Comparison of Mobile Robot Positioning Methods in Off-Road Conditions

W artykule przedstawiono trzy wybrane metody pozycjonowania robota mobilnego w terenie oraz ich weryfikację na torze testowym, zbudowanym na potrzeby zawodów European Rover Challenge 2019. Badania zrealizowano z użyciem łazika marsjańskiego „IMPULS II” zbudowanego przez studentów Politechniki Świętokrzyskiej. Przeprowadzone badania pozwoliły na porównanie dokładności pozycjonowania robota mobilnego w terenie. Do analizy oraz wizualizacji badań posłużyła aplikacja umożliwiająca sterowanie oraz śledzenie pozycji robota. Dodatkowo zostały wykonane pomiary odległości łazika od zadanego punktu. Analiza mapy terenu oraz zastosowane algorytmy pozwalają na dojazd robotem do zadanego punktu.The article presents three selected methods of positioning the mobile robot in the off-road conditions and their verification on the test track built for the European Rover Challenge 2019 competition. The research was carried out using the Mars rover „IMPULS II” built by students of the Kielce University of Technology. The research allowed comparison of the mobile robot positioning accuracy in the off-road conditions. The analysis and visualization of research was done using an application that allows control and tracking of the robot’s position. Additionally, measurements of the rover’s distance from the given point were made. Terrain map analysis and applied algorithms allow robot to get to the given point

Synthesis of Microporous Silica Nanoparticles to Study Water Phase Transitions by Vibrational Spectroscopy

Microporous silica nanoparticles have been developed by a reverse microemulsion method utilizing zinc nanoclusters encapsulated hydroxyl-terminated polyamidoamine (PAMAM-OH) dendrimers as a soft template and made tunable within the outer diameter range of 20-50 nm with a core mesopore of 2-15 nm. Synthesized nanoparticles were used to study the effects of surface area and microporous volumes on the vibrational spectroscopy of water. These spectra reveal contributions from bulk interfacial/interparticle water, ice-like surface water, liquid-like water, and hydrated silica surfaces suggesting that microporous silica nanoparticles allow a way to probe silica water interactions at the molecular scale

Synthesis of microporous silica nanoparticles to study water phase transitions by vibrational spectroscopy.

Silica can take many forms, and its interaction with water can change dramatically at the interface. Silica based systems offer a rich tapestry to probe the confinement of water as size and volume can be controlled by various templating strategies and synthetic procedures. To this end, microporous silica nanoparticles have been developed by a reverse microemulsion method utilizing zinc nanoclusters encapsulated in hydroxyl-terminated polyamidoamine (PAMAM-OH) dendrimers as a soft template. These nanoparticles were made tunable within the outer diameter range of 20-50 nm with a core mesopore of 2-15 nm. Synthesized nanoparticles were used to study the effects of surface area and microporous volumes on the vibrational spectroscopy of water. These spectra reveal contributions from bulk interfacial/interparticle water, ice-like surface water, liquid-like water, and hydrated silica surfaces suggesting that microporous silica nanoparticles allow a way to probe silica water interactions at the molecular scale

Radiation causes tissue damage by dysregulating inflammasome-gasdermin D signaling in both host and transplanted cells

Radiotherapy is a commonly used conditioning regimen for bone marrow transplantation (BMT). Cytotoxicity limits the use of this life-saving therapy, but the underlying mechanisms remain poorly defined. Here, we use the syngeneic mouse BMT model to test the hypothesis that lethal radiation damages tissues, thereby unleashing signals that indiscriminately activate the inflammasome pathways in host and transplanted cells. We find that a clinically relevant high dose of radiation causes severe damage to bones and the spleen through mechanisms involving the NLRP3 and AIM2 inflammasomes but not the NLRC4 inflammasome. Downstream, we demonstrate that gasdermin D (GSDMD), the common effector of the inflammasomes, is also activated by radiation. Remarkably, protection against the injury induced by deadly ionizing radiation occurs only when NLRP3, AIM2, or GSDMD is lost simultaneously in both the donor and host cell compartments. Thus, this study reveals a continuum of the actions of lethal radiation relayed by the inflammasome-GSDMD axis, initially affecting recipient cells and ultimately harming transplanted cells as they grow in the severely injured and toxic environment. This study also suggests that therapeutic targeting of inflammasome-GSDMD signaling has the potential to prevent the collateral effects of intense radiation regimens

Optofluidic sensor system with Ge PIN photodetector for CMOS-compatible sensing

Vertical optofluidic biosensors based on refractive index sensing promise highest sensitivities at smallest area footprint. Nevertheless, when it comes to large-scale fabrication and application of such sensors, cheap and robust platforms for sample preparation and supply are needed—not to mention the expected ease of use in application. We present an optofluidic sensor system using a cyclic olefin copolymer microfluidic chip as carrier and feeding supply for a complementary metal–oxide–semiconductor compatibly fabricated Ge PIN photodetector. Whereas typically only passive components of a sensor are located within the microfluidic channel, here the active device is directly exposed to the fluid, enabling top-illumination. The capability for detecting different refractive indices was verified by different fluids with subsequent recording of the optical responsivity. All components excel in their capability to be transferred to large-scale fabrication and further integration of microfluidic and sensing systems. The photodetector itself is intended to serve as a platform for further sophisticated collinear sensing approaches

Autonomous Manipulator of a Mobile Robot Based on a Vision System

This article presents a system for the autonomous operation of a manipulator of a mobile robot. The aim of the research was to develop a system for a robot to operate a panel with switches. The manipulator should position itself autonomously and perform a given action. The operation of the system is based solely on one digital camera. The vision system uses markers to identify the position of the end-effector. The test results show that the system operates well in good artificial and natural lighting conditions. The system can be used effectively for activities that do not require high accuracy, e.g., pressing buttons and switches or grasping objects. However, for high-precision tasks, such as inserting a plug into a socket, or tasks that require high positioning accuracy, the manipulator may not be suitable

Comparison of Life Participation Activities Among Adults Treated by Hemodialysis, Peritoneal Dialysis, and Kidney Transplantation: A Systematic Review

BackgroundA comprehensive assessment of the association of patients' renal replacement therapy (RRT) modality with their participation in life activities (physical function, travel, recreation, freedom, and work) is needed.Study designSystematic review of peer-reviewed published studies.Setting & populationAdults undergoing RRT (hemodialysis, peritoneal dialysis, or transplantation).Selection criteria for studiesWe searched PubMed, Cochrane Library, and EMBASE from January 1980 through April 2012 for English-language articles that compared participation in life activities among patients receiving: (1) hemodialysis compared with peritoneal dialysis, (2) hemodialysis compared with kidney transplantation, or (3) peritoneal dialysis compared with kidney transplantation.PredictorRRT modality.OutcomesReported rates of physical function, travel, recreation, freedom, and work-related activities by RRT modality.Results46 studies (6 prospective cohort, 38 cross-sectional, and 2 pre-post transplantation) provided relevant comparisons of life participation activities among patients treated with hemodialysis, peritoneal dialysis, and kidney transplantation. Studies were conducted in 1985-2011 among diverse patient populations in 16 distinct locations. A majority of studies reported greater life participation rates for patients with kidney transplants compared with patients receiving either hemodialysis or peritoneal dialysis. In contrast, a majority of studies reported no differences in outcomes between patients receiving hemodialysis and patients receiving peritoneal dialysis. These results were consistent throughout the study period, across diverse populations, and among the subset of studies that performed appropriate adjustments for potential confounding factors.LimitationsMany studies included in the review had significant design weaknesses.ConclusionsEvidence suggests that patients with kidney transplants may experience better rates of life participation compared with patients receiving dialysis, whereas patients receiving hemodialysis and patients receiving peritoneal dialysis may experience similar rates of life participation. Rigorously performed studies are needed to better inform patients about the association of RRT with these important patient-reported outcomes