Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz-Galerkin Methods

To address the challenges with real-time accurate modeling of multisegment continuum manipulators in the presence of significant external and body loads, we introduce a novel series solution for variable-curvature Cosserat rod static and Lagrangian dynamic methods. By combining a modified Lagrange polynomial series solution, based on experimental observations, with Ritz and Ritz-Galerkin methods, the infinite modeling state space of a continuum manipulator is minimized to geometrical position of a handful of physical points (in our case two). As a result, a unified easy to implement vector formalism is proposed for the nonlinear impedance and configuration control. We showed that by considering the mechanical effects of highly elastic axial deformation, the model accuracy is increased up to 6%. The proposed model predicts experimental results with 6%-8% (4-6 mm) mean error for the Ritz-Galerkin method in static cases and 16%-20% (12-14 mm) mean error for the Ritz method in dynamic cases, in planar and general three-dimensional motions. Comparing to five different models in the literature, our approximate solution is shown to be more accurate with the smallest possible number of modeling states and suitable for real-time modeling, observation, and control applications

Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz-Galerkin Methods

To address the challenges with real-time accurate modeling of multi-segment continuum manipulators in the presence of significant external and body loads, we introduce a novel series solution for variable-curvature Cosserat rod static and Lagrangian dynamic method. By combining a modified Lagrange polynomial series solution, based on experimental observations, with Ritz and Ritz-Galerkin methods, the infinite modeling state space of a continuum manipulator is minimized to geometrical position of a handful of physical points (in our case two). As a result, a unified easy to implement vector formalism is proposed for the nonlinear impedance and configuration control. We showed that by considering the mechanical effects of highly elastic axial deformation, the model accuracy is increased up to 6%. The proposed model predicts experimental results with 6-8% (4-6 [mm]) mean error for the Ritz-Galerkin method in static cases and 16-20% (12-14 [mm]) mean error for the Ritz method in dynamic cases, in planar and general 3D motions. Comparing to five different models in the literature, our approximate solution is shown to be more accurate with the smallest possible number of modeling states and suitable for real-time modeling, observation and control applications

TMTDyn: A Matlab package for modeling and control of hybrid rigid-continuum robots based on discretized lumped systems and reduced-order models

A reliable, accurate, and yet simple dynamic model is important to analyzing, designing, and controlling hybrid rigid–continuum robots. Such models should be fast, as simple as possible, and user-friendly to be widely accepted by the ever-growing robotics research community. In this study, we introduce two new modeling methods for continuum manipulators: a general reduced-order model (ROM) and a discretized model with absolute states and Euler–Bernoulli beam segments (EBA). In addition, a new formulation is presented for a recently introduced discretized model based on Euler–Bernoulli beam segments and relative states (EBR). We implement these models in a Matlab software package, named TMTDyn, to develop a modeling tool for hybrid rigid–continuum systems. The package features a new high-level language (HLL) text-based interface, a CAD-file import module, automatic formation of the system equation of motion (EOM) for different modeling and control tasks, implementing Matlab C-mex functionality for improved performance, and modules for static and linear modal analysis of a hybrid system. The underlying theory and software package are validated for modeling experimental results for (i) dynamics of a continuum appendage, and (ii) general deformation of a fabric sleeve worn by a rigid link pendulum. A comparison shows higher simulation accuracy (8–14% normalized error) and numerical robustness of the ROM model for a system with a small number of states, and computational efficiency of the EBA model with near real-time performances that makes it suitable for large systems. The challenges and necessary modules to further automate the design and analysis of hybrid systems with a large number of states are briefly discussed

TMTDyn: A Matlab package for modeling and control of hybrid rigid–continuum robots based on discretized lumped systems and reduced-order models

A reliable, accurate, and yet simple dynamic model is important to analyzing, designing, and controlling hybrid rigid–continuum robots. Such models should be fast, as simple as possible, and user-friendly to be widely accepted by the evergrowing robotics research community. In this study, we introduce two new modeling methods for continuum manipulators: a general reduced-order model (ROM) and a discretized model with absolute states and Euler–Bernoulli beam segments (EBA). In addition, a new formulation is presented for a recently introduced discretized model based on Euler–Bernoulli beam segments and relative states (EBR). We implement these models in a Matlab software package, named TMTDyn, to develop a modeling tool for hybrid rigid–continuum systems. The package features a new high-level language (HLL) text-based interface, a CAD-file import module, automatic formation of the system equation of motion (EOM) for different modeling and control tasks, implementing Matlab C-mex functionality for improved performance, and modules for static and linear modal analysis of a hybrid system. The underlying theory and software package are validated for modeling experimental results for (i) dynamics of a continuum appendage, and (ii) general deformation of a fabric sleeve worn by a rigid link pendulum. A comparison shows higher simulation accuracy (8–14% normalized error) and numerical robustness of the ROM model for a system with a small number of states, and computational efficiency of the EBA model with near real-time performances that makes it suitable for large systems. The challenges and necessary modules to further automate the design and analysis of hybrid systems with a large number of states are briefly discussed

Biallelic loss of LDB3 leads to a lethal pediatric dilated cardiomyopathy

Autosomal dominant variants in LDB3 (also known as ZASP), encoding the PDZ-LIM domain-binding factor, have been linked to a late onset phenotype of cardiomyopathy and myofibrillar myopathy in humans. However, despite knockout mice displaying a much more severe phenotype with premature death, bi-allelic variants in LDB3 have not yet been reported. Here we identify biallelic loss-of-function variants in five unrelated cardiomyopathy families by next-generation sequencing. In the first family, we identified compound heterozygous LOF variants in LDB3 in a fetus with bilateral talipes and mild left cardiac ventricular enlargement. Ultra-structural examination revealed highly irregular Z-disc formation, and RNA analysis demonstrated little/no expression of LDB3 protein with a functional C-terminal LIM domain in muscle tissue from the affected fetus. In a second family, a homozygous LDB3 nonsense variant was identified in a young girl with severe early-onset dilated cardiomyopathy with left ventricular non-compaction; the same homozygous nonsense variant was identified in a third unrelated female infant with dilated cardiomyopathy. We further identified homozygous LDB3 frameshift variants in two unrelated probands diagnosed with cardiomegaly and severely reduced left ventricular ejection fraction. Our findings demonstrate that recessive LDB3 variants can lead to an early-onset severe human phenotype of cardiomyopathy and myopathy, reminiscent of the knockout mouse phenotype, and supporting a loss of function mechanism

Membrane Partitioning: “Classical” and “Nonclassical” Hydrophobic Effects

The free energy of transfer of nonpolar solutes from water to lipid bilayers is often dominated by a large negative enthalpy rather than the large positive entropy expected from the hydrophobic effect. This common observation has led to the idea that membrane partitioning is driven by the “nonclassical” hydrophobic effect. We examined this phenomenon by characterizing the partitioning of the well-studied peptide melittin using isothermal titration calorimetry (ITC) and circular dichroism (CD). We studied the temperature dependence of the entropic (−TΔS) and enthalpic (ΔH) components of free energy (ΔG) of partitioning of melittin into lipid membranes made of various mixtures of zwitterionic and anionic lipids. We found significant variations of the entropic and enthalpic components with temperature, lipid composition and vesicle size but only small changes in ΔG (entropy–enthalpy compensation). The heat capacity associated with partitioning had a large negative value of about −0.5 kcal mol−1 K−1. This hallmark of the hydrophobic effect was found to be independent of lipid composition. The measured heat capacity values were used to calculate the hydrophobic-effect free energy ΔGhΦ, which we found to dominate melittin partitioning regardless of lipid composition. In the case of anionic membranes, additional free energy comes from coulombic attraction, which is characterized by a small effective peptide charge due to the lack of additivity of hydrophobic and electrostatic interactions in membrane interfaces [Ladokhin and White J Mol Biol 309:543–552, 2001]. Our results suggest that there is no need for a special effect—the nonclassical hydrophobic effect—to describe partitioning into lipid bilayers

Global, regional, and national burden of chronic kidney disease, 1990–2017 : a systematic analysis for the Global Burden of Disease Study 2017

Background Health system planning requires careful assessment of chronic kidney disease (CKD) epidemiology, but data for morbidity and mortality of this disease are scarce or non-existent in many countries. We estimated the global, regional, and national burden of CKD, as well as the burden of cardiovascular disease and gout attributable to impaired kidney function, for the Global Burden of Diseases, Injuries, and Risk Factors Study 2017. We use the term CKD to refer to the morbidity and mortality that can be directly attributed to all stages of CKD, and we use the term impaired kidney function to refer to the additional risk of CKD from cardiovascular disease and gout. Methods The main data sources we used were published literature, vital registration systems, end-stage kidney disease registries, and household surveys. Estimates of CKD burden were produced using a Cause of Death Ensemble model and a Bayesian meta-regression analytical tool, and included incidence, prevalence, years lived with disability, mortality, years of life lost, and disability-adjusted life-years (DALYs). A comparative risk assessment approach was used to estimate the proportion of cardiovascular diseases and gout burden attributable to impaired kidney function. Findings Globally, in 2017, 1·2 million (95% uncertainty interval [UI] 1·2 to 1·3) people died from CKD. The global all-age mortality rate from CKD increased 41·5% (95% UI 35·2 to 46·5) between 1990 and 2017, although there was no significant change in the age-standardised mortality rate (2·8%, −1·5 to 6·3). In 2017, 697·5 million (95% UI 649·2 to 752·0) cases of all-stage CKD were recorded, for a global prevalence of 9·1% (8·5 to 9·8). The global all-age prevalence of CKD increased 29·3% (95% UI 26·4 to 32·6) since 1990, whereas the age-standardised prevalence remained stable (1·2%, −1·1 to 3·5). CKD resulted in 35·8 million (95% UI 33·7 to 38·0) DALYs in 2017, with diabetic nephropathy accounting for almost a third of DALYs. Most of the burden of CKD was concentrated in the three lowest quintiles of Socio-demographic Index (SDI). In several regions, particularly Oceania, sub-Saharan Africa, and Latin America, the burden of CKD was much higher than expected for the level of development, whereas the disease burden in western, eastern, and central sub-Saharan Africa, east Asia, south Asia, central and eastern Europe, Australasia, and western Europe was lower than expected. 1·4 million (95% UI 1·2 to 1·6) cardiovascular disease-related deaths and 25·3 million (22·2 to 28·9) cardiovascular disease DALYs were attributable to impaired kidney function. Interpretation Kidney disease has a major effect on global health, both as a direct cause of global morbidity and mortality and as an important risk factor for cardiovascular disease. CKD is largely preventable and treatable and deserves greater attention in global health policy decision making, particularly in locations with low and middle SDI

BiCyCLE NMES—neuromuscular electrical stimulation in the perioperative treatment of sarcopenia and myosteatosis in advanced rectal cancer patients: design and methodology of a phase II randomised controlled trial

Abstract: Background: Colorectal cancer is associated with secondary sarcopenia (muscle loss) and myosteatosis (fatty infiltration of muscle) and patients who exhibit these host characteristics have poorer outcomes following surgery. Furthermore, patients, who undergo curative advanced rectal cancer surgery such as pelvic exenteration, are at risk of skeletal muscle loss due to immobility, malnutrition and a post-surgical catabolic state. Neuromuscular electrical stimulation (NMES) may be a feasible adjunctive treatment to help ameliorate these adverse side-effects. Hence, the purpose of this study is to investigate NMES as an adjunctive pre- and post-operative treatment for rectal cancer patients in the radical pelvic surgery setting and to provide early indicative evidence of efficacy in relation to key health outcomes. Method: In a phase II, double-blind, randomised controlled study, 58 patients will be recruited and randomised (1:1) to either a treatment (NMES plus standard care) or placebo (sham-NMES plus standard care) group. The intervention will begin 2 weeks pre-operatively and continue for 8 weeks after exenterative surgery. The primary outcome will be change in mean skeletal muscle attenuation, a surrogate marker of myosteatosis. Sarcopenia, quality of life, inflammatory status and cancer specific outcomes will also be assessed. Discussion: This phase II randomised controlled trial will provide important preliminary evidence of the potential for this adjunctive treatment. It will provide guidance on subsequent development of phase 3 studies on the clinical benefit of NMES for rectal cancer patients in the radical pelvic surgery setting. Trial registration: Protocol version 6.0; 05/06/20. ClinicalTrials.gov NCT04065984. Registered on 22 August 2019; recruiting

Photodegradation of organic pollutants RhB dye using UV simulated sunlight on ceria based TiO2 nanomaterials for antibacterial applications

To photo-catalytically degrade RhB dye using solar irradiation, CeO2 doped TiO2 nanocomposites were synthesized hydrothermally at 700 °C for 9 hrs. All emission spectra showed a prominent band centered at 442 nm that was attributed to oxygen related defects in the CeO2-TiO2 nanocrystals. Two sharp absorption bands at 1418 cm−1 and 3323 cm−1 were attributed to the deformation and stretching vibration, and bending vibration of the OH group of water physisorbed to TiO2, respectively. The photocatalytic activities of Ce-TiO2 nanocrystals were investigated through the degradation of RhB under UV and UV+ visible light over a period of 8 hrs. After 8 hrs, the most intense absorption peak at 579 nm disappeared under the highest photocatalytic activity and 99.89% of RhB degraded under solar irradiation. Visible light-activated TiO2 could be prepared from metal-ion incorporation, reduction of TiO2, non-metal doping or sensitizing of TiO2 using dyes. Studying the antibacterial activity of Ce-TiO2 nanocrystals against E. coli revealed significant activity when 10 μg was used, suggesting that it can be used as an antibacterial agent. Its effectiveness is likely related to its strong oxidation activity and superhydrophilicity. This study also discusses the mechanism of heterogeneous photocatalysis in the presence of TiO2