Iterative Learning Control as a Framework for Human-Inspired Control with Bio-mimetic Actuators

The synergy between musculoskeletal and central nervous systems empowers humans to achieve a high level of motor performance, which is still unmatched in bio-inspired robotic systems. Literature already presents a wide range of robots that mimic the human body. However, under a control point of view, substantial advancements are still needed to fully exploit the new possibilities provided by these systems. In this paper, we test experimentally that an Iterative Learning Control algorithm can be used to reproduce functionalities of the human central nervous system - i.e. learning by repetition, after-effect on known trajectories and anticipatory behavior - while controlling a bio-mimetically actuated robotic arm

Human Echinococcosis Mortality in the United States, 1990–2007

Human echinococcosis is a parasitic disease that affects an estimated 2–3 million people and results in an annual monetary loss of over $750,000,000 worldwide. It results in the development of life threatening tissue cysts, primarily in the liver and lung, following accidental ingestion of eggs in infected dog, fox or wild canine feces. Echinococcus parasites have a complex, two-host lifecycle (such as in dogs and sheep) in which humans are an aberrant, dead-end host. The vast majority of cases of human echinococcosis occur outside of the United States (US); however, cases within the US do occur. In this study, the authors examined death certificate data of US residents from 1990–2007 in which echinococcosis was listed as one of the diagnoses at death. The analysis demonstrated 41 echinococcosis-related deaths over the 18-year study period with foreign-born persons accounting for the majority of the deaths. This study helps quantify echinococcosis deaths among US residents and adds further support to the importance of funding echinococcosis prevention research

A preliminary study of the effect of closed incision management with negative pressure wound therapy over high-risk incisions

Background Certain postoperative wounds are recognised to be associated with more complications than others and may be termed high-risk. Wound healing can be particularly challenging following high-energy trauma where wound necrosis and infection rates are high. Surgical incision for joint arthrodesis can also be considered high-risk as it requires extensive and invasive surgery and postoperative distal limb swelling and wound dehiscence are common. Recent human literature has investigated the use of negative pressure wound therapy (NPWT) over high-risk closed surgical incisions and beneficial effects have been noted including decreased drainage, decreased dehiscence and decreased infection rates. In a randomised, controlled study twenty cases undergoing distal limb high-energy fracture stabilisation or arthrodesis were randomised to NPWT or control groups. All cases had a modified Robert-Jones dressing applied for 72 h postoperatively and NPWT was applied for 24 h in the NPWT group. Morphometric assessment of limb circumference was performed at six sites preoperatively, 24 and 72 h postoperatively. Wound discharge was assessed at 24 and 72 h. Postoperative analgesia protocol was standardised and a Glasgow Composite Measure Pain Score (GCPS) carried out at 24, 48 and 72 h. Complications were noted and differences between groups were assessed. Results Percentage change in limb circumference between preoperative and 24 and 72 h postoperative measurements was significantly less at all sites for the NPWT group with exception of the joint proximal to the surgical site and the centre of the operated bone at 72 h. Median discharge score was lower in the NPWT group than the control group at 24 h. No significant differences in GCPS or complication rates were noted. Conclusions Digital swelling and wound discharge were reduced when NPWT was employed for closed incision management. Larger studies are required to evaluate whether this will result in reduced discomfort and complication rates postoperatively

Left-handed color-sextet diquark in Kaon system

We investigate whether a color-sextet scalar diquark (${\bf H}_6$) coupling to the left-handed quarks contributes to the $\Delta S=2$ process. It is found that the box diagrams mediated by $W$ and ${\bf H}_6$ bosons have no contributions to $\Delta S=2$ when the limit of $m_t=0$ is used, and the flavor mixing matrices for diagonalizing quark mass matrices are introduced at the same time. When the heavy top-quark mass effects are taken into account, it is found that in addition to the $W-{\bf H}_6$ box diagrams significantly contributing to $\Delta S=2$, their effects can be as large as those from the ${\bf H}_6-{\bf H}_6$ box diagrams. Using the parameters that are constrained by the $K^0-\bar K^0$ mixing parameter $\Delta M_K$ and the Kaon indirect CP violation $\epsilon_K$, we find that the left-handed color-sextet diquark can lead to the Kaon direct CP violation being $Re(\epsilon'/\epsilon) \sim 0.4 \times 10^{-3}$. In the chosen scheme, although the diquark contribution to $K_L\to \pi^0 \nu \bar\nu$ is small, the branching ratio of $K^+ \to \pi^+ \nu \bar\nu$ can reach the current experimental upper bound.Comment: 22 pages, 6 figure

Measurement of cortisol in saliva: a comparison of measurement error within and between international academic-research laboratories

Objective: Hundreds of scientific publications are produced annually that involve the measurement of cortisol in saliva. Intra- and inter-laboratory variation in salivary cortisol results has the potential to contribute to cross- study inconsistencies in findings, and the perception that salivary cortisol results are unreliable. This study rigor- ously estimates sources of measurement variability in the assay of salivary cortisol within and between established international academic-based laboratories that specialize in saliva analyses. One hundred young adults (Mean age: 23.10 years; 62 females) donated 2 mL of whole saliva by passive drool. Each sample was split into multiple- 100 µL aliquots and immediately frozen. One aliquot of each of the 100 participants’ saliva was transported to academic laboratories (N = 9) in the United States, Canada, UK, and Germany and assayed for cortisol by the same commercially available immunoassay. Results: 1.76% of the variance in salivary cortisol levels was attributable to differences between duplicate assays of the same sample within laboratories, 7.93% of the variance was associated with differences between laboratories, and 90.31% to differences between samples. In established-qualified laboratories, measurement error of salivary cortisol is minimal, and inter-laboratory differences in measurement are unlikely to have a major influence on the determined values

Multiple interactions between the alpha2C- and beta1-adrenergic receptors influence heart failure survival

<p>Abstract</p> <p>Background</p> <p>Persistent stimulation of cardiac β₁-adrenergic receptors by endogenous norepinephrine promotes heart failure progression. Polymorphisms of this gene are known to alter receptor function or expression, as are polymorphisms of the α_2C-adrenergic receptor, which regulates norepinephrine release from cardiac presynaptic nerves. The purpose of this study was to investigate possible synergistic effects of polymorphisms of these two intronless genes (<it>ADRB1 </it>and <it>ADRA2C</it>, respectively) on the risk of death/transplant in heart failure patients.</p> <p>Methods</p> <p>Sixteen sequence variations in <it>ADRA2C </it>and 17 sequence variations in <it>ADRB1 </it>were genotyped in a longitudinal study of 655 white heart failure patients. Eleven sequence variations in each gene were polymorphic in the heart failure cohort. Cox proportional hazards modeling was used to identify polymorphisms and potential intra- or intergenic interactions that influenced risk of death or cardiac transplant. A leave-one-out cross-validation method was utilized for internal validation.</p> <p>Results</p> <p>Three polymorphisms in <it>ADRA2C </it>and five polymorphisms in <it>ADRB1 </it>were involved in eight cross-validated epistatic interactions identifying several two-locus genotype classes with significant relative risks ranging from 3.02 to 9.23. There was no evidence of intragenic epistasis. Combining high risk genotype classes across epistatic pairs to take into account linkage disequilibrium, the relative risk of death or transplant was 3.35 (1.82, 6.18) relative to all other genotype classes.</p> <p>Conclusion</p> <p>Multiple polymorphisms act synergistically between the <it>ADRA2C </it>and <it>ADRB1 </it>genes to increase risk of death or cardiac transplant in heart failure patients.</p

A comparison of laboratory and in situ methods to determine soil thermal conductivity for energy foundations and other ground heat exchanger applications

Soil thermal conductivity is an important factor in the design of energy foundations and other ground heat exchanger systems. It can be determined by a field thermal response test, which is both costly and time consuming, but tests a large volume of soil. Alternatively, cheaper and quicker laboratory test methods may be applied to smaller soil samples. This paper investigates two different laboratory methods: the steady-state thermal cell and the transient needle probe. U100 soil samples were taken during the site investigation for a small diameter test pile, for which a thermal response test was later conducted. The thermal conductivities of the samples were measured using the two laboratory methods. The results from the thermal cell and needle probe were significantly different, with the thermal cell consistently giving higher values for thermal conductivity. The main difficulty with the thermal cell was determining the rate of heat flow, as the apparatus experiences significant heat losses. The needle probe was found to have fewer significant sources of error, but tests a smaller soil sample than the thermal cell. However, both laboratory methods gave much lower values of thermal conductivity compared to the in situ thermal response test. Possible reasons for these discrepancies are discussed, including sample size, orientation and disturbance

Imbibition in Disordered Media

The physics of liquids in porous media gives rise to many interesting phenomena, including imbibition where a viscous fluid displaces a less viscous one. Here we discuss the theoretical and experimental progress made in recent years in this field. The emphasis is on an interfacial description, akin to the focus of a statistical physics approach. Coarse-grained equations of motion have been recently presented in the literature. These contain terms that take into account the pertinent features of imbibition: non-locality and the quenched noise that arises from the random environment, fluctuations of the fluid flow and capillary forces. The theoretical progress has highlighted the presence of intrinsic length-scales that invalidate scale invariance often assumed to be present in kinetic roughening processes such as that of a two-phase boundary in liquid penetration. Another important fact is that the macroscopic fluid flow, the kinetic roughening properties, and the effective noise in the problem are all coupled. Many possible deviations from simple scaling behaviour exist, and we outline the experimental evidence. Finally, prospects for further work, both theoretical and experimental, are discussed.Comment: Review article, to appear in Advances in Physics, 53 pages LaTe