Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian

This paper presents modular dynamics for dual-arms, expressed in terms of the kinematics and dynamics of each of the stand-alone manipulators. The two arms are controlled as a single manipulator in the task space that is relative to the two end-effectors of the dual-arm robot. A modular relative Jacobian, derived from a previous work, is used which is expressed in terms of the stand-alone manipulator Jacobians. The task space inertia is expressed in terms of the Jacobians and dynamics of each of the stand-alone manipulators. When manipulators are combined and controlled as a single manipulator, as in the case of dual-arms, our proposed approach will not require an entirely new dynamics model for the resulting combined manipulator. But one will use the existing Jacobians and dynamics model for each of the stand-alone manipulators to come up with the dynamics model of the combined manipulator. A dual-arm KUKA is used in the experimental implementation.     

Design and validation of an Individual Health Report (IHR)

This research focused on developing a general health report that conveys an individual’s health readings in a clear, concise and explanatory manner and demonstrating the report’s usefulness. The research examined the need for such a report and focused the design on the determined need and communication through visual display. The designed “Individual Health Report (IHR)” was evaluated using data obtained from an online survey developed for this research. The analysis involved t-tests, McNemar’s tests, linear regression and ANOVA. Results included the finding that the IHR significantly improved respondent’s ability to correctly answer questions about their health status and preventive health in general (p < 0.0001, n = 61). The study also showed that introduction of the IHR by healthcare providers would significantly improve the respondents’ view that they get the preventive healthcare information they need to make appropriate decisions (p = 0.0007, n = 61).In an era when costs of healthcare are of great concern and prevention is starting to gain traction as compared to strictly treatment, an IHR could be a very practical and beneficial step toward prevention focused healthcare. An IHR could be considered as a tool to provide increased public awareness of health status, with resulting gains in proactive and effective health management choices.

Relevance to Industry

Degraded health and associated healthcare costs are of significant concerns to industry performance and profits. As several references highlighted in this research have indicated, a lack of health literacy and awareness of critical health indicators are significant concerns in helping employees to manage their own health status. From an economic and societal perspective, it may be considered cost effective for employers to work with healthcare providers to support presentation of employee health status and results of recent healthcare evaluations by means of an IHR. An IHR of the type tested in this research can be seen to both provide clear and understandable health status information, and improve health literacy, for wide sections of the population. Presenting employee information via this type of IHR can effectively supplement healthcare information delivered by healthcare providers. The IHR tested in this research represents a form of clear information presentation and visualization that overcomes issues of jargon that degrades communication between healthcare providers and employees.     

Constructive Membership Predicates as Index Types

In the constructive setting, membership predicates over recursive types are inhabited by terms indexing the elements that satisfy the criteria for membership. In this paper, we motivate and explore this idea in the concrete setting of lists and trees. We show that the inhabitants of membership predicates are precisely the inhabitants of a generic shape type. We show that membership of x (of type T) in structure S, (x_TS) can not, in general, index all parts of a structure S and we generalize to a form ρS where ρ is a predicate over S. Under this scheme, (λx.True)S is the set of all indexes into S, but we show that not all subsets of indexes are expressible by strictly local predicates. Accordingly, we extend our membership predicates to predicates that retain state “from above” as well as allow “looking below”. Predicates of this form are complete in the sense that they can express every subset of indexes in S. These ideas are motivated by experience programming in Nuprl's constructive type theory and examining the constructive content of mechanically checked formal proofs involving membership predicates.     

Selenium content of feeds and effect of dietary selenium on hair and blood serum.

A selenium depletion diet (.025 ppm selenium) was fed to two male Holstein calves for its effect on concentrations of selenium in serum. By 90 days, selenium in serum was depressed from .022 ppm to .013 ppm, and one of two calves had died of "possible white muscle disease." Repletion was rapid in that a diet containing .200 ppm selenium increased selenium in serum to .028 ppm within 2 wk. Dietary .280 ppm selenium increased it to .051 ppm in 1 wk. Eleven cows and eleven calves showed averages of .030 ppm in serum (range of .013 to .051 ppm) fed a diet of corn silage (.039 ppm) and supplement (.090 ppm). A sampling of feedstuffs showed a wide range of selenium among feedstuffs (.023 for corn cobs to 2.663 ppm for dried egg albumin) and a wide range within one type feedstuff (shelled corn, .017 to .219 ppm).     

In situ laser heating and radial synchrotron x-ray diffraction in a diamond anvil cell

We report a first combination of diamond anvil cell radial x-ray diffraction with in situ laser heating. The laser-heating setup of ALS beamline 12.2.2 was modified to allow one-sided heating of a sample in a diamond anvil cell with an 80 W yttrium lithium fluoride laser while probing the sample with radial x-ray diffraction. The diamond anvil cell is placed with its compressional axis vertical, and perpendicular to the beam. The laser beam is focused onto the sample from the top while the sample is probed with hard x-rays through an x-ray transparent boron-epoxy gasket. The temperature response of preferred orientation of (Fe,Mg)O is probed as a test experiment. Recrystallization was observed above 1500 K, accompanied by a decrease in stress.     

An Atomistic Understanding of Allosteric Inhibition of Glutamate Racemase: a Dampening of Native Activation Dynamics

Glutamate racemases (GR) are members of the family of bacterial enzymes known as cofactor-independent racemases and epimerases and catalyze the stereoinversion of glutamate. D-amino acids are universally important for the proper construction of viable bacterial cell walls, and thus have been repeatedly validated as attractive targets for novel antimicrobial drug design. Significant aspects of the mechanism of this challenging stereoinversion remain unknown. The current study employs a combination of MD and QM/MM computational approaches to show that the GR from H. pylori must proceed via a pre-activation step, which is dependent on the enzyme's flexibility. This mechanism is starkly different from previously proposed mechanisms. These findings have immediate pharmaceutical relevance, as the H. pylori GR enzyme is a very attractive allosteric drug target. The results presented in this study offer a distinctly novel understanding of how AstraZeneca's lead series of inhibitors cripple the H. pylori GR's native motions, via prevention of this critical chemical pre-activation step. Our experimental studies, using SPR, fluorescence and NMR WaterLOGSY, show that H. pylori GR is not inhibited by the uncompetitive mechanism originally put forward by Lundqvist et al.. The current study supports a deep connection between native enzyme motions and chemical reactivity, which has strong relevance to the field of allosteric drug discovery.     

Critical incidents in counseling psychology professionals' and trainees' social justice orientation development.

Through a qualitative, critical incident research design, this study identified and defined critical incidents that cultivated a social justice orientation among counseling psychology doctoral students and professionals. Research questions included: (a) What incidents are critical in the development of a social justice orientation? (b) Of these incidents, which are most influential? (c) How do these incidents affect social justice orientation development? Thirty-six counseling psychology doctoral students and professionals, who demonstrated a commitment to social justice through scholarship and clinical practice, completed an online survey, which consisted of rank-order and open-ended items. Qualitative data were analyzed utilizing the constant comparative method. Analyses revealed five categories of critical incidents to which participants attributed their social justice orientation development. In addition, five themes were identified that categorized the ways in which critical incidents changed individuals. Analyses of rank-ordered items indicated that the categories of Exposure to Injustice and Influence of Significant Persons were most frequently ranked as the most influential critical incidents in the development of a social justice orientation. Implications of these results and future directions for education, training, and research are discussed. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Editorial

Editorial Introduction

Editorial     

A Preliminary Study of the Toxicological Properties of Selected Polymer–Ferrocene Conjugates

Prompted by early observations of the cytotoxic and antineoplastic properties of certain ferrocene and ferricenium derivatives, efforts in this laboratory were focused on the synthesis of carrier-bound ferrocene compounds. Subsequent cell culture tests carried out with selected conjugates obtained in that program showed these polymers to be highly active antiproliferative agents. In the present project toxicological work has been performed in vivo on several ferrocene conjugates in an effort to assess their toxic effects in experimental animals (CD-1 mice). The conjugates, all based on an ,-DL-polyaspartamide backbone structure, comprise the ferrocene drug model as a terminal on short side chains containing biofissionable amide or ester links for intracellular drug release. The polymers, dissolved in phosphate-buffered saline, have been injected in predetermined concentrations into the vein of the mice, and the maximum tolerated dose (MTD) levels have been determined, the latter referring to the highest dose levels administered that would allow long-term survival of the test animals. For the five conjugates tested, MTD levels range from about 3 to 30 mg Fe/kg or 0.05–0.66 mmol Fe/kg. Compared on a molar metal-to-metal basis with similarly structured platinum conjugates tested previously (MTD, 0.14–2.66 mmol Pt/kg), these values are indicative of comparatively high toxicity of the ferrocene polymers. Some implications of these findings are discussed.