Body Design Of Tendon-Driven Jumping Robot Using Single Actuator And Wire Set

Although a mechanism in which a single actuator and a wire passing through pulleys drive the joints is a strong candidate for realizing the dynamic behavior because of its appropriate weight and simple mechanism, the problem arises that the position of the pulley influences the dynamic behavior. This paper is focused on vertical jumping. In our research, we searched an appropriate set of positions of a pulley considering the practical development of the robot and derived the relationship between the position of the pulley and the force on the tips of the robot’s foot for jumping. Simulation results suggest the possibility that some sets of positions allow an error in the attachment of the pulley, and the derived relationship indicates that the ratio of the pulling force of wire and vertical force on the ground strongly constrain the position of the pulley

X-ray Reflection and An Exceptionally Long Thermonuclear Helium Burst from IGR J17062-6143

Thermonuclear X-ray bursts from accreting neutron stars power brief but strong irradiation of their surroundings, providing a unique way to study accretion physics. We analyze MAXI/Gas Slit Camera and Swift/XRT spectra of a day-long flash observed from IGR J17062-6143 in 2015. It is a rare case of recurring bursts at a low accretion luminosity of 0.15% Eddington. Spectra from MAXI, Chandra, and NuSTAR observations taken between the 2015 burst and the previous one in 2012 are used to determine the accretion column. We find it to be consistent with the burst ignition column of 5 × 10^(10) g cm^(−2), which indicates that it is likely powered by burning in a deep helium layer. The burst flux is observed for over a day, and decays as a straight power law: F ∝ t^(-1.15). The burst and persistent spectra are well described by thermal emission from the neutron star, Comptonization of this emission in a hot optically thin medium surrounding the star, and reflection off the photoionized accretion disk. At the burst peak, the Comptonized component disappears, when the burst may dissipate the Comptonizing gas, and it returns in the burst tail. The reflection signal suggests that the inner disk is truncated at ~102 gravitational radii before the burst, but may move closer to the star during the burst. At the end of the burst, the flux drops below the burst cooling trend for 2 days, before returning to the pre-burst level

Peculiar outburst of A 0535+26 observed with INTEGRAL, RXTE and Suzaku

A normal outburst of the Be/X-ray binary system A0535+26 has taken place in August 2009. It is the fourth in a series of normal outbursts that have occured around the periastron passage of the source, but is unusual by starting at an earlier orbital phase and by presenting a peculiar double-peaked light curve. A first "flare" (lasting about 9 days from MJD 55043 on) reached a flux of 440 mCrab. The flux then decreased to less than 220 mCrab, and increased again reaching 440 mCrab around the periastron at MJD 55057. Target of Opportunity observations have been performed with INTEGRAL, RXTE and Suzaku. First results of these observations are presented, with special emphasis on the cyclotron lines present in the X-ray spectrum of the source, as well as in the pulse period and energy dependent pulse profiles of the source.Comment: 6 pages, Accepted for publication on PoS, Proceedings of "The Extreme sky: Sampling the Universe above 10 keV", held in Otranto (Italy) in October 200

Proteomic Identification of S-Nitrosylated Golgi Proteins: New Insights into Endothelial Cell Regulation by eNOS-Derived NO

<div><h3>Background</h3><p>Endothelial nitric oxide synthase (eNOS) is primarily localized on the Golgi apparatus and plasma membrane caveolae in endothelial cells. Previously, we demonstrated that protein S-nitrosylation occurs preferentially where eNOS is localized. Thus, in endothelial cells, Golgi proteins are likely to be targets for S-nitrosylation. The aim of this study was to identify S-nitrosylated Golgi proteins and attribute their S-nitrosylation to eNOS-derived nitric oxide in endothelial cells.</p> <h3>Methods</h3><p>Golgi membranes were isolated from rat livers. S-nitrosylated Golgi proteins were determined by a modified biotin-switch assay coupled with mass spectrometry that allows the identification of the S-nitrosylated cysteine residue. The biotin switch assay followed by Western blot or immunoprecipitation using an S-nitrosocysteine antibody was also employed to validate S-nitrosylated proteins in endothelial cell lysates.</p> <h3>Results</h3><p>Seventy-eight potential S-nitrosylated proteins and their target cysteine residues for S-nitrosylation were identified; 9 of them were Golgi-resident or Golgi/endoplasmic reticulum (ER)-associated proteins. Among these 9 proteins, S-nitrosylation of EMMPRIN and Golgi phosphoprotein 3 (GOLPH3) was verified in endothelial cells. Furthermore, S-nitrosylation of these proteins was found at the basal levels and increased in response to eNOS stimulation by the calcium ionophore A23187. Immunofluorescence microscopy and immunoprecipitation showed that EMMPRIN and GOLPH3 are co-localized with eNOS at the Golgi apparatus in endothelial cells. S-nitrosylation of EMMPRIN was notably increased in the aorta of cirrhotic rats.</p> <h3>Conclusion</h3><p>Our data suggest that the selective S-nitrosylation of EMMPRIN and GOLPH3 at the Golgi apparatus in endothelial cells results from the physical proximity to eNOS-derived nitric oxide.</p> </div

The Peculiar X-ray transient Swift J0840.7-3516: an unusual low-mass X-ray binary or a tidal disruption event?

We report on the X-ray properties of the new transient Swift J0840.7-3516, discovered with Swift/BAT in 2020 February, using extensive data from Swift, MAXI, NICER, and NuSTAR. The source flux increased for similar to 10(3) s after the discovery, decayed rapidly over similar to 5 orders of magnitude in five days, and then remained almost constant over nine months. Large-amplitude short-term variations on timescales of 1-10(4) s were observed throughout the decay. In the initial flux rise, the source showed a hard power-law-shaped spectrum with a photon index of similar to 1.0 extending up to similar to 30 keV, above which an exponential cutoff was present. The photon index increased in the following rapid decay and became similar to 2 at the end of the decay. A spectral absorption feature at 3-4 keV was detected in the decay. It is not straightforward to explain all the observed properties by any known class of X-ray sources. We discuss the possible nature of the source, including a Galactic low-mass X-ray binary with multiple extreme properties and a tidal disruption event by a supermassive black hole or a Galactic neutron star

Distorted cyclotron line profile in Cep X-4 as observed by NuSTAR

We present spectral analysis of NuSTAR and Swift observations of Cep X-4 during its outburst in 2014. We observed the source once during the peak of the outburst and once during the decay, finding good agreement in the spectral shape between the observations. We describe the continuum using a powerlaw with a Fermi-Dirac cutoff at high energies. Cep X-4 has a very strong cyclotron resonant scattering feature (CRSF) around 30 keV. A simple absorption-like line with a Gaussian optical depth or a pseudo-Lorentzian profile both fail to describe the shape of the CRSF accurately, leaving significant deviations at the red side of the line. We characterize this asymmetry with a second absorption feature around 19 keV. The line energy of the CRSF, which is not influenced by the addition of this feature, shows a small but significant positive luminosity dependence. With luminosities between (1-6)e36 erg/s, Cep X-4 is below the theoretical limit where such a correlation is expected. This behavior is similar to Vela X-1 and we discuss parallels between the two systems.Comment: 6 pages, 4 figure, accepted for publication in ApJ letter

NICER observations of MAXI J1820+070 suggest a rapidly-brightening black hole X-ray binary in the hard state

NICER observed the new X-ray transient MAXI J1820+070 (ATel #11399, #11400, #11403, #11404, #11406, #11418, #11420, #11421) on multiple occasions from 2018 March 12 to 14. & nbsp;During this time the source brightened rapidly, from a total NICER mean count rate of 880 count/s on March 12 to 2800 count/s by March 14 17:00 & nbsp;UTC, corresponding to a change in 2-10 keV modelled flux (see below) from 1.9E-9 to 5E-9 erg cm-2 s-1. & nbsp; The broadband X-ray spectrum is absorbed by a low column density (fitting the model given below, we obtain 1.5E21 cm-2), in keeping with the low Galactic column in the direction of the source (ATel #11418; Dickey & Lockman, 1990, ARAA, 28, 215; Kalberla et al. 2005, A &A, 440, 775) and consists of a hard power-law component with weak reflection features (broad iron line and narrow 6.4 keV line core) and an additional soft X-ray component