To ensure sufficient coverage of an area or to protect against node failures, one major characteristic of WSNs is the possibility of deploying many redundant nodes in a small area. These are clear advantages of a dense network deployment; however, there are also disadvantages. To be specific, in a relatively crowded network, many typical wireless networking problems are aggravated by the large number of neighbors, such as many nodes interfering with each other. In order to avoid too many interferences, nodes might use short transmission power to talk to nearby nodes directly; thus, routing protocols might have to recompute routes even if only small node movements have happened.

关键词：无线传感器；连通集

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This paper describes ongoing research into the role of optic-flow derived spatial representations and their relation to cognitive computational models of mental rotation in primates, with the goal of producing effective and unique autonomous robot navigational capabilities. A theoretical framework is outlined based on a vectorial interlingua spanning perception, cognition and motor control. Progress to date on its implementation within an autonomous robot control architecture is presented.

关键词：机器人；导航；体系结构；认知；控制系统；数学模型；机器人导航；光学流

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In April 2009, NASA Glenn Research Center (GRC) formed an integrated product team (IPT) to develop a Small Radioisotope Power System (SRPS) utilizing a single Advanced Stirling Convertor (ASC) with passive balancer for possible use by the International Lunar Network (ILN) program. The ILN program is studying the feasibility of implementing a multiple node seismometer network to investigate the internal lunar structure. A single ASC produces approximately 80 W(sub e) and could potentially supply sufficient power for that application. The IPT consists of Sunpower, Inc., to provide the single ASC with balancer, The Johns Hopkins University Applied Physics Laboratory (JHU/APL) to design an engineering model Single Convertor Controller (SCC) for an ASC with balancer, and NASA GRC to provide technical support to these tasks and to develop a simulated lunar lander test stand. A controller maintains stable operation of an ASC. It regulates the alternating current produced by the linear alternator of the convertor, provides a specified output voltage, and maintains operation at a steady piston amplitude and hot end temperature. JHU/APL also designed an ASC dynamic engine/alternator simulator to aid in the testing and troubleshooting of the SCC. This paper describes the requirements, design, and development of the SCC, including some of the key challenges and the solutions chosen to overcome those issues. In addition, it describes the plans to analyze the effectiveness of a passive balancer to minimize vibration from the ASC, characterize the effect of ASC vibration on a lunar lander, characterize the performance of the SCC, and integrate the single ASC, SCC, and lunar lander test stand to characterize performance of the overall system.

关键词：电力系统；同位素

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Public reporting burden for the collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information,including suggestions for reducing this burden, to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson Davis Highway, Suite 1204, Arlington VA 22202-4302. Respondents should be aware that notwithstanding any other provision of law, no person shall be subject to a penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number.

关键词：机器人；自适应系统；自主导航；信息处理；交互作用

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Recently, a real-world haptics which transmits a haptic sensation in real-world has been actively researched. Conventional research of real-world haptics often used low-degree of freedom system. However to transmit human-like haptic information, multi-degrees of freedom robot should be used. On the other hand, general hand robot as multi-degrees of freedom robot often used force sensor. The force sensor can not get the force information which is applied from other points. Therefore, in this research, bilateral control is applied to chain-driven hand robot. Bilateral control based on disturbance observer and reaction force observer can obtain all force information which is applied to robot. The chain-driven robot has some friction and backlash because of chain and gear. These causes of degradation haptic transmission. Thus, in this research, haptic sensation is transmitted by chained driven hand robot. Then, it is analyzed how haptic information the chain-driven robot transits by using transmissibility. Transmissibility is calculated by experiment.

关键词：机器人；遗传性；真实触觉；双边控制；链传动

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NASA pushes telerobotics to distances that span the Solar System. At this scale, time of flight for communication is limited by the speed of light, inducing long time delays, narrow bandwidth and the real risk of data disruption. NASA also supports missions where humans are in direct contact with robots during extravehicular activity (EVA), giving a range of zero to hundreds of millions of miles for NASA s definition of "tele". . Another temporal variable is mission phasing. NASA missions are now being considered that combine early robotic phases with later human arrival, then transition back to robot only operations. Robots can preposition, scout, sample or construct in advance of human teammates, transition to assistant roles when the crew are present, and then become care-takers when the crew returns to Earth. This paper will describe advances in robot safety and command interaction approaches developed to form effective human-robot teams, overcoming challenges of time delay and adapting as the team transitions from robot only to robots and crew. The work is predicated on the idea that when robots are alone in space, they are still part of a human-robot team acting as surrogates for people back on Earth or in other distant locations. Software, interaction modes and control methods will be described that can operate robots in all these conditions. A novel control mode for operating robots across time delay was developed using a graphical simulation on the human side of the communication, allowing a remote supervisor to drive and command a robot in simulation with no time delay, then monitor progress of the actual robot as data returns from the round trip to and from the robot. Since the robot must be responsible for safety out to at least the round trip time period, the authors developed a multi layer safety system able to detect and protect the robot and people in its workspace. This safety system is also running when humans are in direct contact with the robot, so it involves both internal fault detection as well as force sensing for unintended external contacts. The designs for the supervisory command mode and the redundant safety system will be described. Specific implementations were developed and test results will be reported. Experiments were conducted using terrestrial analogs for deep space missions, where time delays were artificially added to emulate the longer distances found in space.

关键词：遥控机器人；地球模拟舱外活动；太空任务

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In response to a request from the public to the Agency for Healthcare Research and Quality (AHRQ) concerning the expanding use of disease-modifying anti-rheumatic drugs (DMARDs) to treat rheumatoid arthritis (RA), a systematic review was undertaken to review the effectiveness and safety of the oral and biologic DMARDs. This summary is based on a systematic review prepared as an update to a review published in 2007. In addition to the material reported in 2007, this update includes articles published after the 2007 report and before January 2011 (a total of 211 studies). This summary, based on the full report of research evidence, is provided to clinicians to inform discussions of options with patients and to assist in decisionmaking along with consideration of a patients values and preferences. Reviews of evidence should not be construed to represent clinical recommendations or guidelines.

关键词：医药；治疗技术；类风湿性关节炎

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We have isolated and characterized a population of skeletal muscle- derived stem cells (MDSCs) that display a greatly improved skeletal and cardiac muscle transplantation capacity when compared to skeletal muscle myoblasts. The MDSCs ability to withstand oxidative and inflammatory stresses appears to be the single most important factor for their improved transplantation capacity. Although the true origin of MDSCs remains unclear, their high degree of similarity with blood vessel-derived stem cells suggests their potential origin could be from the vascular wall. We have recently isolated two distinct populations of cells from the vasculature of human skeletal muscle known collectively as human skeletal muscle-derived cells (hMDCs). The two populations are myo-endothelial cells and pericytes and both can repair skeletal and cardiac muscles in a more effective manner than myoblasts, as is observed with murine MDSCs. In the current proposal we intend to evaluate and compare the regeneration capacity of these two hMDC populations after their implantation into the skeletal muscle of immunodeficient/dystrophic (SCID/mdx) mice. We will then investigate the influence that sex has on the regeneration and repair capacity of the hMDCs endowed with the greatest regeneration capacity (either myo-entothelial cells or pericytes). Finally we will investigate the influence that age plays on the regeneration capacity of the cells.

关键词：医药；治疗技术；干细胞疗法

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Histone demethylases are a newly discovered class of non-heme iron enzymes that play an important role in regulating transcription and epigenetic inheritance. We have successfully expressed and purified highly active histone demethylases (HDMs), including the cancerrelevant JMJD2C (GASC1). A detailed enzyme kinetic and inhibition analysis of these HDMs was achieved through a range of fluorescence assays, mass spectrometry, and oxygen consumption measurements. An interesting case of cosubstrate inhibition is observed for these HDMs, with direct relevance to the potential role of alpha-ketoglutarate and HDMs in cancer cells. We have also employed an enzyme-templated approach for specific inhibitor design that takes advantage of the enzyme s substrate specificity. Finally, while the initially tested compounds do not seem to inhibit JMJD2C in MCF7 breast cancer cells, we believe that second generation compounds will be active HDM inhibitors in vivo. The developed specific inhibitors could lead to novel breast cancer therapeutics and can also be used as tools for studying the role of histone demethylases in breast cancer cell proliferation.

关键词：医药；治疗技术；脱甲基酶；乳腺癌

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Trastuzumab, a monoclonal antibody (mAb) targeting HER-2/neu, kills tumor cells by several mechanisms, including antibody-dependent cellular cytotoxicity (ADCC). Strategies that enhance the activity of ADCC effectors, including natural killer (NK) cells, may improve trastuzumab s efficacy. NK cells that encounter trastuzumabcoated, HER2-overexpressing breast cancer cells become activated and express CD137, a costimulatory receptor. CD137 activation, which is dependent on the Fc RIII receptor, occurred both in vitro and in the peripheral blood of women with HER2- expressing breast cancer following trastuzumab treatment. Stimulation of trastuzumab-activated NK cells with an agonistic mAb against CD137 killed breast cancer cells more efficiently in vitro.

关键词：医药；治疗技术；曲妥单抗疗法；乳腺癌

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