A Soft,Fast and Versatile Electrohydraulic Gripper with Capacitive Object Size Detection

Soft robotic grippers achieve increased versatility and reduced complexity through intelligence embodied in their flexible and conformal structures. The most widely used soft grippers are pneumatically driven; they are simple and effective but require bulky air compressors that limit their application space and external sensors or computationally expensive vision systems for pick verification. In this study, a multi-material architecture for self-sensing electrohydraulic bending actuators is presented that enables a new class of highly versatile and reconfigurable soft grippers that are electrically driven and feature capacitive pick verification and object size detection. These electrohydraulic grippers are fast (step input results in finger closure in 50 ms), draw low power (6.5 mW per finger to hold grasp), and can pick a wide variety of objects with simple binary electrical control. Integrated high-voltage driving electronics are presented that greatly increase the application space of the grippers and make them readily compatible with commercially available robotic arms.     

Functional correction of renal defects in a mouse model for ARPKD through expression of the cloned wild-type Tg737 cDNA

Autosomal recessive polycystic kidney disease (ARPKD) is characterized by the formation of large collecting tubule and ductular cysts that often result in renal insufficiency within the first decade of life. Understanding the process leading to cyst formation will require the identification and characterization of genes involved in the etiology of this disease. In this regard, we previously described the generation of a mouse model (TgN737Rpw) for ARPKD and the cloning of a candidate gene. Here we show direct involvement of the Tg737 gene in collecting duct cyst formation by expressing the wild-type Tg737 cDNA as a transgene in TgN737Rpw mutants. In contrast to TgN737Rpw mutants, the "rescued" animals survive longer, have normal renal function and normal localization of the EGFr to the basolateral surfaces of collecting duct epithelium.     

A method of assessing essential amino acid availability from microbial and ruminally undegraded protein in lactating dairy cows

The objective of this study was to extend a stable isotope-based assessment of AA absorption from rumen-degradable protein (RDP) sources to include determination of essential AA (EAA) availability from microbial protein (MCP). To demonstrate the technique, a study using a 2 × 2 factorial arrangement of treatments applied in a repeated 4 × 4 Latin square design was undertaken. Factors were high and low rumen-degradable protein and high and low starch. Twelve lactating cows were blocked into 3 groups according to days in milk and randomly assigned to the 4 treatment sequences. Each period was 14 d in length with 10 d of adaption followed by 4 d of ruminal infusions of ¹⁵N-labeled ammonium sulfate. On the last day of each period, a ¹³C-labeled AA mixture was infused into the jugular vein over a 6-h period to assess total AA entry. Rumen, blood, urine, and milk samples were collected during the infusions. Ruminal bacteria and blood samples were assessed for AA enrichment. Total plasma AA absorption rates were derived for 6 EAA from plasma ¹³C AA enrichment. Absorption of 6 EAA from MCP was calculated from total AA absorption based on ¹⁵N enrichment in blood and rumen bacteria. Essential AA absorption rates from total protein, MCP, and rumen-undegradable protein were derived with standard errors of the mean of 6, 14, and 14%, respectively. An average of 45% of absorbed EAA were from MCP, which varied among 6 EAA and was interactively affected by starch and RDP in diets. Microbial AA availability measured by isotope dilution method increased with the high RDP diets and was unaffected by starch level, except for Met, which decreased with high starch. Microbial protein outflow, estimated from urinary purine derivatives, increased with RDP and was not significantly affected by starch. This was consistent with measurements from the isotope dilution method. Total AA absorption rates measured from isotope dilution were similar to estimates from CNCPS (v. 6.55), but a lower proportion of absorbed AA was derived from MCP for the former method. Compared with the isotope and CNCPS estimates, the Fleming model underestimated microbial EAA and total EAA availability. An average of 58% of the absorbed EAA was converted into milk, which varied among individual AA and was interactively affected by starch and RDP in diets. The isotope dilution approach is advantageous because it provides estimates of EAA availability for individual EAA from rumen-undegradable protein and MCP directly with fewer errors of measurement than can be achieved with intestinal disappearance methods.     

Prestressed Ceramic Coatings for Enhanced Reliability of Silicon Wafer Fracture Strength

The objective of this paper is to investigate thin, solid, prestressed ceramic films as a means of enhancing the reliability of silicon semiconductor wafers stressed in bending. To characterize the effect of thin films on strength, one-micrometer ceramic films were deposited on wafers using plasma-enhanced chemical-vapor deposition. The modulus of rupture (MOR) of the coated wafers was determined from four-point bend testing of coated samples. Adhesion testing of the coated wafers primarily showed cohesive rather than adhesive failure. A series of residual stresses was introduced into the coating-silicon interface and the MOR was determined. The results showed that for a thin brittle coating (1 mum) on a silicon wafer (635 mum), the minimal shear stress at the surface led to dominance of the residual stress over intrinsic coating strength as the critical parameter affecting failure. A correlation between MOR and residual stress was established.     

Superplasticity in eutectoid steel

A eutectoid steel exhibited abnormally large tensile extensibility in three quite dissimilar circumstances: i) micrograin plasticity, defined by a strain-rate sensitivity exponent m = 0.42, was found at 716°C for straining the ferrite-cementite aggregate at the rate è = 4.4 x 10^-3 min^-1, giving 133 pct elongation; ii) at a much greater strain rate, ε = 25 min^-1, superplasticity appeared in austenite strained at 927°C, giving 142 pct elongation; iii) a new type of transformation plasticity was predicted and experimentally verified: 490 pct elongation resulted from thermal cycling 21 times across Ae₁. Plastic stability analysis distinguishes it from micrograin plasticity by showing that it owes to strain-hard ening during plastically stable flow; hence, there are no restrictions ε or m. Furthermore, it is not necessary to perform the straining during the transformation, since the strain-hardening capacity can be regenerated by thermal cycling through the phase transformation if the transformation serves to recover the flow stress. Additional work showed that straining during austenitizing fails to increase m above pretransformation levels. Formerly Graduate Student, Syracuse University, Syracuse, N. Y.     

Threshold energies in the light emission characteristics of silicon MOS tunnel diodes

Hot electron luminescence of MOS tunnel structures with sub-3 nm oxide layer on p-Si is experimentally studied. Radiation spectra are shown to exhibit thresholds whose positions depend on the initial energy E of injected electrons. Simultaneously, a threshold-like increase of the light intensity at a selected wavelength as a function of E is revealed, and attributed to the onset of different luminescence mechanisms.     

The Indiana silicon sphere 4π charged-particle detector array

A low threshold charged particle detector array for the study of fragmentation processes in light-ion-induced reactions has been constructed and successfully implemented at the IUCF and Saturne II accelerators. The array consists of 162-triple-element detector telescopes mounted in a spherical geometry and covering 74% of 4π in solid angle. Telescope elements are composed of (1) an axial-field gas ionization chamber operated with C₃F₈ gas; (2) a 0.5 mm thick passivated silicon detector, and (3) a 2.8 cm thick CsI(Tl) scintillation crystal with photodiode readout. Discrete element identification is obtained for ejectiles up to Z 16 over the dynamic range 0.7 ≤ E/A ≤ 95 MeV/nucleon. Isotopes are also distinguished for H, He, Li and Be ejectiles with 8 E/A 95 MeV. Custom-designed electronics are employed for bias supplies and linear signal processing. Data are acquired via a CAMAC/VME/Ethernet system.     

Fusarium graminearum A 3/5 as a novel host for heterologous protein production

We describe a novel fungal expression system which utilizes the Quorn myco-protein fungus Fusarium graminearum A 3/5. A transformation system was developed for F. graminearum and was used to introduce the coding and regulatory regions of a trypsin gene from Fusarium oxysporum. The protein was efficiently expressed, processed and secreted by the recombinant host strain. In addition, the promoter and terminator of the F. oxysporum trypsin gene have been successfully utilized to drive the expression of a cellulase gene from Scytalidium thermophilum and a lipase gene from Thermomyces lanuginosus in F. graminearum.     

Nurse and patient reactions to social displays of depression.

Examined the interpersonal responses of 27 nurses and 27 hospitalized patients with chronic medical conditions to a target who appeared either to have a chronic physical impairment or to be able-bodied, and who enacted either a depressed or nondepressed role. It was predicted that while nurses and patients would have negative reactions to the depressed targets, patient reactions to the depressed target with a physical impairment would be less negative than nurse reactions on the basis of perceived similarity. Results indicated that both groups had negative perceptions of the depressed targets. The similarity hypothesis, however, was not explicitly supported. The reactions of health-care staff to depressed medical patients may reinforce the patients' depressive behavior. (PsycINFO Database Record (c) 2010 APA, all rights reserved)