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  • Cybernetics, Artificial Intelligence and Robotics  (4)
  • General relativity, alternative theories of gravity  (3)
  • *Biodiversity  (2)
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  • 1
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    Reconstructing the microbial diversity and function of pre-agricultural tallgrass prairie soils in the United States (2013)
    American Association for the Advancement of Science (AAAS)
    Details
    Publication Date: 2013-11-02
    Description: Native tallgrass prairie once dominated much of the midwestern United States, but this biome and the soil microbial diversity that once sustained this highly productive system have been almost completely eradicated by decades of agricultural practices. We reconstructed the soil microbial diversity that once existed in this biome by analyzing relict prairie soils and found that the biogeographical patterns were largely driven by changes in the relative abundance of Verrucomicrobia, a poorly studied bacterial phylum that appears to dominate many prairie soils. Shotgun metagenomic data suggested that these spatial patterns were associated with strong shifts in carbon dynamics. We show that metagenomic approaches can be used to reconstruct below-ground biogeochemical and diversity gradients in endangered ecosystems; such information could be used to improve restoration efforts, given that even small changes in below-ground microbial diversity can have important impacts on ecosystem processes.〈br /〉〈span class="detail_caption"〉Notes: 〈/span〉Fierer, Noah -- Ladau, Joshua -- Clemente, Jose C -- Leff, Jonathan W -- Owens, Sarah M -- Pollard, Katherine S -- Knight, Rob -- Gilbert, Jack A -- McCulley, Rebecca L -- Howard Hughes Medical Institute/ -- New York, N.Y. -- Science. 2013 Nov 1;342(6158):621-4. doi: 10.1126/science.1243768.〈br /〉〈span class="detail_caption"〉Author address: 〈/span〉Department of Ecology and Evolutionary Biology, University of Colorado, Boulder, CO 80309, USA.〈br /〉〈span class="detail_caption"〉Record origin:〈/span〉 〈a href="http://www.ncbi.nlm.nih.gov/pubmed/24179225" target="_blank"〉PubMed〈/a〉
    Keywords: Agriculture ; Archaea/*classification/genetics/isolation & purification ; Bacteria/*classification/genetics/isolation & purification ; *Biodiversity ; *Endangered Species ; Metagenomics ; Poaceae ; *Soil ; *Soil Microbiology ; United States
    Print ISSN: 0036-8075
    Electronic ISSN: 1095-9203
    Topics: Biology , Chemistry and Pharmacology , Computer Science , Medicine , Natural Sciences in General , Physics
    Published by American Association for the Advancement of Science (AAAS)
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  • 2
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    Human gut microbiome viewed across age and geography (2012)
    Nature Publishing Group (NPG)
    Details
    Publication Date: 2012-06-16
    Description: Gut microbial communities represent one source of human genetic and metabolic diversity. To examine how gut microbiomes differ among human populations, here we characterize bacterial species in fecal samples from 531 individuals, plus the gene content of 110 of them. The cohort encompassed healthy children and adults from the Amazonas of Venezuela, rural Malawi and US metropolitan areas and included mono- and dizygotic twins. Shared features of the functional maturation of the gut microbiome were identified during the first three years of life in all three populations, including age-associated changes in the genes involved in vitamin biosynthesis and metabolism. Pronounced differences in bacterial assemblages and functional gene repertoires were noted between US residents and those in the other two countries. These distinctive features are evident in early infancy as well as adulthood. Our findings underscore the need to consider the microbiome when evaluating human development, nutritional needs, physiological variations and the impact of westernization.〈br /〉〈br /〉〈a href="https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3376388/" target="_blank"〉〈img src="https://static.pubmed.gov/portal/portal3rc.fcgi/4089621/img/3977009" border="0"〉〈/a〉   〈a href="https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3376388/" target="_blank"〉This paper as free author manuscript - peer-reviewed and accepted for publication〈/a〉〈br /〉〈br /〉〈span class="detail_caption"〉Notes: 〈/span〉Yatsunenko, Tanya -- Rey, Federico E -- Manary, Mark J -- Trehan, Indi -- Dominguez-Bello, Maria Gloria -- Contreras, Monica -- Magris, Magda -- Hidalgo, Glida -- Baldassano, Robert N -- Anokhin, Andrey P -- Heath, Andrew C -- Warner, Barbara -- Reeder, Jens -- Kuczynski, Justin -- Caporaso, J Gregory -- Lozupone, Catherine A -- Lauber, Christian -- Clemente, Jose Carlos -- Knights, Dan -- Knight, Rob -- Gordon, Jeffrey I -- DK078669/DK/NIDDK NIH HHS/ -- K01 DK090285/DK/NIDDK NIH HHS/ -- K05 AA017688/AA/NIAAA NIH HHS/ -- P01 DK078669/DK/NIDDK NIH HHS/ -- P01 DK078669-05/DK/NIDDK NIH HHS/ -- T32 HD049338-06/HD/NICHD NIH HHS/ -- T32-HD049338/HD/NICHD NIH HHS/ -- Howard Hughes Medical Institute/ -- England -- Nature. 2012 May 9;486(7402):222-7. doi: 10.1038/nature11053.〈br /〉〈span class="detail_caption"〉Author address: 〈/span〉Center for Genome Sciences and Systems Biology, Washington University School of Medicine, St Louis, Missouri 63108, USA.〈br /〉〈span class="detail_caption"〉Record origin:〈/span〉 〈a href="http://www.ncbi.nlm.nih.gov/pubmed/22699611" target="_blank"〉PubMed〈/a〉
    Keywords: Adolescent ; Adult ; Age Factors ; Aged ; Bacteria/*classification/*genetics ; *Biodiversity ; Child ; Child, Preschool ; Feces/microbiology ; Female ; Geography ; Humans ; Infant ; Intestines/*microbiology ; Malawi ; Male ; *Metagenome ; Middle Aged ; Phylogeny ; RNA, Ribosomal, 16S/genetics ; Twins, Dizygotic ; Twins, Monozygotic ; United States ; Venezuela ; Young Adult
    Print ISSN: 0028-0836
    Electronic ISSN: 1476-4687
    Topics: Biology , Chemistry and Pharmacology , Medicine , Natural Sciences in General , Physics
    Published by Nature Publishing Group (NPG)
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  • 3
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    Spectrum of the Laplace-Beltrami operator and the phase structure of causal dynamical triangulations (2018)
    American Physical Society (APS)
    Details
    Publication Date: 2018-06-13
    Description: Author(s): Giuseppe Clemente and Massimo D’Elia We propose a new method to characterize the different phases observed in the nonperturbative numerical approach to quantum gravity known as causal dynamical triangulations. The method is based on the analysis of the eigenvalues and the eigenvectors of the Laplace-Beltrami operator computed on the tr... [Phys. Rev. D 97, 124022] Published Tue Jun 12, 2018
    Keywords: General relativity, alternative theories of gravity
    Print ISSN: 0556-2821
    Electronic ISSN: 1089-4918
    Topics: Physics
    Published by American Physical Society (APS)
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  • 4
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    Puncture black hole initial data: A single domain Galerkin-collocation method for trumpet and wormhole data sets (2017)
    American Physical Society (APS)
    Details
    Publication Date: 2017-07-25
    Description: Author(s): P. C. M. Clemente and H. P. de Oliveira We present a single-domain Galerkin-collocation method to calculate puncture initial data sets for single and binary black holes, either in the trumpet or wormhole geometries. The combination of aspects belonging to the Galerkin and the collocation methods together with the adoption of spherical coo... [Phys. Rev. D 96, 024035] Published Mon Jul 24, 2017
    Keywords: General relativity, alternative theories of gravity
    Print ISSN: 0556-2821
    Electronic ISSN: 1089-4918
    Topics: Physics
    Published by American Physical Society (APS)
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  • 5
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    Galerkin-collocation domain decomposition method for arbitrary binary black holes (2018)
    American Physical Society (APS)
    Details
    Publication Date: 2018-05-22
    Description: Author(s): W. Barreto, P. C. M. Clemente, H. P. de Oliveira, and B. Rodriguez-Mueller We present a new computational framework for the Galerkin-collocation method for double domain in the context of ADM 3 + 1 approach in numerical relativity. This work enables us to perform high resolution calculations for initial sets of two arbitrary black holes. We use the Bowen-York method for bina... [Phys. Rev. D 97, 104035] Published Mon May 21, 2018
    Keywords: General relativity, alternative theories of gravity
    Print ISSN: 0556-2821
    Electronic ISSN: 1089-4918
    Topics: Physics
    Published by American Physical Society (APS)
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  • 6
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    FootSpring: A Compliance Model for the ATHLETE Family of Robots (2010)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: This paper describes and evaluates one method of modeling compliance in a wheel-on-leg walking robot. This method assumes that all of the robot s compliance takes place at the ground contact points, specifically the tires and legs, and that the rest of the robot is rigid. Optimization is used to solve for the displacement of the feet and of the center of gravity. This method was tested on both robots of the ATHLETE family, which have different compliance. For both robots, the model predicts the sag of points on the robot chassis with an average error of about one percent of the height of the robot.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: ARC-E-DAA-TN1788 , 10th International Symposium on Artificial Intelligence; Aug 29, 2010; Sapporo, Hokkaido; Japan
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  • 7
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    ATHLETE's Feet: Mu1ti-Resolution Planning for a Hexapod Robot (2008)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: ATHLETE is a large six-legged tele-operated robot. Each foot is a wheel; travel can be achieved by walking, rolling, or some combination of the two. Operators control ATHLETE by selecting parameterized commands from a command dictionary. While rolling can be done efficiently with a single command, any motion involving steps is cumbersome - walking a few meters through difficult terrain can take hours. Our goal is to improve operator efficiency by automatically generating sequences of motion commands. There is increasing uncertainty regarding ATHLETE s actual configuration over time and decreasing quality of terrain data farther away from the current position. This, combined with the complexity that results from 36 degrees of kinematic freedom, led to an architecture that interleaves planning and execution at multiple levels, ranging from traditional configuration space motion planning algorithms for immediate moves to higher level task and path planning algorithms for overall travel. The modularity of the architecture also simplifies the development process and allows the operator to interact with and control the system at varying levels of autonomy depending on terrain and need.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: ARC-E-DAA-TN-144 , International Conference on Automated Planning and Scheduling; Sep 14, 2008 - Sep 18, 2008; Sydney; Australia
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  • 8
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    FootFall: A Ground Based Operations Toolset Enabling Walking for the ATHLETE Rover (2008)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: The ATHLETE (All-Terrain Hex-Limbed Extra-Terrestrial Explorer) vehicle consists of six identical, six degree of freedom limbs. FootFall is a ground tool for ATHLETE intended to provide an operator with integrated situational awareness, terrain reconstruction, stability and safety analysis, motion planning, and decision support capabilities to enable the efficient generation of flight software command sequences for walking. FootFall has been under development at NASA Ames for the last year, and having accomplished the initial integration, it is being used to generate command sequences for single footfalls. In this paper, the architecture of FootFall in its current state will be presented, results from the recent Human Robotic Systems Project?s Integrated Field Test (Moses Lake, Washington, June, 2008) will be discussed, and future plans for extending the capabilities of FootFall to enable ATHLETE to walk across a boulder field in real time will be described.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: ARC-E-DAA-TN-158 , AIAA SPACE 2008 Conference and Exposition; Sep 09, 2008 - Sep 11, 2008; San Diego, California; United States
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  • 9
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    A Practical Comparison of Motion Planning Techniques for Robotic Legs in Environments with Obstacles (2009)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: ATHLETE is a large six-legged tele-operated robot. Each foot is a wheel; travel can be achieved by walking, rolling, or some combination of the two. Operators control ATHLETE by selecting parameterized commands from a command dictionary. While rolling can be done efficiently, any motion involving steps is cumbersome - each step can require multiple commands and take many minutes to complete. In this paper, we consider four different algorithms that generate a sequence of commands to take a step. We consider a baseline heuristic, a randomized motion planning algorithm, and two variants of A* search. Results for a variety of terrains are presented, and we discuss the quantitative and qualitative tradeoffs between the approaches.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: ARC-E-DAA-TN601 , IEEE International Conference on Space Mission Challenges for Information Technology (SMC-IT) 2009; Jul 19, 2009 - Jul 23, 2009; Pasadena, CA; United States
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