Operational experience and design recommendations for teleoperated flight hardware

Teleoperation (remote manipulation) will someday supplement/minimize astronaut extravehicular activity in space to perform such tasks as satellite servicing and repair, and space station construction and servicing. This technology is being investigated by NASA with teleoperation of two space-related tasks having been demonstrated at the Oak Ridge National Lab. The teleoperator experiments are discussed and the results of these experiments are summarized. The related equipment design recommendations are also presented. In addition, a general discussion of equipment design for teleoperation is also presented

The laboratory telerobotic manipulator program

New opportunities for the application of telerobotic systems to enhance human intelligence and dexterity in the hazardous environment of space are presented by the NASA Space Station Program. Because of the need for significant increases in extravehicular activity and the potential increase in hazards associated with space programs, emphasis is being heightened on telerobotic systems research and development. The Laboratory Telerobotic Manipulator (LTM) program is performed to develop and demonstrate ground-based telerobotic manipulator system hardware for research and demonstrations aimed at future NASA applications. The LTM incorporates traction drives, modularity, redundant kinematics, and state-of-the-art hierarchical control techniques to form a basis for merging the diverse technological domains of robust, high-dexterity teleoperations and autonomous robotic operation into common hardware to further NASA's research

Sexual Attraction to Others: A Comparison of Two Models of Alloerotic Responding in Men

The penile response profiles of homosexual and heterosexual pedophiles, hebephiles, and teleiophiles to laboratory stimuli depicting male and female children and adults may be conceptualized as a series of overlapping stimulus generalization gradients. This study used such profile data to compare two models of alloerotic responding (sexual responding to other people) in men. The first model was based on the notion that men respond to a potential sexual object as a compound stimulus made up of an age component and a gender component. The second model was based on the notion that men respond to a potential sexual object as a gestalt, which they evaluate in terms of global similarity to other potential sexual objects. The analytic strategy was to compare the accuracy of these models in predicting a man’s penile response to each of his less arousing (nonpreferred) stimulus categories from his response to his most arousing (preferred) stimulus category. Both models based their predictions on the degree of dissimilarity between the preferred stimulus category and a given nonpreferred stimulus category, but each model used its own measure of dissimilarity. According to the first model (“summation model”), penile response should vary inversely as the sum of stimulus differences on separate dimensions of age and gender. According to the second model (“bipolar model”), penile response should vary inversely as the distance between stimulus categories on a single, bipolar dimension of morphological similarity—a dimension on which children are located near the middle, and adult men and women are located at opposite ends. The subjects were 2,278 male patients referred to a specialty clinic for phallometric assessment of their erotic preferences. Comparisons of goodness of fit to the observed data favored the unidimensional bipolar model

Sexual epigenetic dimorphism in the human placenta: implications for susceptibility during the prenatal period

Sex-based differences in response to adverse prenatal environments and infant outcomes have been observed, yet the underlying mechanisms for this are unclear. The placental epigenome may be a driver of these differences

Plausible role of estrogens in pathogenesis, progression and therapy of lung cancer

Malignant neoplasms are among the most common diseases and are responsible for the majority of deaths in the developed world. In contrast to men, available data show a clear upward trend in the incidence of lung cancer in women, making it almost as prevalent as breast cancer. Women might be more susceptible to the carcinogenic effect of tobacco smoke than men. Furthermore, available data indicate a much more frequent mutation of the tumor suppressor genep53 in non-small cell lung cancer (NSCLC) female patients compared to males. Another important factor, however, might lie in the female sex hormones, whose mitogenic or carcinogenic effect is well known. Epidemiologic data show a correlation between hormone replacement therapy (HRT) or oral contraceptives (OCs), and increased mortality rates due to the increased incidence of malignant tumors, including lung cancer. Interestingly, two types of estrogen receptors have been detected in lung cancer cells: ERα and ERβ. The presence of ERα has been detected in tissues and non-small-cell lung carcinoma (NSCLC) cell lines. In contrast, overexpression of ERβ is a prognostic marker in NSCLC. Herein, we summarize the current knowledge on the role of estrogens in the etiopathogenesis of lung cancer, as well as biological, hormonal and genetic sex-related differences in this neoplasm

DINOSAUR FOOTPRINTS FROM THE GLEN ROSE FORMATION (PALUXY RIVER, DINOSAUR VALLEY STATE PARK, SOMERVELL COUNTY, TEXAS)

Dinosaur footprints are found in the Glen Rose Formation and other Lower Cretaceous stratigraphic units over much of central Texas (Pittman, 1989; Rogers, 2002; Farlow et al., 2006). Dinosaur tracks were discovered in the rocky bed of the Paluxy River, near the town of Glen Rose, Texas, early in the 20th Century (Jasinski, 2008; Farlow et al., 2012b). Ellis W. Shuler of Southern Methodist University did pioneering studies on the dinosaur tracks (Shuler 1917, 1935, 1937), and Langston (1974) summarized much of the early literature. What really put the dinosaur footprints of the Paluxy River on the map, though, were the herculean efforts that Roland T. Bird of the American Museum of Natural History made to secure trackway slabs for display at that institution and at the Texas Memorial Museum in Austin (Bird, 1985; Jasinski, 2008). In 1970 Dinosaur Valley State Park was created to protect the dinosaur footprints. This guidebook briefly summarizes earlier work, and also serves as an interim report of research of our group still in progress, concerned with identifying the makers of the Paluxy River footprints, and determining what those animals were up to as they made their tracks. We will offer some comparisons of the dinosaur tracks of the Glen Rose Formation with those from other ichnofaunas around the world. The last quarter-century has seen an explosive increase in the technical literature dealing with dinosaur footprints, and we cannot possibly cite all of the relevant studies. For the sake of brevity we will emphasize publications from the present century, and summary papers and books, as much as possible. Even with this restriction, however, the literature is so vast that the literature-cited “tail” of this report starts to wag the “dog” of the text

Telerobotic manipulator developments for ground-based space research

New opportunities for the application of telerobotic systems to enhance human intelligence and dexterity in the hazardous environment of space are presented by the National Aeronautics and Space Administration (NASA) Space Station Program. Because of the need for significant increases in extravehicular activity and the potential increase in hazards associated with space programs, emphasis is being heightened on telerobotic systems research and development. The Automation Technology Branch at NASA Langley Research Center currently is sponsoring the Laboratory Telerobotic Manipulator (LTM) program at Oak Ridge National Laboratory to develop and demonstrate ground-based telerobotic manipulator system hardware for research and demonstrations aimed at future NASA applications. The LTM incorporates traction drives, modularity, redundant kinematics, and state-of-the-art hierarchical control techniques to form a basis for merging the diverse technological domains of robust, high-dexterity teleoperations and autonomous robotic operation into common hardware to further NASA's research

Homozygosity for a missense mutation in the 67 kDa isoform of glutamate decarboxylase in a family with autosomal recessive spastic cerebral palsy: parallels with Stiff-Person Syndrome and other movement disorders

Background Cerebral palsy (CP) is an heterogeneous group of neurological disorders of movement and/or posture, with an estimated incidence of 1 in 1000 live births. Non-progressive forms of symmetrical, spastic CP have been identified, which show a Mendelian autosomal recessive pattern of inheritance. We recently described the mapping of a recessive spastic CP locus to a 5 cM chromosomal region located at 2q24-31.1, in rare consanguineous families. Methods Here we present data that refine this locus to a 0.5 cM region, flanked by the microsatellite markers D2S2345 and D2S326. The minimal region contains the candidate gene GAD1, which encodes a glutamate decarboxylase isoform (GAD67), involved in conversion of the amino acid and excitatory neurotransmitter glutamate to the inhibitory neurotransmitter γ-aminobutyric acid (GABA). Results A novel amino acid mis-sense mutation in GAD67 was detected, which segregated with CP in affected individuals. Conclusions This result is interesting because auto-antibodies to GAD67 and the more widely studied GAD65 homologue encoded by the GAD2 gene, are described in patients with Stiff-Person Syndrome (SPS), epilepsy, cerebellar ataxia and Batten disease. Further investigation seems merited of the possibility that variation in the GAD1 sequence, potentially affecting glutamate/GABA ratios, may underlie this form of spastic CP, given the presence of anti-GAD antibodies in SPS and the recognised excitotoxicity of glutamate in various contexts

Advanced remote handling developments for high radiation applications

The Remote Control Engineering Task of the Consolidated Fuel Reprocessing Program at Oak Ridge National Laboratory has been developing advanced techniques for remote maintenance of future US fuel reprocessing plants. These efforts are based on the application of teleoperated, force-reflecting servomanipulators for dexterous remote handling with television viewing for large-volume hazardous applications. These developments fully address the nonrepetitive nature of remote maintenance in the unstructured environments encountered in fuel reprocessing. This paper covers the primary emphasis in the present program; the design, fabrication, and installation of a prototype remote handling system for reprocessing applications, the Advanced Integrated Maintenance System