Dendritic cell reconstitution is associated with relapse-free survival and acute GVHD severity in children after allogeneic stem cell transplantation

DCs are potent APCs and key regulators of innate and adaptive immunity. After allo-SCT, their reconstitution in the peripheral blood (PB) to levels similar to those in healthy individuals tends to be slow. We investigate the age- and sex-dependant immune reconstitution of myeloid (mDC) and plasmacytoid DC (pDC) in the PB of 45 children with leukaemia or myelodysplastic syndrome (aged 1-17 years, median 10) after allo-SCT with regard to relapse, acute GVHD (aGVHD) and relapse-free survival. Low pDC/μL PB up to day 60 post SCT are associated with higher incidence of moderate or severe aGVHD (P=0.035), whereas high pDC/μL PB up to day 60 are associated with higher risk of relapse (P<0.001). The time-trend of DCs/μL PB for days 0-200 is a significant predictor of relapse-free survival for both mDCs (P<0.001) and pDCs (P=0.020). Jointly modelling DC reconstitution and complications improves on these simple criteria. Compared with BM, PBSC transplants tend to show slower mDC/pDC reconstitution (P=0.001, 0.031, respectively), but have no direct effect on relapse-free survival. These results suggest an important role for both mDCs and pDCs in the reconstituting immune system. The inclusion of mDCs and pDCs may improve existing models for complication prediction following allo-SCT

Exact N=2 Supergravity Solutions With Polarized Branes

We construct several classes of exact supersymmetric supergravity solutions describing D4 branes polarized into NS5 branes and F-strings polarized into D2 branes. These setups belong to the same universality class as the perturbative solutions used by Polchinski and Strassler to describe the string dual of N=1* theories. The D4-NS5 setup can be interpreted as a string dual to a confining 4+1 dimensional theory with 8 supercharges, whose properties we discuss. By T-duality, our solutions give Type IIB supersymmetric backgrounds with polarized branes.Comment: 22 pages. v2 - references added, details clarifie

A Path Integral Approach To Noncommutative Superspace

A path integral formula for the associative star-product of two superfields is proposed. It is a generalization of the Kontsevich-Cattaneo-Felder's formula for the star-product of functions of bosonic coordinates. The associativity of the star-product imposes certain conditions on the background of our sigma model. For generic background the action is not supersymmetric. The supersymmetry invariance of the action constrains the background and leads to a simple formula for the star-product.Comment: Latex 13 pages. v2: references and footnotes adde

On The Interaction Of D0-Brane Bound States And RR Photons

We consider the problem of the interaction between D0-brane bound state and 1-form RR photons by the world-line theory. Based on the fact that in the world-line theory the RR gauge fields depend on the matrix coordinates of D0-branes, the gauge fields also appear as matrices in the formulation. At the classical level, we derive the Lorentz-like equations of motion for D0-branes, and it is observed that the center-of-mass is colourless with respect to the SU(N) sector of the background. Using the path integral method, the perturbation theory for the interaction between the bound state and the RR background is developed. We discuss what kind of field theory may be corresponded to the amplitudes which are calculated by the perturbation expansion in world-line theory. Qualitative considerations show that the possibility of existence of a map between the world-line theory and the non-Abelian gauge theory is very considerable.Comment: LaTeX, 28 pages, 4 eps figures. v2 and v3: eqs. (3.18) and (B.2) are corrected, very small change

Interaction between M2-branes and Bulk Form Fields

We construct the interaction terms between the world-volume fields of multiple M2-branes and the 3- and 6-form fields in the context of ABJM theory with U($N$)$\times$U($N$) gauge symmetry. A consistency check is made in the simplest case of a single M2-brane, i.e, our construction matches the known effective action of M2-brane coupled to antisymmetric 3-form field. We show that when dimensionally reduced, our couplings coincide with the effective action of D2-branes coupled to R-R 3- and 5-form fields in type IIA string theory. We also comment on the relation between a coupling with a specific 6-form field configuration and the supersymmetry preserving mass deformation in ABJM theory.Comment: 30 pages, version to appear in JHE

Grasp Analysis Tools for Synergistic Underactuated Robotic Hands

Despite being a classical topic in robotics, the research on dexterous robotic hands still stirs a lively research activity. The current interest is especially attracted by underactuated robotic hands where a high number of degrees of freedom (DoFs), and a relatively low number of degrees of actuation co-exist. The correlation between the DoFs obtained through a wise distribution of actuators is aimed at simplifying the control with a minimal loss of dexterity. In this sense, the application of bio-inspired principles is bringing research toward a more conscious design. This work proposes new, general approaches for the analysis of grasps with synergistic underactuated robotic hands.After a review of the quasi-static equations describing the system, where contact preload is also considered, two different approaches to the analysis are presented. The first one is based on a systematic combination of the equations. The independent and the dependent variables are defined, and cause-effect relationships between them are found. In addition, remarkable properties of the grasp, as the subspace of controllable internal force and the grasp compliance, are worked out in symbolic form. Then, some relevant kinds of tasks, such as pure squeeze, spurious squeeze and kinematic grasp displacements, are defined, in terms of nullity or non-nullity of proper variables. The second method of analysis shows how to discover the feasibility of the pre-defined tasks, operating a systematic decomposition of the solution space of the system. As a result, the inputs to be given to the hand, in order to achieve the desired system displacements, are found. The study of the feasible variations is carried out arriving at the discovery of all the combinations of nullity and/or non-nullity variables which are allowed by the equations describing the system. Numerical results are presented both for precision and power grasps, finding forces and displacements that the hand can impose on the object, and showing which properties are preserved after the introduction of a synergistic underactuation mechanism

User-Driven Functional Movement Training with a Wearable Hand Robot after Stroke

We studied the performance of a robotic orthosis designed to assist the paretic hand after stroke. It is wearable and fully user-controlled, serving two possible roles: as a therapeutic tool that facilitates device mediated hand exercises to recover neuromuscular function or as an assistive device for use in everyday activities to aid functional use of the hand. We present the clinical outcomes of a pilot study designed as a feasibility test for these hypotheses. 11 chronic stroke (> 2 years) patients with moderate muscle tone (Modified Ashworth Scale less than or equal to 2 in upper extremity) engaged in a month-long training protocol using the orthosis. Individuals were evaluated using standardized outcome measures, both with and without orthosis assistance. Fugl-Meyer post intervention scores without robotic assistance showed improvement focused specifically at the distal joints of the upper limb, suggesting the use of the orthosis as a rehabilitative device for the hand. Action Research Arm Test scores post intervention with robotic assistance showed that the device may serve an assistive role in grasping tasks. These results highlight the potential for wearable and user-driven robotic hand orthoses to extend the use and training of the affected upper limb after stroke.Comment: 10 pages, 15 figures, Camera ready versio

Towards Tenodesis-Modulated Control of an Assistive Hand Exoskeleton for SCI

Restoration of hand function is one of the highest priorities for SCI populations. In this work, we present a prototype of a robotic assistive orthosis capable of implementing tenodesis user control. The underactuated device provides active grasping assistance while preserving free wrist mobility through the use of Bowden cables. This device enables force modulation during grasping, which was effectively leveraged by a participant with C6 SCI to demonstrate improved grasping abilities using the orthosis, scoring 11 on the Grasp and Release Test using the device compared to 1 without it.Comment: 2 pages, 4 figures. Presented at the IROS 2023 Assistive Robotics for Citizens Worksho

Biomimetic grasp planning for cortical control of a robotic hand

In this paper we outline a grasp planning system designed to augment the cortical control of a prosthetic arm and hand. A key aspect of this system it the ability to combine online user input and autonomous planning to enable the execution of stable grasping tasks. While user input can ultimately be of any modality, the system is being designed to adapt to partial or noisy information obtained from grasp-related activity in the primate motor cortex. First, principal component analysis is applied to the observed kinematics of physiologic grasping to reduce the dimensionality of hand posture space and simplify the planning task for on-line use. The planner then accepts control input in this reduced-dimensionality space, and uses it as a seed for a hand posture optimization algorithm based on simulated annealing. We present two applications of this algorithm, using data collected from both primate and human subjects during grasping, to demonstrate its ability to synthesize stable grasps using partial control input in real or near-real time