FPGA Processor Implementation for the Forward Kinematics of the UMDH

The focus of this research was on the implementation of a forward kinematic algorithm for the Utah MIT Dexterous Hand (UMDH). Specifically, the algorithm was synthesized from mathematical models onto a Field Programmable Gate Array (FPGA) processor. This approach is different from the classical, general purpose microprocessor design where all robotic controller functions including forward Kinematics are executed serially from a compiled programming language such as C. The compiled code and subsequent real time operating system must be stored on some form of nonvolatile memory, typically magnetic media such as a fixed or hard disk drive, along with other computer hardware components to allow the user to load and execute the software. With a future goal of moving the controllers to a portable platform like a dexterous prosthetic hand for amputee patients, the application of such a hardware implementation is impossible. Instead, this research explores a different implementation based on a modular approach of dedicated hardware controllers. The controller for the forward kinematics of the UMDH is used as a test case. The resulting FPGA processor replaces a robotic system\u27s burden of repetitive and discrete software system calls with a stand alone hardware interface that appears more like a single hardware function call. The robotic system is free to tackle other tasks while the FPGA processor is busy computing the results of the algorithm

Discovery of the Cobalt Isotopes

Twenty-six cobalt isotopes have so far been observed; the discovery of these isotopes is discussed. For each isotope a brief summary of the first refereed publication, including the production and identification method, is presented.Comment: to be published in Atomic Data and Nuclear Data Table

Immunohistochemical Demonstration of IgG in Reed-Sternberg and Other Cells in Hodgkin\u27s Disease

Increased synthesis of IgG in vitro has been demonstrated in spleens from patients with Hodgkin\u27s disease, either with or without invasion of the organ by tumor (1). Interest in this laboratory has centered recently on cytochemical localization of immunoglobulins by means of an immunoglobulin-peroxidase bridge procedure (2) and a satisfactory method has been developed for selectively visualizing immunocytes with this technique. 1 As a means of assessing the basis for increased IgG biosynthesis in spleens of Hodgkin patients, this immunostaining procedure has been applied to localization of IgG-producing cells in specimens with Hodgkin\u27s disease

Regression of atherosclerosis in cholesterol-fed rabbits: Effects of fish oil and verapamil

AbstractPrevious studies have shown that either fish oil or verapamil can attenuate the development of atherosclerosis in the lipid-fed rabbit. The present study was designed to evaluate the individual and combined effects of these two interventions on regression.Seventy New Zealand rabbits in seven groups (10 each) were fed a 0.3% cholesterol diet for 10 weeks. Control group C10 was then killed. Control group C20 was fed a 0.3% cholesterol diet and the other five groups were fed a normal diet for an additional 10 weeks. Group F in three treated groups received 2 ml/day of fish oil (Proto-Chol, eicosapentaenoic acid, 180 mg/ml and docosahexaenoic acid, 120 mg/ml) by gavage. Group V received verapamil, 2 g/1,000 ml drinking water, and group FV received both fish oil and verapamil for an additional 10 weeks. Group CF (control for fish oil) received 2 ml/day of water by gavage and group CV (control for verapamil) received water without gavage for an additional 10 weeks.The percent of aortic and pulmonary atherosclerosis was measured by planimetry of sudanophilic lesions. The percent of aortic lesions in the four control groups (C20, C10, CF and CV) was 57 ± 22, 40 ± 15, 40 ± 14 and 33 ± 25%, respectively. The fish oil or verapamil groups (F, V, FV) showed a significant reduction in aortic lesions: 15 ± 17%, p < 0.05; 16 ± 12%, p < 0.05; and 26 ± 24%, p = NS, respectively. The area of pulmonary artery lesions was significantly higher in the control group (CF, 24 ± 9%) than in group F (11 ± 9%, p < 0.05), group V (12 ± 9%, p < 0.05) and group FV (17 ± 14%, p = NS).These data demonstrate that either fish oil or verapamil can decrease atherosclerosis in cholesterol-fed rabbits placed on a normal diet. However, there was no additive effect of fish oil and verapamil. Although not statistically significant, there was a suggestive antagonistic effect between fish oil and verapamil

Systematic infrared image quality improvement using deep learning based techniques

This is the final version. Available from SPIE via the DOI in this recordInfrared thermography (IRT, or thermal video) uses thermographic cameras to detect and record radiation in the longwavelength infrared range of the electromagnetic spectrum. It allows sensing environments beyond the visual perception limitations, and thus has been widely used in many civilian and military applications. Even though current thermal cameras are able to provide high resolution and bit-depth images, there are significant challenges to be addressed in specific applications such as poor contrast, low target signature resolution, etc. This paper addresses quality improvement in IRT images for object recognition. A systematic approach based on image bias correction and deep learning is proposed to increase target signature resolution and optimise the baseline quality of inputs for object recognition. Our main objective is to maximise the useful information on the object to be detected even when the number of pixels on target is adversely small. The experimental results show that our approach can significantly improve target resolution and thus helps making object recognition more efficient in automatic target detection/recognition systems (ATD/R).Centre for Excellence for Sensor and Imaging System (CENSIS)Scottish Funding CouncilDigital Health and Care Institute (DHI)Royal Society of EdinburghNational Science Foundation of Chin

Sampling strategies and biodiversity of influenza A subtypes in wild birds

Wild aquatic birds are recognized as the natural reservoir of avian influenza A viruses (AIV), but across high and low pathogenic AIV strains, scientists have yet to rigorously identify most competent hosts for the various subtypes. We examined 11,870 GenBank records to provide a baseline inventory and insight into patterns of global AIV subtype diversity and richness. Further, we conducted an extensive literature review and communicated directly with scientists to accumulate data from 50 non-overlapping studies and over 250,000 birds to assess the status of historic sampling effort. We then built virus subtype sample-based accumulation curves to better estimate sample size targets that capture a specific percentage of virus subtype richness at seven sampling locations. Our study identifies a sampling methodology that will detect an estimated 75% of circulating virus subtypes from a targeted bird population and outlines future surveillance and research priorities that are needed to explore the influence of host and virus biodiversity on emergence and transmission

Clustering of Codons with Rare Cognate tRNAs in Human Genes Suggests an Extra Level of Expression Regulation

In species with large effective population sizes, highly expressed genes tend to be encoded by codons with highly abundant cognate tRNAs to maximize translation rate. However, there has been little evidence for a similar bias of synonymous codons in highly expressed human genes. Here, we ask instead whether there is evidence for the selection for codons associated with low abundance tRNAs. Rather than averaging the codon usage of complete genes, we scan the genes for windows with deviating codon usage. We show that there is a significant over representation of human genes that contain clusters of codons with low abundance cognate tRNAs. We name these regions, which on average have a 50% reduction in the amount of cognate tRNA available compared to the remainder of the gene, RTS (rare tRNA score) clusters. We observed a significant reduction in the substitution rate between the human RTS clusters and their orthologous chimp sequence, when compared to non–RTS cluster sequences. Overall, the genes with an RTS cluster have higher tissue specificity than the non–RTS cluster genes. Furthermore, these genes are functionally enriched for transcription regulation. As genes that regulate transcription in lower eukaryotes are known to be involved in translation on demand, this suggests that the mechanism of translation level expression regulation also exists within the human genome