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

Procedimento prático para elaboração de uma tabela de produção.

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(+)-Chlorido[(1,2,3,4-η;P 2′)-2′- diphenylphosphanyl-2-diphenylphosphoryl-1,1′-binaphthyl]rhodium(I) methanol monosolvate

In the title complex, [RhCl(C 44H 32OP 2)]·CH 3OH, the Rh I ion is coordinated by a naphthyl group of a partially oxidized 2,2′-bis-(diphenylphosphanyl)-1, 1′-binaphthyl (BINAP) ligand in a 4 mode, one P atom of the diphenylphosphanyl group and one Cl atom. The P=O group does not interact with the Rh I ion but accepts an O - H⋯O hydrogen bond from the methanol solvent molecule

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

Índices de sítios para Hovenia dulcis Thunberg na região central do estado do Rio Grande do Sul, Brasil.

Este trabalho teve como objetivo construir curvas índice de sítios florestais, a partir da altura dominante e idade, de populações localizadas na região central do Estado do Rio Grande do Sul. Para tanto, foram utilizadas informações de três povoamentos (sítios) com idades de 25 anos, localizados na Fundação de Pesquisa Agropecuária (FEPAGRO). Para classificar os sítios florestais, coletaram-se informações de 18 árvores dominantes nos locais, observando a metodologia para análise de tronco. Na construção das curvas de índice de sítio, foi o selecionado o modelo de Backman, ficando constatada a necessidade da construção de dois conjuntos de curvas, com intervalo de 2 m, da idade de 5 a 25 anos, com idade índice de 25 anos. Para o Sítio I-A, foram geradas 3 curvas índices, de 22 a 24 m e, para os Sítios I-B+II+III, 6 curvas índices de 8 a 18 m

A Phase I Trial of Aminolevulinic Acid-Photodynamic Therapy for Treatment of Oral Leukoplakia

Background Photodynamic therapy with aminolevulinic acid (ALA PDT) for oral leukoplakia has shown promising effects in regression of oral leukoplakia. Although ALA has been extensively studied and is an ideal photosensitizer, the optimal light dose for treatment of oral leukoplakia has not been determined. We conducted a phase I study to determine MTD and DLT of PDT in patients treated with ALA for leukoplakia. Methods Patients with histologically confirmed oral leukoplakia received a single treatment of ALA PDT in cohorts with escalating doses of light (585 nm). Clinical, histologic, and biologic markers were assessed. Results Analysis of 11 participants is reported. No significant toxicity from ALA PDT was observed in patients who received ALA with a light dose of up to 4 J/cm2. One participant experienced transient grade 3 transaminase elevation due to ALA. One participant had a partial clinical response 3 months after treatment. Biologic mucosal risk markers showed no significant associations. Determination of MTD could not be accomplished within a feasible timeframe for completion of the study. Conclusions ALA PDT could be safely administered with a light dose up to 4 J/cm2 and demonstrated activity. Larger studies are needed to fully elucidate the MTD and efficacy of ALA-PDT

Parallelized Incomplete Poisson Preconditioner in Cloth Simulation

Efficient cloth simulation is an important problem for interactive applications that involve virtual humans, such as computer games. A common aspect of many methods that have been developed to simulate cloth is a linear system of equations, which is commonly solved using conjugate gradient or multi-grid approaches. In this paper, we introduce to the computer gaming community a recently proposed preconditioner, the incomplete Poisson preconditioner, for conjugate gradient solvers. We show that the parallelized incomplete Poisson preconditioner (PIPP) performs as well as the current state-of-the-art preconditioners, while being much more amenable to standard thread-level parallelism. We demonstrate our results on an 8-core Apple* Mac* Pro and a 32-core code name Emerald Ridge system

Como classificar sítios florestais através da altura dominante do povoamento.

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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

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

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