Approximate Piecewise Constant Curvature Equivalent Model and Their Application to Continuum Robot Configuration Estimation

The continuum robot has attracted more attention for its flexibility. Continuum robot kinematics models are the basis for further perception, planning, and control. The design and research of continuum robots are usually based on the assumption of piecewise constant curvature (PCC). However, due to the influence of friction, etc., the actual motion of the continuum robot is approximate piecewise constant curvature (APCC). To address this, we present a kinematic equivalent model for continuum robots, i.e. APCC 2L-5R. Using classical rigid linkages to replace the original model in kinematic, the APCC 2L-5R model effectively reduces complexity and improves numerical stability. Furthermore, based on the model, the configuration self-estimation of the continuum robot is realized by monocular cameras installed at the end of each approximate constant curvature segment. The potential of APCC 2L-5R in perception, planning, and control of continuum robots remains to be explored

Robust state estimation and fault detection combining unknown input observer and set-membership approach

© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other worksThis paper aims to propose a new robust state-estimation and fault-detection method by combining the unknown input observer (UIO) and the set-membership estimator (SME). It is known that both the SUIO and the SME can be used to estimate the states of a system. The former aims to obtain a particular value by actively decoupling the effect of unknown inputs, while the latter can obtain state-estimation sets by prediction and correction based on the set theory. Instead of particular state values, the latter can obtain state-estimation sets guaranteeing to contain system states (i.e., robust state estimation). In this paper, we propose to use the framework of the UIO to actively decouple part of unknown inputs and then further employ the set-membership estimation method to estimate state sets and detect faults. The objective of the proposed method is to reduce the conservatism of robust state-estimation sets by using the UIO to remove the contribution of part of unknown inputs to the sizes of state-estimation sets. At the end of this paper, a numerical example is used to illustrate the effectiveness and advantages of the proposed approach.Accepted versio

Investigation and identification of the first mushroom poisoning case caused by Amanita sychnopyramis f. subannulata in Jiangxi

Objective To investigate and identify a case caused by mushroom poisoning in May 2019 in Jiangxi Province. Methods The case was studied with the epidemiological information, clinical data, and suspicious mushroom samples were identified by morphological and molecular studies. Results The epidemiological information showed that all the patients had eaten different quantity of mushrooms which were picked and boiled by themselves, the average incubation period was 2.5 hours, and the symptoms of dizziness, gastrointestinal discomfort, vomiting, numbness of limbs and so on had existed orderly of the patients. The morphological and molecular studies identified the samples were Amanita sychnopyramis f. subannulata. Conclusion The incident was the first reported case caused by Amanita sychnopyramis f. subannulata in Jiangxi Province. The poisonous mushroom species can be identified combined with epidemiology, morphology and molecular studies. The situation of s mushroom poisoning in Jiangxi Province is still serious and the relevant departments should strengthen prevention and control

Analysis of nontyphoidal Salmonella clinical isolates antibiotic resistance based on whole genome sequencing in Jiangxi Province in 2018

Objective Understanding of bacterial antibiotic resistance is the basis for guiding clinical anti-infective therapy and monitoring antimicrobial resistance trends. The study was aimed to investigate the antibiotic resistance characteristics of nontyphoidal Salmonella isolates from foodborne disease cases in Jiangxi Province in 2018, study the correlations between resistance phenotypes and genotypes, and evaluate the application prospects of whole genome sequencing (WGS) in antimicrobial resistance surveillance. Methods In this study, 58 nontyphoidal Salmonella strains were isolated from foodborne disease patients in Jiangxi Province in 2018 and were tested for susceptibility to 14 antimicrobials using broth microdilution. The 58 isolates were subjected to WGS, and resistance genes were identified from assembled sequences that compared with ResFinder database. Results 77.59% (45/58) of isolates were resistant to tetracycline, and 72.41% (42/58) were resistant to ampicillin. 100.00% of isolates were susceptible to imipenem. 56.90% (33/58) of isolates displayed resistance to at least 3 classes of antibiotics, and 3.45% (2/58) of isolates had resistance to at least 6 of 8 classes tested. A total of 47 unique resistance genes referred to 11 classes of antibiotics, plus mutations in gyrA, gyrB and parC structural of quinolone resistance-determining region (QRDR), were identified. 100.00% (58/58) of isolates had aminoglycoside resistance genes, and 72.41% (42/58) of isolates harboured tetracycline resistance genes. Macrolide resistance genes were presented in 3.45% (2/58) of isolates. 77.59% (45/58) of isolates were contained at least 3 classes of antibiotics resistance genes, and 1.72% (1/58) of isolates harboured at least 9 classes of resistance genes. The overall resistance genotypes and phenotypes were consistent in 93.43% (611/654) of cases. Except quinolones, the correlations were above 91% for tested antibiotics. Correlations were 100% for some classes of antibiotics. Conclusion The antibiotic resistance phenomenon of these isolates was serious. The resistance phenotypes were in good accordance with genotypes, and WGS can be used as an effective tool to predict the antibiotic resistance of nontyphoidal Salmonella. As more new antibiotic resistance genes were discovered, the consistency of resistance genotypes and phenotypes will be further improved

Field‐testing polyethylene passive samplers for the detection of neutral polyfluorinated alkyl substances in air and water

Fluorotelomer alcohols (FTOHs), perfluorooctane‐sulfonamidoethanols (FOSEs), perfluorooctane‐sulfonamides (FOSAs), and other poly‐ and perfluorinated alkyl substances (PFASs) are common and ubiquitous byproducts of industrial telomerization processes. They can degrade into various perfluorinated carboxylic acids, which are persistent organic contaminants of concern. We assessed the use of polyethylene (PE) passive samplers as a sampling tool for neutral PFAS precursors during field‐deployments in air and water. A wide range of neutral PFASs was detected in polyethylene sheets exposed in wastewater treatment effluents in August 2017. Equilibration times for most neutral PFASs were on the order of 1 to 2 wk. Based on known sampling rates, the partitioning constants between polyethylene and water, KPEw, were derived. Log KPEw values were mostly in the range of 3 to 4.5, with the greatest values for 8:2 FTOH, 10:2 FTOH, and n‐ethyl‐FOSE. To test the utility of polyethylene for gas‐phase compounds, parallel active and passive sampling was performed in ambient air in Providence (RI, USA) in April 2016. Most PFASs equilibrated within 2 to 7 d. The greatest concentrations in polyethylene samplers were detected for MeFOSE and EtFOSE. Polyethylene/air partitioning constants, log KPEa, were approximately 7 to 8 for the FTOHs, and approached 9 for n‐methyl‐FOSA and n‐methyl‐FOSE. Polyethylene sheets showed promise as a passive sampling approach for neutral PFASs in air and water. Environ Toxicol Chem 2018;9999:1–9. © 2018 SETA

Recurrent Cellulitis Associated with Long-Term Intrathecal Opioid Infusion Therapy: A Case Report and Review of the Literature

Lower-limb edema is recognized as an untoward side effect of intrathecal opioid therapy. Cellulitis, an acute, spreading pyogenic inflammation of the dermis and subcutaneous tissue, predisposed by persistent leg edema, can become problematic in patients on intraspinal opioid infusion therapy.To present a case of recurrent cellulitis in an elderly lady with persistent leg edema associated with intrathecal morphine/hydromorphone infusion therapy.Sixty-one-year-old woman with intractable chronic low back pain and bilateral leg pain treated with an intrathecal infusion of morphine up to 5 mg/day over 3 months with satisfactory pain control developed progressive lower extremity edema, complicated by recurrent cellulitis, requiring repeated hospitalization and intravenous antibiotic treatment. Switching to intrathecal hydromorphone helped minimally. Intrathecal baclofen and clonidine infusion resulted in complete resolution of leg edema and pain relief over the following 12 months.Intrathecal Baclofen and Clonidine may be used as alternatives to provide spinally mediated antinociception when intraspinal opioid fails due to pharmacological side effects such as persistent edema.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/79174/1/j.1526-4637.2010.00854.x.pd

Transcriptional regulation of BRD7 expression by Sp1 and c-Myc

<p>Abstract</p> <p>Background</p> <p>Bromodomain is an evolutionally conserved domain that is found in proteins strongly implicated in signal-dependent transcriptional regulation. Genetic alterations of bromodomain genes contributed to the development of many human cancers and other disorders. BRD7 is a recently identified bromodomain gene. It plays a critical role in cellular growth, cell cycle progression, and signal-dependent gene expression. Previous studies showed that BRD7 gene exhibited much higher-level of mRNA expression in normal nasopharyngeal epithelia than in nasopharyngeal carcinoma (NPC) biopsies and cell lines. However, little is known about its transcriptional regulation. In this study, we explored the transcriptional regulation of BRD7 gene.</p> <p>Method</p> <p>Potential binding sites of transcription factors within the promoter region of BRD7 gene were predicted with MatInspector Professional <url>http://genomatix.de/cgi-bin/matinspector_prof/mat_fam.pl</url>. Mutation construct methods and luciferase assays were performed to define the minimal promoter of BRD7 gene. RT-PCR and western blot assays were used to detect the endogenous expression of transcription factor Sp1, c-Myc and E2F6 in all cell lines used in this study. Electrophoretic mobility shift assays (EMSA) and Chromatin immunoprecipitation (ChIP) were used to detect the direct transcription factors that are responsible for the promoter activity of BRD7 gene. DNA vector-based siRNA technology and cell transfection methods were employed to establish clone pools that stably expresses SiRNA against c-Myc expression in nasopharyngeal carcinoma 5-8F cells. Real-time PCR was used to detect mRNA expression of BRD7 gene in 5-8F/Si-c-Myc cells.</p> <p>Results</p> <p>We defined the minimal promoter of BRD7 gene in a 55-bp region (from -266 to -212bp), and identified that its promoter activity is inversely related to c-Myc expression. Sp1 binds to the Sp1/Myc-Max overlapping site of BRD7 minimal promoter, and slightly positively regulate its promoter activity. c-Myc binds to this Sp1/Myc-Max overlapping site as well, and negatively regulates the promoter activity and endogenous mRNA expression of BRD7 gene. Knock-down of c-Myc increases the promoter activity and mRNA level of BRD7 gene. The luciferase activity of the mutated promoter constructs showed that Sp1/Myc-Max overlapping site is a positive regulation element of BRD7 promoter.</p> <p>Conclusion</p> <p>These studies provide for the first time the evidence that c-Myc is indeed a negative regulator of BRD7 gene. These findings will help to further understand and uncover the bio-functions of BRD7 gene involved in the pathogenesis of NPC.</p

Effects of the timing of initial feeding on growth and survival of spotted mandarin fish Siniperca scherzeri larvae

The effects of delayed first feeding on growth and survival of spotted mandarin fish Siniperca scherzeri larvae were examined under controlled conditions. Morphometric characters [yolk-sac volume, oil globule volume, head depth ( H D ), body depth ( B D ), eye diameter ( E D ), musculature height ( M H ), mouth diameter ( M D ) and total length ( L T )], body mass ( M ), specific growth rate ( S GR ) and survival were evaluated under different first-feeding time (2, 3, 4 and 5 days after hatching). Larvae began to feed exogenously at 2 days after hatching (DAH) and the point of no return ( P NR ) occurred between 5 and 6 DAH at 23° C, range ±1·0° C. The yolk volume of larvae first-fed at 2 days had a significant difference compared with that of larvae first-fed at 3, 4 and 5 days on 3 and 4 DAH. The larvae first-fed at 2 days achieved comparatively better growth performance than that of 3, 4 and 5 days. On 5 DAH, all morphometric characters had significant differences between 2 and 5 days and 2 and 4 days initial feeding, respectively. Total mortality was recorded on 9 DAH for the larvae first-fed at 5 days. On 12 DAH, significant differences were observed between 2 and 4 days and 3 and 4 days initial feeding for all morphometric characters. From 16 DAH to the end of experiment, all growth variables of the larvae first-fed at 2 days were significantly higher than those in other treatments. The S GR (2–9 DAH) first-fed at 2 and 3 days were significantly higher than 4 and 5 day treatments, and the S GR (9–16 DAH) first-fed at 2 days was significantly higher than 3 and 4 day treatments. There was no significant difference, however, of S GR (16–28 DAH) among treatments. Survival rate was significantly higher at 2 days initial feeding (27·42%) when compared with 3 (15·96%) and 4 days (7·92%) initial feeding at the end of experiment. The present study suggests that the first feeding of S. scherzeri larvae should be initiated at 2 days after hatching for achieving good growth and survival.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/78713/1/j.1095-8649.2009.02328.x.pd