Programming robots for tasks involving force interaction is difficult, since both the knowledge of the task and the dynamics of the robots are necessary. An immersive haptic interface for task demonstration is proposed, where theoperator can sense and act through the robot. This is achieved by coupling two robotic systems with virtual constraints such that they have the same coordinates in the ope

To compare clonal evolution in tumors arising through different mechanisms, we selected three types of sarcoma—amplicon-driven well-differentiated liposarcoma (WDLS), gene fusion-driven myxoid liposarcoma (MLS), and sarcomas with complex genomes (CXS)—and assessed the dynamics of chromosome and nucleotide level mutations by cytogenetics, SNP array analysis and whole-exome sequencing. Here we show

The Chinese government has launched a guideline to lead power plants to more suitable technological pathways for meeting the strict “ultra-low emission” (“ULE”) standards to reduce air pollution emissions of the coal-fired power industry. Considering the complex interrelations between water, energy and emission, a quantifiable method of choosing the feasible technology sets for 6 multi-objective o

Multilayer graphene has exhibited distinct electronic properties such as the tunable bandgap for optoelectronic applications. Among all graphene growth techniques, thermal decomposition of SiC is regarded as a promising method for production of device-quality graphene. However, it is still very challenging to grow uniform graphene over a large-area, especially multilayer graphene. One of the main

The hydration and ion pair structure of Cl− ion in aqueous cesium chloride solutions at 0.5, 6 and 11 mol/kg (H2O) has been studied using Extended X-ray Absorption Fine Structure (EXAFS) at the Cl K-edge. The co-refinement of multiple EXAFS datasets shows that the hydration structure of the free Cl− ion is consistent with previously reported studies. In concentrated solution the Cl− ion is strongl

The plant shoot apical meristem holds a stem cell niche from which all aerial organs originate. Using a computational approach we show that a mixture of monomers and heterodimers of the transcription factors WUSCHEL and HAIRY MERISTEM is sufficient to pattern the stem cell niche, and predict that immobile heterodimers form a regulatory “pocket” surrounding the stem cells. The model achieves to rep

Groucho related gene 5 (GRG5) is a multifunctional protein that has been implicated in late embryonic and postnatal mouse development. Here, we describe a previously unknown role of GRG5 in early developmental stages by analyzing its function in stem cell fate decisions. By both loss and gain of function approaches we demonstrate that ablation of GRG5 deregulates the Embryonic Stem Cell (ESC) plur

Hydrophobic pervaporation has been shown to be a promising, alternative process for the recovery of volatile organic components from their aqueous solutions, such as the recovery of aroma compounds in the food industry. Until now most of the research on the influence of operating parameters on aroma recovery by pervaporation has been conducted on the laboratory scale. The number of studies dealing

In the context of future climate change, the flush of CO2 emissions from soils after drying-rewetting events could have a strong impact on the terrestrial carbon balance. Mixed forests may be more resistant and resilient to drought events compared to monocultures, and as such may modulate the effects of drought on soil functioning belowground. We investigated the influence of mixed planting and dr

Type 2 diabetes mellitus is characterized by a low-grade inflammation; however, mechanisms leading to this inflammation in specific tissues are not well understood. The eye can be affected by diabetes; thus, we hypothesized that inflammatory changes in the eye may parallel the inflammation that develops with diabetes. Here, we developed a non-invasive means to monitor the status of inflammatory de

The objective was to provide a clinical setup for photoacoustic imaging (PAI) of the temporal artery in humans and to describe the challenges encountered and methods of overcoming them. The temporal artery was examined in 7 patients with suspect giant cell arteritis (GCA), both in vivo and ex vivo, and the results were compared to that of histology. To adapt PAI to human studies, the transducer wa