Nonlinear feedback control of multiple robot arms

Multiple coordinated robot arms are modeled by considering the arms: (1) as closed kinematic chains, and (2) as a force constrained mechanical system working on the same object simultaneously. In both formulations a new dynamic control method is discussed. It is based on a feedback linearization and simultaneous output decoupling technique. Applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, by choosing a general output equation, researchers can superimpose the position and velocity error feedback with the force-torque error feedback in the task space simultaneously

Diamagnetic repulsion of particles for multilaminar flow assays

© The Royal Society of Chemistry. We demonstrate diamagnetic repulsion forces for performing continuous multilaminar flow assays on particles based on their intrinsic properties and with a simple setup. The platform could be applied to sandwich assays on polystyrene particles, and to cell-based assays via their suspension in biologically benign magnetic media

On-chip determination of C-reactive protein using magnetic particles in continuous flow

We demonstrate the application of a multilaminar flow platform, in which functionalized magnetic particles are deflected through alternating laminar flow streams of reagents and washing solutions via an external magnet, for the rapid detection of the inflammatory biomarker, C-reactive protein (CRP). The two-step sandwich immunoassay was accomplished in less than 60 s, a vast improvement on the 80−300 min time frame required for enzyme-linked immunosorbent assays (ELISA) and the 50 min necessary for off-chip magnetic particle-based assays. The combination of continuous flow and a stationary magnet enables a degree of autonomy in the system, while a detection limit of 0.87 μg mL−1 makes it suitable for the determination of CRP concentrations in clinical diagnostics. Its applicability was further proven by assaying real human serum samples and comparing those results to values obtained using standard ELISA tests

ERP System Solutions for Small Companies: Readiness & Selection

Over the past decade almost all of major businesses in the US have implemented Enterprise Resource Planning (ERP) systems to run daily business operations.  However, a complex ERP system, if not implemented properly,  can easily disrupt, or sometimes cripple, the flow  of the manufacturing  and other operations.  While large organizations  are in a  unique position  to implement  a good     RP  system,  most  small  companies  cannot  afford  the acquisition  and implementation cost of a big name ERP system. Therefore, smaller organizations rely on vendors with affordable, but not necessarily proven, ERP systems. To help small businesses avoid implementation problems and system glitches after ERP implementation, two proactive initiaves are recommended. ERP readiness and ERP selection. This article organizes a checklist for each initiative so that small companies are better prepared to overcome implementation challenges and their expectations are more aligned with the norm of an ERP implementation

The generation of multi-laminar reagent streams for rapid, sequential (bio)chemical reactions on magnetic particles in a continuous flow microreactor

This paper was presented at the 2nd Micro and Nano Flows Conference (MNF2009), which was held at Brunel University, West London, UK. The conference was organised by Brunel University and supported by the Institution of Mechanical Engineers, IPEM, the Italian Union of Thermofluid dynamics, the Process Intensification Network, HEXAG - the Heat Exchange Action Group and the Institute of Mathematics and its Applications.We demonstrate a versatile microfluidic system for performing rapid, consecutive (bio)chemical reactions in continuous flow. Surface-functionalised magnetic microparticles are introduced into a chamber and pulled, via a magnet, across a series of laminar flow streams containing different reagents, thus performing multiple sequential reactions on the particles’ surface. Such a continuous flow method eliminates many of the inefficiencies associated with batch techniques, such as the time-consuming, laborious sequential reaction and washing steps, to yield a system that can perform analyses far more rapidly and with less reagent volume than conventional methods. This innovative device has been applied to a two-reaction step mouse IgG sandwich immunoassay and one- and two-reaction step DNA hybridisation assays, all of which were completed within one minute. These results pave the way for a multi-purpose microreactor that can perform a variety of analytical and synthetic processes.This study is funded by the Engineering and Physical Sciences Research Council (EPSRC)

Temperature-based tuning of magnetic particle separation by on-chip free-flow magnetophoresis

This paper was presented at the 2nd Micro and Nano Flows Conference (MNF2009), which was held at Brunel University, West London, UK. The conference was organised by Brunel University and supported by the Institution of Mechanical Engineers, IPEM, the Italian Union of Thermofluid dynamics, the Process Intensification Network, HEXAG - the Heat Exchange Action Group and the Institute of Mathematics and its Applications.Free-flow magnetophoresis provides a fast and efficient means of continuous flow magnetic separation for the detection of biological analytes, due to the wide variety of magnetic particle surface properties available for binding specific targets. Here, we investigate the effect of temperature changes on the deflection behaviour of magnetic particles in a microfluidic magnetophoresis separation chamber. It was found that the extent of deflection was greatly increased at higher temperatures due to decreased solution viscosity and thus reduced resistance against particle motion. This concept was used to improve the resolution of the separation of 2.8 μm and 1 μm diameter magnetic particles. Hence, controlling the temperature of the separation system provides a simple but highly effective means of enhancing magnetic separation efficiency. This concept could also be applied to the temperature-based tuning of microparticle trajectories in many others types of continuous flow processes, such as those using optical, electrical or acoustic forces.This study is funded by the Engineering and Physical Sciences Research Council (EPSRC)

Quasi multipartite entanglement measure based on quadratic functions

We develop a new entanglement measure by extending Jaeger's Minkowskian norm entanglement measure. This measure can be applied to a much wider class of multipartite mixed states, although still "quasi" in the sense that it is still incapable of dividing precisely the sets of all separable and entangled states. As a quadratic scalar function of the system density matrix, the quasi measure can be easily expressed in terms of the so-called coherence vector of the system density matrix, by which we show the basic properties of the quasi measure including (1) zero-entanglement for all separable states, (2) invariance under local unitary operations, and (3) non-increasing under local POVM (positive operator-valued measure) measurements. These results open up perspectives in further studies of dynamical problems in open systems, especially the dynamic evolution of entanglement, and the entanglement preservation against the environment-induced decoherence effects.Comment: 10pages,1 figur

Electronic Health Records (EHR) Implementation and Post Implementation Challenges

The US Healthcare Industry lags behind other industries in its use of technologies for process improvement and improvement in quality of services for its patients. Globally, United States is significantly behind some European and Australian countries in implementation of EHR. While the federal government is now mandating this change and also offering incentive programs, healthcare providers remain slow to comply because of challenges they face regarding EHR implementation. This paper discusses EHR architecture, presents implementation challenges, provides a case study and offers future research ideas. The information provided in this research could be beneficial for successful EHR implementation

The RNA binding protein Cwc2 interacts directly with the U6 snRNA to link the nineteen complex to the spliceosome during pre-mRNA splicing

Intron removal during pre-messenger RNA (pre-mRNA) splicing involves arrangement of snRNAs into conformations that promote the two catalytic steps. The Prp19 complex [nineteen complex (NTC)] can specify U5 and U6 snRNA interactions with pre-mRNA during spliceosome activation. A candidate for linking the NTC to the snRNAs is the NTC protein Cwc2, which contains motifs known to bind RNA, a zinc finger and RNA recognition motif (RRM). In yeast cells mutation of either the zinc finger or RRM destabilize Cwc2 and are lethal. Yeast cells depleted of Cwc2 accumulate pre-mRNA and display reduced levels of U1, U4, U5 and U6 snRNAs. Cwc2 depletion also reduces U4/U6 snRNA complex levels, as found with depletion of other NTC proteins, but without increase in free U4. Purified Cwc2 displays general RNA binding properties and can bind both snRNAs and pre-mRNA in vitro. A Cwc2 RRM fragment alone can bind RNA but with reduced efficiency. Under splicing conditions Cwc2 can associate with U2, U5 and U6 snRNAs, but can only be crosslinked directly to the U6 snRNA. Cwc2 associates with U6 both before and after the first step of splicing. We propose that Cwc2 links the NTC to the spliceosome during pre-mRNA splicing through the U6 snRNA