Digital Twin of a Wheeled Service Robot

Bakalářská práce se zabývá vytvořením digitálního dvojčete robotu. V úvodu je seznámení se stavebnicí Bioloid Robotis STEM a s jednotlivými kolovými roboty. Pokračuje vytvoření 3D modelu jednoho z robotů a vytvoření jeho zjednodušeného 3D modelu. K simulaci vzorové úlohy je využit program CoppeliaSim. Po přenesení modelů a přidání motorů a senzorů je robot naprogramován pro splnění úlohy, která se dále odzkouší na robotu sestaveném ze stavebnice, čím se porovná chování robotu v simulaci s realitou.The bachelor's thesis deals with the creation of a digital robot twin. The introduction introduces the Bioloid Robotis STEM kit and the individual wheeled robots. The creation of a 3D model of one of the robots and the creation of his simplified 3D model. CoppeliaSim is used to simulate a sample task. After transferring the models and adding motors and sensors, the robot is programmed to complete the task, which is further tested on a robot assembled from a kit, which helps as compare the behavior of the robot in the simulation with reality.354 - Katedra robotikydobř

Impact of opioid-free analgesia on pain severity and patient satisfaction after discharge from surgery: multispecialty, prospective cohort study in 25 countries

Background: Balancing opioid stewardship and the need for adequate analgesia following discharge after surgery is challenging. This study aimed to compare the outcomes for patients discharged with opioid versus opioid-free analgesia after common surgical procedures.Methods: This international, multicentre, prospective cohort study collected data from patients undergoing common acute and elective general surgical, urological, gynaecological, and orthopaedic procedures. The primary outcomes were patient-reported time in severe pain measured on a numerical analogue scale from 0 to 100% and patient-reported satisfaction with pain relief during the first week following discharge. Data were collected by in-hospital chart review and patient telephone interview 1 week after discharge.Results: The study recruited 4273 patients from 144 centres in 25 countries; 1311 patients (30.7%) were prescribed opioid analgesia at discharge. Patients reported being in severe pain for 10 (i.q.r. 1-30)% of the first week after discharge and rated satisfaction with analgesia as 90 (i.q.r. 80-100) of 100. After adjustment for confounders, opioid analgesia on discharge was independently associated with increased pain severity (risk ratio 1.52, 95% c.i. 1.31 to 1.76; P < 0.001) and re-presentation to healthcare providers owing to side-effects of medication (OR 2.38, 95% c.i. 1.36 to 4.17; P = 0.004), but not with satisfaction with analgesia (beta coefficient 0.92, 95% c.i. -1.52 to 3.36; P = 0.468) compared with opioid-free analgesia. Although opioid prescribing varied greatly between high-income and low- and middle-income countries, patient-reported outcomes did not.Conclusion: Opioid analgesia prescription on surgical discharge is associated with a higher risk of re-presentation owing to side-effects of medication and increased patient-reported pain, but not with changes in patient-reported satisfaction. Opioid-free discharge analgesia should be adopted routinely

Exploring the Chemical Space of Benzothiazole-Based DNA Gyrase B Inhibitors

doi: 10.1021/acsmedchemlett.0c00416We designed and synthesized a series of inhibitors of the bacterial enzymes DNA gyrase and DNA topoisomerase IV, based on our recently published benzothiazole-based inhibitor bearing an oxalyl moiety. To improve the antibacterial activity and retain potent enzymatic activity, we systematically explored the chemical space. Several strategies of modification were followed: varying substituents on the pyrrole carboxamide moiety, alteration of the central scaffold, including variation of substitution position and, most importantly, modification of the oxalyl moiety. Compounds with acidic, basic, and neutral properties were synthesized. To understand the mechanism of action and binding mode, we have obtained a crystal structure of compound 16a, bearing a primary amino group, in complex with the N-terminal domain of E. coli gyrase B (24 kDa) (PDB: 6YD9). Compound 15a, with a low molecular weight of 383 Da, potent inhibitory activity on E. coli gyrase (IC50 = 9.5 nM), potent antibacterial activity on E. faecalis (MIC = 3.13 mu M), and efflux impaired E. coli strain (MIC = 0.78 mu M), is an important contribution for the development of novel gyrase and topoisomerase IV inhibitors in Gram-negative bacteria.Peer reviewe