Two-Armed, Mobile, Sensate Research Robot

The Anthropomorphic Robotic Testbed (ART) is an experimental prototype of a partly anthropomorphic, humanoid-size, mobile robot. The basic ART design concept provides for a combination of two-armed coordination, tactility, stereoscopic vision, mobility with navigation and avoidance of obstacles, and natural-language communication, so that the ART could emulate humans in many activities. The ART could be developed into a variety of highly capable robotic assistants for general or specific applications. There is especially great potential for the development of ART-based robots as substitutes for live-in health-care aides for home-bound persons who are aged, infirm, or physically handicapped; these robots could greatly reduce the cost of home health care and extend the term of independent living. The ART is a fully autonomous and untethered system. It includes a mobile base on which is mounted an extensible torso topped by a head, shoulders, and two arms. All subsystems of the ART are powered by a rechargeable, removable battery pack. The mobile base is a differentially- driven, nonholonomic vehicle capable of a speed >1 m/s and can handle a payload >100 kg. The base can be controlled manually, in forward/backward and/or simultaneous rotational motion, by use of a joystick. Alternatively, the motion of the base can be controlled autonomously by an onboard navigational computer. By retraction or extension of the torso, the head height of the ART can be adjusted from 5 ft (1.5 m) to 6 1/2 ft (2 m), so that the arms can reach either the floor or high shelves, or some ceilings. The arms are symmetrical. Each arm (including the wrist) has a total of six rotary axes like those of the human shoulder, elbow, and wrist joints. The arms are actuated by electric motors in combination with brakes and gas-spring assists on the shoulder and elbow joints. The arms are operated under closed-loop digital control. A receptacle for an end effector is mounted on the tip of the wrist and contains a force-and-torque sensor that provides feedback for force (compliance) control of the arm. The end effector could be a tool or a robot hand, depending on the application

Epidermal growth factor and transforming growth factor alpha characteristics of human oral carcinoma cell lines.

This study examined the expression of epidermal growth factor (EGF) cell-surface receptors, the response to exogenous ligand and the autocrine production of transforming growth factor alpha (TGF-alpha) in normal and carcinoma-derived human oral keratinocytes. One of eight malignant cell lines overexpressed EGF receptors, while the remainder expressed receptor numbers similar to normal cells. Exogenous EGF stimulated incorporation of tritiated thymidine in a dose-dependent manner. In keratinocytes expressing normal numbers of EGF receptors, the cellular response to exogenous EGF correlated positively with total EGF receptor number. SCC-derived keratinocytes produced more TGF-alpha than normal cells. There was no statistical correlation between the autocrine production of TGF-alpha, EGF cell-surface receptor expression and cellular response to exogenous EGF. While the growth-stimulatory effects of exogenous TGF-alpha were inhibited by the addition of a neutralising antibody, the presence of this antibody in conditioned medium failed to produce a similar decrease in growth. The results indicate that overexpression of EGF receptors is not an invariable characteristic of human oral squamous carcinoma-derived cell lines. Further, the contribution of TGF-alpha to the growth of normal and carcinoma-derived human oral keratinocytes in vitro may be less significant than previously documented

The CLIMODE field campaign : observing the cycle of convection and restratification over the Gulf Stream

Author Posting. © American Meteorological Society, 2009. This article is posted here by permission of American Meteorological Society for personal use, not for redistribution. The definitive version was published in Bulletin of the American Meteorological Society 90 (2009): 1337-1350, doi:10.1175/2009BAMS2706.1.A major oceanographic field experiment is described, which is designed to observe, quantify, and understand the creation and dispersal of weakly stratified fluid known as “mode water” in the region of the Gulf Stream. Formed in the wintertime by convection driven by the most intense air–sea fluxes observed anywhere over the globe, the role of mode waters in the general circulation of the subtropical gyre and its biogeo-chemical cycles is also addressed. The experiment is known as the CLIVAR Mode Water Dynamic Experiment (CLIMODE). Here we review the scientific objectives of the experiment and present some preliminary results.Physical Oceanography program of NS

Toward an internal gravity wave spectrum in global ocean models

Office of Naval Research, National Science FoundationPeer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/111824/1/grl_internalwavespectrum_2015.pd

Variability in the Deep Western Boundary Current : local versus remote forcing

Author Posting. © American Geophysical Union, 2012. This article is posted here by permission of American Geophysical Union for personal use, not for redistribution. The definitive version was published in Journal of Geophysical Research 117 (2012): C12022, doi:10.1029/2012JC008369.Horizontal velocity, temperature and salinity measurements from the Line W array for the period 2004–2008 show large changes in the water mass structure and circulation of the Deep Western Boundary Current (DWBC). Fluctuations in the flow with periods from 10 to 60 days are bottom intensified: signals most likely associated with topographic Rossby waves (TRW). A fraction (∼15%) of the DWBC transport variability is caused by Gulf Stream rings and meanders. These flow anomalies are surface intensified and fluctuate at frequencies lower than the TRW. Interannual variability in the velocity field appears to be related to changes in the hydrographic properties. The dominant mode of variability is characterized by an overall freshening, cooling, a potential vorticity (PV) increase in the deep Labrador Sea Water (dLSW) and a PV decrease in the Overflow Water (OW). The variability in the flow associated with these property changes is not spatially homogeneous. Offshore (water depths larger than 3500 m) changes in the velocity are in phase with PV changes in the OW: a decrease in the OW PV is accompanied by an increase in the southward (negative) transport. Conversely, variations of the inshore flow are in phase with changes in the dLSW PV (increasing PV and decreasing transport). This trend, true for most of the record, reverses after the winter of 2007–2008. A sudden decrease of the dLSW PV is observed, with a corresponding intensification of the flow in the inner DWBC as well as a northward shift in the Gulf Stream axis.Financial support for the Line W program (2004–2008) was provided by the U.S. National Science Foundation (grants OCE-0241354 and OCE-0726720) as well as funding from the WHOI’s Ocean and Climate Change Institute.2013-06-2

Dominant culture and bullying : personal accounts of workers in Malaysia

Workplace bullying has been termed the cancer of the workplace; it is a widespread and often intractable problem. Internationally, a wealth of research has examined the prevalence of workplace bullying and its negative effects. This research base and the scientific definition of workplace bullying are, however, based on Western perspectives and supported by theories, models, and research studies conducted in Western cultures. The differences in cultural perspectives of Western and Eastern countries mean that workplace bullying may not be understood in the same way across different cultural groups, particularly when cultures differ along the Individualism-Collectivism dimension. Given that Malaysia is an Eastern country with a number of ethnic groups, a more comprehensive understanding of workplace bullying in the Malaysian context is important. Through a case study comprising in-depth qualitative interviews with 20 employees from different organisations in Malaysia, this chapter reveals six lay beliefs of workplace bullying and 19 lay beliefs about bullying behaviors. The study also found that the 12 bullying behaviors are work related while the other seven are personal-nature bullying behaviors. These results emphasize the influence of culture on how bullying is perceived within the Malaysian context, and the importance of understanding lay representations of workplace bullying from the Eastern context that apparent across nation. Based on the interviews, a general definition of workplace bullying from Malaysian employees' perspectives is presented and developed. The chapter concludes with implications for understanding bullying as an important psychosocial hazard at work and recommendations for future research and practice across the Asia Pacific region

Chloroplast gene expression during leaf development

SIGLEAvailable from British Library Document Supply Centre- DSC:D34035/81 / BLDSC - British Library Document Supply CentreGBUnited Kingdo