Contact mechanics for soft robotic fingers: modeling and experimentation

Human fingers possess mechanical characteristics, which enable them to manipulate objects. In robotics, the study of soft fingertip materials for manipulation has been going on for a while; however, almost all previous researches have been carried on hemispherical shapes whereas this study concentrates on the use of hemicylindrical shapes. These shapes were found to be more resistant to elastic deformations for the same materials. The purpose of this work is to generate a modified nonlinear contact-mechanics theory for modeling soft fingertips, which is proposed as a power-law equation. The contact area of a hemicylindrical soft fingertip is proportional to the normal force raised to the power of γcy, which ranges from 0 to 1/2. Subsuming the Timoshenko and Goodier (S. P. Timoshenko and J. N. Goodier, Theory of Elasticity, 3rd ed. (McGraw-Hill, New York, 1970) pp. 414-420) linear contact theory for cylinders confirms the proposed power equation. We applied a weighted least-squares curve fitting to analyze the experimental data for different types of silicone (RTV 23, RTV 1701, and RTV 240). Our experimental results supported the proposed theoretical prediction. Results for human fingers and hemispherical soft fingers were also compare

The diverse nature of island isolation and its effect on land bridge insular faunas

Aim: Isolation is a key factor in island biology. It is usually defined as the distance to the geographically nearest mainland, but many other definitions exist. We explored how testing different isolation indices affects the inference of impacts of isolation on faunal characteristics. We focused on land bridge islands and compared the relationships of many spatial and temporal (i.e., through time) isolation indices with community‐, population‐ and individual‐level characteristics (species richness, population density and body size, respectively). Location: Aegean Sea islands, Greece. Time period: Current. Taxon: Many animal taxa. Methods: We estimated 21 isolation indices for 205 islands and recorded species richness data for 15 taxa (invertebrates and vertebrates). We obtained body size data for seven lizard species and population density data for three. We explored how well indices predict each characteristic, in each taxon, by conducting a series of ordinary least squares regressions (controlling for island area when needed) and a meta‐analysis. Results: Isolation was significantly (and negatively) associated with species richness in 10 of 15 taxa. It was significantly (and positively) associated with body size in only one of seven species and was not associated with population density. The effect of isolation on species richness was much weaker than that of island area, regardless of the index tested. Spatial indices generally out‐performed temporal indices, and indices directly related to the mainland out‐performed those related mainly to neighbouring islands. No index was universally superior to others, including the distance to the geographically nearest mainland. Main conclusions: The choice of index can alter our perception of the impacts of isolation on biological patterns. The nearly automatic, ubiquitous use of distance to the geographically nearest mainland misrepresents the complexity of the effects of isolation. We recommend the simultaneous testing of several indices that represent different aspects of isolation, in order to produce more constructive and thorough investigations and avoid imprecise inference

New tendencies and advances in modern Statigraphical Research

Δεν διατίθεται περίληψηno abstract availabl

The effect of genetic variation on promoter usage and enhancer activity.

The identification of genetic variants affecting gene expression, namely expression quantitative trait loci (eQTLs), has contributed to the understanding of mechanisms underlying human traits and diseases. The majority of these variants map in non-coding regulatory regions of the genome and their identification remains challenging. Here, we use natural genetic variation and CAGE transcriptomes from 154 EBV-transformed lymphoblastoid cell lines, derived from unrelated individuals, to map 5376 and 110 regulatory variants associated with promoter usage (puQTLs) and enhancer activity (eaQTLs), respectively. We characterize five categories of genes associated with puQTLs, distinguishing single from multi-promoter genes. Among multi-promoter genes, we find puQTL effects either specific to a single promoter or to multiple promoters with variable effect orientations. Regulatory variants associated with opposite effects on different mRNA isoforms suggest compensatory mechanisms occurring between alternative promoters. Our analyses identify differential promoter usage and modulation of enhancer activity as molecular mechanisms underlying eQTLs related to regulatory elements

New tendencies and advances in modern Statigraphical Research

Δεν διατίθεται περίληψηno abstract availabl

Identification and removal of low-complexity sites in allele-specific analysis of ChIP-seq data

Motivation: High-throughput sequencing technologies enable the genome-wide analysis of the impact of genetic variation on molecular phenotypes at unprecedented resolution. However, although powerful, these technologies can also introduce unexpected artifacts. Results: We investigated the impact of library amplification bias on the identification of allele-specific (AS) molecular events from high-throughput sequencing data derived from chromatin immunoprecipitation assays (ChIP-seq). Putative AS DNA binding activity for RNA polymerase II was determined using ChIP-seq data derived from lymphoblastoid cell lines of two parent-daughter trios. We found that, at high-sequencing depth, many significant AS binding sites suffered from an amplification bias, as evidenced by a larger number of clonal reads representing one of the two alleles. To alleviate this bias, we devised an amplification bias detection strategy, which filters out sites with low read complexity and sites featuring a significant excess of clonal reads. This method will be useful for AS analyses involving ChIP-seq and other functional sequencing assays. Availability: The R package absfilter for library clonality simulations and detection of amplification-biased sites is available from http://updepla1srv1.epfl.ch/waszaks/absfilter Contact: [email protected] or [email protected] Supplementary information: Supplementary data are available at Bioinformatics onlin

THE CONTRIBUTION OF MUSEUMS’ DIGITALIZED PALAEONTOLOGICAL COLLECTIONS TO THE SCIENTIFIC LITERACY OF COMPULSORY EDUCATION STUDENTS: THE CASE OF AN INTERACTIVE MULTIMEDIA PRODUCTION OF THE PALAEONTOLOGICAL AND GEOLOGICAL MUSEUM OF THE UNIVERSITY OF ATHENS

The aim of the current paper is to present an interactive trilingual multimedia production, which designed in order to support school students’ scientific literacy; as well as to enhance them the awareness, provision of information and education mainly in matters of palaeontology. In order to achieve scientific literacy, school students, must interact with scientific objects and data and must experience the role of interpretation and analysis in problem solving activities. The current production, based on a part of the digitized collections of the Palaeontological and Geological Museum of the University of Athens, offers this opportunity to the school students. The application is a stand-alone learning environment and is divided into two parts. In the first part, there are presented the key geological concepts and the second part comprises interactive educational activities. Through an environment that promoted the development of observation skills, quest for information, decision-making procedures, critical thinking and systematization and following the spiral development of the material, there have been designed two sets of activities: one - for Primary and one - for Secondary educatio

Strong signature of natural selection within an FHIT intron implicated in prostate cancer risk

Previously, a candidate gene linkage approach on brother pairs affected with prostate cancer identified a locus of prostate cancer susceptibility at D3S1234 within the fragile histidine triad gene (FHIT), a tumor suppressor that induces apoptosis. Subsequent association tests on 16 SNPs spanning approximately 381 kb surrounding D3S1234 in Americans of European descent revealed significant evidence of association for a single SNP within intron 5 of FHIT. In the current study, resequencing and genotyping within a 28.5 kb region surrounding this SNP further delineated the association with prostate cancer risk to a 15 kb region. Multiple SNPs in sequences under evolutionary constraint within intron 5 of FHIT defined several related haplotypes with an increased risk of prostate cancer in European-Americans. Strong associations were detected for a risk haplotype defined by SNPs 138543, 142413, and 152494 in all cases (Pearson's χ2 = 12.34, df 1, P = 0.00045) and for the homozygous risk haplotype defined by SNPs 144716, 142413, and 148444 in cases that shared 2 alleles identical by descent with their affected brothers (Pearson's χ2 = 11.50, df 1, P = 0.00070). In addition to highly conserved sequences encompassing SNPs 148444 and 152413, population studies revealed strong signatures of natural selection for a 1 kb window covering the SNP 144716 in two human populations, the European American (π = 0.0072, Tajima's D= 3.31, 14 SNPs) and the Japanese (π = 0.0049, Fay & Wu's H = 8.05, 14 SNPs), as well as in chimpanzees (Fay & Wu's H = 8.62, 12 SNPs). These results strongly support the involvement of the FHIT intronic region in an increased risk of prostate cancer. © 2008 Ding et al

Planktonic foraminiferal ecozones: response of the pelagic environment to palaeoclimatic changes in the eastern Mediterranean Sea

A detailed study of the planktonic environment of the eastern Mediterranean Sea has permitted the reconstruction of the climatic history of this part of the basin during the time span from 9.7 to 6.6 Ma. The eastern Mediterranean Sea is confirmed as having a strong sensitivity to the climatic changes that occurred during that timespan. One of the very few complete hemipelagic successions of the Upper Miocene in Mediterranean is found in Gavdos island (SW Crete). Quantitative and qualitative modifications of the planktonic foraminiferal communities observed in Metochia section exhibit a sequence of biological events summarized in 11 successive main time intervals. The bioevents are defined by frequency peaks and/or local (re)-occurrences or (temporary) disappearances of some of the taxa, in association with more or less important fluctuations of the more common species. The planktonic foraminifera show a strong correlation with sea surface temperature variations and with changes in the physical and chemical properties of the upper water column caused by the climatic instability. Two prominent shifts in faunal parameters divide the period recorded in Metochia section into three major time slices that are discussed in chronological order: a cooling trend from 9,7 to 7,6 Ma, a warmer period from 7,6 to 7,2 Ma and then a cooling trend which finishes at the Messinian