Learning tethered perching for aerial robots

Aerial robots have a wide range of applications, such as collecting data in hard-to-reach areas. This requires the longest possible operation time. However, because currently available commercial batteries have limited specific energy of roughly 300 W h kg -1 , a drone's flight time is a bottleneck for sustainable long-term data collection. Inspired by birds in nature, a possible approach to tackle this challenge is to perch drones on trees, and environmental or man-made structures, to save energy whilst in operation. In this paper, we propose an algorithm to automatically generate trajectories for a drone to perch on a tree branch, using the proposed tethered perching mechanism with a pendulum-like structure. This enables a drone to perform an energy-optimised, controlled 180° flip to safely disarm upside down. To fine-tune a set of reachable trajectories, a soft actor critic-based reinforcement algorithm is used. Our experimental results show the feasibility of the set of trajectories with successful perching. Our findings demonstrate that the proposed approach enables energy-efficient landing for long-term data collection tasks

The properties conferred upon triple-helical collagen-mimetic peptides by the presence of cysteine residues

AbstractRecently, the ability of polymeric collagen-like peptides to regulate cell behavior has generated great interest. A triple-helical peptide known as collagen-related peptide (CRP) contains the sequence (Gly-Pro-Hyp)10. With Gly-Pro-Cys triplets appended to both of its termini, designated CRPcys, chemical cross-linking using heterobifunctional reagents generates CRPcys-XL, a potent, widely used, polymeric agonist for platelet Glycoprotein VI, whereas non-cross-linked, monomeric CRPcys antagonizes Glycoprotein VI. Here, we describe how cysteine in these triplets may also undergo random air-induced oxidation, especially upon prolonged storage or repeated freeze–thawing, to form disulphide bonds, resulting in a lesser degree of polymerization than with chemical cross-linking. We investigated the monomeric and polymeric states of these and other cysteine-containing collagen-derived peptides, using gel filtration and dynamic light scattering, allowing the size of a CRP-XL aggregate to be estimated. The effect of cysteine thiols upon peptide adsorption to surfaces and subsequent platelet responses was investigated. This demonstrated that cysteine is required for strong binding to glass coverslips and to plastic plates used in ELISA assays

Abrasive wear resistance of Ti-6AL-4V obtained by the conventional manufacturing process and by electron beam melting (EBM)

i–6Al–4V is one of the most used commercial titanium alloys, in part due to properties that are desirable in high value sectors such as the aerospace industry, such as good strength-to-weight ratio and corrosion resistance. These are of importance in gas turbine engines and structural components, where titanium alloys complement heavier steel or nickel alloys. It is also a good candidate to be used in the manufacturing of prostheses, since it has good biocompatibility, but applications in other areas are limited due to its poor bulk wear resistance. Conventionally processed Ti-6AL-4V is typically used, however additive manufacturing (AM) techniques such as electron beam melting (EBM) can also be applied to this alloy. These techniques are increasingly attractive across many industries because of geometrical freedom and control of mechanical properties, both key, for example, to the successful production of highly personalised prostheses and complex thermofluids channels in aerospace and automotive components. Parts produced by EBM are typically denser than those obtained by other AM processes, but still experience increased wear over their traditionally obtained equivalents, particularly in sliding, thus surface treatment is common. This work compares the wear observed when specimens manufactured by either conventionally or EBM were subjected to abrasion via means of a dry sand-rubber wheel tribometer capable of testing to the ASTM G65 test method. The specimens and resulting wear scars were characterised (hardness, grain size, roughness) and details of the wear mechanism(s) identified. The EBM specimens exhibited much greater wear, over twice that of the conventionally obtained specimens, and feature significantly more scratches. Although there are several studies variously considering two-body sliding wear and the efficacy of surface treatments of this type of alloy, this work addresses the paucity of information about the comparative abrasive wear performance of the alloy obtained via the two process routes

long term outcomes of pediatric patients with malignant and non malignant disorders receiving α β t cell depleted hla haploidentical hematopoietic stem cell transplantation hsct followed by infusion of bpx 501 t cells donor t cells transduced with ic9

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Monomeric PcrA helicase processively unwinds plasmid lengths of DNA in the presence of the initiator protein RepD

The helicase PcrA unwinds DNA during asymmetric replication of plasmids, acting with an initiator protein, in our case RepD. Detailed kinetics of PcrA activity were measured using bulk solution and a single-molecule imaging technique to investigate the oligomeric state of the active helicase complex, its processivity and the mechanism of unwinding. By tethering either DNA or PcrA to a microscope coverslip surface, unwinding of both linear and natural circular plasmid DNA by PcrA/RepD was followed in real-time using total internal reflection fluorescence microscopy. Visualization was achieved using a fluorescent single-stranded DNA-binding protein. The single-molecule data show that PcrA, in combination with RepD, can unwind plasmid lengths of DNA in a single run, and that PcrA is active as a monomer. Although the average rate of unwinding was similar in single-molecule and bulk solution assays, the single-molecule experiments revealed a wide distribution of unwinding speeds by different molecules. The average rate of unwinding was several-fold slower than the PcrA translocation rate on single-stranded DNA, suggesting that DNA unwinding may proceed via a partially passive mechanism. However, the fastest dsDNA unwinding rates measured in the single-molecule unwinding assays approached the PcrA translocation speed measured on ssDNA

Corporate governance and financial constraints on strategic turnarounds

The paper extends the Robbins and Pearce (1992) two-stage turnaround response model to include governance factors. In addition to the retrenchment and recovery, the paper proposes the addition of a realignment stage, referring specifically to the re-alignment of expectations of principal and agent groups. The realignment stage imposes a threshold that must be crossed before the retrenchment and hence recovery stage can be entered. Crossing this threshold is problematic to the extent that the interests of governance-stakeholder groups diverge in a crisis situation. The severity of the crisis impacts on the bases of strategy contingent asset valuation leading to the fragmentation of stakeholder interests. In some cases the consequence may be that management are prevented from carrying out turnarounds by governance constraints. The paper uses a case study to illustrate these dynamics, and like the Robbins and Pearce study, it focuses on the textile industry. A longitudinal approach is used to show the impact of the removal of governance constraints. The empirical evidence suggests that such financial constraints become less serious to the extent that there is a functioning market for corporate control. Building on governance research and turnaround literature, the paper also outlines the general case necessary and sufficient conditions for successful turnarounds

Glycoprotein Ib activation by thrombin stimulates the energy metabolism in human platelets

<div><p>Thrombin-induced platelet activation requires substantial amounts of ATP. However, the specific contribution of each ATP-generating pathway <i>i</i>.<i>e</i>., oxidative phosphorylation (OxPhos) versus glycolysis and the biochemical mechanisms involved in the thrombin-induced activation of energy metabolism remain unclear. Here we report an integral analysis on the role of both energy pathways in human platelets activated by several agonists, and the signal transducing mechanisms associated with such activation. We found that thrombin, Trap-6, arachidonic acid, collagen, A23187, epinephrine and ADP significantly increased glycolytic flux (3–38 times <i>vs</i>. non-activated platelets) whereas ristocetin was ineffective. OxPhos (33 times) and mitochondrial transmembrane potential (88%) were increased only by thrombin. OxPhos was the main source of ATP in thrombin-activated platelets, whereas in platelets activated by any of the other agonists, glycolysis was the principal ATP supplier. In order to establish the biochemical mechanisms involved in the thrombin-induced OxPhos activation in platelets, several signaling pathways associated with mitochondrial activation were analyzed. Wortmannin and LY294002 (PI3K/Akt pathway inhibitors), ristocetin and heparin (GPIb inhibitors) as well as resveratrol, ATP (calcium-release inhibitors) and PP1 (Tyr-phosphorylation inhibitor) prevented the thrombin-induced platelet activation. These results suggest that thrombin activates OxPhos and glycolysis through GPIb-dependent signaling involving PI3K and Akt activation, calcium mobilization and protein phosphorylation.</p></div

Hematopoietic Cell Transplantation in Patients With Primary Immune Regulatory Disorders (PIRD): A Primary Immune Deficiency Treatment Consortium (PIDTC) Survey.

Primary Immune Regulatory Disorders (PIRD) are an expanding group of diseases caused by gene defects in several different immune pathways, such as regulatory T cell function. Patients with PIRD develop clinical manifestations associated with diminished and exaggerated immune responses. Management of these patients is complicated; oftentimes immunosuppressive therapies are insufficient, and patients may require hematopoietic cell transplant (HCT) for treatment. Analysis of HCT data in PIRD patients have previously focused on a single gene defect. This study surveyed transplanted patients with a phenotypic clinical picture consistent with PIRD treated in 33 Primary Immune Deficiency Treatment Consortium centers and European centers. Our data showed that PIRD patients often had immunodeficient and autoimmune features affecting multiple organ systems. Transplantation resulted in resolution of disease manifestations in more than half of the patients with an overall 5-years survival of 67%. This study, the first to encompass disorders across the PIRD spectrum, highlights the need for further research in PIRD management

Steam exploded pine wood burning properties with particle size dependence

Power generation using waste material from the processing of agricultural crops can be a viable biomass energy source. However, there is scant data on their burning properties and this work presents measurements of the minimum explosion concentration (MEC), flame speed, deflagration index (Kst), and peak pressure for pulverised pine wood and steam exploded pine wood (SEPW). The ISO 1 m3 dust explosion vessel was used, modified to operate on relatively coarse particles, using a hemispherical dust disperser on the floor of the vessel and an external blast of 20 bar compressed air. The pulverized material was sieved into the size fractions <500 μm, <63 μm, 63–150 μm, 150–300 μm, 300–500 μm to study the coarse particles used in biomass power generation. The MEC (Ø) was measured to be leaner for finer size fraction with greater sensitivity of explosion. The measured peak Kst was 43–122 bar m/s and the maximum turbulent flame speeds ∼1.4–5.4 m/s depending on the size distribution of the fraction. These results show that the steam exploded pine biomass was more reactive than the raw pine, due to the finer particle size for the steam exploded biomass