Dynamic Control of a Novel Planar Cable-Driven Parallel Robot with a Large Wrench Feasible Workspace

Cable-Driven Parallel Robots (CDPRs) are special manipulators where rigid links are replaced with cables. The use of cables offers several advantages over the conventional rigid manipulators, one of the most interesting being their ability to cover large workspaces since cables are easily winded. However, this workspace coverage has its limitations due to the maximum permissible cable tensions, i.e., tension limitations cause a decrease in the Wrench Feasible Workspace (WFW) of these robots. To solve this issue, a novel design based in the addition of passive carriages to the robot frame of three degrees-of-freedom (3DOF) fully-constrained CDPRs is used. The novelty of the design allows reducing the variation in the cable directions and forces increasing the robot WFW; nevertheless, it presents a low stiffness along the x direction. This paper presents the dynamic model of the novel proposal together with a new dynamic control technique, which rejects the vibrations caused by the stiffness loss while ensuring an accurate trajectory tracking. The simulation results show that the controlled system presents a larger WFW than the conventional scheme of the CDPR, maintaining a good performance in the trajectory tracking of the end-effector. The novel proposal presented here can be applied in multiple planar applications

Radio Emission from Young Supernovae and Supernova Remnants in Arp 299

We have made sensitive milliarcsecond-resolution radio images of the nearby merger galaxy Arp 299 at four epochs spread over 18 months between 2003 and 2005. The combined data revealed a total of 30 point sources in the two primary merger nuclei. Twenty-five of these are found in the northeastern nucleus (component "A"=IC 694) over a region ~100 pc in diameter, while five are in the southwestern nucleus (component "B1"=NGC 3690) within a region ~30 pc in size. These objects are interpreted as young supernovae and supernova remnants; the ratio of the source counts in nuclei A and B1 is approximately equal to the ratio of their predicted supernova rates. An approximate luminosity function has been derived for nucleus A, and indicates that it might contain as many as 500-1000 compact radio sources more powerful than Cas A; the integrated flux density of these sources would be about 20% of the total flux density seen at lower resolution. A new supernova occurred in nucleus B1 in the first half of 2005, having a peak radio power at least 2,000 times the present power of Cassiopeia A. This supernova is located within 0.4 pc (projected distance) of an apparently older supernova remnant, making it very likely that this indicates the presence of a massive super star cluster within nucleus B1. Comparison of the typical radio flux densities of our compact radio sources to the observed X-ray luminosities of nuclei A and B1 indicates that it is possible that one radio source in each nucleus actually could be associated with an active galactic nucleus rather than being a supernova remnant.Comment: Astronomical Journal, in press, December 2009 issu

The Core-Collapse Supernova Rate in Arp299 Revisited

We present a study of the CCSN rate in nuclei A and B1 of the luminous infrared galaxy Arp299, based on 11 years of Very Large Array monitoring of their radio emission at 8.4 GHz. Significant variations in the nuclear radio flux density can be used to identify the CCSN activity in the absence of high-resolution very long baseline interferometry observations. In the case of the B1-nucleus, the small variations in its measured diffuse radio emission are below the fluxes expected from radio supernovae, thus making it well-suited to detect RSNe through flux density variability. In fact, we find strong evidence for at least three RSNe this way, which results in a lower limit for the CCSN rate of 0.28 +/- 0.16 per year. In the A-nucleus, we did not detect any significant variability and found a SN detection threshold luminosity which allows only the detection of the most luminous RSNe known. Our method is basically blind to normal CCSN explosions occurring within the A-nucleus, which result in too small variations in the nuclear flux density, remaining diluted by the strong diffuse emission of the nucleus itself. Additionally, we have attempted to find near-infrared counterparts for the earlier reported RSNe in the Arp299 nucleus A, by comparing NIR adaptive optics images from the Gemini-N telescope with contemporaneous observations from the European VLBI Network. However, we were not able to detect NIR counterparts for the reported radio SNe within the innermost regions of nucleus A. While our NIR observations were sensitive to typical CCSNe at 300 mas from the centre of the nucleus A, suffering from extinction up to A_v~15 mag, they were not sensitive to such highly obscured SNe within the innermost nuclear regions where most of the EVN sources were detected. (abridged)Comment: 12 pages, 4 figures and 7 tables. Accepted for publication in MNRA

HDAC7 Is a Repressor of Myeloid Genes Whose Downregulation Is Required for Transdifferentiation of Pre-B Cells into Macrophages

B lymphopoiesis is the result of several cell-commitment, lineage-choice, and differentiation processes. Every differentiation step is characterized by the activation of a new, lineage-specific, genetic program and the extinction of the previous one. To date, the central role of specific transcription factors in positively regulating these distinct differentiation processes to acquire a B cell-specific genetic program is well established. However, the existence of specific transcriptional repressors responsible for the silencing of lineage inappropriate genes remains elusive. Here we addressed the molecular mechanism behind repression of non-lymphoid genes in B cells. We report that the histone deacetylase HDAC7 was highly expressed in pre-B cells but dramatically down-regulated during cellular lineage conversion to macrophages. Microarray analysis demonstrated that HDAC7 re-expression interfered with the acquisition of the gene transcriptional program characteristic of macrophages during cell transdifferentiation; the presence of HDAC7 blocked the induction of key genes for macrophage function, such as immune, inflammatory, and defense response, cellular response to infections, positive regulation of cytokines production, and phagocytosis. Moreover, re-introduction of HDAC7 suppressed crucial functions of macrophages, such as the ability to phagocytose bacteria and to respond to endotoxin by expressing major pro-inflammatory cytokines. To gain insight into the molecular mechanisms mediating HDAC7 repression in pre-B cells, we undertook co-immunoprecipitation and chromatin immunoprecipitation experimental approaches. We found that HDAC7 specifically interacted with the transcription factor MEF2C in pre-B cells and was recruited to MEF2 binding sites located at the promoters of genes critical for macrophage function. Thus, in B cells HDAC7 is a transcriptional repressor of undesirable genes. Our findings uncover a novel role for HDAC7 in maintaining the identity of a particular cell type by silencing lineage-inappropriate genes

Molecular evolution of HoxA13 and the multiple origins of limbless morphologies in amphibians and reptiles

Developmental processes and their results, morphological characters, are inherited through transmission of genes regulating development. While there is ample evidence that cis-regulatory elements tend to be modular, with sequence segments dedicated to different roles, the situation for proteins is less clear, being particularly complex for transcription factors with multiple functions. Some motifs mediating protein-protein interactions may be exclusive to particular developmental roles, but it is also possible that motifs are mostly shared among different processes. Here we focus on HoxA13, a protein essential for limb development. We asked whether the HoxA13 amino acid sequence evolved similarly in three limbless clades: Gymnophiona, Amphisbaenia and Serpentes. We explored variation in ω (dN/dS) using a maximum-likelihood framework and HoxA13sequences from 47 species. Comparisons of evolutionary models provided low ω global values and no evidence that HoxA13 experienced relaxed selection in limbless clades. Branch-site models failed to detect evidence for positive selection acting on any site along branches of Amphisbaena and Gymnophiona, while three sites were identified in Serpentes. Examination of alignments did not reveal consistent sequence differences between limbed and limbless species. We conclude that HoxA13 has no modules exclusive to limb development, which may be explained by its involvement in multiple developmental processes

Single hadron response measurement and calorimeter jet energy scale uncertainty with the ATLAS detector at the LHC

The uncertainty on the calorimeter energy response to jets of particles is derived for the ATLAS experiment at the Large Hadron Collider (LHC). First, the calorimeter response to single isolated charged hadrons is measured and compared to the Monte Carlo simulation using proton-proton collisions at centre-of-mass energies of sqrt(s) = 900 GeV and 7 TeV collected during 2009 and 2010. Then, using the decay of K_s and Lambda particles, the calorimeter response to specific types of particles (positively and negatively charged pions, protons, and anti-protons) is measured and compared to the Monte Carlo predictions. Finally, the jet energy scale uncertainty is determined by propagating the response uncertainty for single charged and neutral particles to jets. The response uncertainty is 2-5% for central isolated hadrons and 1-3% for the final calorimeter jet energy scale.Comment: 24 pages plus author list (36 pages total), 23 figures, 1 table, submitted to European Physical Journal

Measurements of fiducial and differential cross sections for Higgs boson production in the diphoton decay channel at s√=8 TeV with ATLAS

Measurements of fiducial and differential cross sections are presented for Higgs boson production in proton-proton collisions at a centre-of-mass energy of s√=8 TeV. The analysis is performed in the H → γγ decay channel using 20.3 fb−1 of data recorded by the ATLAS experiment at the CERN Large Hadron Collider. The signal is extracted using a fit to the diphoton invariant mass spectrum assuming that the width of the resonance is much smaller than the experimental resolution. The signal yields are corrected for the effects of detector inefficiency and resolution. The pp → H → γγ fiducial cross section is measured to be 43.2 ±9.4(stat.) − 2.9 + 3.2 (syst.) ±1.2(lumi)fb for a Higgs boson of mass 125.4GeV decaying to two isolated photons that have transverse momentum greater than 35% and 25% of the diphoton invariant mass and each with absolute pseudorapidity less than 2.37. Four additional fiducial cross sections and two cross-section limits are presented in phase space regions that test the theoretical modelling of different Higgs boson production mechanisms, or are sensitive to physics beyond the Standard Model. Differential cross sections are also presented, as a function of variables related to the diphoton kinematics and the jet activity produced in the Higgs boson events. The observed spectra are statistically limited but broadly in line with the theoretical expectations

Measurement of χ c1 and χ c2 production with s√ = 7 TeV pp collisions at ATLAS

The prompt and non-prompt production cross-sections for the χ c1 and χ c2 charmonium states are measured in pp collisions at s√ = 7 TeV with the ATLAS detector at the LHC using 4.5 fb−1 of integrated luminosity. The χ c states are reconstructed through the radiative decay χ c → J/ψγ (with J/ψ → μ + μ −) where photons are reconstructed from γ → e + e − conversions. The production rate of the χ c2 state relative to the χ c1 state is measured for prompt and non-prompt χ c as a function of J/ψ transverse momentum. The prompt χ c cross-sections are combined with existing measurements of prompt J/ψ production to derive the fraction of prompt J/ψ produced in feed-down from χ c decays. The fractions of χ c1 and χ c2 produced in b-hadron decays are also measured

Measurement of the production of a W boson in association with a charm quark in pp collisions at √s = 7 TeV with the ATLAS detector

The production of a W boson in association with a single charm quark is studied using 4.6 fb−1 of pp collision data at s√ = 7 TeV collected with the ATLAS detector at the Large Hadron Collider. In events in which a W boson decays to an electron or muon, the charm quark is tagged either by its semileptonic decay to a muon or by the presence of a charmed meson. The integrated and differential cross sections as a function of the pseudorapidity of the lepton from the W-boson decay are measured. Results are compared to the predictions of next-to-leading-order QCD calculations obtained from various parton distribution function parameterisations. The ratio of the strange-to-down sea-quark distributions is determined to be 0.96+0.26−0.30 at Q 2 = 1.9 GeV2, which supports the hypothesis of an SU(3)-symmetric composition of the light-quark sea. Additionally, the cross-section ratio σ(W + +c¯¯)/σ(W − + c) is compared to the predictions obtained using parton distribution function parameterisations with different assumptions about the s−s¯¯¯ quark asymmetry