Resolved rate and torque control schemes for large scale space based kinematically redundant manipulators

Resolved rate control of kinematically redundant ground based manipulators is a challenging problem. The structural, actuator, and control loop frequency characteristics of industrial grade robots generally allow operation with resolved rate control; a rate command is achievable with good accuracy. However, space based manipulators are different, typically have less structural stiffness, more motor and joint friction, and lower control loop cycle frequencies. These undesirable characteristics present a considerable Point of Resolution (POR) control problem for space based, kinematically redundant manipulators for the following reason: a kinematically redundant manipulator requires an arbitrary constraint to solve for the joint rate commands. A space manipulator will not respond to joint rate commands because of these characteristics. A space based manipulator simulation, including free end rigid body dynamics, motor dynamics, motor striction/friction, gearbox backlash, joint striction/friction, and Space Station Remote Manipulator System type configuration parameters, is used to evaluate the performance of a documented resolved rate control law. Alternate schemes which include torque control are also evaluated

Alien Registration- Bailey, Robert W. (Calais, Washington County)

https://digitalmaine.com/alien_docs/1347/thumbnail.jp

Kinematically redundant arm formulations for coordinated multiple arm implementations

Although control laws for kinematically redundant robotic arms were presented as early as 1969, redundant arms have only recently become recognized as viable solutions to limitations inherent to kinematically sufficient arms. The advantages of run-time control optimization and arm reconfiguration are becoming increasingly attractive as the complexity and criticality of robotic systems continues to progress. A generalized control law for a spatial arm with 7 or more degrees of freedom (DOF) based on Whitney's resolved rate formulation is given. Results from a simulation implementation utilizing this control law are presented. Furthermore, results from a two arm simulation are presented to demonstrate the coordinated control of multiple arms using this formulation

Purinergic Signaling in Kidney Disease

Nucleotides are key subunits for nucleic acids and provide energy for intracellular metabolism. They can also be released from cells to act physiologically as extracellular messengers or pathologically as danger signals. Extracellular nucleotides stimulate membrane receptors in the P2 and P1 family. P2X are ATP- activated cation channels; P2Y and P1 are G-protein coupled receptors activated by ATP, ADP, UTP and UDP or adenosine, respectively. Renal P2 receptors influence both vascular contractility and tubular function. Renal cells also express ectonucleotidases that rapidly hydrolyze extracellular nucleoti des. These enzymes integrate this multi-receptor purinergic-signaling complex by determining the nucleotide milieu, as well as titrating receptor activation. Purinergic signaling also regulates immune cell function by modulating the synthesis and release of various cytokines such as IL1-β and IL-18 as part of inflammasome activation. Abnormal or excessive stimulation of this intricate paracrine system can be pro- or anti-inflammatory, and is also linked to necrosis and apoptosis. Kidney tissue injury causes a localized increase in ATP concentration, and sustained activation of P2 receptors can lead to renal glomerular, tubular and vascular cell damage. Purinergic receptors also regulate the activity and proliferation of fibroblasts, promoting both inflammation and fibrosis in chronic disease. In this short review we summarize some of the recent findings related to purinergic signaling in the kidney. We focus predominantly on the P2X7 receptor, discussing why antagonists have so far disappointed in clinical trials and how advances in our understanding of purinergic signaling might help to reposition these compounds as potential treatments for renal disease

Development of stable reporter system cloning luxCDABE genes into chromosome of Salmonella enterica serotypes using Tn7 transposon

<p>Abstract</p> <p>Background</p> <p>Salmonellosis may be a food safety problem when raw food products are mishandled and not fully cooked. In previous work, we developed bioluminescent <it>Salmonella enterica </it>serotypes using a plasmid-based reporting system that can be used for real-time monitoring of the pathogen's growth on food products in short term studies. In this study, we report the use of a Tn7-based transposon system for subcloning of <it>luxCDABE </it>genes into the chromosome of eleven <it>Salmonella enterica </it>serotypes isolated from the broiler production continuum.</p> <p>Results</p> <p>We found that the <it>lux </it>operon is constitutively expressed from the chromosome post-transposition and the <it>lux </it>cassette is stable without external pressure, i.e. antibiotic selection, for all <it>Salmonella enterica </it>serotypes used. Bioluminescence expression is based on an active electron transport chain and is directly related with metabolic activity. This relationship was quantified by measuring bioluminescence against a temperature gradient in aqueous solution using a luminometer. In addition, bioluminescent monitoring of two serotypes confirmed that our chicken skin model has the potential to be used to evaluate pathogen mitigation strategies.</p> <p>Conclusions</p> <p>This study demonstrated that our new stable reporting system eliminates bioluminescence variation due to plasmid instability and provides a reliable real-time experimental system to study application of preventive measures for <it>Salmonella </it>on food products in real-time for both short and long term studies.</p

Observing Strategies for the Detection of Jupiter Analogs

To understand the frequency, and thus the formation and evolution, of planetary systems like our own solar system, it is critical to detect Jupiter-like planets in Jupiter-like orbits. For long-term radial-velocity monitoring, it is useful to estimate the observational effort required to reliably detect such objects, particularly in light of severe competition for limited telescope time. We perform detailed simulations of observational campaigns, maximizing the realism of the sampling of a set of simulated observations. We then compute the detection limits for each campaign to quantify the effect of increasing the number of observational epochs and varying their time coverage. We show that once there is sufficient time baseline to detect a given orbital period, it becomes less effective to add further time coverage-rather, the detectability of a planet scales roughly as the square root of the number of observations, independently of the number of orbital cycles included in the data string. We also show that no noise floor is reached, with a continuing improvement in detectability at the maximum number of observations N = 500 tested here.Peer reviewe

Coronary embolization after balloon angioplasty or thromolytic therapy: An autopsy study of 32 cases

AbstractObjectives. This study was undertaken to examine the nature, extent and clinical relevance of coronary embolism after balloon angioplasty or thrombolytic therapy, or both.Background. Histopathologic documentation of postinterventional coronary embolization has been reported in only 10 patients from five studies.Methods. This retrospective autopsy-based study included 32 patients, treated with balloon angioplasty or thrombolysis, or both, who died within 3 weeks of the procedure and underwent autopsy at the Mayo Clinic. Clinical variables included patient age and gender, artery treated, site and type of obstruction, type of intervention, success of the procedure, and postprocedural changes in the electrocardiogram (ECG), cardiac enzymes and hemodynamic status. Histopathologic variables included characteristics of treated plaques, acutely infarcted myocardium and coronary microemboli. Associations between microemboli and clinical and microscopic factors were evaluated by ttests and simple and multiple linear regression.Results. Emboli were observed in 26 (81%) of the 32 patients. Among 83 emboli, 95% were thrombotic or atheromatous. The presence of microemboli was associated statistically with the development of postprocedural infarct extension, new myocardial infarction or new ECG abnormalities. Moreover, the greatest number of microemboli were associated with intervention in the left anterior descending coronary artery, multiple interventional sites, postprocedural medial dissection and plaque rupture or extrusion.Conclusions. Among patients undergoing balloon angioplasty or thrombolytic therapy who die and undergo autopsy, coronary microemboli occur in a substantial percent. The frequency in survivors is unknown. However, in living patients who develop acute myocardial ischemia or new ECG abnormalities after these interventions, coronary microembolization should be considered a potential cause

Telomere dysfunction accurately predicts clinical outcome in chronic lymphocytic leukaemia, even in patients with early stage disease

© 2014 John Wiley & Sons Ltd. Defining the prognosis of individual cancer sufferers remains a significant clinical challenge. Here we assessed the ability of high-resolution single telomere length analysis (STELA), combined with an experimentally derived definition of telomere dysfunction, to predict the clinical outcome of patients with chronic lymphocytic leukaemia (CLL). We defined the upper telomere length threshold at which telomere fusions occur and then used the mean of the telomere 'fusogenic' range as a prognostic tool. Patients with telomeres within the fusogenic range had a significantly shorter overall survival (P  <  0·0001; Hazard ratio [HR] = 13·2, 95% confidence interval [CI]  = 11·6-106·4) and this was preserved in early-stage disease patients (P  <  0·0001, HR=19·3, 95% CI = 17·8-802·5). Indeed, our assay allowed the accurate stratification of Binet stage A patients into those with indolent disease (91% survival at 10 years) and those with poor prognosis (13% survival at 10 years). Furthermore, patients with telomeres above the fusogenic mean showed superior prognosis regardless of their IGHV mutation status or cytogenetic risk group. In keeping with this finding, telomere dysfunction was the dominant variable in multivariate analysis. Taken together, this study provides compelling evidence for the use of high-resolution telomere length analysis coupled with a definition of telomere dysfunction in the prognostic assessment of CLL