The human operator transfer function: Identification of the limb mechanics subsystem

The objective of our research is to decompose the performance of the human operator in terms of the subsystems that determine the operator's responses in order to establish how the dynamics of these component subsystems influence the operator's performance. In the present experiment, the dynamic stiffness of the human elbow joint was measured at rest and under different levels of biceps muscle activation; this work forms part of the analysis of the limb mechanics subsystem

Analysis of the human operator subsystems

Except in low-bandwidth systems, knowledge of the human operator transfer function is essential for high-performance telerobotic systems. This information has usually been derived from detailed analyses of tracking performance, in which the human operator is considered as a complete system rather than as a summation of a number of subsystems, each of which influences the operator's output. Studies of one of these subsystems, the limb mechanics system, demonstrate that large parameter variations can occur that can have a profound effect on the stability of force-reflecting telerobot systems. An objective of this research was to decompose the performance of the human operator system in order to establish how the dynamics of each of the elements influence the operator's responses

A torsional artificial muscle from twisted nitinol microwire

Nitinol microwires of 25 μm in diameter can have tensile actuation of up to 4.5% in less than 100 ms. A work density of up to 480 MPa can be achieved from these microwires. In the present work, we are showing that by twisting the microwires in form of closed-loop two-ply yarn we can create a torsional actuator. We achieved a revisable torsional stroke of 46°/mm with peak rotational speed of up to 10,000 rpm. We measured a gravimetric torque of up to 28.5 N•m/kg which is higher than the 3-6 N•m/kg for direct-drive commercial electric motors. These remarkable performance results are comparable to those of guest-infiltrated carbon nanotube twisted yarns.Natural Sciences and Engineering Research Council of Canada (Alexander Graham Bell Graduate Fellowship

Microuidics control the ballistic energy of thermocavitation liquid jets for needle-free injections

Illuminating a water solution with a focused continuous wave laser produces a strong local heating of the liquid that leads to the nucleation of bubbles, also known as thermocavitation. During the growth of the bubble, the surrounding liquid is expelled from the constraining microfluidic channel through a nozzle, creating a jet. The characteristics of the resulting liquid jet was imaged using ultra-fast imaging techniques. Here, we provide a phenomenological description of the jet shapes and velocities, and compare them with a Boundary Integral numerical model. We define the parameter regime, varying jet speed, taper geometry and liquid volume, for optimal printing, injection and spray applications. These results are important for the design of energy-efficient needle-free jet injectors based on microfluidic thermocavitation

Applications of conducting polymers: robotic fins and other devices

ABSTRACT Conducting polymers are becoming viable engineering materials and are gradually being integrated into a wide range of devices. Parallel efforts conducted to characterize their electromechanical behavior, understand the factors that affect actuation performance, mechanically process films, and address the engineering obstacles that must be overcome to generate the forces and displacements required in real-world applications have made it possible to begin using conducting polymers in devices that cannot be made optimal using traditional actuators and materials. The use of conducting polymers has allowed us to take better advantage of biological architectures for robotic applications and has enabled us to pursue the development of novel sensors, motors, and medical diagnostic technologies. This paper uses the application of conducting polymer actuators to a biorobotic fin for unmanned undersea vehicles (UUVs) as a vehicle for discussing the efforts in our laboratory to develop conducting polymers into a suite of useful actuators and engineering components

Simple and strong: twisted silver painted nylon artificial muscle actuated by Joule heating

Highly oriented nylon and polyethylene fibres shrink in length when heated and expand in diameter. By twisting and then coiling monofilaments of these materials to form helical springs, the anisotropic thermal expansion has recently been shown to enable tensile actuation of up to 49% upon heating. Joule heating, by passing a current through a conductive coating on the surface of the filament, is a convenient method of controlling actuation. In previously reported work this has been done using highly flexible carbon nanotube sheets or commercially available silver coated fibres. In this work silver paint is used as the Joule heating element at the surface of the muscle. Up to 29% linear actuation is observed with energy and power densities reaching 840 kJ m[superscript -3] (528 J kg[superscript -1]) and 1.1 kW kg[superscript -1] (operating at 0.1 Hz, 4% strain, 1.4 kg load). This simple coating method is readily accessible and can be applied to any polymer filament. Effective use of this technique relies on uniform coating to avoid temperature gradients

The development of a biologically inspired propulsor for unmanned underwater vehicles

IEEE Journal of Oceanic Engineering, 32(3): pp. 533-550Fish are remarkable in their ability to maneuver and to control their body position. This ability is the result of the coordinated movement of fins which extend from the body and form control surfaces that can create and vector forces in 3-D. We have embarked on a research program designed to develop a maneuvering propulsor for unmanned undersea vehicles (UUVs) that is based on the pectoral fin of the bluegill sunfish. For this, the anatomy, kinematics, and hydrodynamics of the sunfish pectoral fin were investigated experimentally and through the use of computational fluid dynamics (CFD) simulations. These studies identified that the kinematics of the sunfish pectoral fin are very complex and are not easily described by traditional “rowing”- and “flapping”-type kinematics. A consequence of the complex motion is that the pectoral fin can produce forward thrust during both its outstroke (abduction) and instroke (adduction), and while doing so generates only small lateral and lift forces. The results of the biological studies were used to guide the design of robotic pectoral fins which were built as experimental devices and used to investigate the mechanisms of thrust production and control. Because of a design that was based heavily on the anatomy of the sunfish fin, the robotic pectoral fins had the level of control and degrees of freedom necessary to reproduce many of the complex fin motions used by the sunfish during steady swimming. These robotic fins are excellent experimental tools, and are an important first step towards developing propulsive devices that will give the next generation of UUVs the ability to produce and control thrust like highly maneuverable fish

All clinically-relevant blood components transmit prion disease following a single blood transfusion: a sheep model of vCJD

Variant CJD (vCJD) is an incurable, infectious human disease, likely arising from the consumption of BSE-contaminated meat products. Whilst the epidemic appears to be waning, there is much concern that vCJD infection may be perpetuated in humans by the transfusion of contaminated blood products. Since 2004, several cases of transfusion-associated vCJD transmission have been reported and linked to blood collected from pre-clinically affected donors. Using an animal model in which the disease manifested resembles that of humans affected with vCJD, we examined which blood components used in human medicine are likely to pose the greatest risk of transmitting vCJD via transfusion. We collected two full units of blood from BSE-infected donor animals during the pre-clinical phase of infection. Using methods employed by transfusion services we prepared red cell concentrates, plasma and platelets units (including leucoreduced equivalents). Following transfusion, we showed that all components contain sufficient levels of infectivity to cause disease following only a single transfusion and also that leucoreduction did not prevent disease transmission. These data suggest that all blood components are vectors for prion disease transmission, and highlight the importance of multiple control measures to minimise the risk of human to human transmission of vCJD by blood transfusion

The microRNA-29 family in cartilage homeostasis and osteoarthritis

MicroRNAs have been shown to function in cartilage development and homeostasis, as well as in progression of osteoarthritis. The objective of the current study was to identify microRNAs involved in the onset or early progression of osteoarthritis and characterise their function in chondrocytes. MicroRNA expression in mouse knee joints post-DMM surgery was measured over 7 days. Expression of miR-29b-3p was increased at day 1 and regulated in the opposite direction to its potential targets. In a mouse model of cartilage injury and in end-stage human OA cartilage, the miR-29 family were also regulated. SOX9 repressed expression of miR-29a-3p and miR-29b-3p via the 29a/b1 promoter. TGFβ1 decreased expression of miR-29a, b and c (3p) in primary chondrocytes, whilst IL-1β increased (but LPS decreased) their expression. The miR-29 family negatively regulated Smad, NFκB and canonical WNT signalling pathways. Expression profiles revealed regulation of new WNT-related genes. Amongst these, FZD3, FZD5, DVL3, FRAT2, CK2A2 were validated as direct targets of the miR-29 family. These data identify the miR-29 family as microRNAs acting across development and progression of OA. They are regulated by factors which are important in OA and impact on relevant signalling pathways

Associations of ATR and CHEK1 Single Nucleotide Polymorphisms with Breast Cancer

DNA damage and replication checkpoints mediated by the ATR-CHEK1 pathway are key to the maintenance of genome stability, and both ATR and CHEK1 have been proposed as potential breast cancer susceptibility genes. Many novel variants recently identified by the large resequencing projects have not yet been thoroughly tested in genome-wide association studies for breast cancer susceptibility. We therefore used a tagging SNP (tagSNP) approach based on recent SNP data available from the 1000 genomes projects, to investigate the roles of ATR and CHEK1 in breast cancer risk and survival. ATR and CHEK1 tagSNPs were genotyped in the Sheffield Breast Cancer Study (SBCS; 1011 cases and 1024 controls) using Illumina GoldenGate assays. Untyped SNPs were imputed using IMPUTE2, and associations between genotype and breast cancer risk and survival were evaluated using logistic and Cox proportional hazard regression models respectively on a per allele basis. Significant associations were further examined in a meta-analysis of published data or confirmed in the Utah Breast Cancer Study (UBCS). The most significant associations for breast cancer risk in SBCS came from rs6805118 in ATR (p=7.6x10-5) and rs2155388 in CHEK1 (p=3.1x10-6), but neither remained significant after meta-analysis with other studies. However, meta-analysis of published data revealed a weak association between the ATR SNP rs1802904 (minor allele frequency is 12%) and breast cancer risk, with a summary odds ratio (confidence interval) of 0.90 (0.83-0.98) [p=0.0185] for the minor allele. Further replication of this SNP in larger studies is warranted since it is located in the target region of 2 microRNAs. No evidence of any survival effects of ATR or CHEK1 SNPs were identified. We conclude that common alleles of ATR and CHEK1 are not implicated in breast cancer risk or survival, but we cannot exclude effects of rare alleles and of common alleles with very small effect sizes