Task oriented nonlinear control laws for telerobotic assembly operations

The goal of this research is to achieve very intelligent telerobotic controllers which are capable of receiving high-level commands from the human operator and implementing them in an adaptive manner in the object/task/manipulator workspace. Initiatives by the authors at Integrated Systems, Inc. to identify and develop the key technologies necessary to create such a flexible, highly programmable, telerobotic controller are presented. The focus of the discussion is on the modeling of insertion tasks in three dimensions and nonlinear implicit force feedback control laws which incorporate tool/workspace constraints. Preliminary experiments with dual arm beam assembly in 2-D are presented

Effect of selective gastric residual monitoring on enteral intake in preterm infants

Objective: Prefeed gastric residuals (GRs) monitoring has been correlated with an increased time to reach full feeds and longer parenteral nutrition without beneficial effect on necrotizing enterocolitis (NEC) occurrence. We aimed to assess effects of a new local protocol to provide for the selective evaluation of GRs excluding their routine monitoring. Methods: We carried out a retrospective study based on a “before and after” design in a cohort of infants born at 23+0–31+6 weeks of gestation. The primary outcome was the age at full enteral feeding (150 mL/kg/d). Secondary outcomes included age at regaining of birth weight, and evaluation of Z-scores of weight, length, and head circumference at discharge. Results: We studied 49 infants in the selective GR group and 59 in the routine GR group. Age at full (150 mL/kg) enteral feeding (17.8 ± 10.1 vs. 22.9 ± 10.5 days, P = 0.017) and regaining of birth weight (11.1 ± 3.0 vs. 12.5 ± 3.5 days, P = 0.039) were lower while the Z-scores of weight at discharge (-1.10 ± 0.83 vs. -1.60 ± 1.45, P = 0.040) were higher in infants in the selective GR group in comparison with infants in the routine GR group. Conclusions: Selective monitoring of GRs decreased age at full enteral feeding and at regaining of birth weight and induced better Z-scores of weight at discharge in comparison with routine GR monitoring in a cohort of extremely preterm infants without increasing the incidence of NEC. Omitting prefeed GRs monitoring in clinical practice seems reasonable

Behaviour and stability of thermodilution signals in a closed extracorporeal circuit: a bench study.

Thermodilution is the gold standard for cardiac output measurement in critically ill patients. Its application in extracorporeal therapy is limited, as a portion of the thermal indicator is drawn into the extracorporeal circuit. The behaviour of thermodilution signals in extracorporeal circuits is unknown. We investigated thermodilution curves within a closed-circuit and assessed the impact of injection volume, flow and distance on the behaviour of the thermodilution signals and catheter constants. We injected 3, 5, 7 and 10 ml of thermal indicator into a heated closed circuit. Thermistors at distances of 40, 60, 80, and 100 cm from the injection port recorded the thermodilution signals (at flow settings of 0.5, 1, 1.5, and 2 L/min). Area under the curve (AUC), rise time, exponential decay and catheter constants were analysed. Linear mixed-effects models were used to evaluate the impact of circuit flow, distance and injection volume. Catheter positioning did not influence AUC (78 injections). Catheter constants were independent of flow, injection volume or distance to the injection port. The distance to the injection port increased peak temperature and rise time and decreased exponential time constant significantly. The distance to the injection port did not influence catheter constants, but the properties of the thermodilution signal itself. This may influence measurements that depend on the exponential decay of the thermodilution signal such as right ventricular ejection fraction

Spitzer-MIPS survey of the young stellar content in the Vela Molecular Cloud-D

A new, unbiased Spitzer-MIPS imaging survey (~1.8 square degs) of the young stellar content of the Vela Molecular Cloud-D is presented. The survey is complete down to 5mJy and 250mJy at 24micron (mu) and 70mu, respectively. 849 sources are detected at 24mu and 52 of them also have a 70mu counterpart. The VMR-D region is one that we have already partially mapped in dust and gas millimeter emission, and we discuss the correlation between the Spitzer compact sources and the mm contours. About half of the 24mu sources are located inside the region delimited by the 12CO(1-0) contours (corresponding to only one third of the full area mapped with MIPS) with a consequent density increase of about 100% of the 24mu sources [four times for 70mu ones] moving from outside to inside the CO contours. About 400 sources have a 2MASS counterpart. So we have constructed a Ks vs. Ks-[24] diagram and identified the protostellar population. We find an excess of Class I sources in VMR-D in comparison with other star forming regions. This result is reasonably biased by the sensitivity limits, or, alternatively, may reflect a very short lifetime (<=10^6yr) of the protostellar content in this cloud. The MIPS images have identified embedded cool objects in most of the previously identified starless cores; in addition, there are 6 very young, possibly Class 0 objects identified. Finally we report finding of the driving sources for a set of five out of six very compact protostellar jets previously discovered in near-infrared images.Comment: 29 pages, 14 figures. To appear in Ap.

Stability of quantized time-delay nonlinear systems: A Lyapunov-Krasowskii-functional approach

Lyapunov-Krasowskii functionals are used to design quantized control laws for nonlinear continuous-time systems in the presence of constant delays in the input. The quantized control law is implemented via hysteresis to prevent chattering. Under appropriate conditions, our analysis applies to stabilizable nonlinear systems for any value of the quantization density. The resulting quantized feedback is parametrized with respect to the quantization density. Moreover, the maximal allowable delay tolerated by the system is characterized as a function of the quantization density.Comment: 31 pages, 3 figures, to appear in Mathematics of Control, Signals, and System

Transcriptome analysis of the venom gland of the Mexican scorpion Hadrurus gertschi (Arachnida: Scorpiones)

<p>Abstract</p> <p>Background</p> <p>Scorpions like other venomous animals posses a highly specialized organ that produces, secretes and disposes the venom components. In these animals, the last postabdominal segment, named telson, contains a pair of venomous glands connected to the stinger. The isolation of numerous scorpion toxins, along with cDNA-based gene cloning and, more recently, proteomic analyses have provided us with a large collection of venom components sequences. However, all of them are secreted, or at least are predicted to be secretable gene products. Therefore very little is known about the cellular processes that normally take place inside the glands for production of the venom mixture. To gain insights into the scorpion venom gland biology, we have decided to perform a transcriptomic analysis by constructing a cDNA library and conducting a random sequencing screening of the transcripts.</p> <p>Results</p> <p>From the cDNA library prepared from a single venom gland of the scorpion <it>Hadrurus gertschi</it>, 160 expressed sequence tags (ESTs) were analyzed. These transcripts were further clustered into 68 unique sequences (20 contigs and 48 singlets), with an average length of 919 bp. Half of the ESTs can be confidentially assigned as homologues of annotated gene products. Annotation of these ESTs, with the aid of Gene Ontology terms and homology to eukaryotic orthologous groups, reveals some cellular processes important for venom gland function; including high protein synthesis, tuned posttranslational processing and trafficking. Nonetheless, the main group of the identified gene products includes ESTs similar to known scorpion toxins or other previously characterized scorpion venom components, which account for nearly 60% of the identified proteins.</p> <p>Conclusion</p> <p>To the best of our knowledge this report contains the first transcriptome analysis of genes transcribed by the venomous gland of a scorpion. The data were obtained for the species <it>Hadrurus gertschi</it>, belonging to the family Caraboctonidae. One hundred and sixty ESTs were analyzed, showing enrichment in genes that encode for products similar to known venom components, but also provides the first sketch of cellular components, molecular functions, biological processes and some unique sequences of the scorpion venom gland.</p

A necklace of dense cores in the high-mass star forming region G35.20-0.74N: ALMA observations

The present study aims at characterizing the massive star forming region G35.20N, which is found associated with at least one massive outflow and contains multiple dense cores, one of them recently found associated with a Keplerian rotating disk. We used ALMA to observe the G35.20N region in the continuum and line emission at 350 GHz. The observed frequency range covers tracers of dense gas (e.g. H13CO+, C17O), molecular outflows (e.g. SiO), and hot cores (e.g. CH3CN, CH3OH). The ALMA 870 um continuum emission map reveals an elongated dust structure (0.15 pc long and 0.013 pc wide) perpendicular to the large-scale molecular outflow detected in the region, and fragmented into a number of cores with masses 1-10 Msun and sizes 1600 AU. The cores appear regularly spaced with a separation of 0.023 pc. The emission of dense gas tracers such as H13CO+ or C17O is extended and coincident with the dust elongated structure. The three strongest dust cores show emission of complex organic molecules characteristic of hot cores, with temperatures around 200 K, and relative abundances 0.2-2x10^(-8) for CH3CN and 0.6-5x10^(-6) for CH3OH. The two cores with highest mass (cores A and B) show coherent velocity fields, with gradients almost aligned with the dust elongated structure. Those velocity gradients are consistent with Keplerian disks rotating about central masses of 4-18 Msun. Perpendicular to the velocity gradients we have identified a large-scale precessing jet/outflow associated with core B, and hints of an east-west jet/outflow associated with core A. The elongated dust structure in G35.20N is fragmented into a number of dense cores that may form massive stars. Based on the velocity field of the dense gas, the orientation of the magnetic field, and the regularly spaced fragmentation, we interpret this elongated structure as the densest part of a 1D filament fragmenting and forming massive stars.Comment: 24 pages, 26 figures, accepted for publication in Astronomy and Astrophysics (abstract modified to fit arXiv restrictions

Direct Estimate of Cirrus Noise in Herschel Hi-GAL Images

In Herschel images of the Galactic plane and many star forming regions, a major factor limiting our ability to extract faint compact sources is cirrus confusion noise, operationally defined as the "statistical error to be expected in photometric measurements due to confusion in a background of fluctuating surface brightness". The histogram of the flux densities of extracted sources shows a distinctive faint-end cutoff below which the catalog suffers from incompleteness and the flux densities become unreliable. This empirical cutoff should be closely related to the estimated cirrus noise and we show that this is the case. We compute the cirrus noise directly, both on Herschel images from which the bright sources have been removed and on simulated images of cirrus with statistically similar fluctuations. We connect these direct estimates with those from power spectrum analysis, which has been used extensively to predict the cirrus noise and provides insight into how it depends on various statistical properties and photometric operational parameters. We report multi-wavelength power spectra of diffuse Galactic dust emission from Hi-GAL observations at 70 to 500 microns within Galactic plane fields at l= 30 degrees and l= 59 degrees. We find that the exponent of the power spectrum is about -3. At 250 microns, the amplitude of the power spectrum increases roughly as the square of the median brightness of the map and so the expected cirrus noise scales linearly with the median brightness. Generally, the confusion noise will be a worse problem at longer wavelengths, because of the combination of lower angular resolution and the rising power spectrum of cirrus toward lower spatial frequencies, but the photometric signal to noise will also depend on the relative spectral energy distribution of the source compared to the cirrus.Comment: 4 pages (in journal), 3 figures, Astronomy and Astrophysics, accepted for publication 13 May 201

Correlation between autofluorescence intensity and histopathological features in non-melanoma skin cancer: An ex vivo study

Non-melanoma skin cancer (NMSC) is the most common malignant tumor affecting fair-skinned people. Increasing incidence rates of NMSC have been reported worldwide, which is an important challenge in terms of public health management. Surgical excision with pre-operatively identified margins is one of the most common and effective treatment strategies. Incomplete tumor removal is associated with a very high risk of recurrence and re-excision. Biological tissues can absorb and re-emit specific light wave-lengths, detectable through spectrophotometric devices. Such a phenomenon is known as autofluorescence (AF). AF spectroscopy has been widely explored for non-invasive, early detection of NMSC as well as for evaluation of surgical margins before excision. Fluorescence-aided diagnosis is based on differences in spectral characteristics between healthy and neoplastic skin. Understanding the biological basis of such differences and correlating AF intensity to histological features could improve the diagnostic accuracy of skin fluorescence spectroscopy. The primary objective of the present pre-clinical ex vivo study is to investigate the correlation between the intensity of cutaneous AF and the histopathological features of NMSC. Ninety-eight lesions suggestive for NMSCs were radically excised from 75 patients (46 M; 29 F; mean age: 79 years). After removal, 115 specific reference points on lesions (\u201ccases\u201d; 59 on BBC, 53 on SCC and 3 on other lesions) and on peri-lesional healthy skin (controls; 115 healthy skin) were identified and marked through suture stitches. Such reference points were irradiated at 400\u2013430 nm wavelength, and resulting emission AF spectra were acquired through spectrophotometry. For each case, AFIR (autofluorescence intensity ratio) was measured as the ratio between the number of photons emitted at a wavelength ranging between 450 and 700 nm (peak: 500 nm) in the healthy skin and that was captured in the pathological tissue. At the histological level, hyperkeratosis, neoangiogenesis, cellular atypia, epithelial thickening, fibrosis and elastosis were quantified by light microscopy and were assessed through a previously validated grading system. Statistical correlation between histologic variables and AFIR was calculated through linear regression. Spectrometric evaluation was performed on 230 (115 cases + 115 controls) reference points. The mean AFIR for BCC group was 4.5, while the mean AFIR for SCC group was 4.4 and the fluorescence peaks at 500 nm were approximately 4 times lower (hypo-fluorescent) in BCCs and in SCCs than in healthy skin. Histological variables significantly associated with alteration of AFIR were fibrosis and elastosis (p &lt; 0.05), neoangiogenesis, hyperkeratosis and epithelial thickening. Cellular atypia was not significantly associated with alteration of AFIR. The intensity of fluorescence emission in neoplastic tissues was approximately 4 times lower than that in healthy tissues. Histopathological features such as hyperkeratosis, neoangiogenesis, fibrosis and elastosis are statistically associated with the decrease in AFIR. We hypothesize that such tissue alterations are among the possible biophysical and biochemical bases of difference in emission AF between neoplastic and healthy tissue. The results of the present evaluation highlighted the possible usefulness of autofluorescence as diagnostic, non-invasive and real-time tool for NMSCs