Control of a wrist joint motion simulator: a phantom study

The presence of muscle redundancy and co-activation of agonist-antagonist pairs in vivo makes the optimization of the load distribution between muscles in physiologic joint simulators vital. This optimization is usually achieved by employing different control strategies based on position and/or force feedback. A muscle activated physiologic wrist simulator was developed to test and iteratively refine such control strategies on a functional replica of a human arm. Motions of the wrist were recreated by applying tensile loads using electromechanical actuators. Load cells were used to monitor the force applied by each muscle and an optical motion capture system was used to track joint angles of the wrist in real-time. Four control strategies were evaluated based on their kinematic error, repeatability and ability to vary co-contraction. With kinematic errors of less than 1.5°, the ability to vary co-contraction, and without the need for predefined antagonistic forces or muscle force ratios, novel control strategies – hybrid control and cascade control – were preferred over standard control strategies – position control and force control. Muscle forces obtained from hybrid and cascade control corresponded well with in vivo EMG data and muscle force data from other wrist simulators in the literature. The decoupling of the wrist axes combined with the robustness of the control strategies resulted in complex motions, like dart thrower’s motion and circumduction, being accurate and repeatable. Thus, two novel strategies with repeatable kinematics and physiologically relevant muscle forces are introduced for the control of joint simulators

Spinor-Vector Duality in Heterotic String Orbifolds

The three generation heterotic-string models in the free fermionic formulation are among the most realistic string vacua constructed to date, which motivated their detailed investigation. The classification of free fermion heterotic string vacua has revealed a duality under the exchange of spinor and vector representations of the SO(10) GUT symmetry over the space of models. We demonstrate the existence of the spinor-vector duality using orbifold techniques, and elaborate on the relation of these vacua to free fermionic models.Comment: 20 pages. v2 minor corrections. Version to appear on JHEP. v3 misprints correcte

Migrant workers in the East Midlands labour market 2007

This report provides a profile of international migrants in the East Midlands and their role in the regional labour marke

Migrant workers in the East Midlands labour market 2010

This report is an update of previous intelligence (Migrant Workers in the East Midlands Labour Market 2007) on the profile and economic impact of migrant labour in the East Midlands economy

Palindromic Length of Words with Many Periodic Palindromes

The palindromic length $\text{PL}(v)$ of a finite word $v$ is the minimal number of palindromes whose concatenation is equal to $v$. In 2013, Frid, Puzynina, and Zamboni conjectured that: If $w$ is an infinite word and $k$ is an integer such that $\text{PL}(u)\leq k$ for every factor $u$ of $w$ then $w$ is ultimately periodic. Suppose that $w$ is an infinite word and $k$ is an integer such $\text{PL}(u)\leq k$ for every factor $u$ of $w$. Let $\Omega(w,k)$ be the set of all factors $u$ of $w$ that have more than $\sqrt[k]{k^{-1}\vert u\vert}$ palindromic prefixes. We show that $\Omega(w,k)$ is an infinite set and we show that for each positive integer $j$ there are palindromes $a,b$ and a word $u\in \Omega(w,k)$ such that $(ab)^j$ is a factor of $u$ and $b$ is nonempty. Note that $(ab)^j$ is a periodic word and $(ab)^ia$ is a palindrome for each $i\leq j$. These results justify the following question: What is the palindromic length of a concatenation of a suffix of $b$ and a periodic word $(ab)^j$ with "many" periodic palindromes? It is known that $\lvert\text{PL}(uv)-\text{PL}(u)\rvert\leq \text{PL}(v)$, where $u$ and $v$ are nonempty words. The main result of our article shows that if $a,b$ are palindromes, $b$ is nonempty, $u$ is a nonempty suffix of $b$, $\vert ab\vert$ is the minimal period of $aba$, and $j$ is a positive integer with $j\geq3\text{PL}(u)$ then $\text{PL}(u(ab)^j)-\text{PL}(u)\geq 0$

Manipulation Strategies for the Rank Maximal Matching Problem

We consider manipulation strategies for the rank-maximal matching problem. In the rank-maximal matching problem we are given a bipartite graph $G = (A \cup P, E)$ such that $A$ denotes a set of applicants and $P$ a set of posts. Each applicant $a \in A$ has a preference list over the set of his neighbours in $G$, possibly involving ties. Preference lists are represented by ranks on the edges - an edge $(a,p)$ has rank $i$, denoted as $rank(a,p)=i$, if post $p$ belongs to one of $a$'s $i$-th choices. A rank-maximal matching is one in which the maximum number of applicants is matched to their rank one posts and subject to this condition, the maximum number of applicants is matched to their rank two posts, and so on. A rank-maximal matching can be computed in $O(\min(c \sqrt{n},n) m)$ time, where $n$ denotes the number of applicants, $m$ the number of edges and $c$ the maximum rank of an edge in an optimal solution. A central authority matches applicants to posts. It does so using one of the rank-maximal matchings. Since there may be more than one rank- maximal matching of $G$, we assume that the central authority chooses any one of them randomly. Let $a_1$ be a manipulative applicant, who knows the preference lists of all the other applicants and wants to falsify his preference list so that he has a chance of getting better posts than if he were truthful. In the first problem addressed in this paper the manipulative applicant $a_1$ wants to ensure that he is never matched to any post worse than the most preferred among those of rank greater than one and obtainable when he is truthful. In the second problem the manipulator wants to construct such a preference list that the worst post he can become matched to by the central authority is best possible or in other words, $a_1$ wants to minimize the maximal rank of a post he can become matched to

Stable schedule matching under revealed preference

Baiou and Balinski (Math. Oper. Res., 27 (2002) 485) studied schedule matching where one determines the partnerships that form and how much time they spend together, under the assumption that each agent has a ranking on all potential partners. Here we study schedule matching under more general preferences that extend the substitutable preferences in Roth (Econometrica 52 (1984) 47) by an extension of the revealed preference approach in Alkan (Econom. Theory 19 (2002) 737). We give a generalization of the GaleShapley algorithm and show that some familiar properties of ordinary stable matchings continue to hold. Our main result is that, when preferences satisfy an additional property called size monotonicity, stable matchings are a lattice under the joint preferences of all agents on each side and have other interesting structural properties

Observing classical nucleation theory at work by monitoring phase transitions with molecular precision.

It is widely accepted that many phase transitions do not follow nucleation pathways as envisaged by the classical nucleation theory. Many substances can traverse intermediate states before arriving at the stable phase. The apparent ubiquity of multi-step nucleation has made the inverse question relevant: does multistep nucleation always dominate single-step pathways? Here we provide an explicit example of the classical nucleation mechanism for a system known to exhibit the characteristics of multi-step nucleation. Molecular resolution atomic force microscopy imaging of the two-dimensional nucleation of the protein glucose isomerase demonstrates that the interior of subcritical clusters is in the same state as the crystalline bulk phase. Our data show that despite having all the characteristics typically associated with rich phase behaviour, glucose isomerase 2D crystals are formed classically. These observations illustrate the resurfacing importance of the classical nucleation theory by re-validating some of the key assumptions that have been recently questioned

In-work poverty in the East Midlands

Research that explores the nature and scale of in-work poverty in the East Midlands, using several established measures