A novel design process of low cost 3D printed ambidextrous finger designed for an ambidextrous robotic hand

This paper presents the novel mechanical design of an ambidextrous finger specifically designed for an ambidextrous anthropomorphic robotic hand actuated by pneumatic artificial muscles. The ambidextrous nature of design allows fingers to perform both left and right hand movements. The aim of our design is to reduce the number of actuators, increase the range of movements with best possible range ideally greater than a common human finger. Four prototypes are discussed in this paper; first prototype is focused on the choice of material and to consider the possible ways to reduce friction. Second prototype is designed to investigate the tendons routing configurations. Aim of third and fourth prototype is to improve the overall performance and to maximize the grasping force. Finally, a unified design (Final design) is presented in great detail. Comparison of all prototypes is done from different angles to evaluate the best design. The kinematic features of intermediate mode have been analysed to optimize both the flexibility and the robustness of the system, as well as to minimize the number of pneumatic muscles. The final design of an ambidextrous finger has developed, tested and 3D printed

Quasideterminant solutions of a non-Abelian Hirota-Miwa equation

A non-Abelian version of the Hirota-Miwa equation is considered. In an earlier paper [Nimmo (2006) J. Phys. A: Math. Gen. \textbf{39}, 5053-5065] it was shown how solutions expressed as quasideterminants could be constructed for this system by means of Darboux transformations. In this paper we discuss these solutions from a different perspective and show that the solutions are quasi-Pl\"{u}cker coordinates and that the non-Abelian Hirota-Miwa equation may be written as a quasi-Pl\"{u}cker relation. The special case of the matrix Hirota-Miwa equation is also considered using a more traditional, bilinear approach and the techniques are compared

On a direct approach to quasideterminant solutions of a noncommutative KP equation

A noncommutative version of the KP equation and two families of its solutions expressed as quasideterminants are discussed. The origin of these solutions is explained by means of Darboux and binary Darboux transformations. Additionally, it is shown that these solutions may also be verified directly. This approach is reminiscent of the wronskian technique used for the Hirota bilinear form of the regular, commutative KP equation but, in the noncommutative case, no bilinearising transformation is available.Comment: 11 page

Representational gestures in Developmental Coordination Disorder and specific language impairment: Error-types and the reliability of ratings

Gesture production was studied in children with developmental coordination disorder (DCD) and specific language impairment (SLI) in comparison to normally developing age-matched and younger control children. The pattern of error production was investigated to characterize the praxis skills seen in these two developmental disorders as well as to inform understanding of the aetiology of both DCD and SLI. Given the subjective nature of the categorization of errors, a separate study was conducted to investigate inter-rater reliability. Independent adult raters consistently used four out of fourteen error-types and for these four, inter-rater reliability was found to be good. The type of errors made by children with DCD, SLI and the younger controls were very similar. The only difference between the groups was in the frequency with which errors were displayed, suggesting that the performance of the clinical children might be an indicator of immature praxis development. It is suggested that the inclusion of a younger control (similar to a ''motor match'') group is an important methodological device for investigating the underlying nature of disorders such as DCD and SL

The contribution of OCTN1/2 variants within the IBD5 locus to disease susceptibility and severity in Crohn's disease

Background and Aims: Recent data suggest that polymorphisms in the organic cation transporter (OCTN) genes OCTN1 (SLC22A4) and OCTN2 (SLC22A5) represent disease-causing mutations within the IBD5 locus (chromosome 5q31). We investigated associations with disease susceptibility, phenotype, and evidence for epistasis with CARD15 in 679 patients with Crohn’s disease (CD) or ulcerative colitis (UC). Methods: A total of 374 patients with CD, 305 patients with UC, and 294 healthy controls (HCs) were studied. Genotyping for single nucleotide polymorphisms IGR2096, IGR2198, and IGR2230, OCTN1 variant (SLC22A4 1672C→T), and OCTN2 variant (SLC22A5 −207G→C) was performed using the TaqMan system. Results: The IBD5 OCTN1 and OCTN2 polymorphisms were in strong linkage disequilibrium (D′, >0.959). IGR2198 variant allele frequency (49.1% vs 40.8%; P = .0046) and homozygosity (21% vs 14.8%; P = .044) were associated with CD versus HCs. Variant allelic frequency of OCTN1 (53.6% vs 43%; P = .0008) and OCTN2 (56.1% vs 48.4%; P = .0092) polymorphisms and homozygosity for the OCTN1/2-TC haplotype (28.4% vs 16%; P = .0042) were associated with CD versus HCs. IGR2198 homozygosity and TC homozygosity were associated with stricturing/penetrating disease at follow-up (P = .011 and P = .011, respectively) and disease progression (P = .038 and P = .049, respectively) on univariate analysis and with need for surgery on multivariate analysis (P = .016 and P = .004, respectively). In the absence of the IBD5 risk haplotype, no association of OCTN1/2 variants with CD was detected. No associations were seen with UC. Conclusions: The IBD5 locus influences susceptibility, progression, and need for surgery in CD. However, the contribution of OCTN1/2 variants is not independent of the IBD5 haplotype; a causative role for these genes remains plausible but is not yet proven. Further genetic, functional, and expression data are now required. </p

“A content analysis of news media coverage of drowning events in Western Australia over two summers, 2014-2016”

© 2019 Australian Health Promotion Association Issue addressed: Drowning is a leading cause of death globally. Opportunities to promote drowning prevention in news media may be overlooked for attention-grabbing headlines, imagery and narrative. This study examines news media coverage of fatal drowning events in Western Australia (WA). Methods: Coronial fatal drowning data in WA were extracted for two summer time periods (2014-2016) by date, age, gender, location and description. Corresponding print and online news articles were captured using: (i) Media Alert; (ii) Google News; (iii) Factiva. A content and frame analysis protocol was developed. A qualitative approach was taken to analyse the news angle. A subgroup analysis was undertaken for drowning focused articles. Results: The final sample (n = 50) news articles matched 17 individual drowning events (T1, n = 9; T2, n = 8). Drowning stories rarely appeared on page 1 (n = 2), but were located in the first 2-10 pages (n = 20) (66.6%). In the subanalysis, one-fifth (22%) of the articles employed a news angle relating to community spirit and celebration of life. There were 32 mentions of “who was responsible for the drowning event.” Environmental factors were most cited for “what was responsible” (20.4%). Experts were cited in 66.7% of articles and drowning prevention strategies were mentioned in nine of the 50 articles. Conclusion: Drowning was considered newsworthy; however, not the front page news. Reporting infrequently prioritised drowning prevention or discussed prevention strategies. So what?: Working closely with news outlets to embed drowning prevention messages in news stories during high-risk periods such as summer is an imperative

Characterization of a process for the in-furnace reduction of NOx, SO2, and HCl by carboxylic salts of calcium

Calcium magnesium acetate has been assessed as an agent for the reduction of NOx, SO2, and HCl, at the pilot scale, in a down-fired combustor operating at 80 kWth. In addition to this, the chemical and physical processes that occur during heating have been investigated. Benchmarking of calcium magnesium acetate with a suite of five other carboxylic salts (calcium magnesium acetate, calcium propionate, calcium acetate, calcium benzoate, magnesium acetate, and calcium formate) has been performed. NOx reduction involves the volatile organic content of the carboxylic salt being released at temperatures of >1000 °C, where the reaction of CHi radicals with NO under fuel-rich conditions can result in some of the NO forming N2 in a “reburning” process. Thermogravimetry-Fourier transform infrared (TG-FTIR) studies identified the nature of the decomposition products from the low- and high-temperature decompositions. In addition, the rate of weight losses were studied to investigate the influence of the organic decomposition on NOx reduction by reburning. In-furnace reductions of SO2 and HCl are aided by the highly porous, particulate residue, which results from the in situ drying, pyrolysis, and calcination processes. Simultaneous reduction of all three pollutants was obtained, and a synergy between SO2 and HCl capture was identified. A mechanism for this inter-relationship has been proposed. Sorbent particle characterization has been performed by collecting the calcined powder from a spray pyrolysis reactor and compared with those produced from a suite of pure carboxylic salts. Physical properties (including porosity, surface area, and decomposition behavior) have been discussed, relative to reductions in NOx and acid gas emissions