Control Techniques for Robot Manipulator Systems with Modeling Uncertainties

This dissertation describes the design and implementation of various nonlinear control strategies for robot manipulators whose dynamic or kinematic models are uncertain. Chapter 2 describes the development of an adaptive task-space tracking controller for robot manipulators with uncertainty in the kinematic and dynamic models. The controller is developed based on the unit quaternion representation so that singularities associated with the otherwise commonly used three parameter representations are avoided. Experimental results for a planar application of the Barrett whole arm manipulator (WAM) are provided to illustrate the performance of the developed adaptive controller. The controller developed in Chapter 2 requires the assumption that the manipulator models are linearly parameterizable. However there might be scenarios where the structure of the manipulator dynamic model itself is unknown due to difficulty in modeling. One such example is the continuum or hyper-redundant robot manipulator. These manipulators do not have rigid joints, hence, they are difficult to model and this leads to significant challenges in developing high-performance control algorithms. In Chapter 3, a joint level controller for continuum robots is described which utilizes a neural network feedforward component to compensate for dynamic uncertainties. Experimental results are provided to illustrate that the addition of the neural network feedforward component to the controller provides improved tracking performance. While Chapter\u27s 2 and 3 described two different joint controllers for robot manipulators, in Chapter 4 a controller is developed for the specific task of whole arm grasping using a kinematically redundant robot manipulator. The whole arm grasping control problem is broken down into two steps; first, a kinematic level path planner is designed which facilitates the encoding of both the end-effector position as well as the manipulators self-motion positioning information as a desired trajectory for the manipulator joints. Then, the controller described in Chapter 3, which provides asymptotic tracking of the encoded desired joint trajectory in the presence of dynamic uncertainties is utilized. Experimental results using the Barrett Whole Arm Manipulator are presented to demonstrate the validity of the approach

Accelerating phase unwrapping and affine transformations for optical quadrature microscopy using CUDA

Optical Quadrature Microscopy (OQM) is a process which uses phase data to capture information about the sample being studied. OQM is part of an imaging framework developed by the Optical Science Laboratory at Northeastern University. In one particular application of interest, the framework is used to extract phase information from the image of an embryo to determine embryo viability. Phase Unwrapping is the process of reconstructing the real phase shift (propagation delay) of a sample from the measured “wrapped“ representation which is between −π and +π. Unwrapping can be done using the Minimum L P Norm Phase Unwrap algorithm. Images are first preprocessed using an Affine Transform before they are unwrapped. Both of these steps are time consuming and would benefit greatly from parallelization and acceleration. Faster processing would lower many research barriers (in terms of throughpu

Ecosistema de Startups Ecuador

Este proyecto tiene como principal objetivo identificar los contextos en los que se desenvuelven las Startups ecuatorianas, tomando en cuenta que estas se desarrollan en ecosistemas de emprendimiento. Es pertinente emplear un sistema de visualización de datos los mismos que permitirán a los lectores entender de manera visual la situación real de los emprendimientos del Ecuador en etapa temprana. Para ello se ha empleado un esquema visual basado en el proyecto ISOTYPE (Rivero, 2018) (en inglés, Isotype: International System Of Typographic Picture Education), cuyo fin es presentar la información tanto descriptiva como técnica a través de un lenguaje pictórico universal capaz de educar e informar a los lectores de forma simple y efectiva, junto a este objetivo, se postula una propuesta gráfica que busca la democratización del conocimiento.El significativo crecimiento del uso de Internet a escala mundial ha conducido a un desarrollo sin precedentes de las interacciones humanas en contextos como los económicos, sociales, comerciales, entre otros. Estas nuevas relaciones alcanzan también la oferta y la demanda de opciones laborales y de prestación de servicios profesionales (Loaiza, 2020 p.32), que dentro de condiciones favorables en un entorno competitivo puede derivar en un plan y proyecto de emprendimiento de orientación tecnológica

A needle in a haystack: A new metabarcoding approach to survey diversity at the species level of Arcellinida (Amoebozoa: Tubulinea)

Environmental DNA-based diversity studies have increased in popularity with the development of high throughput sequencing technologies. This permits the potential simultaneous retrieval of vast amounts of molecular data from many different organisms and species, thus contributing to a wide range of biological disciplines. Environmental DNA protocols designed for protists often focused on the highly conserved small subunit of the ribosome gene, that does not permit species-level assignments. On the other hand, eDNA protocols aiming at species-level assignments allow a fine level ecological resolution and reproducible results. These protocols are currently applied to organisms living in marine and shallow lotic freshwater ecosystems, often in a bioindication purpose. Therefore, in this study, we present a species-level eDNA protocol designed to explore diversity of Arcellinida (Amoebozoa: Tubulinea) testate amoebae taxa that is based on mitochondrial cytochrome oxidase subunit I (COI). These organisms are widespread in lentic water bodies and soil ecosystems. We applied this protocol to 42 samples from peatlands, estuaries and soil environments, recovering all the infraorders in Glutinoconcha (with COI data), except for Hyalospheniformes. Our results revealed an unsuspected diversity in morphologically homogeneous groups such as Cylindrothecina, Excentrostoma or Sphaerothecina. With this protocol we expect to revolutionize the design of modern distributional Arcellinida surveys. Our approach involves a rapid and cost-effective analysis of testate amoeba diversity living in contrasted ecosystems. Therefore, the order Arcellinida has the potential to be established as a model group for a wide range of theoretical and applied studie

Anaphylaxis

Anaphylaxis is an acute, potentially fatal systemic reaction with varied mechanisms and clinical presentations. Although prompt recognition and treatment of anaphylaxis are imperative, both patients and healthcare professionals often fail to recognize and diagnose early signs and symptoms of the condition. Clinical manifestations vary widely, however, the most common signs are cutaneous symptoms, including angioedema, urticaria, erythema and pruritus. Immediate intramuscular administration of epinephrine into the lateral thigh is first-line therapy, even if the diagnosis is uncertain. The mainstays of long-term management include specialist assessment, avoidance measures, and the provision of an epinephrine auto-injector and an individualized anaphylaxis action plan. This article provides an overview of the causes, clinical features, diagnosis and acute and long-term management of this serious allergic reaction

Albumin and multiple sclerosis

A grant from the One-University Open Access Fund at the University of Kansas was used to defray the author's publication fees in this Open Access journal. The Open Access Fund, administered by librarians from the KU, KU Law, and KUMC libraries, is made possible by contributions from the offices of KU Provost, KU Vice Chancellor for Research & Graduate Studies, and KUMC Vice Chancellor for Research. For more information about the Open Access Fund, please see http://library.kumc.edu/authors-fund.xml.Leakage of the blood–brain barrier (BBB) is a common pathological feature in multiple sclerosis (MS). Following a breach of the BBB, albumin, the most abundant protein in plasma, gains access to CNS tissue where it is exposed to an inflammatory milieu and tissue damage, e.g., demyelination. Once in the CNS, albumin can participate in protective mechanisms. For example, due to its high concentration and molecular properties, albumin becomes a target for oxidation and nitration reactions. Furthermore, albumin binds metals and heme thereby limiting their ability to produce reactive oxygen and reactive nitrogen species. Albumin also has the potential to worsen disease. Similar to pathogenic processes that occur during epilepsy, extravasated albumin could induce the expression of proinflammatory cytokines and affect the ability of astrocytes to maintain potassium homeostasis thereby possibly making neurons more vulnerable to glutamate exicitotoxicity, which is thought to be a pathogenic mechanism in MS. The albumin quotient, albumin in cerebrospinal fluid (CSF)/albumin in serum, is used as a measure of blood-CSF barrier dysfunction in MS, but it may be inaccurate since albumin levels in the CSF can be influenced by multiple factors including: 1) albumin becomes proteolytically cleaved during disease, 2) extravasated albumin is taken up by macrophages, microglia, and astrocytes, and 3) the location of BBB damage affects the entry of extravasated albumin into ventricular CSF. A discussion of the roles that albumin performs during MS is put forth

Convalescent plasma in patients admitted to hospital with COVID-19 (RECOVERY): a randomised controlled, open-label, platform trial

SummaryBackground Azithromycin has been proposed as a treatment for COVID-19 on the basis of its immunomodulatoryactions. We aimed to evaluate the safety and efficacy of azithromycin in patients admitted to hospital with COVID-19.Methods In this randomised, controlled, open-label, adaptive platform trial (Randomised Evaluation of COVID-19Therapy [RECOVERY]), several possible treatments were compared with usual care in patients admitted to hospitalwith COVID-19 in the UK. The trial is underway at 176 hospitals in the UK. Eligible and consenting patients wererandomly allocated to either usual standard of care alone or usual standard of care plus azithromycin 500 mg once perday by mouth or intravenously for 10 days or until discharge (or allocation to one of the other RECOVERY treatmentgroups). Patients were assigned via web-based simple (unstratified) randomisation with allocation concealment andwere twice as likely to be randomly assigned to usual care than to any of the active treatment groups. Participants andlocal study staff were not masked to the allocated treatment, but all others involved in the trial were masked to theoutcome data during the trial. The primary outcome was 28-day all-cause mortality, assessed in the intention-to-treatpopulation. The trial is registered with ISRCTN, 50189673, and ClinicalTrials.gov, NCT04381936.Findings Between April 7 and Nov 27, 2020, of 16 442 patients enrolled in the RECOVERY trial, 9433 (57%) wereeligible and 7763 were included in the assessment of azithromycin. The mean age of these study participants was65·3 years (SD 15·7) and approximately a third were women (2944 [38%] of 7763). 2582 patients were randomlyallocated to receive azithromycin and 5181 patients were randomly allocated to usual care alone. Overall,561 (22%) patients allocated to azithromycin and 1162 (22%) patients allocated to usual care died within 28 days(rate ratio 0·97, 95% CI 0·87–1·07; p=0·50). No significant difference was seen in duration of hospital stay (median10 days [IQR 5 to >28] vs 11 days [5 to >28]) or the proportion of patients discharged from hospital alive within 28 days(rate ratio 1·04, 95% CI 0·98–1·10; p=0·19). Among those not on invasive mechanical ventilation at baseline, nosignificant difference was seen in the proportion meeting the composite endpoint of invasive mechanical ventilationor death (risk ratio 0·95, 95% CI 0·87–1·03; p=0·24).Interpretation In patients admitted to hospital with COVID-19, azithromycin did not improve survival or otherprespecified clinical outcomes. Azithromycin use in patients admitted to hospital with COVID-19 should be restrictedto patients in whom there is a clear antimicrobial indication