Emerging motor behaviors: Learning joint coordination in articulated mobile robots

In this paper, we analyze the insights behind the common approach to the assessment of robot motor behaviors in articulated mobile structures with compromised dynamic balance. We present a new approach to this problem and a methodology that implements it for motor behaviors encapsulated in rest-to-rest motions. As well as common methods, we assume the availability of kinematic information about the solution to the task, but reference is not made to the workspace, allowing the workspace to be free of restrictions. Our control framework, based on local control policies at the joint acceleration level, attracts actuated degrees of freedom (DOFs) to the desired final configuration; meanwhile, the resulting final states of the unactuated DOFs are viewed as an indirect consequence of the profile of the policies. Dynamical systems are used as acceleration policies, providing the actuated system with convenient attractor properties. The control policies, parameterized around imposed simple primitives, are deformed by means of changes in the parameters. This modulation is optimized, by means of a stochastic algorithm, in order to control the unactuated DOFs and thus carry out the desired motor behavior.     

Tensegrity frameworks: Static analysis review

This paper hands in a review of the basic issues about the statics of tensegrity structures. Definitions and notation for the most important concepts, borrowed from the vast existing literature, are summarized. All of these concepts and definitions provide a complete mathematical framework to analyze the rigidity and stability properties of tensegrity structures from three different, but related, points of view: motions, forces and energy approaches. Several rigidity and stability definitions are presented in this paper and hierarchically ordered, from the strongest condition of infinitesimal rigidity to the more wide concept of simple rigidity, so extending some previous classifications already available.

Important theorems regarding the relationship between these definitions are also put together to complete the static overview of tensegrity structures. Examples of different tensegrity structures belonging to each of the rigidity and stability categories presented are described and analyzed. Concluding the static analysis of tensegrity structures, a review of existing form-finding methods is presented.     

Spontaneous emergence of modularity in cellular networks

Modularity is known to be one of the most relevant characteristics of biological systems and appears to be present at multiple scales. Given its adaptive potential, it is often assumed to be the target of selective pressures. Under such interpretation, selection would be actively favouring the formation of modular structures, which would specialize in different functions. Here we show that, within the context of cellular networks, no such selection pressure is needed to obtain modularity. Instead, the intrinsic dynamics of network growth by duplication and diversification is able to generate it for free and explain the statistical features exhibited by small subgraphs. The implications for the evolution and evolvability of both biological and technological systems are discussed.     

Securing dynamic itineraries for mobile agent applications

In this paper we present a novel mechanism for the protection of dynamic itineraries for mobile agent applications. Itineraries that are decided as the agent goes are essential in complex applications based on mobile agents, but no approach has been presented until now to protect them. We have conceived a cryptographic scheme for shielding dynamic itineraries from tampering, impersonation and disclosure. By using trust strategically, our scheme provides a balanced trade-off between flexibility and security. Our protection scheme has been thought always bearing in mind a feasible implementation, and thus facilitates the development of applications that make use of it. An example application based on a real healthcare scenario is also presented to show its operation.     

Effect of High Fat Diets on Body Mass,Oleylethanolamide Plasma Levels and Oxytocin Expression in Growing Rats

Obesity prevalence in developed countries has promoted the need to identify the mechanisms involved in control of feeding and energy balance. We have tested the hypothesis that different fats present in diet composition may contribute in body weight gain and body indexes by regulation of oxytocin gene (oxt) expression in hypothalamus and Oleylethanolamide (OEA) levels in plasma. Sprague–Dawley rats were fed two high fat diets, based on corn (HCO) and extra virgin olive oil (HOO) and results were compared to a low fat diet (LF). LC‐MS/MS analysis showed an increasing trend of OEA plasma levels in HOO group, although no significant differences were found. However, body weight gain of LF and HOO were similar and significantly lower than HCO. HCO rats also had higher Lee index than HOO. Rats fed HOO diet showed higher levels of hypothalamic oxt mRNA expression, which could indicate that oxytocin may be modulated by dietary lipids.     

Taste loss in the elderly: Possible implications for dietary habits

Aging may coincide with a declining gustatory function that can affect dietary intake and ultimately have negative health consequences. Taste loss is caused by physiological changes and worsened by events often associated with aging, such as polypharmacy and chronic disease. The most pronounced increase in elderly people's detection threshold has been observed for sour and bitter tastes, but their perception of salty, sweet, and umami tastes also seems to decline with age. It has often been suggested that elderly people who lose their sense of taste may eat less food or choose stronger flavors, but the literature has revealed a more complicated picture: taste loss does not appear to make elderly people prefer stronger flavors, but nutrition surveys have pointed to a greater consumption of sweet and salty foods.

Real-life eating habits thus seem to be more influenced by other, social and psychological factors. Elderly gustatory function is worth investigating to identify dietary strategies that can prevent the consequences of unhealthy eating habits in the elderly.

This paper discusses age-related changes in taste perception, focusing on their consequences on food preferences, and pointing to some strategies for preserving appropriate dietary habits in elderly people.     

Parental perspectives on children’s use of portable digital devices

Small portable digital devices (PDDs) – tablets and smartphones – are becoming increasingly popular among children at early ages. In this qualitative study, we applied the theoretical frameworks of self-efficacy and othermothering to examine the perspectives of parents from rural areas regarding the role of PDDs in children of early and primary education age (4–7 years old). We conducted in-depth interviews with parents, observed children at home, and collected artefacts related to children’s PDDs use to capture daily habits, experiences, and attitudes from different angles. Data revealed that parents supported PDDs as entertainment and learning tools. Parents reported improvements in dexterity, memory, attention, and linguistic and mathematical skills, and believed that PDDs positively affect children’s cognitive development. During observations, children exhibited versatility and skill with app navigation for entertainment and educational purposes. Children completed tasks in an independent and efficacious manner that reinforced engagement. Parents seemed to unconsciously transfer to PDDs a cognitive and social role that created another parenting modality as in othermothering. Parents, meanwhile, appeared concerned with uncontrolled overuse of PDDs by children. These findings suggest that parents from rural areas view PDDs as tools that pose opportunities and challenges for entertainment and learning.     

Screening of Relevant Metabolism-Disrupting Chemicals on Pancreatic β-Cells: Evaluation of Murine and Human In Vitro Models

Endocrine-disrupting chemicals (EDCs) are chemical substances that can interfere with the normal function of the endocrine system. EDCs are ubiquitous and can be found in a variety of consumer products such as food packaging materials, personal care and household products, plastic additives, and flame retardants. Over the last decade, the impact of EDCs on human health has been widely acknowledged as they have been associated with different endocrine diseases. Among them, a subset called metabolism-disrupting chemicals (MDCs) is able to promote metabolic changes that can lead to the development of metabolic disorders such as diabetes, obesity, hepatic steatosis, and metabolic syndrome, among others. Despite this, today, there are still no definitive and standardized in vitro tools to support the metabolic risk assessment of existing and emerging MDCs for regulatory purposes. Here, we evaluated the following two different pancreatic cell-based in vitro systems: the murine pancreatic β-cell line MIN6 as well as the human pancreatic β-cell line EndoC-βH1. Both were challenged with the following range of relevant concentrations of seven well-known EDCs: (bisphenol-A (BPA), bisphenol-S (BPS), bisphenol-F (BPF), perfluorooctanesulfonic acid (PFOS), di(2-ethylhexyl) phthalate (DEHP), cadmium chloride (CdCl₂), and dichlorodiphenyldichloroethylene (DDE)). The screening revealed that most of the tested chemicals have detectable, deleterious effects on glucose-stimulated insulin release, insulin content, electrical activity, gene expression, and/or viability. Our data provide new molecular information on the direct effects of the selected chemicals on key aspects of pancreatic β-cell function, such as the stimulus-secretion coupling and ion channel activity. In addition, we found that, in general, the sensitivity and responses were comparable to those from other in vivo studies reported in the literature. Overall, our results suggest that both systems can serve as effective tools for the rapid screening of potential MDC effects on pancreatic β-cell physiology as well as for deciphering and better understanding the molecular mechanisms that underlie their action.