T cells can 'polarize' into T1 and T2 effector cell types in response to distinct cytokines. T cells and cells presenting antigen to the T cells are themselves candidate sources of these polarizing cytokines.

Free-flying space manipulator systems, in which robotic manipulators are mounted on a free-flying spacecraft, are envisioned for assembling, maintenance, repair, and contingency operations in space. Nevertheless, even for fixed-base systems, control of mechanical manipulators is a challenging task. This is due to strong nonlinearities in the equations of motion, and consequently different algor...

The presented paper deals with the use of computer simulation in design a robot model 4 degrees freedom movement. MSC Adams program is used simulation, and Matlab also shown. robot's mechanism an open kinematic chain. During analysis, attention paid to solving direct problem kinematics Matlab. result solution calculated trajectory movement selected point end effector. shown graphical form. In M...

The effect of ascorbic acid on blood histamine level and delayed-type hypersensitivity was studied in thirty male guinea pigs. Animals were sensitized to B.C.G., trichophytin and mallein during the first four weeks. The diet was ad libitum during this period. After this "sensitization period" animals w er e tested intradermally with tuberculin, trichophytin and mallein. The number and diam...

A second-generation automated deburring cell is currently under development at the National Institute of Standards and Technology. This cell will be capable of automatically generating, from part geometry and machining information, a series of robot paths for deburring aerospace parts made from superalloys. In order to compensate for the inaccuracy of robots when following computed coordinates,...

Measures of dynamic manipulability summarize a manipulator’s capacity to generate accelerations for arbitrary tasks, and such measures are useful tools for the design and control of generalpurpose robots. Existing measures, however, downplay the effects of velocity or else ignore them altogether. In this paper we derive the relationship between joint velocity and end-effector acceleration, and ...

This paper is an investigation of completely mechanical quick changeable joints for multipurpose explosive ordnance disposal (EOD) robots. With the assistance of a quick changeable joint, an ordinary EOD robot becomes a multipurpose robot with an end effector which can be switched during the task. This exchangeable end effector permits the robot to perform more complex duties. Making the joint ...

This paper presents a motion planning method for mobile manipulators for which the base locomotion is less precise than the manipulator control. In such a case, it is advisable to move the base to discrete poses from which the manipulator can be deployed to cover a prescribed trajectory. The proposed method finds base poses that not only cover the trajectory but also meet constraints on a measu...