vest) on underwater horizontal swim distance. Subjects also rated exit difficulty and impedance, psychological stress, and thermal comfort. Compared to Control, Jacket, and Overall, the Inflated Vest generally increased exit difficulty, escape impedance, and psychological stress, while greatly decreasing the ability to swim horizontally underwater before reaching the surface (Control, 6.1 m; Jacket, 5.0 m; Overall, 3.4 m; and Inflated Vest only 1.4 m). Swim distance with the Overall was also significantly shorter than Control, but not Jacket. Flotation clothing (either Jackets or Overalls) is recommended for vehicle travel on ice because they do not impede underwater exit from a vehicle and allow significant horizontal underwater swim distance. An inflatable vest is not recommended because inappropriate premature inflation could increase exit impedance and decreased underwater swim distance.

  18. Human Injury Criteria for Underwater Blasts

    PubMed Central

    Lance, Rachel M.; Capehart, Bruce; Kadro, Omar; Bass, Cameron R.

    2015-01-01

    Underwater blasts propagate further and injure more readily than equivalent air blasts. Development of effective personal protection and countermeasures, however, requires knowledge of the currently unknown human tolerance to underwater blast. Current guidelines for prevention of underwater blast injury are not based on any organized injury risk assessment, human data or experimental data. The goal of this study was to derive injury risk assessments for underwater blast using well-characterized human underwater blast exposures in the open literature. The human injury dataset was compiled using 34 case reports on underwater blast exposure to 475 personnel, dating as early as 1916. Using severity ratings, computational reconstructions of the blasts, and survival information from a final set of 262 human exposures, injury risk models were developed for both injury severity and risk of fatality as functions of blast impulse and blast peak overpressure. Based on these human data, we found that the 50% risk of fatality from underwater blast occurred at 302±16 kPa-ms impulse. Conservatively, there is a 20% risk of pulmonary injury at a kilometer from a 20 kg charge. From a clinical point of view, this new injury risk model emphasizes the large distances possible for potential pulmonary and gut injuries in water compared with air. This risk value is the first impulse-based fatality risk calculated from human data. The large-scale inconsistency between the blast exposures in the case reports and the guidelines available in the literature prior to this study further underscored the need for this new guideline derived from the unique dataset of actual injuries in this study. PMID:26606655

  19. Muscle pain in athletes with locomotor disability.

    PubMed

    Bernardi, Marco; Castellano, Vincenzo; Ferrara, Michael S; Sbriccoli, Paola; Sera, Francesco; Marchetti, Marco

    2003-02-01

    Athletes with locomotor disabilities (LDA) participate in many competitive sport activities, yet little is known about sport-related muscle pain (SRMP). This study assessed the prevalence, determinants, and main characteristics of SRMP in LDA. A cross-disability epidemiological survey was used to investigate the occurrence of SRMP during the previous year by using a questionnaire administrated by medical doctors. SRMP was defined as any muscle pain experienced during the past 12 months that either occurred during sport activity (training or competition) and/or was reported as a consequence of physical exercise, causing discomfort for at least 1 d and not related to systemic disease. A total of 227 LDA were recruited randomly from the population (567 LDA) who participated in selected National sports events (including swimming, athletics, wheelchair basketball matches, and others) organized by the Italian Federation of Sports for Disabled. Collected data were statistically analyzed with univariate and multivariate logistic regression models to identify possible determinants of SRMP, through the estimate of the prevalence odds ratios. The SRMP period prevalence rate was equal to 50.7% (95% confidence interval (44.0-57.4%)), ranging from 47.0% (swimmers) to 58.8% (basketball athletes). In 71.1% of cases, SRMP lasted less than 1 wk and only 8.7% experienced pain for more than 1 month. SRMP had a higher prevalence in amputees (75.0%) and spinal cord injured LDA (58.1%) than the other groups. There was increased prevalence rate of SRMP with increased training volume. The multivariate logistic regression model showed disorder type, body mass index, and training volume as determinants of SRMP. Prospective studies could be devised to assess the role of anthropometric characteristics and training volume as risk factors of SRMP.

  20. Acoustic communications and autonomous underwater vehicles

    NASA Astrophysics Data System (ADS)

    Freitag, Lee; Grund, Matthew; Preisig, James; Stojanovic, Milica

    2004-05-01

    Acoustic communications systems used on autonomous underwater vehicles (AUVs) provide supervisory control, access to real-time data, and also allow multiple vehicles to cooperate in undertaking adaptive sampling missions. However, the use of acoustic systems on AUVs presents special challenges because of limited space for optimal placement of transducers, and potential conflicts with other acoustic systems such as side-scan sonars and transponders. In addition, radiated and structure-borne acoustic interference from thrusters and actuators reduces the sensitivity of on-board receivers. Recent work in acoustic communications and AUVs has included combining some navigation functions into communications equipment, development of operating modes that remove conflicts between different subsystems, design of vehicle components to avoid or remove interference, and other approaches to improving performance. While these efforts have been successful for specific installations, many challenges remain. This talk addresses problems and solutions for supervised and completely autonomous multi-vehicle communications to support complex AUV missions. Also presented are recent results which demonstrate that acoustic communications can be used successfully on a variety of AUV platforms for many different applications. [Work supported by ONR.

  1. Underwater tunable organ-pipe sound source.

    PubMed

    Morozov, Andrey K; Webb, Douglas C

    2007-08-01

    A highly efficient frequency-controlled sound source based on a tunable high-Q underwater acoustic resonator is described. The required spectrum width was achieved by transmitting a linear frequency-modulated signal and simultaneously tuning the resonance frequency, keeping the sound source in resonance at the instantaneous frequency of the signal transmitted. Such sound sources have applications in ocean-acoustic tomography and deep-penetration seismic tomography. Mathematical analysis and numerical simulation show the Helmholtz resonator's ability for instant resonant frequency switching and quick adjustment of its resonant frequency to the instantaneous frequency signal. The concept of a quick frequency adjustment filter is considered. The discussion includes the simplest lumped resonant source as well as the complicated distributed system of a tunable organ pipe. A numerical model of the tunable organ pipe is shown to have a form similar to a transmission line segment. This provides a general form for the principal results, which can be applied to tunable resonators of a different physical nature. The numerical simulation shows that the "state-switched" concept also works in the high-Q tunable organ pipe, and the speed of frequency sweeping in a high-Q tunable organ pipe is analyzed. The simulation results were applied to a projector design for ocean-acoustic tomography.

  2. Evidence for a Role of Orexin/Hypocretin System in Vestibular Lesion-Induced Locomotor Abnormalities in Rats

    PubMed Central

    Pan, Leilei; Qi, Ruirui; Wang, Junqin; Zhou, Wei; Liu, Jiluo; Cai, Yiling

    2016-01-01

    Vestibular damage can induce locomotor abnormalities in both animals and humans. Rodents with bilateral vestibular loss showed vestibular deficits syndrome such as circling, opisthotonus as well as locomotor and exploratory hyperactivity. Previous studies have investigated the changes in the dopamine system after vestibular loss, but the results are inconsistent and inconclusive. Numerous evidences indicate that the orexin system is implicated in central motor control. We hypothesized that orexin may be potentially involved in vestibular loss-induced motor disorders. In this study, we examined the effects of arsanilate- or 3,3′-iminodipropionitrile (IDPN)-induced vestibular lesion (AVL or IVL) on the orexin-A (OXA) labeling in rat hypothalamus using immunohistochemistry. The vestibular lesion-induced locomotor abnormalities were recorded and verified using a histamine H4 receptor antagonist JNJ7777120 (20 mg/kg, i.p.). The effects of the orexin receptor type 1 antagonist SB334867 (16 μg, i.c.v.) on these behavior responses were also investigated. At 72 h post-AVL and IVL, animals exhibited vestibular deficit syndrome and locomotor hyperactivity in the home cages. These responses were significantly alleviated by JNJ7777120 which also eliminated AVL-induced increases in exploratory behavior in an open field. The numbers of OXA-labeled neurons in the hypothalamus were significantly increased in the AVL animals at 72 h post-AVL and in the IVL animals at 24, 48, and 72 h post-IVL. SB334867 significantly attenuated the vestibular deficit syndrome and locomotor hyperactivity at 72 h post-AVL and IVL. It also decreased exploratory behavior in the AVL animals. These results suggested that the alteration of OXA expression might contribute to locomotor abnormalities after acute vestibular lesion. The orexin receptors might be the potential therapeutic targets for vestibular disorders. PMID:27507932

  3. GelMan Thoracic Surrogate for Underwater Threat Neutralization

    DTIC Science & Technology

    2007-09-30

    GelMan Thoracic Surrogate for Underwater Threat Neutralization Peter Matic Code 6350 – Multifunctional Materials Branch Naval Research...alternative concept is to add an Underwater Threat Neutralization (UTN) system, based on directed low frequency underwater ensonification for swimmer...TITLE AND SUBTITLE GelMan Thoracic Surrogate For Underwater Threat Neutralization 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6

  4. Omnidirectional Underwater Camera Design and Calibration

    PubMed Central

    Bosch, Josep; Gracias, Nuno; Ridao, Pere; Ribas, David

    2015-01-01

    This paper presents the development of an underwater omnidirectional multi-camera system (OMS) based on a commercially available six-camera system, originally designed for land applications. A full calibration method is presented for the estimation of both the intrinsic and extrinsic parameters, which is able to cope with wide-angle lenses and non-overlapping cameras simultaneously. This method is valid for any OMS in both land or water applications. For underwater use, a customized housing is required, which often leads to strong image distortion due to refraction among the different media. This phenomena makes the basic pinhole camera model invalid for underwater cameras, especially when using wide-angle lenses, and requires the explicit modeling of the individual optical rays. To address this problem, a ray tracing approach has been adopted to create a field-of-view (FOV) simulator for underwater cameras. The simulator allows for the testing of different housing geometries and optics for the cameras to ensure a complete hemisphere coverage in underwater operation. This paper describes the design and testing of a compact custom housing for a commercial off-the-shelf OMS camera (Ladybug 3) and presents the first results of its use. A proposed three-stage calibration process allows for the estimation of all of the relevant camera parameters. Experimental results are presented, which illustrate the performance of the calibration method and validate the approach. PMID:25774707

  5. Omnidirectional underwater camera design and calibration.

    PubMed

    Bosch, Josep; Gracias, Nuno; Ridao, Pere; Ribas, David

    2015-03-12

    This paper presents the development of an underwater omnidirectional multi-camera system (OMS) based on a commercially available six-camera system, originally designed for land applications. A full calibration method is presented for the estimation of both the intrinsic and extrinsic parameters, which is able to cope with wide-angle lenses and non-overlapping cameras simultaneously. This method is valid for any OMS in both land or water applications. For underwater use, a customized housing is required, which often leads to strong image distortion due to refraction among the different media. This phenomena makes the basic pinhole camera model invalid for underwater cameras, especially when using wide-angle lenses, and requires the explicit modeling of the individual optical rays. To address this problem, a ray tracing approach has been adopted to create a field-of-view (FOV) simulator for underwater cameras. The simulator allows for the testing of different housing geometries and optics for the cameras to ensure a complete hemisphere coverage in underwater operation. This paper describes the design and testing of a compact custom housing for a commercial off-the-shelf OMS camera (Ladybug 3) and presents the first results of its use. A proposed three-stage calibration process allows for the estimation of all of the relevant camera parameters. Experimental results are presented, which illustrate the performance of the calibration method and validate the approach.

  6. Underwater Calibration of Dome Port Pressure Housings

    NASA Astrophysics Data System (ADS)

    Nocerino, E.; Menna, F.; Fassi, F.; Remondino, F.

    2016-03-01

    Underwater photogrammetry using consumer grade photographic equipment can be feasible for different applications, e.g. archaeology, biology, industrial inspections, etc. The use of a camera underwater can be very different from its terrestrial use due to the optical phenomena involved. The presence of the water and camera pressure housing in front of the camera act as additional optical elements. Spherical dome ports are difficult to manufacture and consequently expensive but at the same time they are the most useful for underwater photogrammetry as they keep the main geometric characteristics of the lens unchanged. Nevertheless, the manufacturing and alignment of dome port pressure housing components can be the source of unexpected changes of radial and decentring distortion, source of systematic errors that can influence the final 3D measurements. The paper provides a brief introduction of underwater optical phenomena involved in underwater photography, then presents the main differences between flat and dome ports to finally discuss the effect of manufacturing on 3D measurements in two case studies.

  7. Insulin-Dependent Activation of MCH Neurons Impairs Locomotor Activity and Insulin Sensitivity in Obesity.

    PubMed

    Hausen, A Christine; Ruud, Johan; Jiang, Hong; Hess, Simon; Varbanov, Hristo; Kloppenburg, Peter; Brüning, Jens C

    2016-12-06

    Melanin-concentrating-hormone (MCH)-expressing neurons (MCH neurons) in the lateral hypothalamus (LH) are critical regulators of energy and glucose homeostasis. Here, we demonstrate that insulin increases the excitability of these neurons in control mice. In vivo, insulin promotes phosphatidylinositol 3-kinase (PI3K) signaling in MCH neurons, and cell-type-specific deletion of the insulin receptor (IR) abrogates this response. While lean mice lacking the IR in MCH neurons (IR(ΔMCH)) exhibit no detectable metabolic phenotype under normal diet feeding, they present with improved locomotor activity and insulin sensitivity under high-fat-diet-fed, obese conditions. Similarly, obesity promotes PI3 kinase signaling in these neurons, and this response is abrogated in IR(ΔMCH) mice. In turn, acute chemogenetic activation of MCH neurons impairs locomotor activity but not insulin sensitivity. Collectively, our experiments reveal an insulin-dependent activation of MCH neurons in obesity, which contributes via distinct mechanisms to the manifestation of impaired locomotor activity and insulin resistance.

  8. Removing sensory input disrupts spinal locomotor activity in the early postnatal period

    PubMed Central

    Acevedo, JeanMarie; Díaz-Ríos, Manuel

    2013-01-01

    Motor patterns driving rhythmic movements of our lower limbs during walking are generated by groups of neurons within the spinal cord, called central pattern generators (CPGs). After suffering a spinal cord injury (SCI), many descending fibers from our brain are severed or become nonfunctional which leaves the spinal CPG network without its initiating drive. Recent studies are focusing on the importance of maintaining sensory stimulation to the legs on SCI patients as a way to initiate and control the CPG locomotor network. We began assessing the role of sensory feedback to the locomotor CPG network by using a neonatal mouse spinal cord preparation were the lower limbs are still attached. Removing sensory feedback coming from the hindlimbs by way of a lower lumbar transection or by ventral root denervation revealed a positive correlation in the ability of sensory input deprivation to disrupt ongoing locomotor activity on older versus younger animals. The differences in the motor responses as a function of age could be correlated with the loss of excitatory activity from sensory afferents. Continued studies on this field could eventually provide key information that translates in the design of novel therapeutic strategies to treat patients that have suffered a SCI. PMID:24043359

  9. Spinocerebellar ataxia type 13 mutant potassium channel alters neuronal excitability and causes locomotor deficits in zebrafish.

    PubMed

    Issa, Fadi A; Mazzochi, Christopher; Mock, Allan F; Papazian, Diane M

    2011-05-04

    Whether changes in neuronal excitability can cause neurodegenerative disease in the absence of other factors such as protein aggregation is unknown. Mutations in the Kv3.3 voltage-gated K(+) channel cause spinocerebellar ataxia type 13 (SCA13), a human autosomal-dominant disease characterized by locomotor impairment and the death of cerebellar neurons. Kv3.3 channels facilitate repetitive, high-frequency firing of action potentials, suggesting that pathogenesis in SCA13 is triggered by changes in electrical activity in neurons. To investigate whether SCA13 mutations alter excitability in vivo, we expressed the human dominant-negative R420H mutant subunit in zebrafish. The disease-causing mutation specifically suppressed the excitability of Kv3.3-expressing, fast-spiking motor neurons during evoked firing and fictive swimming and, in parallel, decreased the precision and amplitude of the startle response. The dominant-negative effect of the mutant subunit on K(+) current amplitude was directly responsible for the reduced excitability and locomotor phenotype. Our data provide strong evidence that changes in excitability initiate pathogenesis in SCA13 and establish zebrafish as an excellent model system for investigating how changes in neuronal activity impair locomotor control and cause cell death.

  10. Ibogaine enhances the expression of locomotor sensitization in rats chronically treated with cocaine.

    PubMed

    Szumlinski, K K; Maisonneuve, I M; Glick, S D

    1999-07-01

    Pretreatment (19 h) with the putative antiaddictive agent, ibogaine, has been shown previously to potentiate cocaine-induced locomotion in rats. The present study demonstrates that the magnitude of this effect of ibogaine is dependent on the previous cocaine history of the animal, on the time following ibogaine treatment, and on the number of ibogaine treatments. Compared to rats with no previous cocaine experience, ibogaine pretreatment (40 mg/kg, IP, 19 h earlier) markedly enhanced the expression of locomotor sensitization in response to a cocaine challenge injection (7.5 mg/kg) in rats that were chronically treated with cocaine (15 mg/ kg, IP, daily for 5 days). Tolerance to cocaine-induced locomotor sensitization appeared to occur in vehicle-pretreated chronic cocaine controls. Following a second series of identical treatments (beginning 3-4 days after the initial treatment series), locomotor responding to the cocaine challenge was further enhanced by a second ibogaine injection in chronically cocaine-treated animals. Twenty-four hours later, when animals were challenged again with cocaine in the absence of any further ibogaine pretreatment, the effect of ibogaine had dissipated. Consistent with previous studies from this laboratory, these data demonstrate that ibogaine can enhance sensitivity to the psychomotor stimulant effect of cocaine. The results of the present study further indicate that the extent of this effect depends on the animal's history of exposure to both ibogaine and cocaine.

  11. Motor hypertonia and lack of locomotor coordination in mutant mice lacking DSCAM

    PubMed Central

    Lemieux, Maxime; D. Laflamme, Olivier; Thiry, Louise; Boulanger-Piette, Antoine; Frenette, Jérôme

    2015-01-01

    Down syndrome cell adherence molecule (DSCAM) contributes to the normal establishment and maintenance of neural circuits. Whereas there is abundant literature regarding the role of DSCAM in the neural patterning of the mammalian retina, less is known about motor circuits. Recently, DSCAM mutation has been shown to impair bilateral motor coordination during respiration, thus causing death at birth. DSCAM mutants that survive through adulthood display a lack of locomotor endurance and coordination in the rotarod test, thus suggesting that the DSCAM mutation impairs motor control. We investigated the motor and locomotor functions of DSCAM2J mutant mice through a combination of anatomical, kinematic, force, and electromyographic recordings. With respect to wild-type mice, DSCAM2J mice displayed a longer swing phase with a limb hyperflexion at the expense of a shorter stance phase during locomotion. Furthermore, electromyographic activity in the flexor and extensor muscles was increased and coactivated over 20% of the step cycle over a wide range of walking speeds. In contrast to wild-type mice, which used lateral walk and trot at walking speed, DSCAM2J mice used preferentially less coordinated gaits, such as out-of-phase walk and pace. The neuromuscular junction and the contractile properties of muscles, as well as their muscle spindles, were normal, and no signs of motor rigidity or spasticity were observed during passive limb movements. Our study demonstrates that the DSCAM mutation induces dystonic hypertonia and a disruption of locomotor gaits. PMID:26683069

  12. Motor hypertonia and lack of locomotor coordination in mutant mice lacking DSCAM.

    PubMed

    Lemieux, Maxime; Laflamme, Olivier D; Thiry, Louise; Boulanger-Piette, Antoine; Frenette, Jérôme; Bretzner, Frédéric

    2016-03-01

    Down syndrome cell adherence molecule (DSCAM) contributes to the normal establishment and maintenance of neural circuits. Whereas there is abundant literature regarding the role of DSCAM in the neural patterning of the mammalian retina, less is known about motor circuits. Recently, DSCAM mutation has been shown to impair bilateral motor coordination during respiration, thus causing death at birth. DSCAM mutants that survive through adulthood display a lack of locomotor endurance and coordination in the rotarod test, thus suggesting that the DSCAM mutation impairs motor control. We investigated the motor and locomotor functions of DSCAM(2J) mutant mice through a combination of anatomical, kinematic, force, and electromyographic recordings. With respect to wild-type mice, DSCAM(2J) mice displayed a longer swing phase with a limb hyperflexion at the expense of a shorter stance phase during locomotion. Furthermore, electromyographic activity in the flexor and extensor muscles was increased and coactivated over 20% of the step cycle over a wide range of walking speeds. In contrast to wild-type mice, which used lateral walk and trot at walking speed, DSCAM(2J) mice used preferentially less coordinated gaits, such as out-of-phase walk and pace. The neuromuscular junction and the contractile properties of muscles, as well as their muscle spindles, were normal, and no signs of motor rigidity or spasticity were observed during passive limb movements. Our study demonstrates that the DSCAM mutation induces dystonic hypertonia and a disruption of locomotor gaits. Copyright © 2016 the American Physiological Society.

  13. Optic Flow Dominates Visual Scene Polarity in Causing Adaptive Modification of Locomotor Trajectory

    NASA Technical Reports Server (NTRS)

    Nomura, Y.; Mulavara, A. P.; Richards, J. T.; Brady, R.; Bloomberg, Jacob J.

    2005-01-01

    Locomotion and posture are influenced and controlled by vestibular, visual and somatosensory information. Optic flow and scene polarity are two characteristics of a visual scene that have been identified as being critical in how they affect perceived body orientation and self-motion. The goal of this study was to determine the role of optic flow and visual scene polarity on adaptive modification in locomotor trajectory. Two computer-generated virtual reality scenes were shown to subjects during 20 minutes of treadmill walking. One scene was a highly polarized scene while the other was composed of objects displayed in a non-polarized fashion. Both virtual scenes depicted constant rate self-motion equivalent to walking counterclockwise around the perimeter of a room. Subjects performed Stepping Tests blindfolded before and after scene exposure to assess adaptive changes in locomotor trajectory. Subjects showed a significant difference in heading direction, between pre and post adaptation stepping tests, when exposed to either scene during treadmill walking. However, there was no significant difference in the subjects heading direction between the two visual scene polarity conditions. Therefore, it was inferred from these data that optic flow has a greater role than visual polarity in influencing adaptive locomotor function.

  14. Male accessory gland substances from Aedes albopictus affect the locomotor activity of Aedes aegypti females.

    PubMed

    Lima-Camara, Tamara Nunes; Codeço, Claudia Torres; Honório, Nildimar Alves; Bruno, Rafaela Vieira; Peixoto, Alexandre Afranio; Lounibos, Leon Philip

    2013-01-01

    Dengue is one of the world's most important mosquito-borne diseases and is usually transmitted by one of two vector species: Aedes aegypti or Aedes albopictus . These two diurnal mosquitoes are frequently found coexisting in similar habitats, enabling interactions between adults, such as cross-mating. The objective of this study was to assess cross-mating between Ae. aegypti females and Ae. albopictus males under artificial conditions and evaluate the locomotor activity of Ae. aegypti virgin females injected with male accessory gland (MAG) homogenates to infer the physiological and behavioural responses to interspecific mating. After seven days of exposure, 3.3-16% of Ae. aegypti females mated with Ae. albopictus males. Virgin Ae. aegypti females injected with conspecific and heterospecific MAGs showed a general decrease in locomotor activity compared to controls and were refractory to mating with conspecific males. The reduction in diurnal locomotor activity induced by injections of conspecific or heterospecific MAGs is consistent with regulation of female reproductive activities by male substances, which are capable of sterilising female Ae. aegypti through satyrisation by Ae. albopictus.

  15. Male accessory gland substances from Aedes albopictus affect the locomotor activity of Aedes aegypti females

    PubMed Central

    Lima-Camara, Tamara Nunes; Codeço, Claudia Torres; Honório, Nildimar Alves; Bruno, Rafaela Vieira; Peixoto, Alexandre Afranio; Lounibos, Leon Philip

    2013-01-01

    Dengue is one of the world’s most important mosquito-borne diseases and is usually transmitted by one of two vector species: Aedes aegypti or Aedes albopictus . These two diurnal mosquitoes are frequently found coexisting in similar habitats, enabling interactions between adults, such as cross-mating. The objective of this study was to assess cross-mating between Ae. aegypti females and Ae. albopictus males under artificial conditions and evaluate the locomotor activity of Ae. aegypti virgin females injected with male accessory gland (MAG) homogenates to infer the physiological and behavioural responses to interspecific mating. After seven days of exposure, 3.3-16% of Ae. aegypti females mated with Ae. albopictus males. Virgin Ae. aegypti females injected with conspecific and heterospecific MAGs showed a general decrease in locomotor activity compared to controls and were refractory to mating with conspecific males. The reduction in diurnal locomotor activity induced by injections of conspecific or heterospecific MAGs is consistent with regulation of female reproductive activities by male substances, which are capable of sterilising female Ae. aegypti through satyrisation by Ae. albopictus . PMID:24473799

  16. Deciphering the organization and modulation of spinal locomotor central pattern generators.

    PubMed

    Gordon, Ian T; Whelan, Patrick J

    2006-06-01

    Networks within our spinal cord generate the basic pattern underlying walking. Over the past decade, much progress has been made in our understanding of their function in a variety of vertebrate species. A significant hurdle has been the identification of candidate populations of neurons that are involved in pattern generation in the spinal cord. Recently, systems neuroscientists in collaboration with molecular biologists have begun to dissect the circuitry underlying spinal locomotor networks. These advances have combined genetic and electrophysiological techniques using in vitro preparations of the mouse spinal cord. This review will discuss new advances in the field of spinal locomotor networks with emphasis on the mouse. Many of the behaviors fundamental to animal life, such as breathing, chewing and locomotion, are rhythmic activities controlled by neuronal networks. Discerning which neurons are members of these networks, their synaptic connectivity and their individual electrophysiological properties is essential to our understanding of how rhythmic motor behaviors are produced. It is well known that the spinal cord contains the basic circuitry to produce locomotion. However, identifying neurons and connections within spinal networks is challenging because cells that comprise the locomotor network form part of a heterogeneous mix of interneurons within the ventral spinal cord. Recently, the merging of electrophysiological and genetic approaches has provided new tools to identify classes of interneurons within the spinal cord that contribute to network function. These new findings will be discussed in this review.

  17. The effect of early environmental manipulation on locomotor sensitivity and methamphetamine conditioned place preference reward.

    PubMed

    Hensleigh, E; Pritchard, L M

    2014-07-15

    Early life stress leads to several effects on neurological development, affecting health and well-being later in life. Instances of child abuse and neglect are associated with higher rates of depression, risk taking behavior, and an increased risk of drug abuse later in life. This study used repeated neonatal separation of rat pups as a model of early life stress. Rat pups were either handled and weighed as controls or separated for 180 min per day during postnatal days 2-8. In adulthood, male and female rats were tested for methamphetamine conditioned place preference reward and methamphetamine induced locomotor activity. Tissue samples were collected and mRNA was quantified for the norepinephrine transporter in the prefrontal cortex and the dopamine transporter in the nucleus accumbens. Results indicated rats given methamphetamine formed a conditioned place preference, but there was no effect of early separation or sex. Separated males showed heightened methamphetamine-induced locomotor activity, but there was no effect of early separation for females. Overall females were more active than males in response to both saline and methamphetamine. No differences in mRNA levels were observed across any conditions. These results suggest early neonatal separation affects methamphetamine-induced locomotor activity in a sex-dependent manner but has no effects on methamphetamine conditioned place preference.

  18. Robotic resistance treadmill training improves locomotor function in human spinal cord injury: a pilot study.

    PubMed

    Wu, Ming; Landry, Jill M; Schmit, Brian D; Hornby, T George; Yen, Sheng-Che

    2012-05-01

    To determine whether cable-driven robotic resistance treadmill training can improve locomotor function in humans with incomplete spinal cord injury (SCI). Repeated assessment of the same patients with crossover design. Research units of rehabilitation hospitals in Chicago. Patients with chronic incomplete SCI (N=10) were recruited to participate in this study. Subjects were randomly assigned to 1 of 2 groups. One group received 4 weeks of assistance training followed by 4 weeks of resistance training, while the other group received 4 weeks of resistance training followed by 4 weeks of assistance training. Locomotor training was provided by using a cable-driven robotic locomotor training system, which is highly backdrivable and compliant, allowing patients the freedom to voluntarily move their legs in a natural gait pattern during body weight supported treadmill training (BWSTT), while providing controlled assistance/resistance forces to the leg during the swing phase of gait. Primary outcome measures were evaluated for each participant before training and after 4 and 8 weeks of training. Primary measures were self-selected and fast overground walking velocity and 6-minute walking distance. Secondary measures included clinical assessments of balance, muscle tone, and strength. A significant improvement in walking speed and balance in humans with SCI was observed after robotic treadmill training using the cable-driven robotic locomotor trainer. There was no significant difference in walking functional gains after resistance versus assistance training, although resistance training was more effective for higher functioning patients. Cable-driven robotic resistance training may be used as an adjunct to BWSTT for improving overground walking function in humans with incomplete SCI, particularly for those patients with relatively high function. Copyright © 2012 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

  19. Speed-Dependent Modulation of the Locomotor Behavior in Adult Mice Reveals Attractor and Transitional Gaits

    PubMed Central

    Lemieux, Maxime; Josset, Nicolas; Roussel, Marie; Couraud, Sébastien; Bretzner, Frédéric

    2016-01-01

    Locomotion results from an interplay between biomechanical constraints of the muscles attached to the skeleton and the neuronal circuits controlling and coordinating muscle activities. Quadrupeds exhibit a wide range of locomotor gaits. Given our advances in the genetic identification of spinal and supraspinal circuits important to locomotion in the mouse, it is now important to get a better understanding of the full repertoire of gaits in the freely walking mouse. To assess this range, young adult C57BL/6J mice were trained to walk and run on a treadmill at different locomotor speeds. Instead of using the classical paradigm defining gaits according to their footfall pattern, we combined the inter-limb coupling and the duty cycle of the stance phase, thus identifying several types of gaits: lateral walk, trot, out-of-phase walk, rotary gallop, transverse gallop, hop, half-bound, and full-bound. Out-of-phase walk, trot, and full-bound were robust and appeared to function as attractor gaits (i.e., a state to which the network flows and stabilizes) at low, intermediate, and high speeds respectively. In contrast, lateral walk, hop, transverse gallop, rotary gallop, and half-bound were more transient and therefore considered transitional gaits (i.e., a labile state of the network from which it flows to the attractor state). Surprisingly, lateral walk was less frequently observed. Using graph analysis, we demonstrated that transitions between gaits were predictable, not random. In summary, the wild-type mouse exhibits a wider repertoire of locomotor gaits than expected. Future locomotor studies should benefit from this paradigm in assessing transgenic mice or wild-type mice with neurotraumatic injury or neurodegenerative disease affecting gait. PMID:26941592

  20. Effect of Temporal Organization of the Visuo-Locomotor Coupling on the Predictive Steering

    PubMed Central

    Rybarczyk, Yves Philippe; Mestre, Daniel

    2012-01-01

    Studies on the direction of a driver’s gaze while taking a bend show that the individual looks toward the tangent-point of the inside curve. Mathematically, the direction of this point in relation to the car enables the driver to predict the curvature of the road. In the same way, when a person walking in the street turns a corner, his/her gaze anticipates the rotation of the body. A current explanation for the visuo-motor anticipation over the locomotion would be that the brain, involved in a steering behavior, executes an internal model of the trajectory that anticipates the completion of the path, and not the contrary. This paper proposes to test this hypothesis by studying the effect of an artificial manipulation of the visuo-locomotor coupling on the trajectory prediction. In this experiment, subjects remotely control a mobile robot with a pan-tilt camera. This experimental paradigm is chosen to manipulate in an easy and precise way the temporal organization of the visuo-locomotor coupling. The results show that only the visuo-locomotor coupling organized from the visual sensor to the locomotor organs enables (i) a significant smoothness of the trajectory and (ii) a velocity-curvature relationship that follows the “2/3 Power Law.” These findings are consistent with the theory of an anticipatory construction of an internal model of the trajectory. This mental representation used by the brain as a forward prediction of the formation of the path seems conditioned by the motor program. The overall results are discussed in terms of the sensorimotor scheme bases of the predictive coding. PMID:22798955

  1. Reduced locomotor activity and exploratory behavior in CC chemokine receptor 4 deficient mice.

    PubMed

    Ambrée, Oliver; Klassen, Irene; Förster, Irmgard; Arolt, Volker; Scheu, Stefanie; Alferink, Judith

    2016-11-01

    Chemokines and their receptors are key regulators of immune cell trafficking and activation. Recent findings suggest that they may also play pathophysiological roles in psychiatric diseases like depression and anxiety disorders. The CC chemokine receptor 4 (CCR4) and its two ligands, CCL17 and CCL22, are functionally involved in neuroinflammation as well as anti-infectious and autoimmune responses. However, their influence on behavior remains unknown. Here we characterized the functional role of the CCR4-CCL17 chemokine-receptor axis in the modulation of anxiety-related behavior, locomotor activity, and object exploration and recognition. Additionally, we investigated social exploration of CCR4 and CCL17 knockout mice and wild type (WT) controls. CCR4 knockout (CCR4(-/-)) mice exhibited fewer anxiety-related behaviors in the elevated plus-maze, diminished locomotor activity, exploratory behavior, and social exploration, while their recognition memory was not affected. In contrast, CCL17 deficient mice did not show an altered behavior compared to WT mice regarding locomotor activity, anxiety-related behavior, social exploration, and object recognition memory. In the dark-light and object recognition tests, CCL17(-/-) mice even covered longer distances than WT mice. These data demonstrate a mechanistic or developmental role of CCR4 in the regulation of locomotor and exploratory behaviors, whereas the ligand CCL17 appears not to be involved in the behaviors measured here. Thus, either CCL17 and the alternative ligand CCL22 may be redundant, or CCL22 is the main activator of CCR4 in these processes. Taken together, these findings contribute to the growing evidence regarding the involvement of chemokines and their receptors in the regulation of behavior.

  2. Characterization of sacral interneurons that mediate activation of locomotor pattern generators by sacrocaudal afferent input.

    PubMed

    Etlin, Alex; Finkel, Eran; Mor, Yoav; O'Donovan, Michael J; Anglister, Lili; Lev-Tov, Aharon

    2013-01-09

    Identification of the neural pathways involved in retraining the spinal central pattern generators (CPGs) by afferent input in the absence of descending supraspinal control is feasible in isolated rodent spinal cords where the locomotor CPGs are potently activated by sacrocaudal afferent (SCA) input. Here we study the involvement of sacral neurons projecting rostrally through the ventral funiculi (VF) in activation of the CPGs by sensory stimulation. Fluorescent labeling and immunostaining showed that VF neurons are innervated by primary afferents immunoreactive for vesicular glutamate transporters 1 and 2 and by intraspinal neurons. Calcium imaging revealed that 55% of the VF neurons were activated by SCA stimulation. The activity of VF neurons and the sacral and lumbar CPGs was abolished when non-NMDA receptors in the sacral segments were blocked by the antagonist CNQX. When sacral NMDA receptors were blocked by APV, the sacral CPGs were suppressed, VF neurons with nonrhythmic activity were recruited and a moderate-drive locomotor rhythm developed during SCA stimulation. In contrast, when the sacral CPGs were activated by SCA stimulation, rhythmic and nonrhythmic VF neurons were recruited and the locomotor rhythm was most powerful. The activity of 73 and 27% of the rhythmic VF neurons was in-phase with the ipsilateral and contralateral motor output, respectively. Collectively, our studies indicate that sacral VF neurons serve as a major link between SCA and the hindlimb CPGs and that the ability of SCA to induce stepping can be enhanced by the sacral CPGs. The nature of the ascending drive to lumbar CPGs, the identity of subpopulations of VF neurons, and their potential role in activating the locomotor rhythm are discussed.

  3. QRFP and Its Receptors Regulate Locomotor Activity and Sleep in Zebrafish

    PubMed Central

    Chen, Audrey; Chiu, Cindy N.; Mosser, Eric A.; Kahn, Sohini; Spence, Rory

    2016-01-01

    The hypothalamus plays an important role in regulating sleep, but few hypothalamic sleep-promoting signaling pathways have been identified. Here we demonstrate a role for the neuropeptide QRFP (also known as P518 and 26RFa) and its receptors in regulating sleep in zebrafish, a diurnal vertebrate. We show that QRFP is expressed in ∼10 hypothalamic neurons in zebrafish larvae, which project to the hypothalamus, hindbrain, and spinal cord, including regions that express the two zebrafish QRFP receptor paralogs. We find that the overexpression of QRFP inhibits locomotor activity during the day, whereas mutation of qrfp or its receptors results in increased locomotor activity and decreased sleep during the day. Despite the restriction of these phenotypes to the day, the circadian clock does not regulate qrfp expression, and entrained circadian rhythms are not required for QRFP-induced rest. Instead, we find that QRFP overexpression decreases locomotor activity largely in a light-specific manner. Our results suggest that QRFP signaling plays an important role in promoting sleep and may underlie some aspects of hypothalamic sleep control. SIGNIFICANCE STATEMENT The hypothalamus is thought to play a key role in regulating sleep in vertebrate animals, but few sleep-promoting signaling pathways that function in the hypothalamus have been identified. Here we use the zebrafish, a diurnal vertebrate, to functionally and anatomically characterize the neuropeptide QRFP. We show that QRFP is exclusively expressed in a small number of neurons in the larval zebrafish hypothalamus that project widely in the brain. We also show that QRFP overexpression reduces locomotor activity, whereas animals that lack QRFP signaling are more active and sleep less. These results suggest that QRFP signaling participates in the hypothalamic regulation of sleep. PMID:26865608

  4. 46 CFR 167.05-40 - Underwater survey.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 46 Shipping 7 2012-10-01 2012-10-01 false Underwater survey. 167.05-40 Section 167.05-40 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS PUBLIC NAUTICAL SCHOOL SHIPS Definitions § 167.05-40 Underwater survey. Underwater survey means the examination of the vessel's...

  5. 46 CFR 167.05-40 - Underwater survey.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 46 Shipping 7 2011-10-01 2011-10-01 false Underwater survey. 167.05-40 Section 167.05-40 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS PUBLIC NAUTICAL SCHOOL SHIPS Definitions § 167.05-40 Underwater survey. Underwater survey means the examination of the vessel's...

  6. 46 CFR 167.05-40 - Underwater survey.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 46 Shipping 7 2014-10-01 2014-10-01 false Underwater survey. 167.05-40 Section 167.05-40 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS PUBLIC NAUTICAL SCHOOL SHIPS Definitions § 167.05-40 Underwater survey. Underwater survey means the examination of the vessel's...

  7. 46 CFR 167.05-40 - Underwater survey.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 46 Shipping 7 2013-10-01 2013-10-01 false Underwater survey. 167.05-40 Section 167.05-40 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS PUBLIC NAUTICAL SCHOOL SHIPS Definitions § 167.05-40 Underwater survey. Underwater survey means the examination of the vessel's...

  8. 46 CFR 167.05-40 - Underwater survey.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 46 Shipping 7 2010-10-01 2010-10-01 false Underwater survey. 167.05-40 Section 167.05-40 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS PUBLIC NAUTICAL SCHOOL SHIPS Definitions § 167.05-40 Underwater survey. Underwater survey means the examination of the vessel's...

  9. Design and implementation of underwater wireless electromagnetic communication system

    NASA Astrophysics Data System (ADS)

    Wu, Xiangshang; Xue, Wei; Shu, Xin

    2017-08-01

    This paper introduces the design and implementation of the underwater wireless electromagnetic communication system based on the current field theory. The system realizes the wireless transmission of underwater voice signal, and has a good application prospect in underwater short-range wireless communication.

  10. Mechanisms of left-right coordination in mammalian locomotor pattern generation circuits: a mathematical modeling view.

    PubMed

    Molkov, Yaroslav I; Bacak, Bartholomew J; Talpalar, Adolfo E; Rybak, Ilya A

    2015-05-01

    The locomotor gait in limbed animals is defined by the left-right leg coordination and locomotor speed. Coordination between left and right neural activities in the spinal cord controlling left and right legs is provided by commissural interneurons (CINs). Several CIN types have been genetically identified, including the excitatory V3 and excitatory and inhibitory V0 types. Recent studies demonstrated that genetic elimination of all V0 CINs caused switching from a normal left-right alternating activity to a left-right synchronized "hopping" pattern. Furthermore, ablation of only the inhibitory V0 CINs (V0D subtype) resulted in a lack of left-right alternation at low locomotor frequencies and retaining this alternation at high frequencies, whereas selective ablation of the excitatory V0 neurons (V0V subtype) maintained the left-right alternation at low frequencies and switched to a hopping pattern at high frequencies. To analyze these findings, we developed a simplified mathematical model of neural circuits consisting of four pacemaker neurons representing left and right, flexor and extensor rhythm-generating centers interacting via commissural pathways representing V3, V0D, and V0V CINs. The locomotor frequency was controlled by a parameter defining the excitation of neurons and commissural pathways mimicking the effects of N-methyl-D-aspartate on locomotor frequency in isolated rodent spinal cord preparations. The model demonstrated a typical left-right alternating pattern under control conditions, switching to a hopping activity at any frequency after removing both V0 connections, a synchronized pattern at low frequencies with alternation at high frequencies after removing only V0D connections, and an alternating pattern at low frequencies with hopping at high frequencies after removing only V0V connections. We used bifurcation theory and fast-slow decomposition methods to analyze network behavior in the above regimes and transitions between them. The model

  11. Mechanisms of Left-Right Coordination in Mammalian Locomotor Pattern Generation Circuits: A Mathematical Modeling View

    PubMed Central

    Talpalar, Adolfo E.; Rybak, Ilya A.

    2015-01-01

    The locomotor gait in limbed animals is defined by the left-right leg coordination and locomotor speed. Coordination between left and right neural activities in the spinal cord controlling left and right legs is provided by commissural interneurons (CINs). Several CIN types have been genetically identified, including the excitatory V3 and excitatory and inhibitory V0 types. Recent studies demonstrated that genetic elimination of all V0 CINs caused switching from a normal left-right alternating activity to a left-right synchronized “hopping” pattern. Furthermore, ablation of only the inhibitory V0 CINs (V0D subtype) resulted in a lack of left-right alternation at low locomotor frequencies and retaining this alternation at high frequencies, whereas selective ablation of the excitatory V0 neurons (V0V subtype) maintained the left–right alternation at low frequencies and switched to a hopping pattern at high frequencies. To analyze these findings, we developed a simplified mathematical model of neural circuits consisting of four pacemaker neurons representing left and right, flexor and extensor rhythm-generating centers interacting via commissural pathways representing V3, V0D, and V0V CINs. The locomotor frequency was controlled by a parameter defining the excitation of neurons and commissural pathways mimicking the effects of N-methyl-D-aspartate on locomotor frequency in isolated rodent spinal cord preparations. The model demonstrated a typical left-right alternating pattern under control conditions, switching to a hopping activity at any frequency after removing both V0 connections, a synchronized pattern at low frequencies with alternation at high frequencies after removing only V0D connections, and an alternating pattern at low frequencies with hopping at high frequencies after removing only V0V connections. We used bifurcation theory and fast-slow decomposition methods to analyze network behavior in the above regimes and transitions between them. The model

  12. 20-meter underwater wireless optical communication link with 1.5 Gbps data rate.

    PubMed

    Shen, Chao; Guo, Yujian; Oubei, Hassan M; Ng, Tien Khee; Liu, Guangyu; Park, Ki-Hong; Ho, Kang-Ting; Alouini, Mohamed-Slim; Ooi, Boon S

    2016-10-31

    The video streaming, data transmission, and remote control in underwater call for high speed (Gbps) communication link with a long channel length (~10 meters). We present a compact and low power consumption underwater wireless optical communication (UWOC) system utilizing a 450-nm laser diode (LD) and a Si avalanche photodetector. With the LD operating at a driving current of 80 mA with an optical power of 51.3 mW, we demonstrated a high-speed UWOC link offering a data rate up to 2 Gbps over a 12-meter-long, and 1.5 Gbps over a record 20-meter-long underwater channel. The measured bit-error rate (BER) are 2.8 × 10-5, and 3.0 × 10-3, respectively, which pass well the forward error correction (FEC) criterion.

  13. The spatial structure of underwater noise due to shipping activities in the Celtic Sea

    NASA Astrophysics Data System (ADS)

    Chen, Feng; Shapiro, Georgy; Thain, Richard

    2014-05-01

    Underwater noise is now classed as pollution alongside chemical pollution and marine litter (MSFD, 2012). Underwater noise from man-made sources arises from a number of sources including shipping activities. There are numerous examples of sound-induced effects recorded for various marine mammals, either in controlled situations, or opportunistically (MSFD-GES, 2012). Broad or narrow band continuous sounds, as well as pulses, have been documented to cause effects ranging from slight behaviour change, to activity disruption, avoidance or abandonment of preferred habitat (see Clark et al., 2009). Underwater ambient noise generated by shipping activities has increased significantly over the past decades (e.g. Mcdonald et al., 2006). Noise from shipping is a major contributor to the ambient noise levels in ocean, particularly at low (

  14. Observer based output feedback tuning for underwater remotely operated vehicle based on linear quadratic performance

    NASA Astrophysics Data System (ADS)

    Aras, Mohd Shahrieel Mohd; Abdullah, Shahrum Shah; Kamarudin, Muhammad Nizam; Rahman, Ahmad Fadzli Nizam Abdul; Azis, Fadilah Abd; Jaafar, Hazriq Izzuan

    2015-05-01

    This paper describes the effectiveness of observer-based output feedback for Unmanned Underwater Vehicle (UUV) with Linear Quadratic Regulation (LQR) performance. Tuning of observer parameters is crucial for tracking purpose. Prior to tuning facility, the ranges of observer and LQR parameters are obtained via system output cum error. The validation of this technique using unmanned underwater vehicles called Remotely Operated Vehicle (ROV) modelling helps to improve steady state performance of system response. The ROV modeling is focused for depth control using ROV 1 developed by the Underwater Technology Research Group (UTeRG). The results are showing that this technique improves steady state performances in term of overshoot and settling time of the system response.

  15. Acoustic Based Tactical Control of Underwater Vehicles

    DTIC Science & Technology

    2003-06-01

    Fundamental to information theory, only the first two are strictly coding processes. While the ultimate goal is for autonomous vehicles to independently use...code rate (explained later) will result in a four symbol string. The two data bit strings have four possible sequences but the four independent ...ltiplication with a generating m x, G nearly independent basis vectors of length n. The input is an as a “code word.” The number of distinct

  16. Multivariable Control of an Underwater Vehicle

    DTIC Science & Technology

    1984-05-01

    Response of the Twenty Knot Compensated Nonlinear Model 77 b5 TIME 3b 6b W 12 E &0 2 0 " 7 6 .o0 9o .20 ISO Io 210 21*0 270 300 TIME 3 0 30 so 90 120 I, S...d - ,- - ’a. C" 3 60 90 120 1 SO IGO 210 20 270 300 TIME o0 so 30 G’ 90 12 0 ISO IGO 210 240 070 30 TIME 0 s ], M 0 IGO...12 E o 10 1 4 7 TIM 30 60 so 120 ISO 160 210 260 270 300 TIME 0 30 so so 120 ISO ISO 210 26O 270 300 TI ME o0.. " " " ’ . . . o 3 10 60 12 0 10 I. ,O

  17. Two Components of Nocturnal Locomotor Suppression by Light

    PubMed Central

    Morin, Lawrence P.; Lituma, Pablo J.; Studholme, Keith M.

    2010-01-01

    In nocturnal rodents, millisecond light (“flash”) stimuli can induce both a large circadian rhythm phase shift and an associated state change from highly active to quiescence followed by behavioral sleep. Suppression of locomotion (“negative masking”) is an easily measured correlate of the state change. The present mouse studies used both flashes and longer light stimuli (“pulses”) to distinguish initiation from maintenance effects of light on locomotor suppression and to determine whether the locomotor suppression exhibits temporal integration as is thought to be characteristic of phase shift responses to pulse, but not flash, stimuli. In Expt. 1, locomotor suppression increased with irradiance (0.01–100 μW/cm2), in accordance with previous reports. It also increased with stimulus duration (3–3000 sec), but interpretation of this result is complicated by the ability of light to both initiate and maintain locomotor suppression. In Expt. 2, an irradiance response curve was determined using a stimulus series of 10 flashes, 2 msec each, with total flash energy varying from 0.0025 – 110.0 J/m2. This included a test for temporal integration in which the effects of two equal energy series of flashes were compared, but which differed in the number of flashes per series (10 vs 100). The 10 flash series more effectively elicited locomotor suppression than the 100 flash series, a result consistent with prior observations involving flash-induced phase shifts. In Expt. 3, exposure of mice to an 11 hr light stimulus yielded irradiance-dependent locomotor suppression that can be maintained for the entire stimulus duration by a 100 μW/cm2 stimulus. Light has the ability to initiate a time-limited (30–40 min) interval of locomotor suppression (initiation effect) that can be extended by additional light (maintenance effect). Temporal integration resembling that seen in phase shifting responses to light does not exist for either phase shift or locomotor

  18. The hydrodynamics analysis for the underwater robot with a spherical hull

    NASA Astrophysics Data System (ADS)

    Lan, Xiaojuan; Sun, Hanxu; Jia, Qingxuan

    2009-05-01

    The underwater spherical robot has a spherical pressure hull which contains power modules, sensors, and so on. It lacks robot arms or end effectors but is highly maneuverable, for the simplest symmetrical geometry is the sphere. This paper analyzes the spherical robot's hydrodynamic model with CFD software, concludes the spherical robot's hydrodynamic characteristics, and compares these characteristics with the hydrodynamic model of another underwater robot which has a streamlined hull. The effect of sphere hydraulic resistance on the control of the robot is analyzed with some examples.

  19. SBMAC: Smart Blocking MAC Mechanism for Variable UW-ASN (Underwater Acoustic Sensor Network) Environment

    PubMed Central

    Shin, Soo-Young; Namgung, Jung-Il; Park, Soo-Hyun

    2010-01-01

    In this paper, several MAC scheduling methods applicable to an underwater environment are proposed. Besides, a new marine communication system model was proposed to improve the reliability of the proposed SBMAC method. The scheme minimizes transmission of control frames except for data transmission and various transmission methods and ACK methods can be used together. Simulation models are set indices and analysis of the underwater environment is established to conduct reliable simulations. Consequently, the performance improvement of the proposed method is verified with respect to delay time, data transmission rate, memory utilization, energy efficiency, etc. PMID:22315553

  20. SBMAC: smart blocking MAC mechanism for variable UW-ASN (Underwater Acoustic Sensor Network) environment.

    PubMed

    Shin, Soo-Young; Namgung, Jung-Il; Park, Soo-Hyun

    2010-01-01

    In this paper, several MAC scheduling methods applicable to an underwater environment are proposed. Besides, a new marine communication system model was proposed to improve the reliability of the proposed SBMAC method. The scheme minimizes transmission of control frames except for data transmission and various transmission methods and ACK methods can be used together. Simulation models are set indices and analysis of the underwater environment is established to conduct reliable simulations. Consequently, the performance improvement of the proposed method is verified with respect to delay time, data transmission rate, memory utilization, energy efficiency, etc.

  1. Deconstructing locomotor networks with experimental injury to define their membership.

    PubMed

    Nistri, Andrea; Taccola, Giuliano; Mladinic, Miranda; Margaryan, Gayane; Kuzhandaivel, Anujaianthi

    2010-06-01

    Although spinal injury is a major cause of chronic disability, the mechanisms responsible for the lesion pathophysiology and their dynamic evolution remain poorly understood. Hence, current treatments aimed at blocking damage extension are unsatisfactory. To unravel the acute spinal injury processes, we have developed a model of the neonatal rat spinal cord in vitro subjected to kainate-evoked excitotoxicity or metabolic perturbation (hypoxia, aglycemia, and free oxygen radicals) or their combination. The study outcome is fictive locomotion one day after the lesion and its relation to histological damage. Excitotoxicity always suppresses locomotor network activity and produces large gray matter damage, while network bursting persists supported by average survival of nearly half premotoneurons and motoneurons. Conversely, metabolic perturbation simply depresses locomotor network activity as damage mainly concerns white rather than gray matter. Coapplication of kainate and metabolic perturbation completely eliminates locomotor network activity. These results indicate distinct cellular targets for excitotoxic versus dysmetabolic damage with differential consequences on locomotor pattern formation. Furthermore, these data enable to estimate the minimal network membership compatible with expression of locomotor activity.

  2. Modular diversification of the locomotor system in damselfishes (Pomacentridae).

    PubMed

    Aguilar-Medrano, Rosalía; Frédérich, Bruno; Barber, Paul H

    2016-05-01

    As fish move and interact with their aquatic environment by swimming, small morphological variations of the locomotor system can have profound implications on fitness. Damselfishes (Pomacentridae) have inhabited coral reef ecosystems for more than 50 million years. As such, habitat preferences and behavior could significantly constrain the morphology and evolvability of the locomotor system. To test this hypothesis, we used phylogenetic comparative methods on morphometric, ecological and behavioral data. While body elongation represented the primary source of variation in the locomotor system of damselfishes, results also showed a diverse suite of morphological combinations between extreme morphologies. Results show clear associations between behavior, habitat preferences, and morphology, suggesting ecological constraints on shape diversification of the locomotor system. In addition, results indicate that the three modules of the locomotor system are weakly correlated, resulting in versatile and independent characters. These results suggest that Pomacentridae is shape may result from the interaction between (1) integrated parts of morphological variation that maintain overall swimming ability and (2) relatively independent parts of the morphology that facilitate adaptation and diversification. © 2016 Wiley Periodicals, Inc.

  3. Underwater photogrammetric theoretical equations and technique

    NASA Astrophysics Data System (ADS)

    Fan, Ya-bing; Huang, Guiping; Qin, Gui-qin; Chen, Zheng

    2011-12-01

    In order to have a high level of accuracy of measurement in underwater close-range photogrammetry, this article deals with a study of three varieties of model equations according to the way of imaging upon the water. First, the paper makes a careful analysis for the two varieties of theoretical equations and finds out that there are some serious limitations in practical application and has an in-depth study for the third model equation. Second, one special project for this measurement has designed correspondingly. Finally, one rigid antenna has been tested by underwater photogrammetry. The experimental results show that the precision of 3D coordinates measurement is 0.94mm, which validates the availability and operability in practical application with this third equation. It can satisfy the measurement requirements of refraction correction, improving levels of accuracy of underwater close-range photogrammetry, as well as strong antijamming and stabilization.

  4. Remotely operated submersible underwater suction apparatus

    DOEpatents

    Kristan, Louis L.

    1990-01-01

    A completely submersible, remotely operated underwater suction device for collection of irradiated materials in a nuclear pool is disclosed. The device includes a pump means for pumping water through the device, a filter means for capturing irradiated debris, remotely operated releasable connector means, a collection means and a means for remotely maneuvering the collection means. The components of the suction device may be changed and replaced underwater to take advantage of the excellent radiation shielding ability of water to thereby minimize exposure of personnel to radiation.

  5. Quaternary naltrexone reverses radiogenic and morphine-induced locomotor hyperactivity

    SciTech Connect

    Mickley, G.A.; Stevens, K.E.; Galbraith, J.A.; White, G.A.; Gibbs, G.L.

    1984-04-01

    The present study attempted to determine the relative role of the peripheral and central nervous system in the production of morphine-induced or radiation-induced locomotor hyperactivity of the mouse. Toward this end, we used a quaternary derivative of an opiate antagonist (naltrexone methobromide), which presumably does not cross the blood-brain barrier. Quaternary naltrexone was used to challenge the stereotypic locomotor response observed in these mice after either an i.p. injection of morphine or exposure to 1500 rads /sup 60/Co. The quaternary derivative of naltrexone reversed the locomotor hyperactivity normally observed in the C57BL/6J mouse after an injection of morphine. It also significantly attenuated radiation-induced locomotion. The data reported here support the hypothesis of endorphin involvement in radiation-induced and radiogenic behaviors. However, these conclusions are contingent upon further research which more fully evaluates naltrexone methobromide's capacity to cross the blood-brain barrier.

  6. Developing Sensorimotor Countermeasures to Mitigate Post-Flight Locomotor Dysfunction

    NASA Technical Reports Server (NTRS)

    Bloomberg, J. J.; Mulavara, A. P.; Cohen, H.; Miller, C. A.; Richards, J. T.; Houser, J.; McDonald, P. V.; Seidler, R. D.; Merkle, L. A.; Stelmach, G. E.

    2001-01-01

    Following spaceflight, crewmembers experience postural and locomotor instability. The magnitude and duration of post-flight sensorimotor disturbances increase with longer duration exposure to microgravity. These post-flight postural and locomotor alterations can pose a risk to crew safety and to mission objectives if nominal or emergency vehicle egress is required immediately following long-duration spaceflight. Gait instabilities could prevent or extend the time required to make an emergency egress from the Orbiter, Crew Return Vehicle or a future Martian lander leading to compromised mission objectives. We propose a countermeasure that aids in maintaining functional locomotor performance. This includes retaining the ability to perform vehicular egress and meet early mission objectives soon after landing on a planetary surface.

  7. Exendin-4 Decreases Amphetamine-induced Locomotor Activity

    PubMed Central

    Erreger, Kevin; Davis, Adeola R.; Poe, Amanda M.; Greig, Nigel H.; Stanwood, Gregg D.; Galli, Aurelio

    2012-01-01

    Glucagon-like peptide-1 (GLP-1) is released in response to nutrient ingestion and is a regulator of energy metabolism and consummatory behaviors through both peripheral and central mechanisms. The GLP-1 receptor (GLP-1R) is widely distributed in the central nervous system, however little is known about how GLP-1Rs regulate ambulatory behavior. The abused psychostimulant amphetamine (AMPH) promotes behavioral locomotor activity primarily by inducing the release of the neurotransmitter dopamine. Here, we identify the GLP-1R agonist exendin-4 (Ex-4) as a modulator of behavioral activation by AMPH. We report that in rats a single acute administration of Ex-4 decreases both basal locomotor activity as well as AMPH-induced locomotor activity. Ex-4 did not induce behavioral responses reflecting anxiety or aversion. Our findings implicate GLP-1R signaling as a novel modulator of psychostimulant-induced behavior and therefore a potential therapeutic target for psychostimulant abuse. PMID:22465309

  8. Cascading multi-hop reservation and transmission in underwater acoustic sensor networks.

    PubMed

    Lee, Jae-Won; Cho, Ho-Shin

    2014-10-01

    The long propagation delay in an underwater acoustic channel makes designing an underwater media access control (MAC) protocol more challenging. In particular, handshaking-based MAC protocols widely used in terrestrial radio channels have been known to be inappropriate in underwater acoustic channels, because of the inordinately large latency involved in exchanging control packets. Furthermore, in the case of multi-hop relaying in a hop-by-hop handshaking manner, the end-to-end delay significantly increases. In this paper, we propose a new MAC protocol named cascading multi-hop reservation and transmission (CMRT). In CMRT, intermediate nodes between a source and a destination may start handshaking in advance for the next-hop relaying before handshaking for the previous node is completed. By this concurrent relaying, control packet exchange and data delivery cascade down to the destination. In addition, to improve channel utilization, CMRT adopts a packet-train method where multiple data packets are sent together by handshaking once. Thus, CMRT reduces the time taken for control packet exchange and accordingly increases the throughput. The performance of CMRT is evaluated and compared with that of two conventional MAC protocols (multiple-access collision avoidance for underwater (MACA-U) and MACA-U with packet trains (MACA-UPT)). The results show that CMRT outperforms other MAC protocols in terms of both throughput and end-to-end delay.

  9. Locomotor adaptability in persons with unilateral transtibial amputation.

    PubMed

    Darter, Benjamin J; Bastian, Amy J; Wolf, Erik J; Husson, Elizabeth M; Labrecque, Bethany A; Hendershot, Brad D

    2017-01-01

    Locomotor adaptation enables walkers to modify strategies when faced with challenging walking conditions. While a variety of neurological injuries can impair locomotor adaptability, the effect of a lower extremity amputation on adaptability is poorly understood. Determine if locomotor adaptability is impaired in persons with unilateral transtibial amputation (TTA). The locomotor adaptability of 10 persons with a TTA and 8 persons without an amputation was tested while walking on a split-belt treadmill with the parallel belts running at the same (tied) or different (split) speeds. In the split condition, participants walked for 15 minutes with the respective belts moving at 0.5 m/s and 1.5 m/s. Temporal spatial symmetry measures were used to evaluate reactive accommodations to the perturbation, and the adaptive/de-adaptive response. Persons with TTA and the reference group of persons without amputation both demonstrated highly symmetric walking at baseline. During the split adaptation and tied post-adaptation walking both groups responded with the expected reactive accommodations. Likewise, adaptive and de-adaptive responses were observed. The magnitude and rate of change in the adaptive and de-adaptive responses were similar for persons with TTA and those without an amputation. Furthermore, adaptability was no different based on belt assignment for the prosthetic limb during split adaptation walking. Reactive changes and locomotor adaptation in response to a challenging and novel walking condition were similar in persons with TTA to those without an amputation. Results suggest persons with TTA have the capacity to modify locomotor strategies to meet the demands of most walking conditions despite challenges imposed by an amputation and use of a prosthetic limb.

  10. Locomotor adaptability in persons with unilateral transtibial amputation

    PubMed Central

    Bastian, Amy J.; Wolf, Erik J.; Husson, Elizabeth M.; Labrecque, Bethany A.; Hendershot, Brad D.

    2017-01-01

    Background Locomotor adaptation enables walkers to modify strategies when faced with challenging walking conditions. While a variety of neurological injuries can impair locomotor adaptability, the effect of a lower extremity amputation on adaptability is poorly understood. Objective Determine if locomotor adaptability is impaired in persons with unilateral transtibial amputation (TTA). Methods The locomotor adaptability of 10 persons with a TTA and 8 persons without an amputation was tested while walking on a split-belt treadmill with the parallel belts running at the same (tied) or different (split) speeds. In the split condition, participants walked for 15 minutes with the respective belts moving at 0.5 m/s and 1.5 m/s. Temporal spatial symmetry measures were used to evaluate reactive accommodations to the perturbation, and the adaptive/de-adaptive response. Results Persons with TTA and the reference group of persons without amputation both demonstrated highly symmetric walking at baseline. During the split adaptation and tied post-adaptation walking both groups responded with the expected reactive accommodations. Likewise, adaptive and de-adaptive responses were observed. The magnitude and rate of change in the adaptive and de-adaptive responses were similar for persons with TTA and those without an amputation. Furthermore, adaptability was no different based on belt assignment for the prosthetic limb during split adaptation walking. Conclusions Reactive changes and locomotor adaptation in response to a challenging and novel walking condition were similar in persons with TTA to those without an amputation. Results suggest persons with TTA have the capacity to modify locomotor strategies to meet the demands of most walking conditions despite challenges imposed by an amputation and use of a prosthetic limb. PMID:28704467

  11. Effects of Sodium Butyrate on Methamphetamine-Sensitized Locomotor Activity

    PubMed Central

    Harkness, John H.; Hitzemann, Robert J.; Edmunds, Stephanie; Phillips, Tamara J.

    2012-01-01

    Neuroadaptations associated with behavioral sensitization induced by repeated exposure to methamphetamine (MA) appear to be involved in compulsive drug pursuit and use. Increased histone acetylation, an epigenetic effect resulting in altered gene expression, may promote sensitized responses to psychostimulants. The role of histone acetylation in the expression and acquisition of MA-induced locomotor sensitization was examined by measuring the effect of histone deacetylase inhibition by sodium butyrate (NaB). For the effect on expression, vehicle or NaB (630 mg/kg, intraperitoneally) was administered 30 min prior to MA challenge in mice treated repeatedly with MA (10 days of 2 mg/kg MA) or saline (10 days), and then locomotor response to MA challenge was measured. NaB treatment increased the locomotor response to MA in both acutely MA treated and sensitized animals. For acquisition, NaB was administered 30 min prior to each MA exposure (10 days of 1 or 2 mg/kg), but not prior to the MA challenge test. Treatment with NaB during the sensitization acquisition period significantly increased locomotor activation by MA in sensitized mice only. NaB alone did not significantly alter locomotor activity. Acute NaB or MA, but not the combination, appeared to increase striatal acetylation at histone H4. Repeated treatment with MA, but not NaB or MA plus NaB, increased striatal acetylation at histone H3. Although increased histone acetylation may alter the expression of genes involved in acute locomotor response to MA and in the acquisition of MA-induced sensitization, results for acetylation at H3 and H4 showed little correspondence with behavior. PMID:23137698

  12. Design and implementation of omni-directional light source and receiving system used in underwater wireless optical communication

    NASA Astrophysics Data System (ADS)

    Rao, Jionghui; Yao, Wenming; Chen, Nannan

    2013-08-01

    Underwater wireless optical communication is a communication mode which uses light as an information carrier and water as transmission medium. As a result of the inherent characteristics of the light waves, underwater wireless optical communication has the advantages of high transmission rate, good security, and strong anti-interference ability. It is suitable for high-speed, short-range communication between underwater mobile vehicles. Underwater optical wireless communication system designed in this paper is composed of the omni-directional communication light source and the receiving system. In the omni-directional communication light source, the laser beams with small divergence angle of 532nm wavelength produced by modulated laser are expanded through a combination refraction-reflection solid and then obtain more than 2π space divergence angle. The paper use TRACEPRO simulation tool to help design a combination solid composed of the lens, conical reflector and parabolic reflector, and test in the air and underwater, the result shows that the effect is fine. Unlike in the air, light attenuation is heavy in the water and a large range of variations in light intensity at different distances appear during underwater optical communication. In order to overcome this problem, the paper use a small photomultiplier as the detection device, design the receiving system using the automatic gain control technique. Underwater wireless optical communication system designed in this paper has the characteristics of small size, low power dissipation and the omni-directional communication function, it is suitable for application in the UUV, AUV, Swimmer Delivery Vehicle (SDV) and other underwater mobile platform, it realizes point-to-point communications and point-to-multipoint communications.

  13. Obstacle avoidance locomotor tasks: adaptation, memory and skill transfer.

    PubMed

    Kloter, Evelyne; Dietz, Volker

    2012-05-01

    The aim of this study was to explore the neural basis of adaptation, memory and skill transfer during human stepping over obstacles. Whilst walking on a treadmill, subjects had to perform uni- and bilateral obstacle steps. Acoustic feedback information about foot clearance was provided. Non-noxious electrical stimuli were applied to the right tibial nerve during the mid-stance phase of the right leg, i.e. 'prior' to the right or 'during' the left leg swing over the obstacle. The electromyogram (EMG) responses evoked by these stimuli in arm and leg muscles are known to reflect the neural coordination during normal and obstacle steps. The leading and trailing legs rapidly adapted foot clearance during obstacle steps with small further changes when the same obstacle condition was repeated. This adaptation was associated with a corresponding decrease in arm and leg muscle reflex EMG responses. Arm (but not leg) muscle EMG responses were greater when the stimulus was applied 'during' obstacle crossing by the left leg leading compared with stimulation 'prior' to right leg swing over the obstacle. A corresponding difference existed in arm muscle background EMG. The results indicate that, firstly, the somatosensory information gained by the performance and adaptation of uni- and bilateral obstacle stepping becomes transferred to the trailing leg in a context-specific manner. Secondly, EMG activity in arm and leg muscles parallels biomechanical adaptation of foot clearance. Thirdly, a consistently high EMG activity in the arm muscles during swing over the obstacle is required for equilibrium control. Thus, such a precision locomotor task is achieved by a context-specific, coordinated activation of arm and leg muscles for performance and equilibrium control that includes adaptation, memory and skill transfer.

  14. Genotypic structure of a Drosophila population for adult locomotor activity

    SciTech Connect

    Grechanyi, G.V.; Korzun, V.M.

    1995-01-01

    Analysis of the variation of adult locomotor activity in four samples taken at different times from a natural population of Drosophila melanogaster showed that the total variation of this trait is relatively stable in time and has a substantial genetic component. Genotypic structure of the population for locomotor activity is characterized by the presence of large groups of genotypes with high and low values of this trait. A possible explanation for the presence of such groups in a population is cyclic density-dependent selection.

  15. Micromachined fiber optic Fabry-Perot underwater acoustic probe

    NASA Astrophysics Data System (ADS)

    Wang, Fuyin; Shao, Zhengzheng; Hu, Zhengliang; Luo, Hong; Xie, Jiehui; Hu, Yongming

    2014-08-01

    One of the most important branches in the development trend of the traditional fiber optic physical sensor is the miniaturization of sensor structure. Miniature fiber optic sensor can realize point measurement, and then to develop sensor networks to achieve quasi-distributed or distributed sensing as well as line measurement to area monitoring, which will greatly extend the application area of fiber optic sensors. The development of MEMS technology brings a light path to address the problems brought by the procedure of sensor miniaturization. Sensors manufactured by MEMS technology possess the advantages of small volume, light weight, easy fabricated and low cost. In this paper, a fiber optic extrinsic Fabry-Perot interferometric underwater acoustic probe utilizing micromachined diaphragm collaborated with fiber optic technology and MEMS technology has been designed and implemented to actualize underwater acoustic sensing. Diaphragm with central embossment, where the embossment is used to anti-hydrostatic pressure which would largely deflect the diaphragm that induce interferometric fringe fading, has been made by double-sided etching of silicon on insulator. By bonding the acoustic-sensitive diaphragm as well as a cleaved fiber end in ferrule with an outer sleeve, an extrinsic Fabry-Perot interferometer has been constructed. The sensor has been interrogated by quadrature-point control method and tested in field-stable acoustic standing wave tube. Results have been shown that the recovered signal detected by the sensor coincided well with the corresponding transmitted signal and the sensitivity response was flat in frequency range from 10 Hz to 2kHz with the value about -154.6 dB re. 1/μPa. It has been manifest that the designed sensor could be used as an underwater acoustic probe.

  16. The effects of locomotor-respiratory coupling on the pattern of breathing in horses.

    PubMed Central

    Lafortuna, C L; Reinach, E; Saibene, F

    1996-01-01

    1. To investigate the effect of locomotor activity on the pattern of breathing in quadrupeds, ventilatory response was studied in four healthy horses during horizontal and inclined (7%) treadmill exercise at different velocities (1.4-6.9 m s(-1)) and during chemical stimulation with a rebreathing method. Stride frequency (f(s)) and locomotor-respiratory coupling (LRC) were also simultaneously determined by means of video recordings synchronized with respiratory events. 2. Tidal volume (V(T)) was positively correlated with pulmonary ventilation (V(E)) but significantly different linear regression equations were found between the experimental conditions (P < 0.0001), since the chemical hyperventilation was mainly due to increases in V(T), whereas the major contribution to exercise hyperpnoea came from changes in respiratory frequency (f(R)). 3. The average f(R) at each exercise level was not significantly different from f(S), although there was not always a tight 1:1 LRC. At constant speeds, f(S) was independent of the treadmill slope and hence the greater V(E) during inclined exercise was due to increased V(T). 4. At any ventilatory level, the differences in breathing patterns between locomotion and rebreathing or locomotion at different slopes derived from different set points of the inspiratory off-switch mechanism. 5. The percentage of single breaths entrained with locomotor rhythm rose progressively and significantly with treadmill speed (P < 0.0001) up to a 1:1 LRC and was significantly affected by treadmill slope (P < 0.001). 6. A LRC of 1:1 was systematically observed at canter (10 out of 10 trials) and sometimes at trot (5 out of 14) and it entailed (i) a 4- to 5-fold reduction in both V(T) and f(R) variability, and (ii) a gait-specific phase locking of inspiratory onset during the locomotor cycle. 7. It is concluded that different patterns of breathing are employed during locomotion and rebreathing due to the interference between locomotor and respiratory

  17. Stereotactic radiosurgery improves locomotor recovery after spinal cord injury in rats.

    PubMed

    Zeman, Richard J; Wen, Xialing; Ouyang, Nengtai; Rocchio, Ronald; Shih, Lynn; Alfieri, Alan; Moorthy, Chitti; Etlinger, Joseph D

    2008-11-01

    Currently, because of the precision of stereotactic radiosurgery, radiation can now be delivered by techniques that shape the radiation beam to the tissue target for a variety of clinical applications. This avoids unnecessary and potentially damaging irradiation of surrounding tissues inherent in conventional irradiation, so that irradiation of the minimum volume of tissue necessary for optimal therapeutic benefit can be achieved. Although conventional x-irradiation has been shown to improve recovery from spinal cord injury in animals, the efficacy of targeted irradiation of the injured spinal cord has not been demonstrated previously. The purpose of these studies was to determine whether stereotactic x-irradiation of the injured spinal cord can enhance locomotor function and spare spinal cord tissue after contusion injury in a standard experimental model of spinal cord injury. Contusion injury was produced in rats at the level of T10 with a weight-drop device, and doses of x-irradiation were delivered 2 hours after injury via a Novalis, 6-MeV linear accelerator shaped beam radiosurgery system (BrainLAB USA, Westchester, IL) in 4 sequential fractions, with beam angles 60 to 70 degrees apart, at a rate of 6.4 Gy/minute. The target volume was a 4 x 15-mm cylinder along the axis of the spinal cord, with the isocenter positioned at the contusion epicenter. Locomotor function was determined for 6 weeks after injury with the 21-point Basso, Beattie, and Bresnahan (BBB) locomotor scale and tissue sparing in histological sections of the spinal cord. Locomotor function recovered progressively during the 6-week postinjury observation period. BBB scores were significantly greater in the 10-Gy x-irradiated group compared with controls (9.4 versus 7.3; P < 0.05), indicating hind limb weight support or dorsal stepping in contrast to hind limb joint mobility without weight bearing. Doses in the range of 2 to 10 Gy increased BBB scores progressively, whereas greater doses of 15 to

  18. Development of Underwater Laser Cladding and Underwater Laser Seal Welding Techniques for Reactor Components (II)

    SciTech Connect

    Masataka Tamura; Shohei Kawano; Wataru Kouno; Yasushi Kanazawa

    2006-07-01

    Stress corrosion cracking (SCC) is one of the major reasons to reduce the reliability of aged reactor components. Toshiba has been developing underwater laser welding onto surface of the aged components as maintenance and repair techniques. Because most of the reactor internal components to apply this underwater laser welding technique have 3-dimensional shape, effect of welding positions and welded shapes are examined and presented in this report. (authors)

  19. The pars intercerebralis as a modulator of locomotor rhythms and feeding in the American cockroach, Periplaneta americana.

    PubMed

    Matsui, Takaaki; Matsumoto, Tomohisa; Ichihara, Naoyuki; Sakai, Tsubasa; Satake, Honoo; Watari, Yasuhiko; Takeda, Makio

    2009-03-23

    It has been shown that in orthopteran insects each of the optic lobes (OLs) contains a circadian pacemaker controlling locomotor activity and that the pars intercerebralis (PI) modifies the activity level. However, the present study showed Period protein-like immunoreactivity (PER-ir) in the PI and dorsolateral protocerebrum (DL) as well as in the OLs in the American cockroach, Periplaneta americana, which raised the possibility that the PI or DL could be a clock element. Therefore, we removed the PI or DL surgically and observed the effects on locomotor rhythms and feeding behavior. In constant darkness (DD), cockroaches with an ablated PI (PIX-DD) showed arrhythmicity in locomotion and a massive increase in food consumption that led to increased body length and weight, while PIX cockroaches reared under LD 12:12 (PIX-LD) and the sham-treated cockroaches in DD (CNT-DD) showed rhythmicity and no increase in food consumption. Statistical analysis showed that arrhythmicity was not accompanied by hyperactivity, suggesting that the PI is involved in the regulation of locomotor activity and feeding in DD. The activities of alpha-amylase and proteases were found to be markedly elevated in the midgut of PIX-DD cockroaches but not in PIX-LD cockroaches. Taken together, these results indicate that the PI modulates locomotor rhythms and feeding behavior of cockroaches in a light-dependent manner. The PI and the OL may regulate circadian rhythms and feeding via distinct pathways.

  20. Plasticity of connections underlying locomotor recovery after central and/or peripheral lesions in the adult mammals

    PubMed Central

    Rossignol, Serge

    2006-01-01

    This review discusses some aspects of plasticity of connections after spinal injury in adult animal models as a basis for functional recovery of locomotion. After reviewing some pitfalls that must be avoided when claiming functional recovery and the importance of a conceptual framework for the control of locomotion, locomotor recovery after spinal lesions, mainly in cats, is summarized. It is concluded that recovery is partly due to plastic changes within the existing spinal locomotor networks. Locomotor training appears to change the excitability of simple reflex pathways as well as more complex circuitry. The spinal cord possesses an intrinsic capacity to adapt to lesions of central tracts or peripheral nerves but, as a rule, adaptation to lesions entails changes at both spinal and supraspinal levels. A brief summary of the spinal capacity of the rat, mouse and human to express spinal locomotor patterns is given, indicating that the concepts derived mainly from work in the cat extend to other adult mammals. It is hoped that some of the issues presented will help to evaluate how plasticity of existing connections may combine with and potentiate treatments designed to promote regeneration to optimize remaining motor functions. PMID:16939980

  1. [Locomotor activity and learning and memory abilities in Alzheimer's disease induced by aluminum in an acid environment in zebrafish].

    PubMed

    He, Xiong; Zhong, Zhao-Ming; Che, Yi

    2012-04-01

    We investigated the contribution of locomotor activity and learning and memory abilities to Alzheimer's disease induced by metal neurotoxicity. The metal neurotoxicity model was established by using locomotor activity tests and activity-avoidance conditioning paradigms, and observing changes in zebrafish behaviors after exposure to 50 μg/L of AlCl(3) with different pH values (pH 7.8, pH 6.8 and pH 5.8) for 24 hours and 96 hours. The results showed Alzheimer's disease-like behavior in locomotor activity tests and activity-avoidance conditioning paradigms by zebrafish receiving AlCl(3) in pH 5.8 significantly decreased compared to the control group and groups receiving AlCl(3) in pH 7.8 and pH 6.8 for 96 hours and 24 hours. These results provide evidences that exposure to AlCl( 3) in an acid environment can influence locomotor activity and learning and memory abilities in zebrafish. In addition, exposure time and concentration of Al induced neurotoxicity and damaged the brain area of memory, resulting in Alzheimer's disease-like behavior.

  2. Towards Restoration of Missing Underwater Forests

    PubMed Central

    Vergés, Adriana; Coleman, Melinda A.; Steinberg, Peter D.

    2014-01-01

    Degradation of natural habitats due to urbanization is a major cause of biodiversity loss. Anthropogenic impacts can drive phase shifts from productive, complex ecosystems to less desirable, less diverse systems that provide fewer services. Macroalgae are the dominant habitat-forming organisms on temperate coastlines, providing habitat and food to entire communities. In recent decades, there has been a decline in macroalgal cover along some urbanised shorelines, leading to a shift from diverse algal forests to more simple turf algae or barren habitats. Phyllospora comosa, a major habitat forming macroalga in south-eastern Australia, has disappeared from the urban shores of Sydney. Its disappearance is coincident with heavy sewage outfall discharges along the metropolitan coast during 1970s and 1980s. Despite significant improvements in water-quality since that time, Phyllospora has not re-established. We experimentally transplanted adult Phyllospora into two rocky reefs in the Sydney metropolitan region to examine the model that Sydney is now suitable for the survival and recruitment of Phyllospora and thus assess the possibility of restoring Phyllospora back onto reefs where it was once abundant. Survival of transplanted individuals was high overall, but also spatially variable: at one site most individuals were grazed, while at the other site survival was similar to undisturbed algae and procedural controls. Transplanted algae reproduced and recruitment rates were higher than in natural populations at one experimental site, with high survival of new recruits after almost 18 months. Low supply and settlement success of propagules in the absence of adults and herbivory (in some places) emerge as three potential processes that may have been preventing natural re-establishment of this alga. Understanding of the processes and interactions that shape this system are necessary to provide ecologically sensible goals and the information needed to successfully restore

  3. Initiation and modulation of locomotor circuitry output with multisite transcutaneous electrical stimulation of the spinal cord in noninjured humans.

    PubMed

    Gerasimenko, Yury; Gorodnichev, Ruslan; Puhov, Aleksandr; Moshonkina, Tatiana; Savochin, Aleksandr; Selionov, Victor; Roy, Roland R; Lu, Daniel C; Edgerton, V Reggie

    2015-02-01

    The mammalian lumbar spinal cord has the capability to generate locomotor activity in the absence of input from the brain. Previously, we reported that transcutaneous electrical stimulation of the spinal cord at vertebral level T11 can activate the locomotor circuitry in noninjured subjects when their legs are placed in a gravity-neutral position (Gorodnichev RM, Pivovarova EA, Pukhov A, Moiseev SA, Savokhin AA, Moshonkina TR, Shcherbakova NA, Kilimnik VA, Selionov VA, Kozlovskaia IB, Edgerton VR, Gerasimenko IU. Fiziol Cheloveka 38: 46-56, 2012). In the present study we hypothesized that stimulating multiple spinal sites and therefore unique combinations of networks converging on postural and locomotor lumbosacral networks would be more effective in inducing more robust locomotor behavior and more selective control than stimulation of more restricted networks. We demonstrate that simultaneous stimulation at the cervical, thoracic, and lumbar levels induced coordinated stepping movements with a greater range of motion at multiple joints in five of six noninjured subjects. We show that the addition of stimulation at L1 and/or at C5 to stimulation at T11 immediately resulted in enhancing the kinematics and interlimb coordination as well as the EMG patterns in proximal and distal leg muscles. Sequential cessation of stimulation at C5 and then at L1 resulted in a progressive degradation of the stepping pattern. The synergistic and interactive effects of transcutaneous stimulation suggest a multisegmental convergence of descending and ascending, and most likely propriospinal, influences on the spinal neuronal circuitries associated with locomotor activity. The potential impact of using multisite spinal cord stimulation as a strategy to neuromodulate the spinal circuitry has significant implications in furthering our understanding of the mechanisms controlling posture and locomotion and for regaining significant sensorimotor function even after a severe spinal cord

  4. Effects of exogenous corticosterone on locomotor activity in the red-eared slider turtle, Trachemys scripta elegans.

    PubMed

    Cash, W B; Holberton, R L

    1999-11-01

    We investigated the effects of exogenous corticosterone on the locomotor activity of captive red-eared slider turtles, Trachemys scripta elegans. An increase in plasma corticosterone often increases locomotor activity in mammals and birds, but there are no reported findings for turtles. In this study turtles implanted with corticosterone-filled Silastic((R)) implants showed a significant increase in caged locomotor activity when compared to control animals with empty implants. Corticosterone-treated turtles also showed a significant increase in plasma corticosterone concentration when pre-trial plasma samples were compared to post-trial plasma samples, while control turtles exhibited no such increase, validating the effectiveness of our implants to deliver corticosterone. Although corticosterone remained high at the end of the activity trials, the increase in activity was ephemeral in nature, peaking within 48 hr after the implant was in place. This suggests that the effects of corticosterone on behavior may be context-dependent (i.e., whether the turtles can find food) and concentration-dependent, and that there are underlying physiological mechanisms, perhaps mediated at the receptor level in the brain, involved in locomotor activity behavior in slider turtles. Environmental perturbations that cause a reduction in available food resources may cause the organism to increase its level of locomotor activity to increase food encounter rate but later reduce activity to conserve energy reserves. These data are important when considering behavioral and physiological mechanisms involved in a turtle's response to changing conditions in habitat quality. J. Exp. Zool. 284:637-644, 1999. Copyright 1999 Wiley-Liss, Inc.

  5. Amplified piezoelectric actuators: from aerospace to underwater applications

    NASA Astrophysics Data System (ADS)

    Bouchilloux, Philippe; Claeyssen, Frank; Le Letty, Ronan

    2004-07-01

    Aerospace and underwater applications typically require actuators capable of large displacements, precise positioning, and fast response times. To meet these requirements, several classes of actuators based on low-voltage piezoelectric materials have been developed, and, in the case of the Amplified Piezoelectric Actuators (APA series), space qualified. The APA actuators offer large displacements (up to 1mm), large deformations (up to 3%), and large forces (up to 1kN) at low electrical power. These actuators can withstand large external forces and have successfully passed severe qualification tests such as centrifugal accelerations and vibration forces encountered during space launch. Aerospace applications of APAs include scientific instrumentation, such as telescopes and microscopes, microsatellite propulsion valves, and structural vibration control. Aeronautical applications include active flap control in aircraft wings and helicopter blades. Underwater applications focus on the silencing of ships, the piezodiagnostic (NDE) of structural defects in pipelines and hulls, and guidance systems of unmanned vehicles. This paper reviews the use of piezoelectric actuators, in particular APAs, in such applications. Qualification results, when available, are presented and discussed.

  6. Spatial Modulation in the Underwater Acoustic Channel

    DTIC Science & Technology

    2004-12-20

    input multiple - output ( MIMO ) communication channels are an active area of research for terrestrial wireless applications. The natural bandwidth...band phone can expect coherence times of ABSTRACT nearly 10000/B. These conditions demand sophisticated Multiple - input / multiple - output ( MIMO ...Spatial Modulation in the Underwater Acoustic Channel Daniel Kilfoyle SAIC phone: 508-274-1197 email: daniel.b.kilfoyle@saic.com Abstract Multiple

  7. Underwater Adhesives Retrofit Pipelines with Advanced Sensors

    NASA Technical Reports Server (NTRS)

    2015-01-01

    Houston-based Astro Technology Inc. used a partnership with Johnson Space Center to pioneer an advanced fiber-optic monitoring system for offshore oil pipelines. The company's underwater adhesives allow it to retrofit older deepwater systems in order to measure pressure, temperature, strain, and flow properties, giving energy companies crucial data in real time and significantly decreasing the risk of a catastrophe.

  8. Ocean Variability Effects on Underwater Acoustic Communications

    DTIC Science & Technology

    2009-09-30

    DISTRIBUTION STATEMENT A. Approved for public release; distribution is unlimited. Ocean Variability Effects on Underwater Acoustic...APPROACH High rate acoustic communications in the ocean is a challenging task in the presence of environmental variability . There exist two...kinds of variability : 1) rapid fluctuations of the channel over scales of seconds due to small-scale fast ocean processes, dynamic ocean surfaces, and

  9. Evolution: Fossil Ears and Underwater Sonar.

    PubMed

    Lambert, Olivier

    2016-08-22

    A key innovation in the history of whales was the evolution of a sonar system together with high-frequency hearing. Fossils of an archaic toothed whale's inner ear bones provide clues for a stepwise emergence of underwater echolocation ability. Copyright © 2016 Elsevier Ltd. All rights reserved.

  10. Adaptive Target Tracking for Underwater Maneuvering Targets.

    DTIC Science & Technology

    1979-12-01

    Gholson and Moose [5] to three-dimensional tracking. The general approach which uses the "adaptive semi-Markov man- euver model" of [4] and [5] implies a...of a maneuvering target (U)," U.S. Naval J. Underwater Acoustics, July 1973. [51 N. H. Gholson and R. L. Moose, "Maneuvering target tracking using

  11. KE Basin underwater visual fuel survey

    SciTech Connect

    Pitner, A.L.

    1995-02-01

    Results of an underwater video fuel survey in KE Basin using a high resolution camera system are presented. Quantitative and qualitative information on fuel degradation are given, and estimates of the total fraction of ruptured fuel elements are provided. Representative photographic illustrations showing the range of fuel conditions observed in the survey are included.

  12. ISS Expedition 45 / 46 Underwater Crew Training

    NASA Image and Video Library

    2015-02-03

    Underwater camera views of ISS Expedition 45 (Soyuz 42) crewmember Scott Kelly and ISS Expedition 46 (Soyuz 43) crewmember Kjell Lindgren during ISS Extravehicular Activity (EVA) Maintenance 9 Training (PMA/PMM Relocate) at JSC's Neutral Buoyancy Lab (NBL) Pool Deck at Sonny Carter Training Facility (SCTF). TIME magazine film crew filming activities.

  13. Underwater image mosaicking and visual odometry

    NASA Astrophysics Data System (ADS)

    Sadjadi, Firooz; Tangirala, Sekhar; Sorber, Scott

    2017-05-01

    This paper summarizes the results of studies in underwater odometery using a video camera for estimating the velocity of an unmanned underwater vehicle (UUV). Underwater vehicles are usually equipped with sonar and Inertial Measurement Unit (IMU) - an integrated sensor package that combines multiple accelerometers and gyros to produce a three dimensional measurement of both specific force and angular rate with respect to an inertial reference frame for navigation. In this study, we investigate the use of odometry information obtainable from a video camera mounted on a UUV to extract vehicle velocity relative to the ocean floor. A key challenge with this process is the seemingly bland (i.e. featureless) nature of video data obtained underwater which could make conventional approaches to image-based motion estimation difficult. To address this problem, we perform image enhancement, followed by frame to frame image transformation, registration and mosaicking/stitching. With this approach the velocity components associated with the moving sensor (vehicle) are readily obtained from (i) the components of the transform matrix at each frame; (ii) information about the height of the vehicle above the seabed; and (iii) the sensor resolution. Preliminary results are presented.

  14. Haptic proprioception in a virtual locomotor task.

    PubMed

    Karunakaran, Kiran; Abbruzzese, Kevin; Xu, Hao; Ehrenberg, Naphtaly; Foulds, Richard

    2014-01-01

    Normal gait needs both proprioceptive and visual feedback to the nervous system to effectively control the rhythmicity of motor movement. Current preprogrammed exoskeletons provide only visual feedback with no user control over the foot trajectory. We propose an intuitive controller where hand trajectories are mapped to control contralateral foot movement. Our study shows that proprioceptive feedback provided to the users hand in addition to visual feedback result in better control during virtual ambulation than visual feedback alone. Hand trajectories resembled normal foot trajectories when both proprioceptive and visual feedback was present. Our study concludes that haptic feedback is essential for both temporal and spatial aspects of motor control in rhythmic movements.

  15. Communication and cooperation in underwater acoustic networks

    NASA Astrophysics Data System (ADS)

    Yerramalli, Srinivas

    In this thesis, we present a study of several problems related to underwater point to point communications and network formation. We explore techniques to improve the achievable data rate on a point to point link using better physical layer techniques and then study sensor cooperation which improves the throughput and reliability in an underwater network. Robust point-to-point communications in underwater networks has become increasingly critical in several military and civilian applications related to underwater communications. We present several physical layer signaling and detection techniques tailored to the underwater channel model to improve the reliability of data detection. First, a simplified underwater channel model in which the time scale distortion on each path is assumed to be the same (single scale channel model in contrast to a more general multi scale model). A novel technique, which exploits the nature of OFDM signaling and the time scale distortion, called Partial FFT Demodulation is derived. It is observed that this new technique has some unique interference suppression properties and performs better than traditional equalizers in several scenarios of interest. Next, we consider the multi scale model for the underwater channel and assume that single scale processing is performed at the receiver. We then derive optimized front end pre-processing techniques to reduce the interference caused during single scale processing of signals transmitted on a multi-scale channel. We then propose an improvised channel estimation technique using dictionary optimization methods for compressive sensing and show that significant performance gains can be obtained using this technique. In the next part of this thesis, we consider the problem of sensor node cooperation among rational nodes whose objective is to improve their individual data rates. We first consider the problem of transmitter cooperation in a multiple access channel and investigate the stability of

  16. miR-124 Regulates the Phase of Drosophila Circadian Locomotor Behavior.

    PubMed

    Zhang, Yong; Lamba, Pallavi; Guo, Peiyi; Emery, Patrick

    2016-02-10

    Animals use circadian rhythms to anticipate daily environmental changes. Circadian clocks have a profound effect on behavior. In Drosophila, for example, brain pacemaker neurons dictate that flies are mostly active at dawn and dusk. miRNAs are small, regulatory RNAs (≈22 nt) that play important roles in posttranscriptional regulation. Here, we identify miR-124 as an important regulator of Drosophila circadian locomotor rhythms. Under constant darkness, flies lacking miR-124 (miR-124(KO)) have a dramatically advanced circadian behavior phase. However, whereas a phase defect is usually caused by a change in the period of the circadian pacemaker, this is not the case in miR-124(KO) flies. Moreover, the phase of the circadian pacemaker in the clock neurons that control rhythmic locomotion is not altered either. Therefore, miR-124 modulates the output of circadian clock neurons rather than controlling their molecular pacemaker. Circadian phase is also advanced under temperature cycles, but a light/dark cycle partially corrects the defects in miR-124(KO) flies. Indeed, miR-124(KO) shows a normal evening phase under the latter conditions, but morning behavioral activity is suppressed. In summary, miR-124 controls diurnal activity and determines the phase of circadian locomotor behavior without affecting circadian pacemaker function. It thus provides a potent entry point to elucidate the mechanisms by which the phase of circadian behavior is determined. In animals, molecular circadian clocks control the timing of behavioral activities to optimize them with the day/night cycle. This is critical for their fitness and survival. The mechanisms by which the phase of circadian behaviors is determined downstream of the molecular pacemakers are not yet well understood. Recent studies indicate that miRNAs are important regulators of circadian outputs. We found that miR-124 shapes diurnal behavioral activity and has a striking impact on the phase of circadian locomotor behavior

  17. General and Specific Strategies Used to Facilitate Locomotor Maneuvers

    PubMed Central

    Wu, Mengnan; Matsubara, Jesse H.; Gordon, Keith E.

    2015-01-01

    People make anticipatory changes in gait patterns prior to initiating a rapid change of direction. How they prepare will change based on their knowledge of the maneuver. To investigate specific and general strategies used to facilitate locomotor maneuvers, we manipulated subjects’ ability to anticipate the direction of an upcoming lateral “lane-change” maneuver. To examine specific anticipatory adjustments, we observed the four steps immediately preceding a maneuver that subjects were instructed to perform at a known time in a known direction. We hypothesized that to facilitate a specific change of direction, subjects would proactively decrease margin of stability in the future direction of travel. Our results support this hypothesis: subjects significantly decreased lateral margin of stability by 69% on the side ipsilateral to the maneuver during only the step immediately preceding the maneuver. This gait adaptation may have improved energetic efficiency and simplified the control of the maneuver. To examine general anticipatory adjustments, we observed the two steps immediately preceding the instant when subjects received information about the direction of the maneuver. When the maneuver direction was unknown, we hypothesized that subjects would make general anticipatory adjustments that would improve their ability to actively initiate a maneuver in multiple directions. This second hypothesis was partially supported as subjects increased step width and stance phase hip flexion during these anticipatory steps. These modifications may have improved subjects’ ability to generate forces in multiple directions and maintain equilibrium during the onset and execution of the rapid maneuver. However, adapting these general anticipatory strategies likely incurred an additional energetic cost. PMID:26167931

  18. A Model of Locomotor-Respiratory Coupling in Quadrupeds

    ERIC Educational Resources Information Center

    Giuliodori,, Mauricio J.; Lujan, Heidi L.; Briggs, Whitney S.; DiCarlo, Stephen E.

    2009-01-01

    Locomotion and respiration are not independent phenomena in running mammals because locomotion and respiration both rely on cyclic movements of the ribs, sternum, and associated musculature. Thus, constraints are imposed on locomotor and respiratory function by virtue of their linkage. Specifically, locomotion imposes mechanical constraints on…

  19. Unraveling a locomotor network, many neurons at a time.

    PubMed

    Brownstone, Robert M; Stifani, Nicolas

    2015-04-08

    In this issue of Neuron, Bruno et al. (2015) use large-scale recordings in Aplysia, and apply novel dimensionality-reduction techniques to define dynamical building blocks involved in locomotor behavior. These techniques open new avenues to the study of neuronal networks.

  20. A Model of Locomotor-Respiratory Coupling in Quadrupeds

    ERIC Educational Resources Information Center

    Giuliodori,, Mauricio J.; Lujan, Heidi L.; Briggs, Whitney S.; DiCarlo, Stephen E.

    2009-01-01

    Locomotion and respiration are not independent phenomena in running mammals because locomotion and respiration both rely on cyclic movements of the ribs, sternum, and associated musculature. Thus, constraints are imposed on locomotor and respiratory function by virtue of their linkage. Specifically, locomotion imposes mechanical constraints on…

  1. Diagnostic imaging of the locomotor system- historical reviev.

    PubMed

    Swiatkowski, Jan; Białoszewski, Dariusz; Urbanik, Andrzej

    2002-10-30

    This work discusses the stages in the development of techniques used for imaging the locomotor apparatus. Attention is also drawn to the fact that from the very beginning of the "Roentgen era" Polish scientists were among its leading advocates and promoters.

  2. Nature and Causes of Locomotor Disabilities in India

    ERIC Educational Resources Information Center

    Halder, Santoshi; Talukdar, Arindam

    2013-01-01

    A large proportion of disability around the world is preventable. Levels of disability in many poor countries can be reduced by achieving the international development targets for economic, social and human development. In this paper, the author studied the different contributory and causative factors of locomotor disability, disease states and…

  3. Acute Neuroactive Drug Exposures alter Locomotor Activity in Larval Zebrafish

    EPA Science Inventory

    As part of the development of a rapid in vivo screen for prioritization of toxic chemicals, we have begun to characterize the locomotor activity of zebrafish (Danio rerio) larvae by assessing the acute effects of prototypic drugs that act on the central nervous system. Initially,...

  4. Acute Neuroactive Drug Exposures alter Locomotor Activity in Larval Zebrafish

    EPA Science Inventory

    As part of the development of a rapid in vivo screen for prioritization of toxic chemicals, we have begun to characterize the locomotor activity of zebrafish (Danio rerio) larvae by assessing the acute effects of prototypic drugs that act on the central nervous system. Initially,...

  5. DRUG EFFECTS ON THE LOCOMOTOR ACTIVITY OF LARVAL ZEBRAFISH.

    EPA Science Inventory

    As part of an effort to develop a rapid in vivo screen for EPA’s prioritization of toxic chemicals, we have begun to characterize the locomotor activity of zebrafish (Danio rerio) larvae and the effects of prototype drugs. Zebrafish larvae (6-7 days post-fertilization) were indiv...

  6. Locomotor Experience and Use of Social Information Are Posture Specific

    ERIC Educational Resources Information Center

    Adolph, Karen E.; Tamis-LeMonda, Catherine S.; Ishak, Shaziela; Karasik, Lana B.; Lobo, Sharon A.

    2008-01-01

    The authors examined the effects of locomotor experience on infants' perceptual judgments in a potentially risky situation--descending steep and shallow slopes--while manipulating social incentives to determine where perceptual judgments are most malleable. Twelve-month-old experienced crawlers and novice walkers were tested on an adjustable…

  7. Limits to human locomotor performance: phylogenetic origins and comparative perspectives.

    PubMed

    Dudley, R

    2001-09-01

    Studies of human exercise physiology have been conducted from a largely ahistorical perspective. This approach usefully elucidates proximate limits to locomotor performance, but ignores potential sources of biomechanical and physiological variation that derive from adaptation to ancestral environments. Phylogenetic reconstruction suggests that multiple hominoid lineages, including that leading to Homo sapiens, evolved in African highlands at altitudes of 1000-2000 m. The evolution of human locomotor physiology therefore occurred under conditions of hypobaric hypoxia. In contrast to present-day humans running on treadmills or exercising in otherwise rectilinear trajectories, ancestral patterns of hominid locomotion probably involved intermittent knuckle-walking over variable terrain, occasional bouts of arboreality and an evolving capacity for bipedalism. All such factors represent potential axes of locomotor variation at present unstudied in extant hominoid taxa. As with humans, hummingbirds evolved in mid-montane contexts but pose an extreme contrast with respect to body size, locomotor mode and metabolic capacity. Substantial biomechanical and physiological challenges are associated with flight in hypobaria. Nonetheless, hummingbird lineages demonstrate a progressive invasion of higher elevations and a remarkable tolerance to hypoxia during hovering. Upregulation of aerobic capacity and parallel resistance to hypoxia may represent coupled evolutionary adaptations to flight under high-altitude conditions.

  8. DRUG EFFECTS ON THE LOCOMOTOR ACTIVITY OF LARVAL ZEBRAFISH.

    EPA Science Inventory

    As part of an effort to develop a rapid in vivo screen for EPA’s prioritization of toxic chemicals, we have begun to characterize the locomotor activity of zebrafish (Danio rerio) larvae and the effects of prototype drugs. Zebrafish larvae (6-7 days post-fertilization) were indiv...

  9. Novel and Direct Access to the Human Locomotor Spinal Circuitry

    PubMed Central

    Gerasimenko, Yury; Gorodnichev, Ruslan; Machueva, Ekaterina; Pivovarova, Elena; Semyenov, Denis; Savochin, Alexandr; Roy, Roland R.; Edgerton, V. Reggie

    2010-01-01

    The degree of automaticity of locomotion in primates compared to other mammals remains unclear. Here we examine the possibility for activation of the spinal locomotor circuitry in non-injured humans by spinal electromagnetic stimulation (SEMS). SEMS (3 Hz and 1.3 to 1.82 Tesla) at the T11–T12 vertebrae induced involuntary bilateral locomotor-like movements in the legs of individuals placed in a gravity-neutral position. The formation of locomotor-like activity during SEMS started with a latency of 0.68 ± 0.1 sec after delivering the first stimulus, unlike continuous vibration of muscles that requires several seconds. The first EMG burst in response to SEMS was observed most often in a proximal flexor muscle. We speculate that SEMS directly activates the circuitry intrinsic to the spinal cord, as suggested by the immediate response and the electrophysiological observations demonstrating an absence of strictly time-linked responses within the EMG burst associated with individual stimuli during SEMS. SEMS in the presence of vibration of the leg muscles was more effective in facilitating locomotor-like activity than SEMS alone. The present results suggest that SEMS could be an effective noninvasive clinical tool to determine the potential of an individual to recover locomotion after a spinal cord injury as well as being an effective rehabilitation tool itself. PMID:20220003

  10. Novel and direct access to the human locomotor spinal circuitry.

    PubMed

    Gerasimenko, Yury; Gorodnichev, Ruslan; Machueva, Ekaterina; Pivovarova, Elena; Semyenov, Denis; Savochin, Alexandr; Roy, Roland R; Edgerton, V Reggie

    2010-03-10

    The degree of automaticity of locomotion in primates compared with other mammals remains unclear. Here, we examine the possibility for activation of the spinal locomotor circuitry in noninjured humans by spinal electromagnetic stimulation (SEMS). SEMS (3 Hz and 1.3-1.82 tesla) at the T11-T12 vertebrae induced involuntary bilateral locomotor-like movements in the legs of individuals placed in a gravity-neutral position. The formation of locomotor-like activity during SEMS started with a latency of 0.68 +/- 0.1 s after delivering the first stimulus, unlike continuous vibration of muscles, which requires several seconds. The first EMG burst in response to SEMS was observed most often in a proximal flexor muscle. We speculate that SEMS directly activates the circuitry intrinsic to the spinal cord, as suggested by the immediate response and the electrophysiological observations demonstrating an absence of strictly time-linked responses within the EMG burst associated with individual stimuli during SEMS. SEMS in the presence of vibration of the leg muscles was more effective in facilitating locomotor-like activity than SEMS alone. The present results suggest that SEMS could be an effective noninvasive clinical tool to determine the potential of an individual to recover locomotion after a spinal cord injury, as well as being an effective rehabilitation tool itself.

  11. Acute neuroactive drug exposures alter locomotor activity in larval zebrafish

    EPA Science Inventory

    In an effort to develop a rapid in vivo screen for EPA's prioritization of toxic chemicals, we are characterizing the locomotor activity of zebrafish (Danio rerio) larvae after exposure to prototypic drugs that act on the central nervous system. MPTP (1-methyl-4phenyl- 1 ,2,3,6-...

  12. Acute neuroactive drug exposures alter locomotor activity in larval zebrafish

    EPA Science Inventory

    In an effort to develop a rapid in vivo screen for EPA's prioritization of toxic chemicals, we are characterizing the locomotor activity of zebrafish (Danio rerio) larvae after exposure to prototypic drugs that act on the central nervous system. MPTP (1-methyl-4phenyl- 1 ,2,3,6-...

  13. Influence of benzodiazepine tranquilizers on scopolamine-induced locomotor stimulation in mice.

    PubMed

    Sansone, M

    1980-01-01

    Four benzodiazepine tranquilizers have been tested, alone or in combination with scopolamine, on the spontaneous locomotor activity of BALB/c mice. Scopolamine-induced locomotor stimulation was enhanced by chlordiazepoxide, diazepam, and medazepam, but not by bromazepam. These effects are similar to those exerted by the four benzodiazepines on amphetamine-induced locomotor stimulation and allow the same differentiation between the four derivatives.

  14. Influence of locomotor muscle afferent inhibition on the ventilatory response to exercise in heart failure.

    PubMed

    Olson, Thomas P; Joyner, Michael J; Eisenach, John H; Curry, Timothy B; Johnson, Bruce D

    2014-02-01

    What is the central question of this study? Patients with heart failure often develop ventilatory abnormalities at rest and during exercise, but the mechanisms underlying these abnormalities remain unclear. This study investigated the influence of inhibiting afferent neural feedback from locomotor muscles on the ventilatory response during exercise in heart failure patients. What is the main finding and its importance? Our results suggest that inhibiting afferent feedback from locomotor muscle via intrathecal opioid administration significantly reduces the ventilatory response to exercise in heart failure patients. Patients with heart failure (HF) develop ventilatory abnormalities at rest and during exercise, but the mechanism(s) underlying these abnormalities remain unclear. We examined whether the inhibition of afferent neural feedback from locomotor muscles during exercise reduces exercise ventilation in HF patients. In a randomized, placebo-controlled design, nine HF patients (age, 60 ± 2 years; ejection fraction, 27 ± 2%; New York Heart Association class 2 ± 1) and nine control subjects (age, 63 ± 2 years) underwent constant-work submaximal cycling (65% peak power) with intrathecal fentanyl (impairing the cephalad projection of opioid receptor-sensitive afferents) or sham injection. The hypercapnic ventilatory response was measured to determine whether cephalad migration of fentanyl occurred. There were no differences in hypercapnic ventilatory response within or between groups in either condition. Despite a lack of change in ventilation, tidal volume or respiratory rate, HF patients had a mild increase in arterial carbon dioxide (P(aCO(2)) and a decrease in oxygen (P(aO(2)); P < 0.05 for both) at rest. The control subjects demonstrated no change in P(aCO(2)), P(aO(2)), ventilation, tidal volume or respiratory rate at rest. In response to fentanyl during exercise, HF patients had a reduction in ventilation (63 ± 6 versus 44 ± 3 l min(-1), P < 0.05) due

  15. Activation of Neurotensin Receptor Type 1 Attenuates Locomotor Activity

    PubMed Central

    Vadnie, Chelsea A.; Hinton, David J.; Choi, Sun; Choi, YuBin; Ruby, Christina L.; Oliveros, Alfredo; Prieto, Miguel L.; Park, Jun Hyun; Choi, Doo-Sup

    2014-01-01

    Intracerebroventricular administration of neurotensin (NT) suppresses locomotor activity. However, the brain regions that mediate the locomotor depressant effect of NT and receptor subtype-specific mechanisms involved are unclear. Using a brain-penetrating, selective NT receptor type 1 (NTS1) agonist PD149163, we investigated the effect of systemic and brain region-specific NTS1 activation on locomotor activity. Systemic administration of PD149163 attenuated the locomotor activity of C57BL/6J mice both in a novel environment and in their homecage. However, mice developed tolerance to the hypolocomotor effect of PD149163 (0.1 mg/kg, i.p.). Since NTS1 is known to modulate dopaminergic signaling, we examined whether PD149163 blocks dopamine receptor-mediated hyperactivity. Pretreatment with PD149163 (0.1 or 0.05 mg/kg, i.p.) inhibited D2R agonist bromocriptine (8 mg/kg, i.p.)-mediated hyperactivity. D1R agonist SKF81297 (8 mg/kg, i.p.)-induced hyperlocomotion was only inhibited by 0.1 mg/kg of PD149163. Since the nucleus accumbens (NAc) and medial prefrontal cortex (mPFC) have been implicated in the behavioral effects of NT, we examined whether microinjection of PD149163 into these regions reduces locomotion. Microinjection of PD149163 (2 pmol) into the NAc, but not the mPFC suppressed locomotor activity. In summary, our results indicate that systemic and intra-NAc activation of NTS1 is sufficient to reduce locomotion and NTS1 activation inhibits D2R-mediated hyperactivity. Our study will be helpful to identify pharmacological factors and a possible therapeutic window for NTS1-targeted therapies for movement disorders. PMID:24929110

  16. The ventromedial hypothalamus oxytocin induces locomotor behavior regulated by estrogen.

    PubMed

    Narita, Kazumi; Murata, Takuya; Matsuoka, Satoshi

    2016-10-01

    Our previous studies demonstrated that excitation of neurons in the rat ventromedial hypothalamus (VMH) induced locomotor activity. An oxytocin receptor (Oxtr) exists in the VMH and plays a role in regulating sexual behavior. However, the role of Oxtr in the VMH in locomotor activity is not clear. In this study we examined the roles of oxytocin in the VMH in running behavior, and also investigated the involvement of estrogen in this behavioral change. Microinjection of oxytocin into the VMH induced a dose-dependent increase in the running behavior in male rats. The oxytocin-induced running activity was inhibited by simultaneous injection of Oxtr-antagonist, (d(CH2)5(1), Try(Me)(2), Orn(8))-oxytocin. Oxytocin injection also induced running behavior in ovariectomized (OVX) female rats. Pretreatment of the OVX rats with estrogen augmented the oxytocin-induced running activity twofold, and increased the Oxtr mRNA in the VMH threefold. During the estrus cycle locomotor activity spontaneously increased in the dark period of proestrus. The Oxtr mRNA was up-regulated in the proestrus afternoon. Blockade of oxytocin neurotransmission by its antagonist before the onset of the dark period of proestrus decreased the following nocturnal locomotor activity. These findings demonstrate that Oxtr in the VMH is involved in the induction of running behavior and that estrogen facilitates this effect by means of Oxtr up-regulation, suggesting the involvement of oxytocin in the locomotor activity of proestrus female rats. Copyright © 2016 Elsevier Inc. All rights reserved.

  17. Down-Regulation of Decapping Protein 2 Mediates Chronic Nicotine Exposure-Induced Locomotor Hyperactivity in Drosophila

    PubMed Central

    Ren, Jing; Sun, Jinghan; Zhang, Yunpeng; Liu, Tong; Ren, Qingzhong; Li, Yan; Guo, Aike

    2012-01-01

    Long-term tobacco use causes nicotine dependence via the regulation of a wide range of genes and is accompanied by various health problems. Studies in mammalian systems have revealed some key factors involved in the effects of nicotine, including nicotinic acetylcholine receptors (nAChRs), dopamine and other neurotransmitters. Nevertheless, the signaling pathways that link nicotine-induced molecular and behavioral modifications remain elusive. Utilizing a chronic nicotine administration paradigm, we found that adult male fruit flies exhibited locomotor hyperactivity after three consecutive days of nicotine exposure, while nicotine-naive flies did not. Strikingly, this chronic nicotine-induced locomotor hyperactivity (cNILH) was abolished in Decapping Protein 2 or 1 (Dcp2 or Dcp1) -deficient flies, while only Dcp2-deficient flies exhibited higher basal levels of locomotor activity than controls. These results indicate that Dcp2 plays a critical role in the response to chronic nicotine exposure. Moreover, the messenger RNA (mRNA) level of Dcp2 in the fly head was suppressed by chronic nicotine treatment, and up-regulation of Dcp2 expression in the nervous system blocked cNILH. These results indicate that down-regulation of Dcp2 mediates chronic nicotine-exposure-induced locomotor hyperactivity in Drosophila. The decapping proteins play a major role in mRNA degradation; however, their function in the nervous system has rarely been investigated. Our findings reveal a significant role for the mRNA decapping pathway in developing locomotor hyperactivity in response to chronic nicotine exposure and identify Dcp2 as a potential candidate for future research on nicotine dependence. PMID:23300696

  18. Modulation of spontaneous locomotor and respiratory drives to hindlimb motoneurons temporally related to sympathetic drives as revealed by Mayer waves

    PubMed Central

    Wienecke, Jacob; Enríquez Denton, Manuel; Stecina, Katinka; Kirkwood, Peter A.; Hultborn, Hans

    2015-01-01

    In this study we investigated how the networks mediating respiratory and locomotor drives to lumbar motoneurons interact and how this interaction is modulated in relation to periodic variations in blood pressure (Mayer waves). Seven decerebrate cats, under neuromuscular blockade, were used to study central respiratory drive potentials (CRDPs, usually enhanced by added CO2) and spontaneously occurring locomotor drive potentials (LDPs) in hindlimb motoneurons, together with hindlimb and phrenic nerve discharges. In four of the cats both drives and their voltage-dependent amplification were absent or modest, but in the other three, one or other of these drives was common and the voltage-dependent amplification was frequently strong. Moreover, in these three cats the blood pressure showed marked periodic variation (Mayer waves), with a slow rate (periods 9–104 s, mean 39 ± 17 SD). Profound modulation, synchronized with the Mayer waves was seen in the occurrence and/or in the amplification of the CRDPs or LDPs. In one animal, where CRDPs were present in most cells and the amplification was strong, the CRDP consistently triggered sustained plateaux at one phase of the Mayer wave cycle. In the other two animals, LDPs were common, and the occurrence of the locomotor drive was gated by the Mayer wave cycle, sometimes in alternation with the respiratory drive. Other interactions between the two drives involved respiration providing leading events, including co-activation of flexors and extensors during post-inspiration or a locomotor drive gated or sometimes entrained by respiration. We conclude that the respiratory drive in hindlimb motoneurons is transmitted via elements of the locomotor central pattern generator. The rapid modulation related to Mayer waves suggests the existence of a more direct and specific descending modulatory control than has previously been demonstrated. PMID:25713515

  19. Down-regulation of Decapping Protein 2 mediates chronic nicotine exposure-induced locomotor hyperactivity in Drosophila.

    PubMed

    Ren, Jing; Sun, Jinghan; Zhang, Yunpeng; Liu, Tong; Ren, Qingzhong; Li, Yan; Guo, Aike

    2012-01-01

    Long-term tobacco use causes nicotine dependence via the regulation of a wide range of genes and is accompanied by various health problems. Studies in mammalian systems have revealed some key factors involved in the effects of nicotine, including nicotinic acetylcholine receptors (nAChRs), dopamine and other neurotransmitters. Nevertheless, the signaling pathways that link nicotine-induced molecular and behavioral modifications remain elusive. Utilizing a chronic nicotine administration paradigm, we found that adult male fruit flies exhibited locomotor hyperactivity after three consecutive days of nicotine exposure, while nicotine-naive flies did not. Strikingly, this chronic nicotine-induced locomotor hyperactivity (cNILH) was abolished in Decapping Protein 2 or 1 (Dcp2 or Dcp1) -deficient flies, while only Dcp2-deficient flies exhibited higher basal levels of locomotor activity than controls. These results indicate that Dcp2 plays a critical role in the response to chronic nicotine exposure. Moreover, the messenger RNA (mRNA) level of Dcp2 in the fly head was suppressed by chronic nicotine treatment, and up-regulation of Dcp2 expression in the nervous system blocked cNILH. These results indicate that down-regulation of Dcp2 mediates chronic nicotine-exposure-induced locomotor hyperactivity in Drosophila. The decapping proteins play a major role in mRNA degradation; however, their function in the nervous system has rarely been investigated. Our findings reveal a significant role for the mRNA decapping pathway in developing locomotor hyperactivity in response to chronic nicotine exposure and identify Dcp2 as a potential candidate for future research on nicotine dependence.

  20. Trajectory-Based Visual Localization in Underwater Surveying Missions

    PubMed Central

    Burguera, Antoni; Bonin-Font, Francisco; Oliver, Gabriel

    2015-01-01

    We present a new vision-based localization system applied to an autonomous underwater vehicle (AUV) with limited sensing and computation capabilities. The traditional EKF-SLAM approaches are usually expensive in terms of execution time; the approach presented in this paper strengthens this method by adopting a trajectory-based schema that reduces the computational requirements. The pose of the vehicle is estimated using an extended Kalman filter (EKF), which predicts the vehicle motion by means of a visual odometer and corrects these predictions using the data associations (loop closures) between the current frame and the previous ones. One of the most important steps in this procedure is the image registration method, as it reinforces the data association and, thus, makes it possible to close loops reliably. Since the use of standard EKFs entail linearization errors that can distort the vehicle pose estimations, the approach has also been tested using an iterated Kalman filter (IEKF). Experiments have been conducted using a real underwater vehicle in controlled scenarios and in shallow sea waters, showing an excellent performance with very small errors, both in the vehicle pose and in the overall trajectory estimates. PMID:25594602