Conversion of a servomanipulator from analog to digital control

Oak Ridge National Laboratory (ORNL) has developed expertise in computer control of force-reflecting master/slave servomanipulators as a result of research for the Consolidated Fuel Reprocessing Program. These computer control capabilities have been applied to a commercially available servomanipulator, the TeleOperator Systems SM-229. All of the servo drive and control circuitry has been replaced with commercially available digital controls and amplifiers, and a customer software - package has been developed at ORNL. This conversion to digital computer control resulted in significant improvements in force-reflection characteristics, ease of operation, diagnostic capabilities, indexing features, and potential increased reliability. The system will be used at the Tokamak Fusion Test Reactor at the Princeton Plasma Physics Laboratory (PPPL) for maintenance demonstrations

CYGNSS Launch and Early Ops: Parenting Octuplets

The eight micro-satellite Cyclone Global Navigation Satellite System (CYGNSS) constellation was launched on December 15, 2016. Each of the observatories carries a 4-channel GNSS-R receiver tuned to receive signals reflected by the Earth\u27s ocean surface from which near-surface wind speed is estimated. The mission is focused on providing high temporal and spatial sensing of the wind conditions under and near developing tropical storms and cyclones. CYGNSS is studying the relationship between ocean surface properties, moist atmospheric thermodynamics, radiation and convective dynamics to determine how a cyclone forms, whether it will strengthen, and how much. A recap of launch and early operations is presented via a somewhat humorous analogy to parenting octuplets, with lessons learned included throughout. Topics include the roller-coaster ride of false labor (launch delays); the excitement of the birth, er, launch; the euphoria of seeing all eight μ Sats born alive and breathing; the adrenaline rush of saving one μ Sat born on life support; the total exhaustion that comes with round-the clock care and feeding; and the mixed emotions that come with “sending them out into the world” after a few weeks of doting over them to see them grow up and make their mark in the world

Control and electronic subsystems for the advanced servomanipulator

The advanced servomanipulator (ASM) represents a new generation of electrically driven force-reflecting manipulator systems designed to be remotely maintainable. This ASM is being developed to perform remote maintenance in a nuclear fuel reprocessing plant where human access is not allowed. The primary function of the manipulator control system is to maintain stable, accurate master/slave operation while providing sensitive force reflection to the operator. The control system is based upon tightly coupled distributed digital microprocessing methods. The architectural structure of the control system is outlined and is compared to the previously developed Model M-2 control system, and justification for the advances incorporated into the ASM structure are given. The various modes of operation and diagnostics are described, and throughput requirements associated with joint servo-control and counter-balancing are discussed. The fundamental elements of the control system are reviewed, including the processor selection (Motorola MC68000) and the language (FORTH). The purpose of this document is to review the design decisions and the resulting design selections to serve as a base for future improvements. Four main areas will be covered: (1) system overview, (2) hardware implementation, (3) software partitioning, and (4) remote electronics considerations. Each area will address the specifics of the selected equipment or the functional requirements of the control method. 9 references, 4 figures

RNA aptamer delivery through intact human skin

It is generally recognised that only relatively small molecular weight (typically 100,000-fold) and aptamer integrity was confirmed using an oligonucleotide precipitation assay. A Th17 response was stimulated in freshly excised human skin resulting in significantly upregulated IL-17f, and 22; topical application of the IL-23 aptamer decreased both IL-17f and IL-22 by approximately 45% but did not result in significant changes to IL-23 mRNA levels, confirming that the aptamer did not globally suppress mRNA levels. This study demonstrates that very large molecular weight RNA aptamers can permeate across the intact human skin barrier to therapeutically relevant levels into both the epidermis and dermis and that the skin penetrating aptamer retains its biologically active conformational structure capable of binding to endogenous IL-23

A Randomized Controlled Trial of Caries Prevention in Dental Practice

We conducted a parallel group randomized controlled trial of children initially aged 2 to 3 y who were caries free, to prevent the children becoming caries active over the subsequent 36 mo. The setting was 22 dental practices in Northern Ireland, and children were randomly assigned by a clinical trials unit (CTU) (using computer-generated random numbers, with allocation concealed from the dental practice until each child was recruited) to the intervention (22,600-ppm fluoride varnish, toothbrush, 50-mL tube of 1,450 ppm fluoride toothpaste, and standardized, evidence-based prevention advice) or advice-only control at 6-monthly intervals. The primary outcome measure was conversion from caries-free to caries-active states. Secondary outcome measures were number of decayed, missing, or filled teeth (dmfs) in caries-active children, number of episodes of pain, and number of extracted teeth. Adverse reactions were recorded. Calibrated external examiners, blinded to the child’s study group, assessed the status of the children at baseline and after 3 y. In total, 1,248 children (624 randomized to each group) were recruited, and 1,096 (549 intervention, 547 control) were included in the final analyses. Eighty-seven percent of intervention and 86% of control children attended every 6-mo visit (P = 0.77). A total of 187 (34%) in the intervention group converted to caries active compared to 213 (39%) in the control group (odds ratio, 0.81; 95% confidence interval, 0.64–1.04; P = 0.11). Mean dmfs of those with caries in the intervention group was 7.2 compared to 9.6 in the control group (P = 0.007). There was no significant difference in the number of episodes of pain between groups (P = 0.81) or in the number of teeth extracted in caries-active children (P = 0.95). Ten children in the intervention group had adverse reactions of a minor nature. This well-conducted trial failed to demonstrate that the intervention kept children caries free, but there was evidence that once children get caries, it slowed down its progression (EudraCT No: 2009-010725-39; ISRCTN: ISRCTN36180119)

Using Soil and Water Conservation Contests for Extension: Experiences from the Bolivian Mountain Valleys

Soil and water conservation (SWC) contests among farmer groups were organized in five rural villages in the Bolivian mountain valleys. The contests were aimed at quickly achieving widespread sustainable results. This article analyzes the effectiveness of these contests as an extension tool. Mixed results were obtained. In three villages, participation rates in the SWC activities introduced in the contests were still high even 2 years after project withdrawal. These were all villages where a solid foundation for sustainable development had been laid before the contests were held. Two years later, most families were still involved in maintenance of the SWC practices introduced in the contests, and many farmers had started to experiment with different soil management practices. However, replications of these SWC practices were not widespread, Conservation Leaders did not continue with their training activities, and the quality of maintenance of the practices was often not satisfactory. In order to become a more effective extension tool and achieve widespread impact, SWC contests must receive continued support by a catalyst agency. Moreover, other SWC contests should also be organized in which practices are not predefined. Given that SWC contests are a low-budget extension tool, local municipalities could become more actively involved

Does the timed up and go test predict future falls among British community-dwelling older people? Prospective cohort study nested within a randomised controlled trial

Background Falling is common among older people. The Timed-Up-and-Go Test (TUG) is recommended as a screening tool for falls but its predictive value has been challenged. The objectives of this study were to examine the ability of TUG to predict future falls and to estimate the optimal cut-off point to identify those with higher risk for future falls. Methods This is a prospective cohort study nested within a randomised controlled trial including 259 British community-dwelling older people ≥65 years undergoing usual care. TUG was measured at baseline. Prospective diaries captured falls over 24 weeks. A Receiver Operating Characteristic curve analysis determined the optimal cut-off point to classify future falls risk with sensitivity, specificity, and predictive values of TUG times. Logistic regression models examined future falls risk by TUG time. Results Sixty participants (23%) fell during the 24 weeks. The area under the curve was 0.58 (95% confidence interval (95% CI) = 0.49-0.67, p = 0.06), suggesting limited predictive value. The optimal cut-off point was 12.6 seconds and the corresponding sensitivity, specificity, and positive and negative predictive values were 30.5%, 89.5%, 46.2%, and 81.4%. Logistic regression models showed each second increase in TUG time (adjusted for age, gender, comorbidities, medications and past history of two falls) was significantly associated with future falls (adjusted odds ratio (OR) = 1.09, 95% CI = 1.00-1.19, p = 0.05). A TUG time ≥12.6 seconds (adjusted OR = 3.94, 95% CI = 1.69-9.21, p = 0.002) was significantly associated with future falls, after the same adjustments. Conclusions TUG times were significantly and independently associated with future falls. The ability of TUG to predict future falls was limited but with high specificity and negative predictive value. TUG may be most useful in ruling in those with a high risk of falling rather than as a primary measure in the ascertainment of risk