Identification and Control of a Soft-Robotic Bladder Towards Impedance-Style Haptic Terrain Display

This paper evaluates the capabilities of a soft robotic pneumatic actuator derived from the terrain display haptic device, "The Smart Shoe." The bladder design of the Smart Shoe is upgraded to include a pressure supply and greater output flow capabilities. A bench top setup is created to rigorously test this new type of actuator. The bandwidth and stiffness capability of this new actuator are evaluated relative to forces and displacements encountered during human gait. Four force vs. displacement profiles relevant to haptic terrain display are proposed and tested using sliding-mode tracking control. It was found that the actuator could sustain a stiffness similar to a soft-soled shoe on concrete, as well as other terrain (sand, dirt, etc.), while the bandwidth of 7.3 Hz fell short of the goal bandwidth of 10 Hz. Compressions of the bladder done at 20 mm/s, which is similar to the speed of human gait, showed promising results in tracking a desired force trajectory. The results in this paper show this actuator is capable of displaying haptic terrain trajectories, providing a basis for futurep wearable haptic terrain display devices

The Effect of Sideslip on Jackknife Limits During Low Speed Trailer Operation

Jackknifing refers to the serious situation where a vehicle-trailer system enters a jackknife state and the vehicle and trailer eventually collide if trailer operation is not corrected. This paper considers low speed trailer maneuvering typical of trailer backing where jackknife state limits can vary due to sideslip caused by physical interaction between the vehicle, trailer, and environment. Analysis of a kinematic model considering sideslip at the vehicle and trailer wheels indicates that vehicle-trailer systems should be divided into three categories based on the ratio of hitch length and trailer tongue length, each with distinct behaviors. The Long Trailer category may have no jackknifing state while the other two categories always have states leading to jackknifing. It is found that jackknife limits, which are the boundaries between the jackknifing state and the recoverable regions, can be divided into safe and unsafe limits, the latter of which must be avoided. Simulations and physical experiments support these results and provide insight about the implications of vehicle and trailer states with slip that lead to jackknifing. Simulations also demonstrate the benefit of considering these new slip-based jackknife limits in trailer backing control

Integrating Vehicle Slip and Yaw in Overarching Multi-Tiered Automated Vehicle Steering Control to Balance Path Following Accuracy, Gracefulness, and Safety

Balancing path following accuracy and error convergence with graceful motion in steering control is challenging due to the competing nature of these requirements, especially across a range of operating speeds and conditions. This paper demonstrates that an integrated multi-tiered steering controller considering the impact of slip on kinematic control, dynamic control, and steering actuator rate commands achieves accurate and graceful path following. This work is founded on multi-tiered sideslip and yaw-based models, which allow derivation of controllers considering error due to sideslip and the mapping between steering commands and graceful lateral motion. Observer based sideslip estimates are combined with heading error in the kinematic controller to provide feedforward slip compensation. Path following error is compensated by a continuous Variable Structure Controller (VSC) using speed-based path manifolds to balance graceful motion and error convergence. Resulting yaw rate commands are used by a backstepping dynamic controller to generate steering rate commands. A High Gain Observer (HGO) estimates sideslip and yaw rate for output feedback control. Stability analysis of the output feedback controller is provided, and peaking is resolved. The work focuses on lateral control alone so that the steering controller can be combined with other speed controllers. Field results provide comparisons to related approaches demonstrating gracefulness and accuracy in different complex scenarios with varied weather conditions and perturbations

DNA intercalator stimulates influenza transcription and virus replication

Influenza A virus uses its host transcription machinery to facilitate viral RNA synthesis, an event that is associated with cellular RNA polymerase II (RNAPII). In this study, various RNAPII transcription inhibitors were used to investigate the effect of RNAPII phosphorylation status on viral RNA transcription. A low concentration of DNA intercalators, such as actinomycin D (ActD), was found to stimulate viral polymerase activity and virus replication. This effect was not observed in cells treated with RNAPII kinase inhibitors. In addition, the loss of RNAPIIa in infected cells was due to the shift of nonphosphorylated RNAPII (RNAPIIa) to hyperphosphorylated RNAPII (RNAPIIo)

Childhood Asthma and Environmental Exposures at Swimming Pools: State of the Science and Research Recommendations

OBJECTIVES: Recent studies have explored the potential for swimming pool disinfection by-products (DBPs), which are respiratory irritants, to cause asthma in young children. Here we describe the state of the science on methods for understanding children's exposure to DBPs and biologics at swimming pools and associations with new-onset childhood asthma and recommend a research agenda to improve our understanding of this issue. DATA SOURCES: A workshop was held in Leuven, Belgium, 21-23 August 2007, to evaluate the literature and to develop a research agenda to better understand children's exposures in the swimming pool environment and their potential associations with new-onset asthma. Participants, including clinicians, epidemiologists, exposure scientists, pool operations experts, and chemists, reviewed the literature, prepared background summaries, and held extensive discussions on the relevant published studies, knowledge of asthma characterization and exposures at swimming pools, and epidemiologic study designs. SYNTHESIS: Childhood swimming and new-onset childhood asthma have clear implications for public health. If attendance at indoor pools increases risk of childhood asthma, then concerns are warranted and action is necessary. If there is no such relationship, these concerns could unnecessarily deter children from indoor swimming and/or compromise water disinfection. CONCLUSIONS: Current evidence of an association between childhood swimming and new-onset asthma is suggestive but not conclusive. Important data gaps need to be filled, particularly in exposure assessment and characterization of asthma in the very young. Participants recommended that additional evaluations using a multidisciplinary approach are needed to determine whether a clear association exists

SRT1720 improves survival and healthspan of obese mice

Sirt1 is an NAD+-dependent deacetylase that extends lifespan in lower organisms and improves metabolism and delays the onset of age-related diseases in mammals. Here we show that SRT1720, a synthetic compound that was identified for its ability to activate Sirt1 in vitro, extends both mean and maximum lifespan of adult mice fed a high-fat diet. This lifespan extension is accompanied by health benefits including reduced liver steatosis, increased insulin sensitivity, enhanced locomotor activity and normalization of gene expression profiles and markers of inflammation and apoptosis, all in the absence of any observable toxicity. Using a conditional SIRT1 knockout mouse and specific gene knockdowns we show SRT1720 affects mitochondrial respiration in a Sirt1- and PGC-1α-dependent manner. These findings indicate that SRT1720 has long-term benefits and demonstrate for the first time the feasibility of designing novel molecules that are safe and effective in promoting longevity and preventing multiple age-related diseases in mammals

Aboveground biomass density models for NASA's Global Ecosystem Dynamics Investigation (GEDI) lidar mission

NASA's Global Ecosystem Dynamics Investigation (GEDI) is collecting spaceborne full waveform lidar data with a primary science goal of producing accurate estimates of forest aboveground biomass density (AGBD). This paper presents the development of the models used to create GEDI's footprint-level (similar to 25 m) AGBD (GEDI04_A) product, including a description of the datasets used and the procedure for final model selection. The data used to fit our models are from a compilation of globally distributed spatially and temporally coincident field and airborne lidar datasets, whereby we simulated GEDI-like waveforms from airborne lidar to build a calibration database. We used this database to expand the geographic extent of past waveform lidar studies, and divided the globe into four broad strata by Plant Functional Type (PFT) and six geographic regions. GEDI's waveform-to-biomass models take the form of parametric Ordinary Least Squares (OLS) models with simulated Relative Height (RH) metrics as predictor variables. From an exhaustive set of candidate models, we selected the best input predictor variables, and data transformations for each geographic stratum in the GEDI domain to produce a set of comprehensive predictive footprint-level models. We found that model selection frequently favored combinations of RH metrics at the 98th, 90th, 50th, and 10th height above ground-level percentiles (RH98, RH90, RH50, and RH10, respectively), but that inclusion of lower RH metrics (e.g. RH10) did not markedly improve model performance. Second, forced inclusion of RH98 in all models was important and did not degrade model performance, and the best performing models were parsimonious, typically having only 1-3 predictors. Third, stratification by geographic domain (PFT, geographic region) improved model performance in comparison to global models without stratification. Fourth, for the vast majority of strata, the best performing models were fit using square root transformation of field AGBD and/or height metrics. There was considerable variability in model performance across geographic strata, and areas with sparse training data and/or high AGBD values had the poorest performance. These models are used to produce global predictions of AGBD, but will be improved in the future as more and better training data become available

Synthesising Corporate Responsibility on Organisational and Societal Levels of Analysis: An Integrative Perspective

This article develops an integrative perspective on corporate responsibility by synthesising competing perspectives on the responsibility of the corporation at the organisational and societal levels of analysis. We review three major corporate responsibility perspectives, which we refer to as economic, critical, and politico-ethical. We analyse the major potential uses and pitfalls of the perspectives, and integrate the debate on these two levels. Our synthesis concludes that when a society has a robust division of moral labour in place, the responsibility of a corporation may be economic (as suggested under the economic perspective) without jeopardising democracy and sustainability (as reported under the critical perspective). Moreover, the economic role of corporations neither signifies the absence of deliberative democratic mechanisms nor business practices extending beyond compliance (as called for under the politico-ethical perspective). The study underscores the value of integrating different perspectives and multiple levels of analysis to present comprehensive descriptions and prescriptions of the responsibility phenomenon