A two-wheeled machine with a handling mechanism in two different directions

Despite the fact that there are various configurations of self-balanced two-wheeled machines (TWMs), the workspace of such systems is restricted by their current configurations and designs. In this work, the dynamic analysis of a novel configuration of TWMs is introduced that enables handling a payload attached to the intermediate body (IB) in two mutually perpendicular directions. This configuration will enlarge the workspace of the vehicle and increase its flexibility in material handling, objects assembly and similar industrial and service robot applications. The proposed configuration gains advantages of the design of serial arms while occupying a minimum space which is unique feature of TWMs. The proposed machine has five degrees of freedoms (DOFs) that can be useful for industrial applications such as pick and place, material handling and packaging. This machine will provide an advantage over other TWMs in terms of the wider workspace and the increased flexibility in service and industrial applications. Furthermore, the proposed design will add additional challenge of controlling the system to compensate for the change of the location of the COM due to performing tasks of handling in multiple directions

Distinct Immune Cell Populations Define Response to Anti-PD-1 Monotherapy and Anti-PD-1/Anti-CTLA-4 Combined Therapy

Cancer immunotherapies provide survival benefits in responding patients, but many patients fail to respond. Identifying the biology of treatment response and resistance are a priority to optimize drug selection and improve patient outcomes. We performed transcriptomic and immune profiling on 158 tumor biopsies from melanoma patients treated with anti-PD-1 monotherapy (n = 63) or combined anti-PD-1 and anti-CTLA-4 (n = 57). These data identified activated T cell signatures and T cell populations in responders to both treatments. Further mass cytometry analysis identified an EOMES+CD69+CD45RO+ effector memory T cell phenotype that was significantly more abundant in responders to combined immunotherapy compared with non-responders (n = 18). The gene expression profile of this population was associated with longer progression-free survival in patients treated with single agent and greater tumor shrinkage in both treatments

Estimating rates of biologically driven coral reef framework production and erosion: a new census-based carbonate budget methodology and applications to the reefs of Bonaire

Census-based approaches can provide important measures of the ecological processes controlling reef carbonate production states. Here, we describe a rapid, non-destructive approach to carbonate budget assessments, termed ReefBudget that is census-based and which focuses on quantifying the relative contributions made by different biological carbonate producer/eroder groups to net reef framework carbonate production. The methodology is presently designed only for Caribbean sites, but has potential to be adapted for use in other regions. Rates are calculated using data on organism cover and abundance, combined with annual extension or production rate measures. Set against this are estimates of the rates at which bioeroding species of fish, urchins and internal substrate borers erode reef framework. Resultant data provide a measure of net rates of biologically driven carbonate production (kg CaCO3 m(-2) year(-1)). These data have potential to be integrated into ecological assessments of reef state, to aid monitoring of temporal (same-site) changes in rates of biological carbonate production and to provide insights into the key ecological drivers of reef growth or erosion as a function of environmental change. Individual aspects of the budget methodology can also be used alongside other census approaches if deemed appropriate for specific study aims. Furthermore, the methodology spreadsheets are user-changeable, allowing local or new process/rate data to be integrated into calculations. Application of the methodology is considered at sites around Bonaire. Highest net rates of carbonate production, +9.52 to +2.30 kg CaCO3 m(-2) year(-1), were calculated at leeward sites, whilst lower rates, +0.98 to -0.98 kg CaCO3 m(-2) year(-1), were calculated at windward sites. Data are within the ranges calculated in previous budget studies and provide confidence in the production estimates the methodology generates