Kinematic and dynamic modelling for a class of hybrid robots composed of m local closed-loop linkages appended to an n-link serial manipulator

Recently, more and more hybrid robots have been designed to meet the increasing demand for a wide spectrum of applications. However, development of a general and systematic method for kinematic design and dynamic analysis for hybrid robots is rare. Most publications deal with the kinematic and dynamic issues for individual hybrid robots rather than any generalization. Hence, in this paper, we present a novel method for kinematic and dynamic modelling for a class of hybrid robots. First, a generic scheme for the kinematic design of a general hybrid robot mechanism is proposed. In this manner, the kinematic equation and the constraint equations for the robot class are derived in a generalized case. Second, in order to simplify the dynamic modelling and analysis of the complex hybrid robots, a Lemma about the analytical relationship among the generalized velocities of a hybrid robot system is proven in a generalized case as well. Last, examples of the kinematic and dynamic modelling of a newly designed hybrid robot are presented to demonstrate and validate the proposed method

Facile and reversible double dearomatization of pyridines in non-phosphine MnI complexes with N,S-donor pyridinophane ligand

Single and double dearomatization of pyridine rings was observed in Mn(I) complexes with an N2S2 pyridinophane ligand via deprotonation of one or two CH2 arms, respectively. In contrast to other N,S-donor pincer-like systems, the dearomatized (N2S2)Mn species were found to be stable, with the dearomatization being reversible

Tannins: Extraction from Plants

The chapter presents mainly on different extraction methods of tannin. Some technical means required for effective extraction are also presented, for example, collection and treatment of plant and drying and storage of plant. Opportunity and challenges in application of extraction methods are also exhibited in the chapter

Single and double deprotonation/dearomatization of the N,S-donor pyridinophane ligand in ruthenium complexes

We report a series of ruthenium complexes with a tetradentate N,S-donor ligand, 2,11-dithia[3.3](2,6)pyridinophane (N2S2), that undergo single and double deprotonation in the presence of a base leading to the deprotonation of one or both pyridine rings. Both singly and doubly deprotonated complexes were structurally characterized by single-crystal X-ray diffraction. The NMR spectra are indicative of the dearomatization of one or both pyridine rings upon the deprotonation of the CH2–S arm, similar to the dearomatization of phosphine-containing pincer ligands. The deprotonated (N2S2)Ru complexes did not show appreciable catalytic or stoichiometric reactivity in transfer hydrogenation, hydrogenation and dehydrogenation of alcohols, and attempted activation of H2, CO2, and other substrates. Such a lack of reactivity is likely due to the low stability of the deprotonated species as evident from the structural characterization of one of the decomposition products in which shrinkage of the macrocyclic ring occurs via picolyl arm migration.journal articl

Aryl–X Bond-Forming Reductive Elimination from High-Valent Mn–Aryl Complexes

C–X bond reductive elimination and oxidative addition are key steps in many catalytic cycles for C–H functionalization catalyzed by precious metals; however, engaging first row transition metals in these overall 2e– processes remains a challenge. Although high-valent Mn aryl species have been implicated in Mn-catalyzed C–H functionalization, the nature and reactivity of such species remain unelucidated. In this work, we report rare examples of stable, cyclometalated monoaryl MnIII complexes obtained through clean oxidative addition of Ar–Br to MnI(CO)5Br. These isolated MnIII–Ar complexes undergo unprecedented 2e– reductive elimination of the Ar–X (X = Br, I, and CN) bond and MnII induced by 1e– oxidation, presumably via transient reactive MnIV species. Mechanistic studies suggest a nonradical pathway

Functional-Antioxidant Food

Nowadays, people face many different dangers, such as stress, unsafety food, and environmental pollution, but not everyone suffers. Meanwhile, free radicals are the biggest threat for humans because they lead to over 80 different diseases composed of aging. Free radicals can only be eliminated or minimized with antioxidant foods or antioxidants. The chapter on the functional-antioxidant food presents the antioxidant functional food concept, the classification, the structure, and the extraction process of antioxidant ingredients. Various antioxidant substances such as protein (collagen), polysaccharides (fucoidans, alginates, glucosamines, inulins, laminarins, ulvans, and pectins), and secondary metabolites (polyphenols (phlorotannins, lignins, polyphenols), alkaloids, and flavonoids) also present. The production technology, the mechanism, the opportunity, and the challenge of antioxidants functional food also present in the current chapter. The current chapter also gives the production process of functional-antioxidant food composed of the capsule, the tablet, tube, the pills, the powder, and the effervescent tablet

Evaluation of awake prone positioning effectiveness in moderate to severe COVID-19

Evidence mainly from high income countries suggests that lying in the prone position may be beneficial in patients with COVID-19 even if they are not receiving invasive ventilation. Studies indicate that increased duration of prone position may be associated with improved outcomes, but achieving this requires additional staff time and resources. Our study aims to support prolonged (≥ 8hours/day) awake prone positioning in patients with moderate to severe COVID-19 disease in Vietnam. We use a specialist team to support prone positioning of patients and wearable devices to assist monitoring vital signs and prone position and an electronic data registry to capture routine clinical data

Ventilator-associated respiratory infection in a resource-restricted setting: impact and etiology.

BACKGROUND: Ventilator-associated respiratory infection (VARI) is a significant problem in resource-restricted intensive care units (ICUs), but differences in casemix and etiology means VARI in resource-restricted ICUs may be different from that found in resource-rich units. Data from these settings are vital to plan preventative interventions and assess their cost-effectiveness, but few are available. METHODS: We conducted a prospective observational study in four Vietnamese ICUs to assess the incidence and impact of VARI. Patients ≥ 16 years old and expected to be mechanically ventilated > 48 h were enrolled in the study and followed daily for 28 days following ICU admission. RESULTS: Four hundred fifty eligible patients were enrolled over 24 months, and after exclusions, 374 patients' data were analyzed. A total of 92/374 cases of VARI (21.7/1000 ventilator days) were diagnosed; 37 (9.9%) of these met ventilator-associated pneumonia (VAP) criteria (8.7/1000 ventilator days). Patients with any VARI, VAP, or VARI without VAP experienced increased hospital and ICU stay, ICU cost, and antibiotic use (p < 0.01 for all). This was also true for all VARI (p < 0.01 for all) with/without tetanus. There was no increased risk of in-hospital death in patients with VARI compared to those without (VAP HR 1.58, 95% CI 0.75-3.33, p = 0.23; VARI without VAP HR 0.40, 95% CI 0.14-1.17, p = 0.09). In patients with positive endotracheal aspirate cultures, most VARI was caused by Gram-negative organisms; the most frequent were Acinetobacter baumannii (32/73, 43.8%) Klebsiella pneumoniae (26/73, 35.6%), and Pseudomonas aeruginosa (24/73, 32.9%). 40/68 (58.8%) patients with positive cultures for these had carbapenem-resistant isolates. Patients with carbapenem-resistant VARI had significantly greater ICU costs than patients with carbapenem-susceptible isolates (6053 USD (IQR 3806-7824) vs 3131 USD (IQR 2108-7551), p = 0.04) and after correction for adequacy of initial antibiotics and APACHE II score, showed a trend towards increased risk of in-hospital death (HR 2.82, 95% CI 0.75-6.75, p = 0.15). CONCLUSIONS: VARI in a resource-restricted setting has limited impact on mortality, but shows significant association with increased patient costs, length of stay, and antibiotic use, particularly when caused by carbapenem-resistant bacteria. Evidence-based interventions to reduce VARI in these settings are urgently needed

Risk Factors of Streptococcus suis Infection in Vietnam. A Case-Control Study

Background: Streptococcus suis infection, an emerging zoonosis, is an increasing public health problem across South East Asia and the most common cause of acute bacterial meningitis in adults in Vietnam. Little is known of the risk factors underlying the disease. Methods and Findings: A case-control study with appropriate hospital and matched community controls for each patient was conducted between May 2006 and June 2009. Potential risk factors were assessed using a standardized questionnaire and investigation of throat and rectal S. suis carriage in cases, controls and their pigs, using real-time PCR and culture of swab samples. We recruited 101 cases of S. suis meningitis, 303 hospital controls and 300 community controls. By multivariate analysis, risk factors identified for S. suis infection as compared to either control group included eating "high risk" dishes, including such dishes as undercooked pig blood and pig intestine (OR1 = 2.22; 95% CI = [1.15-4.28] and OR2 = 4.44; 95% CI = [2.15-9.15]), occupations related to pigs (OR1 = 3.84; 95% CI = [1.32-11.11] and OR2 = 5.52; 95% CI = [1.49-20.39]), and exposures to pigs or pork in the presence of skin injuries (OR1 = 7.48; 95% CI = [1.97-28.44] and OR2 = 15.96; 95% CI = [2.97-85.72]). S. suis specific DNA was detected in rectal and throat swabs of 6 patients and was cultured from 2 rectal samples, but was not detected in such samples of 1522 healthy individuals or patients without S. suis infection. Conclusions: This case control study, the largest prospective epidemiological assessment of this disease, has identified the most important risk factors associated with S. suis bacterial meningitis to be eating 'high risk' dishes popular in parts of Asia, occupational exposure to pigs and pig products, and preparation of pork in the presence of skin lesions. These risk factors can be addressed in public health campaigns aimed at preventing S. suis infectio

Global estimates on the number of people blind or visually impaired by cataract: a meta-analysis from 2000 to 2020

Background: To estimate global and regional trends from 2000 to 2020 of the number of persons visually impaired by cataract and their proportion of the total number of vision-impaired individuals. Methods: A systematic review and meta-analysis of published population studies and gray literature from 2000 to 2020 was carried out to estimate global and regional trends. We developed prevalence estimates based on modeled distance visual impairment and blindness due to cataract, producing location-, year-, age-, and sex-specific estimates of moderate to severe vision impairment (MSVI presenting visual acuity &lt;6/18, ≥3/60) and blindness (presenting visual acuity &lt;3/60). Estimates are age-standardized using the GBD standard population. Results: In 2020, among overall (all ages) 43.3 million blind and 295 million with MSVI, 17.0 million (39.6%) people were blind and 83.5 million (28.3%) had MSVI due to cataract blind 60% female, MSVI 59% female. From 1990 to 2020, the count of persons blind (MSVI) due to cataract increased by 29.7%(93.1%) whereas the age-standardized global prevalence of cataract-related blindness improved by −27.5% and MSVI increased by 7.2%. The contribution of cataract to the age-standardized prevalence of blindness exceeded the global figure only in South Asia (62.9%) and Southeast Asia and Oceania (47.9%). Conclusions: The number of people blind and with MSVI due to cataract has risen over the past 30 years, despite a decrease in the age-standardized prevalence of cataract. This indicates that cataract treatment programs have been beneficial, but population growth and aging have outpaced their impact. Growing numbers of cataract blind indicate that more, better-directed, resources are needed to increase global capacity for cataract surgery.</p