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In this article, we present a robot capable of autonomously traversing and manipulating a three-dimensional (3-D) truss structure. The robot can approach and traverse multiple structural joints using a combination of translational and rotational motions. A key factor in allowing reliable motion and engagement is the use of specially designed structural(More)
This paper presents a reduced-order approach for four-dimensional variational data assimilation, based on a prior EOF analysis of a model trajectory. This method implies two main advantages: a natural model-based definition of a multivariate background error covariance matrix B r , and an important decrease of the computational burden of the method, due to(More)
We describe a new, quadruped robot platform, Aracna, which requires non-intuitive motor commands in order to locomote and thus provides an interesting challenge for gait learning algorithms, such as those frequently developed in the Evolutionary Computation and Artificial Life communities. Aracna is an open-source hardware project composed of off-the-shelf(More)
INTRODUCTION As multifunction prostheses become increasingly common, there is a need for improved control signal quality in order to control all the functions. Most signals commonly used for prosthesis control are sensitive to sweat, motion and external forces [1], which impairs prosthesis control performance. We have developed a prototype surface(More)
To investigate in vitro the innate immune response to accelerated stress-induced aggregates of intravenous immunoglobulin (IGIV) using a well-defined human cell-line model, and to correlate the innate response to physical properties of the aggregates. IGIV aggregates were prepared by applying various accelerated stress methods, and particle size, count and(More)
Administering vaccines directly to mucosal surfaces can induce both serum and mucosal immune responses. Mucosal responses may prevent establishment of initial infection at the port of entry and subsequent dissemination to other sites. The sublingual route is attractive for mucosal vaccination, but both a safe, potent adjuvant and a novel formulation are(More)
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