In-situ measurement of journal bearing lubricant viscosity by means of a novel ultrasonic measurement technique using matching layer

An ultrasonic viscometer was used to measure the circumferential viscosity variation in a journal bearing non-invasively. This sensing technique is based on the reflection of a shear wave at a solid-liquid boundary that depends on the viscosity of the liquid and the acoustic properties of the solid. Very little ultrasonic energy can propagate into the oil at a metal-oil interface because the acoustic mismatch is significant. Interleaving a matching layer between the metal and the lubricant enables accurate ultrasonic viscosity measurements [1] Schirru, M., Mills, R., Dwyer-Joyce, R., Smith, O., and Sutton, M. (2015). Viscosity Measurement in a Lubricant Film Using an Ultrasonically Resonating Matching Layer. Tribology Letters, 60(3) pp. 1–11. [CrossRef], [Web of Science ®] . This technique has been used to build a miniaturized ultrasonic viscometer that is accommodated inside a journal to obtain the circumferential viscosity profile. Four viscosity regions are identified due to the variations in the localized temperatures and loads. The results are compared with the isothermal solution of the Reynolds equations for hydrodynamic lubricated bearings. The ultrasonic viscometer locates the angle at which the maximum load occurs and the length of the loaded contact with good accuracy. Finally, the viscosity results are used to estimate the frictional power losses. It is shown that over 70% of the total losses in the journal bearing occur in the region where the load is maximum

Robot localization in water pipes using acoustic signals and pose graph optimization

One of the most fundamental tasks for robots inspecting water distribution pipes is localization, which allows for autonomous navigation, for faults to be communicated, and for interventions to be instigated. Pose-graph optimization using spatially varying information is used to enable localization within a feature-sparse length of pipe. We present a novel method for improving estimation of a robot’s trajectory using the measured acoustic field, which is applicable to other measurements such as magnetic field sensing. Experimental results show that the use of acoustic information in pose-graph optimization reduces errors by 39% compared to the use of typical pose-graph optimization using landmark features only. High location accuracy is essential to efficiently and effectively target investment to maximise the use of our aging pipe infrastructure

PipeSLAM: Simultaneous Localisation and Mapping in Feature Sparse Water Pipes using the Rao-Blackwellised Particle Filter

Water, a valuable resource, is usually distributed through urban environments by buried pipes. These pipes are difficult to access for inspection, maintenance and repair. This makes in-pipe robots an appealing technology for inspecting water pipes and localising damage prior to repair from above ground. Accurate localisation of damage is of critical importance because of the costs associated with excavating roads, disrupting traffic and disrupting the water supply. The problem is that pipes tend to be relatively featureless making robot localisation a challenging problem. In this paper we propose a novel simultaneous localisation and mapping (SLAM) algorithm for metal water pipes. The approach we take is to excite pipe vibration with a hydrophone (sound induced vibration), which leads to a map of pipe vibration amplitude over space. We then develop a SLAM algorithm that makes use of this new type of map, where the estimation method is based on the Rao-Blackwellised particle filter (RBPF), termed PipeSLAM. The approach is also suited to SLAM in plastic water pipes using a similar type of map derived from ultrasonic sensing. We successfully demonstrate the feasibility of the approach using a combination of experimental and simulation data

Robot mapping and localisation in metal water pipes using hydrophone induced vibration and map alignment by dynamic time warping

Water is a highly valuable resource so asset management of associated infrastructure is of critical importance. Water distribution pipe networks are usually buried, and so are difficult to access. Robots are therefore appealing for performing inspection and detecting damage to target repairs. However, robot mapping and localisation of buried water pipes has not been widely investigated to date, and is challenging because pipes tend to be relatively featureless. In this paper we propose a mapping and localisation algorithm for metal water pipes with two key novelties: the development of a new type of map based on hydrophone induced vibration signals of metal pipes, and a mapping algorithm based on spatial warping and averaging of dead reckoning signals used to calibrate the map (using dynamic time warping). Localisation is performed using both terrain-based extended Kalman filtering and also particle filtering. We successfully demonstrate and evaluate the approach on a combination of experimental and simulation data, showing improved localisation compared to dead reckoning

A PROTOTYPE OF A ROBOTIC RESEARCH FACILITY FOR NUCLEAR APPLICATIONS

This work presents the development of the prototype of a robotic nuclear monitoring facility aimed to support technological and scientific research. It is a terrestrial robot in which nuclear and conventional instrumentation are available and easy-to-use through a user-friendly library for Python programming. The facility may be teleoperated (by mobile devices, notebook or desktop) or operate in autonomous mode,  in which a user-defined program run on robot CPU

Predictive value of VEGF gene polymorphisms for metastatic colorectal cancer patients receiving first-line treatment including fluorouracil, irinotecan, and bevacizumab

The aim of this study is to evaluate the influence of germline vascular endothelial growth factor (VEGF) gene polymorphisms (VGPs) on the efficacy of the anti-VEGF antibody bevacizumab (Bev) in metastatic colorectal cancer (MCRC) patients

HLA Genotyping in Children With Celiac Disease Allows to Establish the Risk of Developing Type 1 Diabetes

Introduction: Celiac disease (CD) and type 1 diabetes (T1D) often co-occur and share genetic components in the human leukocyte antigen (HLA) class II region. We aimed to study the usefulness of HLA genotyping in predicting the risk of developing T1D in patients with CD and the temporal relationship between these diseases. Methods: A cohort of 1,886 Sardinian patients, including 822 with CD, 1,064 with T1D, and 627 controls, underwent HLA class II typing. Seventy-six of 822 patients with CD were also affected by T1D (CD-T1D), and their HLA genotypes were analyzed for specific HLA associations with CD, T1D, and controls. Results: High-risk HLA-DQ genotypes, including HLA-DQ2.5/DQ8, -DQ2.5/DQ2.5, and -DQ2.5/DQ2.3, were strongly associated with CD-T1D with frequencies of 34.5%, 15.9%, and 18.8%, respectively. Conversely, certain HLA genotypes associated with CD seemed to confer protection against T1D development. Therefore, HLA genotyping allows for the identification of those patients with CD who might develop T1D. The frequency of patients with CD preceding T1D is higher in younger children than older ones, with implications for the early childhood approach to diabetes prevention. Discussion: CD is a condition for future T1D development, and specific HLA genotypes can predict this risk. Early screening for celiac autoimmunity and subsequent HLA typing in CD children could help identify those at high risk of T1D, allowing for proactive interventions and immunotherapies to preserve β-cell function. These findings may support the re-evaluation of HLA typing in children with CD

Toward the renal vesicle: Ultrastructural investigation of the cap mesenchyme splitting process in the developing kidney

Background: A complex sequence of morphogenetic events leads to the development of the adult mouse kidney. In the present study, we investigated the morphological events that characterize the early stages of the mesenchymal-to-epithelial transition of cap mesenchymal cells, analyzing in depth the relationship between cap mesenchymal induction and ureteric bud (UB) branching. Design and methods: Normal kidneys of newborn non-obese diabetic (NOD) mice were excised and prepared for light and electron microscopic examination. Results: Nephrogenesis was evident in the outer portion of the renal cortex of all examined samples. This process was mainly due to the interaction of two primordial derivatives, the ureteric bud and the metanephric mesenchyme. Early renal developmental stages were initially characterized by the formation of a continuous layer of condensed mesenchymal cells around the tips of the ureteric buds. These caps of mesenchymal cells affected the epithelial cells of the underlying ureteric bud, possibly inducing their growth and branching. Conclusions: The present study provides morphological evidence of the reciprocal induction between the ureteric bud and the metanephric mesenchyme showing that the ureteric buds convert mesenchyme to epithelium that in turn stimulates the growth and the branching of the ureteric bud

Inter-Laboratory Concordance of Cerebrospinal Fluid and Serum Kappa Free Light Chain Measurements

The kappa index (K-Index), calculated by dividing the cerebrospinal fluid (CSF)/serum kappa free light chain (KFLC) ratio by the CSF/serum albumin ratio, is gaining increasing interest as a marker of intrathecal immunoglobulin synthesis. However, data on inter-laboratory agreement of these measures is lacking. The aim was to assess the concordance of CSF and serum KFLC measurements, and of K-index values, across different laboratories. KFLC and albumin of 15 paired CSF and serum samples were analyzed by eight participating laboratories. Four centers used Binding Site instruments and assays (B), three used Siemens instruments and assays (S), and one center used a Siemens instrument with a Binding Site assay (mixed). Absolute individual agreement was calculated using a two-way mixed effects intraclass correlation coefficient (ICC). Cohen’s kappa coefficient (k) was used to measure agreement on positive (5.8) K-index values. There was an excellent agreement in CSF KFLC measurements across all laboratories (ICC (95% confidence interval): 0.93 (0.87–0.97)) and of serum KFLC across B and S laboratories (ICC: 0.91 (0.73–0.97)), while ICC decreased (to 0.81 (0.53–0.93)) when including the mixed laboratory in the analysis. Concordance for a positive K-Index was substantial across all laboratories (k = 0.77) and within S laboratories (k = 0.71), and very good (k = 0.89) within B laboratories, meaning that patients rarely get discordant results on K-index positivity notwithstanding the testing in different laboratories and the use of different platforms/assays