Колесный робот автосопровождения

В работе рассмотрен процесс проектирования и сборки мобильного робота автоматического слежения на базе микроконтроллера Arduino Uno. Была подобрана материально-техническая база для реализации, изучены и внедрены алгоритмы ПИД-регулирования и широтно-импульсной модуляции. Была произведена сборка робота и апробация его работы.Arduino based mobile robot of automatic following design and assembling are considered. Components and devices were selected. PID-control and pulse-width modulation algorithms were studied and implemented. Final assembling and testing were provided

Effect of low tidal volume ventilation on lung function and inflammation in mice

<p>Abstract</p> <p>Background</p> <p>A large number of studies have investigated the effects of high tidal volume ventilation in mouse models. In contrast data on very short term effects of low tidal volume ventilation are sparse. Therefore we investigated the functional and structural effects of low tidal volume ventilation in mice.</p> <p>Methods</p> <p>38 Male C57/Bl6 mice were ventilated with different tidal volumes (Vt 5, 7, and 10 ml/kg) without or with application of PEEP (2 cm H₂O). Four spontaneously breathing animals served as controls. Oxygen saturation and pulse rate were monitored. Lung function was measured every 5 min for at least 30 min. Afterwards lungs were removed and histological sections were stained for measurement of infiltration with polymorphonuclear leukocytes (PMN). Moreover, mRNA expression of macrophage inflammatory protein (MIP)-2 and tumor necrosis factor (TNF)α in the lungs was quantified using real time PCR.</p> <p>Results</p> <p>Oxygen saturation did not change significantly over time of ventilation in all groups (P > 0.05). Pulse rate dropped in all groups without PEEP during mechanical ventilation. In contrast, in the groups with PEEP pulse rate increased over time. These effects were not statistically significant (P > 0.05). Tissue damping (G) and tissue elastance (H) were significantly increased in all groups after 30 min of ventilation (P < 0.05). Only the group with a Vt of 10 ml/kg and PEEP did not show a significant increase in H (P > 0.05). Mechanical ventilation significantly increased infiltration of the lungs with PMN (P < 0.05). Expression of MIP-2 was significantly induced by mechanical ventilation in all groups (P < 0.05). MIP-2 mRNA expression was lowest in the group with a Vt of 10 ml/kg + PEEP.</p> <p>Conclusions</p> <p>Our data show that very short term mechanical ventilation with lower tidal volumes than 10 ml/kg did not reduce inflammation additionally. Formation of atelectasis and inadequate oxygenation with very low tidal volumes may be important factors. Application of PEEP attenuated inflammation.</p

Elevated [11C]-D-Deprenyl Uptake in Chronic Whiplash Associated Disorder Suggests Persistent Musculoskeletal Inflammation

There are few diagnostic tools for chronic musculoskeletal pain as structural imaging methods seldom reveal pathological alterations. This is especially true for Whiplash Associated Disorder, for which physical signs of persistent injuries to the neck have yet to be established. Here, we sought to visualize inflammatory processes in the neck region by means Positron Emission Tomography using the tracer 11C-D-deprenyl, a potential marker for inflammation. Twenty-two patients with enduring pain after a rear impact car accident (Whiplash Associated Disorder grade II) and 14 healthy controls were investigated. Patients displayed significantly elevated tracer uptake in the neck, particularly in regions around the spineous process of the second cervical vertebra. This suggests that whiplash patients have signs of local persistent peripheral tissue inflammation, which may potentially serve as a diagnostic biomarker. The present investigation demonstrates that painful processes in the periphery can be objectively visualized and quantified with PET and that 11C-D-deprenyl is a promising tracer for these purposes

The Safety Attitudes Questionnaire: psychometric properties, benchmarking data, and emerging research

BACKGROUND: There is widespread interest in measuring healthcare provider attitudes about issues relevant to patient safety (often called safety climate or safety culture). Here we report the psychometric properties, establish benchmarking data, and discuss emerging areas of research with the University of Texas Safety Attitudes Questionnaire. METHODS: Six cross-sectional surveys of health care providers (n = 10,843) in 203 clinical areas (including critical care units, operating rooms, inpatient settings, and ambulatory clinics) in three countries (USA, UK, New Zealand). Multilevel factor analyses yielded results at the clinical area level and the respondent nested within clinical area level. We report scale reliability, floor/ceiling effects, item factor loadings, inter-factor correlations, and percentage of respondents who agree with each item and scale. RESULTS: A six factor model of provider attitudes fit to the data at both the clinical area and respondent nested within clinical area levels. The factors were: Teamwork Climate, Safety Climate, Perceptions of Management, Job Satisfaction, Working Conditions, and Stress Recognition. Scale reliability was 0.9. Provider attitudes varied greatly both within and among organizations. Results are presented to allow benchmarking among organizations and emerging research is discussed. CONCLUSION: The Safety Attitudes Questionnaire demonstrated good psychometric properties. Healthcare organizations can use the survey to measure caregiver attitudes about six patient safety-related domains, to compare themselves with other organizations, to prompt interventions to improve safety attitudes and to measure the effectiveness of these interventions

The theme of hardening in the book of Isaiah :an analysis of communicative action

This thesis investigates the theme of hardening in the Book of Isaiah from the perspective of an analysis of communicative action. It modifies the communicative approach of rhetorical analysis so that the different communicative acts, which have been elucidated by speech-act theory, are taken into account more comprehensively. This distinctive approach is justified by the determination of a prophetic book as a means of intermediation between YHWH and the people. Applying the analysis of communicative action, the present study presents a distinctive interpretation of 'hardening' in the Book of Isaiah. It takes up previous studies, which have noted the frequent occurrence of the theme of hardening in the Book of Isaiah, but goes beyond them in analysing several relevant passages in detail and in clarifying their role within the overall communicative strategy of the Book of Isaiah. It thereby makes also a contribution to the interpretation of the Book of Isaiah as a whole. The study seeks to show that what is commonly referred to as 'hardening' (and its reversal) are presented as communicative acts in Isa and are performed as such acts through the means of the prophetic book of Isaiah. And it is argued that in respect to the theme of hardening we deal with the aspect of communication in view of righteousness, the main issue of the Book of Isaiah. After a survey of previous studies about the theme of hardening in the whole Book of Isaiah and a clarification of the analysis of communicative action in chapter 1, chapter 2 illumines the context of the theme of hardening in discussing the historical setting of the Book of Isaiah in the early post-exilic era, in noting the different proclamations of Isaiah (Isa 1-39) and a new prophet (Isa 40-66) in Isa, in identifying its addressees in Babylon and Judah, and in clarifying the concept of 'connective righteousness' and its application in the Book of Isaiah. Chapters 3-8 discuss in detail the single units Isa 6; 42:18-25; 48:1-11; 50; 56:9-57:2 and 63:7-64:11 and clarify also how these passages fit into the strategy of communicative action in the wider context, which includes further notes on other relevant passages. It is substantiated that in the proclamation of YHWH's judgement of his people in Isa 1-39, the hardening message of Isaiah is the judgement of their misguided communication; but proclaiming the restoration of the people's righteousness in Isa 40-66, the de-hardening message of the new prophet restores also their abilities to communicate, i.e. to perceive and to understand

Primary prevention of allergic sensitisation - How might it work?

Allergic diseases, particularly allergic asthma, are among the most frequent disorders seen in paediatric practice and clinic. Epidemiological data as well as recent immunological studies have largely contributed to the identification of risk factors eventually leading to the clinical manifestation of allergy. Various strategies of primary prevention are being developed and most of them include avoidance of identified or presumed risk factors. Another promising field of research investigates pharmacological approaches in the prevention of allergy, and drugs have been identified which interfere with the pathophysiological pathways. It seems likely that they may play an important role in future primary prevention strategies especially targeting infants at high risk

Thin Section Based Cutting Analysis as a New Approach in Rock Type Determination While Drilling Deep Geothermal Wells

ABSTRACT Microfacies analyses using thin sections made up from cutting material and side-wall cores are an essential tool in order to scientifically accompany geothermal deep drilling projects. Components and microfabrics which are included in washed cutting material give information about geological origin, mineral composition, diagenetic processes as well as porosity and permeability of the drilled rock formations. Components can be qualitatively observed and quantitatively estimated by particle analyses with the purpose to reconstruct depositional environments. Mineral shape and composition demonstrate diagenetic history and the development of microfabric characteristics. Finally, the occurrences of open porosity and precipitated cements can be identified in thin section based cutting material from deep wells helping to evaluate the porosity of the rock. 3D reconstruction of fracture systems is possible from oriented side-wall cores and indirectly by cutting form analysis from cutting material. In combination with stress field analysis and structural geological analysis from 3D seismic the cutting form analysis helps to identify the dominated fracture pattern in situ which might be below the seismic resolution. These important informations about cap rock and reservoir rock quality needs to be gathered as quick as possible to steer the drilling process and refine targeting. Thin section analysis of cuttings after the drilling operation may help to evaluate reservoir rock properties but cannot steer the drilling process anymore. In a newly established mobile lab, fast thin section production while drilling enables well-site geologists to obtain early information about rock properties within a few hours. This method facilitates rock type determination immediately after sample recovery at the drill-site. This approach of thin-section based cutting analysis-while drilling is newly developed for geothermal wells and represents an essential part in reliable determination of casing shoes, reservoir rock identification and -if the suggested reservoir rock formation is not proven through thin section cutting analysis -drilling targeting. Thin section based cutting analysis requires a detailed understanding of facies and paleontology, opening obviously a new research field in geothermal exploration and well site geology. INTRODUCTION Microfacies analysis of reservoir rocks is an essential tool to investigate depositional properties and reservoir potential resulting from diagenetic alterations and tectonic influence. Drilling operations normally comprise the production of cutting material, sidewall cores or normal cores of the target formations. In scientific drilling projects complete coring of the drilled formations are preferred in order to get undisturbed rock material. The Deep Sea Drilling Project (deep sea drilling.org), the IODP and various scientific continental drilling programs as well as the drilling of ice cores are based on the investigation of complete rock cores. These continuously contain informations about rock properties, facies development and paleontological and stratigraphic evolution. Depending on the budget, industrial wells are mostly not completely cored because of time constraints and expensive operations. Especially in geothermal projects risk management is very important to avoid project failure. In order to minimize costs sampling procedures are reduced to rock analyses performed by mudlogging services and drilling of side-wall cores. Rock analyses and thin sections of these cores normally were made for scientific purposes long after drilling activities. In this way, important informations are not present during the drilling process. Finally, samples of cutting material are observed for lithological aspects from the surfaces of the cuttings and chemical and mechanical indications of the observed rock types. The scientific monitoring methods have to be performed in a mobile lab that contains special grinding and sawing devices. The work flow consists of a sequence of mechanical steps which guarantee the fast production of cutting slabs and thin sections