Higher-resolution structure of the human insulin receptor ectodomain: Multi-modal inclusion of the insert domain

Insulin receptor (IR) signaling is critical to controlling nutrient uptake and metabolism. However, only a low-resolution (3.8 Å) structure currently exists for the IR ectodomain, with some segments ill-defined or unmodeled due to disorder. Here, we revise this structure using new diffraction data to 3.3 Å resolution that allow improved modeling of the N-linked glycans, the first and third fibronectin type III domains, and the insert domain. A novel haptic interactive molecular dynamics strategy was used to aid fitting to low-resolution electron density maps. The resulting model provides a foundation for investigation of structural transitions in IR upon ligand binding.

Visibility volumes for interactive path optimization

We describe a real-time system that supports design of optimal flight paths over terrains. These paths either maximize view coverage or minimize vehicle exposure to ground. A volume-rendered display of multi-viewpoint visibility and a haptic interface assists the user in selecting, assessing, and refining the computed flight path. We design a three-dimensional scalar field representing the visibility of a point above the terrain, describe an efficient algorithm to compute the visibility field, and develop visual and haptic schemes to interact with the visibility field. Given the origin and destination, the desired flight path is computed using an efficient simulation of an articulated rope under the influence of the visibility gradient. The simulation framework also accepts user input, via the haptic interface, thereby allowing manual refinement of the flight path.

A Compliant End-Effector to Passively Limit the Force in Tele-Operated Tissue-Cutting

This paper presents a compliant end-effector that cuts soft tissues and senses the cutting forces. The end-effector is designed to have an upper threshold on cutting forces to facilitate safe handling of tissue during automated cutting. This is demonstrated with nonlinear finite element analysis and experimental results obtained by cutting inhomogeneous phantom tissue. The cutting forces are estimated using a vision-based technique that uses amplified elastic deformation of the compliant end-effector. We also demonstrate an immersive tele-operated tissue-cutting system together with a haptic device that gives real-time force feedback to the user. DOI: 10.1115/1.4007638]

Constrained 3D sketching with haptics and active motion annotation

The aim of this work is to enable seamless transformation of product concepts to CAD models. This necessitates availability of 3D product sketches. The present work concerns intuitive generation of 3D strokes and intrinsic support for space sharing and articulation for the components of the product being sketched. Direct creation of 3D strokes in air lacks in precision, stability and control. The inadequacy of proprioceptive feedback for the task is complimented in this work with stereo vision and haptics. Three novel methods based on pencil-paper interaction analogy for haptic rendering of strokes have been investigated. The pen-tilt based rendering is simpler and found to be more effective. For the spatial conformity, two modes of constraints for the stylus movements, corresponding to the motions on a control surface and in a control volume have been studied using novel reactive and field based haptic rendering schemes. The field based haptics, which in effect creates an attractive force field near a surface, though non-realistic, provided highly effective support for the control-surface constraints. The efficacy of the reactive haptic rendering scheme for the constrained environments has been demonstrated using scribble strokes. This can enable distributed collaborative 3D concept development. The notion of motion constraints, defined through sketch strokes enables intuitive generation of articulated 3D sketches and direct exploration of motion annotations found in most product concepts. The work, thus, establishes that modeling of the constraints is a central issue in 3D sketching.

Hipomineralização de molares e incisivos e necessidade de tratamento operatório em dentes permanentes

O presente estudo CASO-CONTROLE teve como objetivo principal verificar a associação entre a Hipomineralização de molares e incisivos (HMI) e a necessidade de tratamento operatório em dentes permanentes. Avaliou-se também o grau de ansiedade relacionada à consulta odontológica e o impacto das condições bucais na qualidade de vida. Os grupos CASO e CONTROLE foram selecionados a partir da lista de pacientes nascidos de 2002 a 2004, atendidos na Clínica de Odontopediatria da FO-UERJ nos anos de 2011 e 2012. O grupo CASO foi composto por pacientes com necessidade de tratamento operatório em pelo menos um dente permanente. O grupo CONTROLE, por pacientes sem necessidade de tratamento operatório em dentes permanentes. Os exames foram realizados por um examinador calibrado. Hipomineralização do esmalte e cárie foram avaliadas ao nível de superfície dentária. A avaliação do risco de cárie baseou-se no método do Cariograma. A escala de imagens faciais foi utilizada para avaliar a ansiedade antes e depois da consulta. O impacto das condições bucais na qualidade de vida foi avaliada pelo Childs Perception Questionnaire (CPQ8-10). A amostra constou de 155 pacientes, com idade entre 7 e 11 anos, sendo 57 CASOS e 98 CONTROLES. No grupo CASO, 47,4% dos pacientes apresentaram HMI, enquanto no grupo CONTROLE este percentual foi de 13,3%. A chance de ter dentes permanentes com necessidade de tratamento operatório foi 5,89 (IC: 2,69-12,86) vezes maior para pacientes com HMI. O número médio de primeiros molares permanentes e de superfícies de primeiros molares permanentes com necessidade de intervenção operatória foi significativamente mais alto dentre as crianças com HMI (p<0,05; p<0,01). O grau de ansiedade ao final da consulta foi mais alto no grupo CASO (p=0,04). Embora os valores médios do CPQ8-10 global e da subcategoria do bem estar emocional tenham sido um pouco mais elevados no grupo CASO, a diferença não foi significativa estatisticamente (p>0,05). Os valores da subcategoria de limitações funcionais foram um pouco mais elevados para o grupo CASO na presença de HMI, mas a diferença também não foi significativa (p=0,05). Com base nos dados do presente estudo, pôde-se concluir que: a HMI aumentou a necessidade de tratamento operatório da dentição permanente significativamente; a ansiedade após a consulta foi maior naqueles que tinham necessidade de tratamento operatório; a necessidade de tratamento operatório não interferiu significativamente na auto-percepção do impacto das condições bucais na qualidade de vida.

A modular planar robotic manipulandum with end-point torque control.

Robotic manipulanda are extensively used in investigation of the motor control of human arm movements. They permit the application of translational forces to the arm based on its state and can be used to probe issues ranging from mechanisms of neural control to biomechanics. However, most current designs are optimized for studying either motor learning or stiffness. Even fewer include end-point torque control which is important for the simulation of objects and the study of tool use. Here we describe a modular, general purpose, two-dimensional planar manipulandum (vBOT) primarily optimized for dynamic learning paradigms. It employs a carbon fibre arm arranged as a parallelogram which is driven by motors via timing pulleys. The design minimizes the intrinsic dynamics of the manipulandum without active compensation. A novel variant of the design (WristBOT) can apply torques at the handle using an add-on cable drive mechanism. In a second variant (StiffBOT) a more rigid arm can be substituted and zero backlash belts can be used, making the StiffBOT more suitable for the study of stiffness. The three variants can be used with custom built display rigs, mounting, and air tables. We investigated the performance of the vBOT and its variants in terms of effective end-point mass, viscosity and stiffness. Finally we present an object manipulation task using the WristBOT. This demonstrates that subjects can perceive the orientation of the principal axis of an object based on haptic feedback arising from its rotational dynamics.

Workspace comparisons of setup configurations for human-robot interaction

In virtual assembly verification or remote maintenance tasks, bimanual haptic interfaces play a crucial role in successful task completion. This paper proposes a method for objectively comparing how well a haptic interface covers the reachable workspace of human arms. Two system configurations are analyzed for a recently introduced haptic device that is based on two DLR-KUKA light weight robots: the standard configuration, where the device is opposite the human operator, and the ergonomic configuration, where the haptic device is mounted behind the human operator. The human operator directly controls the robotic arms using handles. The analysis is performed using a representation of the robot arm workspace. The merits of restricting the comparisons to the most significant regions of the human workspace are discussed. Using this method, a greater workspace correspondence for the ergonomic configuration was shown. ©2010 IEEE.

Electrotactile touch surface by using transparent graphene

In this work we present a flexible Electrostatic Tactile (ET) surface/display realized by using new emerging material graphene. The graphene is transparent conductor which successfully replaces previous solution based on indium-thin oxide (ITO) and delivers more reliable solution for flexible and bendable displays. The electrostatic tactile surface is capable of delivering programmable, location specific tactile textures. The ET device has an area of 25 cm 2, and consists of 130 μm thin optically transparent (>76%) and mechanically flexible structure overlaid unobtrusively on top of a display. The ET system exploits electro vibration phenomena to enable on-demand control of the frictional force between the user's fingertip and the device surface. The ET device is integrated through a controller on a mobile display platform to generate fully programmable range of stimulating signals. The ET haptic feedback is formed in accordance with the visual information displayed underneath, with the magnitude and pattern of the frictional force correlated with both the images and the coordinates of the actual touch in real time forming virtual textures on the display surface (haptic virtual silhouette). To quantify rate of change in friction force we performed a dynamic friction coefficient measurement with a system involving an artificial finger mimicking the actual touch. During operation, the dynamic friction between the ET surface and an artificial finger stimulation increases by 26% when the load is 0.8 N and by 24% when the load is 1 N. © 2012 ACM.

基于现场总线的加速器高频控制网络设计

根据加速器高频控制系统网络化和自动化的要求,设计了一种基于Profibus-DP和Ethernet的并适用于加速器高频系统强磁场运行环境下的控制系统。系统采用S7-300PLC和S7-200PLC为核心控制设备,并以交换机为主要通信设备,构建了加速器高频系统控制网络。利用STEP7、Microwin4.0、Protool和Wincc完成PLC程序设计和上位机HMI设计。文中重点介绍了系统的网络结构、频率微调、硬件配置、软件设计。该系统设计简化了网络结构,提高了系统的可靠性和稳定性。

生产线监控与管理系统的设计

介绍在Labview的开发环境下,装配检测生产线监控与管理系统的开发方法。该系统实现了检测数据的人机界面显示,查询打印,统计过程控制(SPC)以及每月的不合格工件计数。统计过程控制(SPC)实现了对生产线的实时监控及质量管理,其他三个软件模块实现了对生产线的自动化生产管理。这种模块化的生产线管理系统对设计同类软件具有借鉴意义。

Proceedings of the Fourth PHANTOM Users Group Workshop

This Report contains the proceedings of the Fourth Phantom Users Group Workshop contains 17 papers presented October 9-12, 1999 at MIT Endicott House in Dedham Massachusetts. The workshop included sessions on, Tools for Programmers, Dynamic Environments, Perception and Cognition, Haptic Connections, Collision Detection / Collision Response, Medical and Seismic Applications, and Haptics Going Mainstream. The proceedings include papers that cover a variety of subjects in computer haptics including rendering, contact determination, development libraries, and applications in medicine, path planning, data interaction and training.

The Proceedings of the First PHANToM User's Group Workshop

These proceedings summarize the results of the First PHANToM User's Group Workshop held September 27-30, 1996 MIT. The goal of the workshop was to bring together a group of active users of the PHANToM Haptic Interface to discuss the scientific and engineering challenges involved in bringing haptics into widespread use, and to explore the future possibilities of this exciting technology. With over 50 attendees and 25 presentations the workshop provided the first large forum for users of a common haptic interface to share results and engage in collaborative discussions. Short papers from the presenters are contained herein and address the following topics: Research Effort Overviews, Displays and Effects, Applications in Teleoperation and Training, Tools for Simulated Worlds and, Data Visualization.

Synthesis and catalytic reactivity of MCM-22/ZSM-35 composites for olefin aromatization

A series of MCM-22/ZSM-35 composites has been hydrothermally synthesized and characterized by XRD, SEM, particle size distribution analysis, N-2 adsorption and NH3-TPD techniques. Pulse and continuous flow reactions were carried out to evaluate the catalytic performances of these composites in aromatization of olefins, respectively. It was found that MCM-22/ZSM-35 composites could be rapidly crystallized at 174 degrees C with an optimal gel composition of SiO2/Al2O3=25, Na2O/SiO2=0.11, HMI/SiO2=0.35, and H2O/SiO2=45 (molar ratio), of which the weight ratio of ZSM-35 zeolite in the composite relied on the crystallization time. The coexistence of MCM-22 and ZSM-35 in the composite (MCM-22/ZSM-35=45/55 wt/wt) was observed to exert a notable synergistic effect on the aromatization ability for butene conversion and FCC gasoline updating, possibly due to the intergrowth of some MCM-22 and ZSM-35 layers.

Tactile Sensing for Mechatronics: A State of the Art Survey

Lee M.H. and Nicholls H.R., Tactile Sensing for Mechatronics: A State of the Art Survey, Mechatronics, 9, Jan 1999, pp1-31.

EVALUATION OF HARMONIC MOTION ELASTOGRAPHY AND ACOUSTO-­OPTIC IMAGING FOR MONITORING LESION FORMATION BY HIGH INTENSITY FOCUSED ULTRASOUND

Malignant or benign tumors may be ablated with high‐intensity focused ultrasound (HIFU). This technique, known as focused ultrasound surgery (FUS), has been actively investigated for decades, but slow to be implemented and difficult to control due to lack of real‐time feedback during ablation. Two methods of imaging and monitoring HIFU lesions during formation were implemented simultaneously, in order to investigate the efficacy of each and to increase confidence in the detection of the lesion. The first, Acousto‐Optic Imaging (AOI) detects the increasing optical absorption and scattering in the lesion. The intensity of a diffuse optical field in illuminated tissue is mapped at the spatial resolution of an ultrasound focal spot, using the acousto‐optic effect. The second, Harmonic Motion Imaging (HMI), detects the changing stiffness in the lesion. The HIFU beam is modulated to force oscillatory motion in the tissue, and the amplitude of this motion, measured by ultrasound pulse‐echo techniques, is influenced by the stiffness. Experiments were performed on store‐bought chicken breast and freshly slaughtered bovine liver. The AOI results correlated with the onset and relative size of forming lesions much better than prior knowledge of the HIFU power and duration. For HMI, a significant artifact was discovered due to acoustic nonlinearity. The artifact was mitigated by adjusting the phase of the HIFU and imaging pulses. A more detailed model of the HMI process than previously published was made using finite element analysis. The model showed that the amplitude of harmonic motion was primarily affected by increases in acoustic attenuation and stiffness as the lesion formed and the interaction of these effects was complex and often counteracted each other. Further biological variability in tissue properties meant that changes in motion were masked by sample‐to‐sample variation. The HMI experiments predicted lesion formation in only about a quarter of the lesions made. In simultaneous AOI/HMI experiments it appeared that AOI was a more robust method for lesion detection.