MDL: A Module Description Language for Chained Heterogeneous Modular Robots

Abstract-This paper presents the new concept of a description language for modular robots called module description language (MDL). A specific implementation of this concept has been designed and tested to describe the capabilities of modules of a chained heterogeneous robot (both from the point of view of movements and tasks it can perform). Thanks to MDL each module is able to report dynamically what is able to do (capabilities like rotate, extend, push forward, measure temperature or distance) to other modules or to a central control, and it is also possible to set up new actions for the whole robot, like combined movements. The description of current capabilities of modules allows the robot to react to failures at runtime

Determining the distribution of triclosan and methyl triclosan in estuarine settings

We have developed a method for the analysis of two sewage-derived contaminants: triclosan (TCS), an antibacterial agent, and methyl triclosan (MTCS), a TCS metabolite. For solid samples (4 g), extraction and cleanup were integrated into the same step using pressurized liquid extraction (PLE) with in-cell-clean-up (1 g of florisil). The extraction was performed using dichloromethane at 100 °C, 1500 psi and 3 static extraction cycles of 5 min each. For water samples (100 mL), stir bar sorptive extraction–liquid desorption (SBSE–LD) was used. Bars were stirred for 10 h and analytes were later desorbed using acetonitrile. Finally, MTCS and a silylated derivative of TCS were determined by gas chromatography–mass spectrometry (GC–MS). Recovery experiments in water and sediments were performed and the results ranged from 67% to 78%. Limits of detection (LODs) were 5 ng L−1 for TCS and 1 ng L−1 for MTCS, in water samples, and 0.1 ng g−1 for TCS and MTCS in solid samples. The method was applied then to determine the levels of these compounds in the estuary of Guadalete River (SW Spain). TCS and MTCS concentrations up to 9.6 ng g−1 in sediments and 310 ng L−1 in water were measured. Their distribution was strongly influenced by the presence of wastewater sources, treated and untreated, along the sampling area, where maximum concentrations were detected. Highest values were reached in the water column during low tides as the water volume in the estuary becomes lower

Global patient outcomes after elective surgery: prospective cohort study in 27 low-, middle- and high-income countries.

BACKGROUND: As global initiatives increase patient access to surgical treatments, there remains a need to understand the adverse effects of surgery and define appropriate levels of perioperative care. METHODS: We designed a prospective international 7-day cohort study of outcomes following elective adult inpatient surgery in 27 countries. The primary outcome was in-hospital complications. Secondary outcomes were death following a complication (failure to rescue) and death in hospital. Process measures were admission to critical care immediately after surgery or to treat a complication and duration of hospital stay. A single definition of critical care was used for all countries. RESULTS: A total of 474 hospitals in 19 high-, 7 middle- and 1 low-income country were included in the primary analysis. Data included 44 814 patients with a median hospital stay of 4 (range 2-7) days. A total of 7508 patients (16.8%) developed one or more postoperative complication and 207 died (0.5%). The overall mortality among patients who developed complications was 2.8%. Mortality following complications ranged from 2.4% for pulmonary embolism to 43.9% for cardiac arrest. A total of 4360 (9.7%) patients were admitted to a critical care unit as routine immediately after surgery, of whom 2198 (50.4%) developed a complication, with 105 (2.4%) deaths. A total of 1233 patients (16.4%) were admitted to a critical care unit to treat complications, with 119 (9.7%) deaths. Despite lower baseline risk, outcomes were similar in low- and middle-income compared with high-income countries. CONCLUSIONS: Poor patient outcomes are common after inpatient surgery. Global initiatives to increase access to surgical treatments should also address the need for safe perioperative care. STUDY REGISTRATION: ISRCTN5181700

Multiresidue analysis of carbamate pesticides in soil by sonication-assisted extraction in small columns and liquid chromatography

A rapid multiresidue method has been developed for the analysis of carbamate insecticides (oxamyl, methomyl, propoxur, carbofuran, carbaryl and methiocarb) in soil. The method is based on the sonication-assisted extraction of soil samples placed in small columns using a low volume of methanol. Residue levels in soil were determined by reversed-phase high-performance liquid chromatography with fluorescence detection after post-column derivatisation. The separation of carbamates is performed on a C8 column with water-methanol as mobile phase. Recovery studies were carried out at 0.5, 0.1 and 0.01 μg/g fortification levels and average recoveries obtained for carbamates ranged from 82 to 99% with relative standard deviations between 0.4 and 10%. The effect of residue residence time and soil moisture content on the insecticide recovery was also studied. The method is linear over the range assayed, from 0.1 to 1 μg/ml. The detection limit for the carbamates varied from 1.6 to 3.7 μg/kg and the quantification limit obtained was 10 μg/kg. The emission and excitation spectra allowed the confirmation of residues at levels around 0.1 μg/g. © 2003 Elsevier B.V. All rights reserved

Determination of thiazopyr residues in soil and plants by gas chromatography with nitrogen-phosphorus detection and confirmation by gas chromatography-mass spectrometry

Thiazopyr residues have been determined in soil, grass weeds and seedlings of woody plants by gas chromatography. The herbicide was extracted from soil and plant samples with ethyl acetate and plant extracts were cleaned-up on a Florisil column. Thiazopyr levels were determined by gas chromatography with nitrogen-phosphorus detection and confirmed by gas chromatography with mass spectrometry, ion trap detection. The average recoveries were always higher than 97% with a relative standard deviation between 1 and 6%. The limit of detection for the herbicide was, at least, 0.01 μg/g in soil and 0.02 μg/g in plant with both gas chromatographic methods. Samples of soil and Pinus pinea L. plants, treated with thiazopyr, were also analyzed

Analysis of volatiles from Spanish honeys by solid-phase microextraction and gas chromatography-mass spectrometry

Headspace solid-phase microextraction (SPME), followed by gas chromatography (GC)-mass spectrometry (MS) determination, has been used for the analysis of honey volatiles. Two SPME fibers were employed to study the composition of volatiles from various types of Spanish honeys. The best results were obtained with the Carboxen/PDMS fiber, using a homogenization time of 1 h 70 °C and a sampling period of 30 min. A total of 35 compounds were detected, most of them identified by GC-MS and quantified using external standards. Differences in the composition of honey volatiles were obtained, and these results allowed the differentiation of honeys. However, further studies are necessary to confirm the utility of this technique as an alternative tool for the characterization of the floral origin of honeys