Stability Analysis and Performance Evaluation of Delayed Bilateral Telerobotic Systems over a Lossy Communication Channel

The focus of this paper is to address a novel control technique for stability and transparency analysis of bilateral telerobotic systems in the presence of data loss and time delay in the communication channel. Different control strategies have been reported to compensate the effects of time delay in the communication channel;however, most of them result in poor performance under data loss. First, a model for data loss is proposed using a finite series representation of a set of periodic continuous pulses.To improve the performance and data reconstruction, a holder circuits is also introduced. The passivity of the overall system is provided via the wave variable technique based on the proposed model for the data loss. The stability analysis of the system is then derived using the Lyapunov theorem under the time delay and the data loss. Finally, experimental results are given to illustrate the capability of the proposed control technique.     

Synthesis and characterization of carbon-coated cobalt ferrite nanoparticles

Cobalt ferrite nanoparticles (CFNPs) were prepared via a reverse micelle method. The CFNPs were subsequently coated with carbon shells by means of thermal chemical vapor deposition (TCVD). In this process, acetylene gas (C₂H₂) was used as a carbon source and the coating was carried out for 1, 2, or 3 h at 750°C. The Ar/C₂H₂ ratio was 10:1. Heating during the TCVD process resulted in a NP core size that approached 30 nm; the thickness of the shell was less than 10 nm. The composition, structure, and morphology of the fabricated composites were characterized using X-ray diffraction, simultaneous thermal analysis, transmission electron microscopy, high-resolution transmission electron microscopy, and selected-area diffraction. A vibrating sample magnetometer was used to survey the samples’ magnetic properties. The deposited carbon shell substantially affected the growth and magnetic properties of the CFNPs. Micro-Raman spectroscopy was used to study the carbon coating and revealed that the deposited carbon comprised graphite, multiwalled carbon nanotubes, and diamond- like carbon. With an increase in coating time, the intensity ratio between the amorphous and ordered peaks in the Raman spectra decreased, which indicated an increase in crystallite size.     

A uniform deleting element mediates the loss of kappa genes in human B cells

Human immunoglobulin light-chain genes become rearranged in an ordered fashion during pre-B-cell development such that rearrangement generally occurs in kappa genes before lambda genes (refs 1,2). This ordered process includes an unanticipated deletion of the constant kappa (C kappa) gene and kappa enhancer sequence which precedes lambda rearrangement, and the site of this deletional recombination was located 3' to the joining (J kappa) segments in 75% of cases studied. We have now characterized the recombinational element responsible for this event on three separate alleles and found them to be identical. This kappa-deleting element recombined site-specifically with a palindromic signal (CACAGTG) located in the J kappa-C kappa intron. All losses of C kappa genes in other human B cells were mediated by this determinant, including the 25% of instances when this element recombined with sequences 5' to J kappa. In contrast, the kappa-deleting element remained in its germline form on all successful kappa-producing alleles. Moreover, kappa loss is an evolutionarily conserved event, as the kappa-deleting element appears to be the human homologue of the murine RS sequence. Our results suggest that this element may help ensure isotypic and allelic exclusion of light chains and may be involved in the ordered use of human light-chain genes.