Shape control of high degree-of-freedom variable geometry trusses

Common static trusses are constrained to permit no relative motion between truss elements. A Variable Geometry Truss (VGT), however, is a truss which contains some number of variable length links. The extensible links allow the truss to change shape in a precise, controllable manner. These changes can also be used to control the vibrational response of a truss structure or to perform robotic tasks. Many geometric configurations, both planar and spatial, are possible candidates for VGT manipulators. Here, only two geometries are discussed; the three degree-of-freedom (DOF) spatial octahedral/octahedral truss and the three DOF planar tetrahedral truss. These truss geometries are used as the fundamental element in a repeating chain of trusses. This results in a highly dexterous manipulator with perhaps 30 to 60 degrees of freedom that retains the favorable stiffness properties of a conventional truss. From a fixed base, this type of manipulator could perform shape or vibration control while extending and snaking through complex passageways or moving around obstacles to perform robotic tasks. The approach taken here is to first concentrate on fully understanding the forward and inverse kinematics of the fundamental elements and then utilizing the insight thus gained to solve the more complex problem of the kinematic chains

Performing heritage: the use of live 'actors' in heritage presentations

This paper investigates the phenomenon of 'living history' presentations of heritage, using live 'actors' to portray historical characters. Its aim is to discuss these presentations in the context of what may be understood as 'heritage', and of the nature of 'performance'. Four case studies of heritage sites, each important as a tourist attraction, have been selected for detailed study, together with a number of other examples of heritage performance. It is clear from the empirical work that different performance strategies are employed within the heritage industry and by individual 'actors'. Most of the performers take part as a leisure activity, and many do not consider themselves to be 'performing' at all. The greatest concern of participants lies in the degree of authenticity of the performance. Through 'living history', the 'actors' are drawn into an experience of heritage which has real meaning for them, and which may contribute both to a sense of identity and to an enhanced understanding of society, past and present. The popularity of such presentations with visitors also indicates that similar benefits are perceived by the 'audience'

On the Use of Multipole Expansion in Time Evolution of Non-linear Dynamical Systems and Some Surprises Related to Superradiance

A new numerical method is introduced to study the problem of time evolution of generic non-linear dynamical systems in four-dimensional spacetimes. It is assumed that the time level surfaces are foliated by a one-parameter family of codimension two compact surfaces with no boundary and which are conformal to a Riemannian manifold C. The method is based on the use of a multipole expansion determined uniquely by the induced metric structure on C. The approach is fully spectral in the angular directions. The dynamics in the complementary 1+1 Lorentzian spacetime is followed by making use of a fourth order finite differencing scheme with adaptive mesh refinement. In checking the reliability of the introduced new method the evolution of a massless scalar field on a fixed Kerr spacetime is investigated. In particular, the angular distribution of the evolving field in to be superradiant scattering is studied. The primary aim was to check the validity of some of the recent arguments claiming that the Penrose process, or its field theoretical correspondence---superradiance---does play crucial role in jet formation in black hole spacetimes while matter accretes onto the central object. Our findings appear to be on contrary to these claims as the angular dependence of a to be superradiant scattering of a massless scalar field does not show any preference of the axis of rotation. In addition, the process of superradiance, in case of a massless scalar field, was also investigated. On contrary to the general expectations no energy extraction from black hole was found even though the incident wave packets was fine tuned to be maximally superradiant. Instead of energy extraction the to be superradiant part of the incident wave packet fails to reach the ergoregion rather it suffers a total reflection which appears to be a new phenomenon.Comment: 49 pages, 11 figure

On the Schrödinger-Newton equation and its symmetries: a geometric view

LaTeX 29 pages; minor correctionsInternational audienceThe \SN (SN) equation is recast on purely geometrical grounds, namely in terms of Bargmann structures over (\d+1)-dimensional Newton-Cartan (NC) spacetimes. Its maximal group of invariance, which we call the SN group, is determined as the group of conformal Bargmann automorphisms that preserve the coupled Schr\"odinger and NC gravitational field equations. Canonical unitary representations of the SN group are worked out, helping us recover, in particular, a very specific occurrence of dilations with dynamical exponent z=(\d+2)/3

Macrophage Subset Sensitivity to Endotoxin Tolerisation by Porphyromonas gingivalis

Macrophages (MΦs) determine oral mucosal responses; mediating tolerance to commensal microbes and food whilst maintaining the capacity to activate immune defences to pathogens. MΦ responses are determined by both differentiation and activation stimuli, giving rise to two distinct subsets; pro-inflammatory M1- and anti-inflammatory/regulatory M2- MΦs. M2-like subsets predominate tolerance induction whereas M1 MΦs predominate in inflammatory pathologies, mediating destructive inflammatory mechanisms, such as those in chronic P.gingivalis (PG) periodontal infection. MΦ responses can be suppressed to benefit either the host or the pathogen. Chronic stimulation by bacterial pathogen associated molecular patterns (PAMPs), such as LPS, is well established to induce tolerance. The aim of this study was to investigate the susceptibility of MΦ subsets to suppression by P. gingivalis. CD14hi and CD14lo M1- and M2-like MΦs were generated in vitro from the THP-1 monocyte cell line by differentiation with PMA and vitamin D3, respectively. MΦ subsets were pre-treated with heat-killed PG (HKPG) and PG-LPS prior to stimulation by bacterial PAMPs. Modulation of inflammation was measured by TNFα, IL-1β, IL-6, IL-10 ELISA and NFκB activation by reporter gene assay. HKPG and PG-LPS differentially suppress PAMP-induced TNFα, IL-6 and IL-10 but fail to suppress IL-1β expression in M1 and M2 MΦs. In addition, P.gingivalis suppressed NFκB activation in CD14lo and CD14hi M2 regulatory MΦs and CD14lo M1 MΦs whereas CD14hi M1 pro-inflammatory MΦs were refractory to suppression. In conclusion, P.gingivalis selectively tolerises regulatory M2 MΦs with little effect on pro-inflammatory CD14hi M1 MΦs; differential suppression facilitating immunopathology at the expense of immunity

Synchronous online CPD: empirical support for the value of webinars in career settings

The careers profession in England is facing unprecedented challenges. Initiatives to improve service delivery while keeping costs low are attractive and online training holds the promise of high impact at low cost. The present study employs a qualitative methodology to evaluate a series of online ‘webinars’ conducted with 15 careers advisers. Results showed that the technology itself could impede learning, and participants missed out on the peer-to-peer interaction that takes place in a ‘bricks and mortar’ setting, but overall participants found that access to relevant, good quality training from the convenience of their workplace more than compensated for the challenges. The article offers conceptual support for the viability of online learning through the theory of equivalency, andragogy and transactional distance theory, and makes recommendations for practice

Artificial intelligence in the autonomous navigation of endovascular interventions: a systematic review

BackgroundAutonomous navigation of catheters and guidewires in endovascular interventional surgery can decrease operation times, improve decision-making during surgery, and reduce operator radiation exposure while increasing access to treatment.ObjectiveTo determine from recent literature, through a systematic review, the impact, challenges, and opportunities artificial intelligence (AI) has for the autonomous navigation of catheters and guidewires for endovascular interventions.MethodsPubMed and IEEEXplore databases were searched to identify reports of AI applied to autonomous navigation methods in endovascular interventional surgery. Eligibility criteria included studies investigating the use of AI in enabling the autonomous navigation of catheters/guidewires in endovascular interventions. Following Preferred Reporting Items for Systematic Reviews and Meta-Analysis (PRISMA), articles were assessed using Quality Assessment of Diagnostic Accuracy Studies 2 (QUADAS-2). PROSPERO: CRD42023392259.ResultsFour hundred and sixty-two studies fulfilled the search criteria, of which 14 studies were included for analysis. Reinforcement learning (RL) (9/14, 64%) and learning from expert demonstration (7/14, 50%) were used as data-driven models for autonomous navigation. These studies evaluated models on physical phantoms (10/14, 71%) and in-silico (4/14, 29%) models. Experiments within or around the blood vessels of the heart were reported by the majority of studies (10/14, 71%), while non-anatomical vessel platforms “idealized” for simple navigation were used in three studies (3/14, 21%), and the porcine liver venous system in one study. We observed that risk of bias and poor generalizability were present across studies. No procedures were performed on patients in any of the studies reviewed. Moreover, all studies were limited due to the lack of patient selection criteria, reference standards, and reproducibility, which resulted in a low level of evidence for clinical translation.ConclusionDespite the potential benefits of AI applied to autonomous navigation of endovascular interventions, the field is in an experimental proof-of-concept stage, with a technology readiness level of 3. We highlight that reference standards with well-identified performance metrics are crucial to allow for comparisons of data-driven algorithms proposed in the years to come.Systematic review registrationidentifier: CRD42023392259