This paper reports the formulation and evaluation of a centralized extended Kalman filter designed for a novel navigation system for underwater vehicles. The navigation system employs Doppler sonar, depth sensors, synchronous clocks, and acoustic modems to achieve simultaneous acoustic communication and navigation. The use of a single moving reference beacon eliminates the requirement for the underwater vehicle to remain in a bounded navigable area; the use of underwater modems and synchronous clocks enables range measurements based on one-way time-of-flight information from acoustic data-packet broadcasts. The acoustic data packets are broadcast from a single, moving reference beacon and can be received simultaneously by multiple vehicles within acoustic range. We report results from a simulated deep-water survey and real field data collected from an autonomous underwater vehicle survey in 4000 m of water on the southern Mid-Atlantic Ridge with an independent long-baseline navigation system for ground truth.

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Abstract-This paper reports the development and experimental evaluation of a novel navigation system for underwater vehicles that employs Doppler sonar, synchronous clocks, and acoustic modems to achieve simultaneous acoustic communication and navigation. The system reported herein, which is employed to renavigate the vehicle in post-processing, forms the basis for a vehicle-based real-time navigation system. Existing high-precision absolute navigation techniques for underwater vehicles are impractical over long length scales and lack scalability for simultaneously navigating multiple vehicles. The navigation method reported in this paper relies on a single moving reference beacon, eliminating the requirement for the underwater vehicle to remain in a bounded navigable area. The use of underwater modems and synchronous clocks enables range measurements based on one-way time-of-flight information from acoustic data packet broadcasts. The acoustic data packets are broadcast from the single, moving reference beacon and can be received simultaneously by multiple vehicles within acoustic range. We report experimental results from the first deep-water evaluation of this method using data collected from an autonomous underwater vehicle (AUV) survey carried out in 4000 m of water on the southern Mid-Atlantic Ridge. We report a comparative experimental evaluation of the navigation fixes provided by the proposed synchronous acoustic navigation system in comparison to navigation fixes obtained by an independent conventional long baseline acoustic navigation system.

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Irreversible vision loss due to disease or age is responsible for a reduced quality of life. The experiments in this study test the hypothesis that the α7 nicotinic acetylcholine receptor agonist, PNU-282987, leads to the generation of retinal neurons in an adult mammalian retina in the absence of retinal injury or exogenous growth factors. Using antibodies against BrdU, retinal ganglion cells, progenitor cells and Müller glia, the results of this study demonstrate that multiple types of retinal cells and neurons are generated after eye drop application of PNU-282987 in adult Long Evans rats in a dose-dependent manner. The results of this study provide evidence that progenitor cells, derived from Müller glia after treatment with PNU-282987, differentiate and migrate to the photoreceptor and retinal ganglion cell layers. If retinas were treated with the alpha7 nAChR antagonist, methyllycaconitine, before agonist treatment, BrdU positive cells were significantly reduced. As adult mammalian neurons do not typically regenerate or proliferate, these results have implications for reversing vision loss due to neurodegenerative disease or the aging process to improve the quality of life for millions of patients.

Contractile to synthetic phenotypic switching of smooth muscle cells (SMCs) contributes to stenosis in vascular disease and vascular transplants. To generate more contractile SMCs, we performed a high-throughput differentiation screen using a MYH11-NLuc-tdTomato human embryonic stem cell reporter cell line. We identified RepSox as a factor that promotes differentiation of MYH11-positive cells by promoting NOTCH signaling. RepSox induces SMCs to exhibit a more contractile phenotype than SMCs generated using PDGF-BB and TGF-b1, two factors previously used for SMC differentiation but which also cause intimal hyperplasia. In addition, RepSox inhibited intimal hyperplasia caused by contractile to synthetic phenotypic switching of SMCs in a rat balloon injury model. Thus, in addition to providing more contractile SMCs that could prove useful for constructing artificial blood vessels, this study suggests a strategy for identifying drugs for inhibiting intimal hyperplasia that act by driving contractile differentiation rather than inhibiting proliferation non-specifically.

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