Articulated Robot Hand

The purpose of this project is to create a robotic hand that articulates and grips objects like a human hand. The robotic hand includes a single miniature servo for each finger joint, as shown in Figures 2 through 4, allowing full and independent articulation of the nine different primary joints in the hand. The motion of each servo, and therefore each finger joint, is governed by a PIC microcontroller. Use of a microcontroller-based control scheme, as opposed to PC-based control, allows for a more portable, versatile design. A buzzer-based warning system notifies the user of any major irregularities in the operation of the robotic hand. The force exerted by the hand on an object being gripped, will be monitored by touch sensors mounted to the end joints of each digit. A small LCD will display information relating to the operational mode of the hand, as well as any relevant user warnings. A set of potentiometers allow the user to manually control the rotational position and reaction speed of each joint. A 4x4 keypad enables the user to navigate an operational menu displayed on the LCD, and to select a preset position in the automatic operating mode

Toward the Development of Load Transfer Efficiency Evaluation of Rigid Pavements by a Rolling Wheel Deflectometer

The jointed rigid pavement is currently evaluated by the Falling weight deflectometer which is rather slow for the testing of the jointed pavements. Continuous nondestructive evaluation of rigid pavements with a rolling wheel deflectometer can be used to measure the load transfer and is investigated. Load transfer is an important indicator of the rigid pavement's condition and this is the primary factor which is studied. Continuous data from experimental measurements across a joint allows for the determination of not only the load transfer efficiency provided parameters characterizing the pavement is known. A three-dimensional semi-analytical model was implemented for simulating the pavement response near a joint and used for interpretation and verification of the experimental data. Results show that this development is promising for the use of a rolling wheel deflectometer for rapid evaluation of joints

Spatially controlled electrostatic doping in graphene p-i-n junction for hybrid silicon photodiode

Sufficiently large depletion region for photocarrier generation and separation is a key factor for two-dimensional material optoelectronic devices, but few device configurations has been explored for a deterministic control of a space charge region area in graphene with convincing scalability. Here we investigate a graphene-silicon p-i-n photodiode defined in a foundry processed planar photonic crystal waveguide structure, achieving visible - near-infrared, zero-bias and ultrafast photodetection. Graphene is electrically contacting to the wide intrinsic region of silicon and extended to the p an n doped region, functioning as the primary photocarrier conducting channel for electronic gain. Graphene significantly improves the device speed through ultrafast out-of-plane interfacial carrier transfer and the following in-plane built-in electric field assisted carrier collection. More than 50 dB converted signal-to-noise ratio at 40 GHz has been demonstrated under zero bias voltage, with quantum efficiency could be further amplified by hot carrier gain on graphene-i Si interface and avalanche process on graphene-doped Si interface. With the device architecture fully defined by nanomanufactured substrate, this study is the first demonstration of post-fabrication-free two-dimensional material active silicon photonic devices.Comment: NPJ 2D materials and applications (2018

CO(1-0) in z ≳ 4 Quasar Host Galaxies: No Evidence for Extended Molecular Gas Reservoirs

We present ^(12)CO(J = 1 → 0) observations of the high-redshift quasi-stellar objects (QSOs) BR 1202-0725 (z = 4.69), PSS J2322+1944 (z = 4.12), and APM 08279+5255 (z = 3.91) using the NRAO Green Bank Telescope (GBT) and the MPIfR Effelsberg 100 m telescope. We detect, for the first time, the CO ground-level transition in BR 1202-0725. For PSS J2322+1944 and APM 08279+5255, our observations result in line fluxes that are consistent with previous NRAO Very Large Array (VLA) observations, but they reveal the full line profiles. We report a typical lensing-corrected velocity-integrated intrinsic ^(12)CO(J = 1 → 0) line luminosity of L'_(CO) = 5 × 10^(10) K km s^(-1) pc^2 and a typical total H_2 mass of M(H_2) = 4 × 10^(10) M_☉ for the sources in our sample. The CO/FIR luminosity ratios of these high-z sources follow the same trend as seen for low-z galaxies, leading to a combined solution of log L_(FIR) = (1.39 ± 0.05) log L_(CO) - 1.76. It has previously been suggested that the molecular gas reservoirs in some quasar host galaxies may exhibit luminous, extended ^(12)CO(J = 1 → 0) components that are not observed in the higher J CO transitions. Using the line profiles and the total intensities of our observations and large velocity gradient (LVG) models based on previous results for higher J CO transitions, we derive that emission from all CO transitions is described well by a single gas component in which all molecular gas is concentrated in a compact nuclear region. Thus, our observations and models show no indication of a luminous extended, low surface brightness molecular gas component in any of the high-redshift QSOs in our sample. If such extended components exist, their contribution to the overall luminosity is limited to at most 30%

Data Compression Approach for Long-Term Monitoring of Pavement Structures

Pavement structures are designed to withstand continuous damage during their design life. Damage starts as soon as the pavement is open to traffic and increases with time. If maintenance activities are not considered in the initial design or considered but not applied during the service life, damage will grow to a point where rehabilitation may be the only and most expensive option left. In order to monitor the evolution of damage and its severity in pavement structures, a novel data compression approach based on cumulative measurements from a piezoelectric sensor is presented in this paper. Specifically, the piezoelectric sensor uses a thin film of polyvinylidene fluoride to sense the energy produced by the micro deformation generated due to the application of traffic loads. Epoxy solution has been used to encapsulate the membrane providing hardness and flexibility to withstand the high-loads and the high-temperatures during construction of the asphalt layer. The piezoelectric sensors have been exposed to three months of loading (approximately 1.0 million loads of 65 kN) at the French Institute of Science and Technology for Transport, Development and Networks (IFSTTAR) fatigue carrousel. Notably, the sensors survived the construction and testing. Reference measurements were made with a commercial conventional strain gauge specifically designed for measurements in hot mix asphalt layers. Results from the carrousel successfully demonstrate that the novel approach can be considered as a good indicator of damage progression, thus alleviating the need to measure strains in pavement for the purpose of damage tracking

Thermo-rheological analysis of WMA-additive modified binders

Thermo-rheological characteristics of unmodified and modified bitumen have significant impacts on the mechanical response of asphalt. This study investigates the impacts of an organic and a chemical Warm Mix Asphalt additive on bitumen thermo-rheological and mechanical characteristics. Modified binders with different concentrations of each additive were studied and analysed comparatively to a 40/60 penetration grade bitumen. Frequency sweep tests were performed at different ageing levels to characterise the Linear Viscoelastic properties. The multiple stress creep and recovery, linear amplitude sweep (LAS) and low temperature creep stiffness tests, together with the Glover–Rowe (G–R) fatigue parameter (determined from fitting of the 2S2P1D model to the complex shear modulus and phase angle master curves) were used to analyse the performance of the binders at critical operating temperatures. The results demonstrated the necessity to analyse the behavior of the studied binders beyond the limits of linear viscoelasticity to better characterise these types of bitumen. The results also indicated that both additives retarded bitumen ageing with the organic additive increasing bitumen elastic response while the chemical additive increased its viscous response. The results also showed an excellent correlation between the G–R parameter and LAS results which suggests the ability to use this parameter in characterising fatigue performance of the studied binders. This also suggests that bitumen fatigue life may be improving over time due to the increased elastic behahviour during ageing so long as a certain critical level of ageing is not reached

CD90 is not constitutively expressed in functional innate lymphoid cells

Huge progress has been made in understanding the biology of innate lymphoid cells (ILC) by adopting several well-known concepts in T cell biology. As such, flow cytometry gating strategies and markers, such as CD90, have been applied to indentify ILC. Here, we report that most non-NK intestinal ILC have a high expression of CD90 as expected, but surprisingly a sub-population of cells exhibit low or even no expression of this marker. CD90-negative and CD90-low CD127+ ILC were present amongst all ILC subsets in the gut. The frequency of CD90-negative and CD90-low CD127+ ILC was dependent on stimulatory cues in vitro and enhanced by dysbiosis in vivo. CD90-negative and CD90-low CD127+ ILC were a potential source of IL-13, IFNγ and IL-17A at steady state and upon dysbiosis- and dextran sulphate sodium-elicited colitis. Hence, this study reveals that, contrary to expectations, CD90 is not constitutively expressed by functional ILC in the gut

Interventions to optimise the care continuum for chronic viral hepatitis: a systematic review and meta-analyses.

BACKGROUND: Advances in therapy for hepatitis B virus (HBV) and hepatitis C virus (HCV) have ushered in a new era in chronic hepatitis treatment. To maximise the effectiveness of these medicines, individuals must be engaged and retained in care. We analysed operational interventions to enhance chronic viral hepatitis testing, linkage to care, treatment uptake, adherence, and viral suppression or cure. METHODS: We did a systematic review of operational interventions, and did meta-analyses for sufficiently comparable data. We searched PubMed, Embase, WHO library, International Clinical Trials Registry Platform, PsycINFO, and CINAHL for randomised controlled trials and controlled non-randomised studies that examined operational interventions along the chronic viral hepatitis care continuum, published in English up to Dec 31, 2014. We included non-pharmaceutical intervention studies with primary or secondary outcomes of testing, linkage to care, treatment uptake, treatment adherence, treatment completion, treatment outcome, or viral endpoints. We excluded dissertations and studies of children only. Data were extracted by two independent reviewers, with disagreements resolved by a third reviewer. Studies were assessed for bias. Data from similar interventions were pooled and quality of evidence was assessed using GRADE. This study was registered in PROSPERO (42014015094). FINDINGS: We identified 7583 unduplicated studies, and included 56 studies that reported outcomes along the care continuum (41 for HCV and 18 for HBV). All studies except one were from high-income countries. Lay health worker HBV test promotion interventions increased HBV testing rates (relative risk [RR] 2·68, 95% CI 1·82-3·93). Clinician reminders to prompt HCV testing during clinical visits increased HCV testing rates (3·70, 1·81-7·57). Nurse-led educational interventions improved HCV treatment completion (1·14, 1·05-1·23) and cure (odds ratio [OR] 1·93, 95% CI 1·44-2·59). Coordinated mental health, substance misuse, and hepatitis treatment services increased HCV treatment uptake (OR 3·03, 1·24-7·37), adherence (RR 1·22, 1·05-1·41), and cure (RR 1·21, 1·07-1·38) compared with usual care. INTERPRETATION: Several simple, inexpensive operational interventions can substantially improve engagement and retention along the chronic viral hepatitis care continuum. Further operational research to inform scale-up of hepatitis services is needed in low-income and middle-income countries. FUNDING: World Health Organization and US Fulbright Program

A multi-decade record of high quality fCO2 data in version 3 of the Surface Ocean CO2 Atlas (SOCAT)

The Surface Ocean CO2 Atlas (SOCAT) is a synthesis of quality-controlled fCO2 (fugacity of carbon dioxide) values for the global surface oceans and coastal seas with regular updates. Version 3 of SOCAT has 14.7 million fCO2 values from 3646 data sets covering the years 1957 to 2014. This latest version has an additional 4.6 million fCO2 values relative to version 2 and extends the record from 2011 to 2014. Version 3 also significantly increases the data availability for 2005 to 2013. SOCAT has an average of approximately 1.2 million surface water fCO2 values per year for the years 2006 to 2012. Quality and documentation of the data has improved. A new feature is the data set quality control (QC) flag of E for data from alternative sensors and platforms. The accuracy of surface water fCO2 has been defined for all data set QC flags. Automated range checking has been carried out for all data sets during their upload into SOCAT. The upgrade of the interactive Data Set Viewer (previously known as the Cruise Data Viewer) allows better interrogation of the SOCAT data collection and rapid creation of high-quality figures for scientific presentations. Automated data upload has been launched for version 4 and will enable more frequent SOCAT releases in the future. High-profile scientific applications of SOCAT include quantification of the ocean sink for atmospheric carbon dioxide and its long-term variation, detection of ocean acidification, as well as evaluation of coupled-climate and ocean-only biogeochemical models. Users of SOCAT data products are urged to acknowledge the contribution of data providers, as stated in the SOCAT Fair Data Use Statement. This ESSD (Earth System Science Data) “living data” publication documents the methods and data sets used for the assembly of this new version of the SOCAT data collection and compares these with those used for earlier versions of the data collection (Pfeil et al., 2013; Sabine et al., 2013; Bakker et al., 2014). Individual data set files, included in the synthesis product, can be downloaded here: doi:10.1594/PANGAEA.849770. The gridded products are available here: doi:10.3334/CDIAC/OTG.SOCAT_V3_GRID