A highly-underactuated robotic hand with force and joint angle sensors

This paper describes a novel underactuated robotic hand design. The hand is highly underactuated as it contains three fingers with three joints each controlled by a single motor. One of the fingers ("thumb") can also be rotated about the base of the hand, yielding a total of two controllable degrees-of-freedom. A key component of the design is the addition of position and tactile sensors which provide precise angle feedback and binary force feedback. Our mechanical design can be analyzed theoretically to predict contact forces as well as hand position given a particular object shape

Experimental Line Parameters of the b^(1)Σ^(+)_g ← X^(3)Σ^(-)_g Band of Oxygen Isotopologues at 760 nm Using Frequency-Stabilized Cavity Ring-Down Spectroscopy

Positions, intensities, self-broadened widths, and collisional narrowing coefficients of the oxygen isotopologues ^(16)O^(18)O, ^(16)O^(17)O, ^(17)O^(18)O, and ^(18)O^(18)O have been measured for the b^(1)Σg + ← X^(3)Σg − (0,0) band using frequency-stabilized cavity ring-down spectroscopy. Line positions of 156 P-branch transitions were referenced against the hyperfine components of the ^(39)K D_1 (4s ^(2)S_(1/2) → 4p ^(2)P_(1/2)) and D_2 (4s ^(2)S_(1/2) → 4p ^(2)P_(3/2)) transitions, yielding precisions of ~0.00005 cm^(−1) and absolute accuracies of 0.00030 cm^(−1) or better. New excited b^(1)Σg + state molecular constants are reported for all four isotopologues. The measured line intensities of the ^(16)O^(18)O isotopologue are within 2% of the values currently assumed in molecular databases. However, the line intensities of the ^(16)O^(17)O isotopologue show a systematic, J-dependent offset between our results and the databases. Self-broadening half-widths for the various isotopologues are internally consistent to within 2%. This is the first comprehensive study of the line intensities and shapes for the ^(17)O^(18)O or ^(18)O_2 isotopologues of the b^(1)Σg + ← X^(3)Σg − (0,0) band of O_2. The ^(16)O_2, ^(16)O^(18)O, and ^(16)O^(17)O line parameters for the oxygen A-band have been extensively revised in the HITRAN 2008 database using results from the present study

Pennsylvania Folklife Vol. 19, No. 2

• Powwowing in Berks County • Belsnickling in Paxtonville • The Folk Tradition of the Sweetheart Tree • Pigpens and Piglore in Rural Pennsylvania • Gravestones and Ostentation: A Study of Five Delaware County Cemeteries • Notes on Eighteenth-Century Emigration to the British Colonies • A Siegerland Emigrant List of 1738 • Local Place Names: Folk-Cultural Questionnaire No. 14https://digitalcommons.ursinus.edu/pafolklifemag/1038/thumbnail.jp

Expression of NeuGc on Pig Corneas and Its Potential Significance in Pig Corneal Xenotransplantation

PURPOSE: Pigs expressing neither galactose-α1,3-galactose (Gal) nor N-glycolylneuraminic acid (NeuGc) take xenotransplantation one step closer to the clinic. Our aims were (1) to document the lack of NeuGc expression on corneas and aortas and cultured endothelial cells [aortic endothelial cells (AECs); corneal (CECs)] of GTKO/NeuGcKO pigs, and (2) to investigate whether the absence of NeuGc reduced human antibody binding to the tissues and cells. METHODS: Wild-type (WT), GTKO, and GTKO/NeuGcKO pigs were used for the study. Human tissues and cultured cells were negative controls. Immunofluorescence staining was performed using anti-Gal and anti-NeuGc antibodies, and human IgM and IgG binding to tissues was determined. Flow cytometric analysis was used to determine Gal and NeuGc expression on cultured CECs and AECs and to measure human IgM/IgG binding to these cells. RESULTS: Both Gal and NeuGc were detected on WT pig corneas and aortas. Although GTKO pigs expressed NeuGc, neither humans nor GTKO/NeuGcKO pigs expressed Gal or NeuGc. Human IgM/IgG binding to corneas and aortas from GTKO and GTKO/NeuGcKO pigs was reduced compared with binding to WT pigs. Human antibody binding to GTKO/NeuGcKO AECs was significantly less than that to GTKO AECs, but there was no significant difference in binding between GTKO and GTKO/NeuGcKO CECs. CONCLUSIONS: The absence of NeuGc on GTKO aortic tissue and AECs is associated with reduced human antibody binding, and possibly will provide a better outcome in clinical xenotransplantation using vascularized organs. For clinical corneal xenotransplantation, the absence of NeuGc expression on GTKO/NeuGcKO pig corneas may not prove an advantage over GTKO corneas

Feasibility of detecting single atoms using photonic bandgap cavities

We propose an atom-cavity chip that combines laser cooling and trapping of neutral atoms with magnetic microtraps and waveguides to deliver a cold atom to the mode of a fiber taper coupled photonic bandgap (PBG) cavity. The feasibility of this device for detecting single atoms is analyzed using both a semi-classical treatment and an unconditional master equation approach. Single-atom detection seems achievable in an initial experiment involving the non-deterministic delivery of weakly trapped atoms into the mode of the PBG cavity.Comment: 11 pages, 5 figure

Magnetic and Structural Properties of Nd₂Fe₁₇₋ₓMnₓ Solid Solutions

A series of Nd2Fe17-xMnx solid solutions with x values between 0 and and 6 were prepared and analyzed using magnetic measurements, neutron diffraction, and Mössbauer spectroscopy. All of the Nd2Fe17-xMnx samples crystallized in the Th2Zn17-x-type rhombohedral structure. The lattice parameters and unit cell volumes decrease with increasing manganese content up to ∼ x equal to 2, and then increase for higher manganese content. The magnetizations of Nd2Fe17-xMnx decrease with increasing manganese content and Nd2Fe17-xMnx is paramagnetic at room temperature for x greater than 3. The Curie temperature in Nd2Fe17-xMnx solid solutions is maximum for x equal to 0.5 and decreases at a rate of ∼ 10° per substituted manganese up to x equal to 3, after which it drops sharply. These results are discussed in terms of the manganese she occupancies in Nd2Fe17-xMnx

CRISPR-Cas9 Mediated Epitope Tagging Provides Accurate and Versatile Assessment of Myocardin

Objective- Unreliable antibodies often hinder the accurate detection of an endogenous protein, and this is particularly true for the cardiac and smooth muscle cofactor, MYOCD (myocardin). Accordingly, the mouse Myocd locus was targeted with 2 independent epitope tags for the unambiguous expression, localization, and activity of MYOCD protein. Approach and Results- 3cCRISPR (3-component clustered regularly interspaced short palindromic repeat) was used to engineer a carboxyl-terminal 3×FLAG or 3×HA epitope tag in mouse embryos. Western blotting with antibodies to each tag revealed a MYOCD protein product of ≈150 kDa, a size considerably larger than that reported in virtually all publications. MYOCD protein was most abundant in some adult smooth muscle-containing tissues with surprisingly low-level expression in the heart. Both alleles of Myocd are active in aorta because a 2-fold increase in protein was seen in mice homozygous versus heterozygous for FLAG-tagged Myocd. ChIP (chromatin immunoprecipitation)-quantitative polymerase chain reaction studies provide proof-of-principle data demonstrating the utility of this mouse line in conducting genome-wide ChIP-seq studies to ascertain the full complement of MYOCD-dependent target genes in vivo. Although FLAG-tagged MYOCD protein was undetectable in sections of adult mouse tissues, low-passaged vascular smooth muscle cells exhibited expected nuclear localization. Conclusions- This report validates new mouse models for analyzing MYOCD protein expression, localization, and binding activity in vivo and highlights the need for rigorous authentication of antibodies in biomedical research

CRISPR-Cas9 Mediated Epitope Tagging Provides Accurate and Versatile Assessment of Myocardin--Brief Report

OBJECTIVE: Unreliable antibodies often hinder the accurate detection of an endogenous protein, and this is particularly true for the cardiac and smooth muscle cofactor, MYOCD (myocardin). Accordingly, the mouse Myocd locus was targeted with 2 independent epitope tags for the unambiguous expression, localization, and activity of MYOCD protein. APPROACH AND RESULTS: 3cCRISPR (3-component clustered regularly interspaced short palindromic repeat) was used to engineer a carboxyl-terminal 3xFLAG or 3xHA epitope tag in mouse embryos. Western blotting with antibodies to each tag revealed a protein product of approximately 150 kDa, a size considerably larger than that reported in virtually all publications. MYOCD protein was most abundant in some adult smooth muscle-containing tissues with surprisingly low-level expression in the heart. Both alleles of Myocd are active in aorta because a 2-fold increase in protein was seen in mice homozygous versus heterozygous for FLAG-tagged Myocd. ChIP-quantitative polymerase chain reaction studies provide proof-of-principle data demonstrating the utility of this mouse line in conducting genome-wide ChIP-seq studies to ascertain the full complement of MYOCD-dependent target genes in vivo. Although FLAG-tagged MYOCD protein was undetectable in sections of adult mouse tissues, low-passaged vascular smooth muscle cells exhibited expected nuclear localization. CONCLUSIONS: This report validates new mouse models for analyzing MYOCD protein expression, localization, and binding activity in vivo and highlights the need for rigorous authentication of antibodies in biomedical research

Treatment patterns and standardized outcome assessments among patients with inflammatory conditions of the pouch in a prospective multicenter registry

BACKGROUND: Much of our understanding about the natural history of pouch-related disorders has been generated from selected populations. We designed a geographically diverse, prospective registry to study the disease course among patients with 1 of 4 inflammatory conditions of the pouch. The primary objectives in this study were to demonstrate the feasibility of a prospective pouch registry and to evaluate the predominant treatment patterns for pouch-related disorders. METHODS: We used standardized diagnostic criteria to prospectively enroll patients with acute pouchitis, chronic antibiotic-dependent pouchitis (CADP), chronic antibiotic refractory pouchitis (CARP), or Crohn\u27s disease (CD) of the pouch. We obtained detailed clinical and demographic data at the time of enrollment, along with patient-reported outcome (PRO) measures. RESULTS: We enrolled 318 patients (10% acute pouchitis, 27% CADP, 12% CARP, and 51% CD of the pouch). Among all patients, 55% were on a biologic or small molecule therapy. Patients with CD of the pouch were more likely to use several classes of therapy ( CONCLUSIONS: In a population where most patients had refractory inflammatory conditions of the pouch, we established a framework to evaluate PROs and clinical effectiveness. This infrastructure will be valuable for long-term studies of real-world effectiveness for pouch-related disorders