The stiffness matrix in elastically articulated rigid-body systems

Discussed in this paper is the Cartesian stiffness matrix, which recently has received special attention within the robotics research community. Stiffness is a fundamental concept in mechanics; its representation in mechanical systems whose potential energy is describable by a finite set of generalized coordinates takes the form of a square matrix that is known to be, moreover, symmetric and positive-definite or, at least, semi-definite. We attempt to elucidate in this paper the notion of “asymmetric stiffness matrices”. In doing so, we show that to qualify for a stiffness matrix, the matrix should be symmetric and either positive semi-definite or positive-definite. We derive the conditions under which a matrix mapping small-amplitude displacement screws into elastic wrenches fails to be symmetric. From the discussion, it should be apparent that the asymmetric matrix thus derived cannot be, properly speaking, a stiffness matrix. The concept is illustrated with an example.     

The held out wings (how) Drosophila gene encodes a putative RNA-binding protein involved in the control of muscular and cardiac activity

In an attempt to identify genes that are involved in Drosophila embryonic cardiac development, we have cloned and characterized a gene whose function is required late in embryogenesis to control heart rate and muscular activity. This gene has been named held out wings (how) because hypomorphic mutant alleles produce adult animals that have lost their ability to fly and that keep their wings horizontal at a 90 degree angle from the body axis. In contrast to the late phenotype observed in null mutants, the How protein is expressed early in the invaginating mesoderm and this expression is apparently under the control of twist. When the different mesodermal lineages segregate, the expression of How becomes restricted to the myogenic lineage, including the cardioblasts and probably all the myoblasts. Antibodies directed against the protein demonstrate that How is localized to the nucleus. how encodes a protein containing one KH-domain which has been implicated in binding RNA. how is highly related to the mouse quaking gene which plays a role at least in myelination and that could serve to link a signal transduction pathway to the control of mRNA metabolism. The properties of the how gene described herein suggest that this gene participates in the control of expression of as yet unidentified target mRNAs coding for proteins essential to cardiac and muscular activity.     

Characterization and optimization of linearly tapered slot antenna pattern

A parametric study of linearly tapered slot antenna (LTSA) in air and a method for optimization of its pattern are presented. A method of moments code is utilized to investigate the behavior of LTSA’s as the length, height and the taper angle varies. It is shown that the antenna pattern can be improved using a top layer of dielectric material with varying permittivity.     

Maternal nutrition and socio-economic status as determinants of birthweight in chronically malnourished African women

The birthweight is the most important determinant of mortality and morbidity in the neonatal period and may have an influence on health in adult life. The high rate of low birthweight in developing countries is therefore a major health problem. Maternal malnutrition is usually assumed to be a causal factor but other environmental factors are also involved. In this study we analysed maternal nutritional and socio-economic factors as determinants of birthweight in term infants from a rural African society characterised by a high rate of chronic malnutrition. Relations of maternal weight, gestational weight gain, parity, socio-economic status and infant sex with birthweight were analysed in 1,477 women and child pairs. The selected women were followed from early pregnancy and had an uncomplicated delivery at term of a living singleton child. The gestational weight gain was 5.6 (SD 6.0) kg and the mean birthweight 2.933 kg (SD 408). Maternal weight, representing the maternal long-term nutritional situation, was the most important independent determinant of birthweight, accounting for 13.0% of the variance in birthweight. The weight gain, representing the short-term nutritional situation, explained only 5.6% of the variance. Birthweight increased by 20 g (CI 18-23) for each kg maternal weight and by 15 g (CI 12-18) for each kg gestational weight gained. The socio-economic difference in birth-weight was 153 g (CI 109-196) 88 of which (CI 48-128) remained unexplained after adjustment for differences in maternal weight, parity and gender. Improved long-term nutritional situation and living conditions seems to be the most important prerequisites to counteract low birthweight in developing countries.     

The Continuous Interpolating Self-organizing Map

The self-organizing map (SOM) [5] provides a general data approximation method which is suitable for several application domains. The topology preservation is an important feature in data-analysis and may also be advantageous for the evaluation of the data in a function approximation or regression task. For this reason the interpolated self-organizing map (I-SOM) adds an output layer to the SOM architecture which computes a real valued output vector. This paper presents an extension of I-SOM towards a continuous interpolation. It is compared to RBF and to the parametrized self-organizing map.     

Microscopical imaging of hydroxyapatite/mica composite and packed hydroxyapatite structure--an atomic force microscopy investigation

A focus on the importance of leisure in the development of student nurses has been neglected in the 1990s. This study considers 444 prospective nurses on conventional, diploma and degree courses in two areas of England. It examines their activities associated with socializing, their social support networks and their use of clubs, sports and hobbies before entering nursing. It is evident that students enter nurse training with a wide variety of leisure experiences. Changing recruitment patterns and the structure of nurse training has an effect on the leisure needs of prospective nurses which must be addressed.     

Interaction between the Drug Information Centre and the Regional Centre for Adverse Drug Reaction Monitoring in northern Sweden

Two Ghanaian women, aged 21 and 29 years, who were involved in road traffic accidents sustaining blunt trauma to the chest and who had delayed diagnosis of their total bronchial rupture and underwent successful surgical repair 18 and 29 months, respectively after injury are reported with a review of the literature. We believe these to be the first reported cases of delayed diagnosis and successful repair of total bronchial rupture in Tropical Africa.     

Quasi-optical measurement of complex dielectric constant at 300 GHz

A two beam interferometer in the Martin-Puplett configuration is used to determine the complex dielectric constant at 300 GHz of teflon, TPX-plastics, SPECTRALON and paraffin waxes with melting temperatures of 48° C and 72° C, respectively. The design of the quasi-optical system leads to a constant beam diameter at the power detector independent of path delay and frequency. The power detector signal is recorded not only along one period but over about 50 periods. A spectrum estimation routine allows to determine more exactly amplitude and phase angle of the signal. A basic problem is noticed: imperfect detector and source match cause harmonic distortion of the power detector signal. The effects on processing the loss tangent and the invalidation are shown. Finally loss tangent and dielectric constant are determined indirectly by optimizing an equivalent microwave circuit using a commercial available microwave design system to take multiple reflections and losses in consideration.     

A streamlined approximation and duality scheme for structural optimization

An efficient and commonly used approach to structural optimization is to solve a sequence of approximate design problems that are constructed iteratively. As is well-known, a major part of the computational burden of this scheme lies in the sensitivity analysis needed to state the approximate problems. We propose a possibility for reducing this burden by streamlining the calculations in a combined approximation and duality scheme for structural optimization. The difference between this scheme and the traditional one is that, instead of calculating all the constraint gradients to state an approximate design problem explicitly, linear combinations of these gradients are generated as they are needed during the solution of the approximate problem by the dual method. We show, by analysing some typical scenarios of problem characteristics, that this rearrangement of the calculations may be a computationally viable alternative to the traditional scheme. An advantage of streamlining the calculations is that there is no need to incorporate an active set strategy in the scheme, as is usually done, since all the design constraints may be taken into consideration without any loss of computational efficiency. This may, clearly, enhance the practical rate of convergence of the overall approximation scheme. Moreover, the proposed rearrangement of the calculations may make it computationally viable to apply iterative equation solvers to the structural analysis problem. Numerical results with direct as well as iterative equation solvers show that the streamlined scheme is a feasible and promising approach to structural optimization.