Orientation Of Arm Research Articles

Investigation of the Effect of Side Arm Orientation of the T-Junction on Gas–Liquid Stratified Flow

T-junctions are important structures used in a number of industries to separate gas and liquid. This work studied the effect of the orientation of the side arm on the separation efficiency using a computational fluid dynamics (CFD) approach, and a new mechanical model is developed based on force analysis to predict the liquid carryout threshold. Laboratory experiments from published works are used to verify the CFD simulation and the new model. In this work, the angle of the side arm to the horizontal plane, α, and the angle of the side arm to the main arm’s axial direction, β, are investigated. The results show that with increasing β, the liquid carryover threshold increases accordingly, demonstrating that the liquid can be more easily carried to the side arm, while the liquid-carrying performance in the side arm is not sensitive to the inclination angle, β. Hence, in the new model, the inclination angle of is ignored. Experimental data are collected to validate the new model. The results show that this model can accurately predict the liquid carryover threshold, and the relative error is 4.16%.

Single-chromosome dynamics reveals locus-dependent dynamics and chromosome territory orientation.

Dynamic chromatin organization instantly influences DNA accessibility through modulating local macromolecular density and interactions, driving changes in transcription activities. Chromatin dynamics have been reported to be locally confined but contribute to coherent chromatin motion across the entire nucleus. However, the regulation of dynamics, nuclear orientation and compaction of subregions along a single chromosome are not well-understood. We used CRISPR-based real-time single-particle tracking and polymer models to characterize the dynamics of specific genomic loci and determine compaction levels of large human chromosomal domains. Our studies showed that chromosome compaction changed during interphase and that compactions of two arms on chromosome 19 were different. The dynamics of genomic loci were subdiffusive and dependent on chromosome regions and transcription states. Surprisingly, the correlation between locus-dependent nuclear localization and mobility was negligible. Strong tethering interactions detected at the pericentromeric region implies local condensation or associations with organelles within local nuclear microenvironments, such as chromatin-nuclear body association. Based on our findings, we propose a 'guided radial model' for the nuclear orientation of the long arm of chromosome 19.

Cryo-ET reveals sarcomere structures at molecular resolution.

Muscles underpin movement and heart function. Individual muscle fibers can be very large syncytia of up to several centimeters in length and are comprised of the force-generating and load-bearing devices of muscles called sarcomeres. Contraction and relaxation of sarcomeres relies on the sliding between two types of filaments—the thin filament (comprising mainly F-actin, tropomyosin, and troponin) and the thick myosin filament. In addition, several other proteins are involved in the contraction mechanism and their mutational malfunction can lead to debilitating and even life-threatening diseases. In my presentation, I will explain how we managed to obtain high-resolution structures of native sarcomeres using cryo-electron tomography (cryo-ET). Our cryo-ET reconstructions reveal molecular details of the three-dimensional organization and interaction of actin and myosin in the A-band, I-band and Z-disc and demonstrate that α-actinin cross-links antiparallel actin filaments by forming doublets with 6 nm spacing. Structures of myosin, tropomyosin, actin, and nebulin at up to 4.5 Å further reveal two conformations of “double-headed” myosin, where the flexible orientation of the lever arm and light chains enable myosin not only to interact with the same actin filament, but also to split between two actin filaments. The structures provide high-resolution details of the interaction between nebulin and actin, demonstrating the stabilising role of nebulin. Unexpectedly, nebulin does not interact with myosin or tropomyosin, but with a troponin-T linker through two potential binding motifs on nebulin, explaining its regulatory role. Our results provide unexpected insights into the fundamental organization of vertebrate skeletal muscle and serve as a strong foundation for future investigations of muscle diseases.

Bulk Recycling of Ni-Cr-Mo Dental Alloy - A Sustainable Approach

Many dental alloy manufacturers instruct not to recast alloys, but the dental laboratories reuse the casting surplus for economic reasons. It is a controversial topic in dental practice, so the present study attempts to assess the effects of recasting Ni-Cr-Mo alloys. Three sets of alloy pellets were recast. The first set was melted and allowed to solidify. The second and third sets were recast two times and three times, respectively. The elemental composition of all the recast samples was analysed using ED-XRF (Energy Dispersive X-ray Fluorescence) spectrometer. The variation in the chemical composition for the number of recasting was reported. It was observed that the recasting for one time doesn't change the elemental composition to a considerable extent. However, further increase in the number of recasting two and three times, the depletion of the major alloying elements (Ni, Cr, and Mo) was notable. Hence, the current study intends to calculate the exact amount of the depleted elements after each recast. Also, to have a theoretical analysis of the elements necessary for making a master alloy that can be added during the recasting to avoid changes in elemental composition. Moreover, the microstructure of the recast samples was observed using an optical electron microscope (OEM). No drastic variation in the microstructure was observed for the alloy with several melting and solidifying cycles, except for the orientation of the dendritic arm. Furthermore, to confirm the mechanical strength of the recast alloy Vickers microhardness test was conducted. The average microhardness of the base Ni-Cr-Mo alloy was 216 HV, and recasting once does not affect the hardness value. However, the three-time recast alloy showed only a 9% decrement. Finally, it can be concluded that the number of recasting can be as many times provided depleted elements are added in exact proportion after each recast. The current research suggests recycling dental alloys in bulk outside a dental clinic, and a dentist should responsibly segregate different base metal alloys and promote sustainable dentistry.

An ISB-consistent Denavit-Hartenberg model of the human upper limb for joint kinematics optimization: validation on synthetic and robot data during a typical rehabilitation gesture.

Several biomedical contexts such as diagnosis, rehabilitation, and ergonomics require an accurate estimate of human upper limbs kinematics. Wearable inertial measurement units (IMU s) represent a suitable solution because of their unobtrusiveness, portability, and low-cost. However, the time-integration of the gyroscope angular velocity leads to an unbounded orientation drift affecting both angular and linear displacements over long observation interval. In this work, a Denavit-Hartenberg model of the upper limb was defined in accordance with the guidelines of the International Society of Biomechanics and exploited to design an optimization kinematics process. This procedure estimated the joint angles by minimizing the difference between the modelled and IMU-driven orientation of upper arm and forearm. In addition, reasonable constraints were added to limit the drift influence on the final joint kinematics accuracy. The validity of the procedure was tested on synthetic and experimental data acquired with a robotic arm over 20 minutes. Average rms errors amounted to 2.8 deg and 1.1 for synthetic and robot data, respectively. Clinical Relevance - The proposed method has the potential to improve robustness and accuracy of multi-joint kinematics estimation in the general contexts of home-based tele-rehabilitation interventions. In this respect adoption of multi-segmental kinematic model along with physiological joint constraints could contribute to address current limitations associated to unsupervised analysis in terms of monitoring and outcome assessment.

Donor-Acceptor Boron-Ketoiminate Complexes with Pendent N-Heterocyclic Arms: Switched-on Luminescence through N-Heterocycle Methylation.

A series of intramolecular, donor-stabilized BF2 complexes supported by phenanthridinyl-decorated, β-ketoiminate chelating ligand scaffolds is described, along with their characterization by spectroscopy and X-ray diffraction. In solution, the relative orientation of the pendent phenanthridinyl arm is fixed despite not coordinating to the boron center, and a well-resolved through-space interaction between a phenanthridinyl C-H and a single fluorine atom can be observed by 19F-1H NOE NMR spectroscopy. The neutral compounds are nonetheless only weakly luminescent in fluid solution, ascribed to nonradiative decay pathways enabled by rotation of the N-heterocyclic unit. Methylation of the phenanthridinyl nitrogen restricts this rotation, "switching on" comparably strong emission in solution. Modeling by density functional theory (DFT) and time-dependent DFT (TDDFT) indicates that the character of the lowest energy excitation changes upon methylation, with shallow calculated potential energy surfaces of the neutral complexes consistent with their lack of significant radiative decay.

The molecular basis for sarcomere organization in vertebrate skeletal muscle

Summary Sarcomeres are force-generating and load-bearing devices of muscles. A precise molecular picture of how sarcomeres are built underpins understanding their role in health and disease. Here, we determine the molecular architecture of native vertebrate skeletal sarcomeres by electron cryo-tomography. Our reconstruction reveals molecular details of the three-dimensional organization and interaction of actin and myosin in the A-band, I-band, and Z-disc and demonstrates that α-actinin cross-links antiparallel actin filaments by forming doublets with 6-nm spacing. Structures of myosin, tropomyosin, and actin at ~10 A further reveal two conformations of the double-head myosin, where the flexible orientation of the lever arm and light chains enable myosin not only to interact with the same actin filament, but also to split between two actin filaments. Our results provide unexpected insights into the fundamental organization of vertebrate skeletal muscle and serve as a strong foundation for future investigations of muscle diseases.

The molecular basis for sarcomere organization in vertebrate skeletal muscle

SummarySarcomeres are force-generating and load-bearing devices of muscles. A precise molecular picture of how sarcomeres are built underpins understanding their role in health and disease. Here, we determine the molecular architecture of native vertebrate skeletal sarcomeres by electron cryo-tomography. Our reconstruction reveals molecular details of the three-dimensional organization and interaction of actin and myosin in the A-band, I-band, and Z-disc and demonstrates that α-actinin cross-links antiparallel actin filaments by forming doublets with 6-nm spacing. Structures of myosin, tropomyosin, and actin at ~10 Å further reveal two conformations of the “double-head” myosin, where the flexible orientation of the lever arm and light chains enable myosin not only to interact with the same actin filament, but also to split between two actin filaments. Our results provide unexpected insights into the fundamental organization of vertebrate skeletal muscle and serve as a strong foundation for future investigations of muscle diseases.

A Vision-Based Sensing Approach for a Spherical Soft Robotic Arm.

Sensory feedback is essential for the control of soft robotic systems and to enable deployment in a variety of different tasks. Proprioception refers to sensing the robot’s own state and is of crucial importance in order to deploy soft robotic systems outside of laboratory environments, i.e. where no external sensing, such as motion capture systems, is available. A vision-based sensing approach for a soft robotic arm made from fabric is presented, leveraging the high-resolution sensory feedback provided by cameras. No mechanical interaction between the sensor and the soft structure is required and consequently the compliance of the soft system is preserved. The integration of a camera into an inflatable, fabric-based bellow actuator is discussed. Three actuators, each featuring an integrated camera, are used to control the spherical robotic arm and simultaneously provide sensory feedback of the two rotational degrees of freedom. A convolutional neural network architecture predicts the two angles describing the robot’s orientation from the camera images. Ground truth data is provided by a motion capture system during the training phase of the supervised learning approach and its evaluation thereafter. The camera-based sensing approach is able to provide estimates of the orientation in real-time with an accuracy of about one degree. The reliability of the sensing approach is demonstrated by using the sensory feedback to control the orientation of the robotic arm in closed-loop.

Inertial-Robotic Motion Tracking in End-Effector-Based Rehabilitation Robots.

End-effector-based robotic systems provide easy-to-set-up motion support in rehabilitation of stroke and spinal-cord-injured patients. However, measurement information is obtained only about the motion of the limb segments to which the systems are attached and not about the adjacent limb segments. We demonstrate in one particular experimental setup that this limitation can be overcome by augmenting an end-effector-based robot with a wearable inertial sensor. Most existing inertial motion tracking approaches rely on a homogeneous magnetic field and thus fail in indoor environments and near ferromagnetic materials and electronic devices. In contrast, we propose a magnetometer-free sensor fusion method. It uses a quaternion-based algorithm to track the heading of a limb segment in real time by combining the gyroscope and accelerometer readings with position measurements of one point along that segment. We apply this method to an upper-limb rehabilitation robotics use case in which the orientation and position of the forearm and elbow are known, and the orientation and position of the upper arm and shoulder are estimated by the proposed method using an inertial sensor worn on the upper arm. Experimental data from five healthy subjects who performed 282 proper executions of a typical rehabilitation motion and 163 executions with compensation motion are evaluated. Using a camera-based system as a ground truth, we demonstrate that the shoulder position and the elbow angle are tracked with median errors around 4 cm and 4°, respectively; and that undesirable compensatory shoulder movements, which were defined as shoulder displacements greater ±10 cm for more than 20% of a motion cycle, are detected and classified 100% correctly across all 445 performed motions. The results indicate that wearable inertial sensors and end-effector-based robots can be combined to provide means for effective rehabilitation therapy with likewise detailed and accurate motion tracking for performance assessment, real-time biofeedback and feedback control of robotic and neuroprosthetic motion support.

Design, fabrication, modeling and control of a fabric-based spherical robotic arm

In this paper we present a spherical soft robotic arm made from fabric. The inflatable arm has a small mass and is pneumatically actuated. A configuration is employed with only three actuators controlling the two rotational degrees of freedom of a spherical joint. This differs from the commonly employed antagonistic pairs, including four actuators for two degrees of freedom. The fabrication procedure of the lightweight and compliant system is discussed in detail and uses commonly available materials and tools. The capability of the robotic arm to adjust the joint stiffness as a function of the actuator pressures is investigated and characterized for different deflection directions. The static mapping from the actuator pressures to the orientation of the robotic arm is identified from data and the inverse mapping is employed in a position controller. The modeling and controller derivation are performed for three different stiffness levels demonstrating the ability of the spherical robotic arm to change the joint stiffness independently of controlling the position. The position tracking performance is experimentally evaluated by tracking a square trajectory. A comparison of the tracking performance for the different stiffness levels shows that accurate tracking is more challenging for the smallest joint stiffness. A gray-box model capturing the interactions of the two degrees of freedom is used in a learning scheme that is applied for the smallest stiffness level. The learning approach reduces interactions between the two degrees of freedom and demonstrates the control performance achievable with the system developed.

Structure of Turnip mosaic virus and its viral-like particles

Turnip mosaic virus (TuMV), a potyvirus, is a flexible filamentous plant virus that displays a helical arrangement of coat protein copies (CPs) bound to the ssRNA genome. TuMV is a bona fide representative of the Potyvirus genus, one of most abundant groups of plant viruses, which displays a very wide host range. We have studied by cryoEM the structure of TuMV virions and its viral-like particles (VLPs) to explore the role of the interactions between proteins and RNA in the assembly of the virions. The results show that the CP-RNA interaction is needed for the correct orientation of the CP N-terminal arm, a region that plays as a molecular staple between CP subunits in the fully assembled virion.

Myosin lever arm orientation in muscle determined with high angular resolution using bifunctional spin labels.

Despite advances in x-ray crystallography, cryo-electron microscopy (cryo-EM), and fluorescence polarization, none of these techniques provide high-resolution structural information about the myosin light chain domain (LCD; lever arm) under ambient conditions in vertebrate muscle. Here, we measure the orientation of LCD elements in demembranated muscle fibers by electron paramagnetic resonance (EPR) using a bifunctional spin label (BSL) with an angular resolution of 4°. To achieve stereoselective site-directed labeling with BSL, we engineered a pair of cysteines in the myosin regulatory light chain (RLC), either on helix E or helix B, which are roughly parallel or perpendicular to the myosin lever arm, respectively. By exchanging BSL-labeled RLC onto oriented muscle fibers, we obtain EPR spectra from which the angular distributions of BSL, and thus the lever arm, can be determined with high resolution relative to the muscle fiber axis. In the absence of ATP (rigor), each of the two labeled helices exhibits both ordered (σ ∼9-11°) and disordered (σ > 38°) populations. Using these angles to determine the orientation of the lever arm (LCD combined with converter subdomain), we observe that the oriented population corresponds to a lever arm that is perpendicular to the muscle fiber axis and that the addition of ATP in the absence of Ca2+ (inducing relaxation) shifts the orientation to a much more disordered orientational distribution. Although the detected orientation of the myosin light chain lever arm is ∼33° different than predicted from a standard "lever arm down" model based on cryo-EM of actin decorated with isolated myosin heads, it is compatible with, and thus augments and clarifies, fluorescence polarization, x-ray interference, and EM data obtained from muscle fibers. These results establish feasibility for high-resolution detection of myosin LCD rotation during muscle contraction.

Intelligent Control Strategy for Robotic Arm by Using Adaptive Inertia Weight and Acceleration Coefficients Particle Swarm Optimization

This paper proposes an intelligent control strategy for enabling a robotic arm to grasp and place water-filled bottles without spilling any of the water. First, the system architecture of a five-degree-of-freedom robotic arm and its mechanical design are introduced. Second, both the forward and inverse kinematics of the robotic arm are derived. The study conducted an experiment in which the designed and implemented robotic arm could grasp a bottle of water and move it to another place. However, if the acceleration or the orientation of the robotic arm were inappropriate, the water in the bottle may be spilled during the movement. Therefore, the proposed strategy applies an inertial measurement unit for obtaining relevant information. According to the obtained information, the velocity curves of each joint could be optimized by adaptive inertia weight and acceleration coefficients particle swarm optimization. Finally, the experimental results demonstrated the feasibility and effectiveness of the proposed method.

Tripod-shaped molecules: Synthesis and immobilization on Au(1 1 1) substrates

We describe design and synthesis of novel tripod-shaped molecules that are potentially capable of monomolecular assembly on noble metal substrates, maintaining, due to their rigidity and specific geometry, the orientation of the functional arm in a perpendicular fashion with respect to the substrate. Using a combination of X-ray photoelectron spectroscopy, X-ray absorption spectroscopy and atomic force microscopy, the ability of these molecules to form well-defined and densely packed self-assembled monolayers (SAMs) on Au(1 1 1) was demonstrated, with the majority of the molecules adsorbed in the predefined tripodal geometry, relying on the thiolate-gold anchors. The functionality of the respective monomolecular templates was proved by click reaction between the terminal alkyne groups of the monolayers and complementary azide-substituted substituent (theophylline), which served potentially as specific protein receptor. The resulting theophylline-terminated films were successfully tested for specific protein adsorption, verifying the validity and reliability of the presented concept, in terms of the tripod design and its “activation” by the click reaction.

RINGO3polarimetry of the Type I superluminous SN 2017egm

The origin of the luminosity of superluminous supernovae (SLSNe) is an unresolved mystery, and a number of very different physical scenarios (including energy injection from magnetars, collision with a dense circumstellar medium and pair instability-induced explosions) have been invoked. The application of polarimetry to normal SNe has been shown to probe the three-dimensional structure of exploding stars, providing clues to the nature of the explosion mechanism. We report imaging linear polarimetry observations of the Type I SLSN 2017egm, in the galaxy NGC 3191, conducted with the Liverpool Telescope and the RINGO3 instrument. Observations were acquired at four epochs, spanning 4 - 19 days after light-curve maximum, however, polarization was not detected at a level of $>3\sigma$. At +7 and +15 days, and in the average over all epochs, we find a possible polarization signal, detected at a significance of $\approx 2\sigma$ in the "blue" channel. This signal is seen, primarily, in the Stokes $q$ parameter, with a corresponding polarization angle consistent with the orientation of the spiral arm in proximity to the position of SN 2017egm. We interpret this as indicating that any polarization, if present, originates from dust in the host galaxy rather than being intrinsic to the SN itself. Despite its apparent peculiarities, compared to other Type I SLSNe, the polarization characteristics of SN 2017egm are consistent with the previously reported low polarization of other SLSNe of this variety.

A Novel Single Camera Robotic Approach for Three-Dimensional Digital Image Correlation with Targetless Extrinsic Calibration and Expanded View Angles

Three-Dimensional Digital Image Correlation (3D-DIC) is a technique used widely in both academic and industrial settings to measure object morphology, velocity, and full-field strain. However, conventional methods require the use of two synchronized cameras and a lengthy calibration process of taking thirty or more images of specialized target, after which the cameras must be kept fixed. This paper proposes a new approach for obtaining 3D-DIC measurements using only a single camera moved between different positions by a robotic arm, with the extrinsic calibration parameters obtained by manipulation of the internal position and orientation information known to the robot, obviating the need for a calibration target in order to calculate the extrinsic matrix for various positions (after the intrinsic matrix has been established). The specifications of a prototype are presented, and the method is quantitatively and qualitatively compared to the traditional 3D-DIC approach to determine relative accuracy and reliability in shape measurements. By correcting for errors in the reported orientation of the robotic arm, it was possible to achieve the same accuracy as the traditional 3D-DIC approach for stereo angles up to 30o, beyond which the loss of image overlap results in linear increasing errors that are up to an order of magnitude greater. The method is also further extended to allow for images from more than two positions to be combined in a single analysis, which enables an expanded view of up to 360° using only a single camera and without the additional calibrations required by current multi-camera expanded view systems. The integration of this new 3D-DIC approach into future robotic systems will facilitate new capabilities for performing vital tasks, such as material analysis, infrastructure assessment, and human-robot interactions.

The magnetic field in the central parsec of the Galaxy

We present a polarisation map of the warm dust emission from the minispiral in the central parsec of the Galactic centre. The observations were made at a wavelength of 12.5 microns with CanariCam mounted on the 10.4-m Gran Telescopio Canarias. The magnetic field traced by the polarised emission from aligned dust grains is consistent with previous observations, but the increased resolution of the present data reveals considerably more information on the detailed structure of the B field and its correspondence with the filamentary emission seen in both mid-infrared continuum emission and free-free emission at cm wavelengths. The magnetic field appears to be compressed and pushed by the outflows from luminous stars in the Northern Arm, but it is not disordered by them. We identify some magnetically coherent filaments that cross the Northern Arm at a Position Angle of ~45 degrees, and which may trace orbits inclined to the primary orientation of the Northern Arm and circumnuclear disk. In the East-West bar, the magnetic fields implied by the polarization in the lower intensity regions lie predominantly along the bar at a Position Angle of 130 - 140 degrees. In contrast to the Northern Arm, the brighter regions of the bar tend to have lower degrees of polarization with a greater divergence in position angle compared to the local diffuse emission. It appears that the diffuse emission in the East-West bar traces the underlying field and that the bright compact sources are unrelated objects presumably projected onto the bar and with different field orientations

No Difference in Myosin Kinetics and Spatial Distribution of the Lever Arm in the Left and Right Ventricles of Human Hearts.

The systemic circulation offers larger resistance to the blood flow than the pulmonary system. Consequently, the left ventricle (LV) must pump blood with more force than the right ventricle (RV). The question arises whether the stronger pumping action of the LV is due to a more efficient action of left ventricular myosin, or whether it is due to the morphological differences between ventricles. Such a question cannot be answered by studying the entire ventricles or myocytes because any observed differences would be wiped out by averaging the information obtained from trillions of myosin molecules present in a ventricle or myocyte. We therefore searched for the differences between single myosin molecules of the LV and RV of failing hearts In-situ. We show that the parameters that define the mechanical characteristics of working myosin (kinetic rates and the distribution of spatial orientation of myosin lever arm) were the same in both ventricles. These results suggest that there is no difference in the way myosin interacts with thin filaments in myocytes of failing hearts, and suggests that the difference in pumping efficiencies are caused by interactions between muscle proteins other than myosin or that they are purely morphological.

Trueness and Minimal Detectable Change of Smartphone Inclinometer Measurements of Shoulder Range of Motion

Digital inclinometer applications using data from embedded sensors on smartphone/multi-purpose pocket computers or "smart digital inclinometers" (SDIs) are now used to clinically assess range of motion (ROM). The objectives of this study were to assess, compared with a biomechanical gold standard (GS), the trueness and minimal detectable change (MDC) of shoulder range of motion (SROM) measurements obtained from an SDI. Twenty-five (n = 25) asymptomatic healthy participants performed three trials of shoulder flexion (SF), shoulder abduction (SA), and shoulder external rotation (SER) at full-range and mid-range. SROM was measured concurrently from sensor data (pitch, yaw, roll angles) from an iPod Touch installed on the posterior aspect of the humerus and 3D orientation of the upper arm obtained from an optical motion tracking system GS. The mean level of bias between SDI and the GS across all SROM measurements was 3.4°, with a 95% confidence interval varying between -8.9° and 15.8°. The mean and standard deviation absolute difference of SDI measurements with the GS were 5.8° ± 3.7° for SF, 8.7° ± 5.2° for SA, and 1.7° ± 1.4° for SER. The trueness of these values varied according to the movement. MDC was 1.9° for SF, 2° for SA, and 0.3° for SER. SROM measures in SER with an SDI seem to be accurate and robust for clinical use. However, SROM measures in other planes of motion should be interpreted with caution depending on the evaluation objective, the plane of motion assessed, and the range of ROM measured.