Robotic Thumb Assembly

An improved robotic thumb for a robotic hand assembly is provided. According to one aspect of the disclosure, improved tendon routing in the robotic thumb provides control of four degrees of freedom with only five tendons. According to another aspect of the disclosure, one of the five degrees of freedom of a human thumb is replaced in the robotic thumb with a permanent twist in the shape of a phalange. According to yet another aspect of the disclosure, a position sensor includes a magnet having two portions shaped as circle segments with different center points. The magnet provides a linearized output from a Hall effect sensor

Torque Control of Underactuated Tendon-driven Robotic Fingers

A robotic system includes a robot having a total number of degrees of freedom (DOF) equal to at least n, an underactuated tendon-driven finger driven by n tendons and n DOF, the finger having at least two joints, being characterized by an asymmetrical joint radius in one embodiment. A controller is in communication with the robot, and controls actuation of the tendon-driven finger using force control. Operating the finger with force control on the tendons, rather than position control, eliminates the unconstrained slack-space that would have otherwise existed. The controller may utilize the asymmetrical joint radii to independently command joint torques. A method of controlling the finger includes commanding either independent or parameterized joint torques to the controller to actuate the fingers via force control on the tendons

New HST spectra indicate the QSO PG1718+4807 will not give the primordial deuterium abundance

The z ~ 0.701 absorption system towards the QSO PG1718+4807 is the only example of a QSO absorption system which might have a deuterium/hydrogen ratio approximately ten times the value found towards other QSOs. We have obtained new STIS spectra from the Hubble Space Telescope of the Lyman alpha and Lyman limit regions of the system. These spectra give the redshift and velocity dispersion of the neutral hydrogen which produces most of the observed absorption. The Lyman alpha line is too narrow to account for all of the observed absorption. It was previously known that extra absorption is needed on the blue side of the main H I near to the expected position of deuterium. The current data suggests with a 98% confidence level that the extra absorption is not deuterium. Some uncertainty persists because we have a low signal to noise ratio and the extra absorption - be it deuterium or hydrogen - is heavily blended with the Lyman alpha absorption from the main hydrogen component.Comment: 18 pages, 7 figures, Submitted to Ap

The evolution of ultraviolet emission lines from the circumstellar material surrounding SN 1987A

The presence of narrow high-temperature emission lines from nitrogen-rich gas close to SN 1987A has been the principal observational constraint on the evolu- tionary status of the supernova's progenitor. A new analysis of the complete five-year set of low and high resolution IUE ultraviolet spectra of SN 1987A (1987.2--1992.3) provide fluxes for the N V 1240, N IV] 1486, He II 1640, OIII] 1665, NIII] 1751, and CIII] 1908 lines with significantly reduced random and systematic errors and reveals significant short-term fluctuations in the light curves. The N V, N IV] and N III] lines turn on sequentially over 15 to 20 days and show a progression from high to low ionization potential, implying an ioni- zation gradient in the emitting region. The line emission turns on suddenly at 83+/-4 days after the explosion, as defined by N IV]. The N III] line reaches peak luminosity at 399+/-15 days. A ring radius of (6.24+/-0.20)E{17} cm and inclination of 41.0+/-3.9 is derived from these times, assuming a circular ring. The probable role of resonant scattering in the N V light curve introduces systematic errors that leads us to exclude this line from the timing analysis. A new nebular analysis yields improved CNO abundance ratios N/C=6.1+/-1.1 and N/O=1.7+/-0.5, confirming the nitrogen enrichment found in our previous paper. From the late-time behavior of the light curves we find that the emission origi- nates from progressively lower density gas. We estimate the emitting mass near maximum (roughly 400 days) to be roughly 4.7E{-2} solar masses, assuming a filling factor of unity and an electron density of 2.6E4 cm^{-3}. These results are discussed in the context of current models for the emission and hydrodynamics of the ring.Comment: 38 pages, AASTeX v.4.0, 13 Postscript figures; ApJ, in pres

Humanoid Robot

A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders

Toolbox for Non-Intrusive Structural and Functional Analysis of Recombinant VLP Based Vaccines: A Case Study with Hepatitis B Vaccine

Background: Fundamental to vaccine development, manufacturing consistency, and product stability is an understanding of the vaccine structure-activity relationship. With the virus-like particle (VLP) approach for recombinant vaccines gaining popularity, there is growing demand for tools that define their key characteristics. We assessed a suite of non-intrusive VLP epitope structure and function characterization tools by application to the Hepatitis B surface antigen (rHBsAg) VLP-based vaccine. Methodology: The epitope-specific immune reactivity of rHBsAg epitopes to a given monoclonal antibody was monitored by surface plasmon resonance (SPR) and quantitatively analyzed on rHBsAg VLPs in-solution or bound to adjuvant with a competitive enzyme-linked immunosorbent assay (ELISA). The structure of recombinant rHBsAg particles was examined by cryo transmission electron microscopy (cryoTEM) and in-solution atomic force microscopy (AFM). Principal Findings: SPR and competitive ELISA determined relative antigenicity in solution, in real time, with rapid turnaround, and without the need of dissolving the particulate aluminum based adjuvant. These methods demonstrated the nature of the clinically relevant epitopes of HBsAg as being responsive to heat and/or redox treatment. In-solution AFM and cryoTEM determined vaccine particle size distribution, shape, and morphology. Redox-treated rHBsAg enabled 3D reconstruction from CryoTEM images – confirming the previously proposed octahedral structure and the established lipidto-protei

Policy Paper 39: Power and Prosperity: Linkages Between Security and Economics in U.S-Japanese Relations Since 1960

How do Japan and the United States fit into each other’s grand strategies? A grand strategy is one that relates means and ends, resources and objectives, economics and national security. The National Security Archive’s Project on U.S.–Japanese Relations Since 1960 is probing these issues through a major program of research and study into policymaking by both governments across a wide spectrum of diplomatic, security, and economic issues. This project has brought together scholars and officials (see Appendix) from both countries to discuss new studies, based on newly released official U.S. documents and interviews with former officials, that shed light on the policymaking and implementation processes in both governments.This essay provides an interim report on the project, which is based on a series of four conferences. The first conference, held in March 1996 and co-hosted by the Woodrow Wilson International Center for Scholars at the Smithsonian Institution, focused on key turning points in U.S.–Japanese relations during the Nixon/Ford–Sato/Tanaka period. The second, held in La Jolla, California, in March 1997 and cosponsored by the National Security Archive and the University of California Institute on Global Conflict and Cooperation, focused on background studies and detailed policy case studies from the post-Nixon era. The third will take place in August 1998 at the East–West Center in Honolulu, Hawaii. The capstone conference will be held in Japan in 1999. The participants of an informal policy roundtable (see Appendix), which followed the project’s second conference, included officials from both governments who discussed the full range of security, economic, and diplomatic issues addressed by the Research Fellows and fulfilled the objective of promoting dialogu