Haptic-Based Shared-Control Methods for a Dual-Arm System

We propose novel haptic guidance methods for a dual-arm telerobotic manipulation system, which are able to deal with several different constraints, such as collisions, joint limits, and singularities. We combine the haptic guidance with shared-control algorithms for autonomous orientation control and collision avoidance meant to further simplify the execution of grasping tasks. The stability of the overall system in various control modalities is presented and analyzed via passivity arguments. In addition, a human subject study is carried out to assess the effectiveness and applicability of the proposed control approaches both in simulated and real scenarios. Results show that the proposed haptic-enabled shared-control methods significantly improve the performance of grasping tasks with respect to the use of classic teleoperation with neither haptic guidance nor shared control

A 4-DoF wearable hand device for haptic rendering of surfaces and edges

We present a 4 -degrees -of -freedom (4-DoF) wearable haptic device for the palm, able to provide the sensation of interacting with slanted surfaces and edges. It is composed of a static upper body, secured to the back of the hand, and a mobile end -effector, placed in contact with the palm. They are connected by two articulated arms, actuated by four servo motors housed on the upper body and along the arms. The end -effector is a foldable flat surface that can make/break contact with the palm to provide pressure feedback, move sideways to provide skin stretch and tangential motion feedback, and fold to elicit the sensation of interacting with different curvatures. The paper presents the design of the wearable haptic device, together with its mobility, statics, and manipulability, as well as direct, inverse, and differential kinematics. We also present a position control scheme for the device, which is then quantitatively evaluated

Separase Phosphosite Mutation Leads to Genome Instability and Primordial Germ Cell Depletion during Oogenesis

To ensure equal chromosome segregation and the stability of the genome during cell division, Separase is strictly regulated primarily by Securin binding and inhibitory phosphorylation. By generating a mouse model that contained a mutation to the inhibitory phosphosite of Separase, we demonstrated that mice of both sexes are infertile. We showed that Separase deregulation leads to chromosome mis-segregation, genome instability, and eventually apoptosis of primordial germ cells (PGCs) during embryonic oogenesis. Although the PGCs of mutant male mice were completely depleted, a population of PGCs from mutant females survived Separase deregulation. The surviving PGCs completed oogenesis but produced deficient initial follicles. These results indicate a sexual dimorphism effect on PGCs from Separase deregulation, which may be correlated with a gender-specific discrepancy of Securin. Our results reveal that Separase phospho-regulation is critical for genome stability in oogenesis. Furthermore, we provided the first evidence of a pre-zygotic mitotic chromosome segregation error resulting from Separase deregulation, whose sex-specific differences may be a reason for the sexual dimorphism of aneuploidy in gametogenesis

Nutritional therapies for mental disorders

According to the Diagnostic and Statistical Manual of Mental Disorders, 4 out of the 10 leading causes of disability in the US and other developed countries are mental disorders. Major depression, bipolar disorder, schizophrenia, and obsessive compulsive disorder (OCD) are among the most common mental disorders that currently plague numerous countries and have varying incidence rates from 26 percent in America to 4 percent in China. Though some of this difference may be attributable to the manner in which individual healthcare providers diagnose mental disorders, this noticeable distribution can be also explained by studies which show that a lack of certain dietary nutrients contribute to the development of mental disorders. Notably, essential vitamins, minerals, and omega-3 fatty acids are often deficient in the general population in America and other developed countries; and are exceptionally deficient in patients suffering from mental disorders. Studies have shown that daily supplements of vital nutrients often effectively reduce patients' symptoms. Supplements that contain amino acids also reduce symptoms, because they are converted to neurotransmitters that alleviate depression and other mental disorders. Based on emerging scientific evidence, this form of nutritional supplement treatment may be appropriate for controlling major depression, bipolar disorder, schizophrenia and anxiety disorders, eating disorders, attention deficit disorder/attention deficit hyperactivity disorder (ADD/ADHD), addiction, and autism. The aim of this manuscript is to emphasize which dietary supplements can aid the treatment of the four most common mental disorders currently affecting America and other developed countries: major depression, bipolar disorder, schizophrenia, and obsessive compulsive disorder (OCD)

Nondisjunction rates of mouse specific chromosomes involved in heterozygous Rb rearrangements measured by chromosome painting of spermatocytes II. I. The effects of the number of trivalents

Dual-colour FISH painting with alternative fluorescent chromosome-specific probes allowed us to distinguish chromosomes 1, 4, 6 and 14. The purpose was to check whether nondisjunction rates of specific chromosomes involved in heterozygous Robertsonian fusions are independent of the number of trivalents, or an epistatic effect among Rb chromosomes takes place affecting nondisjunction rates. Probes were used on DAPI-stained metaphases of spermatocytes II of laboratory strains of mice with reconstructed karyotypes heterozygous for one, two, three or four Robertsonian metacentrics in an all-acrocentric background. The existence of such epistatic interactions was not verified. Copyright © 2003 S. Karger AG, Basel

Non disjunction rates of mouse chromosomes involved in heterozygous Rb rearrangements measured by chromosome painting of spermatocytes. II. The effects of trivalent combinations and genetic background

Chromosome specific nondisjunction rates were quantified by dual-colour FISH in spermatocytes II of Robertsonian heterozygous mice with different trivalent combinations or, alternatively, with different genetic backgrounds. We found that such factors do not influence the proneness to nondisjunction of specific chromosomes

Environmental Hazard in the Aetiology of Somatic and Germ Cell Aneuploidy

Pacchierotti F, Eichenlaub-Ritter U. Environmental Hazard in the Aetiology of Somatic and Germ Cell Aneuploidy. Cytogenetic and Genome Research. 2011;133(2-4):254-268