Design and Experimental Evaluation of a Tendon-Driven Minimally Invasive Surgical Robotic Tool with Antagonistic Control

The design, implementation and experimental evaluation of a minimally invasive surgical robotic instrument is presented in this article. The tool is constructed using rapid prototyping techniques and each degree-of-freedom is actuated via an antagonistic tendon driven mechanism using servo motors. The accompanying software runs under the Robot Operating System framework. The kinematics of the tool are discussed and the efficiency of the system is investigated in experimental studies, which are showcased in order to assess its potential use in a clinical environment

Simulations of the transport and deposition of ¹³⁷Cs over Europe after the Chernobyl Nuclear Power Plant accident: influence of varying emission-altitude and model horizontal and vertical resolution

The coupled model LMDZORINCA has been used to simulate the transport, wet and dry deposition of the radioactive tracer 137Cs after accidental releases. For that reason, two horizontal resolutions were deployed and used in the model, a regular grid of 2.5° × 1.27°, and the same grid stretched over Europe to reach a resolution of 0.66° × 0.51°. The vertical dimension is represented with two different resolutions, 19 and 39 levels respectively, extending up to the mesopause. Four different simulations are presented in this work; the first uses the regular grid over 19 vertical levels assuming that the emissions took place at the surface (RG19L(S)), the second also uses the regular grid over 19 vertical levels but realistic source injection heights (RG19L); in the third resolution the grid is regular and the vertical resolution 39 levels (RG39L) and finally, it is extended to the stretched grid with 19 vertical levels (Z19L). The model is validated with the Chernobyl accident which occurred in Ukraine (ex-USSR) on 26 May 1986 using the emission inventory from Brandt et al. (2002). This accident has been widely studied since 1986, and a large database has been created containing measurements of atmospheric activity concentration and total cumulative deposition for 137Cs from most of the European countries. According to the results, the performance of the model to predict the transport and deposition of the radioactive tracer was efficient and accurate presenting low biases in activity concentrations and deposition inventories, despite the large uncertainties on the intensity of the source released. The best agreement with observations was obtained using the highest horizontal resolution of the model (Z19L run). The model managed to predict the radioactive contamination in most of the European regions (similar to De Cort et al., 1998), and also the arrival times of the radioactive fallout. As regards to the vertical resolution, the largest biases were obtained for the 39 layers run due to the increase of the levels in conjunction with the uncertainty of the source term. Moreover, the ecological half-life of 137Cs in the atmosphere after the accident ranged between 6 and 9 days, which is in good accordance to what previously reported and in the same range with the recent accident in Japan. The high response of LMDZORINCA model for 137Cs reinforces the importance of atmospheric modelling in emergency cases to gather information for protecting the population from the adverse effects of radiation

Open fires in Greenland in summer 2017: transport, deposition and radiative effects of BC, OC and BrC emissions

Highly unusual open fires burned in western Greenland between 31 July and 21 August 2017, after a period of warm, dry and sunny weather. The fires burned on peatlands that became vulnerable to fires by permafrost thawing. We used several satellite data sets to estimate that the total area burned was about 2345&thinsp;ha. Based on assumptions of typical burn depths and emission factors for peat fires, we estimate that the fires consumed a fuel amount of about 117&thinsp;kt&thinsp;C and emitted about 23.5&thinsp;t of black carbon (BC) and 731&thinsp;t of organic carbon (OC), including 141&thinsp;t of brown carbon (BrC). We used a Lagrangian particle dispersion model to simulate the atmospheric transport and deposition of these species. We find that the smoke plumes were often pushed towards the Greenland ice sheet by westerly winds, and thus a large fraction of the emissions (30&thinsp;%) was deposited on snow- or ice-covered surfaces. The calculated deposition was small compared to the deposition from global sources, but not entirely negligible. Analysis of aerosol optical depth data from three sites in western Greenland in August 2017 showed strong influence of forest fire plumes from Canada, but little impact of the Greenland fires. Nevertheless, CALIOP (Cloud-Aerosol Lidar with Orthogonal Polarization) lidar data showed that our model captured the presence and structure of the plume from the Greenland fires. The albedo changes and instantaneous surface radiative forcing in Greenland due to the fire emissions were estimated with the SNICAR model and the uvspec model from the libRadtran radiative transfer software package. We estimate that the maximum albedo change due to the BC and BrC deposition was about 0.007, too small to be measured. The average instantaneous surface radiative forcing over Greenland at noon on 31 August was 0.03–0.04&thinsp;W&thinsp;m−2, with locally occurring maxima of 0.63–0.77&thinsp;W&thinsp;m−2 (depending on the studied scenario). The average value is up to an order of magnitude smaller than the radiative forcing from other sources. Overall, the fires burning in Greenland in the summer of 2017 had little impact on the Greenland ice sheet, causing a small extra radiative forcing. This was due to the – in a global context – still rather small size of the fires. However, the very large fraction of the emissions deposited on the Greenland ice sheet from these fires could contribute to accelerated melting of the Greenland ice sheet if these fires become several orders of magnitude larger under future climate.</p

Atmospheric transport is a major pathway of microplastics to remote regions

In recent years, marine, freshwater and terrestrial pollution with microplastics has been discussed extensively, whereas atmospheric microplastic transport has been largely overlooked. Here, we present global simulations of atmospheric transport of microplastic particles produced by road traffic (TWPs – tire wear particles and BWPs – brake wear particles), a major source that can be quantified relatively well. We find a high transport efficiencies of these particles to remote regions. About 34% of the emitted coarse TWPs and 30% of the emitted coarse BWPs (100 kt yr−1 and 40 kt yr−1 respectively) were deposited in the World Ocean. These amounts are of similar magnitude as the total estimated direct and riverine transport of TWPs and fibres to the ocean (64 kt yr−1). We suggest that the Arctic may be a particularly sensitive receptor region, where the light-absorbing properties of TWPs and BWPs may also cause accelerated warming and melting of the cryosphere

Origin of elemental carbon in snow from western Siberia and northwestern European Russia during winter-spring 2014, 2015 and 2016

Short-lived climate forcers have been proven important both for the climate and human health. In particular, black carbon (BC) is an important climate forcer both as an aerosol and when deposited on snow and ice surface because of its strong light absorption. This paper presents measurements of elemental carbon (EC; a measurement-based definition of BC) in snow collected from western Siberia and northwestern European Russia during 2014, 2015 and 2016. The Russian Arctic is of great interest to the scientific community due to the large uncertainty of emission sources there. We have determined the major contributing sources of BC in snow in western Siberia and northwestern European Russia using a Lagrangian atmospheric transport model. For the first time, we use a recently developed feature that calculates deposition in backward (so-called retroplume) simulations allowing estimation of the specific locations of sources that contribute to the deposited mass

Reviews and syntheses : Arctic fire regimes and emissions in the 21st century

In recent years, the pan-Arctic region has experienced increasingly extreme fire seasons. Fires in the northern high latitudes are driven by current and future climate change, lightning, fuel conditions, and human activity. In this context, conceptualizing and parameterizing current and future Arctic fire regimes will be important for fire and land management as well as understanding current and predicting future fire emissions. The objectives of this review were driven by policy questions identified by the Arctic Monitoring and Assessment Programme (AMAP) Working Group and posed to its Expert Group on Short-Lived Climate Forcers. This review synthesizes current understanding of the changing Arctic and boreal fire regimes, particularly as fire activity and its response to future climate change in the pan-Arctic have consequences for Arctic Council states aiming to mitigate and adapt to climate change in the north. The conclusions from our synthesis are the following. (1) Current and future Arctic fires, and the adjacent boreal region, are driven by natural (i.e. lightning) and human-caused ignition sources, including fires caused by timber and energy extraction, prescribed burning for landscape management, and tourism activities. Little is published in the scientific literature about cultural burning by Indigenous populations across the pan-Arctic, and questions remain on the source of ignitions above 70 degrees N in Arctic Russia. (2) Climate change is expected to make Arctic fires more likely by increasing the likelihood of extreme fire weather, increased lightning activity, and drier vegetative and ground fuel conditions. (3) To some extent, shifting agricultural land use and forest transitions from forest-steppe to steppe, tundra to taiga, and coniferous to deciduous in a warmer climate may increase and decrease open biomass burning, depending on land use in addition to climate-driven biome shifts. However, at the country and landscape scales, these relationships are not well established. (4) Current black carbon and PM2.5 emissions from wildfires above 50 and 65 degrees N are larger than emissions from the anthropogenic sectors of residential combustion, transportation, and flaring. Wildfire emissions have increased from 2010 to 2020, particularly above 60 degrees N, with 56% of black carbon emissions above 65 degrees N in 2020 attributed to open biomass burning - indicating how extreme the 2020 wildfire season was and how severe future Arctic wildfire seasons can potentially be. (5) What works in the boreal zones to prevent and fight wildfires may not work in the Arctic. Fire management will need to adapt to a changing climate, economic development, the Indigenous and local communities, and fragile northern ecosystems, including permafrost and peatlands. (6) Factors contributing to the uncertainty of predicting and quantifying future Arctic fire regimes include underestimation of Arctic fires by satellite systems, lack of agreement between Earth observations and official statistics, and still needed refinements of location, conditions, and previous fire return intervals on peat and permafrost landscapes. This review highlights that much research is needed in order to understand the local and regional impacts of the changing Arctic fire regime on emissions and the global climate, ecosystems, and pan-Arctic communities.peerReviewe

Source apportionment of circum-Arctic atmospheric black carbon from isotopes and modeling

Black carbon (BC) contributes to Arctic climate warming, yet source attributions are inaccurate due to lacking observational constraints and uncertainties in emission inventories. Year-round, isotope-constrained observations reveal strong seasonal variations in BC sources with a consistent and synchronous pattern at all Arctic sites. These sources were dominated by emissions from fossil fuel combustion in the winter and by biomass burning in the summer. The annual mean source of BC to the circum-Arctic was 39 ± 10% from biomass burning. Comparison of transport-model predictions with the observations showed good agreement for BC concentrations, with larger discrepancies for (fossil/biomass burning) sources. The accuracy of simulated BC concentration, but not of origin, points to misallocations of emissions in the emission inventories. The consistency in seasonal source contributions of BC throughout the Arctic provides strong justification for targeted emission reductions to limit the impact of BC on climate warming in the Arctic and beyond

The significance of opthalmologic evaluation in the early diagnosis of inborn errors of metabolism: the Cretan experience

BACKGROUND: The Inborn Errors of Metabolism (IEM) are far from the rare systemic diseases that mainly affect the neural tissue. There are very few written reports on ocular findings in subjects with IEM, thus it was interesting to study the frequency of ocular findings in the studied population and explore their contribution to the early diagnosis of IEM. METHODS: Our study involved the evaluation of IEM suspected cases, which had been identified in a rural population in Crete, Greece. Over a period of 3 years, 125 patients, who fulfilled the inclusion criteria of this study, were examined. Analytical physical examination, detailed laboratory investigation as well as a thorough ocular examination were made. RESULTS: A diagnosis of IEM was established in 23 of the 125 patients (18.4%). Ten (43.5%) of the diagnosed IEM had ocular findings, while 8 of them (34.8%) had findings which were specific for the diagnosed diseases. One patient diagnosed with glycogenosis type 1b presented a rare finding. Of the 102 non-diagnosed patients, 53 (51.96 %) presented various ophthalmic findings, some of which could be related to a metabolic disease and therefore may be very helpful in the future. CONCLUSIONS: The ocular investigation can be extremely useful for raising the suspicion and the establishment of an early diagnosis of IEM. It could also add new findings related to these diseases. The early management of the ocular symptoms can improve the quality of life to these patients

Traditional and non-traditional treatments for autism spectrum disorder with seizures: an on-line survey

<p>Abstract</p> <p>Background</p> <p>Despite the high prevalence of seizure, epilepsy and abnormal electroencephalograms in individuals with autism spectrum disorder (ASD), there is little information regarding the relative effectiveness of treatments for seizures in the ASD population. In order to determine the effectiveness of traditional and non-traditional treatments for improving seizures and influencing other clinical factor relevant to ASD, we developed a comprehensive on-line seizure survey.</p> <p>Methods</p> <p>Announcements (by email and websites) by ASD support groups asked parents of children with ASD to complete the on-line surveys. Survey responders choose one of two surveys to complete: a survey about treatments for individuals with ASD and clinical or subclinical seizures or abnormal electroencephalograms, or a control survey for individuals with ASD without clinical or subclinical seizures or abnormal electroencephalograms. Survey responders rated the perceived effect of traditional antiepileptic drug (AED), non-AED seizure treatments and non-traditional ASD treatments on seizures and other clinical factors (sleep, communication, behavior, attention and mood), and listed up to three treatment side effects.</p> <p>Results</p> <p>Responses were obtained concerning 733 children with seizures and 290 controls. In general, AEDs were perceived to improve seizures but worsened other clinical factors for children with clinical seizure. Valproic acid, lamotrigine, levetiracetam and ethosuximide were perceived to improve seizures the most and worsen other clinical factors the least out of all AEDs in children with clinical seizures. Traditional non-AED seizure and non-traditional treatments, as a group, were perceived to improve other clinical factors and seizures but the perceived improvement in seizures was significantly less than that reported for AEDs. Certain traditional non-AED treatments, particularly the ketogenic diet, were perceived to improve both seizures and other clinical factors.</p> <p>For ASD individuals with reported subclinical seizures, other clinical factors were reported to be worsened by AEDs and improved by non-AED traditional seizure and non-traditional treatments.</p> <p>The rate of side effects was reportedly higher for AEDs compared to traditional non-AED treatments.</p> <p>Conclusion</p> <p>Although this survey-based method only provides information regarding parental perceptions of effectiveness, this information may be helpful for selecting seizure treatments in individuals with ASD.</p