Prototype implementation of an assembly system for tissue engineered constructs

In the course of the research described in this paper a prototype assembly system for the automated fabrication of customized, biodegradable bone implants for tissue engineering applications has been developed. This work is part of a collaborative effort between the Handling Laboratory (hLab) of Fachhochschule Vorarlberg and the Bone Tissue Engineering Center (BETC) of Carnegie Mellon University. Bone implants are built up using thin layers of highly porous, biodegradable polymer scaffold materials. These layers can be seeded with cells prior to assembly. The main focus of this work is robotic handling of the prefabricated polymer layers. Additional components that are addressed include the cutting of contoured polymer layers from sheetstock and the assembly of the 21/2 dimensional layers to form 3D bone implants. Cutting tests have been performed to assess different cutting technologies. Assembly tests with mechanical connectors and fibrin adhesive have also been conducted. These components are integrated within a robot cell to demonstrate overall system feasibility.     

Electrical and optical properties of oxygen doped GaN grown by MOCVD using N2O

Oxygen doped GaN has been grown by metalorganic chemical vapor deposition using N₂O as oxygen dopant source. The layers were deposited on 2″ sapphire substrates from trimethylgallium and especially dried ammonia using nitrogen (N₂) as carrier gas. Prior to the growth of the films, an AIN nucleation layer with a thickness of about 300? was grown using trimethylaluminum. The films were deposited at 1085°C at a growth rate of 1.0 μm/h and showed a specular, mirrorlike surface. Not intentionally doped layers have high resistivity (>20 kW/square). The gas phase concentration of the N₂O was varied between 25 and 400 ppm with respect to the total gas volume. The doped layers were n-type with carrier concentrations in the range of 4×10¹⁶ cm⁻³ to 4×10¹⁸ cm⁻³ as measured by Hall effect. The observed carrier concentration increased with increasing N₂O concentration. Low temperature photoluminescence experiments performed on the doped layers revealed besides free A and B exciton emission an exciton bound to a shallow donor. With increasing N₂O concentration in the gas phase, the intensity of the donor bound exciton increased relative to that of the free excitons. These observations indicate that oxygen behaves as a shallow donor in GaN. This interpretation is supported by covalent radius and electronegativity arguments.     

A novel low complexity data demodulation algorithm for pulse position modulation

In this paper, a low complexity data demodulation algorithm is proposed that requires time of arrival information of the received signal exclusively. As an application example, the algorithm is applied to an ultra-wideband impulse radio communication system with pulse position modulation. The algorithm is insensitive to a common time delay for all pulses, that means, it does not require an accurate synchronization between the transmitter and the receiver. For the performance estimation, only a symbol synchronization is assumed, i.e., that there is a priori knowledge which pulse marks the beginning of a received data symbol. The performance of the proposed algorithm is evaluated for straightforward time of arrivals estimators, such as a maximum detector or a threshold detector. It is shown that the proposed algorithm outperforms a least squares algorithm in all considered scenarios. In particular, an increased robustness against additive white Gaussian noise, impulse like noise, and multiuser interference is demonstrated as well as an improved performance for multipath propagation channels.     

Theoretical examination of the mechanism of aldose-ketose isomerization

Two mechanisms for an aldose–ketose isomerization havebeen examined using high level ab initio and semiempirical molecularorbital methods. The proton transfer pathway via an enediolintermediate is shown to be favored in the absence of a metalion, while the hydride transfer pathway becomes favored in thepresence of a metal ion. Our calculations explain why the protontransfer pathway is operative in most aldose–ketose isomerizationreactions. These calculations also provide further support forthe previously proposed metal ion-mediated hydride transfermechanism for xylose isomerase.     

Dependable Low‐altitude Obstacle Avoidance for Robotic Helicopters Operating in Rural Areas

This paper presents a system enabling robotic helicopters to fly safely without user interaction at low altitude over unknown terrain with static obstacles. The system includes a novel reactive behavior‐based method that guides rotorcraft reliably to specified locations in sparsely occupied environments. System dependability is, among other things, achieved by utilizing proven system components in a component‐based design and incorporating safety margins and safety modes. Obstacle and terrain detection is based on a vertically mounted off‐the‐shelf two‐dimensional LIDAR system. We introduce two flight modes, pirouette descent and waggle cruise, which extend the field of view of the sensor by yawing the aircraft. The two flight modes ensure that all obstacles above a minimum size are detected in the direction of travel. The proposed system is designed for robotic helicopters with velocity and yaw control inputs and a navigation system that provides position, velocity, and attitude information. It is cost effective and can be easily implemented on a variety of helicopters of different sizes. We provide sufficient detail to facilitate the implementation on single‐rotor helicopters with a rotor diameter of approximately 1.8 m. The system was extensively flight‐tested in different real‐world scenarios in Queensland, Australia. The tests included flights beyond visual range without a backup pilot. Experimental results show that it is feasible to perform dependable autonomous flight using simple but effective methods. © 2013 Wiley Periodicals, Inc.     

X-ray absorption spectroscopy of Pr x Y1−x Ba2Cu3O7−y single crystals

Substituting Y in orthorhombic (Y,RE)Ba₂Cu₃O₇ by any rare-earth element RE has generally little effect on the superconducting properties. For RE = Pr, however, superconductivity is completely suppressed. To elucidate this effect we have studied the unoccupied electronic structure of Pr_xY_1–xBa₂Cu₃O_7–y (x = 0.0,0.4, 0.8) by polarization-dependent O1s x-ray absorption spectroscopy on detwinned single crystals. Along with the comparison of undoped (y 0.9) to the doped materials (y 0.1), this allows a test of the current theoretical explanations for the suppression of superconductivity. While we can rule out models involving hole filling or charge transfer from planes to chains our data is consistent with approaches based on Pr4f–02p hybridization.