Mathematical modeling and kinematic analysis of 5 degrees of freedom serial link manipulator for online real-time pick and place applications

Modeling and kinematic analysis are crucial jobs in robotics that entail identifying the position of the robot’s joints in order to accomplish particular tasks. This article uses an algebraic approach to model the kinematics of a serial link, 5 degrees of freedom (DOF) manipulator. The analytical method is compared to an optimization strategy known as sequential least squares programming (SLSQP). Using an Intel RealSense 3D camera, the colored object is picked up and placed using vision-based technology, and the pixel location of the object is translated into robot coordinates. The LOBOT LX15D serial bus servo controller was used to transmit these coordinates to the robotic arm. Python3 programming language was used throughout the entire analysis. The findings demonstrated that both analytical and optimized inverse kinematic solutions correctly identified colored objects and positioned them in their appropriate goal points

Per3 length polymorphism in patients with type 2 diabetes mellitus

BACKGROUND: A number of observations support the involvement of circadian clock genes in the regulation of metabolic processes. One of these circadian genes, Per3, exhibits a variable number tandem repeat length polymorphism, consisting of two alleles, namely four and five repeat alleles, in its exon 18. The objective of this study was to examine the existence of Per3 variants in patients with type 2 diabetes mellitus (T2DM) as compared to a non T2DM control group. METHODS: Intravenous blood samples were collected to obtain white blood cells from 302 T2DM patients and 330 non-diabetic, age- and sex-matched, individuals. Per3 genotyping was performed on DNA by polymerase chain reaction. RESULTS: Frequency of five repeat allele was higher, and that of four repeat allele lower, in T2DM patients as compared to non-diabetic controls (χ2=6.977, p=0.0082) CONCLUSIONS: The results indicate an association of Per3 five repeat allele with T2DM occurrence and suggest that individuals with five repeat allele may be at a greater risk for T2DM as compared to those carrying the four repeat allele.Fil: Karthikeyan, Ramanujam. Madurai Kamaraj University. School of Biological Sciences. Department of Animal Behaviour and Physiology; IndiaFil: Marimuthu, Ganapathy. Madurai Kamaraj University. School of Biological Sciences. Department of Animal Behaviour and Physiology; IndiaFil: Sooriyakumar, Murugesan. Madurai Medical College. Department of Medicine; IndiaFil: BaHammam, Ahmed S.. King Saud University. College of Medicine; Arabia SauditaFil: Spence, David Warren.Fil: Pandi Perumal, Seithikurippu R.. Somnogen Canada; CanadáFil: Brown, Gregory M.. University of Toronto; CanadáFil: Cardinali, Daniel Pedro. Pontificia Universidad Católica Argentina "Santa María de los Buenos Aires". Facultad de Ciencias Médicas; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentin

Burden of typhoid and paratyphoid fever in India.

BACKGROUND: In 2017, more than half the cases of typhoid fever worldwide were projected to have occurred in India. In the absence of contemporary population-based data, it is unclear whether declining trends of hospitalization for typhoid in India reflect increased antibiotic treatment or a true reduction in infection. METHODS: From 2017 through 2020, we conducted weekly surveillance for acute febrile illness and measured the incidence of typhoid fever (as confirmed on blood culture) in a prospective cohort of children between the ages of 6 months and 14 years at three urban sites and one rural site in India. At an additional urban site and five rural sites, we combined blood-culture testing of hospitalized patients who had a fever with survey data regarding health care use to estimate incidence in the community. RESULTS: A total of 24,062 children who were enrolled in four cohorts contributed 46,959 child-years of observation. Among these children, 299 culture-confirmed typhoid cases were recorded, with an incidence per 100,000 child-years of 576 to 1173 cases in urban sites and 35 in rural Pune. The estimated incidence of typhoid fever from hospital surveillance ranged from 12 to 1622 cases per 100,000 child-years among children between the ages of 6 months and 14 years and from 108 to 970 cases per 100,000 person-years among those who were 15 years of age or older. Salmonella enterica serovar Paratyphi was isolated from 33 children, for an overall incidence of 68 cases per 100,000 child-years after adjustment for age. CONCLUSIONS: The incidence of typhoid fever in urban India remains high, with generally lower estimates of incidence in most rural areas. (Funded by the Bill and Melinda Gates Foundation; NSSEFI Clinical Trials Registry of India number, CTRI/2017/09/009719; ISRCTN registry number, ISRCTN72938224.)

Early Life Child Micronutrient Status, Maternal Reasoning, and a Nurturing Household Environment have Persistent Influences on Child Cognitive Development at Age 5 years : Results from MAL-ED

Funding Information: The Etiology, Risk Factors and Interactions of Enteric Infections and Malnutrition and the Consequences for Child Health and Development Project (MAL-ED) is carried out as a collaborative project supported by the Bill & Melinda Gates Foundation, the Foundation for the NIH, and the National Institutes of Health/Fogarty International Center. This work was also supported by the Fogarty International Center, National Institutes of Health (D43-TW009359 to ETR). Author disclosures: BJJM, SAR, LEC, LLP, JCS, BK, RR, RS, ES, LB, ZR, AM, RS, BN, SH, MR, RO, ETR, and LEM-K, no conflicts of interest. Supplemental Tables 1–5 and Supplemental Figures 1–3 are available from the “Supplementary data” link in the online posting of the article and from the same link in the online table of contents at https://academic.oup.com/jn/. Address correspondence to LEM-K (e-mail: [email protected]). Abbreviations used: HOME, Home Observation for Measurement of the Environment inventory; MAL-ED, The Etiology, Risk Factors, and Interactions of Enteric Infections and Malnutrition and the Consequences for Child Health and Development Project; TfR, transferrin receptor; WPPSI, Wechsler Preschool Primary Scales of Intelligence.Peer reviewe

Early life child micronutrient status, maternal reasoning, and a nurturing household environment have persistent influences on child cognitive development at age 5 years: Results from MAL-ED

Background: Child cognitive development is influenced by early-life insults and protective factors. To what extent these factors have a long-term legacy on child development and hence fulfillment of cognitive potential is unknown. Objective: The aim of this study was to examine the relation between early-life factors (birth to 2 y) and cognitive development at 5 y. Methods: Observational follow-up visits were made of children at 5 y, previously enrolled in the community-based MAL-ED longitudinal cohort. The burden of enteropathogens, prevalence of illness, complementary diet intake, micronutrient status, and household and maternal factors from birth to 2 y were extensively measured and their relation with the Wechsler Preschool Primary Scales of Intelligence at 5 y was examined through use of linear regression. Results: Cognitive T-scores from 813 of 1198 (68%) children were examined and 5 variables had significant associations in multivariable models: mean child plasma transferrin receptor concentration (β: −1.81, 95% CI: −2.75, −0.86), number of years of maternal education (β: 0.27, 95% CI: 0.08, 0.45), maternal cognitive reasoning score (β: 0.09, 95% CI: 0.03, 0.15), household assets score (β: 0.64, 95% CI: 0.24, 1.04), and HOME child cleanliness factor (β: 0.60, 95% CI: 0.05, 1.15). In multivariable models, the mean rate of enteropathogen detections, burden of illness, and complementary food intakes between birth and 2 y were not significantly related to 5-y cognition. Conclusions: A nurturing home context in terms of a healthy/clean environment and household wealth, provision of adequate micronutrients, maternal education, and cognitive reasoning have a strong and persistent influence on child cognitive development. Efforts addressing aspects of poverty around micronutrient status, nurturing caregiving, and enabling home environments are likely to have lasting positive impacts on child cognitive development.publishedVersio

Non-image-forming functional roles of OPN3, OPN4 and OPN5 photopigments

Detecting different wavelengths and intensities of environmental light is crucial for the survival of many animals. In response, a multiplicity of opsins (a special group of photosensitive G protein-coupled receptors), when combined with a retinal chromophore, is able to directly detect light and initiate different downstream phototransduction signaling cascades. Although avian studies from the 1930s suggested the presence of deep brain photoreceptors that could respond to seasonal changes in the light/dark cycle, it was only a few decades ago that photopigments other than those found in the visual system (i.e. rods and cones) were identified as functional photoreceptors. It is now established that several classes of non-visual photoreceptors and the photopigments they express, in lower vertebrates to higher mammals alike, can regulate a plethora of mechanisms that function outside of vision. These include the synchronization of light/dark cycles with biological/cellular rhythms of the body (i.e. photoentrainment); melanogenesis in dermal tissues; thermoregulation in adipose tissue; embryonic eye development; smooth muscle relaxation; and the development of certain cancers. These and other mechanisms have been shown, in part at least, to be controlled by the expression of three important non-visual opsin genes, namely OPN3, OPN4 and OPN5, although other vertebrate opsin classes exist, many with unknown or unclear functional roles assigned to them presently. Specifically, these three opsins have been shown to be expressed during early embryogenesis and throughout adulthood, which will be discussed here. Moreover, this review highlights recent studies that focus on several key non-image-forming functional roles of OPN3, OPN4 and OPN5, and in particular those that impact photoreception in developing structures and pathways, as well as in adulthood

The contribution of modern 24-hour society to the development of type 2 diabetes mellitus: the role of insufficient sleep

Epidemiological studies since 1980 have shown significant increases in the incidence of type 2 diabetes mellitus (T2DM). The public health burden generated by the growing prevalence of T2DM, which, in its fully developed form, is a lifelong illness, has been associated with further social and economic costs in affected countries. Recent studies have suggested that chronic sleep insufficiency or disrupted or poor quality sleep could contribute to the development of T2DM. Although many research findings have now shown that sleep plays a key role in glucose metabolism, the full implications of these findings have not been translated into clinical programs for improving patients’ sleep quality as a means for addressing the treatment of T2DM. The purpose of this brief overview is to focus on the clinical significance of sleep in the onset and treatment of T2DM. We suggest here that physician education should emphasize the importance of sufficient sleep for overall health, including the management of T2DM, and that steps should be taken to incorporate this perspective into clinical practice. The promotion of sleep hygiene techniques as a clinical intervention could improve the regulation of glucose metabolism and thus the longevity of T2DM patients. Moreover, it may prevent secondary complications accruing from the illness and consequently reduce the significant medical costs of treating T2DM patients

Computational Analysis of Machining Induced Stress Distribution during Dry and Cryogenic Orthogonal Cutting of 7075 Aluminium Closed Cell Syntactic Foams

The addition of hollow aluminium oxide bubbles to the 7075 aluminium matrix results in a lightweight syntactic foam with a reduced density and an increased peak compression strength. The presence of ceramic bubbles also aids in a reduced coefficient of thermal expansion and thermal conductivity in comparison to aluminium alloys. In spite of their enhanced material properties, the inclusion of hollow aluminium oxide bubbles presents the challenge of poor machinability. In order to elucidate the problem of poor surface machinability, an attempt has been made to develop a thermo-mechanical finite element machining model using AdvantEdgeTM software with which surface quality and machined syntactic foam material can be analyzed. If the novel model developed is combined with virtual reality technology, CNC technicians can observe the machining results to evaluate and optimize the machining program. The main novelty behind this software is that the material foam is assumed as a homogeneous material model for simplifying the material model as a complex heterogeneous material system. The input parameters used in this study are cutting speed, feed, average size and volume fraction of hollow aluminium oxide bubbles, and coolant. For the output parameters, the numerical analysis showed a 6.24% increase in peak tensile machining induced stress as well as a 51.49% increase in peak cutting temperature as cutting speed (25 m/min to 100 m/min) and uncut chip thickness (0.07 mm to 0.2 mm) were increased. The average size and volume fraction of hollow aluminium oxide bubbles showed a significant impact on the magnitude of cutting forces and the depth of tensile induced stress distribution. It was observed on the machined surface that, as the average size of hollow aluminium oxide bubbles became coarser, the peak machining induced tensile stress on the cut surface reduced by 4.47%. It was also noted that an increase in the volume fraction of hollow aluminium oxide bubbles led to an increase in both the peak machining induced tensile stress and the peak cutting temperature by 29.36% and 20.11%, respectively. This study also showed the influence of the ceramic hollow bubbles on plastic deformation behavior in 7075 aluminium matrix; the machining conditions for obtaining a favorable stress distribution in the machined surface and sub-surface of 7075 closed cell syntactic foam are also presented

Are Type 2 Diabetes Mellitus and Depression Part of a Common Clock Genes Network?

In recent years, there has been an increased prevalence of type 2 diabetes mellitus (T2DM) and depression across the world. This growing public health problem has produced an increasing socioeconomic burden to the populations of all affected countries. Despite an awareness by public health officials and medical researchers of the costs associated with these diseases, there still remain many aspects of how they develop that are not understood. In this article, we propose that the circadian clock could be a factor that coordinates both the neurobehavioral and metabolic processes that underlie depression and T2DM. We propose further that this perspective, one which emphasizes the regulatory effects of clock gene activity, may provide insights into how T2DM and depression interact with one another, and may thus open a new pathway for managing and treating these disorders