Michael Kerger

Tumour heterogeneity in primary prostate cancer is a well-established phenomenon. However, how the subclonal diversity of tumours changes during metastasis and progression to lethality is poorly understood. Here we reveal the precise direction of metastatic spread across four lethal prostate cancer patients using whole-genome and ultra-deep targeted sequencing of longitudinally collected primary and metastatic tumours. We find one case of metastatic spread to the surgical bed causing local recurrence, and another case of cross-metastatic site seeding combining with dynamic remoulding of subclonal mixtures in response to therapy. By ultra-deep sequencing end-stage blood, we detect both metastatic and primary tumour clones, even years after removal of the prostate. Analysis of mutations associated with metastasis reveals an enrichment of TP53 mutations, and additional sequencing of metastases from 19 patients demonstrates that acquisition of TP53 mutations is linked with the expansion of subclones with metastatic potential which we can detect in the blood.

This paper introduces the CableRobot simulator, which was developed at the Max Planck Institute for Biological Cybernetics in cooperation with the Fraunhofer Institute for Manufacturing Engineering and Automation IPA. The simulator is a completely novel approach to the design of motion simulation platforms in so far as it uses cables and winches for actuation instead of rigid links known from hexapod simulators. This approach allows to reduce the actuated mass, scale up the workspace significantly, and provides great flexibility to switch between system configurations in which the robot can be operated. The simulator will be used for studies in the field of human perception research and virtual reality applications. The paper discusses some of the issues arising from the usage of cables and provides a system overview regarding kinematics and system dynamics as well as giving a brief introduction into possible application use cases.

This paper discusses the technical issues that were required to adapt a KUKA Robocoaster for use as a real-time motion simulator. Within this context, the paper addresses the physical modifications and the software control structure that were needed to have a flexible and safe experimental setup. It also addresses the delays and transfer function of the system. The paper is divided into two sections. The first section describes the control and safety structures of the MPI Motion Simulator. The second section shows measurements of latencies and frequency responses of the motion simulator. The results show that the frequency responses of the MPI Motion Simulator compare favorably with high-end Stewart Platforms, and therefore demonstrate the suitability of robot-based motion simulators for flight simulation. I.