Performance Evaluation of an Image‐Space Observer‐Based Visual Servoing System

In recent years, robots have come to be required to operate in various environments and situations. Therefore, robots have to recognize the environment they are in and adapt to any situations that present themselves. The purpose of this research is to increase the tracking speed and robustness of a visual servoing system. A 3‐link planar manipulator provided with a CCD camera is used to track the target. In order to track the target, an image‐based tracking method, suitable for high‐speed tracking, is used. This paper proposes an image‐space observer (IOB), which compensates disturbances in the image space. A zero‐order hold is introduced to the IOB to enhance the performance of the visual servoing system. The validity of the proposed method is confirmed through experiments.     

Mean-field effects on matter and antimatter elliptic flow

We report our recent work on mean-field potential effects on the elliptic flows of matters and antimatters in heavy ion collisions leading to the production of a baryon-rich matter. Within the framework of a multiphase transport （AMPT） model that includes both initial partonic and final hadronic interactions, we have found that including mean-field potentials in the hadronic phase leads to a splitting of the elliptic flows of particles and their antiparticles, providing thus a plausible explanation of the different elliptic flows betweenp and anti-p, K＋ and K-, and Jr＋ and ~ observed by the STAR Collaboration in the Beam Energy Scan （BES） program at the Relativistic Heavy Ion Collider （RHIC）. Using a partonic transport model based on the Nambu-Jona-Lasinio （NJL） model, we have also studied the effect of scalar and vector mean fields on the elliptic flows of quarks and antiquarks in these collisions. Converting quarks and antiquarks at hadronization to hadrons via the quark coalescence model, we have found that the elliptic flow differences between particles and antiparticles also depend on the strength of the quark vector coupling in baryon-rich quark-gluon plasma, providing thus the possibility of extracting information on the latter＇s properties from the BES program at RHIC.     

Performance of the Scattering Matrix Arc Detection System on the JET ITER-like ICRF antenna

Ion Cyclotron Radio Frequency (ICRF) antennas operating under high voltage to couple high power to fusion plasmas are at risk of electrical arcing. The standard Voltage Standing Wave Ratio (VSWR) system does not protect low impedance areas, which are used in antennas to achieve load tolerance to variations in plasma loading during Edge Localised Modes (ELMs). The Scattering Matrix Arc Detection System (SMAD) was designed to create additional protection for these areas, and 4 complete systems were implemented and tested on the ITER-like antenna (ILA) on JET. This paper describes the performance under relevant experimental conditions of load tolerance and/or high voltage and electrical arcing causing generator trip events.     

Aerosol assisted chemical vapour deposition control parameters for selective deposition of tungsten oxide nanostructures

Tungsten oxide films were deposited via Aerosol Assisted Chemical Vapour Deposition (AACVD) from the single-source precursor W(OPh)6. Film morphology and optimum deposition temperatures for formation of quasi-one-dimensional structures is influenced by the solvent 'carrier' used for deposition of the films with bulk porous films and nanostructured needles, hollow tubes and fibres obtained dependent on the solvent used and the deposition temperature. This influence of solvent could be exploited for the synthesis of other nanomaterials, and so provide a new and versatile route to develop and integrate nanostructured materials for device applications.     

SOLUBILIZATION AND CHARACTERIZATION OF MICROSOMAL-ASSOCIATED PHOSPHATIDYLINOSITOL: CERAMIDE PHOSPHOINOSITOL TRANSFERASE FROM SACCHAROMYCES CEREVISIAE

The membrane associated enzyme phosphatidylinositol: ceramide phosphoinositol transferase (IPC synthase) catalyzes an essential step in the biosynthesis of yeast inositol-containing sphingolipids. A variety of solubilization agents were examined for their ability to release IPC synthase activity from yeast membranes. The most effective solubilization agent was Triton X-100 which released over 90% of the IPC synthase activity. The basic enzymological properties of the solubilized enzyme were determined using a Triton X-100/phosphatidylinositol/ceramide/enzyme mixed micellar assay system. IPC synthase activity was dependent upon the surface concentrations of phosphatidylinositol and ceramide in a phosphatidylinositol/ceramide/Triton X-100 mixed micelle. Maximal enzyme activity was measured at 30C and pH 7.0 in the presence of 5 mM Triton X-100, 1 mM manganese and 5 mM magnesium ions.     

From papermaking to aircraft navigation: Significant patent and inventor anniversaries in 2006

This article provides details of some significant patent, patentee and invention anniversaries falling in 2006, for example those for improved paper making and sugar production, Brunel, iron and steel manufacture – the Bessemer process, aniline dyes, an improved electric clock, air conditioning, an improved flying machine, and radio navigation for aircraft.     

Effects of bunazosin and atenolol on serum lipids and apolipoproteins in a randomised trial

The effects of bunazosin and atenolol on serum lipids and lipoproteins after 6 months of treatment were compared in this multicentric, double-blind, randomised trial. A total of 174 patients with mild to moderate essential hypertension from 15 hospitals in Germany and Poland was included in the study. Eighty-seven were treated with the alpha-receptor blocker bunazosin and the same number with the beta-blocker atenolol. Systolic and diastolic blood pressure decreased significantly in both groups, whereas only atenolol decreased pulse rate. In the bunazosin group HDL-cholesterol was significantly increased after 6 months of treatment, whereas all other analysed parameters remained unchanged. In the atenolol group total cholesterol, LDL-cholesterol, total triglycerides, apolipoprotein E, VLDL-cholesterol and VLDL-triglycerides were significantly increased after 6 months of therapy. There was a significant difference between bunazosin and atenolol for total cholesterol, HDL-cholesterol, LDL-cholesterol, VLDL-cholesterol, triglycerides, VLDL-triglycerides and apolipoprotein B levels. As a consequence, there was a significant difference in the atherogenic index of both groups. We conclude that bunazosin is favorable in the treatment of high blood pressure, because the coronary risk is not negatively influenced as shown for atenolol.     

Passive immunization with antibodies against three distinct epitopes on Plasmodium yoelii merozoite surface protein 1 suppresses parasitemia

We have produced monoclonal antibodies against Plasmodium yoelii merozoite surface protein 1 (MSP-1) and have assessed their ability to suppress blood stage parasitemia by passive immunization. Six immunoglobulin G antibodies were characterized in detail: three (B6, D3, and F5) were effective in suppressing a lethal blood stage challenge infection, two (B10 and G3) were partially effective, and one (B4) was ineffective. MSP-1 is the precursor to a complex of polypeptides on the merozoite surface; all of the antibodies bound to this precursor and to an approximately 42-kDa fragment (MSP-142) that is derived from the C terminus of MSP-1. MSP-142 is further cleaved to an N-terminal approximately 33-kDa polypeptide (MSP-133) and a C-terminal approximately 19-kDa polypeptide (MSP-119) comprised of two epidermal growth factor (EGF)-like modules. D3 reacted with MSP-142 but not with either of the constituents MSP-133 and MSP-119, B4 recognized an epitope within the N terminus of MSP-133, and B6, B10, F5, and G3 bound to MSP-119. B10 and G3 bound to epitopes that required both C-terminal EGF-like modules for their formation, whereas B6 and F5 bound to epitopes in the first EGF-like module. These results indicate that at least three distinct epitopes on P. yoelii MSP-1 are recognized by antibodies that suppress parasitemia in vivo.