Development of 3D anti-Swing control for hydraulic knuckle boom crane

In this paper, 3D anti-swing control for a hydraulic loader crane is presented. The difference between hydraulic and electric cranes are discussed to show the challenges associated with hydraulic actuation. The hanging load dynamics and relevant kinematics of the crane are derived to model the system and create the 3D anti-swing controller. The anti-swing controller generates a set of tool point velocities which are added to the electro-hydraulic motion controller via feedforward. A dynamic simulation model of the crane is made, and the control system is evaluated in simulations with a path controller in actuator space. Simulation results show significant reduction in the load swing angles during motion using the proposed anti-swing controller in addition to pressure feedback. Experiments are carried out to verify the performance of the anti-swing controller. Results show that the implemented pressure feedback is crucial for reaching stability, and with it the control system yields good suppression of the swing angles in practice.publishedVersio

Kinect Depth Sensor Evaluation for Computer Vision Applications

This technical report describes our evaluation of the Kinect depth sensor by Microsoft for Computer Vision applications. The depth sensor is able to return images like an ordinary camera, but instead of color, each pixel value represents the distance to the point. As such, the sensor can be seen as a range- or 3D-camera. We have used the sensor in several different computer vision projects and this document collects our experiences with the sensor. We are only focusing on the depth sensing capabilities of the sensor since this is the real novelty of the product in relation to computer vision. The basic technique of the depth sensor is to emit an infrared light pattern (with an IR laser diode) and calculate depth from the reflection of the light at different positions (using a traditional IR sensitive camera). In this report, we perform an extensive evaluation of the depth sensor and investigate issues such as 3D resolution and precision, structural noise, multi-cam setups and transient response of the sensor. The purpose is to give the reader a well-founded background to choose whether or not the Kinect sensor is applicable to a specific problem

Not “just a bad period”— The impact of a co-created endometriosis social media health campaign: a mixed methods study

Objective: The goal of this study was to evaluate the impact of a visual social media health campaign. The #1in10 campaign was co-created by the Danish Endometriosis Patient Association and women with endometriosis. Methods: Seven semi-structured interviews were conducted with campaign participants to evaluate their experience of participating. The interviews were then analyzed thematically. Social media metrics on the reach of the campaign were gathered to assess how the campaign had performed. Results: Seven themes were identified in the interviews: (1) Taboo, (2) Visibility, (3) Awareness, (4) Acknowledgment, (5) Empowerment, (6) Patient Experts, and (7) Community. Throughout the interviews, the women conveyed that they found their participation in the campaign meaningful, as it contributed to creating awareness and recognition of a disease otherwise surrounded by taboo and stigma. Social media metrics show how the #1in10 campaign reached both people inside and outside the endometriosis community. Across the FEMaLe Project's three social media platforms, 208 (51.5%) of engagements were with patients with endometriosis, 96 (23.7%) were with FEMaLe employees and advisers, 94 (23.3%) were with the general public, and 6 (1.5%) were with policymakers. In the month the #1in10 campaign was released, the FEMaLe Project's Twitter and Instagram accounts had more impressions than almost any other month that year (except January on Twitter and November on Instagram). The FEMaLe Project's LinkedIn had the same number of impressions as in other months. Discussion: The study shows that the #1in10 social media campaign had an impact on three levels: on an individual level for the participating patients, on a communal level for people with endometriosis, and on a wider societal level. The participating patients felt empowered by their involvement with the campaign and the act of coming forward. The participants acted on behalf of their community of people with endometriosis, in the hopes that it would raise awareness and acknowledgment. In return, the community engaged with the campaign and added significantly to the dissemination of its message. On a societal level the campaign has caught particular attention and engagement compared to other posts made on the same social media accounts. Combining qualitative and quantitative methods, this study has demonstrated that the #1in10 campaign had an impact on three different levels: individual, communal, and societal. On an individual level the campaign fostered empowerment for the participating women, because they felt that their participation contributed to making their struggles visible, known, and acknowledged. The participants took part in the campaign on behalf of their community of people with endometriosis, in the hopes that their activistic actions would benefit future members of the community. That the campaign resonated with the community is evident by the fact that 51.5% (N = 208) of the engagement with the campaign was made by members of the community. As such, the community was vital for both the creation and the dissemination of the campaign. The #1in10 campaign performed comparatively well with regards to creating engagements on social media- not just within the community but also in the wider society. While this does not necessarily entail a change in attitude or behavior, it suggests that the co-created and visual nature of the campaign had an impact on the audience

Noise Minimization in Cell-Free Gene Expression

Biochemical reactions that involve small numbers of molecules are accompanied by a degree of inherent randomness that results in noisy reaction outcomes. In synthetic biology, the ability to minimize noise particularly during the reconstitution of future synthetic protocells is an outstanding challenge to secure robust and reproducible behavior. Here we show that by encapsulation of a bacterial cell-free gene expression system in water-in-oil droplets, in vitro-synthesized MazF reduces cell-free gene expression noise &gt;2-fold. With stochastic simulations we identify that this noise minimization acts through both increased degradation and the autoregulatory feedback of MazF. Specifically, we find that the expression of MazF enhances the degradation rate of mRNA up to 18-fold in a sequence-dependent manner. This sequence specificity of MazF would allow targeted noise control, making it ideal to integrate into synthetic gene networks. Therefore, including MazF production in synthetic biology can significantly minimize gene expression noise, impacting future design principles of more complex cell-free gene circuits.</p

Theory-Motivated Benchmark Models and Superpartners at the Tevatron

Recently published benchmark models have contained rather heavy superpartners. To test the robustness of this result, several benchmark models have been constructed based on theoretically well-motivated approaches, particularly string-based ones. These include variations on anomaly and gauge-mediated models, as well as gravity mediation. The resulting spectra often have light gauginos that are produced in significant quantities at the Tevatron collider, or will be at a 500 GeV linear collider. The signatures also provide interesting challenges for the LHC. In addition, these models usually account for electroweak symmetry breaking with relatively less fine-tuning than previous benchmark models.Comment: 44 pages, 4 figures; some typos corrected. Revisions reflect published versio

Relic Neutralino Densities and Detection Rates with Nonuniversal Gaugino Masses

We extend previous analyses on the interplay between nonuniversalities in the gaugino mass sector and the thermal relic densities of LSP neutralinos, in particular to the case of moderate to large tan beta. We introduce a set of parameters that generalizes the standard unified scenario to cover the complete allowed parameter space in the gaugino mass sector. We discuss the physical significance of the cosmologically preferred degree of degeneracy between charginos and the LSP and study the effect this degree of degeneracy has on the prospects for direct detection of relic neutralinos in the next round of dark matter detection experiments. Lastly, we compare the fine tuning required to achieve a satisfactory relic density with the case of universal gaugino masses, as in minimal supergravity, and find it to be of a similar magnitude. The sensitivity of quantifiable measures of fine-tuning on such factors as the gluino mass and top and bottom masses is also examined.Comment: Uses RevTeX; 14 pages, 16 figure

Isotopic and spin selectivity of H_2 adsorbed in bundles of carbon nanotubes

Due to its large surface area and strongly attractive potential, a bundle of carbon nanotubes is an ideal substrate material for gas storage. In addition, adsorption in nanotubes can be exploited in order to separate the components of a mixture. In this paper, we investigate the preferential adsorption of D_2 versus H_2(isotope selectivity) and of ortho versus para(spin selectivity) molecules confined in the one-dimensional grooves and interstitial channels of carbon nanotube bundles. We perform selectivity calculations in the low coverage regime, neglecting interactions between adsorbate molecules. We find substantial spin selectivity for a range of temperatures up to 100 K, and even greater isotope selectivity for an extended range of temperatures,up to 300 K. This isotope selectivity is consistent with recent experimental data, which exhibit a large difference between the isosteric heats of D_2 and H_2 adsorbed in these bundles.Comment: Paper submitted to Phys.Rev. B; 17 pages, 2 tables, 6 figure

First-in-class Microbial Ecosystem Therapeutic 4 (MET4) in combination with immune checkpoint inhibitors in patients with advanced solid tumors (MET4-IO trial)

Background: The intestinal microbiome has been associated with response to immune checkpoint inhibitors (ICIs) in humans and causally implicated in ICI responsiveness in animal models. Two recent human trials demonstrated that fecal microbiota transplant (FMT) from ICI responders can rescue ICI responses in refractory melanoma, but FMT has specific limitations to scaled use.Patients and methods: We conducted an early-phase clinical trial of a cultivated, orally delivered 30-species microbial consortium (Microbial Ecosystem Therapeutic 4, MET4) designed for co-administration with ICIs as an alternative to FMT and assessed safety, tolerability and ecological responses in patients with advanced solid tumors.Results: The trial achieved its primary safety and tolerability outcomes. There were no statistically significant differences in the primary ecological outcomes; however, differences in MET4 species relative abundance were evident after randomization that varied by patient and species. Increases in the relative abundance of several MET4 taxa, including Enterococcus and Bifidobacterium, taxa previously associated with ICI responsiveness, were observed and MET4 engraftment was associated with decreases in plasma and stool primary bile acids.Conclusions: This trial is the first report of the use of a microbial consortium as an alternative to FMT in advanced cancer patients receiving ICI and the results justify the further development of microbial consortia as a therapeutic co-intervention for ICI treatment in cancer