Direct Visual Servoing Framework based on Optimal Control for Redundant Joint Structures

This paper presents a new framework based on optimal control to define new dynamic visual controllers to carry out the guidance of any serial link structure. The proposed general method employs optimal control to obtain the desired behaviour in the joint space based on an indicated cost function which determines how the control effort is distributed over the joints. The proposed approach allows the development of new direct visual controllers for any mechanical joint system with redundancy. Finally, authors show experimental results and verifications on a real robotic system for some derived controllers obtained from the control framework.

Les effets du dalcetrapib, un inhibiteur de la protéine de transfert des esters de cholestérol (CETP), sur la structure et la fonction des lipoprotéines de haute densité (HDL) dans l’étude dal-PLAQUE2

Introduction : Le dalcetrapib, inhibiteur de la glycoprotéine hydrophobe de transfert des esters de cholestérol (CETP), a été étudié dans le cadre de l’essai clinique de phase II dal-PLAQUE2 (DP2). L’objectif principal est d’étudier l’effet du dalcetrapib après 1 an de traitement sur la structure et la fonction des HDL dans une sous-population de la cohorte DP2. Méthode : Les sujets de la cohorte DP2 ayant une série de mesures de cIMT et des échantillons de plasma et sérum au baseline et à 1 an de traitement furent sélectionnés (379 sujets: 193 du groupe placebo (PCB) et 186 du groupe dalcetrapib (DAL)). Des données biochimiques prédéterminées, le profil des concentrations et tailles des sous-classes de HDL et LDL en résonance magnétique nucléaire (RMN) et 2 mesures de capacité d’efflux de cholestérol (CEC) du sérum ont été explorées. Les données statistiques furent obtenues en comparant les changements à un an à partir du « baseline » avec un ANOVA ou ANCOVA. La procédure normalisée de fonctionnement d’essai d’efflux de cholestérol permet de calculer l’efflux fractionnel (en %) de 3H-cholestérol des lignées cellulaires BHK-ABCA1 (fibroblastes) et J774 (macrophages, voie ABCA1) et HepG2 (hépatocytes, voie SR-BI), vers les échantillons sériques de la cohorte DP2. Résultats : Pour la biochimie plasmatique, un effet combiné des changements d’activité de CETP dans les 2 groupes a causé une réduction de 30% dans le groupe DAL. Après 1 an de traitement dans le groupe DAL, la valeur de HDL-C a augmenté de 35,5% (p < 0,001) et l’apoA-I a augmenté de 14,0% (p < 0,001). Au profil RMN, dans le groupe DAL après 1 an de traitement, il y a augmentation de la taille des HDL-P (5,2%; p < 0,001), des grosses particules HDL (68,7%; p < 0,001) et des grosses particules LDL (37,5%; p < 0,01). Les petites particules HDL sont diminuées (-9,1%; p < 0,001). Il n’y a aucune différence significative de mesure de cIMT entre les deux groupes après 1 an de traitement. Pour la CEC, il y a augmentation significative par la voie du SR-BI et une augmentation via la voie ABCA1 dans le groupe DAL après 1 an de traitement. Conclusion : Après un an de traitement au dalcetrapib, on note une hausse de HDL-C, des résultats plutôt neutres au niveau du profil lipidique par RMN et une CEC augmentée mais trop faible pour affecter la valeur de cIMT chez les échantillons testés.

Drivers of Agricultural Physical Capital Development: Theoretical Framework and Hypotheses. Factor Markets Working Paper No. 18, February 2012

This paper aims to identify drivers of physical capital adjustments in agriculture. It begins with a review of some of the most important theories and modelling approaches regarding firms’ adjustments of physical capital, ranging from output-based models to more recent approaches that consider irreversibility and uncertainty. Thereafter, it is suggested that determinants of physical capital adjustments in agriculture can be divided into three main groups, namely drivers related to: i) expected (risk-adjusted) profit, ii) expected societal benefits and costs and iii) expected private nonpecuniary benefits and costs. The discussion that follows focuses on the determinants belonging to the first group and covers aspects related to product market conditions, technological conditions, financial conditions and the role of firm structure and organization. Furthermore, the role of subjective beliefs is emphasized. The main part of this paper is concerned with the demand side of the physical capital market and one section also briefly discusses some aspects related to supply of farm assets.

Mean grain size and structure of ODP Hole 140-504B samples

Microstructural investigations of ocean crust samples provide a complementary approach to both marine surveys and laboratory experiments. The recovery of relatively undeformed diabases from Deep Sea Drilling Project (DSDP)/Ocean Drilling Program (ODP) Hole 504B provides a first opportunity to examine a reference section of microstructural features that influence strain localization at depths of 2 km in the ocean crust. Syn- and post-crystallization features in plagioclase and augite crystals have been examined by optical microscopy and secondary and backscattered electron imaging. These features show a strong influence of modal composition and primary textures on early sites of strain localization. Thermal cracking and subsequent alteration intensities and distribution are strongly phase dependent. A consistently higher intragranular fracture density is observed in augite crystals relative to plagioclase. The impact of alteration on the mechanical response of diabases is likely to depend on the primary textural characteristics. Even where extensive augite alteration occurs, the rock remains supported by a framework of weakly altered plagioclase crystals. The Hole 504B diabases from Leg 140 provide a valuable comparison for future studies of more deformed sections likely to be encountered at depth. Advances in constraining the detailed rheology of the ocean crust at spreading centers would benefit from experimental deformation of texturally diverse diabase and gabbro samples.

Managing the cost of government : building an effective financial management structure /

Item 545

An observational and theoretical study of the structure and propagation of the Madden-Julian Oscillation

Thesis (Ph.D.)--University of Washington, 2016-06

Characterization of the Structure and Dynamics of Biomimetic Peptides by Solid-State NMR

Thesis (Ph.D.)--University of Washington, 2016-05

Twists, knots, and rings in proteins: Structural definition of the cyclotide framework

In recent years an increasing number of miniproteins containing an amide-cyclized backbone have been discovered. The cyclotide family is the largest group of such proteins and is characterized by a circular protein backbone and six conserved cysteine residues linked by disulfide bonds in a tight core of the molecule. These form a cystine knot in which an embedded ring formed by two of the disulfide bonds and the connecting backbone segment is threaded by a third disulfide bond. In the current study we have undertaken high resolution structural analysis of two prototypic cyclotides, kalata B1 and cycloviolacin O1, to define the role of the conserved residues in the sequence. We provide the first comprehensive analysis of the topological features in this unique family of proteins, namely rings (a circular backbone), twists (a cis-peptide bond in the Mobius cyclotides) and knots (a knotted arrangement of the disulfide bonds).

Synthesis of wormlike nanoporous nickel oxide with nanocrystalline framework for electrochemical energy storage

In this work, nanoporous nickel oxide was synthesized using anionic surfactant assembly method. Structure characterizations show that this nickel oxide possesses partly-ordered mesoporous structure with nanocrystalline pore wall. The formation mechanism of wormlike nanoporous structure is ascribed to the quasi-reverse micelle system formed by ternary phases of SDS (sodium dodecyl sulfate)/urea/water. Cyclic voltammetry shows that these nickel oxide samples possess both good capacitive behavior due to its unique nanoporous structure and very high specific capacitance due to its high surface area with electrochemical activity.

Discovery, structure and biological activities of the cyclotides

The cyclotides are a family of small disulfide rich proteins that have a cyclic peptide backbone and a cystine knot formed by three conserved disulfide bonds. The combination of these two structural motifs contributes to the exceptional chemical, thermal and enzymatic stability of the cyclotides, which retain bioactivity after boiling. They were initially discovered based on native medicine or screening studies associated with some of their various activities, which include uterotonic action, anti-HIV activity, neurotensin antagonism, and cytotoxicity. They are present in plants from the Rubiaceae, Violaceae and Cucurbitaccae families and their natural function in plants appears to be in host defense: they have potent activity against certain insect pests and they also have antimicrobial activity. There are currently around 50 published sequences of cyclotides and their rate of discovery has been increasing over recent years. Ultimately the family may comprise thousands of members. This article describes the background to the discovery of the cyclotides, their structural characterization, chemical synthesis, genetic origin, biological activities and potential applications in the pharmaceutical and agricultural industries. Their unique topological features make them interesting from a protein folding perspective. Because of their highly stable peptide framework they might make useful templates in drug design programs, and their insecticidal activity opens the possibility of applications in crop protection.

A work domain analysis framework for modelling intensive care unit patients

Work domain analysis (WDA) has been applied to a range of complex work domains, but few WDAs have been undertaken in medical contexts. One pioneering effort suggested that clinical abstraction is not based on means-ends relations, whereas another effort downplayed the role of bio-regulatory mechanisms. In this paper it is argued that bio-regulatory mechanisms that govern physiological behaviour must be part of WDA models of patients as the systems at the core of intensive care units. Furthermore it is argued that because the inner functioning of patients is not completely known, clinical abstraction is based on hypothetico-deductive abstract reasoning. This paper presents an alternative modelling framework that conforms to the broader aspirations of WDA. A modified version of the viable systems model is used to represent the patient system as a nested dissipative structure while aspects of the recognition primed decision model are used to represent the information resources available to clinicians in ways that support lsquoif...thenrsquo conceptual relations. These two frameworks come together to form the recursive diagnostic framework, which may provide a more appropriate foundation for information display design in the intensive care unit.

Does industry matter? Examining the role of industry structure and organizational learning in innovation and brand performance

A manager's perception of industry structure (dynamism) has the potential to impact various organizational strategies and behaviors. This may be particularly so with regard to perceptions driving organizational learning orientations and innovation based marketing strategy. The position taken here suggests that firms operating within a competitive industry tend to pursue innovative ways of performing value-creating activities, which requires the development of learning capabilities. The results of a study of SMEs suggest that market focused learning, relative to other learning capabilities plays a key role in the relationships between industry structure, innovation and brand performance. The findings also show that market focused learning and internally focused learning influence innovation and that innovation influences a brand's performance. (c) 2005 Elsevier Inc. All rights reserved.

The correspondence framework for 3D surface matching algorithms

Beyond the inherent technical challenges, current research into the three dimensional surface correspondence problem is hampered by a lack of uniform terminology, an abundance of application specific algorithms, and the absence of a consistent model for comparing existing approaches and developing new ones. This paper addresses these challenges by presenting a framework for analysing, comparing, developing, and implementing surface correspondence algorithms. The framework uses five distinct stages to establish correspondence between surfaces. It is general, encompassing a wide variety of existing techniques, and flexible, facilitating the synthesis of new correspondence algorithms. This paper presents a review of existing surface correspondence algorithms, and shows how they fit into the correspondence framework. It also shows how the framework can be used to analyse and compare existing algorithms and develop new algorithms using the framework's modular structure. Six algorithms, four existing and two new, are implemented using the framework. Each implemented algorithm is used to match a number of surface pairs. Results demonstrate that the correspondence framework implementations are faithful implementations of existing algorithms, and that powerful new surface correspondence algorithms can be created. (C) 2004 Elsevier Inc. All rights reserved.

Mesoporous nanocrystalline zirconia with lamellar and MSU structure

Without introduction of any stabilizer, the mesoporous nanocrystalline zirconia with lamellar and MSU structure was obtained via solid state reaction coupled with surfactant templating method. The phase, surface area and pore structure of zirconia prepared with this novel method could be designed, tailored and controlled by varying synthesis parameters. The phase transformation was controlled by particle size. The mesostructure possesses nanocrystalline pore wall, which renders it more thermally stable than amorphous framework. The results suggest strongly that in solid state synthesis system mesostructure formation still follow the supramolecular self-assembly mechanism. The lamellar and reverse hexagonal structure could be transformed at different OH-/Zr molar ratios in order to sustain the low surface energy of the mesophases. The lamellar structure was preferred at higher OH-/Zr molar ratios but reverse hexagonal was at low ratios.

Structural plasticity of the cyclic-cystine-knot framework: implications for biological activity and drug design

The cyclotide family of plant proteins is of interest because of their unique topology, which combines a head-to-tail cyclic backbone with an embedded cystine knot, and because their-remarkable chemical and biological properties make them ideal candidates as grafting templates for biologically active peptide epitopes. The present Study describes the first steps towards exploiting the cyclotide framework by synthesizing and structurally characterizing two grafted analogues of the cyclotide kalata B1. The modified peptides have polar or charged residues substituted for residues that form part of a surface-exposed hydrophobic patch that plays a significant role in the folding and biological activity of kalata B1. Both analogues retain the native cyclotide fold, but lack the undesired haemolytic activity of their parent molecule, kalata B1. This finding confirms the tolerance of the cyclotide framework to residue Substitutions and opens up possibilities for the Substitution of biologically active peptide epitopes into the framework.