A CONTINOUS ROTARY ACTUATION MECHANISM FOR A POWERED HIP EXOSKELETON

This thesis presents a new mechanical design for an exoskeleton actuator to power the sagittal plane motion in the human hip. The device uses a DC motor to drive a Scotch yoke mechanism and series elasticity to take advantage of the cyclic nature of human gait and to reduce the maximum power and control requirements of the exoskeleton. The Scotch yoke actuator creates a position-dependent transmission that varies between 4:1 and infinity, with the peak transmission ratio aligned to the peak torque periods of the human gait cycle. Simulation results show that both the peak and average motor torque can be reduced using this mechanism, potentially allowing a less powerful motor to be used. Furthermore, the motor never needs to reverse direction even when the hip joint does. Preliminary testing shows the exoskeleton can provide an assistive torque and is capable of accurate position tracking at speeds covering the range of human walking. This thesis provides a detailed analysis of how the dynamic nature of human walking can be leveraged, how the hip actuator was designed, and shows how the exoskeleton performed during preliminary human trials

WKB analysis of relativistic Stern-Gerlach measurements

Spin is an important quantum degree of freedom in relativistic quantum information theory. This paper provides a first-principles derivation of the observable corresponding to a Stern-Gerlach measurement with relativistic particle velocity. The specific mathematical form of the Stern-Gerlach operator is established using the transformation properties of the electromagnetic field. To confirm that this is indeed the correct operator we provide a detailed analysis of the Stern-Gerlach measurement process. We do this by applying a WKB approximation to the minimally coupled Dirac equation describing an interaction between a massive fermion and an electromagnetic field. Making use of the superposition principle we show that the +1 and -1 spin eigenstates of the proposed spin operator are split into separate packets due to the inhomogeneity of the Stern-Gerlach magnetic field. The operator we obtain is dependent on the momentum between particle and Stern-Gerlach apparatus, and is mathematically distinct from two other commonly used operators. The consequences for quantum tomography are considered.Comment: 13 pages, no figures. Comments welcom

Wide-field dynamic astronomy in the near-infrared with Palomar Gattini-IR and DREAMS

There have been a dramatic increase in the number of optical and radio transient surveys due to astronomical transients such as gravitational waves and gamma ray bursts, however, there have been a limited number of wide-field infrared surveys due to narrow field-of-view and high cost of infrared cameras, we present two new wide-field near-infrared fully automated surveyors; Palomar Gattini-IR and the Dynamic REd All-sky Monitoring Survey (DREAMS). Palomar Gattini-IR, a 25 square degree J-band imager that begun science operations at Palomar Observatory, USA in October 2018; we report on survey strategy as well as telescope and observatory operations and will also providing initial science results. DREAMS is a 3.75 square degree wide-field imager that is planned for Siding Spring Observatory, Australia; we report on the current optical and mechanical design and plans to achieve on-sky results in 2020. DREAMS is on-track to be one of the first astronomical telescopes to use an Indium Galium Arsenide (InGaAs) detector and we report initial on-sky testing results for the selected detector package. DREAMS is also well placed to take advantage and provide near-infrared follow-up of the LSST

Localized qubits in curved spacetimes

We provide a systematic and self-contained exposition of the subject of localized qubits in curved spacetimes. This research was motivated by a simple experimental question: if we move a spatially localized qubit, initially in a state |\psi_1>, along some spacetime path \Gamma from a spacetime point x_1 to another point x_2, what will the final quantum state |\psi_2> be at point x_2? This paper addresses this question for two physical realizations of the qubit: spin of a massive fermion and polarization of a photon. Our starting point is the Dirac and Maxwell equations that describe respectively the one-particle states of localized massive fermions and photons. In the WKB limit we show how one can isolate a two-dimensional quantum state which evolves unitarily along \Gamma. The quantum states for these two realizations are represented by a left-handed 2-spinor in the case of massive fermions and a four-component complex polarization vector in the case of photons. In addition we show how to obtain from this WKB approach a fully general relativistic description of gravitationally induced phases. We use this formalism to describe the gravitational shift in the COW 1975 experiment. In the non-relativistic weak field limit our result reduces to the standard formula in the original paper. We provide a concrete physical model for a Stern-Gerlach measurement of spin and obtain a unique spin operator which can be determined given the orientation and velocity of the Stern-Gerlach device and velocity of the massive fermion. Finally, we consider multipartite states and generalize the formalism to incorporate basic elements from quantum information theory such as quantum entanglement, quantum teleportation, and identical particles. The resulting formalism provides a basis for exploring precision quantum measurements of the gravitational field using techniques from quantum information theory.Comment: 53 pages, 7 figures; v2: published version with further corrections. v3: some references and equation typesetting fixe

Critical animal and media studies: Expanding the understanding of oppression in communication research

Critical and communication studies have traditionally neglected the oppression conducted by humans towards other animals. However, our (mis)treatment of other animals is the result of public consent supported by a morally speciesist-anthropocentric system of values. Speciesism or anthroparchy, as much as any other mainstream ideologies, feeds the media and at the same time is perpetuated by them. The goal of this article is to remedy this neglect by introducing the subdiscipline of Critical Animal and Media Studies. Critical Animal and Media Studies takes inspiration both from critical animal studies – which is so far the most consolidated critical field of research in the social sciences addressing our exploitation of other animals – and from the normative-moral stance rooted in the cornerstones of traditional critical media studies. The authors argue that the Critical Animal and Media Studies approach is an unavoidable step forward for critical media and communication studies to engage with the expanded circle of concerns of contemporary ethical thinking

The DECam Ecliptic Exploration Project (DEEP) II. Observational Strategy and Design

We present the DECam Ecliptic Exploration Project (DEEP) survey strategy including observing cadence for orbit determination, exposure times, field pointings and filter choices. The overall goal of the survey is to discover and characterize the orbits of a few thousand Trans-Neptunian Objects (TNOs) using the Dark Energy Camera (DECam) on the Cerro Tololo Inter-American Observatory (CTIO) Blanco 4 meter telescope. The experiment is designed to collect a very deep series of exposures totaling a few hours on sky for each of several 2.7 square degree DECam fields-of-view to achieve a magnitude of about 26.2 using a wide VR filter which encompasses both the V and R bandpasses. In the first year, several nights were combined to achieve a sky area of about 34 square degrees. In subsequent years, the fields have been re-visited to allow TNOs to be tracked for orbit determination. When complete, DEEP will be the largest survey of the outer solar system ever undertaken in terms of newly discovered object numbers, and the most prolific at producing multi-year orbital information for the population of minor planets beyond Neptune at 30 au.Comment: 29 pages, 4 figures and 4 table

Cosmopolitan distribution of Endozoicomonas-like organisms and other intracellular microcolonies of bacteria causing infection in marine molluscs

Intracellular microcolonies of bacteria, in some cases developing large extracellular cysts, have been historically reported infecting a wide diversity of economically important mollusc species worldwide, sometimes associated with severe lesions and mass mortality events. As an effort to characterise those organisms, traditionally named as Rickettsia or Chlamydia -like organisms (RLO/CLO), via international collaboration, 98 samples comprising 20 mollusc species were collected over 10 countries and examined using histology and phylogenetic analysis. A 16S rRNA gene amplicon library-based sequencing showed the presence of different species of Endozoicomonas-like organisms (ELO) in all the mollusc species analysed, infecting primarily gill and digestive glands. Co-infections of ELOs with other intracellular bacteria were also observed. Subsequent phylogenetic analysis of Operational Taxonomic Units (OTU) revealed a novel microbial diversity associated with molluscan RLO/CLOs infection distributed along different taxa, including Spirochaetes phyla, Rickettsiales order, Simkaniaceae family, Mycoplasma and Francisella genera, and sulfur-oxidizing endosymbionts. Sequences like Francisella halioticida/philomiragia and Candidatus Brownia rhizoecola were also obtained. The presence of ELO sequences in the RLO/CLO infection was confirmed by standard PCR, Sanger sequencing, and by in situ hybridisation in a selection of samples. The phylogenetic analysis conducted in this study will allow for further characterization of the microbial community associated with Rickettsia and Chlamydia-like infection in marine molluscs and their correlation with severity of the lesions in order to reveal their role as endosymbionts, commensals or true pathogens.info:eu-repo/semantics/publishedVersio

Wide-field dynamic astronomy in the near-infrared with Palomar Gattini-IR and DREAMS

There have been a dramatic increase in the number of optical and radio transient surveys due to astronomical transients such as gravitational waves and gamma ray bursts, however, there have been a limited number of wide-field infrared surveys due to narrow field-of-view and high cost of infrared cameras, we present two new wide-field near-infrared fully automated surveyors; Palomar Gattini-IR and the Dynamic REd All-sky Monitoring Survey (DREAMS). Palomar Gattini-IR, a 25 square degree J-band imager that begun science operations at Palomar Observatory, USA in October 2018; we report on survey strategy as well as telescope and observatory operations and will also providing initial science results. DREAMS is a 3.75 square degree wide-field imager that is planned for Siding Spring Observatory, Australia; we report on the current optical and mechanical design and plans to achieve on-sky results in 2020. DREAMS is on-track to be one of the first astronomical telescopes to use an Indium Galium Arsenide (InGaAs) detector and we report initial on-sky testing results for the selected detector package. DREAMS is also well placed to take advantage and provide near-infrared follow-up of the LSST

Assembly and Development of the Pseudomonas aeruginosa Biofilm Matrix

Virtually all cells living in multicellular structures such as tissues and organs are encased in an extracellular matrix. One of the most important features of a biofilm is the extracellular polymeric substance that functions as a matrix, holding bacterial cells together. Yet very little is known about how the matrix forms or how matrix components encase bacteria during biofilm development. Pseudomonas aeruginosa forms environmentally and clinically relevant biofilms and is a paradigm organism for the study of biofilms. The extracellular polymeric substance of P. aeruginosa biofilms is an ill-defined mix of polysaccharides, nucleic acids, and proteins. Here, we directly visualize the product of the polysaccharide synthesis locus (Psl exopolysaccharide) at different stages of biofilm development. During attachment, Psl is anchored on the cell surface in a helical pattern. This promotes cell–cell interactions and assembly of a matrix, which holds bacteria in the biofilm and on the surface. Chemical dissociation of Psl from the bacterial surface disrupted the Psl matrix as well as the biofilm structure. During biofilm maturation, Psl accumulates on the periphery of 3-D-structured microcolonies, resulting in a Psl matrix-free cavity in the microcolony center. At the dispersion stage, swimming cells appear in this matrix cavity. Dead cells and extracellular DNA (eDNA) are also concentrated in the Psl matrix-free area. Deletion of genes that control cell death and autolysis affects the formation of the matrix cavity and microcolony dispersion. These data provide a mechanism for how P. aeruginosa builds a matrix and subsequently a cavity to free a portion of cells for seeding dispersal. Direct visualization reveals that Psl is a key scaffolding matrix component and opens up avenues for therapeutics of biofilm-related complications

Domestication of Campylobacter jejuni NCTC 11168

Reference and type strains of well-known bacteria have been a cornerstone of microbiology research for decades. The sharing of well-characterized isolates among laboratories has run in parallel with research efforts and enhanced the reproducibility of experiments, leading to a wealth of knowledge about trait variation in different species and the underlying genetics. Campylobacter jejuni strain NCTC 11168, deposited at the National Collection of Type Cultures in 1977, has been adopted widely as a reference strain by researchers worldwide and was the first Campylobacter for which the complete genome was published (in 2000). In this study, we collected 23 C . jejuni NCTC 11168 reference isolates from laboratories across the UK and compared variation in simple laboratory phenotypes with genetic variation in sequenced genomes. Putatively identical isolates, identified previously to have aberrant phenotypes, varied by up to 281 SNPs (in 15 genes) compared to the most recent reference strain. Isolates also display considerable phenotype variation in motility, morphology, growth at 37 °C, invasion of chicken and human cell lines, and susceptibility to ampicillin. This study provides evidence of ongoing evolutionary change among C. jejuni isolates as they are cultured in different laboratories and highlights the need for careful consideration of genetic variation within laboratory reference strains. This article contains data hosted by Microreact