Fuzzy logic control for use in in-pipe mobile robotic system navigation

This paper presents a fuzzy logic control for the navigation of a mobile robotic system in gas pipelines. The robotic system is designed for a local gas distribution pipeline network with 150-300mm diameter pipes; common pipe fittings in use are straight and bend sections, reducers and slope pipe sections. The navigation problem forms a part of the current development of a new modular and semi-autonomous vehicle system. The vehicle control and navigation technique is implemented using a two-mode controller consisting of a proportional-integral-derivative (PID) and fuzzy logic control. The PID controller is responsible for direct control of the actuators, while the fuzzy logic controller is used to evaluate as well as to define the sensor outputs such as speed, climbing angle and rate of climbing angle in order to perceive the different types of pipe environment and vehicle actions. Since the navigation problem involves a multivariable input-output (MIMO) system, a cascaded hierarchical fuzzy model configuration is used to reduce the dimensionality of the fuzzy model. The fuzzy navigation controller is thus an interlink fuzzy subsystem of the pipe environment recognition and action adjustment subsystems. Results of simulations and laboratory experiments are presented to demonstrate the ability of the control strategy. A brief description of the mobile robotic system used is presented as background

Design of a semi-autonomous modular robotic vehicle for gas pipeline inspection

This paper presents a new solution for inspecting and repairing defects in live gas pipelines. The proposed approach is the development of a modular and semi-autonomous vehicle system. The robotic system has a drive mechanism, capable of navigating and adjusting its orientation in various configurations of pipelines. Other features of the system are cable-free communications, semi-autonomous motion control as well as integration of sensory devices. The robotic system is designed to traverse in 150-300 mm diameter pipes through straight and curved sections, junctions and reducers. The vehicle control and navigation technique is implemented using a two-mode controller consisting of a proportional-integral-derivative (PID) and fuzzy logic control. Unlike other available systems, the vehicle employs proprioceptive sensors to monitor its own states. The fuzzy logic controller is used to evaluate the sensor outputs such as speed, climbing angle and rate of change of climbing angle. This control technique allows the vehicle to drive and adapt in a partially observable gas pipe system. Laboratory experiment results are presented. The paper also describes a cable-free communication method for the system. A brief account of typical pipe environments and currently available inspection tools is presented as background information

Extraction of displacement data from Electronic Speckle Pattern Interferometric fringe patterns using digital image processing techniques

The commercial exploitation of Electronic Speckle Pattern Interferometry (ESPI) is now gathering pace with manufacturers marketing products in Europe and the USA. The power of the technique both in a research and an industrial inspection role has brought pressure from the engineering community for an automated fringe analysis system. [Continues.

Additional file 2: of Genome-wide methylation analysis reveals differentially methylated loci that are associated with an age-dependent increase in bovine fibroblast response to LPS

Hyper-methylated genes in 16-month cultures. Table S1. Hyper-methylated promoter regions. Table S2. Hyper-methylated exon regions. Table S3. Hyper-methylated intron regions. (XLSX 129 kb

Additional file 1: of Genome-wide methylation analysis reveals differentially methylated loci that are associated with an age-dependent increase in bovine fibroblast response to LPS

Hyper-methylated genes in 5-month cultures. Table S1. Hyper-methylated promoter regions. Table S2. Hyper-methylated exon regions. Table S3. Hyper-methylated intron regions. (XLSX 209 kb

A machine learning approach to tracking and characterizing planar or near planar fluid flow

This paper presents a framework to segment planar or near-planar fluid flow and uses artificial neural networks to characterize fluid flow by determining the rate of flow and source of the fluid, which can be applied in various areas (e.g., characterizing fluid flow in surface irrigation from aerial pictures, in leakage detection, and in surgical robotics for characterizing blood flow over an operative site). For the latter, the outcome enables to assess bleeding severity and find the source of the bleeding. Based on its importance in assessing injuries and from a medical perspective in directing the course of surgery, fluid flow assessment is deemed to be a desirable addition to a surgical robot's capabilities. The results from tests on fluid flows generated from a test rig show that the proposed methods can contribute to an automated characterization of fluid flow, which in the presence of several fluid flow sources can be achieved by tracking the flows, determining the locations of the sources and their relative severities, with execution times suitable for real-time operation

Case Study of physiotherapy treatment of a patient with the diagnosis of status post osteosynthesis of lateral ankel

Name of bachelor`s thesis: Case Study of physiotherapy treatment of a patient with the diagnosis of status post osteosynthesis of lateral ankel Author: Petra Smolová Objective: The aim of this study was to give comprehensive information on the basic form of ankle fractures, their treatment options and develop a case of a patient with this diagnosis. Method: The work is a form of retrieval processing of the issue of external ankle fractures, and is divided into general and special. The general part is divided into various sections and subsections that describe the basic anatomical knowledge of the lower leg, ankle and foot. Is outlined here ankle kinesiology and basic biomechanical aspects. Another part of the general part deals with the classification of fractures, their complications and surgical solutions and specifically fractures of the external ankle, possibilities of their treatment and rehabilitation. A special section deals with the case report patient after internal fixation of the external ankle fractures, respectively rehabilitation process during the 4-week work experience in Centrum léčby pohybového aparátu in Vysočany. Contains the patient anamnestic data, differential balance sheet, the entrance examinations, suggested the short-term and long-term treatment plan, schedule of therapeutic..

A Roadmap to an Equitable Digital Diabetes Ecosystem.

ObjectivesDiabetes management presents a substantial burden to individuals living with the condition and their families, healthcare professionals, and healthcare systems. Although an increasing number of digital tools are available to assist with tasks such as blood glucose monitoring and insulin dose calculation, multiple persistent barriers continue to prevent their optimal use.MethodsAs a guide to creating an equitable connected digital diabetes ecosystem, we propose a roadmap with key milestones that need to be achieved along the way.ResultsDuring the Coronavirus 2019 pandemic, there was an increased use of digital tools to support diabetes care, but at the same time, the pandemic also highlighted problems of inequities in access to and use of these same technologies. Based on these observations, a connected diabetes ecosystem should incorporate and optimize the use of existing treatments and technologies, integrate tasks such as glucose monitoring, data analysis, and insulin dose calculations, and lead to improved and equitable health outcomes.ConclusionsDevelopment of this ecosystem will require overcoming multiple obstacles, including interoperability and data security concerns. However, an integrated system would optimize existing devices, technologies and treatments to improve help to improve outcomes

Additional file 3: of Differential responsiveness of Holstein and Angus dermal fibroblasts to LPS challenge occurs without major differences in the methylome

Differentially expressed genes (FDR < 0.05; CPM > 1; 2 ≤ FC ≤ -2) between Holstein and Angus fibroblast cultures exposed to 100ng/ml LPS for 0, 2, and 8 h. A positive fold change indicates higher expression in Holstein cultures. CPM = counts per million. FDR = false discovery rate. (PDF 207 kb

Quality inspection of food packaging seals using machine vision with texture analysis

This paper presents a machine vision approach to inspecting the integrity of semirigid polymer food packages sealed using a new laser-based sealing system. This new technique for food package sealing seeks to make significant improvements to existing manufacturing methods to meet the industry’s requirements for rapid response to retail customers, while maintaining high quality, through 100 per cent inspection, with low associated production costs. By analysing examples of ‘good’ and ‘bad’ seal images, seal uniformity has been examined and associated with numerical quality measures. Statistical texture analysis is utilized in order to distinguish between good and bad seal conditions. A minimum distance classifier and an artificial neural network have been used to accept the segmented texture parameters as inputs and to output the seal quality decision. The method is shown to have a high success rate provided that illumination conditions remain constant