Operating Interaction and Teleprogramming for Subsea Manipulation

The teleprogramming paradigm has been proposed as a means to efficiently perform teleoperation in the subsea environment via an acoustical link. In such a system the effects of both limited bandwidth channels and delayed communications are overcome by transmitting not Cartesian or joint level information but rather symbolic, error-tolerant, program instructions to the remote site. The operator interacts with a virtual reality of the remote site which provides immediate visual and kinesthetic feedback. The uncertainty in this model can be reduced based on information received from the slave manipulator\u27s tactile contact with the environment. It is suggested that the current state of the model be made available to the operator via a graphical display which shows not only the position of objects at the remote site but also, through the use of color clues, the uncertainty associated with those positions. The provision of uncertainty information is important since it allows the operator to compromise between speed and accuracy. An additional operator aid, which we term synthetic fixturing, is proposed. Synthetic fixtures provide the operator of the teleprogramming system with the teleoperation equivalent of the snap commands common in computer aided design programs. By guiding the position and/or orientation of the master manipulator toward specific points, lines or planes the system is able to increase both the speed and precision with which the operator can control the slave arm without requiring sophisticated hardware

Provisioning systems for a good life within planetary boundaries

The concept of provisioning systems has recently emerged as a promising way to understand the differences between levels of resource use and social outcomes observed across societies. However, the characteristics of provisioning systems remain poorly understood. Here, we make a new contribution to conceptualising provisioning systems and to understanding differences in the resource efficiency with which they achieve social outcomes. We define a provisioning system as a set of related elements that work together in the transformation of resources to satisfy a foreseen human need. We analyse six theories in terms of their contribution to understanding provisioning systems within the biophysical and social constraints of Raworth’s “Safe and Just Space” framework. We find that most of these theories fail to prioritise human needs and well-being, and do not incorporate explicit environmental limits. However, they provide important insights that we draw upon to identify six important provisioning system elements (households, markets, the commons, the state, techniques, and material stocks). Based on the theories, we also identify two important relationships between elements, namely feedbacks and power relations. We further propose the concept of “appropriating systems” as a component of provisioning systems. Appropriating systems reduce the resource efficiency of human well-being via rent extraction, and act as a barrier to meeting human needs at a sustainable level of resource use. We combine these concepts into a new framework, and discuss applications to energy systems

31st Annual Meeting and Associated Programs of the Society for Immunotherapy of Cancer (SITC 2016) : part two

Background The immunological escape of tumors represents one of the main ob- stacles to the treatment of malignancies. The blockade of PD-1 or CTLA-4 receptors represented a milestone in the history of immunotherapy. However, immune checkpoint inhibitors seem to be effective in specific cohorts of patients. It has been proposed that their efficacy relies on the presence of an immunological response. Thus, we hypothesized that disruption of the PD-L1/PD-1 axis would synergize with our oncolytic vaccine platform PeptiCRAd. Methods We used murine B16OVA in vivo tumor models and flow cytometry analysis to investigate the immunological background. Results First, we found that high-burden B16OVA tumors were refractory to combination immunotherapy. However, with a more aggressive schedule, tumors with a lower burden were more susceptible to the combination of PeptiCRAd and PD-L1 blockade. The therapy signifi- cantly increased the median survival of mice (Fig. 7). Interestingly, the reduced growth of contralaterally injected B16F10 cells sug- gested the presence of a long lasting immunological memory also against non-targeted antigens. Concerning the functional state of tumor infiltrating lymphocytes (TILs), we found that all the immune therapies would enhance the percentage of activated (PD-1pos TIM- 3neg) T lymphocytes and reduce the amount of exhausted (PD-1pos TIM-3pos) cells compared to placebo. As expected, we found that PeptiCRAd monotherapy could increase the number of antigen spe- cific CD8+ T cells compared to other treatments. However, only the combination with PD-L1 blockade could significantly increase the ra- tio between activated and exhausted pentamer positive cells (p= 0.0058), suggesting that by disrupting the PD-1/PD-L1 axis we could decrease the amount of dysfunctional antigen specific T cells. We ob- served that the anatomical location deeply influenced the state of CD4+ and CD8+ T lymphocytes. In fact, TIM-3 expression was in- creased by 2 fold on TILs compared to splenic and lymphoid T cells. In the CD8+ compartment, the expression of PD-1 on the surface seemed to be restricted to the tumor micro-environment, while CD4 + T cells had a high expression of PD-1 also in lymphoid organs. Interestingly, we found that the levels of PD-1 were significantly higher on CD8+ T cells than on CD4+ T cells into the tumor micro- environment (p < 0.0001). Conclusions In conclusion, we demonstrated that the efficacy of immune check- point inhibitors might be strongly enhanced by their combination with cancer vaccines. PeptiCRAd was able to increase the number of antigen-specific T cells and PD-L1 blockade prevented their exhaus- tion, resulting in long-lasting immunological memory and increased median survival

MOVEMENT VARIABILITY IN RUGBY UNION PUNT KICKING

The purpose of this study is to look at the differences in Rugby Union punt kicking kinematics as well as the variability of movement patterns between two different skill levels. Three dimensional data (500 Hz) were collected during punt kicks for maximum velocity performed by 12 semi-professional Rugby Union players and 12 male recreational kicking sport athletes. The normalised root mean square values were used to determine intra-individual movement variability. Results showed that the semi-professional kickers had greater range of motion (ROM) at the pelvis and knee than the recreational group. The recreational group showed less movement variability than the semi-professional however, it was not significant. The higher movement variability shown by the semi-professionals combined with the greater (ROM) shows a higher level of functional movement variability

Wrist Injuries in Tennis Players:A Narrative Review

The wrist/hand complex forms the crucial final link in the kinetic chain between the body and the racquet and therefore has a number of important roles in the production of all tennis strokes. However, the internal and external loads that are created at the wrist during these strokes have the potential to contribute to pain and injury. Therefore, the purposes of this narrative review are to (1) determine the extent of the problem of wrist pain/injury in tennis players, (2) identify bony and soft tissue structures of the wrist that are susceptible to damage as a result of tennis play and (3) explore factors that may influence the development of wrist pain/injury in tennis players. The epidemiological data revealed two important points. First, some evidence suggests wrist pain/injury accounts for a higher percentage of total injuries in more recent studies (2014–2015) than in early studies (1986–1995). Second, the relative frequency of wrist pain/injury compared with other well-recognized problem areas for tennis players such as the shoulder complex, elbow and lumbar spine is noticeably higher in more recent studies (2014–2015) than in early studies (1986–1995), particularly among females. Collectively, this would seem to indicate that the problem of wrist pain/injury has increased in the modern game. In fact, some wrist injuries appear to be related to the use of certain forehand grip types and the predominant use of the two-handed backhand. While the loads experienced at the wrist during tennis stroke production seem to be below threshold levels for a single event, the cumulative effects of these loads through repetition would appear to be an important consideration, especially when inadequate time is allowed to complete normal processes of repair and adaptation. This is supported by the evidence that most wrist injuries in tennis are associated with overuse and a chronic time course. The complex interaction between load, repetition, and training practices in tennis, particularly among young developing players who choose a path of early specialization, needs to be further explored.</p

Functional variability in golf putting differentiates between highly skilled players

The aim of this study was to determine whether differences in putting accuracy in highly skilled golfers could he explained by functional variability. Ten, male single-figure handicap golfers completed 18 two-metre putts. The position of the putter was recorded using a three-dimensional motion capture system. The results from regression analyses revealed that the more accurate participants exhibited greater variability in the swing path of the putter across test trials, suggesting that putting proficiency in highly skilled individuals may be explained, in part, by a greater capacity to adapt the stroke through the use of functional variability. There was also evidence to suggest that all participants, irrespective of their putting accuracy, exhibited reduced movement variability at the point at which the putter head made contact with the ball, relative to the variability of the putter head at the end of the backs wing.</p

Cretaceous continental margin evolution revealed using quantitative seismic geomorphology, offshore northwest Africa

International audienceThe application of high-resolution seismic geomorphology, integrated with lithological data from the continental margin offshore The Gambia, northwest Africa, documents a complex tectono-stratigraphic history through the Cretaceous. This reveals the spatial-temporal evolution of submarine canyons by quantifying the related basin depositional elements and providing an estimate of intra-versus extra-basinal sediment budget. The margin developed from the Jurassic to Aptian as a carbonate escarpment. Followed by, an Albian-aged wave-dominated delta system that prograded to the palaeo-shelf edge. This is the first major delivery of siliciclastic sediment into the basin during the evolution of the continental margin, with increased sediment input linked to exhumation events of the hinterland. Subaqueous channel systems (up to 320 m wide) meandered through the pro-delta region reaching the palaeo-shelf edge, where it is postulated they initiated early submarine canyonisation of the margin. The canyonisation was long-lived (ca. 28 Myr) dissecting the inherited seascape topography. Thirteen submarine canyons can be mapped, associated with a Late Cretaceous-aged regional composite unconformity (RCU), classified as shelf incised or slope confined. Major knickpoints within the canyons and the sharp inflection point along the margin are controlled by the lithological contrast between carbonate and siliciclastic subcrop lithologies. Analysis of the base-of-slope deposits at the terminus of the canyons identifies two end-member lobe styles, debris-rich and debris-poor, reflecting the amount of carbonate detritus eroded and redeposited from the escarpment margin (blocks up to ca. 1 km 3). The vast majority of canyon-derived sediment (97%) in the base-of-slope is interpreted as locally derived intra-basinal material. The average volume of sediment bypassed through shelf-incised canyons is an order of magnitude higher than the slope-confined systems. These results document a complex mixed-margin evolution, with seascape evolution, sedimentation style and volume controlled by shelf-margin collapse, far-field tectonic activity and the effects of hinterland rejuvenation of the siliciclastic source

Mechanisms of anterior cruciate ligament injuries in elite women’s netball:A systematic video analysis

This study involved a systematic video analysis of 16 anterior cruciate ligament (ACL) injuries sustained by elite-level netball players during televised games in order to describe the game situation, the movement patterns involved, the player’s behaviour, and a potential injury mechanism. Eight of the ACL injuries were classified as “indirect contact” and eight as “non-contact”. Two common scenarios were identified. In Scenario A the player was jumping to receive or intercept a pass and whilst competing for the ball experienced a perturbation in the air. As a result the player’s landing was unbalanced with loading occurring predominantly on the knee of the injured side. In Scenario B the player was generally in a good position at ground contact, but then noticeably altered the alignment of the trunk before the landing was completed. This involved rotating and laterally flexing the trunk without altering the alignment of the feet. Apparent knee valgus collapse on the knee of the injured side was observed in 3/6 Scenario A cases and 5/6 Scenario B cases. Players may benefit from landing training programmes that incorporate tasks that use a ball and include decision-making components or require players to learn to cope with being unbalanced.</p

Do the landing mechanics of experienced netball players differ from those of trained athletes competing in sports that do not require frequent landings?

Objectives: This study examined whether young (15–19 years old) high-performance netball players exhibit different landing mechanics compared to female controls who do not participate in sports requiring frequent landings. Design: Comparative, cross-sectional. Methods: Lower limb kinematics and kinetics from 23 youth high performance female netball players (age: 17.5 ± 1.7 years, height: 1.77 ± 0.06 m, mass: 66.5 ± 6.33 kg, netball experience: 8.5 ± 2.3 years) were compared to data from 23 females (age: 22.0 ± 3.2 years, height: 1.70 ± 0.05 m, mass: 64.4 ± 6.7 kg) who were involved in competitive sport, but had minimal experience playing a jump-landing sport. The jump landing task required participants to perform a countermovement jump and grab a netball suspended at 85% of the participant's maximum jump height. On random trials the ball was raised rapidly to 100% maximum jump height as the participant initiated her jump. Results: The netball group landed with significantly less contribution from the knee extensors to total work for the non-preferred leg (P < 0.001, ds = 1.10) than the inexperienced group. Although no other significant differences were found between groups, there were several small to moderate differences in several of the key biomechanical variables identified as being risk factors for ACL injury or associated with ACL strain. Conclusions: Both groups had similar knee valgus and internal rotation angles and moments, with nearly all participants presenting with relatively poor frontal plane knee control. Overall, results suggest that experience playing a netball may not be enough to develop low-risk landing mechanics.</p