A multifunctional soft robotic shape display with high-speed actuation, sensing, and control.

Shape displays which actively manipulate surface geometry are an expanding robotics domain with applications to haptics, manufacturing, aerodynamics, and more. However, existing displays often lack high-fidelity shape morphing, high-speed deformation, and embedded state sensing, limiting their potential uses. Here, we demonstrate a multifunctional soft shape display driven by a 10 × 10 array of scalable cellular units which combine high-speed electrohydraulic soft actuation, magnetic-based sensing, and control circuitry. We report high-performance reversible shape morphing up to 50 Hz, sensing of surface deformations with 0.1 mm sensitivity and external forces with 50 mN sensitivity in each cell, which we demonstrate across a multitude of applications including user interaction, image display, sensing of object mass, and dynamic manipulation of solids and liquids. This work showcases the rich multifunctionality and high-performance capabilities that arise from tightly-integrating large numbers of electrohydraulic actuators, soft sensors, and controllers at a previously undemonstrated scale in soft robotics.

Pudendal evoked responses.

The dorsal nerve of the penis or clitoris, a branch of the pudendal nerve, was stimulated while averaged evoked responses over the spinal cord, sensory cortex, and bulbocavernosus muscle were recorded in a series of normal subjects. The morphologic features, peak latencies, and peripheral and central conduction times were compared with spinal and cortical evoked responses from the posterior tibial nerve. These tests are of potential clinical importance in the evaluation of sacral nerve root or plexus injuries and bowel, bladder, or sexual dysfunction.

Long-term observations of human immunodeficiency virus-infected chimpanzees.

Twenty-seven chimpanzees inoculated with material presumed to contain human immunodeficiency virus (HIV) between June 1983 and February 1985 were studied. The animals were examined on four to six occasions between 1989 and 1992 for serologic, virologic, hematologic, immunophenotypic, as well as clinical signs of HIV infection and compared to five uninfected control animals. The 19 animals that had seroconverted within 244 days of inoculation remained antibody positive, whereas those that did not seroconvert within 244 days of inoculation remained antibody negative 6 to 8 years later. HIV antigen was demonstrated at least once in lymphocyte cultures from 12 of the 19 antibody positive chimpanzees during this period. Nested polymerase chain reaction amplified proviral DNA in lymphocytes from 14 of the 19 animals. No proviral DNA was detected in antibody-negative animals. Antibody titers were generally higher in animals from which virus was recovered in lymphocyte cultures [granulocyte-macrophage (GM) titer, 1:8427] compared to virus-negative animals (GM titer, 1:3608). Mean total white blood cell and lymphocyte subtype counts were similar in the HIV-infected animals and uninfected controls. The high antibody levels and Western blot profiles, over periods as long as 9 years in these chimpanzees, suggest continuous stimulation of the immune system by HIV antigen although virus was detected only sporadically in the peripheral blood. No illness suggestive of immunodeficiency was seen.

Characterization of a new Marburg virus isolated from a 1987 fatal case in Kenya.

In 1987, an isolated case of fatal Marburg disease was recognized during routine clinical haemorrhagic fever virus surveillance conducted in Kenya. This report describes the isolation and partial characterization of the new Marburg virus (strain Ravn) isolated from this case. The Ravn isolate was indistinguishable from reference Marburg virus strains by cross-neutralization testing. Virus particles and aggregates of Marburg nucleocapsid matrix in Ravn-infected vero cells, were visualized by immunoelectron microscopic techniques, and also in tissues obtained from the patient and from inoculated monkeys. The cell culture isolate produced a haemorrhagic disease typical of Marburg virus infection when inoculated into rhesus monkeys. Disease was characterized by the sudden appearance of fever and anorexia within 4 to 7 days, and death by day 11. Comparison of nucleotide sequences for portions of the glycoprotein genes of Marburg-Ravn were compared with Marburg reference strains Musoki (MUS) and Popp (POP). Nucleotide identity in this alignment between RAV and MUS is 72.3%, RAV and POP is 71%, and MUS and POP is 91.7%. Amino acid identity between RAV and MUS is 72%, RAV and POP is 67%, and MUS and POP is 93%. These data suggest that Ravn is another subtype of Marburg virus, analogous to the emerging picture of a spectrum of Ebola geographic isolates and subtypes.

Pre-exposure rabies immunization with human diploid cell vaccine: decreased antibody responses in persons immunized in developing countries.

In November 1982, a U.S. Peace Corps volunteer in Kenya completed pre-exposure rabies prophylaxis with a standard 3 dose intradermal (ID) series of human diploid cell rabies vaccine (HDCV). In May 1983, she was bitten by a dog and died of rabies 3 months later. An initial investigation revealed that the patient, as well as 9 of 11 others immunized at the same time, had no rabies antibody titers (less than 1:5). We therefore instituted investigations into the immunogenicity of pre-exposure HDCV both in the United States and in developing countries. A serosurvey revealed unexpectedly low rabies titers in both Peace Corps volunteers and others immunized in developing countries. Antibody titers measured 2-3 weeks after ID immunization were compared in 9 groups totaling 271 persons in the United States and Kenya. There was no statistically significant difference in antibody titers in the 6 U.S. groups immunized from 1980-1984 (P greater than 0.15); however, groups immunized in the United States had significantly higher titers than a group of Kenyan nationals (P less than or equal to 0.0001), and the Kenyans had significantly higher titers than 2 Peace Corps groups immunized in Kenya (P less than or equal to 0.0001). No single hypothesis proposed (laboratory error, vaccine potency, vaccination technique, or specific immune suppression) accounted for the observed differences. Although we cannot fully explain the poor response to HDCV, it is probably due to multiple factors. We conclude that persons immunized with ID pre-exposure HDCV in developing countries should have rabies antibody titers determined to ensure their seroconversion; for persons immunized in the United States, such titers need not be routinely determined.

Continuous monitoring of bladder and urethral pressures: new technique.

A new technique for continuous monitoring of intravesical and intraurethral pressures was developed and utilized in a group of male patients to overcome the disadvantages associated with previously employed liquid and air-coupled systems. This technique permitted recording under physiologic conditions and provided information on a continuous basis concerning changes in the intravesical and intraurethral pressures in patients with multiple urologic symptoms. With further modifications this technique promises to further our understanding of the dynamics of the lower urinary tract under various conditions of stress.

Cortical evoked potentials on stimulation of pudendal nerve in women.

Somatosensory evoked potentials were recorded in five normal women on percutaneous stimulation of the pudendal nerve. A consistent response was obtained over the scalp 2 cm behind the Cz electroencephalographic recording site. The latency of onset of this response had a mean value of 33 msec, and the mean latency of the first positive peak was 39.6 msec. This test has potential clinical value in the evaluation of patients with bowel, bladder, or sexual dysfunction when a neurologic causation is suspected.

New method for continuous measurement of nocturnal penile tumescence and rigidity.

A new technique for continuous recording of penile rigidity and tumescence has been developed. This methodology has been utilized in initial studies to define erectile function in both normal and impotent males. Accurate recording of tumescence and rigidity have been utilized to document the decline in erectile function associated with organic impotence.

Infection of an Aedes aegypti cell line with infectious arbovirus-antibody complexes.

Aedes aegypti cells exposed to infectious complexes of WN or YF virus and homologous antiserum produced lower yields of virus over a 10-day observation period than were produced by Aedes aegypti cells treated with a comparable dose of virus mixed with non-immune serum. When Ae. aegypti cells were infected with WN virus mixed with MVE, NTA, DEN-2 or YF antisera the virus yield over 10 days was lower than in cell cultures infected at similar titres with mixtures of WN virus with non-immune serum. If Ae. aegypti cell cultures were infected with mixtures of YF virus and WN or DEN-2 antiserum the resulting production of virus was lower over 10 days than in virus mixed with non-immune serum. Human serum samples from the field were tested for the presence of antibody by preincubation of the serum with WN virus prior to inoculation on to mosquito cell cultures. The results indicated that this method is as sensitive in detecting antibody as a mouse neutralization test using regression analysis of average survival time.

Infection of the mosquito Aedes aegypti with infectious West Nile virus-antibody complexes.

Aedes aegypti fed through chick skin membranes on West Nile virus-homologous antiserum mixtures shown by an anti-globulin neutralization test to be highly infectious complexes (in terms of plaque formation in tissue culture) failed to become infected. Control mosquitoes fed on West Nile virus--normal rabbit serum mixtures containing similar or smaller amounts of infectious virus were shown to become infected. Mosquitoes ingesting suspensions of West Nile virus previously incubated with Murray Valley encephalitis or Ntaya antiserum became infected at significantly lower rates (P = less than 0-05) than controls ingesting West Nile virus-normal rabbit serum mixtures. West Nile virus--17D yellow fever or dengue--2 antiserum mixtures did not produce significantly reduced infection rates in Ae. aegypti when compared to controls.

Arbovirus isolations from ixodid ticks infesting livestock, Kano Plain, Kenya.

In a study conducted on the Kano Plain, Kenya, virus isolation attempts were made on ixodid ticks collected, over a 14-month period, from livestock held in family enclosures (bomas) before releasing the animals for daily foraging. 8735 Amblyomma variegatum (Fabricius) were tested, 98.6% of which were taken from cattle, yielding 36 strains of Dugbe (DUG), four strains of Nairobi sheep disease (NSD), three strains of Bhanja (BHA), one strain of Thogoto (THO) and five strains of virus which could not be characterized. 6549 Rhipicephalus spp. ticks were collected (60.3% from cattle). NSD, DUG and BHA viruses were each isolated twice from ticks taken from cattle. One BHA virus strain was recovered from ticks from a sheep. One strain recovered from ticks on cattle could not be characterized.

Antibodies against haemorrhagic fever viruses in Kenya populations.

Human sera from Lodwar (77 sera), Nzoia (841 sera), Masinga (251 sera), Laisamis (174 sera) and the Malindi/Kilifi area (556 sera) in Kenya were tested by indirect immunofluorescence for antibodies against Marburg, Ebola (Zaire and Sudan strains), Congo haemorrhagic fever, Rift Valley fever and Lassa viruses. Antibodies against Ebola virus, particularly the Zaire strain, were detected in all regions and were, over-all, more abundant than antibodies against the other antigens. Ebola and Marburg antibody prevalence rates were highest in the samples from Lodwar and Laisamis, both semi-desert areas. Antibodies against Rift Valley fever virus were also highest in the Lodwar sample followed by Malindi/Kilifi and Laisamis. Congo haemorrhagic fever virus antibodies were rare and no antibodies against Lassa virus were detected in the 1899 sera tested.

Recovery of o'nyong-nyong virus from Anopheles funestus in Western Kenya.

O'nyong-nyong (ONN) virus first appeared nearly 20 years ago and was responsible for one of the largest arbovirus outbreaks ever documented. Since the original outbreak ended, ONN activity, as determined serologically, gradually declined on the Kano Plain in western Kenya. In June, 1978, a virus similar or identical to ONN was isolated from a pool of Anopheles funestus Giles captured at Ahero on the Kano Plain. The possible implications of this isolation are discussed.

Marburg, Ebola and Rift Valley Fever virus antibodies in East African primates.

Sera from 464 primates held at four institutes in Kenya were tested by indirect immunofluorescence for the presence of antibodies against Marburg, Ebola, Congo haemorrhagic fever, Rift Valley fever and Lassa viruses. Four of 136 vervet monkeys were positive for Marburg virus antibodies and three of 184 baboons had antibodies against Ebola virus. One baboon was positive for Marburg virus antibodies. Two vervet monkeys, three baboons and one grivet monkey (of 56 tested) had antibodies against Rift Valley fever virus. No Congo or Lassa virus antibodies were detected. A sample of 88 sera of more arboreal primates (Sykes, blue and colobus monkeys) were negative against all five antigens, as were sera from 58 staff members of the institutes who worked with or near the animals.

Arbovirus isolations from, and serological studies on, wild and domestic vertebrates from Kano Plain, Kenya.

Arbovirus infection and presence of haemagglutination-inhibiting antibodies in small mammals, birds and livestock were examined over a period of five years on the Kano Plain in western Kenya. Eleven isolations were made from mammals and birds. The viruses were identified as Arumowot and Germiston while three different agents could not be shown to be related to 188 African arboviruses. Prevalence of antibodies against arboviruses suspected of occurring in the area was generally low.

Arbovirus isolations from mosquitoes: Kano Plain, Kenya.

Arbovirus isolation attempts on 324,486 mosquitoes captured over a four-year period on the Kano Plain, Kenya, yielded 15 isolates including Pongola (six strains), Ilesha (three strains), Germiston (two strains), Sindbis (one strain), Barur (one strain) and two viruses which could not be characterized. Mansonia uniformis, Anopheles gambiae and Culex antennatus constituted 70% of the total collection and accounted for all of the isolates except one, which came from Anopheles funestus.

Stress, coping, and adjustment in female adolescent incest victims.

Although previous literature on incest has dealt extensively with the nature, parameters, and effects of such abuse, it has not focused on the role of coping in the psychological adjustment of victims. Forty-five female adolescent incest victims in treatment completed questionnaires regarding their current adjustment, characteristics of their molest, their perceptions of the stressful aspects of the molestations, how they appraised the molestations, and how they coped with the fact that it occurred. The majority of the girls in this study had been sexually abused by a father figure (82%). The coping strategies of wishful thinking and tension reduction, the lack of maternal support at the time of reporting, and appraisals of threat and "holding self back" accounted for 70% of the variance in self-reported distress. The coping strategies of detachment, seeking social support and appraisal of hold self back accounted for 38% of the variance in adolescent's global psychopathology as rated by their therapists. In light of these findings, the implications of the need to address appraisals and coping efforts in research and therapy with incest victims was emphasized.

Chikungunya virus in vivo autointerference associated with a small plaque variant.

Virulent and avirulent plaque variants of Chikungunya (CHIK) virus were compared with the prototype and other strains. Interference with infective virus growth or mouse pathogenicity only occurred in the presence of small plaque (SP) variants in homologous systems. Possible mechanisms for this are suggested.

Characterization of two Chikungunya virus variants.

The stability of virulence and plaque size of two variants of Chikungunya virus (genus Alphavirus) were examined. Mouse pathogenicity did not coincide with infective virus levels in the brain. An increase in the average survival times of mice receiving a lethal dose of the variant which allowed prolonged survival at high doses and harvested late after infection was observed. Studies in Vero cells suggested that the number of infective virus particles produced per cell was lower with the small plaque variant, though these cells were selective for this clone. On the other hand suckling mice or antisera favoured a more virulent large plaque variant.

Investigation of the ecology of Soldado virus on Puffin Island, North Wales.

The prevalence of Soldado (SOL) virus and SOL virus antibodies was investigated on immature sea birds and the argasid tick Ornithodoros (Alectorobius) maritimus collected on Puffin Island, North Wales. No SOL virus was recovered from 133 bird sera, but 2 of the birds exhibited neutralizing antibodies against SOL virus. Nine of 27 tick pools (226 individuals) and 34 of 173 ticks tested individually proved to be infected with SOL virus.