We propose a novel approach to the problem of inverse kinematics for possibly redundant planar manipulators. We show that, by considering the joints as point masses in a fictitious gravity field, and by adding proper constraints to take into account the length of the links, the kinematic inversion may be cast as a convex programming problem. Convex constraints in the decision variables (in particu

Characterization of normal breast stem cells is important for understanding their role in breast development and in breast cancer. However, the identity of these cells is a subject of controversy and their localization in the breast epithelium is not known. In this study, we utilized a novel approach to analyze the morphogenesis of mammary lobules, by combining one-dimensional theoretical models a

A novel approach to the synthesis of Mn-doped InSb nanowires is demonstrated in this work. We first report on the preparation of InSb nanowires without high temperature treatment. Indium nanowires are grown by glance angle deposition and then coated with a layer of Sb. Single crystalline InSb nanowires are obtained by annealing In/Sb nanostructures at 200 °C. Triple-layer In/Mn/Sb nanostructures a

Surface deterioration of concrete occurs at the waterline of many hydraulic structures in contact with soft water in cold regions. Progressive disintegration of the surface leads to exposure of the coarse aggregate and ultimately of the reinforcing steel. Mechanical, physical and chemical processes could cause deterioration of concrete at the waterline. The objective of this study was to investiga

Since the EU introduced the European Landscape Convention (ELC) in 2000, the landscape has received growing attention in spatial planning and environmental impact assessments. To promote implementation of the ELC, the Swedish National Heritage Board proposed its Landscape Vision 2020, which addresses the goal of a ‘holistic landscape policy’. This study examined challenges and benefits brought by

BACKGROUND: Prolongation of the baseline ECG PR interval is frequently encountered among cardiac resynchronization therapy (CRT) recipients. There are conflicting data regarding the association of a prolonged PR interval with long-term clinical outcome in this patient group.OBJECTIVE: The purpose of this study was to compare clinical outcomes and response to CRT in patients with normal (

Background: Five workers from a plant manufacturing concrete wall panels and beams were referred to our department because of suspected occupational dermatitis. When patch tested, 3 workers reacted to potassium dichromate. Four workers reacted to ethylenediamine dihydrochloride, without any obvious exposure. Owing to the high proportion of workers with recent-onset skin disease, an investigation o

Purpose To determine the agreement between five different methods of ictal EEG source imaging, and to assess their accuracy in presurgical evaluation of patients with focal epilepsy. It was hypothesized that high agreement between methods was associated with higher localization-accuracy. Methods EEGs were recorded with a 64-electrode array. Thirty-eight seizures from 22 patients were analyzed usin

The symbolic order of discourse of ideology actually enables the existence and reproduction of violence. Mass crimes on civilians may become normalized and widely accepted if perpetrators of violence who exert violence and those who implicitly and explicitly support it believe that exertion of violence on others is justified by belief in some symbolic higher order. Many current examples of justifi

In the 23-km-diameter Haughton impact structure, Canadian High Arctic, in sulfate-rich bedrock, widespread hydrothermal sulfide mineralization occurred in breccias formed during the impact. The sulfides exhibit extreme sulfur isotopic fractionation relative to the original sulfate, requiring microbial sulfate reduction by thermophiles throughout the crater. This evidence of widespread microbial ac

Background: Occurrence of severe asthma exacerbations are the cornerstone of the evaluation of asthma management, but severe asthma exacerbations are rare events. Therefore, trials that assess drug efficacy on exacerbations are done late in clinical development programmes. We aimed to establish an endpoint capturing clinically relevant deteriorations (diary events) that, when combined with severe

The pseudorapidity density of charged particles, dNch/dη, at midrapidity in Pb-Pb collisions has been measured at a center-of-mass energy per nucleon pair of sNN=5.02 TeV. For the 5% most central collisions, we measure a value of 1943±54. The rise in dNch/dη as a function of sNN is steeper than that observed in proton-proton collisions and follows the trend established by measurements at lower ene

Objective. To carry out a literature review on the use of elastography in obstetrics to investigate the capabilities of this technique for uterine scar evaluation. Material and methods. A systematic review of the literature published in 2011 to 2016 was carried out searching with the use of key words. Results. Among 25 publications dealing with elastography used in obstetric and gynecologic practi

Direct conversion of human fibroblasts into mature and functional neurons, termed induced neurons (iNs), was achieved for the first time 6 years ago. This technology offers a promising shortcut for obtaining patient- and disease-specific neurons for disease modeling, drug screening, and other biomedical applications. However, fibroblasts from adult donors do not reprogram as easily as fetal donors

The aim of this paper is to explore, illustrate and conceptualise how the introduction of mobile phones transforms the practice of shopping. Drawing on a focus group study of young adults and making use of Practice Theory, this paper shows that the introduction of mobile phones reconfigures the practice of shopping subsequently transforming the agency of consumers. Mobile phones enable consumers t

Purpose: We present clinical and laboratory data on 18 children from 12 hemophilia treatment centers in the United States, Canada, and Europe with the purpose of disseminating information regarding a recently recognized, potentially life-threatening complication of treatment in very young children with hemophilia B. Patients and Methods: Twelve hemophilia centers from the United States, Canada, an

The predominant way of modelling mortality rates is the Lee–Carter model and its many extensions. The Lee–Carter model and its many extensions use a latent process to forecast. These models are estimated using a two-step procedure that causes an inconsistent view on the latent variable. This paper considers identifiability issues of these models from a perspective that acknowledges the latent vari

We have used femtosecond resolution UV-visible and Kβ x-ray emission spectroscopy to characterize the electronic excited state dynamics of [Fe(bpy)2(CN)2], where bpy=2,20-bipyridine, initiated by metal-to-ligand charge transfer (MLCT) excitation. The excited-state absorption in the transient UV-visible spectra, associated with the 2,20-bipyridine radical anion, provides a robust marker for the MLC

Background: Neuropeptides, such as substance P (SP), have long been seen as mediators of widespread continuous airway inflammation, a process known as neurogenic inflammation. However, this has been difficult to demonstrate clinically, suggesting an alternative role for these signaling molecules. Objectives: We sought to examine the role of SP in nasal infection by assessing the release of SP in r