Design, Manufacturing, and Control of a Pneumatic-Driven Passive Robotic Gait Training System for Muscle-Weakness in a Low Limb

[[abstract]]We designed and manufactured a pneumatic-driven robotic passive gait training system (PRPGTS), providing the functions of body-weight support, postural support, and gait orthosis for patients who suffer from weakened lower limbs. The PRPGTS was designed as a soft-joint gait training rehabilitation system. The soft joints provide passive safety for patients. The PRPGTS features three subsystems: a pneumatic body weight support system, a pneumatic postural support system, and a pneumatic gait orthosis system. The dynamic behavior of these three subsystems are all involved in the PRPGTS, causing an extremely complicated dynamic behavior; therefore, this paper applies five individual interval type-2 fuzzy sliding controllers (IT2FSC) to compensate for the system uncertainties and disturbances in the PRGTS. The IT2FSCs can provide accurate and correct positional trajectories under passive safety protection. The feasibility of weight reduction and gait training with the PRPGTS using the IT2FSCs is demonstrated with a healthy person, and the experimental results show that the PRPGTS is stable and provides a high-trajectory tracking performance.[[notice]]補正完

Nanoparticle formation and dynamics in a complex (dusty) plasma: from the plasma ignition to the afterglow.

Complex (dusty) plasmas are a subject of growing interest. They areionized gases containing charged dust particles. In capacitively-coupled RF discharges, dust growth can occur naturally and two methods can be used to grow dust particles: chemically active plasmas or sputtering. The growth of dust particles in argon discharges by RF sputtering and the effect of dust particles on theplasma have been investigated from the plasma ignition to the afterglow. It was shown that plasma and discharge parameters are greatly affected by the dust particles. Furthermore, plasma instabilities can be triggered by the presence of the dust particles. These instabilities can be due to dust particle growth or they can be instabilities of a well established dust cloud filling the interelectrode space. When the discharge is switched off, the dust particles act like a sink for the charge carrier and consequently affect the plasma losses. It was shown that the dust particles do keep residual chargeswhich values are greatly affected by the diffusion of the charge carriers and especially the transition from ambipolar to free diffusion

First Measurement of A_N at sqrt(s)=200 GeV in Polarized Proton-Proton Elastic Scattering at RHIC

We report on the first measurement of the single spin analyzing power (A_N) at sqrt(s)=200GeV, obtained by the pp2pp experiment using polarized proton beams at the Relativistic Heavy Ion Collider (RHIC). Data points were measured in the four momentum transfer t range 0.01 < |t| < 0.03 (GeV/c)^2. Our result, averaged over the whole t-interval is about one standard deviation above the calculation, which uses interference between electromagnetic spin-flip amplitude and hadronic non-flip amplitude, the source of A_N. The difference could be explained by an additional contribution of a hadronic spin-flip amplitude to A_N.Comment: 13 pages, 5 figures. New values of polarization errors. Final version submitted to Phys. Lett.

Cosmological scaling solutions in generalised Gauss-Bonnet gravity theories

The conditions for the existence and stability of cosmological power-law scaling solutions are established when the Einstein-Hilbert action is modified by the inclusion of a function of the Gauss-Bonnet curvature invariant. The general form of the action that leads to such solutions is determined for the case where the universe is sourced by a barotropic perfect fluid. It is shown by employing an equivalence between the Gauss-Bonnet action and a scalar-tensor theory of gravity that the cosmological field equations can be written as a plane autonomous system. It is found that stable scaling solutions exist when the parameters of the model take appropriate values.Comment: 10 pages and 5 figure

First Measurement of Proton-Proton Elastic Scattering at RHIC

The first result of the pp2pp experiment at RHIC on elastic scattering of polarized protons at sqrt{s} = 200 GeV is reported here. The exponential slope parameter b of the diffractive peak of the elastic cross section in the t range 0.010 <= |t| <= 0.019 (GeV/c)^2 was measured to be b = 16.3 +- 1.6 (stat.) +- 0.9 (syst.) (GeV/c)^{-2} .Comment: 9 pages 5 figure

Thyroid transcription factor FOXE1 interacts with ETS factor ELK1 to co-regulate TERT

Background: Although FOXE1 was initially recognized for its role in thyroid organogenesis, more recently a strong association has been identified between the FOXE1 locus and thyroid cancer. The role of FOXE1 in adult thyroid, and in particular regarding cancer risk, has not been well established. We hypothesised that discovering key FOXE1 transcriptional partners would in turn identify regulatory pathways relevant to its role in oncogenesis. Results: In a transcription factor-binding array, ELK1 was identified to bind FOXE1. We confirmed this physical association in heterologously transfected cells by IP and mammalian two-hybrid assays. In thyroid tissue, endogenous FOXE1 was shown to bind ELK1, and using ChIP assays these factors bound thyroid-relevant gene promoters TPO and TERT in close proximity to each other. Using a combination of electromobility shift assays, TERT promoter assays and siRNA-silencing, we found that FOXE1 positively regulated TERT expression in a manner dependent upon its association with ELK1. Treating heterologously transfected thyroid cells with MEK inhibitor U0126 inhibited FOXE1-ELK1 interaction, and reduced TERT and TPO promoter activity. Methodology: We investigated FOXE1 interactions within in vitro thyroid cell models and human thyroid tissue using a combination of immunoprecipitation (IP), chromatin IP (ChIP) and gene reporter assays. Conclusions: FOXE1 interacts with ELK1 on thyroid relevant gene promoters, establishing a new regulatory pathway for its role in adult thyroid function. Co-regulation of TERT suggests a mechanism by which allelic variants in/near FOXE1 are associated with thyroid cancer risk

Refined mapping of autoimmune disease associated genetic variants with gene expression suggests an important role for non-coding RNAs

Genome-wide association and fine-mapping studies in 14 autoimmune diseases (AID) have implicated more than 250 loci in one or more of these diseases. As more than 90% of AID-associated SNPs are intergenic or intronic, pinpointing the causal genes is challenging. We performed a systematic analysis to link 460 SNPs that are associated with 14 AID to causal genes using transcriptomic data from 629 blood samples. We were able to link 71 (39%) of the AID-SNPs to two or more nearby genes, providing evidence that for part of the AID loci multiple causal genes exist. While 54 of the AID loci are shared by one or more AID, 17% of them do not share candidate causal genes. In addition to finding novel genes such as ULK3, we also implicate novel disease mechanisms and pathways like autophagy in celiac disease pathogenesis. Furthermore, 42 of the AID SNPs specifically affected the expression of 53 non-coding RNA genes. To further understand how the non-coding genome contributes to AID, the SNPs were linked to functional regulatory elements, which suggest a model where AID genes are regulated by network of chromatin looping/non-coding RNAs interactions. The looping model also explains how a causal candidate gene is not necessarily the gene closest to the AID SNP, which was the case in nearly 50% of cases. (C) 2016 The Authors. Published by Elsevier Ltd.</p

Refined mapping of autoimmune disease associated genetic variants with gene expression suggests an important role for non-coding RNAs

Genome-wide association and fine-mapping studies in 14 autoimmune diseases (AID) have implicated more than 250 loci in one or more of these diseases. As more than 90% of AID-associated SNPs are intergenic or intronic, pinpointing the causal genes is challenging. We performed a systematic analysis to link 460 SNPs that are associated with 14 AID to causal genes using transcriptomic data from 629 blood samples. We were able to link 71 (39%) of the AID-SNPs to two or more nearby genes, providing evidence that for part of the AID loci multiple causal genes exist. While 54 of the AID loci are shared by one or more AID, 17% of them do not share candidate causal genes. In addition to finding novel genes such as ULK3, we also implicate novel disease mechanisms and pathways like autophagy in celiac disease pathogenesis. Furthermore, 42 of the AID SNPs specifically affected the expression of 53 non-coding RNA genes. To further understand how the non-coding genome contributes to AID, the SNPs were linked to functional regulatory elements, which suggest a model where AID genes are regulated by network of chromatin looping/non-coding RNAs interactions. The looping model also explains how a causal candidate gene is not necessarily the gene closest to the AID SNP, which was the case in nearly 50% of cases

Point sets on the sphere S2\mathbb{S}^2 with small spherical cap discrepancy

In this paper we study the geometric discrepancy of explicit constructions of uniformly distributed points on the two-dimensional unit sphere. We show that the spherical cap discrepancy of random point sets, of spherical digital nets and of spherical Fibonacci lattices converges with order $N^{-1/2}$. Such point sets are therefore useful for numerical integration and other computational simulations. The proof uses an area-preserving Lambert map. A detailed analysis of the level curves and sets of the pre-images of spherical caps under this map is given