Design of a robotic hand with a biologically-inspired parallel actuation system for prosthetic applications

Trabajo presentado al 34th Annual Mechanisms and Robotics Conference celebrado en Quebec del 15 al 18 de agosto de 2010.This paper presents the design of a robotic hand for prosthetic applications. The main characteristic of this robotic hand is its biologically-inspired parallel actuation system, which is based on the behavior/strength space of the Flexor Digitorum Profundus (FDP) and the Flexor Digitorum Superficialis (FDS) muscles. The design separates the strength space of the FDS and FDP muscles into a lighter strength region where finer manipulation and general approach tasks are executed, and a higher strength region where the more robust grasps are achieved. Two parallel actuator types and kinematic structures are designed to complement the requirements of both strength space regions.This research was performed under an award/contract from Telemedicine Advanced Technology Research Center (TATRC), of the U.S. Army Medical Research and Materiel Command (USAMRMC) of the U.S. Department of Defense.Peer Reviewe

Tip-surface forces, amplitude, and energy dissipation in amplitude-modulation (tapping mode) force microscopy

Amplitude-modulation (tapping mode) atomic force microscopy is a technique for high resolution imaging of a wide variety of surfaces in air and liquid environments. Here by using the virial theorem and energy conservation principles we have derived analytical relationships between the oscillation amplitude, phase shift, and average tip-surface forces. We find that the average value of the interaction force and oscillation and the average power dissipated by the tip-surface interaction are the quantities that control the amplitude reduction. The agreement obtained between analytical and numerical results supports the analytical method.This work has been supported by the Dirección General de Investigación Científica y Técnica (PB98-0471) and the European Union (BICEPS, BIO4-CT-2112). A. S. P. acknowledges financial support from the Comunidad Autónoma de Madrid.Peer reviewe

A striking correspondence between the dynamics generated by the vector fields and by the scalar parabolic equations

The purpose of this paper is to enhance a correspondence between the dynamics of the differential equations $\dot y(t)=g(y(t))$ on $\mathbb{R}^d$ and those of the parabolic equations $\dot u=\Delta u +f(x,u,\nabla u)$ on a bounded domain $\Omega$. We give details on the similarities of these dynamics in the cases $d=1$, $d=2$ and $d\geq 3$ and in the corresponding cases $\Omega=(0,1)$, $\Omega=\mathbb{T}^1$ and dim($\Omega$)$\geq 2$ respectively. In addition to the beauty of such a correspondence, this could serve as a guideline for future research on the dynamics of parabolic equations

Deconstructing Weight Management Interventions for Young Adults: Looking Inside the Black Box of the EARLY Consortium Trials.

ObjectiveThe goal of the present study was to deconstruct the 17 treatment arms used in the Early Adult Reduction of weight through LifestYle (EARLY) weight management trials.MethodsIntervention materials were coded to reflect behavioral domains and behavior change techniques (BCTs) within those domains planned for each treatment arm. The analytical hierarchy process was employed to determine an emphasis profile of domains in each intervention.ResultsThe intervention arms used BCTs from all of the 16 domains, with an average of 29.3 BCTs per intervention arm. All 12 of the interventions included BCTs from the six domains of Goals and Planning, Feedback and Monitoring, Social Support, Shaping Knowledge, Natural Consequences, and Comparison of Outcomes; 11 of the 12 interventions shared 15 BCTs in common across those six domains.ConclusionsWeight management interventions are complex. The shared set of BCTs used in the EARLY trials may represent a core intervention that could be studied to determine the required emphases of BCTs and whether additional BCTs add to or detract from efficacy. Deconstructing interventions will aid in reproducibility and understanding of active ingredients

Constraints on alternative models to dark energy

The recent observations of type Ia supernovae strongly support that the universe is accelerating now and decelerated in the recent past. This may be the evidence of the breakdown of the standard Friemann equation. We consider a general modified Friedmann equation. Three different models are analyzed in detail. The current supernovae data and the Wilkinson microwave anisotropy probe data are used to constrain these models. A detailed analysis of the transition from the deceleration phase to the acceleration phase is also performed.Comment: 10 pages, 1 figure, revtex

Strategies for Investigating Early Mars Using Returned Samples

The 2011 Visions & Voyages Planeary Science Decadal Survey identified making significant progress toward the return of samples from Mars as the highest priority goal for flagship missions in next decade. Numerous scientific objectives have been identified that could be advanced through the potential return and analysis of martian rock, regolith, and atmospheric samples. The analysis of returned martian samples would be particularly valuable in in-creasing our understanding of Early Mars. There are many outstanding gaps in our knowledge about Early Mars in areas such as potential astrobiology, geochronology, planetary evolution (including the age, context, and processes of accretion, differentiation, magmatic, and magnetic history), the history of water at the martian surface, and the origin and evolution of the martian atmosphere. Here we will discuss scientific objectives that could be significantly advanced by Mars sample return

Effect of synthesis conditions on formation pathways of metal organic framework (MOF-5) Crystals

Metal Organic Frameworks (MOFs) represent a class of nanoporous crystalline materials with far reaching potential in gas storage, catalysis, and medical devices. We investigated the effects of synthesis process parameters on production of MOF-5 from terephthalic acid and zinc nitrate in diethylformamide. Under favorable synthesis conditions, we systematically mapped a solid formation diagram in terms of time and temperature for both stirred and unstirred conditions. The synthesis of MOF-5 has been previously reported as a straightforward reaction progressing from precursor compounds in solution directly to the final MOF-5 solid phase product. However, we show that the solid phase formation process is far more complex, invariably transferring through metastable intermediate crystalline phases before the final MOF-5 phase is reached, providing new insights into the formation pathways of MOFs. We also identify process parameters suitable for scale-up and continuous manufacturing of high purity MOF-5

Dilatonic ghost condensate as dark energy

We explore a dark energy model with a ghost scalar field in the context of the runaway dilaton scenario in low-energy effective string theory. We address the problem of vacuum stability by implementing higher-order derivative terms and show that a cosmologically viable model of ``phantomized'' dark energy can be constructed without violating the stability of quantum fluctuations. We also analytically derive the condition under which cosmological scaling solutions exist starting from a general Lagrangian including the phantom type scalar field. We apply this method to the case where the dilaton is coupled to non-relativistic dark matter and find that the system tends to become quantum mechanically unstable when a constant coupling is always present. Nevertheless, it is possible to obtain a viable cosmological solution in which the energy density of the dilaton eventually approaches the present value of dark energy provided that the coupling rapidly grows during the transition to the scalar field dominated era.Comment: 26 pages, 6 figure