The polyacrylic acid/modified chitosan capsules with tunable release of small hydrophobic probe and drug

Nanocapsules (≤200 nm) with a protection effect toward small hydrophobic guests (p-nitrophenyl laurate and acetylsalicylic acid, aspirin) and a tunable sustained release behavior have been fabricated through the layer-by-layer deposition of polyacrylic acid and modified chitosan. Cationic surfactant, cetyltrimethylammonium bromide, was used to increase the affinity of polyelectrolyte to the substrate. The release profile was monitored through original protocol involving a fast cleavage of the substrate released and a spectrophotometric control of the product. The shell permeability of the capsules and hence their protective effect may be tuned through the variation of the number of layers deposited, the sonication, and the adjustment of solution pH. Importantly, the dispersed loads serving as a template for the capsule fabrication may control their properties, including shell permeability

ICAR: endoscopic skull‐base surgery

n/

Drons col·laboratius

La robòtica col·laborativa és senzillament robots dissenyats per dur a terme treballs de col·laboració amb els humans. Els robots col·laboratius o cobots són cada cop més utilitzats a les indústries. La robòtica col·laborativa és un dels àmbits d'actualitat en aquests moments. Però també és un dels més interessants en més d'un sentit. Com es comuniquen dos drons autònoms que col·laboren per fer una tasca? Com són aquests missatges que s'envien? Que poden fer que no podrien fer sols? Aquestes són algunes de les preguntes que ens volem respondre en aquest projecte. En aquest treball es presenta un disseny i implementació de dos drons terrestres que es comuniquen per col·laborar entre ells per resoldre una tasca.Collaborative robotics is simply robots designed to perform collaborative work with humans. Collaborative robots or cobots are increasingly used in industries. Collaborative robotics is one of the current topics now. But it is also one of the most interesting in more ways than one. How do two autonomous drones that collaborate to perform a task communicate? How are these messages sent? What can they do that they could not do alone? These are some of the questions we want to answer in this project. This work presents a design and implementation of two ground drones that communicate to collaborate with each other to solve a task.La robótica colaborativa es sencillamente robots diseñados para llevar a cabo trabajos de colaboración con los humanos. Los robots colaborativos o cobots son cada vez más utilizados en las industrias. La robótica colaborativa es uno de los ámbitos de actualidad. Pero también es uno de los más interesantes en más de un sentido. ¿Cómo se comunican drones autónomos que colaboran para hacer una tarea? ¿Cómo son estos mensajes que es envían? ¿Qué pueden hacer que no lo podrían hacer solos? Estas son algunas de las preguntas que queremos responder con este proyecto. En este trabajo se presenta un diseño e implementación de dos drones terrestres que se comunican para colaborar entre ellos para resolver una tarea

Space-Varying Iterative Restoration of Diffuse Optical Tomograms Reconstructed by the Photon Average Trajectories Method

The possibility of improving the spatial resolution of diffuse optical tomograms reconstructed by the photon average trajectories (PAT) method is substantiated. The PAT method recently presented by us is based on a concept of an average statistical trajectory for transfer of light energy, the photon average trajectory (PAT). The inverse problem of diffuse optical tomography is reduced to a solution of an integral equation with integration along a conditional PAT. As a result, the conventional algorithms of projection computed tomography can be used for fast reconstruction of diffuse optical images. The shortcoming of the PAT method is that it reconstructs the images blurred due to averaging over spatial distributions of photons which form the signal measured by the receiver. To improve the resolution, we apply a spatially variant blur model based on an interpolation of the spatially invariant point spread functions simulated for the different small subregions of the image domain. Two iterative algorithms for solving a system of linear algebraic equations, the conjugate gradient algorithm for least squares problem and the modified residual norm steepest descent algorithm, are used for deblurring. It is shown that a 27% gain in spatial resolution can be obtained