A Macroscopic Mathematical Model For Cell Migration Assays Using A Real-Time Cell Analysis

Experiments of cell migration and chemotaxis assays have been classically performed in the so-called Boyden Chambers. A recent technology, xCELLigence Real Time Cell Analysis, is now allowing to monitor the cell migration in real time. This technology measures impedance changes caused by the gradual increase of electrode surface occupation by cells during the course of time and provide a Cell Index which is proportional to cellular morphology, spreading, ruffling and adhesion quality as well as cell number. In this paper we propose a macroscopic mathematical model, based on \emph{advection-reaction-diffusion} partial differential equations, describing the cell migration assay using the real-time technology. We carried out numerical simulations to compare simulated model dynamics with data of observed biological experiments on three different cell lines and in two experimental settings: absence of chemotactic signals (basal migration) and presence of a chemoattractant. Overall we conclude that our minimal mathematical model is able to describe the phenomenon in the real time scale and numerical results show a good agreement with the experimental evidences

Extracting fetal heart beats from maternal abdominal recordings: Selection of the optimal principal components

This study presents a systematic comparison of different approaches to the automated selection of the principal components (PC) which optimise the detection of maternal and fetal heart beats from non-invasive maternal abdominal recordings. A public database of 75 4-channel non-invasive maternal abdominal recordings was used for training the algorithm. Four methods were developed and assessed to determine the optimal PC: (1) power spectral distribution, (2) root mean square, (3) sample entropy, and (4) QRS template. The sensitivity of the performance of the algorithm to large-amplitude noise removal (by wavelet de-noising) and maternal beat cancellation methods were also assessed. The accuracy of maternal and fetal beat detection was assessed against reference annotations and quantified using the detection accuracy score F1 [2*PPV*Se / (PPV + Se)], sensitivity (Se), and positive predictive value (PPV). The best performing implementation was assessed on a test dataset of 100 recordings and the agreement between the computed and the reference fetal heart rate (fHR) and fetal RR (fRR) time series quantified. The best performance for detecting maternal beats (F1 99.3%, Se 99.0%, PPV 99.7%) was obtained when using the QRS template method to select the optimal maternal PC and applying wavelet de-noising. The best performance for detecting fetal beats (F1 89.8%, Se 89.3%, PPV 90.5%) was obtained when the optimal fetal PC was selected using the sample entropy method and utilising a fixed-length time window for the cancellation of the maternal beats. The performance on the test dataset was 142.7 beats2/min2 for fHR and 19.9 ms for fRR, ranking respectively 14 and 17 (out of 29) when compared to the other algorithms presented at the Physionet Challenge 2013

Handover Control for Human-Robot and Robot-Robot Collaboration

Modern scenarios in robotics involve human-robot collaboration or robot-robot cooperation in unstructured environments. In human-robot collaboration, the objective is to relieve humans from repetitive and wearing tasks. This is the case of a retail store, where the robot could help a clerk to refill a shelf or an elderly customer to pick an item from an uncomfortable location. In robot-robot cooperation, automated logistics scenarios, such as warehouses, distribution centers and supermarkets, often require repetitive and sequential pick and place tasks that can be executed more efficiently by exchanging objects between robots, provided that they are endowed with object handover ability. Use of a robot for passing objects is justified only if the handover operation is sufficiently intuitive for the involved humans, fluid and natural, with a speed comparable to that typical of a human-human object exchange. The approach proposed in this paper strongly relies on visual and haptic perception combined with suitable algorithms for controlling both robot motion, to allow the robot to adapt to human behavior, and grip force, to ensure a safe handover. The control strategy combines model-based reactive control methods with an event-driven state machine encoding a human-inspired behavior during a handover task, which involves both linear and torsional loads, without requiring explicit learning from human demonstration. Experiments in a supermarket-like environment with humans and robots communicating only through haptic cues demonstrate the relevance of force/tactile feedback in accomplishing handover operations in a collaborative task

Control of sliding velocity in robotic object pivoting based on tactile sensing

Control of robots manipulating objects using only the sense of touch is a challenge. In-hand motion of the manipulated object highly depends on the friction forces acting at the contact surfaces. Soft contacts allow torsional frictions as well as friction forces, therefore robots can perform more complex manipulation abilities, like object pivoting. Control of the pivoting sliding motion is very difficult especially without any visual feedback. The paper proposes a novel method to control the sliding velocity of the object by using a simple parallel gripper endowed with force/tactile sensors only. The strategy is based on a nonlinear observer that estimates the sliding velocity from force/torque measurements and a model of the sliding dynamics

Acute Cholecystitis from Biliary Lithiasis: Diagnosis, Management and Treatment

Biliary lithiasis is a global disorder affecting nearly 20% of the world’s population, although most cases occur without symptoms. Gallbladder stones could move into the common bile duct after gallbladder contraction, causing acute cholecystitis. The progression of the acute disease can take different forms, from mild inflammation, treatable with oral antibiotics, to the most severe forms with septic shock or biliary peritonitis, requiring specific treatment. Liver function tests and abdominal ultrasound are generally sufficient for diagnostic purposes. The most commonly used antibiotic is penicillin, with piperacillin achieving the best results; alternatively, fluoroquinolones could also be used, although there is no univocal consensus and surgery remains the only definitive treatment. A prolonged antibiotic therapy after cholecystectomy seems inadvisable, except in severe cases and/or in the immuno-compromised patient, where it should be periodically evaluated to avoid antibiotic resistance and unnecessary use. This review presents an evidence-based analysis to describe the advantages and disadvantages of the available options for the treatment of biliary lithiasis and cholecystitis, from the pathophysiological mechanisms behind lithiasis formation and also covering the main diagnostic findings for biliary stones, recommending an approach tailored to the patient’s characteristics and to the team’s expertise

Recurring patterns in stationary intervals of abdominal uterine electromyograms during gestation

Abdominal uterine electromyograms (uEMG) studies have focused on uterine contractions to describe the evolution of uterine activity and preterm birth (PTB) prediction. Stationary, non-contracting uEMG has not been studied. The aim of the study was to investigate the recurring patterns in stationary uEMG, their relationship with gestation age and PTB, and PTB predictivity. A public database of 300 (38 PTB) three-channel (S1-S3) uEMG recordings of 30 min, collected between 22 and 35 weeks' gestation, was used. Motion and labour contraction-free intervals in uEMG were identified as 5-min weak-sense stationarity intervals in 268 (34 PTB) recordings. Sample entropy (SampEn), percentage recurrence (PR), percentage determinism (PD), entropy (ER), and maximum length (L MAX) of recurrence were calculated and analysed according to the time to delivery and PTB. Random time series were generated by random shuffle (RS) of actual data. Recurrence was present in actual data (p<0.001) but not RS. In S3, PR (p<0.005), PD (p<0.01), ER (p<0.005), and L MAX (p<0.05) were higher, and SampEn lower (p<0.005) in PTB. Recurrence indices increased (all p<0.001) and SampEn decreased (p<0.01) with decreasing time to delivery, suggesting increasingly regular and recurring patterns with gestation progression. All indices predicted PTB with AUC≥0.62 (p<0.05). Recurring patterns in stationary non-contracting uEMG were associated with time to delivery but were relatively poor predictors of PTB

Crack coalescence and strain accommodation in gypsum rock

Gypsum is a soft rock with low strength and high propensity to plastic deformation. Its mechanical properties are relevant in a wide range of technical application (e.g. tunnel excavation, stability assessment of underground quarries, oil and gas accumulation). The micro-mechanisms involved in the deformation of gypsum rock have for long time interested the scientific world and are still not completely understood. The peculiar crystallographic structure of this bi-hydrate salt, with water molecules layered in the salt structure, favours the development of plastic structures in the rock.  The present work proposes an experimental investigation of strain accommodation mechanisms in gypsum rock, reporting data referred to uniaxial and triaxial stress conditions. The rock strain was studied with a multiscale approach, with the comparison of results from DIC and microstructural analyses

La consulenza ambientale in Italia - il business dell'ecoaudit

Indice: Definizione del business - Analisi del macroambiente - Analisi della domanda - L'offerta: i servizi ambientali - Analisi dell'offert

Ultrafiltration in Acute Heart Failure

Congestion is the predominant cause of more than 1 million annual heart failure hospitalisations and recurrent fluid overload predicts poor outcomes. Unresolved congestion trumps serum creatinine increases in predicting adverse heart failure outcomes. No pharmacological approach for acute heart failure has reduced these deleterious consequences. Simplified ultrafiltration devices permit fluid removal in lower acuity hospital settings, but results regarding safety and efficacy have been variable. However, adjustment of ultrafiltration rates to patients’ vital signs and renal function has been associated with more effective decongestion and fewer heart failure events. Many aspects of ultrafiltration, including patient selection, fluid removal rates, venous access, prevention of therapy- related complications and costs, require further investigation