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Gene expression imputation across multiple brain regions provides insights into schizophrenia risk (vol 51, pg 659, 2019)

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NATURE GENETICS 2019年第6期51卷 1068-1068页

作者： Huckins, Laura M. Dobbyn, Amanda Ruderfer, Douglas M. Hoffman, Gabriel Wang, Weiqing Pardinas, Antonio F. Rajagopal, Veera M. Als, Thomas D. Nguyen, Hoang T. Girdhar, Kiran Boocock, James Roussos, Panos Fromer, Menachem Kramer, Robin Domenici, Enrico Gamazon, Eric R. Purcell, Shaun Demontis, Ditte Borglum, Anders D. Walters, James T. R. O'Donovan, Michael C. Sullivan, Patrick Owen, Michael J. Devlin, Bernie Sieberts, Solveig K. Cox, Nancy J. Im, Hae Kyung Sklar, Pamela Stahl, Eli A. Pamela Sklar Division of Psychiatric Genomics Icahn School of Medicine at Mount Sinai New York NY USA Department of Genetics and Genomics Icahn School of Medicine at Mount Sinai New York NY USA Department of Psychiatry Icahn School of Medicine at Mount Sinai New York NY USA Icahn Institute for Genomics and Multiscale Biology Icahn School of Medicine at Mount Sinai New York NY USA Vanderbilt University Medical Center Nashville TN USA MRC Centre for Neuropsychiatric Genetics and Genomics Cardiff University Cardiff UK Department of Biomedicine Aarhus University Aarhus Denmark The Lundbeck Foundation Initiative for Integrative Psychiatric Research iPSYCH Denmark Center for Integrative Sequencing Aarhus University Aarhus Denmark Department of Human Genetics David Geffen School of Medicine University of California Los Angeles Los Angeles CA USA Human Brain Collection Core National Institute of Mental Health Bethesda MD USA Laboratory of Neurogenomic Biomarkers Centre for Integrative Biology (CIBIO) University of Trento Trento Italy Clare Hall University of Cambridge Cambridge UK University of North Carolina at Chapel Hill Chapel Hill NC USA Karolinska Institutet Stockholm Sweden Department of Psychiatry University of Pittsburgh Pittsburgh PA USA Systems Biology Sage Bionetworks Seattle WA USA Section of Genetic Medicine Department of Medicine University of Chicago Chicago IL USA Integrated Technology Research Laboratories Pharmaceutical Research Division Takeda Pharmaceutical Company Limited Fujisawa Japan Neuropsychiatry Section Department of Psychiatry Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Neuropsychiatric Signaling Program Department of Psychiatry Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Psychiatry JJ Peters Virginia Medical Center Bronx NY USA Department of Neuroscience Icahn School of Medicine at Mount Sinai New York New York NY USA Friedman Brain Institute

Transcriptomic imputation approaches combine eQTL reference panels with large-scale genotype data in order to test associations between disease and gene expression. These genic associations could elucidate signals in complex genome-wide association study (GWAS) loci and may disentangle the role of different tissues in disease development. We used the largest eQTL reference panel for the dorso-lateral prefrontal cortex (DLPFC) to create a set of gene expression predictors and demonstrate their utility. We applied DLPFC and 12 GTEx-brain predictors to 40,299 schizophrenia cases and 65,264 matched controls for a large transcriptomic imputation study of schizophrenia. We identified 413 genic associations across 13 brain regions. Stepwise conditioning identified 67 non-MHC genes, of which 14 did not fall within previous GWAS loci. We identified 36 significantly enriched pathways, including hexosaminidase-A deficiency, and multiple porphyric disorder pathways. We investigated developmental expression patterns among the 67 non-MHC genes and identified specific groups of pre- and postnatal expression.

关键词： Gene expression Genome-wide association studies Schizophrenia Transcriptomics

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A distributed formation-based odor source localization algorithm - design, implementation, and wind tunnel evaluation

A distributed formation-based odor source localization algor...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jorge M. Soares A. Pedro Aguiar António M. Pascoal Alcherio Martinoli Laboratory of Robotics and Systems in Engineering and Science University of Lisbon Lisboa Portugal Distributed Intelligent Systems and Algorithms Laboratory Ecole Polytechnique Fédérale de Lausanne (EPFL) Lausanne Switzerland Faculty of Engineering University of Porto Research Center for Systems and Technology Porto Portugal

ISBN: (纸本)9781479969241

Robotic odor source localization is a promising tool with numerous applications in safety, search and rescue, and environmental science. In this paper, we present an algorithm for odor source localization using multiple cooperating robots equipped with chemical sensors. Laplacian feedback is employed to maintain the robots in a formation, introducing spatial diversity that is used to better establish the position of the flock relative to the plume and its source. Robots primarily move upwind but use odor information to adjust their position and spacing so that they are centered on the plume and trace its structure. Real-world experiments were performed with an ethanol plume inside a wind tunnel, and used to both validate the algorithm and assess the impact of different formation shapes.

关键词： Robot sensing systems Robot kinematics Algorithm design and analysis Shape Hardware

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Measurement of Biomechanical Interactions at the Stump-Socket Interface in Lower Limb Prostheses

Measurement of Biomechanical Interactions at the Stump-Socke...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： V. Noll J. Wojtusch J. Schuy M. Grimmer P. Beckerle S. Rinderknecht the Institute for Mechatronic Systems in Mechanical Engineering Department of Mechnical Engineering TU Darmstadt Germany the Simulation Systems Optimization and Robotics Group Department of Computer Science TU Darmstadt Germany the Locomotion Laboratory Institute of Sport Science TU Darmstadt Germany

ISBN: (纸本)9781424492695

This paper introduces a novel measuring approach for detecting relative movement between stump and socket in lower limb prostheses. The application of the motion capturing based measuring approach is shown at a single male trans-tibial amputee using a Patella Tendon Bearing (PTB) socket. It further investigates and assesses the feasibility of measuring the relative movement between stump and socket during level walking at different velocities and allocating it to the coinciding loads. Representative results for the two translational degrees of freedom in the sagittal plane are presented and discussed. For the proximodistal (pd) direction, a linear correlation between applied load and relative movement is found, while for the anteroposterior (ap) direction the stump movement is largely influenced by the motion sequence during the respective gait event. Additionally, the effect of walking speed is discussed.

关键词： Biomechanical Interactions Stump-Socket Interface Lower Limb Prostheses

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Erratum to: Supplemental vibrotactile feedback control of stabilization and reaching actions of the arm using limb state and position error encodings

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Journal of neuroengineering and rehabilitation 2017年第1期14卷 69页

作者： Alexis R Krueger Psiche Giannoni Valay Shah Maura Casadio Robert A Scheidt Biomedical Engineering Marquette University Milwaukee WI USA. Informatics Bioengineering Robotics and Systems Engineering University of Genova Genoa Italy. Robotics Brain and Cognitive Science Italian Institute of Technology Genoa Italy. Biomedical Engineering Marquette University Milwaukee WI USA. robert.scheidt@marquette.edu. Physical Medicine and Rehabilitation Northwestern University Feinberg School of Medicine Chicago IL USA. robert.scheidt@marquette.edu. Sensory Motor Performance Program Rehabilitation Institute of Chicago Chicago IL USA. robert.scheidt@marquette.edu. Neurology Medical College of Wisconsin Wauwatosa WI USA. robert.scheidt@marquette.edu. Neuromotor Control Laboratory Department of Biomedical Engineering Marquette University Olin Engineering Center 206 P.O. Box 1881 Milwaukee WI 53201-1881 USA. robert.scheidt@marquette.edu.

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Robotic Software System for the Disaster Circumstances: System of Team KAIST in the DARPA robotics Challenge Finals

Robotic Software System for the Disaster Circumstances: Syst...

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IEEE-RAS International Conference on Humanoid Robots

作者： Jeongsoo Lim Inwook Shim Okkee Sim Hyunmin Joe Inhyeok Kim Jungho Lee Jun-Ho Oh Humanoid Research Center School of Mechanical Aerospace & Systems Engineering Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Robotics and Computer Vision Laboratory Department of Electrical Engineering College of Information Science and Technology Korea Advanced Institute of Science and Technology Rainbow Co.

ISBN: (纸本)9781479968862

We developed a software system for operating the humanoid robot DRC-HUBO+ in disaster circumstances that the US Defense Advanced Research Projects Agency suggested. This system was developed under the consideration of the stability of whole system, the systemic software environment for multiple developers, and the recovery routine when the system encounters a seriously abnormal situation. With these design goals, we devised our strategy for three domains: system, vision, and communication. Following the strategy we made two software frameworks (PODO and VPC) and one logical flow of data for remote process management. With this software system, we conducted all Tasks in the DARPA robotics Challenge Finals, and we won the competition.

关键词： Software systems DARPA design target robotics Disasters Religious Missions flow datas

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25th Annual Computational Neuroscience Meeting CNS-2016, Seogwipo City, South Korea, July 2-7, 2016 Abstracts

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BMC NEUROscience 2016年第1期17卷 1-112页

作者： [Anonymous] Computational Neurobiology Laboratory The Salk Institute for Biological Studies San Diego USA UNIC CNRS Gif sur Yvette France The European Institute for Theoretical Neuroscience (EITN) Paris France ATR Computational Neuroscience Laboratories Kyoto Japan Krembil Research Institute University Health Network Toronto Canada Department of Physiology University of Toronto Toronto Canada Department of Medicine (Neurology) University of Toronto Toronto Canada Department of Physics University of New Hampshire Durham USA Department of Neurophysiology Nencki Institute of Experimental Biology Warsaw Poland Department of Theory Wigner Research Centre for Physics of the Hungarian Academy of Sciences Budapest Hungary Department of Mathematical Sciences KAIST Daejoen Republic of Korea Department of Mathematics University of Houston Houston USA Department of Biochemistry & Cell Biology and Institute of Biosciences and Bioengineering Rice University Houston USA Department of Biology and Biochemistry University of Houston Houston USA Grupo de Neurocomputación Biológica Dpto. de Ingeniería Informática Escuela Politécnica Superior Universidad Autónoma de Madrid Madrid Spain Department of Biological Sciences University of Southern California Los Angeles USA Center for Neuroscience Korea Institute of Science and Technology Seoul South Korea Department of Neurology Albert Einstein College of Medicine Bronx USA Center for Neuroscience KIST Seoul South Korea Department of Neuroscience University of Science and Technology Daejon South Korea Systems Neuroscience Group QIMR Berghofer Medical Research Institute Herston Australia Department of Psychology Yonsei University Seoul South Korea Department of Psychiatry Kyung Hee University Hospital at Gangdong Seoul South Korea Department of Psychiatry Veterans Administration Boston Healthcare System and Harvard Medical School Brockton USA Department of Electrical and Electronic Engineering The University of Melbourne Parkvil

A1 Functional advantages of cell-type heterogeneity in neural circuits Tatyana O. Sharpee A2 Mesoscopic modeling of propagating waves in visual cortex Alain Destexhe A3 Dynamics and biomarkers of mental disorders Mitsuo Kawato F1 Precise recruitment of spiking output at theta frequencies requires dendritic h-channels in multi-compartment models of oriens-lacunosum/moleculare hippocampal interneurons Vladislav Sekulić, Frances K. Skinner F2 Kernel methods in reconstruction of current sources from extracellular potentials for single cells and the whole brains Daniel K. Wójcik, Chaitanya Chintaluri, Dorottya Cserpán, Zoltán Somogyvári F3 The synchronized periods depend on intracellular transcriptional repression mechanisms in circadian clocks. Jae Kyoung Kim, Zachary P. Kilpatrick, Matthew R. Bennett, Kresimir Josić O1 Assessing irregularity and coordination of spiking-bursting rhythms in central pattern generators Irene Elices, David Arroyo, Rafael Levi, Francisco B. Rodriguez, Pablo Varona O2 Regulation of top-down processing by cortically-projecting parvalbumin positive neurons in basal forebrain Eunjin Hwang, Bowon Kim, Hio-Been Han, Tae Kim, James T. McKenna, Ritchie E. Brown, Robert W. McCarley, Jee Hyun Choi O3 Modeling auditory stream segregation, build-up and bistability James Rankin, Pamela Osborn Popp, John Rinzel O4 Strong competition between tonotopic neural ensembles explains pitch-related dynamics of auditory cortex evoked fields Alejandro Tabas, André Rupp, Emili Balaguer-Ballester O5 A simple model of retinal response to multi-electrode stimulation Matias I. Maturana, David B. Grayden, Shaun L. Cloherty, Tatiana Kameneva, Michael R. Ibbotson, Hamish Meffin O6 Noise correlations in V4 area correlate with behavioral performance in visual discrimination task Veronika Koren, Timm Lochmann, Valentin Dragoi, Klaus Obermayer O7 Input-location dependent gain modulation in cerebellar nucleus neurons Maria Psarrou, Maria Schilstra, Neil Davey, Benjamin Torben-Ni

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Infeasibility-free inverse kinematics method

Infeasibility-free inverse kinematics method

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IEEE/SICE International Symposium on System Integration

作者： Wael Suleiman Fumio Kanehiro Eiichi Yoshida Electrical and Computer Engineering Department Université de Sherbrooke Sherbrooke Quebec Canada Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology (AIST) Tsukuba Ibaraki Japan CNRS-AIST JRL (Joint Robotics Laboratory) Tsukuba Ibaraki Japan

ISBN: (纸本)9781467372435

The problem of inverse kinematics is revisited in the present paper. The paper is focusing on the problem of solving the inverse kinematics problem while respecting velocity limits on both the robot's joints and the end-effector. Even-though the conventional inverse kinematics algorithms have been proven to be efficient in many applications, defining an admissible trajectory for the end-effector is still a burdensome task for the user, and the problem can easily become unsolvable. The main idea behind the proposed algorithms is to consider the sampling time as a free variable, hence adding more flexibility to the optimization problem associated with the inverse kinematics. We prove that the reformulated problem has always a solution if the end-effector path is in the reachable space of the robot, thus solving the problem of infeasibility of conventional inverse kinematics methods. To validate the proposed approach, we have conducted three simulations scenarios. The simulation results point that while the conventional inverse kinematics methods fail to track precisely a desired end-effector trajectory, the proposed algorithms always succeed.

关键词： Kinematics Optimization Robots Trajectory Algorithm design and analysis Jacobian matrices Angular velocity

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Attitude and Earth Velocity Estimation - Part II: Observer on the Special Orthogonal Group

Attitude and Earth Velocity Estimation - Part II: Observer o...

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IEEE Annual Conference on Decision and Control

作者： Pedro Batista Carlos Silvestre Paulo Oliveira Institute for Systems and Robotics Laboratory of Robotics and Systems in Engineering and Science Portugal

ISBN: (纸本)9781467360890

This paper presents a novel cascade attitude observer based on measurements of a single body-fixed vector, in addition to high-grade rate gyro readings. First, a second body-fixed vector, related to the angular velocity of the Earth around its own axis, is dynamically estimated. Then, an attitude observer is built based upon the measured body-fixed vector, the estimated one, and the angular velocity provided by the rate gyros. The topological characteristics of the attitude estimates are preserved by construction and the estimation error is shown to converge to zero. The region of convergence is characterized and the result is best described as semi-global. Simulation results are included that show the achievable performance of the proposed solution. Finally, the results and characteristics of the observer are compared with that proposed in a companion paper, which considers attitude estimates on R~(3×3).

关键词： Observers Vectors Angular velocity Earth Convergence Coordinate measuring machines

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Attitude and Earth Velocity Estimation - Part I: Globally Exponentially Stable Observer

Attitude and Earth Velocity Estimation - Part I: Globally Ex...

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IEEE Annual Conference on Decision and Control

作者： Pedro Batista Carlos Silvestre Paulo Oliveira Institute for Systems and Robotics Laboratory of Robotics and Systems in Engineering and Science Portugal

ISBN: (纸本)9781467360890

The main contribution of this paper is the development of a novel attitude observer based on a triaxial high-grade rate gyro and single body-fixed vector measurements of a constant inertial vector, in contrast with typical solutions that require two of these vectors. The proposed structure consists in a cascade observer, where the angular velocity of the Earth around its own axis is extracted in the first block and the attitude is estimated in the second. The stability of the system as a whole is analyzed and the error dynamics are shown to be globally exponentially stable (GES). Simulation results are presented that illustrate the achievable performance of this solution. In a companion paper an alternative observer is proposed on the special orthogonal group and both solutions are compared.

关键词： Observers Earth Vectors Angular velocity Stability analysis Convergence

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Control Strategies for a Humanoid Robot to Drive and then Egress a Utility Vehicle for Remote Approach

Control Strategies for a Humanoid Robot to Drive and then Eg...

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IEEE-RAS International Conference on Humanoid Robots

作者： Hyobin Jeong Jaesung Oh Mingeuk Kim Kyungdon Joo In So Kweon Jun-Ho Oh Humanoid Research Center School of Mechanical Aerospace & Systems Engineering Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Robotics and Computer Vision Laboratory School of Mechanical Aerospace & Systems Engineering Department of Electrical Engineering Korea Advanced Institute of Science and Technology Department of Electrical Engineering KAIST

ISBN: (纸本)9781479968862

This paper proposes strategies for the driving and egress of a vehicle with a humanoid robot. To drive the vehicle, the RANSAC method was used to detect obstacles, and the Wagon model was used to control the steering and velocity of the vehicle with only a limited number of sensors which were installed on the humanoid robot. Additionally, a manual teleoperating method was used with the lane projection technique. For the egress motion, gain override and the Cartesian position/force control technique were used to interact with the vehicle structure. To overcome the disadvantages of a highly geared manipulator, a special technique was used that included modelled friction compensation and a non-complementary switching mode. DRC-HUBO+ used the proposed method to perform a vehicle driving and egress task in the DRC finals 2015.

关键词： Humanoid robots EGRESS vehicle Vehicle driving Automobile driving UTILITY VEHICLES control strategy friction compensation DRIVES Steering

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