Induced Norm-Based Analysis for Computed Torque Control of Robot Systems

This paper is concerned with providing a new quantitative analysis method of computed torque control of robot systems by using three types of induced norm. This paper first considers design of a computed torque controller to achieve a trajectory tracking performance of a robot manipulator. Taking into account of the effects of unknown elements on the tracking performance, this paper next divides the unknown elements into model uncertainty and disturbance, and introduces various closed-loop representations of robot systems consisting of robot manipulators together with computed torque controllers and unknown elements. This paper further derives a readily applicable robust stability condition for the model uncertainty by using two types of induced norm from L-2 to L-2 and from L-infinity to L-infinity. Regarding a performance analysis for the disturbance, this paper also proposes to take the induced norm from L-2 to L-infinity, by which the relation between the maximum tracking errors caused by the disturbance and the corresponding parameters of the computed torque controllers are dealt with. Finally, this paper gives some experiments to validate the effectiveness of the performance analysis methods based on the L-infinity/L-2-induced norm.11Ysciescopu

Bioinspired reversible hydrogel adhesives for wet and underwater surfaces

Stable and reversible adhesion to wet surfaces is challenging owing to water molecules at the contact interface. In this study, we develop a hydrogel-based wet adhesive, which can exhibit strong and reversible adhesion to wet and underwater surfaces as well as to dry surfaces. The remarkable wet adhesion of the hydrogel adhesive is realized based on a synergetic integration of bioinspired microarchitectures and water-friendly and water-absorbing properties of the polymeric hydrogel. Under dry conditions, the microstructured hydrogel adhesive exhibits strong van der Waals interaction-based adhesion, while under underwater conditions, it can maximize capillary adhesion. Consequently, the hydrogel adhesive exhibits remarkable adhesion strengths for dry, moist, and submerged substrates. Maximum normal and shear adhesion strengths of 423 and 384, 492 and 340, and 253 and 21 kPa are achieved with the hydrogel adhesive for dry, moist, and submerged substrates, respectively. Our results demonstrate that strong wet and underwater adhesion can be achieved only with the hydrogel-based adhesive with simple microscale architecture

A unique bleeding-related complication of sorafenib, a tyrosine kinase inhibitor, in advanced hepatocellular carcinoma: a case report

INTRODUCTION: Sorafenib, a multikinase inhibitor as a standard of care for advanced hepatocellular carcinoma, may lead endothelial cells to an unstable state by blocking the signaling pathway of vascular endothelial growth factor receptor, which may result in the disruption of the architecture and integrity of the microvasculature, and eventually increase the risk of hemorrhage. Hemobilia is a relatively uncommon condition as a consequence of hepatocellular carcinoma and its risk factors remain uncertain. CASE PRESENTATION: Here we report a unique case of hemobilia occurring in a 55-year-old Korean man with hepatitis B virus-related hepatocellular carcinoma on Barcelona Clinic Liver Cancer advanced stage after seven days of treatment with sorafenib. He had received prior radiation therapy. Endoscopy revealed bleeding from the major duodenal papilla and endoscopic retrograde cholangiography revealed an amorphous filling defect throughout the common bile duct. Blood clots were removed by balloon sweeping and a nasobiliary drainage tube was placed. No further bleeding has been detected as of eight months after discontinuation of sorafenib. CONCLUSION: Sorafenib may increase the risk of biliary bleeding in hepatocellular carcinoma patients who were primed with irradiation, by blocking the signaling pathway of the vascular endothelial growth factor receptor. Therefore, sorafenib should be used with caution in patients with advanced hepatocellular carcinoma, especially when combined with radiation therapy

Utilizing ECG Waveform Features as New Biometric Authentication Method

In this study, we are proposing a practical way for human identification based on a new biometric method. The new method is built on the use of the electrocardiogram (ECG) signal waveform features, which are produced from the process of acquiring electrical activities of the heart by using electrodes placed on the body. This process is launched over a period of time by using a recording device to read and store the ECG signal. On the contrary of other biometrics method like voice, fingerprint and iris scan, ECG signal cannot be copied or manipulated. The first operation for our system is to record a portion of 30 seconds out of whole ECG signal of a certain user in order to register it as user template in the system. Then the system will take 7 to 9 seconds in authenticating the template using template matching techniques. 44 subjects‟ raw ECG data were downloaded from Physionet website repository. We used a template matching technique for the authentication process and Linear SVM algorithm for the classification task. The accuracy rate was 97.2% for the authentication process and 98.6% for the classification task; with false acceptance rate 1.21%

Meta reinforcement learning based underwater manipulator control

Robots have garnered significant attention owing to their advantages in terms of replacing human labor under hazardous environments. In particular, because underwater construction robots can perform various tasks that are highly dangerous under deep sea environments, the development of manipulator control technology for these underwater robots is crucial. In this study, we therefore introduce an underwater manipulator control method based on meta reinforcement learning. Specifically, we construct a real-world underwater robot manipulator environment using ROS Gazebo and conduct simulations for the testing and verification of the proposed method

Molecular Weight Dependent Glucose Lowering Effect of Low Molecular Weight Chitosan Oligosaccharide (GO2KA1) on Postprandial Blood Glucose Level in SD Rats Model

Abstract This research investigated the effect of enzymatically digested low molecular weight (MW) chitosan oligosaccharide on type 2 diabetes prevention. Three different chitosan oligosaccharide samples with varying MW were evaluated in vitro for inhibition of rat small intestinal α-glucosidase and porcine pancreatic α-amylase (GO2KA1; \u3c1000 Da, GO2KA2; 1000–10,000 Da, GO2KA3; MW \u3e 10,000 Da). The in vitro results showed that all tested samples had similar rat α-glucosidase inhibitory and porcine α-amylase inhibitory activity. Based on these observations, we decided to further investigate the effect of all three samples at a dose of 0.1 g/kg, on reducing postprandial blood glucose levels in Sprague-Dawley (SD) rat model after sucrose loading test. In the animal trial, all tested samples had postprandial blood glucose reduction effect, when compared to control, however GO2KA1 supplementation had the strongest effect. The glucose peak (Cmax) for GO2KA1 and control was 152 mg/dL and 193 mg/dL, respectively. The area under the blood glucose-time curve (AUC) for GO2KA1 and control was 262 h mg/dL and 305 h mg/dL, respectively. Furthermore, the time of peak plasma concentration of blood glucose (Tmax) for GO2KA1 was significantly delayed (0.9 h) compared to control (0.5 h). These results suggest that GO2KA1 could have a beneficial effect for blood glucose management relevant to diabetes prevention in normal and pre-diabetic individuals. The suggested mechanism of action is via inhibition of the carbohydrate hydrolysis enzyme α-glucosidase and since GO2KA1 (MW \u3c 1000 Da) had higher in vivo effect, we hypothesize that it is more readily absorbed and might exert further biological effect once it is absorbed in the blood stream, relevant to blood glucose management