Continuum robots and underactuated grasping

We discuss the capabilities of continuum (continuous backbone) robot structures in the performance of under-actuated grasping. Continuum robots offer the potential of robust grasps over a wide variety of object classes, due to their ability to adapt their shape to interact with the environment via non-local continuum contact conditions. Furthermore, this capability can be achieved with simple, low degree of freedom hardware. However, there are practical issues which currently limit the application of continuum robots to grasping. We discuss these issues and illustrate via an experimental continuum grasping case study. <br><br> <i>This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010), 19 August 2010, Montréal, Canada.</i&gt

The pathway of breakdown of 2: 4-dichloro-and 4-chloro-2-methyl-phenoxyacetic acid by bacteria

RESP-373

Adaptive Patterns in the Bacterial Oxidation of 2: 4-Dichloro-and 4-Chloro-2-methyl-phenoxyacetic Acid

RESP-397

Kinetics of macroion coagulation induced by multivalent counterions

Due to the strong correlations between multivalent counterions condensed on a macroion, the net macroion charge changes sign at some critical counterion concentration. This effect is known as the charge inversion. Near this critical concentration the macroion net charge is small. Therefore, short range attractive forces between macroions dominate Coulomb repulsion and lead to their coagulation. The kinetics of macroion coagulation in this range of counterion concentrations is studied. We calculate the Coulomb barrier between two approaching like charged macroions at a given counterion concentration. Two different macroion shapes (spherical and rod-like) are considered. A new "self-regulated" regime of coagulation is found. As the size of aggregates increases, their charge and Coulomb barrier also grow and diminish the sticking probability of aggregates. This leads to a slow, logarithmic increase of the aggregate size with time.Comment: Some formulas correcte

Individual-specific changes in the human gut microbiota after challenge with enterotoxigenic Escherichia coli and subsequent ciprofloxacin treatment

Acknowledgements The authors wish to thank Mark Stares, Richard Rance, and other members of the Wellcome Trust Sanger Institute’s 454 sequencing team for generating the 16S rRNA gene data. Lili Fox Vélez provided editorial support. Funding IA, JNP, and MP were partly supported by the NIH, grants R01-AI-100947 to MP, and R21-GM-107683 to Matthias Chung, subcontract to MP. JNP was partly supported by an NSF graduate fellowship number DGE750616. IA, JNP, BRL, OCS and MP were supported in part by the Bill and Melinda Gates Foundation, award number 42917 to OCS. JP and AWW received core funding support from The Wellcome Trust (grant number 098051). AWW, and the Rowett Institute of Nutrition and Health, University of Aberdeen, receive core funding support from the Scottish Government Rural and Environmental Science and Analysis Service (RESAS).Peer reviewedPublisher PD

Whispering Vortices

Experiments indicating the excitation of whispering gallery type electromagnetic modes by a vortex moving in an annular Josephson junction are reported. At relativistic velocities the Josephson vortex interacts with the modes of the superconducting stripline resonator giving rise to novel resonances on the current-voltage characteristic of the junction. The experimental data are in good agreement with analysis and numerical calculations based on the two-dimensional sine--Gordon model.Comment: 5 pages, 5 figures, text shortened to fit 4 pages, correction of typo