Optical study of titanium dioxide thin films prepared by R.F. sputtering

Optical response of TiO2 layers, prepared by R.F. sputtering from TiO2 target, was studied as a function of target state, oxygen partial pressure and sputtering power. We have found that TiO2 layers deposited from a used target exhibit a high absorptance which decreases greatly when an oxygen partial pressure is introduced. Whereas an increase of sputtering power leads to an absorbent TiO2 matrix.Optical response of TiO2 layers, prepared by R.F. sputtering from TiO2 target, was studied as a function of target state, oxygen partial pressure and sputtering power. We have found that TiO2 layers deposited from a used target exhibit a high absorptance which decreases greatly when an oxygen partial pressure is introduced. Whereas an increase of sputtering power leads to an absorbent TiO2 matrix

Passive Exercise Adaptation for Ankle Rehabilitation Based on Learning Control Framework

[EN] Ankle injuries are among the most common injuries in sport and daily life. However, for their recovery, it is important for patients to perform rehabilitation exercises. These exercises are usually done with a therapist's guidance to help strengthen the patient's ankle joint and restore its range of motion. However, in order to share the load with therapists so that they can offer assistance to more patients, and to provide an efficient and safe way for patients to perform ankle rehabilitation exercises, we propose a framework that integrates learning techniques with a 3-PRS parallel robot, acting together as an ankle rehabilitation device. In this paper, we propose to use passive rehabilitation exercises for dorsiflexion/plantar flexion and inversion/eversion ankle movements. The therapist is needed in the first stage to design the exercise with the patient by teaching the robot intuitively through learning from demonstration. We then propose a learning control scheme based on dynamic movement primitives and iterative learning control, which takes the designed exercise trajectory as a demonstration (an input) together with the recorded forces in order to reproduce the exercise with the patient for a number of repetitions defined by the therapist. During the execution, our approach monitors the sensed forces and adapts the trajectory by adding the necessary offsets to the original trajectory to reduce its range without modifying the original trajectory and subsequently reducing the measured forces. After a predefined number of repetitions, the algorithm restores the range gradually, until the patient is able to perform the originally designed exercise. We validate the proposed framework with both real experiments and simulation using a Simulink model of the rehabilitation parallel robot that has been developed in our lab.This work has been partially funded by the FEDER-CICYT project with reference DPI2017-84201-R (Integracion de modelos biomecanicos en el desarrollo y operacion de robots rehabilitadores reconfigurables) financed by Ministerio de Economia, Industria e Innovacion (Spain).Abu-Dakka, FJ.; Valera Fernández, Á.; Escalera, JA.; Abderrahim, M.; Page Del Pozo, AF.; Mata Amela, V. (2020). Passive Exercise Adaptation for Ankle Rehabilitation Based on Learning Control Framework. Sensors. 20(21):1-23. https://doi.org/10.3390/s20216215S123202

Obtención del modelo dinámico simbólico de robots ramificados utilizando grupos de Lie y grafos

[Resumen] En este artículo se presenta una formulación matricial simbólica para el modelado dinámico de robots ramificados, los cuales están compuestos por varias cadenas cinemáticas lineales abiertas. El método propuesto utiliza la mecánica geométrica basada en la teoría de Screws y grupos de Lie para derivar la ecuación de movimiento de Newton-Euler geométrica. La formulación es válida para cualquier robot formado por cuerpos rígidos acoplados mediante juntas de un grado de libertad (por tanto, rotacionales y/o prismáticas) sin formar cadenas cinemáticas cerradas. Bajo estas condiciones, estos robots pueden ser representados en forma única como un grafo de tipo árbol dirigido. Finalmente combinando la teoría de grafos con la mecánica geométrica se obtiene el modelo dinámico complete de robots ramificados. Además, la formulación propuesta presenta los parámetros intrínsecos del robot explícitamente en términos aislados. De este modo, la ecuación resultante se puede utilizar en algoritmos tales como identificación, simulación y control.Este trabajo ha sido principalmente financiado por el MINISTERIO DE ECONOMIA Y COMPETITIVIDAD en el proyecto con referencia RTC-2014-3070-5. Además ha sido parcialmente financiado por el proyecto RoboCity2030-III-CM (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos. fase III; S2013/MIT-2748), financiado por Programas de Actividades I+D en la Comunidad de Madrid y cofinanciado por Fondos Estructurales de la EUComunidad de Madrid; S2013/MIT-2748https://doi.org/10.17979/spudc.978849749808

The combination of a blood test and Fibroscan improves the non-invasive diagnosis of liver fibrosis

Background and aims: Blood tests and liver stiffness evaluation (LSE) by ultrasonographic elastometry are accurate tools for diagnosing liver fibrosis. We evaluated whether their synchronous combination in new scores could improve the diagnostic accuracy and reduce liver biopsy requirement in algorithm. Methods: Three hundred and ninety patients with chronic liver disease of miscellaneous causes were included. Five blood fibrosis tests were evaluated: APRI, FIB-4, Hepascore, Fibrotest and FibroMeter. The reference was fibrosis Metavir staging. Results: Diagnosis of significant fibrosis (Metavir F≥2). The most accurate synchronous combination was FibroMeter+LSE, which provided a significantly higher area under the receiver operating characteristic curve (0.892) than LSE alone (0.867, P=0.011) or Fibrometer (0.834, P<10−3). An algorithm using the FibroMeter+LSE combination and then a liver biopsy in indeterminate cases had 91.9% diagnostic accuracy and required significantly fewer biopsies (20.2%) than previously published Bordeaux algorithm (28.6%, P=0.02) or sequential algorithm for fibrosis evaluation (SAFE) (55.7%, P<10−3). The Angers algorithm performance was not significantly different between viral hepatitis and other causes. Diagnosis of cirrhosis. The most accurate synchronous combination was LSE+FibroMeter, which provided ≥90% predictive values for cirrhosis in 90.6% of patients vs 87.4% for LSE (P=0.02) and 57.9% for FibroMeter (P<10−3). An algorithm including the LSE+FibroMeter combination, and then a liver biopsy in indeterminate cases, had a significantly higher diagnostic accuracy than the SAFE algorithm (91.0 vs 79.8%, P<10−3), and required significantly fewer biopsies than the Bordeaux algorithm (9.3 vs 25.3%, P<10−3). Conclusion: The synchronous combination of a blood test plus LSE improves the accuracy of the non-invasive diagnosis of liver fibrosis and, consequently, markedly decreases the biopsy requirement in the diagnostic algorithm, notably to <10% in cirrhosis diagnosis

Dielectric Properties of Polypropylene Containing Nano-Particles

Peer reviewed: NoNRC publication: Ye

Ataluren stimulates ribosomal selection of near-cognate tRNAs to promote nonsense suppression

A premature termination codon (PTC) in the ORF of an mRNA generally leads to production of a truncated polypeptide, accelerated degradation of the mRNA, and depression of overall mRNA expression. Accordingly, nonsense mutations cause some of the most severe forms of inherited disorders. The small-molecule drug ataluren promotes therapeutic nonsense suppression and has been thought to mediate the insertion of near-cognate tRNAs at PTCs. However, direct evidence for this activity has been lacking. Here, we expressed multiple nonsense mutation reporters in human cells and yeast and identified the amino acids inserted when a PTC occupies the ribosomal A site in control, ataluren-treated, and aminoglycoside-treated cells. We find that ataluren\u27s likely target is the ribosome and that it produces full-length protein by promoting insertion of near-cognate tRNAs at the site of the nonsense codon without apparent effects on transcription, mRNA processing, mRNA stability, or protein stability. The resulting readthrough proteins retain function and contain amino acid replacements similar to those derived from endogenous readthrough, namely Gln, Lys, or Tyr at UAA or UAG PTCs and Trp, Arg, or Cys at UGA PTCs. These insertion biases arise primarily from mRNA:tRNA mispairing at codon positions 1 and 3 and reflect, in part, the preferred use of certain nonstandard base pairs, e.g., U-G. Ataluren\u27s retention of similar specificity of near-cognate tRNA insertion as occurs endogenously has important implications for its general use in therapeutic nonsense suppression

One-pot hydrogen peroxide and hydrohalic acid induced ring closure and selective aromatic halogenation to give new ring-fused benzimidazoles

A new series of selectively dichlorinated and dibrominated five to eight-membered ring [1,2-a] fused benzimidazoles and [1,4]oxazino[4,3-a]benzimidazoles are synthesized in mostly high yields of >80% using the reaction of hydrogen peroxide and hydrohalic acid with commercially available o-cyclic amine substituted anilines. Domestic bleach with HCl is also capable of a one-pot ring-closure and chlorination

Exploiting Available Memory and Disk for Scalable Instant Overview Search

Abstract. Search-As-You-Type (or Instant Search) is a recently intro-duced functionality which shows predictive results while the user types a query letter by letter. In this paper we generalize and propose an ex-tension of this technique which apart from showing on-the-fly the first page of results, it shows various other kinds of information, e.g. the outcome of results clustering techniques, or metadata-based groupings of the results. Although this functionality is more informative than the classic search-as-you type, since it combines Autocompletion, Search-As-You-Type, and Results Clustering, the provision of real-time interaction is more challenging. To tackle this issue we propose an approach based on pre-computed information and we comparatively evaluate various in-dex structures for making real-time interaction feasible, even if the size of the available memory space is limited. This comparison reveals the mem-ory/performance trade-off and allows deciding which index structure to use according to the available main memory and desired performance. Furthermore we show that an incremental algorithm can be used to keep the index structure fresh.