The GR2 gripper: an underactuated hand for open-loop in-hand planar manipulation

Performing dexterous manipulation of unknown objects with robot grippers without using high-fidelity contact sensors, active/sliding surfaces, or a priori workspace exploration is still an open problem in robot manipulation and a necessity for many robotics applications. In this paper, we present a two-fingered gripper topology that enables an enhanced predefined in-hand manipulation primitive controlled without knowing the size, shape, or other particularities of the grasped object. The in-hand manipulation behavior, namely, the planar manipulation of the grasped body, is predefined thanks to a simple hybrid low-level control scheme and has an increased range of motion due to the introduction of an elastic pivot joint between the two fingers. Experimental results with a prototype clearly show the advantages and benefits of the proposed concept. Given the generality of the topology and in-hand manipulation principle, researchers and designers working on multiple areas of robotics can benefit from the findings

A_4 flavour symmetry breaking scheme for understanding quark and neutrino mixing angles

We propose a spontaneous A_4 flavour symmetry breaking scheme to understand the observed pattern of quark and neutrino mixing. The fermion mass eigenvalues are arbitrary, but the mixing angles are constrained in such a way that the overall patterns are explained while also leaving sufficient freedom to fit the detailed features of the observed values, including CP violating phases. The scheme realises the proposal of Low and Volkas to generate zero quark mixing and tribimaximal neutrino mixing at tree-level, with deviations from both arising from small corrections after spontaneous A_4 breaking. In the neutrino sector, the breaking is A_4 --> Z_2, while in the quark and charged-lepton sectors it is A_4 --> Z_3 = C_3. The full theory has A_4 completely broken, but the two different unbroken subgroups in the two sectors force the dominant mixing patterns to be as stated above. Radiative effects within each sector are shown to deviate neutrino mixing from tribimaximal, while maintaining zero quark mixing. Interactions between the two sectors -- "cross-talk" -- induce nonzero quark mixing, and additional deviation from tribimaximal neutrino mixing. We discuss the vacuum alignment challenge the scenario faces, and suggest three generic ways to approach the problem. We follow up one of those ways by sketching how an explicit model realising the symmetry breaking structure may be constructed.Comment: 14 pages, no figures; v3: Section 5 rewritten to correct an error; new section added to the appendix; added references; v4: minor change to appendix C, version to be published by JHE

Extracting the hierarchical organization of complex systems

Extracting understanding from the growing ``sea'' of biological and socio-economic data is one of the most pressing scientific challenges facing us. Here, we introduce and validate an unsupervised method that is able to accurately extract the hierarchical organization of complex biological, social, and technological networks. We define an ensemble of hierarchically nested random graphs, which we use to validate the method. We then apply our method to real-world networks, including the air-transportation network, an electronic circuit, an email exchange network, and metabolic networks. We find that our method enables us to obtain an accurate multi-scale descriptions of a complex system.Comment: Figures in screen resolution. Version with full resolution figures available at http://amaral.chem-eng.northwestern.edu/Publications/Papers/sales-pardo-2007.pd

A Bayesian hierarchical approach for multiple outcomes in routinely collected healthcare data

Clinical trials are the standard approach for evaluating new treatments, but may lack the power to assess rare outcomes. Trial results are also necessarily restricted to the population considered in the study. The availability of routinely collected healthcare data provides a source of information on the performance of treatments beyond that offered by clinical trials, but the analysis of this type of data presents a number of challenges. Hierarchical methods, which take advantage of known relationships between clinical outcomes, while accounting for bias, may be a suitable statistical approach for the analysis of this data. A study of direct oral anticoagulants in Scotland is discussed and used to motivate a modeling approach. A Bayesian hierarchical model, which allows a stratification of the population into clusters with similar characteristics, is proposed and applied to the direct oral anticoagulant study data. A simulation study is used to assess its performance in terms of outcome detection and error rates

GNAO1 encephalopathy: broadening the phenotype and evaluating treatment and outcome

OBJECTIVE: To describe better the motor phenotype, molecular genetic features, and clinical course of GNAO1-related disease. METHODS: We reviewed clinical information, video recordings, and neuroimaging of a newly identified cohort of 7 patients with de novo missense and splice site GNAO1 mutations, detected by next-generation sequencing techniques. RESULTS: Patients first presented in early childhood (median age of presentation 10 months, range 0-48 months), with a wide range of clinical symptoms ranging from severe motor and cognitive impairment with marked choreoathetosis, self-injurious behavior, and epileptic encephalopathy to a milder phenotype, featuring moderate developmental delay associated with complex stereotypies, mainly facial dyskinesia and mild epilepsy. Hyperkinetic movements were often exacerbated by specific triggers, such as voluntary movement, intercurrent illnesses, emotion, and high ambient temperature, leading to hospital admissions. Most patients were resistant to drug intervention, although tetrabenazine was effective in partially controlling dyskinesia for 2/7 patients. Emergency deep brain stimulation (DBS) was life saving in 1 patient, resulting in immediate clinical benefit with complete cessation of violent hyperkinetic movements. Five patients had well-controlled epilepsy and 1 had drug-resistant seizures. Structural brain abnormalities, including mild cerebral atrophy and corpus callosum dysgenesis, were evident in 5 patients. One patient had a diffuse astrocytoma (WHO grade II), surgically removed at age 16. CONCLUSIONS: Our findings support the causative role of GNAO1 mutations in an expanded spectrum of early-onset epilepsy and movement disorders, frequently exacerbated by specific triggers and at times associated with self-injurious behavior. Tetrabenazine and DBS were the most useful treatments for dyskinesia

Genome scan of Diabrotica virgifera virgifera for genetic variation associated with crop rotation tolerance

Crop rotation has been a valuable technique for control of Diabrotica virgifera virgifera for almost a century. However, during the last two decades, crop rotation has ceased to be effective in an expanding area of the US corn belt. This failure appears to be due to a change in the insect's oviposition behaviour, which, in all probability, has an underlying genetic basis. A preliminary genome scan using 253 amplified fragment-length polymorphism (AFLP) markers sought to identify genetic variation associated with the circumvention of crop rotation. Samples of D. v. virgifera from east-central Illinois, where crop rotation is ineffective, were compared with samples from Iowa at locations that the behavioural variant has yet to reach. A single AFLP marker showed signs of having been influenced by selection for the circumvention of crop rotation. However, this marker was not diagnostic. The lack of markers strongly associated with the trait may be due to an insufficient density of marker coverage throughout the genome. A weak but significant general heterogeneity was observed between the Illinois and Iowa samples at microsatellite loci and AFLP markers. This has not been detected in previous population genetic studies of D. v. virgifera and may indicate a reduction in gene flow between variant and wild-type beetles

Spin-1 Antiferromagnetic Heisenberg Chains in an External Staggered Field

We present in this paper a nonlinear sigma-model analysis of a spin-1 antiferromagnetic Heisenberg chain in an external commensurate staggered magnetic field. After rediscussing briefly and extending previous results for the staggered magnetization curve, the core of the paper is a novel calculation, at the tree level, of the Green functions of the model. We obtain precise results for the elementary excitation spectrum and in particular for the spin gaps in the transverse and longitudinal channels. It is shown that, while the spectral weight in the transverse channel is exhausted by a single magnon pole, in the longitudinal one, besides a magnon pole a two-magnon continuum appears as well whose weight is a stedily increasing function of the applied field, while the weight of the magnon decreases correspondingly. The balance between the two is governed by a sum rule that is derived and discussed. A detailed comparison with the present experimental and numerical (DMRG) status of the art as well as with previous analytical approaches is also made.Comment: 23 pages, 3 figures, LaTe

LOSITAN: A workbench to detect molecular adaptation based on a Fst-outlier method

<p>Abstract</p> <p>Background</p> <p>Testing for selection is becoming one of the most important steps in the analysis of multilocus population genetics data sets. Existing applications are difficult to use, leaving many non-trivial, error-prone tasks to the user.</p> <p>Results</p> <p>Here we present LOSITAN, a selection detection workbench based on a well evaluated <it>F</it>_<it>st</it>-outlier detection method. LOSITAN greatly facilitates correct approximation of model parameters (e.g., genome-wide average, neutral <it>F</it>_<it>st</it>), provides data import and export functions, iterative contour smoothing and generation of graphics in a easy to use graphical user interface. LOSITAN is able to use modern multi-core processor architectures by locally parallelizing fdist, reducing computation time by half in current dual core machines and with almost linear performance gains in machines with more cores.</p> <p>Conclusion</p> <p>LOSITAN makes selection detection feasible to a much wider range of users, even for large population genomic datasets, by both providing an easy to use interface and essential functionality to complete the whole selection detection process.</p