Robotica: a Mathematica package for robot analysis

Robotica is a computer aided design package for robotic manipulators developed in the Coordinated Science Laboratory at the University of Illinois at Urbana-Champaign. It encapsulates over 30 functions into a Mathematica package allowing efficient symbolic and numeric calculation of kinematic and dynamic equations for multi-degree-of-freedom manipulators. An X-Windows front end that utilizes the interprocess communication features of Mathematica 2.1 has also been created for ease of use. This paper describes the most important features of the package and how they are used     

Effect of groundwater table on the formation of acid sulphate soils

Acid sulphate soils are formed when pyrite within a soil layer is oxidised, generating sulphuric acid. The oxidation of pyrite often results in yellow mottles of jarosite. The pH levels in greatly affected areas are often less than 4.0, and the associated environmental impacts include fish kills, retarded growth of crops and changes in water chemistry. Certain regions of acid sulphate soils along the South Coast of NSW are of much concem, because of limited land available for food production and cash crops. This study quantifies the effect of changes of the groundwater table on the acidity of the coastal flood plain in Berry, located on the Illawarra coastline, New South Wales. Based on several boreholes and drain sites, the existence of jarosite was verified, characterising the study area as a potential acid-sulphate soil region. The field investigation of the study area included the monitoring of groundwater and drain water quality, including the pH and aluminium levels. The study shows convincingly that the increase in groundwater level is effective in preventing adverse pH and aluminium levels.     

Physiological and fitness comparison between young Japanese and American males

Environmental and cultural aspects are known to influence particular characteristics of an ethnic group and, as such, are partially responsible for distinguishing an ethnic group from others. This study was designed to compare non-athlete young Japanese and American males on a variety of physiological and fitness characteristics in order to locate and quantify the magnitude of any physiological and fitness differences between the two races. Aerobic capacity based upon bicycle ergometer, resting heart rate, and resting blood pressure, vertical jump, grip strength, and flexibility as measured by sit-and-reach, and trunk-and-neck extension tests were obtained for 20 Japanese and 20 American males whose ages ranged between 19 and 25 years. Cardiovascular and aerobic capacity data indicated that the Americans had higher blood pressure (both systolic and diastolic blood pressures) and higher absolute VO2max than the Japanese. However, the Japanese had a higher relative VO2max value than the Americans. The Japanese had higher values than those of the Americans in the vertical jump and for trunk-and-neck flexibility. Within the limitation of the present study, it can be concluded that the Japanese had a higher lower extremity power and better flexibility in the trunk-and-neck extension compared with the American.     

Diaphragmatic lipid peroxidation in chronically loaded rats

Since the functional outcome of effector T lymphocytes depends on a balance between activatory and inhibitory receptors, we studied the ability of CTLA-4 (CD152) to inhibit the cytolytic function of CTL. In 22 TCR alpha/beta+ CD3+ 8+ CTL clones, activation induced by anti-CD3, anti-CD28, or anti-CD2 mAb was inhibited by anti-CD152 mAb in a redirected killing assay. In eight clones inhibition was >40%, in 10 it ranged between 20-40%, and in four it was <20%. This suggests the existence of a clonal heterogeneity as well as for the ability of CTLA-4 to inhibit CD3/TCR-, CD28-, or CD2-mediated CTL activation. To support further this contention, we used an experimental model based upon Ag-specific CTL. Eight Ag-specific T cell clones that lyse autologous EBV-infected B lymphocytes, but are unable to lyse allogeneic EBV-infected B cell lines, were used in a cytolytic assay in which anti-CD152 mAb or soluble recombinant receptor (i.e., CTLA-4 Ig) were included. In this system, at variance from the redirected killing assay, cross-linking of surface molecules by mAb does not occur. Thus, addition of anti-CD152 mAb or of CTLA-4 Ig and anti-CD80/CD86 mAb to the assay should result in a blockade of receptor/ligand interactions. As a consequence, inhibition of a negative signal, such as that delivered via CD152, should enhance lysis. A >40% increment of target cell lysis was achieved in three of eight clones studied. Since it is not equally shared by all CTL clones, this feature also appears to be clonally distributed.     

Effect of free radical scavengers on diaphragmatic fatigue

Recent studies have suggested that free radical scavenger administration reduces the rate of development of diaphragm fatigue. Much of this work has been done, however, using in vitro muscle preparations; the purpose of the present study was to assess the effect of scavengers on in vivo diaphragm contractile function. To accomplish this, we compared the rate of development of fatigue of the electrically stimulated diaphragm in four groups of dogs: (1) animals given intravenous polyethylene glycol adsorbed superoxide dismutase (PEG-SOD, 2,000 units/kg) 1 h before a fatigue trial; (2) a group given intravenous dimethylsulfoxide (DMSO, 0.5 ml/kg of a 50% solution) before fatigue; (3) a group given saline before fatigue; and (4) a group treated with denatured PEG-SOD (2,000 units/kg) before fatigue. We measured diaphragmatic concentrations of thiobarbituric acid reactive substances (TBAR), a marker of free radical-mediated lipid peroxidation, on muscle samples taken at the conclusion of fatigue trials. As a control, we also measured TBAR concentrations for muscle samples taken from nonfatigued diaphragm. We found that the rate of development of diaphragm fatigue was much greater in saline and denatured PEG-SOD-treated groups than for animals pretreated with either PEG-SOD or DMSO, with force falling to 23 +/- 4, 21 +/- 4, 50 +/- 7, and 47 +/- 6% of its initial value, respectively, over a 2-h period of electrophrenic stimulation in these four groups of animals (p < 0.01). TBAR concentrations in fatigued diaphragm from saline and denatured PEG-SOD-treated animals were significantly higher than levels for either nonfatigued fresh diaphragm or fatigued diaphragm taken from PEG-SOD- or DMSO-treated animals (p < 0.01). These data suggest that diaphragm fatigue resulting from repetitive low-frequency stimulation is associated with lipid peroxidation within this muscle and that pretreatment with free radical scavengers prevents lipid peroxidation and reduces the rate of development of fatigue.     

Predicting personal exposure of pregnant women to traffic-related air pollutants

As epidemiological studies report associations between ambient air pollution and adverse birth outcomes, it is important to understand determinants of exposures among pregnant women. We measured (48-h, personal exposure) and modeled (using outdoor ambient monitors and a traffic-based land-use regression model) NO, NO(2), fine particle mass and absorbance in 62 non-smoking pregnant women in Vancouver, Canada on 1-3 occasions during pregnancy (total N=127). We developed predictive models for personal measurements using modeled ambient concentrations and individual determinants of exposure. Geometric mean exposures of personal samples were relatively low (GM (GSD) NO=37 ppb (2.0); NO(2)=17 ppb (1.6); 'soot', as filter absorbance=0.8 10(-5) m(-1) (1.5); PM(2.2)=10 microg m(-3) (1.6)). Having a gas stove (vs. electric stove) in the home was associated with exposure increases of 89% (NO), 44% (NO(2)), 20% (absorbance) and 35% (fine PM). Interpolated concentrations from outdoor fixed-site monitors were associated with all personal exposures except NO(2). Land-use regression model estimates of outdoor air pollution were associated with personal NO and NO(2) only. The effects of outdoor air pollution on personal samples were consistent, with and without adjustment for other individual determinants (e.g. gas stove). These findings improve our understanding of sources of exposure to air pollutants among pregnant women and support the use of outdoor concentration estimates as proxies for exposure in epidemiologic studies.