Kinematics and control algorithm development and simulation for a redundant two-arm robotic manipulator system

An efficient approach to cartesian motion and force control of a 7 degree of freedom (DOF) manipulator is presented. It is based on extending the active stiffness controller to the 7 DOF case in general and use of an efficient version of the gradient projection technique for solving the inverse kinematics problem. Cooperative control is achieved through appropriate configuration of individual manipulator controllers. In addition, other aspects of trajectory generation using standard techniques are integrated into the controller. The method is then applied to a specific manipulator of interest (Robotics Research T-710). Simulation of the kinematics, dynamics, and control are provided in the context of several scenarios: one pertaining to a noncontact pick and place operation; one relating to contour following where contact is made between the manipulator and environment; and one pertaining to cooperative control

p53 Keeps Bystanders at the Gates

The inappropriate expansion of self-reactive “bystander” T cells can contribute to autoimmune disease. In this issue of Immunity, Watanabe et al. (2014) demonstrate that the tumor suppressor p53 prevents the cytokine-dependent proliferation of T cells in the absence of cognate antigens

Polymethylmethacrylate (PMMA) Material Test Results for the Capillary Flow Experiments (CFE)

In support of the Capillary Flow Experiments (CFE) program, several polymethylmethacrylate (PMMA) flight vessels were constructed. Some vessels used a multipiece design, which was chemically welded together. Due to questions regarding the effects of the experiment fluid (silicone oil) on the weld integrity, a series of tests were conducted to provide evidence of the adequacy of the current vessel design. Tensile tests were conducted on PMMA samples that were both in the as-received condition, and also aged in air or oil for up to 8 weeks. Both welded and unwelded samples were examined. Fracture of the joints was studied using notched tensile specimens and Brazilian disk tests. Results showed that aging had no effect on tensile properties. While the welded samples were weaker than the base parent material, the weld strength was found to be further degraded by bubbles in the weld zone. Finally a fracture analysis using the worst-case fracture conditions of the vessel was performed, and the vessel design was found to have a factor of three safety margin

An Arctic ecosystem : the coastal tundra at Barrow, Alaska

From the Foreward: This book is one of a series of volumes reporting results of research by U. S. scientists participating in the International Biological Program (IBP). As one of the 58 nations taking part in the IBP during the period July 1967 to June 1974 , the United States organized a number of large, multidisciplinary studies pertinent to the central IBP theme of "the biological basis of productivity and human welfare."Direct financial support of the Biome-wide program was derived from three major sources: the National Science Foundation, the State of Alaska and the petroleum industry through the University of Alaska. The NSF funding was under the joint sponsorship of the U. S. Arctic Research Program (Division of Polar Programs) and the U. S. International Biological Program (Ecosystem Analysis). The Army Research Office and the Department of Energy (previously AEC and ERDA) both contributed funded projects to the Program. Industry support was provided through unrestricted grants from: Atlantic Richfield Company, Alyeska Pipeline Service Company, BP Alaska, Inc. Cities Service Company, Exxon Company, USA (Humble Oil and Refining Company), Gulf Oil Corporation , Marathon Oil Company, Mobil Oil Company, Prudhoe Bay Environmental Subcommittee of the Alaska Oil and Gas Association, Shell Oil Company, Standard Oil Company of California, Standard Oil (Indiana) Foundation Inc., and Sun Oil Company

Electrochemical carbon dioxide concentrator subsystem development

The most promising concept for a regenerative CO2 removal system for long duration manned space flight is the Electrochemical CO2 Concentrator (EDC), which allows for the continuous, efficient removal of CO2 from the spacecraft cabin. This study addresses the advancement of the EDC system by generating subsystem and ancillary component reliability data through extensive endurance testing and developing related hardware components such as electrochemical module lightweight end plates, electrochemical module improved isolation valves, an improved air/liquid heat exchanger and a triple redundant relative humidity sensor. Efforts included fabrication and testing the EDC with a Sabatier CO2 Reduction Reactor and generation of data necessary for integration of the EDC into a space station air revitalization system. The results verified the high level of performance, reliability and durability of the EDC subsystem and ancillary hardware, verified the high efficiency of the Sabatier CO2 Reduction Reactor, and increased the overall EDC technology engineering data base. The study concluded that the EDC system is approaching the hardware maturity levels required for space station deployment

Comparative Recruitment Dynamics of Alewife and Bloater in Lakes Michigan and Huron

The predictive power of recruitment models often relies on the identification and quantification of external variables, in addition to stock size. In theory, the identification of climatic, biotic, or demographic influences on reproductive success assists fisheries management by identifying factors that have a direct and reproducible influence on the population dynamics of a target species. More often, models are constructed as one‐time studies of a single population whose results are not revisited when further data become available. Here, we present results from stock recruitment models for Alewife Alosa pseudoharengus and Bloater Coregonus hoyi in Lakes Michigan and Huron. The factors that explain variation in Bloater recruitment were remarkably consistent across populations and with previous studies that found Bloater recruitment to be linked to population demographic patterns in Lake Michigan. Conversely, our models were poor predictors of Alewife recruitment in Lake Huron but did show some agreement with previously published models from Lake Michigan. Overall, our results suggest that external predictors of fish recruitment are difficult to discern using traditional fisheries models, and reproducing the results from previous studies may be difficult particularly at low population sizes.Peer Reviewedhttps://deepblue.lib.umich.edu/bitstream/2027.42/141414/1/tafs0294.pd

Temporal dynamics in an immunological synapse:role of thermal fluctuations in signaling

The article analyzes the contribution of stochastic thermal fluctuations in the attachment times of the immature T-cell receptor TCR: peptide-major-histocompatibility-complex pMHC immunological synapse bond. The key question addressed here is the following: how does a synapse bond remain stabilized in the presence of high-frequency thermal noise that potentially equates to a strong detaching force? Focusing on the average time persistence of an immature synapse, we show that the high-frequency nodes accompanying large fluctuations are counterbalanced by low-frequency nodes that evolve over longer time periods, eventually leading to signaling of the immunological synapse bond primarily decided by nodes of the latter type. Our analysis shows that such a counterintuitive behavior could be easily explained from the fact that the survival probability distribution is governed by two distinct phases, corresponding to two separate time exponents, for the two different time regimes. The relatively shorter timescales correspond to the cohesion:adhesion induced immature bond formation whereas the larger time reciprocates the association:dissociation regime leading to TCR:pMHC signaling. From an estimate of the bond survival probability, we show that, at shorter timescales, this probability PΔ(τ) scales with time τ as a universal function of a rescaled noise amplitude DΔ2, such that PΔ(τ)∼τ-(ΔD+12),Δ being the distance from the mean intermembrane (T cell:Antigen Presenting Cell) separation distance. The crossover from this shorter to a longer time regime leads to a universality in the dynamics, at which point the survival probability shows a different power-law scaling compared to the one at shorter timescales. In biological terms, such a crossover indicates that the TCR:pMHC bond has a survival probability with a slower decay rate than the longer LFA-1:ICAM-1 bond justifying its stability

Dynamic Actin Polymerization Drives T Cell Receptor–Induced Spreading A Role for the Signal Transduction Adaptor LAT

AbstractT cell activation induces functional changes in cell shape and cytoskeletal architecture. To facilitate the collection of dynamic, high-resolution images of activated T cells, we plated T cells on coverslips coated with antibodies to the T cell receptor (TCR). Using these images, we were able to quantitate the morphological responses of individual cells over time. Here, we show that TCR engagement triggers the formation and expansion of contacts bounded by continuously remodeled actin-rich rings. These processes are associated with the extension of lamellipodia and require actin polymerization, tyrosine kinase activation, cytoplasmic calcium increases, and LAT, an important hematopoietic adaptor. In addition, the maintenance of the resulting contact requires sustained calcium influxes, an intact microtubule cytoskeleton, and functional LAT

Contact time periods in immunological synapse

This paper resolves the long standing debate as to the proper time scale τ of the onset of the immunological synapse bond, the noncovalent chemical bond defining the immune pathways involving T cells and antigen presenting cells. Results from our model calculations show τ to be of the order of seconds instead of minutes. Close to the linearly stable regime, we show that in between the two critical spatial thresholds defined by the integrin:ligand pair (Δ2∼ 40-45 nm) and the T-cell receptor TCR:peptide-major-histocompatibility-complex pMHC bond (Δ1∼ 14-15 nm), τ grows monotonically with increasing coreceptor bond length separation δ (= Δ2-Δ1∼ 26-30 nm) while τ decays with Δ1 for fixed Δ2. The nonuniversal δ-dependent power-law structure of the probability density function further explains why only the TCR:pMHC bond is a likely candidate to form a stable synapse