Traction-drive force transmission for telerobotic joints

A mechanism which meets the requirements of a teleoperated manipulator and those of an autonomous robot is discussed. The mechanism is a traction-drive differential that uses variable preload mechanisms. The differential provides compact design, with dextrous motion range and torque density similar to geared systems. The traction drive offers high stiffness to backlash for good robotic performance. The variable-loading mechanism (VLM) minimizes the drive-train friction for improved teleoperation. This combination provides a mechanism to allow advanced manipulation with either teleoperated control or autonomous robotic operation. The design principles of both major components of the joint mechanism are described

MANAGEMENT OF 20TH CENTURY HYDROELECTRIC PLANTS AS INDUSTRIAL HERITAGE

Abstract. By rapidly increasing the production of energy and widely extending the usage of electricity in the 20th century, hydroelectric plants and dams have radically affected the social, technological and industrial aspects of the period. Therefore, as an integral part of industrial heritage, the cultural assets of these energy facilities are required to be preserved. As a requirement of this hypothesis, it is necessary: to develop management strategies for these assets; to provide scientific data and information on these buildings / facilities; to define criteria of 'planned conservation' with long-term preventive measures in order to provide the continuation of the original function as long as possible. Hydroelectric plants are a common subject of interest for several disciplines, such as: engineering, hydrology, ecology, geo-sciences and remote sensing. Therefore, the conservation of the plants also requires the interdisciplinary study and collaboration of these disciplines.Within the study, the considerations of an interdisciplinary approach – such as dam safety, ecological concerns and energy requirements – are presented, and examples from different countries are examined through the framework of architectural conservation, considering cases of dam failures, intended removal of dams and upgrading of facilities. Preventive measures for the planned conservation of hydro electrical facilities such as: constant maintenance of technical components; management of the sediment accumulated in the reservoirs; methods of analysis for the structure of the embankment are introduced briefly, concentrating on gravity dams, in order to provide conclusions for the conservation of Sarıyar Dam and Hydroelectric Plant (1956) in Turkey.</p

Traction-drive, seven-degree-of-freedom telerobot arm: A concept for manipulaton in space

As man seeks to expand his dominion into new environments, the demand increases for machines that perform useful functions in remote locations. This new concept for manipulation in space is based on knowledge and experience gained from manipulator systems developed to meet the needs of remote nuclear applications. It merges the best characteristics of teleoperation and robotic technologies. The design goals for the telerobot, a mechanical description, and technology areas that must be addressed for successful implementation are presented and discussed. The concept incorporates mechanical traction drives, redundant kinematics, and modular arm subelements to provide a backlash-free manipulator capable of obstacle avoidance

The Major Heat Shock Proteins, Hsp70 and Hsp90, in 2-Methoxyestradiol-Mediated Osteosarcoma Cell Death Model

2-Methoxyestradiol is one of the natural 17β-estradiol derivatives and a potential novel anticancer agent currently being under evaluation in advanced phases of clinical trials. However, the mechanism of anticancer action of 2-methoxyestradiol has not been yet fully established. In our previous studies we have demonstrated that 2-methoxyestradiol selectively induces the expression and nuclear translocation of neuronal nitric oxide synthase in osteosarcoma 143B cells. Heat shock proteins (Hsps) are factors involved in the regulation of expression and activity of nitric oxide synthases. Herein, we chose osteosarcoma cell lines differed in metastatic potential, metastatic 143B and highly metastatic MG63.2 cells, in order to further investigate the anticancer mechanism of 2-methoxyestradiol. The current study aimed to determine the role of major heat shock proteins, Hsp90 and Hsp70 in 2-methoxyestradiol-induced osteosarcoma cell death. We focused on the implication of Hsp90 and Hsp70 in control under expression of neuronal nitric oxide synthase, localization of the enzyme, and further generation of nitro-oxidative stress. To give the insight into the role of Hsp90 in regulation of anticancer efficacy of 2-methoxyestradiol, we used geldanamycin as a potent Hsp90 inhibitor. Herein, we evidenced that inhibition of Hsp90 controls the protein expression of 2-methoxyestradiol-induced neuronal nitric oxide synthase and inhibits enzyme nuclear translocation. We propose that decreased level of neuronal nitric oxide synthase protein after a combined treatment with 2-methoxyestradiol and geldanamycin is directly associated with the accompanying upregulation of Hsp70 and downregulation of Hsp90. This interaction resulted in abrogation of anticancer efficacy of 2-methoxyestradiol by geldanamycin

The laboratory telerobotic manipulator program

New opportunities for the application of telerobotic systems to enhance human intelligence and dexterity in the hazardous environment of space are presented by the NASA Space Station Program. Because of the need for significant increases in extravehicular activity and the potential increase in hazards associated with space programs, emphasis is being heightened on telerobotic systems research and development. The Laboratory Telerobotic Manipulator (LTM) program is performed to develop and demonstrate ground-based telerobotic manipulator system hardware for research and demonstrations aimed at future NASA applications. The LTM incorporates traction drives, modularity, redundant kinematics, and state-of-the-art hierarchical control techniques to form a basis for merging the diverse technological domains of robust, high-dexterity teleoperations and autonomous robotic operation into common hardware to further NASA's research

Traction-drive seven degrees-of-freedom telerobot arm: A concept for manipulation in space

As man seeks to expand his dominion into new environments, the demand increases for machines that perform useful functions in remote locations. This new concept for manipulation in space is based on knowledge and experience gained from manipulator systems developed to meet the needs of remote nuclear applications. It merges the best characteristics of teleoperation and robotic technologies. This paper summarizes the report of a study performed for NASA Langley Research Center. The design goals for the telerobot, a mechanical description, and technology areas that must be addressed for successful implementation will be presented and discussed. The concept incorporates mechanical traction drives, redundant kinematics, and modular arm subelements to provide a backlash-free manipulator capable of obstacle avoidance. Further development of this arm is in progress at the Oak Ridge National Laboratory

A customized monocyte cDNA microarray for diagnosis of rheumatoid arthritis and prognosis of anti-TNF-α therapy

Background In rheumatoid arthritis (RA) macrophages (Mf) play a pivotal role. They become highly activated in synovitis and at the cartilage–pannus junction. Furthermore, therapeutic neutralization of molecules produced by activated Mf lead to clinical improvement in RA, and circulating monocytes (MO) of the peripheral blood in patients with RA spontaneously express proinflammatory genes (IL-1β, IL-6, TNF). Methods A custom RA-MO cDNA microarray was generated using differentially expressed genes obtained from gene subtraction and from comparative whole genome wide U133A analysis in normal donors, active and anti-TNF-α created RA patients. Genes were selected using MAS 5.0, multtest and PAM. The custom microarray consists of 313 genes including guide dots, and positive (housekeeping genes and spike controls) and negative controls for image and statistical analysis. Each probe was spotted in 16 replicates. Results The RA-MO chipset-II was validated using the following: non-stimulated and LPS, PMA, Vit.D3+LPS, PMA+LPS stimulated U937 cells; nonstimulated and LPS stimulated healthy donor MO; MO from normal donors (n = 3) and RA patients before and during anti-TNF-α treatment (n = 5 each); and synovial tissue from normal individuals (n = 2) and RA patients (n = 2). Not only LPS/PMA regulated genes but also RA specific and anti-TNF-α regulated genes were validated. In addition, we could clarify whether these genes are differentially transcribed only in MO or whether they can also be found in RA tissue Mf. Our data indicate a high degree of reproducibility that is sufficient for diagnostic applications and therapy monitoring. Conclusion The RA-MO chipset-II microarray is competitive and flexible for enlargement of the number of genes. The current gene selection will contribute to validating the role of monocytes in disease activity, to therapeutic interventions, and may improve the knowledge on the regulation of pathways in activated monocytes in chronic inflammation

DNA strand breaks induced by nuclear hijacking of neuronal NOS as an anti-cancer effect of 2-methoxyestradiol

2-Methoxyestradiol (2-ME) is a physiological metabolite of 17β-estradiol. At pharmacological concentrations, 2-ME inhibits colon, breast and lung cancer in tumor models. Here we investigated the effect of physiologically relevant concentrations of 2-ME in osteosarcoma cell model. We demonstrated that 2-ME increased nuclear localization of neuronal nitric oxide synthase, resulting in nitro-oxidative DNA damage. This in turn caused cell cycle arrest and apoptosis in osteosarcoma cells. We suggest that 2-ME is a naturally occurring hormone with potential anti-cancer properties

Neurocognitive and Academic Outcomes at Age 10 Years of Extremely Preterm Newborns

Despite reductions in mortality and morbidity among children born extremely preterm, they remain at high risk of neurocognitive deficits, with up to 40% having significant cognitive deficits at school age. We assessed the rate of neurocognitive impairment in a contemporary US cohort of 873 children aged 10 years who were born <28 weeks’ gestation

Genomic biomarkers of prenatal intrauterine inflammation in umbilical cord tissue predict later life neurological outcomes

Preterm birth is a major risk factor for neurodevelopmental delays and disorders. This study aimed to identify genomic biomarkers of intrauterine inflammation in umbilical cord tissue in preterm neonates that predict cognitive impairment at 10 years of age