Control of a compliant two-axis robotic arm

It is common to make the links between actuators and robotic limbs as stiff as possible, in complete contrast to natural systems, where compliance is present. In the past, to create some compliance in a drive, springs have been added to the link between the actuator and load. Many of these springs have been in series with the drive, but recently a more 'biological' approach has been taken where two springs have been used in parallel to counteract each other. This paper describes the application of parallel extension springs in a robot arm in order to give it compliance. Advantages and disadvantages of this application are discussed, along with various control strategies.

Mechanisms of femtosecond laser-induced refractive index modification of poly(methyl methacrylate)

The mechanisms of refractive index change in poly(methyl methacrylate) by frequency doubled femtosecond laser pulses are investigated. It is demonstrated that positive refractive index modificaton can be caused by a combination of depolymerization and crosslinking.

Associations between dairy consumption and body weight: a review of the evidence and underlying mechanisms

As the incidence of obesity is reaching 'epidemic' proportions, there is currently widespread interest in the impact of dietary components on body-weight and food intake regulation. The majority of data available from both epidemiological and intervention studies provide evidence of a negative but modest association between milk and dairy product consumption and BMI and other measures of adiposity, with indications that higher intakes result in increased weight loss and lean tissue maintenance during energy restriction. The purported physiological and molecular mechanisms underlying the impact of dairy constituents on adiposity are incompletely understood but may include effects on lipolysis, lipogeneis and fatty acid absorption. Furthermore, accumulating evidence indicates an impact of dairy constituents, in particular whey protein derivatives, on appetite regulation and food intake. The present review summarises available data and provides an insight into the likely contribution of dairy foods to strategies aimed at appetite regulation, weight loss or the prevention of weight gain.

Investigating the mechanisms underlying neuronal death in ischemia using in vitro oxygen-glucose deprivation: potential involvement of protein SUMOylation

It is well established that brain ischemia can cause neuronal death via different signaling cascades. The relative importance and interrelationships between these pathways, however, remain poorly understood. Here is presented an overview of studies using oxygen-glucose deprivation of organotypic hippocampal slice cultures to investigate the molecular mechanisms involved in ischemia. The culturing techniques, setup of the oxygen-glucose deprivation model, and analytical tools are reviewed. The authors focus on SUMOylation, a posttranslational protein modification that has recently been implicated in ischemia from whole animal studies as an example of how these powerful tools can be applied and could be of interest to investigate the molecular pathways underlying ischemic cell death.

Mechanisms of partial plant resistance to diamondback moth (Plutella xylostella) in brassicas

Artificial diet studies were used to differentiate among physical and chemical mechanisms affecting the suitability to diamondback moth (Plutella xylostella L.), of 16 food substrates obtained by growing four different brassicas in the glasshouse or field and measuring the pest's performance on either leaf discs or a diet incorporating leaf powders. Leaves of Chinese cabbage and the cabbage cultivar 'Minicole' were, respectively, the most and least suitable leaves for the insect, but this ranking was reversed on artificial diet. Leaves of glasshouse-grown plants were more suitable than those of plants grown in the fields. Differences in the suitability of leaves to diamondback moth appeared to be largely determined by leaf toughness and surface wax load. Concentrations of individual glucosinolates in the brassicas probably acted as phagostimulants, so increasing their intrinsic susceptibility to diamondback moth, but the effect of the physical factors appeared more important.

The location of lightning affecting the ionospheric sporadic-E layer as evidence for multiple enhancement mechanisms

We present a study of the geographic location of lightning affecting the ionospheric sporadic-E (Es) layer over the ionospheric monitoring station at Chilton, UK. Data from the UK Met Office's Arrival Time Difference (ATD) lightning detection system were used to locate lightning strokes in the vicinity of the ionospheric monitoring station. A superposed epoch study of this data has previously revealed an enhancement in the Es layer caused by lightning within 200km of Chilton. In the current paper, we use the same data to investigate the location of the lightning strokes which have the largest effect on the Es layer above Chilton. We find that there are several locations where the effect of lightning on the ionosphere is most significant statistically, each producing different ionospheric responses. We interpret this as evidence that there is more than one mechanism combining to produce the previously observed enhancement in the ionosphere.

Correcting for local oscillator phase offset in a DVB-T compliant receiver under multipath conditions

In 1997, the UK implemented the worlds first commercial digital terrestrial television system. Under the ETS 300 744 standard, the chosen modulation method, COFDM, is assumed to be multipath resilient. Previous work has shown that this is not necessarily the case. It has been shown that the local oscillator required for demodulation from intermediate-frequency to baseband must be very accurate. This paper shows that under multipath conditions, standard methods for obtaining local oscillator phase lock may not be adequate. This paper demonstrates a set of algorithms designed for use with a simple local oscillator circuit which will allow correction for local oscillator phase offset to maintain a low bit error rate with multipath present.

Analysis of a DVB-T compliant receiver simulation under various multipath conditions

Since 1966, coded orthogonal frequency division multiplexing (COFDM) has been investigated to determine the possibility of reducing the overall throughput of a digitally modulated terrestrial television channel. In the investigations, many assumptions have emerged. One common misconception is that in a terrestrial environment, COFDM has an inherent immunity to multipath interference. A theoretical analysis of a multipath channel, along with simulation results has shown that this assumption does not hold the information is considered when including the radio frequency modulation and demodulation. This paper presents a background into the inception of COFDM, a mathematical analysis of the digitally modulated television signal under multipath conditions and the results of a European Digital Video Broadcasting-Terrestrial (DVB-T) compliant simulation model with MPEG-2 bitstreams transmitted under various multipath conditions.