Kompenzacija sustava s rezonancijom i vremenskim kašnjenjem pomoću valnog kompenzatora

Recently, teleoperated robots have been researched for working in ultimate environment actively. Developing performance of teleoperated robots, it will be possible for human to work in such a ultimate environment with safety. However, in the actual case, a flexible mechanism caused by the mechanical constraint such as weight saving of robot, using gear, and so on, induces vibration. Moreover, a communication delay causes vibration, too. In addition, in the worst case, the delay makes the control system unstable. Therefore, in this paper, for suppressing the vibration, compensation of integrated resonant and time-delay systems by using a wave compensator is proposed. In the proposal, there are two important control structures. Firstly, a reflected wave in the resonant system is eliminated by a reflected wave rejection. A transfer function of wave equation without the reflected wave is represented as a time delay. Therefore, a resonant system without a reflected wave can be regarded as an equivalent time-delay system. Next, it is defined that an effect of time delay from resonant and communication systems is caused by a time-delay disturbance. Then, vibrations from resonant and communication delays are simultaneously suppressed by the wave compensator. Finally, the validity of the proposal is verified by simulation and experimental results.U posljednje vrijeme daljinski upravljani roboti za rad u izazovnim okruženjima dobivaju na važnosti. Poboljšanje sposobnosti daljinski upravljanih robota neosporno bi omogućilo bi sigurniji rad u takvim okruženjima.Ipak, realne robotske konstrukcije često podrazumijevaju fleksibilne prijenosne mehanizme, zupčanike i druge elemente koji unose nepoželjne vibracije u sustav. Fenomen vibracije dodatno je naglašen i vremenskim kašnjenjem u komunikaciji s robotom što može u konačnici uzrokovati nestabilno ponašanje. U ovom se radu predlaže mehanizam sprječavanja vibracija temeljen na kompenzatoru valova. Mehanizam se sastoji od dvije cjeline. Prvi korak je eliminacija reflektiranog vala. Drugo, prijenosna funkcija valne jednadžbe bez reflektirano vala tretira se kao vremensko kašnjenje. Stoga se rezonantni sustav može promatrati može promatrati kao ekvivalentni sustav s vremenskim kašnjenjem. Nadalje, utjecaj se vremenskog kašnjenja modelira kao poremećaj s vremenskom odgodom. U konačnici se vibracije rezonantnog i komunikacijskog kašnjenja potiskuju kompenzatorom valova. Predloženi je algoritam ispitan u simulacijama kao i na stvarnome sustavu

Regional differences in the incidence of severe brain damage in survivors with cardiac disease and witnessed out-of-hospital cardiac arrest

Background: Brain damage can occur after out-of-hospital cardiac arrest (OHCA) leading to permanent disability.Aims: This study investigated the incidence of severe brain damage and associated risk factors in survivors with cardiac disease after OHCA.Methods: The Utstein database for Japan was used to identify 23,640 survivors with cardiac disease and witnessed OHCA between 2005 and 2012. Survivors were assessed at 1 month. Odds ratios (ORs) for the incidence of severe brain damage according to regional variables were determined with logistic regression analysis.Results: The incidence of severe brain damage was 37.3%. Automated external defibrillator use and cardiopulmonary resuscitation were associated with significant improvement in cerebral function; adrenaline administration and longer duration from request for transport until hospital arrival were associated with deterioration of cerebral function. Twenty of 47 prefectures showed significant ORs for the incidence of severe brain damage.Conclusion: Regional differences in the incidence of severe brain damage were found among survivors with cardiac disease and witnessed OHCA

Single cell analysis of neutrophils NETs by Microscopic LSPR imaging system

A simple microengraving cell monitoring method for neutrophil extracellular traps (NETs) released from single neutrophils has been realized using a polydimethylsiloxane (PDMS) microwell array (MWA) sheet on a plasmon chip platform. An imbalance between NETs formation and the succeeding degradation (NETosis) are considered associated with autoimmune disease and its pathogenesis. Thus, an alternative platform that can conduct monitoring of this activity on single cell level at minimum cost but with great sensitivity is greatly desired. The developed MWA plasmon chips allow single cell isolation of neutrophils from 150 μL suspension (6.0 × 105 cells/mL) with an efficiency of 36.3%; 105 microwells with single cell condition. To demonstrate the utility of the chip, trapped cells were incubated between 2 to 4 h after introducing with 100 nM phorbol 12- myristate 13-acetate (PMA) before measurement. Under observation using a hyperspectral imaging system that allows high-throughput screening, the neutrophils stimulated by PMA solution show a significant release of fibrils and NETs after 4 h, with observed maximum areas between 314–758 μm2. An average absorption peak wavelength shows a redshift of Δλ = 1.5 nm as neutrophils release NETs

Synthesizing sea surface height change including seismic waves and tsunami using a dynamic rupture scenario of anticipated Nankai trough earthquakes

The development of offshore observation technology will provide researchers with tsunami records from within an earthquake focal area, but this will create new problems. Because seismic waves coexist with tsunami inside a focal area, the seismic waves could act as noise for the tsunami signal. This study shows an efficient method to calculate sea surface height change caused by an earthquake including both seismic waves and tsunami. Simulation results indicate that seismic waves overlap with tsunami; both affect the change in sea surface height although most previous tsunami studies have neglected the contribution of seismic waves. We also numerically simulated the sea-surface displacement wavefield and hypothesized results for an anticipated rupture scenario of a huge earthquake that may possibly occur in the Nankai Trough, Japan. The synthesized record could be used to evaluate the performance of a real-time tsunami prediction method. Additionally, we discussed the similarity and difference between two kinds of tsunami waveforms: the displacement of the sea surface and the pressure change at the sea bottom. Although seismic waves appeared in both waveforms, the contribution of seismic waves was lower in the displacement at the sea surface than in the pressure change at the sea bottom

Changes in Knowledge Levels through Lectures on Radiotherapy to Nursing Students in Japan

Background:Recently, the number of patients choosing radiotherapy is increasing in Japan. It is necessary for even nurses to have knowledge of radiotherapy. We measured the degree of awareness with a lecture on how a nursing student can obtain knowledge of radiotherapy.Materials and methods: Forty nursing students who were in their third year and preparing for their national nursing certification in two months were recruited. The 90-min lecture covered a range of topics from general theories to specific concepts. The students were not informed that they would be required to fill a survey at the end of the lecture. This was to avoid bias that could occur from knowing in advance that a survey would be conducted.Results: The following items below were particularly remarkable. The distinction between the radiologist and the radiation oncologist. The radiotherapy is a local therapy. The pain from bone metastasis could be relieved.Conclusion: Students had very little knowledge on radiotherapy before the lecture. the results of this study indicated the need to increase the number of lectures on radiotherapy for nursing as well medical students. As the number of radiotherapy patients increases

Enhanced electrochemiluminescence of N-(aminobutyl)-N-(ethylisoluminol) functionalized gold nanoparticles by Graphene Oxide Nanoribbons

The mechanism of electrochemiluminescence (ECL) of an N-(aminobutyl)-N-(ethylisoluminol) -functionalized gold nanoparticle (ABEI-AuNP) hybrid with graphene oxide nanoribbons (GONRs) as a functional supporting matrix on a modified screen-printed electrode (SPE) was studied under alkaline conditions.In our catalytic system, ABEI-AuNPs supported by GONRs were profoundly superior to the unsupported ABEI-AuNP/SPE, and exhibited greatly enhanced ECL intensity (≈30.0%).This difference is attributed not only to an 80.2% increase in the total surface area of the ABEI-AuNP-GONR/SPE, but also to enhancements of the ABEI-AuNP catalytic activity resulting from metal-oxygen bonding between the functional groups on the GONRs and the Au active sites.This improved catalytic activity of ABEI-AuNP facilitates both oxidative radical generation and fast reaction kinetics of the ABEI oxidation process. To further elucidate the mechanism of the counter-peak phenomenon in the ABEI ECL under cyclic voltammetry (CV) conditions, the effects of various factors, including pH of buffer solution, existence of dissolved oxygen, and concentration of hydrogen peroxide, on the ECL of ABEI were investigated.The mechanisms of liquid-phase ABEI on bare SPE and GONR/SPE were also compared to that of solid-phase ABEI-AuNP to validate the proposed mechanism for ABEI-AuNP-GONR/SPE

MRI for Advanced Gastric Cancer : Especially for Scirrhous Cancer of the Stomach

We conducted MRI examinations in 92 patients with advanced gastric cancer, and evaluated the clinical potential of MRI for diagnosis of scirrhous cancer of the stomach. The feature of scirrhous cancer of stomach by MRI are ; 1) thick-ened gastric wall, 2) shortening of T1 and T2 values ; and 3) clear contrast between the gastric mucosae and cancer areas found in the T1 and T2 weighted images (preservation of the mucosae). MRI for scirrhous cancer of the stomach is thought a useful image diagnosis as an adjunct method to gastric X-ray and gastric endoscopy