Servomotor-Linked Articulated Versatile End Effector (SLAVE2)

A strategy is presented for the design and construction of a large master/slave-controlled, five-finger robotic hand. Each of the five fingers will possess four independent axes each driven by a brushless DC servomotor and, thus, four degrees-of-freedom. It is proposed that commercially available components be utilized as much as possible to fabricate a working laboratory model of the device with an anticipated overall length of approximately three feet (0.9 m). The fingers are to be designed to accommodate proximity, tactile, or force/torque sensors imbedded in their structure. In order to provide for the simultaneous control of the operator wears a specially instrumented glove which produces control signals corresponding to the finger configuration and which is capable of conveying sensor feedback signals to the operator. Two dexterous hand master devices are currently commercially available for this application with both undergoing continuing development

Hypoxia does not influence the response of fish to a mixture of estrogenic chemicals

The official published version can be obtained from the link below - Copyright @ 2009 American Chemical SocietyChemical risk assessment procedures assign a major role to standardized toxicity tests, in which the response of a particular organism to a single test substance is determined under otherwise constant and favorable conditions in the laboratory. This approach fails to consider the potential for chemical interactions, as well as failing to consider how the toxicological response varies, depending on the conditions of exposure. As yet, the issue of confounding factors on chemically mediated effects in wildlife has received little attention, despite the fact that a range of physicochemical parameters, including temperature, water quality, and pH, are known to modify chemical toxicity. Here, we consider how the estrogenic response of fish varies with regard to hypoxia. Fathead minnows (Pimephales promelas) were exposed to a mixture of estrogenic chemicals under hypoxic or normoxic conditions. Their estrogenic response was characterized using an in vivo assay, involving the analysis of the egg yolk protein, vitellogenin (VTG). The results revealed that there was no effect of hypoxia on the VTG response in either treatment group at the end of the exposure period. This suggests that this end point is robust and relatively insensitive to the effects of any physiological changes that arise as a result of hypoxia. The implications of these negative findings are discussed in terms of their relevance with regard to the development of risk assessment policy.This work was funded by a grant from the Natural Environment Research Council(NE/D00389X/1)

Structural discordance between neogene detachments and frontal sevier thrusts, central Mormon Mountains, southern Nevada

This is the published version. Copyright 1985 American Geophysical Union. All Rights Reserved.Detailed geologic mapping in the Mormon Mountains of southern Nevada provides significant insight into processes of extensional tectonics developed within older compressional orogens. A newly discovered, WSW-directed low-angle normal fault, the Mormon Peak detachment, juxtaposes the highest levels of the frontal most part of the east-vergent, Mesozoic Sevier thrust belt with autochthonous crystalline basement. Palinspastic analysis suggests that the detachment initially dipped 20–25° to the west and cut discordantly across thrust faults. Nearly complete lateral removal of the hanging wall from the area has exposed a 5 km thick longitudinal cross-section through the thrust belt in the footwall, while highly attenuated remnants of the hanging wall (nowhere more than a few hundred meters thick) structurally veneer the range. The present arched configuration of the detachment resulted in part from progressive “domino-style” rotation of a few degrees while it was active, but is largely due to rotation on younger, structurally lower, basement-penetrating normal faults that initiated at high-angle. The geometry and kinematics of normal faulting in the Mormon Mountains suggest that pre-existing thrust planes are not required for the initiation of low-angle normal faults, and even where closely overlapped by extensional tectonism, need not function as a primary control of detachment geometry. Caution must thus be exercised in interpreting low-angle normal faults of uncertain tectonic heritage such as those seen in the COCORP west-central Utah and BIRP's MOIST deep-reflection profiles. Although thrust fault reactivation has reasonably been shown to be the origin of a very few low-angle normal faults, our results indicate that it may not be as fundamental a component of orogenic architecture as it is now widely perceived to be. We conclude that while in many instances thrust fault reactivation may be both a plausible and attractive hypothesis, it may never be assumed

Post-processor for Concrete Columns

A series of programs were developed to evaluate slenderness effects in reinforced concrete columns and to check the capacity of user-input column designs subjected to axial forces and moments about either or both axes. The programs were designed for use on the Hewlett-Packard 9000 desktop computer. In addition, a designanalysis link was made between these programs and the frame program written by Louis 0. Bass. Only rectangular tied cross sections with rectangular bar arrangements were considered. Slenderness effects were evaluated using the approximate (moment magnifier) method of ACI 318-83.Architectural Engineerin

Singlet exciton fission in solution.

Singlet exciton fission, the spin-conserving process that produces two triplet excited states from one photoexcited singlet state, is a means to circumvent the Shockley-Queisser limit in single-junction solar cells. Although the process through which singlet fission occurs is not well characterized, some local order is thought to be necessary for intermolecular coupling. Here, we report a triplet yield of 200% and triplet formation rates approaching the diffusion limit in solutions of bis(triisopropylsilylethynyl (TIPS)) pentacene. We observe a transient bound excimer intermediate, formed by the collision of one photoexcited and one ground-state TIPS-pentacene molecule. The intermediate breaks up when the two triplets separate to each TIPS-pentacene molecule. This efficient system is a model for future singlet-fission materials and for disordered device components that produce cascades of excited states from sunlight.B.J.W. was supported by a Herchel Smith Research Fellowship. A.J.M. received funding from a Marie Curie Scholarship. D.B. is a FNRS Research Director. Both A.J.M and D.B. acknowledge support from the European Community’s Initial Training Network SUPERIOR (PITN-GA-2009-238177). Further funding for this project came from the Engineering and Physical Sciences Research Council (EPSRC) and a pump-prime grant from the Winton Programme for the Physics of Sustainability.This is the accepted version of an article originally published in Nature Chemistry 5, 1019–1024 and available online at http://www.nature.com/nchem/journal/v5/n12/full/nchem.1801.html. Nature Publishing Group's conditions for reuse are detailed at http://www.nature.com/authors/policies/license.html

A toy terrestrial carbon flow model

A generalized carbon flow model for the major terrestrial ecosystems of the world is reported. The model is a simplification of the Century model and the Forest-Biogeochemical model. Topics covered include plant production, decomposition and nutrient cycling, biomes, the utility of the carbon flow model for predicting carbon dynamics under global change, and possible applications to state-and-transition models and environmentally driven global vegetation models

Maternal obesity has little effect on the immediate offspring but impacts on the next generation

Maternal obesity during pregnancy has been linked to an increased risk of obesity and cardiometabolic disease in the offspring, a phenomenon attributed to developmental programming. Programming effects may be transmissible across generations through both maternal and paternal inheritance, although the mechanisms remain unclear. Using a mouse model, we explored the effects of moderate maternal diet-induced obesity (DIO) on weight gain and glucose-insulin homeostasis in first-generation (F1) and second-generation offspring. DIO was associated with insulin resistance, hyperglycemia and dyslipidemia before pregnancy. Birth weight was reduced in female offspring of DIO mothers (by 6%, P = .039), and DIO offspring were heavier than controls at weaning (males by 47%, females by 27%), however there were no differences in glucose tolerance, plasma lipids, or hepatic gene expression at 6 months. Despite the relative lack of effects in the F1, we found clear fetal growth restriction and persistent metabolic changes in otherwise unmanipulated second-generation offspring with effects on birth weight, insulin levels, and hepatic gene expression that were transmitted through both maternal and paternal lines. This suggests that the consequences of the current dietary obesity epidemic may also have an impact on the descendants of obese individuals, even when the phenotype of the F1 appears largely unaffected

Characterizing active and inactive brown adipose tissue in adult humans using PET-CT and MR imaging

Activated brown adipose tissue (BAT) plays an important role in thermogenesis and whole body metabolism in mammals. Positron emission tomography (PET)-computed tomography (CT) imaging has identified depots of BAT in adult humans, igniting scientific interest. The purpose of this study is to characterize both active and inactive supraclavicular BAT in adults and compare the values to those of subcutaneous white adipose tissue (WAT). We obtained [18F]fluorodeoxyglucose ([18F]FDG) PET-CT and magnetic resonance imaging (MRI) scans of 25 healthy adults. Unlike [18F]FDG PET, which can detect only active BAT, MRI is capable of detecting both active and inactive BAT. The MRI-derived fat signal fraction (FSF) of active BAT was significantly lower than that of inactive BAT (means ± SD; 60.2 ± 7.6 vs. 62.4 ± 6.8%, respectively). This change in tissue morphology was also reflected as a significant increase in Hounsfield units (HU; −69.4 ± 11.5 vs. −74.5 ± 9.7 HU, respectively). Additionally, the CT HU, MRI FSF, and MRI R2* values are significantly different between BAT and WAT, regardless of the activation status of BAT. To the best of our knowledge, this is the first study to quantify PET-CT and MRI FSF measurements and utilize a semiautomated algorithm to identify inactive and active BAT in the same adult subjects. Our findings support the use of these metrics to characterize and distinguish between BAT and WAT and lay the foundation for future MRI analysis with the hope that some day MRI-based delineation of BAT can stand on its own

Non‐Linear Thresholds Characterize the Relationship Between Reef Fishes and Mangrove Habitat

A significant obstacle to evaluating the importance of mangrove habitat to coral reef fishes has been the difficulty of disentangling its effects from other subtidal/nearshore habitats or human population pressures. Florida\u27s seascape, unlike most others, has been extensively surveyed and mapped, and there are reliable estimates of human population density. Despite many studies that have correlated reef fish abundance with nearby mangrove habitat, some researchers continue to question the importance of mangroves to reef fishes. Previous studies that have investigated the mangrove–reef fish subsidy effect have applied methods that either compared averages or examined linear relationships; yet there is a body of literature that indicates that the effects of habitat are characterized by thresholds and limiting functions. Here, we employed a generalized additive model to investigate whether species richness of 106 mangrove‐associated reef fishes is related to thresholds in the extent of nearby mangrove forests along the Florida Keys Reef Tract. In addition, we used linear discriminant analyses (LDAs) to examine the relationships between the occurrence of 77 reef fish species and extent of Florida mangrove forests. We found that after accounting for confounding factors, at scales \u3c20 km2, species richness declines with decreasing mangrove extent, whereas richness increases with increasing mangrove extent at scales \u3e80 km2. Results of our LDA suggested that at least 49 reef fish species (64% of focal species) were associated with higher nearby mangrove forest extent. Our results indicate that of all habitat attributes considered, mangroves played the most substantial role in the diversity of nearby reef fish populations. These apparent thresholds (i.e., non‐linearities) in the extent of mangrove forests should be incorporated into fisheries critical habitat management and emphasize the need to consider non‐linear relationships between fishes and their habitat