On the determination of boundaries to manipulator workspaces

The accumulation of two independent, broadly applicable formulations for determining the boundary to manipulator workspaces, presented elsewhere, are compared in this paper. Insights gained from one method are used to explain behavior exhibited in the other. Results are also compared and validated. A numerical formulation based on continuation methods is used to map curves that are on the boundary of a manipulator workspace. Analytical criteria based on row rank deficiency criteria of the manipulator's analytical Jacobian are used to map a family of one-dimensional solution curves on the boundary. The other formulation, based on a similar rank-deficiency criteria, yields analytic boundaries parametrized in terms of surface patches on the boundary. Results concerning the applicability of the numerical method to open- and closed-loop systems are compared with those limited to the open-loop for the analytical method. Conclusions regarding the behavior of the manipulator on geometric entities characterized by singular curves, higher-order bifurcation points, and surfaces inside the workspace are drawn. Applicability of both methods and their limitations are also addressed.     

Predicting N mineralized in a Georgia Coastal Plain field

The N mineralized from soil organic matter provides an important portion of N available for crop production. The objective of this study was to determine the amount of spatial variability in N mineralization potential in a field and to evaluate three different methods that might be used to estimate this variability. The three methods tested included predicting the N mineralized from surface soil properties as well as from a biological and a chemical procedure. Three soils varying in N mineralization potential were selected for the study from a field in the Georgia Coastal Plain. The N mineralized from these soils was determined by an N balance of unfertilized and cropped plots. The amount of N mineralized could not be reliably predicted from surface soil organic C, although surface soil clay concentration was positively correlated with the N mineralized. The N mineralized that was predicted using mineralization parameters determined by aerobic incubation, adjusted daily for soil water content and temperature, was approximately 50% of the field measurements of N mineralized. The values of NH₄-N extracted with hot 2 M KCl were related significantly to N mineralized in the field (r²= 0.60) and also to the zero order rate constant of mineralization, k₀ (r²= 0.77), determined from the N mineralized in the aerobic laboratory incubation.     

Decoupled Roles for the Atypical,Bifurcated Binding Pocket of the ybfF Hydrolase

Serine hydrolases have diverse intracellular substrates, biological functions, and structural plasticity, and are thus important for biocatalyst design. Amongst serine hydrolases, the recently described ybfF enzyme family are promising novel biocatalysts with an unusual bifurcated substrate‐binding cleft and the ability to recognize commercially relevant substrates. We characterized in detail the substrate selectivity of a novel ybfF enzyme from Vibrio cholerae (Vc‐ybfF) by using a 21‐member library of fluorogenic ester substrates. We assigned the roles of the two substrate‐binding clefts in controlling the substrate selectivity and folded stability of Vc‐ybfF by comprehensive substitution analysis. The overall substrate preference of Vc‐ybfF was for short polar chains, but it retained significant activity with a range of cyclic and extended esters. This broad substrate specificity combined with the substitutional analysis demonstrates that the larger binding cleft controls the substrate specificity of Vc‐ybfF. Key selectivity residues (Tyr116, Arg120, Tyr209) are also located at the larger binding pocket and control the substrate specificity profile. In the structure of ybfF the narrower binding cleft contains water molecules prepositioned for hydrolysis, but based on substitution this cleft showed only minimal contribution to catalysis. Instead, the residues surrounding the narrow binding cleft and at the entrance to the binding pocket contributed significantly to the folded stability of Vc‐ybfF. The relative contributions of each cleft of the binding pocket to the catalytic activity and folded stability of Vc‐ybfF provide a valuable map for designing future biocatalysts based on the ybfF scaffold.     

Clinical comparability of the standard MMPI and the MMPI-168.

[Correction Notice: An erratum for this article was reported in Vol 17(5) of Professional Psychology: Research and Practice (see record 2008-10955-002). In this article, the copyright information was incorrect. The corrected copyright information is included in the erratum.] Examined the clinical correspondence of the full-scale Minnesota Multiphasic Personality Inventory (MMPI) and the MMPI-168 on a psychiatric screening sample of 210 men (mean age 43.27 yrs). The present results fail to replicate previous optimistic findings regarding the worth of the MMPI-168 and accent the need for caution in any further use of this abbreviated instrument. (10 ref) (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Securing User-Controlled Routing Infrastructures

Designing infrastructures that give untrusted third parties (such as end-hosts) control over routing is a promising research direction for achieving flexible and efficient communication. However, serious concerns remain over the deployment of such infrastructures, particularly the new security vulnerabilities they introduce. The flexible control plane of these infrastructures can be exploited to launch many types of powerful attacks with little effort. In this paper, we make several contributions towards studying security issues in forwarding infrastructures (FIs). We present a general model for an FI, analyze potential security vulnerabilities, and present techniques to address these vulnerabilities. The main technique that we introduce in this paper is the use of simple lightweight cryptographic constraints on forwarding entries. We show that it is possible to prevent a large class of attacks on end-hosts and bound the flooding attacks that can be launched on the infrastructure nodes to a small constant value. Our mechanisms are general and apply to a variety of earlier proposals such as , DataRouter, and Network Pointers.     

Bench-scale evaluations and mechanistic studies of intumescent/fire-protective coatings for polyvinyl chloride nitrile rubber

The object of this study was to identify, for future large-scale testing, and adequate fire-protective coating for the substrate, polyvinyl chloride (PVC) nitrile rubber (MIL-P-15280 Rev H). Fifteen fire protective coatings which included ten intumescent, two ablatives, two fire retardants and one photon diffusive coatings were evaluated using bench-scale thermal insults. To discern the possible mechanism(s) whereby the coatings offer fire protection, the effect of radiant heat versus the flame source employed was investigated and thermogravimetric analysis (TGA) of the neat coatings was performed. In selected cases, the effect of coating thickness and repeatability of the results were evaluated. The differences in coating effectiveness, and the varied repeatability in three of the four cases examined, focus on the inherent complexity of intumescence, as well as on the importance of scaled-up testing of coatings that appeared promising. Thermogravimetric analyses of the coatings indicate that two selected TGA measurements/parameters, when used in conjunction, appear useful in characterizing mechanistic differences between the less effective and more effective coatings. Based on the rigorous criterion adopted, one candidate (a water-based intumescent coating at 100 mil (2.54 mm) thickness) appears promising for the substrate, PVC nitrile rubber. Its effectiveness is attributable to it exhibiting good insulative and re-radiative properties and an apparent low susceptibility to crack formation.     

Perforated cecal adenocarcinoma presenting as a thigh abscess

Complicated colorectal carcinoma has several symptoms, the most common being bleeding and obstruction. Occasionally it will cause perforation, which carries a worse prognosis. We report a case of perforated adenocarcinoma of the cecum that presented as an abscess of the thigh. We also present a review of the literature on this subject.     

Raccoon Mountain Pumped-Storage Plant - Ten Years Operating Experience

Operational experience at the 1 530 MW Raccoon Mountain underground pumped-storage plant can be relevent to other large hydro facilities. A number of unusual features were incorporated and individual unit size was only recently overtaken elsewhere. Direct water cooling of rotor and stator windings has been successfully applied to salient pole machines. A number of problems, including difficulties with oil-filled 161 kV current transformers, and some mechanical aspects, are reported. Designed for remote supervisory control, the plant has required closer attention. Operating statistics are included.     

Fine genetic and comparative mapping of the deafness mutation Ames waltzer on mouse chromosome 10

The fundamental properties of a flow cytometer that govern its capacity to detect and resolve dim fluorescent particles are 1) the efficiency with which it can convert a photon emitted by a fluorochrome into a photoelectron at the photocathode of the photomultiplier tube and 2) the amount of optical background noise that is collected along with the fluorescence emission from the particle. Either of these properties alone is insufficient to predict an instrument's performance. Thus, to characterize a flow cytometer, both of these properties need to be determined. To determine these properties, one must not only consider the optical characteristics of the instruments but also understand the impact of the signal processing on the data collected. After the collection efficiency and the optical background noise level are determined, it is possible to predict the instrument's performance. A specific flow cytometer performance level is not unique to only one pair of these properties. To achieve a specific level of instrument performance, whole families of pairs of these properties are possible.