Novel Locomotion Methods in Magnetic Actuation and Pipe Inspection

There is much room for improvement in tube network inspections of jet aircraft. Often, these inspections are incomplete and inconsistent. In this paper, we develop a Modular Robotic Inspection System (MoRIS) for jet aircraft tube networks and a corresponding kinematic model. MoRIS consists of a Base Station for user control and communication, and robotic Vertebrae for accessing and inspecting the network. The presented and tested design of MoRIS can travel up to 9 feet in a tube network. The Vertebrae can navigate in all orientations, including smooth vertical tubes. The design is optimized for nominal 1.5 outside diameter tubes. We developed a model of the Locomotion Vertebra in a tube. We defined the model\u27s coordinate system and its generalized coordinates. We studied the configuration space of the robot, which includes all possible orientations of the Locomotion Vertebra. We derived the expression for the elastic potential energy of the Vertebra\u27s suspensions and minimized it to find the natural settling orientation of the robot. We further explore the effect of the tractive wheel\u27s velocity constraint on locomotion dynamics. Finally, we develop a general model for aircraft tube networks and for a taut tether. Stabilizing bipedal walkers is a engineering target throughout the research community. In this paper, we develop an impulsively actuated walking robot. Through the use of magnetic actuation, for the first time, pure impulsive actuation has been achieved in bipedal walkers. In studying this locomotion technique, we built the world\u27s smallest walker: Big Foot. A dynamical model was developed for Big Foot. A Heel Strike and a Constant Pulse Wave Actuation Schemes were selected for testing. The schemes were validated through simulations and experiments. We showed that there exists two regimes for impulsive actuation. There is a regime for impact-like actuation and a regime for longer duration impulsive actuation

Evaluation of the immune response to RTS,S/AS01 and RTS,S/AS02 adjuvanted vaccines : randomized, double-blind study in malaria-naïve adults

This phase II, randomized, double-blind study evaluated the immunogenicity of RTS, S vaccines containing Adjuvant System AS 01 or AS 02 as compared with non-adjuvanted RTS, S in healthy, malaria-naive adults (NCT00443131). Thirty-six subjects were randomized (1:1:1) to receive RTS, S/AS 01, RTS, S/AS 02, or RTS, S/saline at months 0, 1, and 2. Antibody responses to Plasmodium falciparum circumsporozoite (CS) and hepatitis B surface (HBs) antigens were assessed and cell-mediated immune responses evaluated by flow cytometry using intracellular cytokine staining on peripheral blood mononuclear cells. Anti-CS antibody avidity was also characterized. Safety and reactogenicity after each vaccine dose were monitored. One month after the third vaccine dose, RTS, S/AS 01 (160.3 EU/mL [95%CI: 114.1-225.4]) and RTS, S/AS 02 (77.4 EU/mL (95%CI: 47.3-126.7)) recipients had significantly higher anti-CS antibody geometric mean titers (GMTs) than recipients of RTS, S/saline (12.2 EU/mL (95%CI: 4.8-30.7); P < 0.0001 and P = 0.0011, respectively). The anti-CS antibody GMT was significantly higher with RTS, S/AS 01 than with RTS, S/AS 02 (P = 0.0135). Anti-CS antibody avidity was in the same range in all groups. CS- and HBs-specific CD4(+) T cell responses were greater for both RTS, S/AS groups than for the RTS, S/saline group. Reactogenicity was in general higher for RTS, S/AS compared with RTS, S/saline. Most grade 3 solicited adverse events (AEs) were of short duration and grade 3 solicited general AEs were infrequent in the 3 groups. No serious adverse events were reported. In conclusion, in comparison with non-adjuvanted RTS, S, both RTS, S/AS vaccines exhibited better CS-specific immune responses. The anti-CS antibody response was significantly higher with RTS, S/AS 01 than with RTS, S/AS 02. The adjuvanted vaccines had acceptable safety profiles

Antimicrobial and antibiofilm activity and machine learning classification analysis of essential oils from different mediterranean plants against pseudomonas aeruginosa

Pseudomonas aeruginosa is a ubiquitous organism and opportunistic pathogen that can cause persistent infections due to its peculiar antibiotic resistance mechanisms and to its ability to adhere and form biofilm. The interest in the development of new approaches for the prevention and treatment of biofilm formation has recently increased. The aim of this study was to seek new non-biocidal agents able to inhibit biofilm formation, in order to counteract virulence rather than bacterial growth and avoid the selection of escape mutants. Herein, different essential oils extracted from Mediterranean plants were analyzed for their activity againstP. aeruginosa. Results show that they were able to destabilize biofilm at very low concentration without impairing bacterial viability. Since the action is not related to a bacteriostatic/bactericidal activity onP. aeruginosa, the biofilm change of growth in presence of the essential oils was possibly due to a modulation of the phenotype. To this aim, application of machine learning algorithms led to the development of quantitative activity-composition relationships classification models that allowed to direct point out those essential oil chemical components more involved in the inhibition of biofilm production. The action of selected essential oils on sessile phenotype make them particularly interesting for possible applications such as prevention of bacterial contamination in the community and in healthcare environments in order to prevent human infections. We assayed 89 samples of different essential oils asP. aeruginosaanti-biofilm. Many samples inhibitedP. aeruginosabiofilm at concentrations as low as 48.8 µg/mL. Classification of the models was developed through machine learning algorithms

Experience and Challenges from Clinical Trials with Malaria Vaccines in Africa.

Malaria vaccines are considered amongst the most important modalities for potential elimination of malaria disease and transmission. Research and development in this field has been an area of intense effort by many groups over the last few decades. Despite this, there is currently no licensed malaria vaccine. Researchers, clinical trialists and vaccine developers have been working on many approached to make malaria vaccine available.African research institutions have developed and demonstrated a great capacity to undertake clinical trials in accordance to the International Conference on Harmonization-Good Clinical Practice (ICH-GCP) standards in the last decade; particularly in the field of malaria vaccines and anti-malarial drugs. This capacity is a result of networking among African scientists in collaboration with other partners; this has traversed both clinical trials and malaria control programmes as part of the Global Malaria Action Plan (GMAP). GMAP outlined and support global strategies toward the elimination and eradication of malaria in many areas, translating in reduction in public health burden, especially for African children. In the sub-Saharan region the capacity to undertake more clinical trials remains small in comparison to the actual need.However, sustainability of the already developed capacity is essential and crucial for the evaluation of different interventions and diagnostic tools/strategies for other diseases like TB, HIV, neglected tropical diseases and non-communicable diseases. There is urgent need for innovative mechanisms for the sustainability and expansion of the capacity in clinical trials in sub-Saharan Africa as the catalyst for health improvement and maintained

Validation of an enzyme-linked immunosorbent assay for the quantification of human IgG directed against the repeat region of the circumsporozoite protein of the parasite Plasmodium falciparum.

BACKGROUND: Several pre-erythrocytic malaria vaccines based on the circumsporozoite protein (CSP) antigen of Plasmodium falciparum are in clinical development. Vaccine immunogenicity is commonly evaluated by the determination of anti-CSP antibody levels using IgG-based assays, but no standard assay is available to allow comparison of the different vaccines. METHODS: The validation of an anti-CSP repeat region enzyme-linked immunosorbent assay (ELISA) is described. This assay is based on the binding of serum antibodies to R32LR, a recombinant protein composed of the repeat region of P. falciparum CSP. In addition to the original recombinant R32LR, an easy to purify recombinant His-tagged R32LR protein has been constructed to be used as solid phase antigen in the assay. Also, hybridoma cell lines have been generated producing human anti-R32LR monoclonal antibodies to be used as a potential inexhaustible source of anti-CSP repeats standard, instead of a reference serum. RESULTS: The anti-CSP repeats ELISA was shown to be robust, specific and linear within the analytical range, and adequately fulfilled all validation criteria as defined in the ICH guidelines. Furthermore, the coefficient of variation for repeatability and intermediate precision did not exceed 23%. Non-interference was demonstrated for R32LR-binding sera, and the assay was shown to be stable over time. CONCLUSIONS: This ELISA, specific for antibodies directed against the CSP repeat region, can be used as a standard assay for the determination of humoral immunogenicity in the development of any CSP-based P. falciparum malaria vaccine

First results from the MIT optical rapid imaging system (MORIS) on the IRTF: A stellar occultation by Pluto and a transit by exoplanet XO-2b

We present a high-speed, visible-wavelength imaging instrument: MORIS (the MIT Optical Rapid Imaging System). MORIS is mounted on the 3 m Infrared Telescope Facility (IRTF) on Mauna Kea, Hawaii. Its primary component is an Andor iXon camera, a nearly 60" square field of view with high quantum efficiency, low read noise, low dark current, and full-frame readout rates ranging from as slow as desired to a maximum of between 3.5 Hz and 35 Hz (depending on the mode; read noise of 6 pixel and 49 pixel with electron-multiplying gain = 1 , respectively). User-selectable binning and subframing can increase the cadence to a few hundred hertz. An electron-multiplying mode can be employed for photon counting, effectively reducing the read noise to subelectron levels at the expense of dynamic range. Data cubes, or individual frames, can be triggered to several-nanosecond accuracy using the Global Positioning System. MORIS is mounted on the side-facing exit window of SpeX, allowing simultaneous near-infrared and visible observations. Here, we describe the components, setup, and measured characteristics of MORIS. We also report results from the first science observations: the 2008 June 24 stellar occultation by Pluto and an extrasolar planetary transit by XO-2b. The Pluto occultation of a 15.8 magnitude star has a signal-to-noise ratio of 35 per atmospheric scale height and a midtime error of 0.32 s. The XO-2b transit reaches photometric precision of 0.5 mmag in 2 minutes and has a midtime timing precision of 23 s.United States. National Aeronautics and Space Administration (grant NNX07AK95G

Preparing for the Changing Climate: A Northeast-Focused Needs Assessment

Examines the needs of states, regional planning commissions, and local governments in mitigating climate change effects, including technical, communications, and financial assistance, as well as the need to coordinate, collaborate, and share resources