Precise computer controlled positioning of robot end effectors using force sensors

A thorough study of combined position/force control using sensory feedback for a one-dimensional manipulator model, which may count for the spacecraft docking problem or be extended to the multi-joint robot manipulator problem, was performed. The additional degree of freedom introduced by the compliant force sensor is included in the system dynamics in the design of precise position control. State feedback based on the pole placement method and with integral control is used to design the position controller. A simple constant gain force controller is used as an example to illustrate the dependence of the stability and steady-state accuracy of the overall position/force control upon the design of the inner position controller. Supportive simulation results are also provided

Study on antioxidant activity of Echinacea purpurea L. extracts and its impact on cell viability

This study investigates the antioxidant activity of Echinacea Purpurea L. (EP) extracts and its impact on cell viability. The polysaccharides content of EP was 159.8 ± 12.4 mg/g dry weight (DW), with extracts obtained by applying 55% ethanol at 55°C containing 11.0 ±1.0 mg gallic acid equivalent/g DW of total phenolic compound. Trolox equivalent antioxidant capacity, 0.1 mg/mL of EP extracts exhibited only 30% when compared to the ascorbic acid at the same concentration. Reducing power of extractsincreased linearly with its concentration and the concentration at 2.0 mg/mL reached about 65% of ascorbic acid at 0.3 mg/mL. The chelating capacity of ferrous iron (Fe2+) was 70% as good as that of thesynthetic metal chelater EDTA when added to 5.0 mg/mL of EP extracts. The DPPH scavenging capacity showed 85.1% at 0.5 mg/mL of extracts and with half-effective doses (ED50) was measured at 0.23mg/mL. The superoxide anions scavenging capacity of EP extracts was nearly equivalent to ascorbic acid (91.1% vs 93.0%) at the same concentration of 1.6 mg/mL and ED50 was 0.32 and 0.13 mg/mL, respectively. Microculture tetrazolium assays showed extracts had 92% cell viability at 1.6 mg/mL forchicken’s peripheral blood mononuclear cells (PBMCs) and 84% for RAW 264.7 macrophages, neither reaching the IC50 level. In summary, the EP extracts had antioxidant activity similar to that of ascorbic acid, but have no serious effect on inhibiting chicken’s PBMCs viability

Reasons women do not seek health care for dysmenorrhea

Aims and objectives The purpose of this study was to identify and describe reasons women do not seek health care for dysmenorrhea symptoms. Background Although dysmenorrhea is highly prevalent among women, can cause significant disruptions in their daily lives, and may increase their risk for future chronic pain conditions, few women seek health care for dysmenorrhea. A better understanding of why women do not seek health care is necessary to develop strategies that facilitate care seeking and optimal symptom management. Design A Qualitative Descriptive design was used to guide the study and summarize text responses to an open-ended survey question. Methods Participants in an online survey study who had not sought health care for dysmenorrhea (N=509) were asked to write about their reasons for not seeking care. Data were collected in January and February 2015. Participants’ text responses were analyzed using qualitative content analysis. Results Nine categories of reasons were identified: assuming symptoms are normal, preferring to self-manage symptoms, having limited resources, thinking providers would not offer help, being unaware of treatment options, considering symptoms to be tolerable, being wary of available treatments, feeling embarrassed or afraid to seek care, and not seeking health care generally. Conclusions Findings can guide the development of strategies to promote care seeking and inform policy and clinical practice to improve dysmenorrhea management. Relevance to clinical practice Findings underscore the need to provide routine screening for dysmenorrhea, avoid dismissing dysmenorrhea symptoms, initiate discussions and provide education about dysmenorrhea, provide treatments options based on evidence and women's preferences, and raise public awareness of dysmenorrhea and its impact

Respiratory Motion Guided Four Dimensional Cone Beam Computed Tomography: Encompassing Irregular Breathing

Four dimensional cone beam computed tomography (4DCBCT) images su er from angular under sampling and bunching of projections due to a lack of feedback between the respiratory signal and the acquisition system. To address this problem, Respiratory Motion Guided 4DCBCT (RMG-4DCBCT) regulates the gantry velocity and projection time interval, in response to the patient's respiratory signal, with the aim of acquiring evenly spaced projections in a number of phase or displacement bins during the respiratory cycle. Our previous study of RMG- 4DCBCT was limited to sinusoidal breathing traces. Here we expand on that work to provide a practical algorithm for the case of real patient breathing data. We give a complete description of RMG-4DCBCT including full details on how to implement the algorithms to determine when to move the gantry and when to acquire projections in response to the patient's respiratory signal. We simulate a realistic working RMG-4DCBCT system using 112 breathing traces from 24 lung cancer patients. Acquisition used phase-based binning and parameter settings typically used on commercial 4DCBCT systems (4 minute acquisition time, 1200 projections across 10 respiratory bins), with the acceleration and velocity constraints of current generation linear accelerators. We quanti ed streaking artefacts and image noise for conventional and RMG-4DCBCT methods by reconstructing projection data selected from an oversampled set of Catphan phantom projections. RMG-4DCBCT allows us to optimally trade-o image quality, acquisition time and image dose. For example, for the same image quality and acquisition time as conventional 4DCBCT approximately half the imaging dose is needed. Alternatively, for the same imaging dose, the image quality as measured by the signal to noise ratio, is improved by 63% on average. C- arm CBCT systems, with an acceleration up to 200 degrees=s2, a velocity up to 100 degrees=s and the acquisition of 80 projections per second, allow the image acquisition time to be reduced to below 60 seconds. We have made considerable progress towards realising a system to reduce projection clustering in conventional 4DCBCT imaging and hence reduce the imaging dose to the patient

Identification of a Signaling Pathway Involved in Calcium Regulation of BDNF Expression

AbstractA signaling pathway by which calcium influx regulates the expression of the major activity-dependent transcript of BDNF in cortical neurons has been elucidated. Deletion and mutational analysis of the promoter upstream of exon III reveals that transactivation of the BDNF gene involves two elements 5′ to the mRNA start site. The first element, located between 72 and 47 bp upstream of the mRNA start site, is a novel calcium response element and is required for calcium-dependent BDNF expression in both embryonic and postnatal cortical neurons. The second element, located between 40 and 30 bp upstream of the mRNA start site, matches the consensus sequence of a cAMP response element (CRE) and is required for transactivation of the promoter in postnatal but not embryonic neurons. The CRE-dependent component of the response appears to be mediated by CREB since it is part of the complex that binds to this CRE, and since dominant negative mutants of CRE B attenuate transactivation of the promoter. A constitutively active mutant of CaM kinase IV, but not of CaM kinase II, leads to activation of the promoter in the absence of extracellular stimuli, and partially occludes calcium-dependent transactivation. The effects of CaM kinase IV on the promoter require an intact CRE. These mechanisms, which implicate CaM kinase IV and CREB in the control of BDNF expression, are likely to be centrally involved in activity-dependent plasticity during development

Measurement of gut permeability using fluorescent tracer agent technology

Abstract The healthy gut restricts macromolecular and bacterial movement across tight junctions, while increased intestinal permeability accompanies many intestinal disorders. Dual sugar absorption tests, which measure intestinal permeability in humans, present challenges. Therefore, we asked if enterally administered fluorescent tracers could ascertain mucosal integrity, because transcutaneous measurement of differentially absorbed molecules could enable specimen-free evaluation of permeability. We induced small bowel injury in rats using high- (15 mg/kg), intermediate- (10 mg/kg), and low- (5 mg/kg) dose indomethacin. Then, we compared urinary ratios of enterally administered fluorescent tracers MB-402 and MB-301 to urinary ratios of sugar tracers lactulose and rhamnose. We also tested the ability of transcutaneous sensors to measure the ratios of absorbed fluorophores. Urinary fluorophore and sugar ratios reflect gut injury in an indomethacin dose dependent manner. The fluorophores generated smooth curvilinear ratio trajectories with wide dynamic ranges. The more chaotic sugar ratios had narrower dynamic ranges. Fluorophore ratios measured through the skin distinguished indomethacin-challenged from same day control rats. Enterally administered fluorophores can identify intestinal injury in a rat model. Fluorophore ratios are measureable through the skin, obviating drawbacks of dual sugar absorption tests. Pending validation, this technology should be considered for human use

The First Implementation of Respiratory Triggered 4DCBCT on a Linear Accelerator

Four Dimensional Cone Beam Computed Tomography (4DCBCT) is an image guidance strategy used for patient positioning in radiotherapy. In conventional implementations of 4DCBCT, a constant gantry speed and a constant projection pulse rate are used. Unfortunately, this leads to higher imaging doses than are necessary because a large number of redundant projections are acquired. In theoretical studies, we have previously demonstrated that by suppressing redundant projections the imaging dose can be reduced by 40-50% for a majority of patients with little reduction in image quality. The aim of this study was to experimentally realise the projection suppression technique, which we have called Respiratory Triggered 4DCBCT (RT-4DCBCT). A real-time control system was developed that takes the respiratory signal as input and computes whether to acquire, or suppress, the next projection trigger during 4DCBCT acquisition. The CIRS dynamic thorax phantom was programmed with a 2cm peak-to-peak motion and periods ranging from 2 to 8 seconds. Image quality was assessed by computing the edge response width of a 3cm imaging insert placed in the phantom as well as the signal to noise ratio of the phantoms tissue and the contrast to noise ratio between the phantoms lung and tissue. The standard deviation in the Superior-Inferior direction of the 3cm imaging insert was used to assess intra-phase bin displacement variations with a higher standard deviation implying more motion blur. The 4DCBCT imaging dose was reduced by 8.6%, 41%, 54%, 70% and 77% for patients with 2, 3, 4, 6 and 8 second breathing periods respectively when compared to conventional 4DCBCT. The standard deviation of the intra-phase bin displacement variation of the 3cm imaging insert was reduced by between 13% and 43% indicating a more consistent position for the projections within respiratory phases. For the 4 second breathing period, the edge response width was reduced by 39% (0.8mm) with only a 6-7% decrease in the signal to noise and contrast to noise ratios. RT-4DCBCT has been experimentally realised and reduced to practice on a linear accelerator with a measurable imaging dose reductions over conventional 4DCBCT and little degradation in image quality

Treatment algorithm for infants diagnosed with spinal muscular atrophy through newborn screening

Spinal muscular atrophy (SMA) is an autosomal recessive disease characterized by the degeneration of alpha motor neurons in the spinal cord, leading to muscular atrophy. SMA is caused by deletions or mutations in the survival motor neuron 1 gene (SMN1). In humans, a nearly identical copy gene, SMN2, is present. Because SMN2 has been shown to decrease disease severity in a dose-dependent manner, SMN2 copy number is predictive of disease severity. To develop a treatment algorithm for SMA-positive infants identified through newborn screening based upon SMN2 copy number. A working group comprised of 15 SMA experts participated in a modified Delphi process, moderated by a neutral third-party expert, to develop treatment guidelines. The overarching recommendation is that all infants with two or three copies of SMN2 should receive immediate treatment (n = 13). For those infants in which immediate treatment is not recommended, guidelines were developed that outline the timing and appropriate screens and tests to be used to determine the timing of treatment initiation. The identification SMA affected infants via newborn screening presents an unprecedented opportunity for achievement of maximal therapeutic benefit through the administration of treatment pre-symptomatically. The recommendations provided here are intended to help formulate treatment guidelines for infants who test positive during the newborn screening process

LES, DNS and RANS for the analysis of high-speed turbulent reacting flows

The purpose of this research is to continue our efforts in advancing the state of knowledge in large eddy simulation (LES), direct numerical simulation (DNS), and Reynolds averaged Navier Stokes (RANS) methods for the computational analysis of high-speed reacting turbulent flows. In the second phase of this work, covering the period 1 Sep. 1993 - 1 Sep. 1994, we have focused our efforts on two research problems: (1) developments of 'algebraic' moment closures for statistical descriptions of nonpremixed reacting systems, and (2) assessments of the Dirichlet frequency in presumed scalar probability density function (PDF) methods in stochastic description of turbulent reacting flows. This report provides a complete description of our efforts during this past year as supported by the NASA Langley Research Center under Grant NAG1-1122