Design of a Surgical Manipulator System for Lumbar Discectomy Procedures

A 3D printed surgical master-slave manipulator system for minimally invasive lumbar discectomy procedure is proposed. Discectomy is the surgery to remove the herniated disc material that is pressing on a nerve root or spinal cord. This surgery is performed to relieve pain or numbness caused by the pressure on the nerve. The workspace is limited (\u3c 27 cm3) and the manipulator has to go through a 3.175mm (0.125”) diameter channel. The proposed system is comprised of a family of manipulators that can work alone or co-operatively to perform tasks required in the surgery. In the proposed system, the manipulator is 3D printed with multiple materials, with flexible links acting as joints of the mechanism. These flexible links are actuated by cables which provide sufficient forces for actuation in the surgical workspace. In this thesis, existing surgical techniques are investigated and a new surgical system is proposed. Various design ideas are presented and evaluated for manufacturing and assembly. Finally, the proposed mechanisms are modeled and tested for their capability to assist the surgeon to perform tasks required for the surgery

Micro-Manipulation Using Learned Model

Microscale devices can be found in applications ranging from sensors to structural components. The dominance of surface forces at the microscale hinders the assembly processes through nonlinear interactions that are difficult to model for automation, limiting designs of microsystems to primarily monolithic structures. Methods for modeling surface forces must be presented for viable manufacturing of devices consisting of multiple microparts. This paper proposes the implementation of supervised machine learning models to aid in automated micromanipulation tasks for advanced manufacturing applications. The developed models use sets of training data to implicitly model surface interactions and predict end-effector placement and paths that will yield a desired part trajectory. Conclusions and recommendations are based on evaluations of a collection of machine learning models and the effects of training data size and hyperparameter tuning on a collection of error metrics

Direct detection of primordial black hole relics as dark matter

If dark matter is composed of primordial black holes, such black holes can span an enormous range of masses. A variety of observational constraints exist on massive black holes, and black holes with masses below $10^{15}\,\mathrm{g}$ are often assumed to have completely evaporated by the present day. But if the evaporation process halts at the Planck scale, it would leave behind a stable relic, and such objects could constitute the entirety of dark matter. Neutral Planck-scale relics are effectively invisible to both astrophysical and direct detection searches. However, we argue that such relics may typically carry electric charge, making them visible to terrestrial detectors. We evaluate constraints and detection prospects in detail, and show that if not already ruled out by monopole searches, this scenario can be largely explored within the next decade using existing or planned experimental equipment. A single detection would have enormous implications for cosmology, black hole physics, and quantum gravity.Comment: 28 pages, 2 figures. Matched published versio

An NMR-based nanostructure switch for quantum logic

We propose a nanostructure switch based on nuclear magnetic resonance (NMR) which offers reliable quantum gate operation, an essential ingredient for building a quantum computer. The nuclear resonance is controlled by the magic number transitions of a few-electron quantum dot in an external magnetic field.Comment: 4 pages, 2 separate PostScript figures. Minor changes included. One reference adde

Force-plate quantification of progressive behavioral deficits in the R6/2 mouse model of Huntington’s disease

The R6/2 mouse is a popular model of Huntington’s disease (HD) because of its rapid progression and measurable behavioral phenotype. Yet current behavioral phenotyping methods are usually univariate (e.g., latency to fall from a rotarod) and labor intensive. We used a force-plate actometer and specialized computer algorithms to partition the data into topographically specific behavioral categories that were sensitive to HD-like abnormalities. Seven R6/2 male mice and 7 wild type (WT) controls were placed in a 42 cm X 42 cm force-plate actometer for 20-min recording sessions at 6–7, 8–9, 10–11 and 12–13 weeks of age. Distance traveled, number of wall rears, and number of straight runs (traveling 175 mm or more in 1.5 s) were reduced in R6/2 relative to WT mice at all ages tested. Low mobility bouts (each defined as remaining continuously in a virtual circle of 15 mm radius for 5 s) were increased in R6/2 mice at 6–7 wk and beyond. Independent of body weight, force off-load during wall rears was reduced in R6/2 mice except at 6–7 wk. Power spectra of force variation during straight runs indicated an age-related progressive loss of rhythmicity in R6/2 compared to WT, suggesting gait dysrhythmia and dysmetria. Collectively, these data, which extend results obtained with other widely different behavioral phenotyping methods, document a multifaceted syndrome of motor abnormalities in R6/2 mice. We suggest, moreover, that the force-plate actometer offers a high-throughput tool for screening drugs that may affect symptom expression in R6/2 or other HD model mice

NASA Glenn Research Center Program in High Power Density Motors for Aeropropulsion

Electric drive of transport-sized aircraft propulsors, with electric power generated by fuel cells or turbo-generators, will require electric motors with much higher power density than conventional room-temperature machines. Cryogenic cooling of the motor windings by the liquid hydrogen fuel offers a possible solution, enabling motors with higher power density than turbine engines. Some context on weights of various systems, which is required to assess the problem, is presented. This context includes a survey of turbine engine weights over a considerable size range, a correlation of gear box weights and some examples of conventional and advanced electric motor weights. The NASA Glenn Research Center program for high power density motors is outlined and some technical results to date are presented. These results include current densities of 5,000 A per square centimeter current density achieved in cryogenic coils, finite element predictions compared to measurements of torque production in a switched reluctance motor, and initial tests of a cryogenic switched reluctance motor

Dysregulation of coordinated neuronal firing patterns in striatum of freely behaving transgenic rats that model Huntington’s disease

Altered neuronal activity in the striatum appears to be a key component of Huntington’s disease (HD), a fatal, neurodegenerative condition. To assess this hypothesis in freely behaving transgenic rats that model HD (tgHDs), we used chronically implanted micro-wires to record the spontaneous activity of striatal neurons. We found that relative to wild-type controls, HD rats suffer from population-level deficits in striatal activity characterized by a loss of correlated firing and fewer episodes of coincident spike bursting between simultaneously recorded neuronal pairs. These results are in line with our previous report of marked alterations in the pattern of striatal firing in mouse models of HD that vary in background strain, genetic construct, and symptom severity. Thus, loss of coordinated spike activity in striatum appears to be a common feature of HD pathophysiology, regardless of HD model variability

The Cosmic Ultraviolet Baryon Survey (CUBS) I. Overview and the diverse environments of Lyman limit systems at z<1

We present initial results from the Cosmic Ultraviolet Baryon Survey (CUBS). CUBS is designed to map diffuse baryonic structures at redshift z<~1 using absorption-line spectroscopy of 15 UV-bright QSOs with matching deep galaxy survey data. CUBS QSOs are selected based on their NUV brightness to avoid biases against the presence of intervening Lyman Limit Systems (LLSs) at zabs~ 17.2 over a total redshift survey pathlength of dz=9.3, and a number density of n(z)=0.43 (-0.18, +0.26). Considering all absorbers with log N(HI)/cm^-2 > 16.5 leads to n(z)=1.08 (-0.25, +0.31) at z<1. All LLSs exhibit a multi-component structure and associated metal transitions from multiple ionization states such as CII, CIII, MgII, SiII, SiIII, and OVI absorption. Differential chemical enrichment levels as well as ionization states are directly observed across individual components in three LLSs. We present deep galaxy survey data obtained using the VLT-MUSE integral field spectrograph and the Magellan Telescopes, reaching sensitivities necessary for detecting galaxies fainter than 0.1L* at d<~300 physical kpc (pkpc) in all five fields. A diverse range of galaxy properties is seen around these LLSs, from a low-mass dwarf galaxy pair, a co-rotating gaseous halo/disk, a star-forming galaxy, a massive quiescent galaxy, to a galaxy group. The closest galaxies have projected distances ranging from d=15 to 72 pkpc and intrinsic luminosities from ~0.01L* to ~3L*. Our study shows that LLSs originate in a variety of galaxy environments and trace gaseous structures with a broad range of metallicities.Comment: 26 pages, 14 figures, MNRAS in pres

Ultraviolet through Infrared Spectral Energy Distributions from 1000 SDSS Galaxies: Dust Attenuation

The meaningful comparison of models of galaxy evolution to observations is critically dependent on the accurate treatment of dust attenuation. To investigate dust absorption and emission in galaxies we have assembled a sample of ~1000 galaxies with ultraviolet (UV) through infrared (IR) photometry from GALEX, SDSS, and Spitzer and optical spectroscopy from SDSS. The ratio of IR to UV emission (IRX) is used to constrain the dust attenuation in galaxies. We use the 4000A break as a robust and useful, although coarse, indicator of star formation history (SFH). We examine the relationship between IRX and the UV spectral slope (a common attenuation indicator at high-redshift) and find little dependence of the scatter on 4000A break strength. We construct average UV through far-IR spectral energy distributions (SEDs) for different ranges of IRX, 4000A break strength, and stellar mass (M_*) to show the variation of the entire SED with these parameters. When binned simultaneously by IRX, 4000A break strength, and M_* these SEDs allow us to determine a low resolution average attenuation curve for different ranges of M_*. The attenuation curves thus derived are consistent with a lambda^{-0.7} attenuation law, and we find no significant variations with M_*. Finally, we show the relationship between IRX and the global stellar mass surface density and gas-phase-metallicity. Among star forming galaxies we find a strong correlation between IRX and stellar mass surface density, even at constant metallicity, a result that is closely linked to the well-known correlation between IRX and star-formation rate.Comment: 12 pages, 8 figures, 2 tables, appearing in the Dec 2007 GALEX special issue of ApJ Supp (29 papers