537 research outputs found

    Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion

    Get PDF
    This paper works with the concept of Divergent Component of Motion (DCM), also called ’(instantaneous) Capture Point’. We present two real-time DCM trajectory generators for uneven (three-dimensional) ground surfaces, which lead to continuous leg (and corresponding ground reaction) force profiles and facilitate the use of toe-off motion during double support. Thus, the resulting DCM trajectories are well suited for real-world robots and allow for increased step length and step height. The performance of the proposed methods was tested in numerous simulations and experiments on IHMC’s Atlas robot and DLR’s humanoid robot TORO

    Lagrangian Statistics of Heat Transfer in Homogeneous Turbulence Driven by Boussinesq Convection

    Get PDF
    The movement of heat in a convecting system is typically described by the nondimensional Nusselt number, which involves an average over both space and time. In direct numerical simulations of turbulent flows, there is considerable variation in the contributions to the Nusselt number, both because of local spatial variations due to plumes and because of intermittency in time. We develop a statistical approach to more completely describe the structure of heat transfer, using an exit-distance extracted from Lagrangian tracer particles, which we call the Lagrangian heat structure. In a comparison between simulations of homogeneous turbulence driven by Boussinesq convection, the Lagrangian heat structure reveals significant non-Gaussian character, as well as a clear trend with Prandtl number and Rayleigh number. This has encouraging implications for simulations performed with the goal of understanding turbulent convection in natural settings such as Earth’s atmosphere and oceans, as well as planetary and stellar dynamos

    Silac mouse for quantitative proteomics uncovers kindlin-3 as an essential factor for red blood cell function

    Get PDF
    Stable isotope labeling by amino acids in cell culture (SILAC) has become a versatile tool for quantitative, mass spectrometry (MS)-based proteomics. Here, we completely label mice with a diet containing either the natural or the 13C6-substituted version of lysine. Mice were labeled over four generations with the heavy diet, and development, growth, and behavior were not affected. MS analysis of incorporation levels allowed for the determination of incorporation rates of proteins from blood cells and organs. The F2 generation was completely labeled in all organs tested. SILAC analysis from various organs lacking expression of β1 integrin, β-Parvin, or the integrin tail-binding protein Kindlin-3 confirmed their absence and disclosed a structural defect of the red blood cell membrane skeleton in Kindlin-3-deficient erythrocytes. The SILAC-mouse approach is a versatile tool by which to quantitatively compare proteomes from knockout mice and thereby determine protein functions under complex in vivo conditions

    Factors underlying Ebola virus infection among health workers, Kenema, Sierra Leone, 2014-2015

    Get PDF
    Background. Ebola virus disease (EVD) in health workers (HWs) has been a major challenge during the 2014-2015 outbreak. We examined factors associated with Ebola virus exposure and mortality in HWs in Kenema District, Sierra Leone. Methods. We analyzed data from the Sierra Leone National Viral Hemorrhagic Fever Database, contact tracing records, Kenema Government Hospital (KGH) staff and Ebola Treatment Unit (ETU) rosters, and burial logs.Results. From May 2014 through January 2015, 600 cases of EVD originated in Kenema District, including 92 (15%) HWs, 66 (72%) of whom worked at KGH. Among KGH medical staff and international volunteers, 18 of 62 (29%) who worked in the ETU developed EVD, compared with 48 of 83 (58%) who worked elsewhere in the hospital. Thirteen percent of HWs with EVD reported contact with EVD patients, while 27% reported contact with other infected HWs. The number of HW EVD cases at KGH declined roughly 1 month after implementation of a new triage system at KGH and the opening of a second ETU within the district. The case fatality ratio for HWs and non-HWs with EVD was 69% and 74%, respectively.Conclusions. The cluster of HW EVD cases in Kenema District is one of the largest ever reported. Most HWs with EVD had potential virus exposure both inside and outside of hospitals. Prevention measures for HWs must address a spectrum of infection risks in both formal and informal care settings as well as in the community.Publisher PDFPeer reviewe

    Dissipative corrections to particle spectra and anisotropic flow from a saddle-point approximation to kinetic freeze out

    Get PDF
    Lang C, Borghini N. Dissipative corrections to particle spectra and anisotropic flow from a saddle-point approximation to kinetic freeze out. The European Physical Journal C. 2014;74(7): 2955.A significant fraction of the changes in momentum distributions induced bydissipative phenomena in the description of the fluid fireball created inultrarelativistic heavy ion collisions are actually taking place when the fluidturns into individual particles. We study these corrections in the limit of alow freeze-out temperature of the flowing medium, and show that they mostlyaffect particles with a higher velocity than the fluid. For these, we deriverelations between different flow harmonics, from which the functional form ofthe dissipative corrections could ultimately be reconstructed from experimentaldata

    Crucial role of ultraviolet light for desert ants in determining direction from the terrestrial panorama

    Get PDF
    Ants use the panoramic skyline in part to determine a direction of travel. A theoretically elegant way to define where terrestrial objects meet the sky is to use an opponent-process channel contrasting green wavelengths of light with ultraviolet (UV) wavelengths. Compared with the sky, terrestrial objects reflect relatively more green wavelengths. Using such an opponent-process channel gains constancy in the face of changes in overall illumination level. We tested the use of UV wavelengths in desert ants by using a plastic that filtered out most of the energy below 400 nm. Ants, Melophorus bagoti, were trained to home with an artificial skyline provided by an arena (experiment 1) or with the natural panorama (experiment 2). On a test, a homing ant was captured just before she entered her nest, and then brought back to a replicate arena (experiment 1) or the starting point (the feeder, experiment 2) and released. Blocking UV light led to deteriorations in orientation in both experiments. When the artificial skyline was changed from opaque to transparent UV-blocking plastic (experiment 3) on the other hand, the ants were still oriented. We conclude that UV wavelengths play a crucial role in determining direction based on the terrestrial surround.10 page(s

    International cohort study indicates no association between alpha-1 blockers and susceptibility to COVID-19 in benign prostatic hyperplasia patients

    Get PDF
    Purpose: Alpha-1 blockers, often used to treat benign prostatic hyperplasia (BPH), have been hypothesized to prevent COVID-19 complications by minimising cytokine storm release. The proposed treatment based on this hypothesis currently lacks support from reliable real-world evidence, however. We leverage an international network of large-scale healthcare databases to generate comprehensive evidence in a transparent and reproducible manner.Methods: In this international cohort study, we deployed electronic health records from Spain (SIDIAP) and the United States (Department of Veterans Affairs, Columbia University Irving Medical Center, IQVIA OpenClaims, Optum DOD, Optum EHR). We assessed association between alpha-1 blocker use and risks of three COVID-19 outcomes-diagnosis, hospitalization, and hospitalization requiring intensive services-using a prevalent-user active-comparator design. We estimated hazard ratios using state-of-the-art techniques to minimize potential confounding, including large-scale propensity score matching/stratification and negative control calibration. We pooled database-specific estimates through random effects meta-analysis.Results: Our study overall included 2.6 and 0.46 million users of alpha-1 blockers and of alternative BPH medications. We observed no significant difference in their risks for any of the COVID-19 outcomes, with our meta-analytic HR estimates being 1.02 (95% CI: 0.92-1.13) for diagnosis, 1.00 (95% CI: 0.89-1.13) for hospitalization, and 1.15 (95% CI: 0.71-1.88) for hospitalization requiring intensive services.Conclusion: We found no evidence of the hypothesized reduction in risks of the COVID-19 outcomes from the prevalent-use of alpha-1 blockers-further research is needed to identify effective therapies for this novel disease.</p
    • …
    corecore