Online Motion Generation for Mirroring Human Arm Motion

Motion planning in robotics is a very large field of research. Many different approaches have been developed to create smooth trajectories for robot movement. For example there are optimization algorithms, which optimize kinematic or dynamic properties of a trajectory. Furthermore, nonlinear programming methods like e.g. optimal control, or polynomial based methods are widely used for trajectory generation. Most of these techniques are used to calculate a trajectory in advance, or they are limited to create point-to-point motions, where the robot needs to stop when switching to the next target point, especially, when interpolating in rotational space. In this paper, we combine a low-pass filter and spherical linear interpolation to realize a velocity-limited online trajectory generator for robot orientations in quaternion space. We use the developed motion generator for mirroring a human arm motion with a robot, recorded by a low frequency visual tracking. Using the proposed method, we can replicate the motion of the operator’s arm with very little delay and thereby achieve an easy-to-use interface. Furthermore, as we can strictly limit the velocity of the generated motion, the approach can safely be used in human robot collaboration applications

Vertical distribution of Baltic sprat larvae: changes in patterns of diel migration?

Ontogenetic and diurnal vertical migration patterns of Baltic sprat larvae were investigated for the periods 1989–1990 and 1998–2002. Comparison of the results led to the hypothesis that the diel vertical migration behaviour of sprat larvae >10 mm has changed. In 1989 and 1990, sprat larvae migrated to the surface at night, whereas they stayed 30–50 m deep by day. From 1998 to 2002, sprat larvae showed no signs of diel vertical migration, remaining in warmer, near-surface water by day and night. This behavioural change coincided with a more general change in the Baltic ecosystem, i.e. an increase in near-surface temperature and a general increase in abundance of the major prey organism (Acartia spp.) of Baltic sprat larvae, with more pronounced aggregation in surface waters

Electron Symmetry Breaking during Attosecond Charge Migration Induced by Laser Pulses: Point Group Analyses for Quantum Dynamics

Quantum simulations of the electron dynamics of oriented benzene and Mg-porphyrin driven by short (<10 fs) laser pulses yield electron symmetry breaking during attosecond charge migration. Nuclear motions are negligible on this time domain, i.e., the point group symmetries G = D6h and D4h of the nuclear scaffolds are conserved. At the same time, the symmetries of the one-electron densities are broken, however, to specific subgroups of G for the excited superposition states. These subgroups depend on the polarization and on the electric fields of the laser pulses. They can be determined either by inspection of the symmetry elements of the one-electron density which represents charge migration after the laser pulse, or by a new and more efficient group-theoretical approach. The results agree perfectly with each other. They suggest laser control of symmetry breaking. The choice of the target subgroup is restricted, however, by a new theorem, i.e., it must contain the symmetry group of the time-dependent electronic Hamiltonian of the oriented molecule interacting with the laser pulse(s). This theorem can also be applied to confirm or to falsify complementary suggestions of electron symmetry breaking by laser pulses

CDO1 Promoter Methylation is a Biomarker for Outcome Prediction of Anthracycline Treated, Estrogen Receptor-Positive, Lymph Node-Positive Breast Cancer Patients

<p>Abstract</p> <p>Background</p> <p>Various biomarkers for prediction of distant metastasis in lymph-node negative breast cancer have been described; however, predictive biomarkers for patients with lymph-node positive (LNP) disease in the context of distinct systemic therapies are still very much needed. DNA methylation is aberrant in breast cancer and is likely to play a major role in disease progression. In this study, the DNA methylation status of 202 candidate loci was screened to identify those loci that may predict outcome in LNP/estrogen receptor-positive (ER+) breast cancer patients with adjuvant anthracycline-based chemotherapy.</p> <p>Methods</p> <p>Quantitative bisulfite sequencing was used to analyze DNA methylation biomarker candidates in a retrospective cohort of 162 LNP/ER+ breast cancer patients, who received adjuvant anthracycline-based chemotherapy. First, twelve breast cancer specimens were analyzed for all 202 candidate loci to exclude genes that showed no differential methylation. To identify genes that predict distant metastasis, the remaining loci were analyzed in 84 selected cases, including the 12 initial ones. Significant loci were analyzed in the remaining 78 independent cases. Metastasis-free survival analysis was conducted by using Cox regression, time-dependent ROC analysis, and the Kaplan-Meier method. Pairwise multivariate regression analysis was performed by linear Cox Proportional Hazard models, testing the association between methylation scores and clinical parameters with respect to metastasis-free survival.</p> <p>Results</p> <p>Of the 202 loci analysed, 37 showed some indication of differential DNA methylation among the initial 12 patient samples tested. Of those, 6 loci were associated with outcome in the initial cohort (n = 84, log rank test, p < 0.05).</p> <p>Promoter DNA methylation of cysteine dioxygenase 1 (CDO1) was confirmed in univariate and in pairwise multivariate analysis adjusting for age at surgery, pathological T stage, progesterone receptor status, grade, and endocrine therapy as a strong and independent biomarker for outcome prediction in the independent validation set (log rank test p-value = 0.0010).</p> <p>Conclusions</p> <p>CDO1 methylation was shown to be a strong predictor for distant metastasis in retrospective cohorts of LNP/ER+ breast cancer patients, who had received adjuvant anthracycline-based chemotherapy.</p

Pathogen invasion-dependent tissue reservoirs and plasmid-encoded antibiotic degradation boost plasmid spread in the gut

Many plasmids encode antibiotic resistance genes. Through conjugation, plasmids can be rapidly disseminated. Previous work identified gut luminal donor/recipient blooms and tissue-lodged plasmid-bearing persister cells of the enteric pathogen; Salmonella enterica; serovar Typhimurium (; S; .Tm) that survive antibiotic therapy in host tissues, as factors promoting plasmid dissemination among Enterobacteriaceae. However, the buildup of tissue reservoirs and their contribution to plasmid spread await experimental demonstration. Here, we asked if re-seeding-plasmid acquisition-invasion cycles by; S; .Tm could serve to diversify tissue-lodged plasmid reservoirs, and thereby promote plasmid spread. Starting with intraperitoneal mouse infections, we demonstrate that; S; .Tm cells re-seeding the gut lumen initiate clonal expansion. Extended spectrum beta-lactamase (ESBL) plasmid-encoded gut luminal antibiotic degradation by donors can foster recipient survival under beta-lactam antibiotic treatment, enhancing transconjugant formation upon re-seeding.; S; .Tm transconjugants can subsequently re-enter host tissues introducing the new plasmid into the tissue-lodged reservoir. Population dynamics analyses pinpoint recipient migration into the gut lumen as rate-limiting for plasmid transfer dynamics in our model. Priority effects may be a limiting factor for reservoir formation in host tissues. Overall, our proof-of-principle data indicates that luminal antibiotic degradation and shuttling between the gut lumen and tissue-resident reservoirs can promote the accumulation and spread of plasmids within a host over time

EDAN - An EMG-controlled Daily Assistant To Help People With Physical Disabilities

Injuries, accidents, strokes, and other diseases can significantly degrade the capabilities to perform even the most simple activities in daily life. A large share of these cases involves neuromuscular diseases, which lead to severely reduced muscle function. However, even though affected people are no longer able to move their limbs, residual muscle function can still be existent. Previous work has shown that this residual muscular activity can suffice to apply an EMG-based user interface. In this paper, we introduce DLR's robotic wheelchair EDAN (EMG-controlled Daily Assistant), which is equipped with a torque-controlled, eight degree-of-freedom light-weight arm and a dexterous, five-fingered robotic hand. Using electromyography, muscular activity of the user is measured,processed and utilized to control both the wheelchair and the robotic manipulator. This EMG-based interface is enhanced with shared control functionality to allow for efficient and safe physical interaction with the environment

Formate und Funktionen des Porträts / Formats et Fonctions du Portrait

Der Band stellt die Beiträge einer Tagung zusammen, die das Internationale Kolleg Morphomata gemeinsam mit der École Pratique des Hautes Études in Paris durchgeführt hat. Formate bildlicher Darstellungen ergeben sich aus dem Kontext der Anbringung, denn der Ort, an dem sie sich einfügen müssen, bestimmt ihre Größe. Wenn für das antike dreidimensionale Porträt Lebensgröße als Maßstab üblich war, so mussten Abweichungen davon umso auffälliger erscheinen. Die Beiträge untersuchen die Wechselwirkung von Format und Funktion, die das Porträt in unterschiedlichsten Bereichen zur Geltung bringen konnte