A ferrofluid based neural network: design of an analogue associative memory

We analyse an associative memory based on a ferrofluid, consisting of a system of magnetic nano-particles suspended in a carrier fluid of variable viscosity subject to patterns of magnetic fields from an array of input and output magnetic pads. The association relies on forming patterns in the ferrofluid during a trainingdphase, in which the magnetic dipoles are free to move and rotate to minimize the total energy of the system. Once equilibrated in energy for a given input-output magnetic field pattern-pair the particles are fully or partially immobilized by cooling the carrier liquid. Thus produced particle distributions control the memory states, which are read out magnetically using spin-valve sensors incorporated in the output pads. The actual memory consists of spin distributions that is dynamic in nature, realized only in response to the input patterns that the system has been trained for. Two training algorithms for storing multiple patterns are investigated. Using Monte Carlo simulations of the physical system we demonstrate that the device is capable of storing and recalling two sets of images, each with an accuracy approaching 100%.Comment: submitted to Neural Network

Bioincompatible Impact of Different Peritoneal Dialysis Fluid Components and Therapeutic Interventions as Tested in a Rat Peritoneal Dialysis Model

Peritoneal dialysis (PD) is associated with functional and structural changes of the peritoneal membrane. In this paper, we describe the impact of different factors contributing to peritoneal incompatibility of PD fluid installation including presence of a catheter, volume loading, and the PD fluid components itself. These factors initiate recruitment and activation of peritoneal immune cells such as macrophages and mast cells, as well as activation of peritoneal cells as mesothelial cells in situ. We provide an overview of PD-associated changes as seen in our rat PD-exposure model. Since these changes are partly reversible, we finally discuss therapeutic strategies in the rat PD model with possible consequences of long-term PD in the relevant human setting

Tongue carcinoma in an adult Down's syndrome patient: a case report

<p>Abstract</p> <p>Background</p> <p>Cancer of the oral cavity is rare and unusual in Down's syndrome patient. The over all risk is similar to that in adult population.</p> <p>Case presentation</p> <p>This case report describes a 27 years old male with Down's syndrome, non-smoker, who developed a poorly differentiated squamous cell carcinoma of the tongue. The patient underwent a hemiglossectomy without neck dissection followed by a postoperative locoregional radiation therapy to a total tumor-bed dose of 56 Gy and 45 Gy to the neck. Three months later, the patient presented with local tongue recurrence and was treated by Docetaxel and Carboplatin chemotherapy with no significant response. The patient died one month later, 9 months after his initial diagnosis.</p> <p>Conclusion</p> <p>To our knowledge, this is the first case of tongue carcinoma arising in a patient with Down's syndrome. This unique case might not be sufficient to make a significant conclusion on the prognosis and survival of these patients but will increase the awareness about this possibility and will help in the appropriate management of Down's syndrome patients.</p

Controller-observer design and dynamic parameter identification for model-based control of an electromechanical lower-limb rehabilitation system

[EN] Rehabilitation is a hazardous task for a mechanical system, since the device has to interact with the human extremities without the hands-on experience the physiotherapist acquires over time. A gap needs to be filled in terms of designing effective controllers for this type of devices. In this respect, the paper describes the design of a model-based control for an electromechanical lower-limb rehabilitation system based on a parallel kinematic mechanism. A controller-observer was designed for estimating joint velocities, which are then used in a hybrid position/force control scheme. The model parameters are identified by customising an approach based on identifying only the relevant system dynamics parameters. Findings obtained through simulations show evidence of improvement in tracking performance compared with those where the velocity was estimated by numerical differentiation. The controller is also implemented in an actual electromechanical system for lower-limb rehabilitation tasks. Findings based on rehabilitation tasks confirm the findings from simulations.This work was partially financed by the Plan Nacional de I+D, Comision Interministerial de Ciencia y Tecnologia (FEDERCICYT) under the project DPI2013-44227-R and by the Instituto U. de Automatica e Informatica Industrial (ai2) of the Universitat Politecnica de Valencia.Valera Fernández, Á.; Díaz-Rodríguez, M.; Vallés Miquel, M.; Oliver, E.; Mata Amela, V.; Page Del Pozo, AF. (2017). Controller-observer design and dynamic parameter identification for model-based control of an electromechanical lower-limb rehabilitation system. International Journal of Control. 90(4):702-714. https://doi.org/10.1080/00207179.2016.1215529S702714904Åström, K. J., & Murray, R. M. (2010). Feedback Systems. doi:10.2307/j.ctvcm4gdkAtkeson, C. G., An, C. H., & Hollerbach, J. M. (1986). Estimation of Inertial Parameters of Manipulator Loads and Links. The International Journal of Robotics Research, 5(3), 101-119. doi:10.1177/027836498600500306Chia Bejarano, N., Maggioni, S., De Rijcke, L., Cifuentes, C. A., & Reinkensmeyer, D. J. (2015). Robot-Assisted Rehabilitation Therapy: Recovery Mechanisms and Their Implications for Machine Design. Emerging Therapies in Neurorehabilitation II, 197-223. doi:10.1007/978-3-319-24901-8_8Berghuis, H., & Nijmeijer, H. (1993). A passivity approach to controller-observer design for robots. IEEE Transactions on Robotics and Automation, 9(6), 740-754. doi:10.1109/70.265918Briot, S., & Gautier, M. (2013). Global identification of joint drive gains and dynamic parameters of parallel robots. Multibody System Dynamics, 33(1), 3-26. doi:10.1007/s11044-013-9403-6Canudas de Wit, C., & Fixot, N. (1991). Robot control via robust estimated state feedback. 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Robotics and Computer-Integrated Manufacturing, 30(5), 468-477. doi:10.1016/j.rcim.2014.02.003De Jalon, J.G. & Bayo, E. (1994). Kinematic and dynamic simulation of multibody systems: the real-time challenge. New York: Springer Verlag.Díaz, I., Gil, J. J., & Sánchez, E. (2011). Lower-Limb Robotic Rehabilitation: Literature Review and Challenges. Journal of Robotics, 2011, 1-11. doi:10.1155/2011/759764Díaz-Rodríguez, M., Iriarte, X., Mata, V., & Ros, J. (2009). On the Experiment Design for Direct Dynamic Parameter Identification of Parallel Robots. Advanced Robotics, 23(3), 329-348. doi:10.1163/156855308x397550Díaz-Rodríguez, M., Mata, V., Valera, Á., & Page, Á. (2010). A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters. Mechanism and Machine Theory, 45(9), 1337-1356. doi:10.1016/j.mechmachtheory.2010.04.007Gautier, M. (1991). Numerical calculation of the base inertial parameters of robots. Journal of Robotic Systems, 8(4), 485-506. doi:10.1002/rob.4620080405Gautier, M., & Khalil, W. (s. f.). On the identification of the inertial parameters of robots. Proceedings of the 27th IEEE Conference on Decision and Control. doi:10.1109/cdc.1988.194738Jamwal, P. K., Hussain, S., & Xie, S. Q. (2013). Review on design and control aspects of ankle rehabilitation robots. Disability and Rehabilitation: Assistive Technology, 10(2), 93-101. doi:10.3109/17483107.2013.866986Janabi-Sharifi, F., Hayward, V., & Chen, C.-S. J. (2000). Discrete-time adaptive windowing for velocity estimation. IEEE Transactions on Control Systems Technology, 8(6), 1003-1009. doi:10.1109/87.880606Janot, A., Gautier, M., Jubien, A., & Vandanjon, P. O. (2014). Comparison Between the CLOE Method and the DIDIM Method for Robots Identification. IEEE Transactions on Control Systems Technology, 22(5), 1935-1941. doi:10.1109/tcst.2014.2299544Janot, A., Vandanjon, P.-O., & Gautier, M. (2016). A revised Durbin-Wu-Hausman test for industrial robot identification. Control Engineering Practice, 48, 52-62. doi:10.1016/j.conengprac.2015.12.017Jiménez-Fabián, R., & Verlinden, O. (2012). Review of control algorithms for robotic ankle systems in lower-limb orthoses, prostheses, and exoskeletons. Medical Engineering & Physics, 34(4), 397-408. doi:10.1016/j.medengphy.2011.11.018Khalil, W., Vijayalingam, A., Khomutenko, B., Mukhanov, I., Lemoine, P., & Ecorchard, G. (2014). OpenSYMORO: An open-source software package for symbolic modelling of robots. 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. doi:10.1109/aim.2014.6878246Marchal-Crespo, L., & Reinkensmeyer, D. J. (2009). Review of control strategies for robotic movement training after neurologic injury. Journal of NeuroEngineering and Rehabilitation, 6(1). doi:10.1186/1743-0003-6-20Meng, W., Liu, Q., Zhou, Z., Ai, Q., Sheng, B., & Xie, S. (Shane). (2015). 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IEEE/ASME Transactions on Mechatronics, 18(6), 1799-1808. doi:10.1109/tmech.2012.2214228Vallés, M., Cazalilla, J., Valera, Á., Mata, V., Page, Á., & Díaz-Rodríguez, M. (2015). A 3-PRS parallel manipulator for ankle rehabilitation: towards a low-cost robotic rehabilitation. Robotica, 35(10), 1939-1957. doi:10.1017/s0263574715000120Vallés, M., Cazalilla, J. I., Valera, Á., Mata, V., & Page, Á. (2013). Implementación basada en el middleware OROCOS de controladores dinámicos pasivos para un robot paralelo. Revista Iberoamericana de Automática e Informática Industrial RIAI, 10(1), 96-103. doi:10.1016/j.riai.2012.11.009Vallés, M., Díaz-Rodríguez, M., Valera, Á., Mata, V., & Page, Á. (2012). Mechatronic Development and Dynamic Control of a 3-DOF Parallel Manipulator. Mechanics Based Design of Structures and Machines, 40(4), 434-452. doi:10.1080/15397734.2012.687292Wu, F. X., Zhang, W. J., Li, Q., & Ouyang, P. R. (2002). Integrated Design and PD Control of High-Speed Closed-loop Mechanisms. 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Precision measurement of charged pion and kaon differential cross sections in electron-positron annihilation at Q = 10.52 GeV

Measurements of inclusive differential cross sections for charged pion and kaon production in electron-positron annihilation have been carried out at a center-of-mass energy of Q = 10.52 GeV. The measurements were performed with the Belle detector at the KEKB electron-positron collider using a data sample containing 113 million e+e- -> qqbar events, where q={u,d,s,c}. We present charge-integrated differential cross sections d\sigma_h+-/dz for h+- = pi+-, K+- as a function of the relative hadron energy z = 2*E_h / sqrt{s} from 0.2 to 0.98. The combined statistical and systematic uncertainties for pi+- (K+-) are 4% (4%) at z ~ 0.6 and 15% (24%) at z ~ 0.9. The cross sections are the first measurements of the z-dependence of pion and kaon production for z > 0.7 as well as the first precision cross section measurements at a center-of-mass energy far below the Z^0 resonance used by the experiments at LEP and SLC.Comment: 7 pages, 3 figures. Ancillary file including all cross section and uncertainty values with 10 pages, 5 figure

Inclusive cross sections for pairs of identified light charged hadrons and for single protons in e+e−e^+e^- at s=\sqrt{s}= 10.58 GeV

We report the first double differential cross sections of two charged pions and kaons ($e^+e^- \rightarrow hhX$) in electron-positron annihilation as a function of the fractional energies of the two hadrons for any charge and hadron combination. The dependence of these di-hadron cross sections on the topology (same, opposite-hemisphere or anywhere) is also studied with the help of the event shape variable thrust and its axis. The ratios of these di-hadron cross sections for different charges and hadron combinations directly shed light on the contributing fragmentation functions. For example, we find that the ratio of same-sign pion pairs over opposite-sign pion pairs drops toward higher fractional energies where disfavored fragmentation is expected to be suppressed. These di-hadron results are obtained from a $655\,{\rm fb}^{-1}$ data sample collected near the $\Upsilon(4S)$ resonance with the Belle detector at the KEKB asymmetric-energy $e^+ e^-$ collider. Extending the previously published single-pion and single-kaon cross sections, single-proton ($e^+e^- \rightarrow pX$) cross sections are extracted from a $159\,{\rm fb}^{-1}$ data sub-sample.Comment: submitted to PR