Inverse kinematics and path planning of manipulator using real quantifier elimination based on Comprehensive Gr\"obner Systems

Methods for inverse kinematics computation and path planning of a three degree-of-freedom (DOF) manipulator using the algorithm for quantifier elimination based on Comprehensive Gr\"obner Systems (CGS), called CGS-QE method, are proposed. The first method for solving the inverse kinematics problem employs counting the real roots of a system of polynomial equations to verify the solution's existence. In the second method for trajectory planning of the manipulator, the use of CGS guarantees the existence of an inverse kinematics solution. Moreover, it makes the algorithm more efficient by preventing repeated computation of Gr\"obner basis. In the third method for path planning of the manipulator, for a path of the motion given as a function of a parameter, the CGS-QE method verifies the whole path's feasibility. Computational examples and an experiment are provided to illustrate the effectiveness of the proposed methods.Comment: 26 pages. arXiv admin note: text overlap with arXiv:2111.0038

Synthesis of a cuprite thin film by oxidation of a Cu metal precursor utilizing ultrasonically generated water vapor

A Cu2O thin film of cuprite crystal structure was fabricated via a decomposition reaction of water vapor generated by ultrasonic vibration. The thin film, which was grown on a soda-lime glass substrate at 530 degrees C, exhibited a prominent (111) preferred orientation with an optical bandgap of about 2.1 eV and resistivity of 2.81 x 10(4) Omega cm. Generation of H-2 gas during the reaction process contributed to suppressing the growth of impurity tenorite phase. In a conventional process of thermal oxidation, the formation of the cuprite phase was always accompanied by that of the tenorite phase due to an excess oxygen exposure near the surface of the films.ArticleTHIN SOLID FILMS. 556:211-215 (2014)journal articl

Microbial communities on eelgrass (Zostera marina) thriving in Tokyo Bay and the possible source of leaf-attached microbes

Zostera marina (eelgrass) is classified as one of the marine angiosperms and is widely distributed throughout much of the Northern Hemisphere. The present study investigated the microbial community structure and diversity of Z. marina growing in Futtsu bathing water, Chiba prefecture, Japan. The purpose of this study was to provide new insight into the colonization of eelgrass leaves by microbial communities based on leaf age and to compare these communities to the root-rhizome of Z. marina, and the surrounding microenvironments (suspended particles, seawater, and sediment). The microbial composition of each sample was analyzed using 16S ribosomal gene amplicon sequencing. Each sample type was found to have a unique microbial community structure. Leaf-attached microbes changed in their composition depending on the relative age of the eelgrass leaf. Special attention was given to a potential microbial source of leaf-attached microbes. Microbial communities of marine particles looked more like those of eelgrass leaves than those of water samples. This finding suggests that leaf-attached microbes were derived from suspended particles, which could allow them to go back and forth between eelgrass leaves and the water column

Fertilizer Microencapsulated with Biodegradable Polymer

Many fertilizers are soluble in water, therefore their effect does not last for long time after fertilizing in soils. The nitrogenous fertilizers such as urea transported to groundwater cause serious agricultural contamination and health problems. To solve these problems, sustained release of fertilizer has attracted much attention. In this study, we attempted to prepare polylactide microcapsules with fertilizer by phase separation technique, which was a method of microencapsulation. Polylactide (PLA) was used as a biodegradable polymer bacause the biodegradable polymer has no influence on the soil and the ecosystem. The effect of preparation conditions such as stirring time and fertilizer concentration on morphology of microcapsule and on cumulative percentage released of enclosed urea was also investigated

Clinical Impact of Down-Regulated Plasma miR-92a Levels in Non-Hodgkin's Lymphoma

Background: We undertook a study to evaluate the clinical relevance of miR-92a in plasma obtained from non-Hodgkin’s lymphoma (NHL) patients, because the miR-17-92 polycistronic miRNA cluster plays a crucial role in lymphomagenesis and affects neo-angiogenesis. Methodology/Principal Findings: Plasma miR-92a values in NHL were extremely low (,5%), compared with healthy subjects (P,.0001), irrespective of lymphoma sub-type. The very low plasma level of miR-92a increased in the complete response (CR) phase but did not reach the normal range, and the plasma level was lower again in the relapse phase. Patients in CR or CR unconfirmed with a plasma miR-92a level of less than the cut-off level showed a significantly high relapse rate compared with patients with normalized plasma miR-92a level. Conclusions/Significance: The current results therefore indicate that the plasma miR-92a value could be a novel biomarke

Why Are Outcomes Different for Registry Patients Enrolled Prospectively and Retrospectively? Insights from the Global Anticoagulant Registry in the FIELD-Atrial Fibrillation (GARFIELD-AF).

Background: Retrospective and prospective observational studies are designed to reflect real-world evidence on clinical practice, but can yield conflicting results. The GARFIELD-AF Registry includes both methods of enrolment and allows analysis of differences in patient characteristics and outcomes that may result. Methods and Results: Patients with atrial fibrillation (AF) and ≥1 risk factor for stroke at diagnosis of AF were recruited either retrospectively (n = 5069) or prospectively (n = 5501) from 19 countries and then followed prospectively. The retrospectively enrolled cohort comprised patients with established AF (for a least 6, and up to 24 months before enrolment), who were identified retrospectively (and baseline and partial follow-up data were collected from the emedical records) and then followed prospectively between 0-18 months (such that the total time of follow-up was 24 months; data collection Dec-2009 and Oct-2010). In the prospectively enrolled cohort, patients with newly diagnosed AF (≤6 weeks after diagnosis) were recruited between Mar-2010 and Oct-2011 and were followed for 24 months after enrolment. Differences between the cohorts were observed in clinical characteristics, including type of AF, stroke prevention strategies, and event rates. More patients in the retrospectively identified cohort received vitamin K antagonists (62.1% vs. 53.2%) and fewer received non-vitamin K oral anticoagulants (1.8% vs . 4.2%). All-cause mortality rates per 100 person-years during the prospective follow-up (starting the first study visit up to 1 year) were significantly lower in the retrospective than prospectively identified cohort (3.04 [95% CI 2.51 to 3.67] vs . 4.05 [95% CI 3.53 to 4.63]; p = 0.016). Conclusions: Interpretations of data from registries that aim to evaluate the characteristics and outcomes of patients with AF must take account of differences in registry design and the impact of recall bias and survivorship bias that is incurred with retrospective enrolment. Clinical Trial Registration: - URL: http://www.clinicaltrials.gov . Unique identifier for GARFIELD-AF (NCT01090362)

Risk profiles and one-year outcomes of patients with newly diagnosed atrial fibrillation in India: Insights from the GARFIELD-AF Registry.

BACKGROUND: The Global Anticoagulant Registry in the FIELD-Atrial Fibrillation (GARFIELD-AF) is an ongoing prospective noninterventional registry, which is providing important information on the baseline characteristics, treatment patterns, and 1-year outcomes in patients with newly diagnosed non-valvular atrial fibrillation (NVAF). This report describes data from Indian patients recruited in this registry. METHODS AND RESULTS: A total of 52,014 patients with newly diagnosed AF were enrolled globally; of these, 1388 patients were recruited from 26 sites within India (2012-2016). In India, the mean age was 65.8 years at diagnosis of NVAF. Hypertension was the most prevalent risk factor for AF, present in 68.5% of patients from India and in 76.3% of patients globally (P < 0.001). Diabetes and coronary artery disease (CAD) were prevalent in 36.2% and 28.1% of patients as compared with global prevalence of 22.2% and 21.6%, respectively (P < 0.001 for both). Antiplatelet therapy was the most common antithrombotic treatment in India. With increasing stroke risk, however, patients were more likely to receive oral anticoagulant therapy [mainly vitamin K antagonist (VKA)], but average international normalized ratio (INR) was lower among Indian patients [median INR value 1.6 (interquartile range {IQR}: 1.3-2.3) versus 2.3 (IQR 1.8-2.8) (P < 0.001)]. Compared with other countries, patients from India had markedly higher rates of all-cause mortality [7.68 per 100 person-years (95% confidence interval 6.32-9.35) vs 4.34 (4.16-4.53), P < 0.0001], while rates of stroke/systemic embolism and major bleeding were lower after 1 year of follow-up. CONCLUSION: Compared to previously published registries from India, the GARFIELD-AF registry describes clinical profiles and outcomes in Indian patients with AF of a different etiology. The registry data show that compared to the rest of the world, Indian AF patients are younger in age and have more diabetes and CAD. Patients with a higher stroke risk are more likely to receive anticoagulation therapy with VKA but are underdosed compared with the global average in the GARFIELD-AF. CLINICAL TRIAL REGISTRATION-URL: http://www.clinicaltrials.gov. Unique identifier: NCT01090362