Modeling of a Cable-Based Revolute Joint Using Biphasic Media Variable Stiffness Actuation

In recent times, safe interactions between humans and robots are required for innumerable tasks and environments. This safety can be achieved using compliance design and control of mechanisms. Cable-driven mechanisms are used when applications need to have light structures, meaning that their actuators must be relocated to ground and forces are transferred along tensioned cables. This paper presents a compliant cable-driven revolute joint using biphasic media variable stiffness actuators. Actuator's stiffness is controlled by changing pressure of control fluid into distribution lines. The used control fluid is biphasic, composed of separated gas and liquid fractions with predefined ratio. The mathematical model of the actuator is presented along with its position and stiffness model-based control, then, equations relating to the dynamics of the mechanism are provided with a joint stiffness and orientation controller. Results from simulations are discussed

Low temperature exposure induces browning of bone marrow stem cell derived adipocytes in vitro

Brown and beige adipocytes are characterised as expressing the unique mitochondrial uncoupling protein (UCP)1 for which the primary stimulus in vivo is cold exposure. The extent to which cold-induced UCP1 activation can also be achieved in vitro, and therefore perform a comparable cellular function, is unknown. We report an in vitro model to induce adipocyte browning using bone marrow (BM) derived mesenchymal stem cells (MSC), which relies on differentiation at 32 °C instead of 37 °C. The low temperature promoted browning in adipogenic cultures, with increased adipocyte differentiation and upregulation of adipogenic and thermogenic factors, especially UCP1. Cells exhibited enhanced uncoupled respiration and metabolic adaptation. Cold-exposed differentiated cells showed a marked translocation of leptin to adipocyte nuclei, suggesting a previously unknown role for leptin in the browning process. These results indicate that BM-MSC can be driven to forming beige-like adipocytes in vitro by exposure to a reduced temperature. This in vitro model will provide a powerful tool to elucidate the precise role of leptin and related hormones in hitherto functions in the browning process

Development and validation of broad-spectrum magnetic particle labelling processes for cell therapy manufacturing

BACKGROUND: Stem cells are increasingly seen as a solution for many health challenges for an ageing population. However, their potential benefits in the clinic are currently curtailed by technical challenges such as high cell dose requirements and point of care delivery, which pose sourcing and logistics challenges. Cell manufacturing solutions are currently in development to address the supply issue, and ancillary technologies such as nanoparticle-based labelling are being developed to improve stem cell delivery and enable post-treatment follow-up. METHODS: The application of magnetic particle (MP) labelling to potentially scalable cell manufacturing processes was investigated in a range of therapeutically relevant cells, including mesenchymal stromal cells (MSC), cardiomyocytes (CMC) and neural progenitor cells (ReN). The efficiency and the biological effect of particle labelling were analysed using fluorescent imaging and cellular assays. RESULTS: Flow cytometry and fluorescent microscopy confirmed efficient labelling of monolayer cultures. Viability was shown to be retained post labelling for all three cell types. MSC and CMC demonstrated higher tolerance to MP doses up to 100× the standard concentration. This approach was also successful for MP labelling of suspension cultures, demonstrating efficient MP uptake within 3 h, while cell viability was unaffected by this suspension labelling process. Furthermore, a procedure to enable the storing of MP-labelled cell populations to facilitate cold chain transport to the site of clinical use was investigated. When MP-labelled cells were stored in hypothermic conditions using HypoThermosol solution for 24 h, cell viability and differentiation potential were retained post storage for ReN, MSC and beating CMC. CONCLUSIONS: Our results show that a generic MP labelling strategy was successfully developed for a range of clinically relevant cell populations, in both monolayer and suspension cultures. MP-labelled cell populations were able to undergo transient low-temperature storage whilst maintaining functional capacity in vitro. These results suggest that this MP labelling approach can be integrated into cell manufacturing and cold chain transport processes required for future cell therapy approaches

Monopoles and Holography

We present a holographic theory in AdS_4 whose zero temperature ground state develops a crystal structure, spontaneously breaking translational symmetry. The crystal is induced by a background magnetic field, but requires no chemical potential. This lattice arises from the existence of 't Hooft-Polyakov monopole solitons in the bulk which condense to form a classical object known as a monopole wall. In the infra-red, the magnetic field is screened and there is an emergent SU(2) global symmetry.Comment: 33 pages, 16 figures; v2: ref adde

How Malthusian Ideology crept into the Newsroom: British tabloids and the coverage of the ‘underclass’

This article argues that Malthusianism as a series of discursive regimes, developed in the Victorian-era, serves in times of austerity to reproduce an elite understanding of social exclusion in which those in a state of poverty are to blame for their own situation. It highlights that Malthusianism is present in the public discourse, becoming an underlining feature in news coverage of the so-called ‘underclass’. Our findings broadly contradict the normative claim that journalism ‘speaks truth to power’, and suggest instead that overall as a political practice, journalism tends to reproduce and reinforce hegemonic discourses of power. The piece is based on critical discourse analysis (CDA), which has been applied to a significant sample of news articles published by tabloid newspapers in Britain which focussed on the concept of the ‘underclass’. By looking at the evidence, the authors argue that the ‘underclass’ is a concept used by some journalists to cast people living in poverty as ‘undeserving’ of public and state support. In so doing, these journalists help create a narrative which supports cuts in welfare provisions and additional punitive measures against some of the most vulnerable members of society

Tensionless supersymmetric M2 branes in AdS4×S7AdS_4 \times S^7 and Giant Diabolo

We find various supersymmetric configurations of toroidal M2 brane solutions in \AdS_4 \times S^7 or, more generally, in \AdS_4 \times S^7/Z_k. In this class we identify solutions preserving 1/4 and 1/8 supersymmetries of the background. The supersymmetric M2 branes have angular momenta and winding on $S^7$, and null world-volumes. In certain cases they collapse to string-like configurations. These configurations can be viewed as a higher-dimensional (membrane) analog of BMN states. We compute the energy and angular momenta, showing that all supersymmetric configurations obey the BPS relation $E=J/R$,\ $J= \sum_{i=1}^4 |J_i|$ with $E, J\to \infty$. Finally, we also study another class of supersymmetric M2-branes, including uncompact rotating membranes of "diabolo" shape.Comment: 27 pages, 3 figures. Small correction

(Micro)evolutionary changes and the evolutionary potential of bird migration

Seasonal migration is the yearly long-distance movement of individuals between their breeding and wintering grounds. Individuals from nearly every animal group exhibit this behavior, but probably the most iconic migration is carried out by birds, from the classic V-shape formation of geese on migration to the amazing nonstop long-distance flights undertaken by Arctic Terns Sterna paradisaea. In this chapter, we discuss how seasonal migration has shaped the field of evolution. First, this behavior is known to turn on and off quite rapidly, but controversy remains concerning where this behavior first evolved geographically and whether the ancestral state was sedentary or migratory (Fig. 7.1d, e). We review recent work using new analytical techniques to provide insight into this topic. Second, it is widely accepted that there is a large genetic basis to this trait, especially in groups like songbirds that migrate alone and at night precluding any opportunity for learning. Key hypotheses on this topic include shared genetic variation used by different populations to migrate and only few genes being involved in its control. We summarize recent work using new techniques for both phenotype and genotype characterization to evaluate and challenge these hypotheses. Finally, one topic that has received less attention is the role these differences in migratory phenotype could play in the process of speciation. Specifically, many populations breed next to one another but take drastically different routes on migration (Fig. 7.2). This difference could play an important role in reducing gene flow between populations, but our inability to track most birds on migration has so far precluded evaluations of this hypothesis. The advent of new tracking techniques means we can track many more birds with increasing accuracy on migration, and this work has provided important insight into migration's role in speciation that we will review here

Classical Yang-Mills Black hole hair in anti-de Sitter space

The properties of hairy black holes in Einstein–Yang–Mills (EYM) theory are reviewed, focusing on spherically symmetric solutions. In particular, in asymptotically anti-de Sitter space (adS) stable black hole hair is known to exist for frak su(2) EYM. We review recent work in which it is shown that stable hair also exists in frak su(N) EYM for arbitrary N, so that there is no upper limit on how much stable hair a black hole in adS can possess