Measuring stiffness during arm movements in various dynamic environments

The technique presented in this paper enables a simple, accurate and unbiased measurement of hand stiffness during human arm movements. Using a computer-controlled mechanical interface, the hand is shifted relative to a prediction of the undisturbed trajectory. Stiffness is then computed as the restoring force divided by the position amplitude of the perturbation. A precise prediction algorithm insures the measurement quality. We used this technique to measure stiffness in free movements and after adaptation to a linear velocity dependent force field. The subjects compensated for the external force by co-contracting muscles selectively. The stiffness geometry changed with learning and stiffness tended to increase in the direction of the external force.

Movements of haplochromines (Pisces: Cichlidae) in Lake George, Uganda

In Lake George, the abundance of haplochromines in inshore regions during the day and at night differs significantly. Futhermore, while by day there are more haplochromines in the lower than the upper layers, at night these fishes appear to be uniformly distributed throught the water column. Regions of the lake near river mouths had fewer haplochromines during the wet than the dry season, while the reverse was true of regions distant form the river mouths. Possible causes of these movements are discussed.

External corporate venture capital investment: Towards a framework for capturing and measuring strategic value

This paper presents the initial results of on-going research in the field of external Corporate Venture Capital (CVC) investments, i.e. equity investments of large corporations in entrepreneurial ventures which originated outside the corporation. The research is motivated by the fact that external CVC plays an increasingly important role within the strategy of corporations. Driven by a general trend towards a more open approach to innovation, companies see particular value in external corporate venturing as a tool to gain, for example, access to complementary technologies and a general window on technology developments. The review of literature in the field of external corporate venturing clearly reveals that theoretical gaps exist in understanding mechanisms for capturing value and measurements of this value. To help close these gaps, the research addresses the underlying question "How do corporations and start-ups capture and measure strategic value through external CVC investments" by using embedded, multiple case studies. Following an initial set of case studies, steps towards the development of a framework for capturing and measuring strategic value from CVC investments are outlined within this paper and the resulting preliminary framework is presented. The paper closes with an outlook on ongoing and future research steps. © 2009 PICMET.

The response of buildings to movements induced by deep excavations

Deep excavations and tunnelling can cause ground movements that affect buildings within their influence zone. The current approach for building damage assessment is based on tensile strains estimated from the deflection ratio and the horizontal strains at the building foundation. For tunnelling-induced deformations, Potts & Addenbrooke (1997) suggested a method to estimate the building response from greenfield conditions using the relative building stiffness. However, there is not much guidance for building response to excavation-induced movements. This paper presents a numerical study on the response of buildings to movements caused by deep excavations in soft clays, and proposes design guidance to estimate the deflection ratio and the horizontal strains of the building from the building stiffness. © 2012 Taylor & Francis Group.

The horizontal response of framed buildings on individual footings to excavation-induced movements

Deep excavations and tunnelling can cause ground movements that affect buildings within their influence zone. The current approach for building damage assessment is based on tensile strains estimated from the deflection ratio and the horizontal strains at the building foundation. This paper examines the significance of horizontal strains in buildings on individual footings. The first part of the paper presents a case study of a framed building in Singapore which was subjected to the effects of bored tunnelling, where significant horizontal strains were observed. The second part of the paper suggests a method to relate the horizontal strains induced in a building to the stiffness of the frame structure. Using a combination of simplified structural analysis and finite element models, design guidance is proposed to estimate excavation-induced horizontal strains in frame buildings on individual footings. © 2012 Taylor & Francis Group.

Control of bimanual rhythmic movements: Trading efficiency for robustness depending on the context

This paper investigates how the efficiency and robustness of a skilled rhythmic task compete against each other in the control of a bimanual movement. Human subjects juggled a puck in 2D through impacts with two metallic arms, requiring rhythmic bimanual actuation. The arms kinematics were only constrained by the position, velocity and time of impacts while the rest of the trajectory did not influence the movement of the puck. In order to expose the task robustness, we manipulated the task context in two distinct manners: the task tempo was assigned at four different values (hence manipulating the time available to plan and execute each impact movement individually); and vision was withdrawn during half of the trials (hence reducing the sensory inflows). We show that when the tempo was fast, the actuation was rhythmic (no pause in the trajectory) while at slow tempo, the actuation was discrete (with pause intervals between individual movements). Moreover, the withdrawal of visual information encouraged the rhythmic behavior at the four tested tempi. The discrete versus rhythmic behavior give different answers to the efficiency/robustness trade-off: discrete movements result in energy efficient movements, while rhythmic movements impact the puck with negative acceleration, a property preserving robustness. Moreover, we report that in all conditions the impact velocity of the arms was negatively correlated with the energy of the puck. This correlation tended to stabilize the task and was influenced by vision, revealing again different control strategies. In conclusion, this task involves different modes of control that balance efficiency and robustness, depending on the context. © 2008 Springer-Verlag.

Comparative Expression of Zebrafish Lats1 and Lats2 and Their Implication in Gastrulation Movements

Large tumor suppressor (Lats) is a Ser/Thr kinase, and it presents an important function in tumor suppression. lats was originally identified in Drosophila and recently in mammals. In mammals, it contains two homologues, lats1 and lats2. In the present study, lats1 and lats2 were characterized from zebrafish (Danio rerio), which is the first report of lats in a nonmammalian vertebrate. The primary structure, genomic organization, and phylogenesis of lats from different species were studied, and the results suggest that lats1 is the direct descendant of invertebrate lats, whereas lats2 is formed by genome duplication. In zebrafish, both lats genes are maternally expressed, while they show distinctly different expression profiles during gastrulation. lats1 is almost ubiquitously expressed through development, and lats2 is more prominently expressed in the non-neural ectoderm region of zebrafish gastrula. Most intriguingly, as revealed by cell tracing and gene expression analysis, morpholino-mediated knockdown of either lats1 or lats2 led to obvious defects of cell migration in gastrulation, indicating the functional significance of lats in gastrulation movements. Developmental Dynamics 238:28502859, 2009. (C) 2009 Wiley-Liss, Inc.

Zebrafish eaf1 and eaf2/u19 Mediate Effective Convergence and Extension Movements through the Maintenance of wnt11 and wnt5 Expression

Studies have attributed several functions to the Eaf family, including tumor suppression and eye development. Given the potential association between cancer and development, we set forth to explore Eaf1 and Eaf2/U19 activity in vertebrate embryogenesis, using zebrafish. In situ hybridization revealed similar eaf1 and eaf2/u19 expression patterns. Morpholino-mediated knockdown of either eaf1 or eaf2/u19 expression produced similar morphological changes that could be reversed by ectopic expression of target or reciprocal-target mRNA. However, combination of Eaf1 and Eaf2/U19 (Eafs)-morpholinos increased the severity of defects, suggesting that Eaf1 and Eaf2/U19 only share some functional redundancy. The Eafs knockdown phenotype resembled that of embryos with defects in convergence and extension movements. Indeed, knockdown caused expression pattern changes for convergence and extension movement markers, whereas cell tracing experiments using kaeda mRNA showed a correlation between Eafs knockdown and cell migration defects. Cardiac and pancreatic differentiation markers revealed that Eafs knockdown also disrupted midline convergence of heart and pancreatic organ precursors. Noncanonical Wnt signaling plays a key role in both convergence and extension movements and midline convergence of organ precursors. We found that Eaf1 and Eaf2/U19 maintained expression levels of wnt11 and wnt5. Moreover, wnt11 or wnt5 mRNA partially rescued the convergence and extension movement defects occurring in eafs morphants. Wnt11 and Wnt5 converge on rhoA, so not surprisingly, rhoA mRNA more effectively rescued defects than either wnt11 or wnt5 mRNA alone. However, the ectopic expression of wnt11 and wnt5 did not affect eaf1 and eaf2/u19 expression. These data indicate that eaf1 and eaf2/u19 act upstream of noncanonical Wnt signaling to mediate convergence and extension movements.