A lightweight, high strength dexterous manipulator for commercial applications

The concept, design, and features are described of a lightweight, high strength, modular robot manipulator being developed for space and commercial applications. The manipulator has seven fully active degrees of freedom and is fully operational in 1 G. Each of the seven joints incorporates a unique drivetrain design which provides zero backlash operation, is insensitive to wear, and is single fault tolerant to motor or servo amplifier failure. Feedback sensors provide position, velocity, torque, and motor winding temperature information at each joint. This sensing system is also designed to be single fault tolerant. The manipulator consists of five modules (not including gripper). These modules join via simple quick-disconnect couplings and self-mating connectors which allow rapid assembly and/or disassembly for reconfiguration, transport, or servicing. The manipulator is a completely enclosed assembly, with no exposed components or wires. Although the initial prototype will not be space qualified, the design is well suited to meeting space requirements. The control system provides dexterous motion by controlling the endpoint location and arm pose simultaneously. Potential applications are discussed

Sensitivity of DynaWhirlpool hydrocyclone operation to applied back-pressure

3noThe two-phase, air–water flow pattern in a DynaWhirlpool centrifugal separator is investigated using time-dependent, three-dimensional numerical simulation. The air–water interface is captured by the Volume-Of-Fluid approach,while the unresolved turbulence fluctuations are modeled via a second-order differential-stress turbulence model. Among the different operating variables, the back-pressure at the sink outlet affects significantly the flow within the cyclone. The modifications experienced by the flow field as the back-pressure is increased are documented and interpreted. The variation of relevant operating variables is also reported, as the split ratio and the Euler number characterizing the device. It is verified that for large values of the back-pressure the water flow through the sink is hindered and the air core disappears. The flow pattern is moderately altered when the cyclone is fed with a non-Newtonian fluid with the same viscosity as a real water/magnetite dense medium.partially_openopenPiller, M.; Schena, G.; Belardi, G.Piller, Marzio; Schena, Gianni; Belardi, G

Kaposi's sarcoma in renal transplant recipients--the impact of proliferation signal inhibitors

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A Narrative Review on C3 Glomerulopathy: A Rare Renal Disease

In April 2012, a group of nephrologists organized a consensus conference in Cambridge (UK) on type II membranoproliferative glomerulonephritis and decided to use a new terminology, "C3 glomerulopathy" (C3 GP). Further knowledge on the complement system and on kidney biopsy contributed toward distinguishing this disease into three subgroups: dense deposit disease (DDD), C3 glomerulonephritis (C3 GN), and the CFHR5 nephropathy. The persistent presence of microhematuria with or without light or heavy proteinuria after an infection episode suggests the potential onset of C3 GP. These nephritides are characterized by abnormal activation of the complement alternative pathway, abnormal deposition of C3 in the glomeruli, and progression of renal damage to end-stage kidney disease. The diagnosis is based on studying the complement system, relative genetics, and kidney biopsies. The treatment gap derives from the absence of a robust understanding of their natural outcome. Therefore, a specific treatment for the different types of C3 GP has not been established. Recommendations have been obtained from case series and observational studies because no randomized clinical trials have been conducted. Current treatment is based on corticosteroids and antiproliferative drugs (cyclophosphamide, mycophenolate mofetil), monoclonal antibodies (rituximab) or complement inhibitors (eculizumab). In some cases, it is suggested to include sessions of plasma exchange

Contribution of macrophages to plasmin activity in ewe bulk milk

A total of 225 bulk sheep milk samples were collected throughout lactation to assess the contribution of macrophages to the regulation of the plasmin/plasminogen system. Samples were analyzed for composition, milk renneting parameters, and for activities of plasmin (PL), plasminogen (PG) and plasminogen activators (PA). Isolation of macrophages from milk was performed using a magnetic positive separation; separated cells were lysed and activity of urokinase-PA was determined. PL activity in milk decreased during lactation (P < 0.001). The reduction in plasmin activity recorded in the mid and late lactation milk matched with the increase in PG/PL ratio (P < 0.001). The activity of PA increased throughout lactation (P < 0.001), the highest value being recorded in the late lactation milk.The amount of isolated and concentrated macrophages was higher in early and mid lactation milk than in late lactation milk (P < 0.01). Stage of lactation did not influence the activity of u-PA detected in isolated macrophages. The activity of u-PA associated with macrophages was lower than total PA activity detected in milk. Our results lend support to the hypothesis that in ewe bulk milk from healthy flocks macrophages only slightly contributed to the activation of plasmin/plasminogen system

Piezoelectric coupling as a feature sensitive to structural alterations

The paper presents an exploratory study about the use of electro-mechanical coupling measurements as a feature for detecting structural alterations using piezoelectric transducers. This coupling between the piezoelectric transducers and the structure can be estimated by means of low frequency vibration measurements and will prove to be a feature sensitive to structure alterations and scarcely influenced by temperature variations. Moreover, the approach proposed is designed such that it can also employ piezoelectric elements already available in the system for other purposes (e.g., vibration control), thus not requiring any additional expensive device, and can work while the system to be monitored is operating. The paper introduces at first the principle of the method and shows how to improve its accuracy by connecting the piezoelectric transducers with proper electric impedances. Then, numerical simulations and experimental results are presented to prove the feasibility of the proposed approach

Use of CR100 scale for session-RPE in soccer and interchangeability with CR10

©2016 Human Kinetics,Inc. Purpose: To examine the construct validity of the session rating perceived exertion (s-RPE) assessed with the Borg CR100® scale to measure training loads in elite soccer and to examine if the CR100® is interchangeable and can provide more accurate ratings compared to the CR10® scale. Methods: Two studies were conducted. The validity of the CR100® was determined in 19-elite soccer players (age 28 ± 6 y, height 180 ± 7 cm, body mass 77 ± 6 kg) during training sessions through correlations with Edwards heart rate method (study one). The interchangeability with CR10® was assessed in 78 soccer players (age 19.3 ± 4.1 y, height 178 ± 5.9 cm, body mass 71.4 ± 6.1 kg) through Bland?Altman method and correlations between change scores in different sessions. To examine whether the CR100® is more fine graded than the CR10®, the proportion of responses corresponding to the verbal expressions were calculated (study two). Results: Individual correlations between Edwards' and s-RPE were large to very large (0.52 to 0.85). The mean difference between the two scales was -0.3 ± 0.33 AU (90% CI -0.41 to -0.29 AU) with 95% limits of agreements 0.31 to -0.96 AU. Correlations between scales and between changes scores were nearly perfect (0.95 and 0.91 to 0.98). Ratings corresponding to the verbal anchors were 49% in CR10® and 26% in CR100®. Conclusions: The CR100® is valid for assessing the training load in elite soccer players. It can be used interchangeably with the CR10® and may provide more precise measures of exercise intensity

Effectiveness of a pomegranate peel extract (PGE) in reducing Listeria monocytogenes in vitro and on fresh-cut pear, apple and melon

Pomegranate peel extract (PGE) is a new promising natural alternative control substance with large spectrum of activity against wide range of pathogenic microorganisms. In the present study, PGE was firstly investigated as natural antimicrobial against Listeria monocytogenes both in vitro and on fresh-cut fruits. The in vitro results showed quick and strong bactericidal and bacteriostatic activity against five different strains which were almost completely inhibited by the extract. Furthermore, it significantly decreased growth rate and maximum growth of all tested strains. In vivo trials, confirmed a strong antibacterial activity of the extract that significantly reduced the bacterial load on fresh-cut apple, melon and pear and maintained the population at low levels throughout the storage period (7 days). PGE at 12 g/l reduced L. monocytogenes by 1.24, 1.89, and 0.91 log units soon after treatment and by 3.81, 1.53, and 2.99 log units, after 7 days of storage on apple, pear and melon, respectively. This high antibacterial activity could be mainly related to the high content of polyphenols (ellagitannins) in the extract. Overall, results of this study suggest a potential industrial application of PGE to reduce the growth of the pathogenic microorganisms in fresh-cut fruit and ensure a microbial safety in case of contamination.info:eu-repo/semantics/acceptedVersio