A Multi-Robot Cooperation Framework for Sewing Personalized Stent Grafts

This paper presents a multi-robot system for manufacturing personalized medical stent grafts. The proposed system adopts a modular design, which includes: a (personalized) mandrel module, a bimanual sewing module, and a vision module. The mandrel module incorporates the personalized geometry of patients, while the bimanual sewing module adopts a learning-by-demonstration approach to transfer human hand-sewing skills to the robots. The human demonstrations were firstly observed by the vision module and then encoded using a statistical model to generate the reference motion trajectories. During autonomous robot sewing, the vision module plays the role of coordinating multi-robot collaboration. Experiment results show that the robots can adapt to generalized stent designs. The proposed system can also be used for other manipulation tasks, especially for flexible production of customized products and where bimanual or multi-robot cooperation is required.Comment: 10 pages, 12 figures, accepted by IEEE Transactions on Industrial Informatics, Key words: modularity, medical device customization, multi-robot system, robot learning, visual servoing, robot sewin

Editor\u27s Notes, Chiba Medical Journal 90-1

Multiple sequence alignment of deduced amino acid sequences of 25 wheat annexin genes with rice annexin OsAnn2 (Os05g31760) obtained by ClustalW. (PDF 212 kb

sj-docx-1-jiv-10.1177_08862605231198245 – Supplemental material for Childhood Emotional Neglect and Cognitive Function Among Middle-Aged and Older Adults: Mediating Role of Social Engagement

Supplemental material, sj-docx-1-jiv-10.1177_08862605231198245 for Childhood Emotional Neglect and Cognitive Function Among Middle-Aged and Older Adults: Mediating Role of Social Engagement by Weiwei Wang, Xinger Xia and Huiping Zhang in Journal of Interpersonal Violence</p

One-Step ¹⁸F Labeling of Non-Peptidic Bivalent Integrin α_vβ₃ Antagonist for Cancer Imaging

A rapid one-step ¹⁸F labeling reaction with fluoridealuminum complex, which is based on chelation chemistry, has received a surge of interest for ¹⁸F radiolabeling of peptides. In this study, a non-peptidic bivalent integrin α_vβ₃ antagonist (bivalent-IA) was conjugated with 1,4,7-triazacyclononane-1,4-diiacetic acid (NODA). A novel ¹⁸F labeled radiotracer, ¹⁸F-bivalent-IA, was developed via one step ¹⁸F–AlF/NODA chelation reaction in aqueous phase with high radiochemical yield (65–75%, decay corrected) and good specific activity (750–850 mCi/μmol). The tumor integrin targeting efficiency and in vivo pharmacokinetic profile of ¹⁸F-bivalent-IA were evaluated in U-87 MG (integrin positive) and MDA-MB-231 (integrin negative) models by small-animal PET/CT scan followed by a biodistribution study. The PET/CT and ROI results showed high tumor uptake of ¹⁸F-bivalent-IA in U-87 MG tumor-bearing mice from 5 to 120 min p.i. with good contrast, and the U-87 MG tumor uptake values (6.35 ± 0.67%ID/g, at 1 h p.i.) were 6 times higher than those of MDA-MB-231 tumor (1.05 ± 0.12%ID/g, at 1 h p.i.) (<i>P</i> < 0.0001) which correlated with the integrin α_vβ₃ expression in tumor tissues confirmed by immunohistochemistry. Co-injection of the ¹⁸F-bivalent-IA with 6 nmol (6 μg) of nonradioactive bivalent-IA effectively blocked tumor uptake demonstrating the integrin α_vβ₃-specificity. In conclusion, the first ¹⁸F labeled non-peptidic bivalent integrin α_vβ₃ targeting radiotracer, ¹⁸F-bivalent-IA, was developed and proved to be a highly potent and specific PET radiopharmaceutical for noninvasive imaging of integrin α_vβ₃, which plays a critical role in tumor angiogenesis and metastasis

L'Auto-vélo : automobilisme, cyclisme, athlétisme, yachting, aérostation, escrime, hippisme / dir. Henri Desgranges

12 juin 19251925/06/12 (A26,N8945)

The α diversity of ileal samples.

<p>The α diversity of ileal samples.</p

A comparison of diversity and composition between ileal and cecal microbiotas.

<p>The PCA plot (A) shows that the bacterial profile differed strongly by sampling site (<i>R</i> = 0.9138, <i>P</i> = 0.001). Taxa significantly associated with communities of ileum <i>versus</i> cecum were identified by the LEfSe algorithm (B) and are shown in the circular cladogram (C).</p

Effects of <i>Lactobacillus acidophilus</i> on gut microbiota composition in broilers challenged with <i>Clostridium perfringens</i>

<div><p>This study shows the effects of dietary supplementation with <i>Lactobacillus acidophilus</i> on the gut microbiota of broiler chickens challenged with <i>Clostridium perfringens</i> infection during a 21-day period according to pyrosequencing of the 16S ribosomal RNA gene. In a 2 × 2 factorial arrangement of treatments, 308 1-day-old male Arbor Acres broiler chicks were analyzed for the effects of the probiotic (groups without or with <i>L</i>. <i>acidophilus</i> supplementation), pathogen challenge (groups without or with <i>C</i>. <i>perfringens</i>), and the effects of interaction. The infection decreased the number of Observed species, Chao1, and ACE of ileal microbiota and increased Chao1 of cecal microbiota of broilers, whereas <i>L</i>. <i>acidophilus</i> supplementation decreased the Shannon index of the ileal microbiota. Shannon index and Simpson indices were lower in the ileal microbiota than in the cecal microbiota. In the ileal microbiota, the control group had higher relative abundance of <i>Lachnospiraceae</i> and <i>Ruminococcaceae</i> in comparison with the other groups; however, the relative abundance of <i>Gammaproteobacteria</i> was significantly higher in the challenge group than in the other groups. <i>C</i>. <i>perfringens</i> infection tended to increase lactate concentration and decreasedconcentrations of formate, acetate and propionate in the ileum; decreased isobutyrate concentration; and tended to decrease isovalerate concentration in the cecum. Besides, <i>L</i>. <i>acidophilus</i> supplementation increased the concentration of lactate and butyrate and decreased concentrations of formate and propionate in the ileum, and increased concentrations of lactate and valerate in the cecum. In conclusion, <i>C</i>. <i>perfringens</i> infection and/or dietary supplementation with <i>L</i>. <i>acidophilus</i> modulated the relative abundance of some bacteria taxa, and the <i>L</i>. <i>acidophilus</i> supplementation helped to restore the microbial community disrupted by <i>C</i>. <i>perfringens</i> infection.</p></div

The α diversity of cecal samples.

<p>The α diversity of cecal samples.</p

Diversity and composition of ileal microbiota.

<p>Rarefaction curves of the observed OTUs (<b>A</b>) for ileal samples. The community structure among the treatment groups did not differ according to the Principle component analysis (PCA) of 20 ileal samples (<b>B</b>). Linear discriminant analysis (LDA) effect size (LEfSe) showed the phylotypes that differ among treatment groups with statistical and biological significance (<b>C</b>). Histograms indicate the highest relative abundance of the families <i>Lachnospiraceae</i> (<b>D</b>) and <i>Ruminococcaceae</i> (<b>E</b>) in the ileal microbiota of the CTL group, and of the class <i>Gammaproteobacteria</i> (<b>F</b>) in the ileal microbiota of the CLG group. CTL: control group; LA: <i>L</i>. <i>acidophilus</i> supplementation group; CLG: Challenge group; LACLG: challenge group supplemented with <i>L</i>. <i>acidophilus</i>.</p