SIMULATION AND EXPERIMENTAL WORK OF KINEMATIC PROBLEMS FOR KUKA KR 5 SIXX R650 ARTICULATED ROBOT

This paper studies an analytic solution for 6-DOF manipulator of a KUKA KR 5 SIXX R650 robotic arm using forward and inverse kinematics in a simple movement process. This paper proposes two points of movement in order to study three types of path motion used in the robotic arm. The three path motions are PTP (point-to-point), linear and circular. The motions are analyzed systemically using forward kinematics and inverse kinematics. The objective of forward kinematic analysis is to determine the cumulative effect of the entire set of joint variables. A simulation oriented analysis is obtained and comparison between simulation and experimental result is done. The result for both simulation and experimental works show close connection for the task. This robot is suitable to be applied to the teaching and training environment

DEFECT INSPECTION SYSTEM FOR SHAPE-BASED MATCHING USING TWO CAMERAS

This research is regarding the application of a vision algorithm to investigates various approaches for automated inspection in of gluing process using shape-based matching application in order to control the decision making concerning jobs and work pieces recognition that are to be made during system operation in real time. A new supervised defect detection approach to detect a class of defects in gluing application is proposed. Creating of region of interest in important region of object is discussed. Gaussian smoothing features in determining better image processing is proposed. Template matching in differentiates between reference and tested image are proposed. This scheme provides high computational savings and results in high defect detection recognition rate. The defects are broadly classified into three classes: 1) gap defect; 2) bumper defect; 3) bubble defect. A new low-cost solution for gluing inspection is also included in this paper. The defects occur provides with information of height (z-coordinate), length (y-coordinate) and width (x-coordinate). This information gathered from the proposed two camera vision system for conducting 3D transformation

Comparison of laboratory costs of rapid molecular tests and conventional diagnostics for detection of tuberculosis and drug-resistant tuberculosis in South Africa.

BACKGROUND: The World Health Organization has endorsed the use of molecular methods for the detection of TB and drug-resistant TB as a rapid alternative to culture-based systems. In South Africa, the Xpert MTB/Rif assay and the GenoType MTBDRplus have been implemented into reference laboratories for diagnosis of TB and drug-resistance, but their costs have not been fully elucidated. METHODS: We conducted a detailed reference laboratory cost analysis of new rapid molecular assays (Xpert and MTBDRplus) for tuberculosis testing and drug-resistance testing in South Africa, and compared with the costs of conventional approaches involving sputum microscopy, liquid mycobacterial culture, and phenotypic drug sensitivity testing. RESULTS: From a laboratory perspective, Xpert MTB/RIF cost $14.93/sample and the MTBDRplus line probe assay cost$23.46/sample, compared to $16.88/sample using conventional automated liquid culture-based methods. Laboratory costs of Xpert and MTBDRplus were most influenced by cost of consumables (60-80%). CONCLUSIONS: At current public sector pricing, Xpert MTB/RIF and MTBDRplus are comparable in cost to mycobacterial culture and conventional drug sensitivity testing. Overall, reference laboratories must balance costs with performance characteristics and the need for rapid results

Acute encephalitis syndrome surveillance, Kushinagar district, Uttar Pradesh, India, 2011-2012

In India, quality surveillance for acute encephalitis syndrome (AES), including laboratory testing, is necessary for understanding the epidemiology and etiology of AES, planning interventions, and developing policy. We reviewed AES surveillance data for January 2011-June 2012 from Kushinagar District, Uttar Pradesh, India. Data were cleaned, incidence was determined, and demographic characteristics of cases and data quality were analyzed. A total of 812 AES case records were identified, of which 23\% had illogical entries. AES incidence was highest among boys<6 years of age, and cases peaked during monsoon season. Records for laboratory results (available for Japanese encephalitis but not AES) and vaccination history were largely incomplete, so inferences about the epidemiology and etiology of AES could not be made. The low-quality AES/Japanese encephalitis surveillance data in this area provide little evidence to support development of prevention and control measures, estimate the effect of interventions, and avoid the waste of public health resources

SLEPX: An Efficient Lightweight Cipher for Visual Protection of Scalable HEVC Extension

This paper proposes a lightweight cipher scheme aimed at the scalable extension of the High Efficiency Video Coding (HEVC) codec, referred to as the Scalable HEVC (SHVC) standard. This stream cipher, Symmetric Cipher for Lightweight Encryption based on Permutation and EXlusive OR (SLEPX), applies Selective Encryption (SE) over suitable coding syntax elements in the SHVC layers. This is achieved minimal computational complexity and delay. The algorithm also conserves most SHVC functionalities, i.e. preservation of bit-length, decoder format-compliance, and error resilience. For comparative analysis, results were taken and compared with other state-of-art ciphers i.e. Exclusive-OR (XOR) and the Advanced Encryption Standard (AES). The performance of SLEPX is also compared with existing video SE solutions to confirm the efficiency of the adopted scheme. The experimental results demonstrate that SLEPX is as secure as AES in terms of visual protection, while computationally efficient comparable with a basic XOR cipher. Visual quality assessment, security analysis and extensive cryptanalysis (based on numerical values of selected binstrings) also showed the effectiveness of SLEPX’s visual protection scheme for SHVC compared to previously-employed cryptographic technique

Enhancement of lipase activity in non-aqueous media upon immobilization on multi-walled carbon nanotubes

<p>Abstract</p> <p>Background</p> <p>Immobilization of biologically active proteins on nanosized surfaces is a key process in bionanofabrication. Carbon nanotubes with their high surface areas, as well as useful electronic, thermal and mechanical properties, constitute important building blocks in the fabrication of novel functional materials.</p> <p>Results</p> <p>Lipases from <it>Candida rugosa </it>(CRL) were found to be adsorbed on the multiwalled carbon nanotubes with very high retention of their biological activity (97%). The immobilized biocatalyst showed 2.2- and 14-fold increases in the initial rates of transesterification activity in nearly anhydrous hexane and water immiscible ionic liquid [Bmim] [PF6] respectively, as compared to the lyophilized powdered enzyme. It is presumed that the interaction with the hydrophobic surface of the nanotubes resulted in conformational changes leading to the 'open lid' structure of CRL. The immobilized enzyme was found to give 64% conversion over 24 h (as opposed to 14% with free enzyme) in the formation of butylbutyrate in nearly anhydrous hexane. Similarly, with ionic liquid [Bmim] [PF6], the immobilized enzyme allowed 71% conversion as compared to 16% with the free enzyme. The immobilized lipase also showed high enantioselectivity as determined by kinetic resolution of (±) 1-phenylethanol in [Bmim] [PF6]. While free CRL gave only 5% conversion after 36 h, the immobilized enzyme resulted in 37% conversion with > 99% enantiomeric excess. TEM studies on the immobilized biocatalyst showed that the enzyme is attached to the multiwalled nanotubes.</p> <p>Conclusion</p> <p>Successful immobilization of enzymes on nanosized carriers could pave the way for reduced reactor volumes required for biotransformations, as well as having a use in the construction of miniaturized biosensensor devices.</p

Refinement of the critical genomic region for congenital hyperinsulinism in the Chromosome 9p deletion syndrome

Version 2; peer review: 3 approved. Available from F1000 Research via the DOI in this recordBackground: Large contiguous gene deletions at the distal end of the short arm of chromosome 9 result in the complex multi-organ condition chromosome 9p deletion syndrome. A range of clinical features can result from these deletions with the most common being facial dysmorphisms and neurological impairment. Congenital hyperinsulinism is a rarely reported feature of the syndrome with the genetic mechanism for the dysregulated insulin secretion being unknown. Methods: We studied the clinical and genetic characteristics of 12 individuals with chromosome 9p deletions who had a history of neonatal hypoglycaemia. Using off-target reads generated from targeted next-generation sequencing of the genes known to cause hyperinsulinaemic hypoglycaemia (n=9), or microarray analysis (n=3), we mapped the minimal shared deleted region on chromosome 9 in this cohort. Targeted sequencing was performed in three patients to search for a recessive mutation unmasked by the deletion. Results: In 10/12 patients with hypoglycaemia, hyperinsulinism was confirmed biochemically. A range of extra-pancreatic features were also reported in these patients consistent with the diagnosis of the Chromosome 9p deletion syndrome. The minimal deleted region was mapped to 7.2 Mb, encompassing 38 protein-coding genes. In silico analysis of these genes highlighted SMARCA2 and RFX3 as potential candidates for the hypoglycaemia. Targeted sequencing performed on three of the patients did not identify a second disease-causing variant within the minimal deleted region. Conclusions: This study identifies 9p deletions as an important cause of hyperinsulinaemic hypoglycaemia and increases the number of cases reported with 9p deletions and hypoglycaemia to 15 making this a more common feature of the syndrome than previously appreciated. Whilst the precise genetic mechanism of the dysregulated insulin secretion could not be determined in these patients, mapping the deletion breakpoints highlighted potential candidate genes for hypoglycaemia within the deleted region.Wellcome TrustRoyal Societ

Isolation and biochemical characterizations of the bacteria (Acidovorax avenae subsp. avenae) associated with red stripe disease of sugarcane

Studies on Acidovorax avenae subsp. avenae, associated with red stripe disease of sugarcane was conducted in the Department of Plant Pathology, Pir Mehr Ali Shah Arid Agriculture University Rawalpindi during 2009 to 2010, in collaboration with Shakarganj Sugar Research Institute (SSRI), Jhang, Pakistan. Red stripe of sugarcane were recently observed on promising clones of sugarcane planted in autumn 2009 at Ashaba Research Farm of SSRI. Bacteria were isolated from diseased plants. These isolates yielded off white convex colonies on potato dextrose agar (PDA) media at 29°C with 1.7 to 1.9 mm diameter and were yellow on yeast extract dextrose chalk agar (YDC) media at 27°C with 1.8 to 2.0 mm diameter. The bacteria were rod shape measuring 0.5 to 0.6 × 1.4 to 1.6 μm on PDA and 0.6 to 0.7 × 1.5 to 1.7 μm on YDC. Bacterial culture was stored at different temperature levels for 150 days. Reisolation of bacterial culture which was stored at 4°C showed best result on YDC at 27°C after 150 days, whereas it showed positive result after 120 days on PDA at 29°C. Bacteria were gram negative, citrate utilization was positive, oxidase was negative, catalase was positive and urease was negative. Morphological appearance and biochemical characterizations identified the bacteria as A. avenae subsp. Avenae. In vitro screening for the efficacy of various antibiotics to inhibit the growth of A. avenae subsp. avenae on YDC media showed that ampicillin and vancomycin were most effective. Artificial inoculation on sugarcane against red stripe disease was observed. Observations were made upto six weeks for disease development. Out of 27 varieties, 16 were found resistant, four moderately resistant, five moderately susceptible and two susceptible.Key words: Sugarcane, yeast extract dextrose chalk agar (YDC), potato dextrose agar (PDA), Acidovorax avenae subsp. avenae, biochemical characterization, antibiotics

A tolerance analysis and optimization methodology: the combined use of 3D CAT, a dimensional hierarchization matrix and an optimization algorithm

We propose a methodology in this study for the analysis and the optimization of assembly tolerances. A combination of three components, it involves the use of 3D CAT software, a table referred to as a “dimensional hierarchization matrix” and a tolerance optimization algorithm. The Antolin Group, a Spanish multinational in the automobile components sector, employs this system to optimize tolerance values and to reduce manufacturing costs. The matrix was designed to enable easy identification, in a single table, of all requirements that fail to meet the specifications in the different approximations, prior to the definition of the dimensional and the geometric tolerances that comply with the functional requirements, and to identify which tolerances contribute most to variations in all of the functional conditions of the mechanism. Through its different iterations, this matrix allows us to see which of the tolerances should first be modified to optimize the design requirement specifications. A tolerance optimization algorithm was also defined, which functions with the data from the dimensional hierarchization matrix

Optimising biocatalyst design for obtaining high transesterification activity by α-chymotrypsin in non-aqueous media

<p>Abstract</p> <p>Background</p> <p>Enzymes are often used in organic solvents for catalyzing organic synthesis. Two enzyme preparations, EPRP (enzyme precipitated and rinsed with n-propanol) and PCMC (protein coated microcrystals) show much higher activities than lyophilized powders in such systems. Both preparations involve precipitation by an organic solvent. The clear understanding of why these preparations show higher catalytic activity than lyophilized powders in organic solvents is not available.</p> <p>Results</p> <p>It was found that EPRPs of α-chymotrypsin prepared by precipitation with <it>n</it>-propanol in the presence of trehalose contained substantial amount of trehalose (even though trehalose alone at these lower concentrations was not precipitated by <it>n</it>-propanol). The presence of trehalose in these EPRPs resulted in much higher transesterification rates (45.2 nmoles mg^-1min^-1) as compared with EPRPs prepared in the absence of trehalose (16.6 nmoles mg^-1min^-1) in octane. Both kinds of EPRPs gave similar initial transesterification rates in acetonitrile. Use of higher concentrations of trehalose (when trehalose alone also precipitates out), resulted in the formation of PCMCs, which showed higher transesterification rates in both octane and acetonitrile. SEM analysis showed the relative sizes of various preparations. Presence of trehalose resulted in EPRPs of smaller sizes.</p> <p>Conclusion</p> <p>The two different forms of enzymes (EPRP and PCMC) known to show higher activity in organic solvents were found to be different only in the way the low molecular weight additive was present along with the protein. Therefore, the enhancement in the transesterification activity in EPRPs prepared in the presence of trehalose was due to: (a) better retention of essential water layer for catalysis due to the presence of the sugar. This effect disappeared where the reaction media was polar as the polar solvent (acetonitrile) is more effective in stripping off the water from the enzyme; (b) reduction in particle size as revealed by SEM. In the case of PCMC, the enhancement in the initial rates was due to an increase in the surface area of the biocatalyst since protein is coated over the core material (trehalose or salt).</p> <p>It is hoped that the insight gained in this work would help in a better understanding for designing high activity biocatalyst preparation of non-aqueous media.</p