A realisation of a construction scale robotic system for 3D printing of complex formwork

The cost of producing complex formwork or moulds for precast concrete and GRC (glass reinforced concrete) is perhaps the most significant limitation when constructing architectural intentions from prefabricated concrete elements. Our contribution, FreeFAB" Wax1 , employs a 6-axis gantry robot with interchangeable end effector tooling to coarsely 3D print and subsequently mill finish complex moulds for concrete at a construction scale. Significantly, FreeFAB moulds can be up to 30m x 4m x 1.5m with significant time and cost savings relative to traditional formwork. Furthermore, FreeFAB's print material approaches 100% reusability, virtually eliminating waste and material costs within the process. This paper presents an overview of our method for construction scale 3D printing and its realisation. Our findings suggest a construction scale 3D printing is businessviable and significantly expands the feasibility of the wide spread use of bespoke moulds

The FGK formalism for black p-branes in d dimensions

We present a generalization to an arbitrary number of spacetime (d) and worldvolume (p+1) dimensions of the formalism proposed by Ferrara, Gibbons and Kallosh to study black holes (p=0) in d=4 dimensions. We include the special cases in which there can be dyonic and self- or anti-self-dual black branes. Most of the results valid for 4-dimensional black holes (relations between temperature, entropy and non-extremality parameter, and between entropy and black-hole potential on the horizon) are straightforwardly generalized. We apply the formalism to the case of black strings in N=2,d=5 supergravity coupled to vector multiplets, in which the black-string potential can be expressed in terms of the dual central charge and work out an explicit example with one vector multiplet, determining supersymmetric and non-supersymmetric attractors and constructing the non-extremal black-string solutions that interpolate between them.Comment: 28 pages no figures; v2: some references adde

Ruthenacycles and Iridacycles as Catalysts for Asymmetric Transfer Hydrogenation and Racemisation

Ruthenacycles, which are easily prepared in a single step by reaction between enantiopure aromatic amines and [Ru(arene)Cl2]2 in the presence of NaOH and KPF6, are very good asymmetric transfer hydrogenation catalysts. A range of aromatic ketones were reduced using isopropanol in good yields with ee’s up to 98%. Iridacycles, which are prepared in similar fashion from [IrCp*Cl2]2 are excellent catalysts for the racemisation of secondary alcohols and chlorohydrins at room temperature. This allowed the development of a new dynamic kinetic resolution of chlorohydrins to the enantiopure epoxides in up to 90% yield and 98% enantiomeric excess (ee) using a mutant of the enzyme Haloalcohol dehalogenase C and an iridacycle as racemisation catalyst.

Real no-boundary wave function in Lorentzian quantum cosmology

It is shown that the standard no-boundary wave function has a natural expression in terms of a Lorentzian path integral with its contour defined by Picard-Lefschetz theory. The wave function is real, satisfies the Wheeler-DeWitt equation and predicts an ensemble of asymptotically classical, inflationary universes with nearly-Gaussian fluctuations and with a smooth semiclassical origin

Black holes and black strings of N=2, d=5 supergravity in the H-FGK formalism

We study general classes and properties of extremal and non-extremal static black-hole solutions of N=2, d=5 supergravity coupled to vector multiplets using the recently proposed H-FGK formalism, which we also extend to static black strings. We explain how to determine the integration constants and physical parameters of the black-hole and black-string solutions. We derive some model-independent statements, including the transformation of non-extremal flow equations to the form of those for the extremal flow. We apply our methods to the construction of example solutions (among others a new extremal string solution of heterotic string theory on K_3 \times S^1). In the cases where we have calculated it explicitly, the product of areas of the inner and outer horizon of a non-extremal solution coincides with the square of the moduli-independent area of the horizon of the extremal solution with the same charges.Comment: 33 pages. Revised version: references added. No other change

Effects of air pollution and the introduction of the London Low Emission Zone on the prevalence of respiratory and allergic symptoms in schoolchildren in East London: a sequential cross-sectional study

The adverse effects of traffic-related air pollution on children’s respiratory health have been widely reported, but few studies have evaluated the impact of traffic-control policies designed to reduce urban air pollution. We assessed associations between traffic-related air pollutants and respiratory/allergic symptoms amongst 8–9 year-old schoolchildren living within the London Low Emission Zone (LEZ). Information on respiratory/allergic symptoms was obtained using a parent-completed questionnaire and linked to modelled annual air pollutant concentrations based on the residential address of each child, using a multivariable mixed effects logistic regression analysis. Exposure to traffic-related air pollutants was associated with current rhinitis: NOx (OR 1.01, 95% CI 1.00–1.02), NO2 (1.03, 1.00–1.06), PM10 (1.16, 1.04–1.28) and PM2.5 (1.38, 1.08–1.78), all per μg/m3 of pollutant, but not with other respiratory/allergic symptoms. The LEZ did not reduce ambient air pollution levels, or affect the prevalence of respiratory/allergic symptoms over the period studied. These data confirm the previous association between traffic-related air pollutant exposures and symptoms of current rhinitis. Importantly, the London LEZ has not significantly improved air quality within the city, or the respiratory health of the resident population in its first three years of operation. This highlights the need for more robust measures to reduce traffic emissions

Cardiorespiratory fitness is associated with hard and light intensity physical activity but not time spent sedentary in 10–14 year old schoolchildren: the HAPPY study

Sedentary behaviour is a major risk factor for developing chronic diseases and is associated with low cardiorespiratory fitness in adults. It remains unclear how sedentary behaviour and different physical activity subcomponents are related to cardiorespiratory fitness in children. The purpose of this study was to assess how sedentary behaviour and different physical activity subcomponents are associated with 10–14 year-old schoolchildren's cardiorespiratory fitness

Proximity to Sports Facilities and Sports Participation for Adolescents in Germany

Objectives - To assess the relationship between proximity to specific sports facilities and participation in the corresponding sports activities for adolescents in Germany. Methods - A sample of 1,768 adolescents aged 11–17 years old and living in 161 German communities was examined. Distances to the nearest sports facilities were calculated as an indicator of proximity to sports facilities using Geographic Information Systems (GIS). Participation in specific leisure-time sports activities in sports clubs was assessed using a self-report questionnaire and individual-level socio-demographic variables were derived from a parent questionnaire. Community-level socio-demographics as covariates were selected from the INKAR database, in particular from indicators and maps on land development. Logistic regression analyses were conducted to examine associations between proximity to the nearest sports facilities and participation in the corresponding sports activities. Results - The logisitic regression analyses showed that girls residing longer distances from the nearest gym were less likely to engage in indoor sports activities; a significant interaction between distances to gyms and level of urbanization was identified. Decomposition of the interaction term showed that for adolescent girls living in rural areas participation in indoor sports activities was positively associated with gym proximity. Proximity to tennis courts and indoor pools was not associated with participation in tennis or water sports, respectively. Conclusions - Improved proximity to gyms is likely to be more important for female adolescents living in rural areas

Second international round robin for the quantification of serum non-transferrin-bound iron and labile plasma iron in patients with iron-overload disorders

Non-transferrin-bound iron and its labile (redox active) plasma iron component are thought to be potentially toxic forms of iron originally identified in the serum of patients with iron overload. We compared ten worldwide leading assays (6 for non-transferrin-bound iron and 4 for labile plasma iron) as part of an international inter-laboratory study. Serum samples from 60 patients with four different iron-overload disorders in various treatment phases were coded and sent in duplicate for analysis to five different laboratories worldwide. Some laboratories provided multiple assays. Overall, highest assay levels were observed for patients with untreated hereditary hemochromatosis and beta-thalassemia intermedia, patients with transfusion-dependent myelodysplastic syndromes and patients with transfusion-dependent and chelated beta-thalassemia major. Absolute levels differed considerably between assays and were lower for labile plasma iron than for non-transferrin-bound iron. Four assays also reported negative values. Assays were reproducible with high between-sample and low within-sample variation. Assays correlated and correlations were highest within the group of non-transferrin-bound iron assays and within that of labile plasma iron assays. Increased transferrin saturation, but not ferritin, was a good indicator of the presence of forms of circulating non-transferrin-bound iron. The possibility of using non-transferrin-bound iron and labile plasma iron measures as clinical indicators of overt iron overload and/or of treatment efficacy would largely depend on the rigorous validation and standardization of assay

Experimental evaluation of vibrotactile training mappings for dual-joystick directional guidance

Two joystick-based teleoperation is a common method for controlling a remote machine or a robot. Their use could be counter-intuitive and could require a heavy mental workload. The goal of this paper is to investigate whether vibrotactile prompts could be used to trigger dual-joystick responses quickly and intuitively, so to possibly employ them for training. In particular, we investigate the effects of: (1) stimuli delivered either on the palm or on the back of the hand, (2) with attractive and repulsive mappings, (3) with single and sequential stimuli. We find that 38 participants responded quicker and more accurately when stimuli were delivered on the back of the hand, preferred to move towards the vibration. Sequential stimuli led to intermediate responses in terms of speed and accuracy