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Distal Section (distal + section)

Distribution by Scientific Domains

Life Sciences	50%

Selected Abstracts

Obstacle Avoidance for Spatial Hyper-Redundant Manipulators Using Harmonic Potential Functions and the Mode Shape Technique

JOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 1 2003
F. Fahimi
This paper deals with the obstacle avoidance problem for spatial hyper-redundant manipulators in known environments. The manipulator is divided into two sections, a proximal section that has not entered the space among the obstacles and a distal section among the obstacles. Harmonic potential functions are employed to achieve obstacle avoidance for the distal section in three-dimensional space in order to avoid local minima in cluttered environments. A modified panel method is used to generate the potential of any arbitrary shaped obstacle in three-dimensional space. An alternative backbone curve concept and an efficient fitting method are introduced to control the trajectory of proximal links. The fitting method is recursive and avoids the complications involved with solving large systems of nonlinear algebraic equations. The combination of a three-dimensional safe path derived from the harmonic potential field and the backbone curve concept leads to an elegant kinematic control strategy that guarantees obstacle avoidance. © 2003 Wiley Periodicals, Inc. [source]

Male genital system and spermiogenesis of Nanorchestes amphibius (Acari: Endeostigmata: Nanorchestidae): Anatomy, histology, and evolutionary implications

JOURNAL OF MORPHOLOGY, Issue 2 2003
Gunnar Müller
Abstract In the present article the anatomy and histology of the male genital system of an endeostigmatid mite are described for the first time. The Endeostigmata probably are a paraphyletic group supposed to include the most primitive actinotrichid mites. In Nanorchestes amphibius, the testis comprises a paired germinal region connected with an unpaired glandular region. In the germinal region, spermiogenesis takes place in cysts of a somatic cell containing germ cells representing the same developmental stage. In the lumen of the glandular region, the spermatozoa are stored together with secretions of the glandular epithelium. These secretions are probably involved in the formation of spermatophores. From the glandular region, spermatozoa and secretions are released into the vasa deferentia that histologically can be divided into three sections, beginning with a short paired region with strong circular muscles serving as a sphincter, continuing with a paired proximal zone, followed by a short unpaired distal section. The distal vas deferens leads into the chitinous, unpaired ductus ejaculatorius which is followed by the progenital chamber. The ductus ejaculatorius is composed of a proximal section and a proximal, central, and anterior chamber. It is accompanied by a complex system of muscles and sclerites probably involved in the formation and ejaculation of the spermatophore. A similar organization can also be found in Prostigmata, but not in Oribatida. Anterior to the progenital chamber is located a paired accessory gland that probably produces a lipid secretion. Spermiogenesis is characterized by disintegration of the nuclear envelope, condensation of chromatin, and extensive reduction of the amount of sperm cell cytoplasm. The mature aflagellate, U-shaped spermatozoa are simple in structure and lack mitochondria and an acrosome complex. The results do not support the current view that Nanorchestidae are more closely related to Sarcoptiformes, i.e., Oribatida and Astigmata, than to Prostigmata. J. Morphol. 257:171,180, 2003. © 2003 Wiley-Liss, Inc. [source]

Magnetic characterization of Cretaceous-Tertiary boundary sediments

METEORITICS & PLANETARY SCIENCE, Issue 9 2007
Víctor Villasante-Marcos
Studied sections' locations vary in distance to the Chicxulub structure from distal (Agost and Caravaca, Spain), through closer (ODP Hole 1049A, Blake Nose, North Atlantic), to proximal (El Mimbral and La Lajilla, Mexico). A clear magnetic signature is associated with the fireball layer in the most distal sections, consisting of a sharp increase in susceptibility and saturation isothermal remanent magnetization (SIRM), and a decrease in remanence coercivity. Magnetic properties in these sections point to a distinctive ferrimagnetic phase, probably corresponding to the reported Mg- and Ni-rich, highly oxidized spinels of meteoritic origin. At closer and proximal sections magnetic properties are different. Although there is an increase in susceptibility and SIRM associated with a rusty layer placed on top of the siliciclastic deposit in proximal sections, and with a similar limonitic layer on top of the spherule bed that defines the boundary at Blake Nose, the magnetic properties indicate a mixture of iron oxyhydroxides dominated by fine-grained goethite. Based on previous geochemical studies at Blake Nose and new geochemical and PGE abundance measurements performed in this work at El Mimbral, this goethite-rich layer can be interpreted as an effect of diagenetic remobilization and precipitation of Fe. There is not enough evidence to assert that this Fe concentration layer at proximal sections is directly related to deposition of fine meteoritic material. Magnetic, geochemical, and iridium data reject it as a primary meteoritic phase. [source]

The arterial anatomy of the Achilles tendon: Anatomical study and clinical implications

CLINICAL ANATOMY, Issue 3 2009
Tony M. Chen
Abstract The Achilles tendon is the most frequently ruptured tendon in the lower limb and accounts for almost 20% of all large tendon injuries. Despite numerous published studies describing its blood supply, there has been no uniformity in describing its topography. The current study comprises a detailed anatomical study of both the intrinsic and extrinsic arterial supply of the Achilles tendon, providing the detail sought from studies calling for improved planning of surgical procedures where damage to the vascularity of the Achilles tendon is likely. A dissection, microdissection, histological, and angiographic study was undertaken on 20 cadaveric lower limbs from 16 fresh and four embalmed cadavers. The Achilles tendon is supplied by two arteries, the posterior tibial and peroneal arteries. Three vascular territories were identified, with the midsection supplied by the peroneal artery, and the proximal and distal sections supplied by the posterior tibial artery. The midsection of the Achilles tendon was markedly more hypovascular that the rest of the tendon. The Achilles tendon is at highest risk of rupture and surgical complications at its midsection. Individuals with particularly poor supply of the midsection may be at increased risk of tendon rupture, and approaches to the tendon operatively should consider the route of supply by the peroneal artery to this susceptible part of the tendon. Clin. Anat. 22:377,385, 2009. © 2009 Wiley-Liss, Inc. [source]