Zadovoljstvo rodilja epiduralnom analgezijom tijekom poroda: analiza ankete u jednom bolničkom centru

Epidural analgesia is one of the most common methods of relieving labor pain. The objective of this study was to examine the effectiveness of epidural analgesia, maternal satisfaction and relationship between the effectiveness of epidural analgesia and various factors. Data were analyzed retrospectively and collected during 2022. A total of 60 parturients participated in the study. Data were collected through a questionnaire before the parturient was discharged from the hospital. The mean assessment of pain on a 1–10 numeric rating scale before epidural analgesia was 7.7 and 3.4 after administration of epidural analgesia. The median assessment of pain before epidural analgesia was 8 (7¬¬–8), and the median assessment of pain after epidural analgesia was 3 (2–5). The average satisfaction with epidural analgesia on a 1–10 scale was 8.11, and the median satisfaction was 10 (7–10). Total of 35 (58.3%) parturients rated satisfaction with 10. Statistically significant association between the effectiveness of epidural analgesia and parity, dilution of administered levobupivacaine, fentanyl administration, and level of education was not found. Childbirth pain is significantly alleviated by the application of epidural analgesia and the satisfaction of parturients is very high.Epiduralna analgezija jedna je od najčešćih metoda ublažavanja porodne boli. Cilj ovog istraživanja bio je ispitati učinkovitost epiduralne analgezije, zadovoljstvo rodilja i povezanost između učinkovitosti epiduralne analgezije i pariteta, razrjeđenja primijenjenog levobupivakaina, primijenjenog fentanila te razine obrazovanja. Podatci su analizirani retrospektivno, prikupljeni su tijekom 2022. godine. Ukupno 60 rodilja sudjelovalo je u istraživanju. Podatci su prikupljani pomoću anketnog upitnika prije otpusta rodilje iz rodilišta. Prosječna procjena boli na numeričkoj skali od 1 do 10 prije primjene epiduralne analgezije iznosi 7,7, a nakon primjene epiduralne analgezije 3,4. Medijan procijenjene boli prije primjene epiduralne analgezije iznosi 8 (7 – 8), a nakon primjene epiduralne 3 (2 – 5). Prosječno zadovoljstvo epiduralnom analgezijom na skali od 1 do 10 iznosi 8,11, medijan zadovoljstva je 10 (interkvartilni raspon od 7 do 10). 35 rodilja je zadovoljstvo ocijenilo sa 10, što čini 58,3% uzorka. Statistički značajna povezanost između učinkovitosti epiduralne analgezije i pariteta, razrjeđenja primijenjenog levobupivakaina, primjene fentanila i razine obrazovanja nije pronađena. Porodna bol je značajno umanjena primjenom epiduralne analgezije i zadovoljstvo rodilja je vrlo visoko

Advanced quaternion forward kinematics algorithm including overview of different methods for robot kinematics

Formulisanje odgovarajućih i efikasnih algoritama kinematike robota je od suštinskog značaja za analizu i razvoj serijskih manipulatora. Kinematičko modelovanje manipulatora se najčešće vrši u Dekartovom prostoru. Međutim, usled nedostataka najzastupljenijih matematičkih operatora za definisanje orijentacije kao što su Ojlerovi uglovi i rotacione matrice, nameće se potreba za jednoznačnim, kompaktnim, računski efikasnim metodom za određivanje orijentacije. Kao rešenje ovog problema predlažu se jedinični kvaternioni kao i razvoj kinematičkih modela u prostoru dualnih kvaterniona. U ovom radu je dat pregled geometrijskih opisa i transformacija koje se mogu primeniti u okviru navedenih prostora kako bi se rešili problemi kinematike robota. Poseban akcenat je na različitim matematičkim formalizmima koji se koriste za definisanje orijentacije krutog tela, kao što su rotacione matrice, Ojlerovi uglovi, osa i ugao rotacije, jedinični kvaternioni, kao i na njihovoj uzajamnoj vezi. Prednosti kinematičkog modeliranja u prostoru kvaterniona su istaknute. Osobine jediničnih i dualnih kvaterniona se analiziraju sa stanovišta robotike. Takođe, dat je novi algoritam direktne kinematike robota u prostoru dualnih kvaterniona. Ovaj algoritam je primenjen na humanoj centrifugi koja je modelirana kao troosni manipulator.Formulation of proper and efficient algorithms for robot kinematics is essential for the analysis and design of serial manipulators. Kinematic modeling of manipulators is most often performed in Cartesian space. However, due to disadvantages of most widely used mathematical constructs for description of orientation such as Euler angles and rotational matrices, a need for unambiguous, compact, singularity free, computationally efficient method for representing rotational information is imposed. As a solution, unit quaternions are proposed and kinematic modeling in dual quaternion space arose. In this paper, an overview of spatial descriptions and transformations that can be applied together within these spaces in order to solve kinematic problems is presented. Special emphasis is on a different mathematical formalisms used to represent attitude of a rigid body such as rotation matrix, Euler angles, axis-angle representation, unit quaternions, and their mutual relation. Benefits of kinematic modeling in quaternion space are presented. New direct kinematics algorithm in dual quaternion space pertaining to a particular manipulator is given. These constructs and algorithms are demonstrated on the human centrifuge as 3 DoF robot manipulator

Advanced quaternion forward kinematics algorithm including overview of different methods for robot kinematics

Formulisanje odgovarajućih i efikasnih algoritama kinematike robota je od suštinskog značaja za analizu i razvoj serijskih manipulatora. Kinematičko modelovanje manipulatora se najčešće vrši u Dekartovom prostoru. Međutim, usled nedostataka najzastupljenijih matematičkih operatora za definisanje orijentacije kao što su Ojlerovi uglovi i rotacione matrice, nameće se potreba za jednoznačnim, kompaktnim, računski efikasnim metodom za određivanje orijentacije. Kao rešenje ovog problema predlažu se jedinični kvaternioni kao i razvoj kinematičkih modela u prostoru dualnih kvaterniona. U ovom radu je dat pregled geometrijskih opisa i transformacija koje se mogu primeniti u okviru navedenih prostora kako bi se rešili problemi kinematike robota. Poseban akcenat je na različitim matematičkim formalizmima koji se koriste za definisanje orijentacije krutog tela, kao što su rotacione matrice, Ojlerovi uglovi, osa i ugao rotacije, jedinični kvaternioni, kao i na njihovoj uzajamnoj vezi. Prednosti kinematičkog modeliranja u prostoru kvaterniona su istaknute. Osobine jediničnih i dualnih kvaterniona se analiziraju sa stanovišta robotike. Takođe, dat je novi algoritam direktne kinematike robota u prostoru dualnih kvaterniona. Ovaj algoritam je primenjen na humanoj centrifugi koja je modelirana kao troosni manipulator.Formulation of proper and efficient algorithms for robot kinematics is essential for the analysis and design of serial manipulators. Kinematic modeling of manipulators is most often performed in Cartesian space. However, due to disadvantages of most widely used mathematical constructs for description of orientation such as Euler angles and rotational matrices, a need for unambiguous, compact, singularity free, computationally efficient method for representing rotational information is imposed. As a solution, unit quaternions are proposed and kinematic modeling in dual quaternion space arose. In this paper, an overview of spatial descriptions and transformations that can be applied together within these spaces in order to solve kinematic problems is presented. Special emphasis is on a different mathematical formalisms used to represent attitude of a rigid body such as rotation matrix, Euler angles, axis-angle representation, unit quaternions, and their mutual relation. Benefits of kinematic modeling in quaternion space are presented. New direct kinematics algorithm in dual quaternion space pertaining to a particular manipulator is given. These constructs and algorithms are demonstrated on the human centrifuge as 3 DoF robot manipulator

Comparison of Numerical Simulation Models for Open Loop Flight Simulations in the Human Centrifuge

To achieve predefined Gz load profile in high G training in human centrifuge, it is necessary to determine angular velocity and acceleration of a planetary axis (centrifuge arm). Initial value problem that can not be solved in closed form was obtained. Several discretization methods for calculating angular velocity of centrifuge arm driven by DC servo motor are presented. Simulations are performed for different positive and negative values of Gz onset

Comparison of Numerical Simulation Models for Open Loop Flight Simulations in the Human Centrifuge

To achieve predefined Gz load profile in high G training in human centrifuge, it is necessary to determine angular velocity and acceleration of a planetary axis (centrifuge arm). Initial value problem that can not be solved in closed form was obtained. Several discretization methods for calculating angular velocity of centrifuge arm driven by DC servo motor are presented. Simulations are performed for different positive and negative values of Gz onset

Kinematic and Dynamic Model of the Human Centrifuge

Human centrifuge is dynamic flight simulator used to provide motion and forces cues of modern combat aircraft. It is mainly intended for safe and reliable generation of high G onset rates and high levels of sustained G for pilot trainings and research. In this paper, modeling of human centrifuge as a three DoF robot manipulator with revolute joints is presented. Pilots seat is controlled as end-effector. Here, Rodriguez formula is proposed for modeling kinematics and dynamics of the human centrifuge. Algorithms of direct and inverse kinematics are developed. Velocities and accelerations of CM’s (centers of masses) of centrifuge links are determined and the results are compared with results obtained from developed Jacobian where singular positions are particularly discussed. Inverse dynamics algorithm based on covariant form of Lagrange equations of the second kind is given. Developed kinematic and dynamic models are implemented into control unit and simulated in offline part if control system

Epilithic diatoms in environmental bioindication and trout farm’s effects on ecological quality assessment of rivers

The main aim of this study was to investigate the application of benthic diatoms and the efficiency of diatom indices in water ecological assessment of rivers in Serbia, as well as the influence of trout farms on rivers water quality. Research was conducted in one year period along the Crnica and Radovanska rivers (Eastern Serbia), in 11 sampling sites (taking into account the position of trout fish farms that are built on both rivers). Results showed that fish farms affect the physical and chemical parameters, as well as diversity of the epilithic diatom assemblage along the rivers. Canonical correspondence analysis (CCA) indicated that among tested physical and chemical parameters, conductivity “EC”, water hardness “WH”, sulfates “SO42-”, ionized ammonia fraction “NH4+”, nitrates “NO3– “, “pH”, mud, stone and depth were the most important variables affecting the distribution of diatom species. A total of 206 epilithic diatom taxa were recorded in the Radovanska and 170 in the Crnica River. Based on diatom indices, trout fish farms have no significant negative impact on the water quality of the investigated rivers (indices are not enough sensitive). Redundancy analysis (RDA) showed a high degree of correlation between the majority of indices which mostly indicated to good water quality of studied rivers. TID and TDI were the only two indices indicating moderate and poor water quality of both rivers. Water quality based on the TIDRS, the first proposed diatom index for Serbia was differ in two classes in most sites compairing with TID

Unapredjenje sistema za programiranje, simulaciju i udaljeno praćenje kretanja manipulatora primenom novih računarskih tehnologija i alata

Maja Lutovac, Jelena Vidaković, Zorana Dančuo, Aleksandar Stepanović , Unapredjenje sistema za programiranje, simulaciju i udaljeno praćenje kretanja manipulatora primenom novih računarskih tehnologija i alata, Korisnik: Lola Institut/Projekat MPNTR-TR 3502