Inverse and forward kinematics and workspace analysis of a novel 5-DOF (3T2R) parallel–serial (hybrid) manipulator:

The proposed study provides a solution of the inverse and forward kinematic problems and workspace analysis for a five-degree-of-freedom parallel–serial manipulator, in which the parallel kinematic chain is made in the form of a tripod and the serial kinematic chain is made in the form of two carriages displaced in perpendicular directions. The proposed manipulator allows to realize five independent movements—three translations and two rotations motion pattern (3T2R). Analytical relationships between the coordinates of the end-effector and five controlled movements provided by manipulator's drives (generalized coordinates) were determined. The approach of reachable workspace calculation was defined with respect to available design constraints of the manipulator based on the obtained algorithms of the inverse and forward kinematics. Case studies are considered based on the obtained algorithms of inverse and forward kinematics. For the inverse kinematic problem, the solution is obtained in accordance with the given laws of position and orientation change of the end-effector, corresponding to the motion along a spiral-helical trajectory. For the forward kinematic problem, various assemblies of the manipulator are obtained at the same given values of the generalized coordinates. An example of reachable workspace designing finalizes the proposed study. Dimensions and extreme values of the end-effector orientation angles are calculated

Fish Investigations in the Barents Sea Winter 2019

The Institute of Marine Research (IMR), Bergen, has performed acoustic measurements of demersal fish in the Barents Sea since 1976. Since 1981 a bottom trawl survey has been combined with the acoustic survey. Typical effort of the combined survey has been 10-14 vessel-weeks, and about 350 bottom trawl hauls have been made each year. Most years three vessels have participated from about 1 February to 15 March.publishedVersio

Fish investigations in the Barents Sea winter 2020

This report presents the main results from the surveys in January-March 2020. The surveys were performed with the Norwegian research vessels “Helmer Hanssen” and “Johan Hjort” and the Russian research vessel “Vilnyus”. Annual survey reports since 1981 are listed in Appendix 1, and names of scientific participants are given in Appendix 3.publishedVersio

Speckle dynamics under ergodicity breaking

Laser speckle contrast imaging (LSCI) is a well-known and versatile approach for the non-invasive visualization of flows and microcirculation localized in turbid scattering media, including biological tissues. In most conventional implementations of LSCI the ergodic regime is typically assumed valid. However, most composite turbid scattering media, especially biological tissues, are non-ergodic, containing a mixture of dynamic and static centers of light scattering. In the current study, we examined the speckle contrast in different dynamic conditions with the aim of assessing limitations in the quantitative interpretation of speckle contrast images. Based on a simple phenomenological approach, we introduced a coefficient of speckle dynamics to quantitatively assess the ratio of the dynamic part of a scattering medium to the static one. The introduced coefficient allows one to distinguish real changes in motion from the mere appearance of static components in the field of view. As examples of systems with static/dynamic transitions, thawing and heating of Intralipid samples were studied by the LSCI approach

Effect of aliskiren on post-discharge outcomes among diabetic and non-diabetic patients hospitalized for heart failure: insights from the ASTRONAUT trial

Aims The objective of the Aliskiren Trial on Acute Heart Failure Outcomes (ASTRONAUT) was to determine whether aliskiren, a direct renin inhibitor, would improve post-discharge outcomes in patients with hospitalization for heart failure (HHF) with reduced ejection fraction. Pre-specified subgroup analyses suggested potential heterogeneity in post-discharge outcomes with aliskiren in patients with and without baseline diabetes mellitus (DM). Methods and results ASTRONAUT included 953 patients without DM (aliskiren 489; placebo 464) and 662 patients with DM (aliskiren 319; placebo 343) (as reported by study investigators). Study endpoints included the first occurrence of cardiovascular death or HHF within 6 and 12 months, all-cause death within 6 and 12 months, and change from baseline in N-terminal pro-B-type natriuretic peptide (NT-proBNP) at 1, 6, and 12 months. Data regarding risk of hyperkalaemia, renal impairment, and hypotension, and changes in additional serum biomarkers were collected. The effect of aliskiren on cardiovascular death or HHF within 6 months (primary endpoint) did not significantly differ by baseline DM status (P = 0.08 for interaction), but reached statistical significance at 12 months (non-DM: HR: 0.80, 95% CI: 0.64-0.99; DM: HR: 1.16, 95% CI: 0.91-1.47; P = 0.03 for interaction). Risk of 12-month all-cause death with aliskiren significantly differed by the presence of baseline DM (non-DM: HR: 0.69, 95% CI: 0.50-0.94; DM: HR: 1.64, 95% CI: 1.15-2.33; P < 0.01 for interaction). Among non-diabetics, aliskiren significantly reduced NT-proBNP through 6 months and plasma troponin I and aldosterone through 12 months, as compared to placebo. Among diabetic patients, aliskiren reduced plasma troponin I and aldosterone relative to placebo through 1 month only. There was a trend towards differing risk of post-baseline potassium ≥6 mmol/L with aliskiren by underlying DM status (non-DM: HR: 1.17, 95% CI: 0.71-1.93; DM: HR: 2.39, 95% CI: 1.30-4.42; P = 0.07 for interaction). Conclusion This pre-specified subgroup analysis from the ASTRONAUT trial generates the hypothesis that the addition of aliskiren to standard HHF therapy in non-diabetic patients is generally well-tolerated and improves post-discharge outcomes and biomarker profiles. In contrast, diabetic patients receiving aliskiren appear to have worse post-discharge outcomes. Future prospective investigations are needed to confirm potential benefits of renin inhibition in a large cohort of HHF patients without D