A Sliding Mode Control Architecture for Human-Manipulator Cooperative Surface Treatment Tasks

© 2018 IEEE. This paper presents a control architecture readily suitable for surface treatment tasks such as polishing, grinding, finishing or deburring as carried out by a human operator, with the added benefit of accuracy, recurrence and physical strength as administered by a robotic manipulator partner. The shared strategy effectively couples the human operator propioceptive abilities and fine skills through his interactions with the autonomous physical agent. The novel proposed control scheme is based on task prioritization and a non-conventional sliding mode control, which is considered to benefit from its inherent robustness and low computational cost. The system relies on two force sensors, one located between the last link of the robot and the surface treatment tool, and the other located in some place of the robot end-effector: the former is used to suitably accomplish the conditioning task, while the latter is used by the operator to manually guide the robotic tool. When the operator chooses to cease guiding the tool, the robot motion safely switches back to an automatic reference tracking. The paper presents the theories for the novel collaborative controller, whilst its effectiveness for robotic surface treatment is substantiated by experimental results using a redundant 7R manipulator and a mock-up conditioning tool

Enhancement of Water Transport and Microstructural Changes Induced by High-Intesity Ultrasound Application on Orange Peel Drying

The main aim of this work was to evaluate the effect of high-intensity ultrasound (US) on the drying kinetics of orange peel as well as its influence on the microstructural changes induced during drying. Convective drying kinetics of orange peel slabs were carried out at a relative humidity of 26.5±0.9%, 40 °C and 1 m/s with (AIR+US) and without (AIR) ultrasound application. In order to identify the US effect on water transport, drying kinetics were analyzed by taking the diffusion theory into account. Fresh, AIR and AIR+US dried samples were analyzed using Cryo-Scanning Electron Microscopy. Results showed that the drying kinetics of orange peel were significantly improved by US application, which involved a significant (p<0.05) improvement of mass transfer coefficient and effective moisture diffusivity. The effects on mass transfer properties were confirmed with microstructural observations. In the cuticle surface of flavedo, the pores were obstructed by the spread of the waxy components, this fact evidencing US effects on the air solid interfaces. Furthermore, the cells of the albedo were disrupted by US, as it created large intercellular air spaces facilitating water transfer through the tissue.The authors would like to acknowledge the financial support of MICINN and CEE (European Regional Development Fund) from projects Ref. DPI2009-14549-C04-04, PSE-060000-2009-003, and FP6-2004-FOOD-23140 HIGHQ RTE.García Pérez, JV.; Ortuño Cases, C.; Puig Gómez, CA.; Cárcel Carrión, JA.; Pérez Munuera, IM. (2012). Enhancement of Water Transport and Microstructural Changes Induced by High-Intesity Ultrasound Application on Orange Peel Drying. Food and Bioprocess Technology. 5(6):2256-2265. https://doi.org/10.1007/s11947-011-0645-0S2256226556Alandes, L., Perez-Munuera, I., Llorca, E., Quiles, A., & Hernando, I. (2009). 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A new high intensity ultrasonic technology for food dehydration. Drying Technology, 17(3), 597–608.Garau, M. C., Simal, S., Femenia, A., & Rosselló, C. (2006). Drying of orange skin: drying kinetics modelling and functional properties. Journal of Food Engineering, 75(2), 288–295.Garau, M. C., Simal, S., Rossello, C., & Femenia, A. (2007). Effect of air-drying temperature on physico-chemical properties of dietary fibre and antioxidant capacity of orange (Citrus aurantium v. Canoneta) by-products. Food Chemistry, 104(3), 1014–1024.Garcia-Perez, J. V., Cárcel, J. A., De la Fuente, S., & Riera, E. (2006). Ultrasonic drying of foodstuff in a fluidized bed. Parametric study. Ultrasonics, 44, 539–543.Garcia-Perez, J. V., Cárcel, J. A., Benedito, J., & Mulet, A. (2007). Power ultrasound mass transfer enhancement in food drying. Food and Bioproducts Proccessing, 85(3), 247–254.Guiné, R. P. F., Henrriques, F., Barroca, M. J. (2010). Mass transfer coefficients for the drying of pumpkin (Cucurbita moschata) and dried product quality. Food and Bioprocess Technology. doi: 10.1007/s11947-009-0275 , in press.Khalloufi, S., Almeida-Rivera, C., & Bongers, P. (2009). A theoretical model and its experimental validation to predict the porosity as a function of shrinkage and collapse phenomena during drying. Food Research International, 42(8), 1122–1130.Larrauri, J. A., Rupérez, P., Bravo, L., & Saura-Calixto, F. (1996). High dietary fibre powders from orange and lime peels: associated polyphenols and antioxidant capacity. Food Research International, 29(8), 757–762.Mujumdar, A. S., & Law, C. L. (2010). Drying technology: trends and applications in postharvest processing. Food and Bioprocess Technology, 3(6), 843–852.Mulet, A., Blasco, M., García-Reverter, J., & Garcia-Perez, J. V. (2005). Drying kinetics of Curcuma longa rhizomes. Journal of Food Science, 7(5), 318–323.Oliveira, F. I. P., Gallao, M. I., Rodrigues, S., Fernandes, F.A.N. (2010). Dehydration of malay apple (Syzygium malaccense L.) using ultrasound as a pretreatment. Food and Bioprocess Technology. doi: 10.1007/s11947-010-0351-3 , in press.Ortuño, C., Perez-Munuera, I., Puig, A., Riera, E., & Garcia-Perez, J.V. (2010). Influence of power ultrasound application on mass transport and microstructure of orange peel during hot air drying. Physics Procedia, 3, 153–159.Perry, R. H. & Chilton, C. H. (1973). Chemical Engineers’ Handbook. McGraw Hill (5th ed.), New York, US.Ruiz-López, I. I., Castillo-Zamudio, R. I., Salgado-Cervantes, M. A., Rodríguez-Jimenes, G. C., & García-Alvarado, M. A. (2010). Mass transfer modelling during osmotic dehydration of hexahedral pineapple slices in limited volume solutions. Food and Bioprocess Technology, 3(3), 427–433.Salvador, A., Salvador, L., Besada, C., Larrea, V., Hernando, I., & Perez-Munuera, I. (2008). Reduced effectiveness of the treatment for removing astringency in persimmon fruit when stored at 15 °C: Physiological and microstructural study. Postharvest Biology and Technology, 49(3), 340–347.Sanchez, E. S., Simal, S., Femenía, A., Benedito, J., & Roselló, C. (2001). Effect of acoustic brining on lipolysis and on sensory characteristics of Mahon cheese. Journal of Food Science, 66(6), 892–896.Sanchez, E. S., Simal, S., Femenía, A., Llul, P., & Roselló, C. (2001). Proteolysis of Mahon cheese as affected by acoustic-assited brining. European Food Research and Technology, 212(2), 147–152.Sharma, A., & Gupta, M. N. (2006). Ultrasonic pre-irradiation effect upon aqueous enzymatic oil extraction from almond and apricot seeds. Ultrasonics Sonochemistry, 13(6), 529–534.Simal, S., Rosello, C., & Mulet, A. (1998). Modelling of air drying in regular shaped bodies. Trends in Chemical Engineering, 4(4), 171–180.Simal, S., Femenia, A., & Garcia-Pascual, P. (2003). Simulation of the drying curves of a meat-based product: effect of the external resistance to mass transfer. Journal of Food Engineering, 58(2), 193–199.Singh, R. P., & Heldman, D. R. (2001). Introduction to Food Engineering. Academic Press (3rd ed.): San Diego.Toma, M., Vinatoru, M., Paniwnyk, L., & Mason, T. J. (2001). Investigation of the effects of ultrasound on vegetal tissues during solvent extraction. Ultrasonics Sonochemistry, 8(2), 137–142

Prediction of Reverse Remodeling at Cardiac MR Imaging Soon after First ST-Segment-Elevation Myocardial Infarction: Results of a Large Prospective Registry

[EN] Conclusion: Assessment of infarct size and MVO with cardiac MR imaging soon after STEMI enables one to make a decision in the prediction of reverse remodeling. (C) RSNA, 2015Supported by the Instituto de Salud Carlos III and FEDER (grant PI1400271) and the Generalitat Valenciana (grant PROMETEO/2013/007).Bodi, V.; Monmeneu, J.; Ortiz-Perez, J.; López-Lereu, M.; Bonanad, C.; Husser, O.; Minana, G.... (2016). Prediction of Reverse Remodeling at Cardiac MR Imaging Soon after First ST-Segment-Elevation Myocardial Infarction: Results of a Large Prospective Registry. Radiology. 278(1):54-63. https://doi.org/10.1148/radiol.2015142674S5463278

Laparoscopic nephrectomy for giant staghorn calculus with non-functioning kidneys: Is associated unsuspected urothelial carcinoma responsible for conversion? Report of 2 cases

BACKGROUND-: Neglected renal stones remain a major cause of morbidity in developing countries. They not only result in functional impairment of affected kidney, but also act as an important predisposing factor for development of urothelial neoplasms. It is not uncommon to miss an associated urothelial tumor in a patient of nephrolithiasis preoperatively. CASE PRESENTATION-: In last 3 years, we came across two patients with giant staghorn calculus and poorly functioning kidneys who underwent laparoscopic nephrectomy. In view of significant perirenal adhesions & loss of normal tissue planes both these patients were electively converted to open surgery. The pathological examination of specimen revealed an unsuspected urothelial carcinoma in both these patients. The summary of our cases and review of literature is presented. CONCLUSION-: It is important to keep a differential diagnosis of associated urothelial malignancy in mind in patient presenting with long standing renal calculi. The exact role of a computerized tomography and cytology in preoperative workup for detection of possible associated malignancy in such condition is yet to be defined. Similarly if laparoscopic dissection appears difficult during nephrectomy for a renal calculus with non-functional kidney, keeping a possibility of associated urothelial malignancy in mind it is advisable to dissect in a plane outside gerotas fascia as for radical nephrectomy

Estudio preliminar de la activación neuromuscular corriendo descalzo y calzado

The aim of this preliminary study was to compare the influence of footwear and the fatigue state on the muscle activity of the tibialis anterior, peroneus longus, gastrocnemius medialis and gastrocnemius lateralis. For this purpose, 7 participants ran a 20-min fatiguing run on a treadmill at 1% slope at 75% of their individual maximal aerobic speed. Muscle activation was measured twice during 30 seconds before and after the fatiguing run while running shod and barefoot. Before the fatiguing run, running barefoot led to a greater activation of the peroneus longus compared to running shod. When running fatigued, running barefoot also increased the activation of the tibialis anterior compared to running shod. Moreover, the fatigue state decreased the gastrocnemius medialis activity when running shod.El objetivo del presente estudio preliminar fue comparar la actividad muscular de los músculos tibial anterior, peroneo lateral largo, gastrocnemio medial ygastrocnemio lateral entre la carrera con y sin calzado, y la influencia de la fatiga. 7 participantes realizaron una carrera de fatiga de 20 minutos al 75% de su velocidad aeróbica máxima en cinta con 1% de pendiente. Se midió la actividad mioeléctrica de los músculos antes mencionados tanto antes como después de la prueba de fatiga en dos condiciones: con calzado y sin calzado. Los resultadosmostraron una mayor actividad del tibial anterior durante la carrera en fatiga descalzo respecto a la carrera calzado y una mayor actividad del peroneo lateral largo durante la carrera sin fatiga descalzo. Por otra parte, también se encontró una menoractividad del gastrocnemio medial durante la carrera con zapatillas y en fatiga respecto a la carrera sin fatiga

Smart homes and their users:a systematic analysis and key challenges

Published research on smart homes and their users is growing exponentially, yet a clear understanding of who these users are and how they might use smart home technologies is missing from a field being overwhelmingly pushed by technology developers. Through a systematic analysis of peer-reviewed literature on smart homes and their users, this paper takes stock of the dominant research themes and the linkages and disconnects between them. Key findings within each of nine themes are analysed, grouped into three: (1) views of the smart home-functional, instrumental, socio-technical; (2) users and the use of the smart home-prospective users, interactions and decisions, using technologies in the home; and (3) challenges for realising the smart home-hardware and software, design, domestication. These themes are integrated into an organising framework for future research that identifies the presence or absence of cross-cutting relationships between different understandings of smart homes and their users. The usefulness of the organising framework is illustrated in relation to two major concerns-privacy and control-that have been narrowly interpreted to date, precluding deeper insights and potential solutions. Future research on smart homes and their users can benefit by exploring and developing cross-cutting relationships between the research themes identified

Cell walls of the dimorphic fungal pathogens Sporothrix schenckii and Sporothrix brasiliensis exhibit bilaminate structures and sloughing of extensive and intact layers

This work was supported by the Fundação Carlos Chagas de Amparo à Pesquisa do Estado do Rio de Janeiro (FAPERJ), grants E-26/202.974/2015 and Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq), grants 229755/2013-5, Brazil. LMLB is a senior research fellow of CNPq and Faperj. NG acknowledged support from the Wellcome Trust (Trust (097377, 101873, 200208) and MRC Centre for Medical Mycology (MR/N006364/1). The funders had no role in study design, data collection and analysis, decision to publish, or preparation of the manuscript.Peer reviewedPublisher PD

Evaluation of the role of glutathione in the lead-induced toxicity in Saccharomyces cerevisiae

The effect of intracellular reduced glutathione (GSH) in the lead stress response of Saccharomyces cerevisiae was investigated. Yeast cells exposed to Pb, for 3 h, lost the cell proliferation capacity (viability) and decreased intracellular GSH level. The Pb-induced loss of cell viability was compared among yeast cells deficient in GSH1 (∆gsh1) or GSH2 (∆gsh2) genes and wild-type (WT) cells. When exposed to Pb, ∆gsh1 and ∆gsh2 cells did not display an increased loss of viability, compared with WT cells. However, the depletion of cellular thiols, including GSH, by treatment of WT cells with iodoacetamide (an alkylating agent, which binds covalently to thiol group), increased the loss of viability in Pb-treated cells. In contrast, GSH enrichment, due to the incubation of WT cells with amino acids mixture constituting GSH (l-glutamic acid, l-cysteine and glycine), reduced the Pb-induced loss of proliferation capacity. The obtained results suggest that intracellular GSH is involved in the defence against the Pb-induced toxicity; however, at physiological concentration, GSH seems not to be sufficient to prevent the Pb-induced loss of cell viability

Generational status and duration of residence predict diabetes prevalence among Latinos: the California Men's Health Study

<p>Abstract</p> <p>Background</p> <p>Diabetes disproportionately affects Latinos. However, examining Latinos as one group obscures important intra-group differences. This study examined how generational status, duration of US residence, and language preference are associated with diabetes prevalence and to what extent these explain the higher prevalence among Latinos.</p> <p>Methods</p> <p>We determined nativity, duration of US residence, language preference, and diabetes prevalence among 11 817 Latino, 6109 black, and 52 184 white participants in the California Men's Health Study. We combined generational status and residence duration into a single migration status variable with levels: ≥ third generation; second generation; and immigrant living in the US for > 25, 16-25, 11-15, or ≤ 10 years. Language preference was defined as language in which the participant took the survey. Logistic regression models were specified to assess the associations of dependent variables with prevalent diabetes.</p> <p>Results</p> <p>Diabetes prevalence was 22%, 23%, and 11% among Latinos, blacks, and whites, respectively. In age-adjusted models, we observed a gradient of risk of diabetes by migration status among Latinos. Further adjustment for socioeconomic status, obesity and health behaviors only partially attenuated this gradient. Language preference was a weak predictor of prevalent diabetes in some models and not significant in others. In multivariate models, we found that odds of diabetes were higher among US-born Latinos than US-born blacks.</p> <p>Conclusion</p> <p>Generational status and residence duration were associated with diabetes prevalence among middle-aged Latino men in California. As the Latino population grows, the burden of diabetes-associated disease is likely to increase and demands public health attention.</p