Disrupting abnormal neuronal oscillations with adaptive delayed feedback control

Closed-loop neuronal stimulation has a strong therapeutic potential for neurological disorders such as Parkinson's disease. However, at the moment, standard stimulation protocols rely on continuous open-loop stimulation and the design of adaptive controllers is an active field of research. Delayed feedback control (DFC), a popular method used to control chaotic systems, has been proposed as a closed-loop technique for desynchronisation of neuronal populations but, so far, was only tested in computational studies. We implement DFC for the first time in neuronal populations and access its efficacy in disrupting unwanted neuronal oscillations. To analyse in detail the performance of this activity control algorithm, we used specialised in vitro platforms with high spatiotemporal monitoring/stimulating capabilities. We show that the conventional DFC in fact worsens the neuronal population oscillatory behaviour, which was never reported before. Conversely, we present an improved control algorithm, adaptive DFC (aDFC), which monitors the ongoing oscillation periodicity and self-tunes accordingly. aDFC effectively disrupts collective neuronal oscillations restoring a more physiological state. Overall, these results support aDFC as a better candidate for therapeutic closed-loop brain stimulation.

A Path-Following Controller for Marine Vehicles Using a Two-Scale Inner-Outer Loop Approach

This article addresses the problem of path following of marine vehicles along straight lines in the presence of currents by resorting to an inner-outer control loop strategy, with due account for the presence of currents. The inner-outer loop control structures exhibit a fast-slow temporal scale separation that yields simple “rules of thumb” for controller tuning. Stated intuitively, the inner-loop dynamics should be much faster than those of the outer loop. Conceptually, the procedure described has three key advantages: (i) it decouples the design of the inner and outer control loops, (ii) the structure of the outer-loop controller does not require exact knowledge of the vehicle dynamics, and (iii) it provides practitioners a very convenient method to effectively implement path-following controllers on a wide range of vehicles. The path-following controller discussed in this article is designed at the kinematic outer loop that commands the inner loop with the desired heading angles while the vehicle moves at an approximately constant speed. The key underlying idea is to provide a seamless implementation of path-following control algorithms on heterogeneous vehicles, which are often equipped with heading autopilots. To this end, we assume that the heading control system is characterized in terms of an IOS-like relationship without detailed knowledge of vehicle dynamics parameters. This paper quantitatively evaluates the combined inner-outer loop to obtain a relationship for assessing the combined system’s stability. The methods used are based on nonlinear control theory, wherein the cascade and feedback systems of interest are characterized in terms of their IOS properties. We use the IOS small-gain theorem to obtain quantitative relationships for controller tuning that are applicable to a broad range of marine vehicles. Tests with AUVs and one ASV in real-life conditions have shown the efficacy of the path-following control structure developed.

Robust Cooperative Moving Path Following Control for Marine Robotic Vehicles

This paper presents results on recent developments pertaining to the coordinated motion control of a fleet of marine robotic vehicles. Specifically, we address the Cooperative Moving Path Following (CMPF) motion control problem, that consists of steering the robotic vehicles along a priori specified geometric paths that jointly move according to a target frame, while achieving a pre-defined coordination objective. To this end, each vehicle will need to communicate with their neighbors in order to cooperatively solve the CMPF task. Two distinct robust Moving Path Following motion control strategies for achieving robustness on the moving path following tasks are proposed. Experimental results demonstrating the application of CMPF to marine vehicles in the context of source localization and tracking of underwater targets are presented backed with stability and convergence guarantees.

Review of Dotocryptus Brèthes (Hymenoptera, Ichneumonidae, Cryptinae), with a New Species from Colombia

The taxonomic limits of the Neotropical genus Dotocryptus Brèthes are reviewed. The genus is characterized mainly by the very long ovipositor, at least 2.2× as long as hind tibia; apex of ovipositor distinctly depressed, ventral valve expanded, and overlapping dorsal valve as a sheath; and mandible long with ventral tooth longer than dorsal one. A new species, Dotocryptus arcadius sp. nov., from Colombia is described and illustrated. The new species can be diagnosed mainly by the head and mesosoma with multiple whitish marks; epicnemial carina reaching 0.2-0.3 of distance to subalar ridge; legs marked with dark brown, orange, and whitish; and metasoma polished and glabrate. This is the northernmost record of the genus, previously known from Ecuador to southern Chile. An updated identification key to the species of the genus is provided, as well as diagnoses and new records for the previously known species.

An unmanned aircraft system for maritime operations

Unmanned air systems are becoming ever more important in modern societies but raise a number of unresolved problems. There are legal issues with the operation of these vehicles in nonsegregated airspace, and a pressing requirement to solve these issues is the development and testing of reliable and safe mechanisms to avoid collision in flight. In this article, we describe a sense and avoid subsystem developed for a maritime patrol unmanned air system. The article starts with a description of the unmanned air system, that was developed specifically for maritime patrol operations, and proceeds with a discussion of possible ways to guarantee that the unmanned air system does not collide with other flying objects. In the system developed, the position of the unmanned air system is obtained by the global positioning system and that of other flying objects is reported via a data link with a ground control station. This assumes that the detection of those flying objects is done by a radar in the ground or by self-reporting via a traffic monitoring system (such as automatic identification system). The algorithm developed is based on game theory. The approach is to handle both the procedures, threat detection phase and collision avoidance maneuver, in a unified fashion, where the optimal command for each possible relative attitude of the obstacle is computed off-line, therefore requiring low processing power for real-time operation. This work was done under the research project named SEAGULL that aims to improve maritime situational awareness using fleets of unmanned air system, where collision avoidance becomes a major concern.

Cytochrome c6 from Monoraphidium braunii. A cytochrome with an unusual heme axial coordination

A soluble monoheme c-type cytochrome (cytochrome c6) has been isolated from the green alga Monoraphidium braunii. It has a molecular mass of 9.3 kDa, an isoelectric point of 3.6 and a reduction potential of 358 mV at pH 7. The determined amino acid sequence allows its classification as a class-I c-type cytochrome. The ferric and ferrous cytochrome forms and their pH equilibria have been studied using 1H-NMR, ultraviolet/visible, EPR and Mössbauer spectroscopies. The pH equilibria are complex, several pKa values and pH-dependent forms being observed. The amino acid sequence, the reduction-potential value and the visible and NMR spectroscopies data in the pH range 4-9 indicate that the heme iron has a methionine-histidine axial coordination. However, the EPR and Mössbauer data obtained for the ferricytochrome show that in this pH range two distinct forms are present: form I, gz = 3.27, gy = 2.05 and gx = 1.05; form II, gz = 2.95, gy = 2.29 and gx = 1.43. While form I has crystal-field parameters typical of a methionine-histidine coordination, those associated with form II would suggest a histidine-histidine axial ligation. This possibility was extensively analyzed by spectroscopic methods and by chemical modification of a histidine residue. It was concluded that form II actually corresponds to an unusual type of methionine-histidine axial coordination. Straightforward examples of this type of coordination have recently been found in other c-type hemeproteins [Teixeira, M., Campos, A. P., Aguiar, A. P., Costa, H. S., Santos, H., Turner, D. L. & Xavier, A. V. (1993) FEBS Lett. 317, 233-236], corroborating our proposal. Since both forms, with very distinct crystal-field parameters, are shown to have the same reduction potential, it may be concluded that the axial and rhombic distortions of the heme-iron ligand field cannot be directly correlated with the heme-reduction potential. The pH-dependence studies have also shown that the form I and form II are interconvertible, with pKa approximately 5. To establish a possible physiological significance for this process, in particular for the interaction of the cytochrome with the membrane-bound electron-transfer complexes b6f and photosystem I, the effect of surfactants on the spectroscopic characteristics of cytochrome c6 has been studied.

Pitfalls in assigning heme axial coordination by EPR. c-Type cytochromes with atypical Met-His ligation

Different monohemic c-type cytochromes were analyzed by visible, EPR and 1H NMR spectroscopies. While the visible and NMR data show unambiguously that the heme iron has a Met-His heme axial coordination, the EPR data indicate an axial ligand field typical of that for a bis-histidinyl ligation. The validity of the widely used EPR methods for the determination of the heme iron axial coordination, based on the crystal field parameters (tetragonality and rhombicity), is questioned.