Use of control umbilicals as a deployment mode for free flying telerobotic work systems

Work to date on telerobotic work systems for use in space generally consider two deployment modes, free flying, or fixed within a limited work envelope. Control tethers may be employed to obtain a number of operational advantages and added flexibility in the basing and deployment of telerobotic work systems. Use of a tether allows the work system to be separated into two major modules, the remote work package and the control module. The Remote Work Package (RWP) comprises the free flying portion of the work system while the Control Module (CM) remains at the work system base. The chief advantage of this configuration is that only the components required for completion of the work task must be located at the work site. Reaction mass used in free flight is stored at the Control module and supplied to the RWP through the tether, eliminating the need for the RWP to carry it. The RWP can be made less massive than a self contained free flying work system. As a result, reaction mass required for free flight is lower than for a self contained free flyer

High Performance Algorithms for Counting Collisions and Pairwise Interactions

The problem of counting collisions or interactions is common in areas as computer graphics and scientific simulations. Since it is a major bottleneck in applications of these areas, a lot of research has been carried out on such subject, mainly focused on techniques that allow calculations to be performed within pruned sets of objects. This paper focuses on how interaction calculation (such as collisions) within these sets can be done more efficiently than existing approaches. Two algorithms are proposed: a sequential algorithm that has linear complexity at the cost of high memory usage; and a parallel algorithm, mathematically proved to be correct, that manages to use GPU resources more efficiently than existing approaches. The proposed and existing algorithms were implemented, and experiments show a speedup of 21.7 for the sequential algorithm (on small problem size), and 1.12 for the parallel proposal (large problem size). By improving interaction calculation, this work contributes to research areas that promote interconnection in the modern world, such as computer graphics and robotics.Comment: Accepted in ICCS 2019 and published in Springer's LNCS series. Supplementary content at https://mjsaldanha.com/articles/1-hpc-ssp

Modeling and Real-Time Simulation of a Vascularized Liver Tissue

International audienceIn Europe only, about 100,000 deaths per year are related to cirrhosis or liver cancer. While surgery remains the option that offers the foremost success rate against such pathologies, several limitations still hinder its widespread development. Among the limiting factors is the lack of accurate planning systems, which has been a motivation for several recent works, aiming at better resection planning and training systems, relying on pre-operative imaging, anatomical and biomechanical modelling. While the vascular network in the liver plays a key role in defining the operative strategy, its influence at a biomechanical level has not been taken into account. In the paper we propose a real-time model of vascularized organs such as the liver. The model takes into account separate constitutive laws for the parenchyma and vessels, and defines a coupling mechanism between these two entities. In the evaluation section, we present results of in vitro porcine liver experiments that indicate a significant influence of vascular structures on the mechanical behaviour of tissue. We confirm the val- ues obtained in the experiments by computer simulation using standard FEM. Finally, we show that the conventional modelling approach can be efficiently approximated with the proposed composite model capable of real-time calculations

Using LES to Study Reacting Flows and Instabilities in Annular Combustion Chambers

Great prominence is put on the design of aeronautical gas turbines due to increasingly stringent regulations and the need to tackle rising fuel prices. This drive towards innovation has resulted sometimes in new concepts being prone to combustion instabilities. In the particular field of annular combustion chambers, these instabilities often take the form of azimuthal modes. To predict these modes, one must compute the full combustion chamber, which remained out of reach until very recently and the development of massively parallel computers. Since one of the most limiting factors in performing Large Eddy Simulation (LES) of real combustors is estimating the adequate grid, the effects of mesh resolution are investigated by computing full annular LES of a realistic helicopter combustion chamber on three grids, respectively made of 38, 93 and 336 million elements. Results are compared in terms of mean and fluctuating fields. LES captures self-established azimuthal modes. The presence and structure of the modes is discussed. This study therefore highlights the potential of LES for studying combustion instabilities in annular gas turbine combustors

Neonatal umbilical cord blood transplantation halts skeletal disease progression in the murine model of MPS-I

Umbilical cord blood (UCB) is a promising source of stem cells to use in early haematopoietic stem cell transplantation (HSCT) approaches for several genetic diseases that can be diagnosed at birth. Mucopolysaccharidosis type I (MPS-I) is a progressive multi-system disorder caused by deficiency of lysosomal enzyme α-L-iduronidase, and patients treated with allogeneic HSCT at the onset have improved outcome, suggesting to administer such therapy as early as possible. Given that the best characterized MPS-I murine model is an immunocompetent mouse, we here developed a transplantation system based on murine UCB. With the final aim of testing the therapeutic efficacy of UCB in MPS-I mice transplanted at birth, we first defined the features of murine UCB cells and demonstrated that they are capable of multi-lineage haematopoietic repopulation of myeloablated adult mice similarly to bone marrow cells. We then assessed the effectiveness of murine UCB cells transplantation in busulfan-conditioned newborn MPS-I mice. Twenty weeks after treatment, iduronidase activity was increased in visceral organs of MPS-I animals, glycosaminoglycans storage was reduced, and skeletal phenotype was ameliorated. This study explores a potential therapy for MPS-I at a very early stage in life and represents a novel model to test UCB-based transplantation approaches for various diseases

Attractive membrane domains control lateral diffusion

Lipid membranes play a fundamental role in vital cellular functions such as signal transduction. Many of these processes rely on lateral diffusion within the membrane, generally a complex fluid containing ordered microdomains. However, little attention has been paid to the alterations in transport dynamics of a diffusing species caused by long-range interactions with membrane domains. In this paper, we address the effect of such interactions on diffusive transport by studying lateral diffusion in a phase-separated Langmuir phospholipid monolayer via single-particle tracking. We find that attractive dipole-dipole interactions between condensed phase domains and diffusing probe beads lead to transient confinement at the phase boundaries, causing a transition from two- to one-dimensional diffusion. Using Brownian dynamics simulations, the long-term diffusion constant for such a system is found to have a sensitive, Boltzmann-like, dependence on the interaction strength. In addition, this interaction strength is shown to be a strong function of the ratio of domain to particle size. As similar interactions are expected in biological membranes, the modulation of. diffusive transport dynamics by varying interaction strength and/or domain size may offer cells selective spatial and temporal control over signaling processes.Physic

Nano-imaging confirms improved apatite precipitation for high phosphate/silicate ratio bioactive glasses

Bioactive glasses convert to a biomimetic apatite when in contact with physiological solutions; however, the number and type of phases precipitating depends on glass composition and reactivity. This process is typically followed by X-ray diffraction and infrared spectroscopy. Here, we visualise surface mineralisation in a series of sodium-free bioactive glasses, using transmission electron microscopy (TEM) with energy-dispersive X-ray spectroscopy (EDXS) and X-ray nano-computed tomography (nano-CT). In the glasses, the phosphate content was increased while adding stoichiometric amounts of calcium to maintain phosphate in an orthophosphate environment in the glass. Calcium fluoride was added to keep the melting temperature low. TEM brought to light the presence of phosphate clustering and nearly crystalline calcium fluoride environments in the glasses. A combination of analytical methods, including solid-state NMR, shows how with increasing phosphate content in the glass, precipitation of calcium fluoride during immersion is superseded by fluorapatite precipitation. Nano-CT gives insight into bioactive glass particle morphology after immersion, while TEM illustrates how compositional changes in the glass affect microstructure at a sub-micron to nanometre-level

Salvage high-dose chemotherapy in female patients with relapsed/refractory germ-cell tumors: A retrospective analysis of the European Group for Blood and Marrow Transplantation (EBMT)

Background: High-dose chemotherapy (HDC) with hematopoietic progenitor cell transplantation is a standard option for relapsed/refractory testicular germ-cell tumor (GCT), but only few data have been reported in female patients with GCT. We conducted a retrospective analysis of female patients with GCT treated with HDC and registered with the European Society for Blood and Marrow Transplantation. Patients and methods: Between 1985 and 2013, 60 registered female patients with GCT, median age 27 years (range 15-48), were treated with salvage HDC. Forty patients (67%) had primary ovarian GCT, 8 (13%) mediastinal, 7 (12%) retroperitoneal and 5 (8%) other primary sites/unknown. Twenty-two patients (37%) received HDC as second-line therapy, 29 (48%) as third-line, and 9 (15%) as fourth- to sixth-line. Nine of 60 patients (15%) received HDC as late-intensification with no evidence of metastasis before HDC. The conditioning HDC regimens comprised carboplatin in 51 of 60 cases (85%), and consisted of a single HDC cycle in 31 cases (52%), a multi-cycle HDC regimen in 29 (48%). Results: Nine cases who underwent late intensification HDC were not evaluable for response. Of the other 51 assessable patients, 17 (33%) achieved a complete response (CR), 8 (16%) a marker-negative partial remission (PRm-), 5 (10%) a marker-positive partial remission, 5 (10%) stable disease, and 13 (25%) progressive disease. There were 3 toxic deaths (6%). With an overall median follow-up of 14 months (range 1-219), 7 of 9 (78%) patients with late intensification and 18 of the 25 patients (72%) achieving a CR/PRm- following HDC were free of relapse/progression. In total, 25 of 60 patients (42%) were progression-free following HDC at a median follow-up of 87 months (range 3-219 months). Conclusions: Salvage HDC based on carboplatin represents a therapeutic option for female patients with relapsed/refractory GCT

934oalienor engot ov7 randomized trial exploring weekly paclitaxel wp bevacizumab bev vs wp alone for patients with ovarian sex cord tumors sct in relapse

n/

Remote nuclear screening system for hostile environments

A remote measurement system has been constructed for in situ gamma and beta isotopic characterization of highly radioactive nuclear material in hostile environments. A small collimated, planar CdZnTe detector is used for gamma-ray spectroscopy. Spectral resolution of 2% full width at half maximum at 662 kiloelectronvolts has been obtained remotely using rise time compensation and limited pulse shape discrimination, Isotopc measurement of high-energy beta emitters was accomplished with a ruggedized, deeply depleted, surface barrier silicon dictator. The primary function of the remote nuclear screening system is to provide fast qualitative and quantitative isotopic assessment of high-level radioactive material