Dynamics modeling and adaptive control of flexible manipulators

An application of Model Reference Adaptive Control (MRAC) to the position and force control of flexible manipulators and robots is presented. A single-link flexible manipulator is analyzed. The problem was to develop a mathematical model of a flexible robot that is accurate. The objective is to show that the adaptive control works better than 'conventional' systems and is suitable for flexible structure control

Contribution of perfusion-weighted magnetic resonance imaging in the differentiation of meningiomas and other extra-axial tumors: case reports and literature review

We present six cases of extra-axial lesions: three meningiomas [including one intraventricular and one cerebellopontine angle (CPA) meningioma], one dural metastasis, one CPA schwannoma and one choroid plexus papilloma which were chosen from a larger cohort of extra-axial tumors evaluated in our institution. Apart from conventional MR examinations, all the patients also underwent perfusion-weighted imaging (PWI) using dynamic susceptibility contrast method on a 1.5 T MR unit (contrast: 0.3 mmol/kg, rate 5 ml/s). Though the presented tumors showed very similar appearance on conventional MR images, they differed significantly in perfusion examinations. The article draws special attention to the usefulness of PWI in the differentiation of various extra-axial tumors and its contribution in reaching final correct diagnoses. Finding a dural lesion with low perfusion parameters strongly argues against the diagnosis of meningioma and should raise a suspicion of a dural metastasis. In cases of CPA tumors, a lesion with low relative cerebral blood volume values should be suspected to be schwannoma, allowing exclusion of meningioma to be made. In intraventricular tumors arising from choroid plexus, low perfusion parameters can exclude a diagnosis of meningioma. In our opinion, PWI as an easy and quick to perform functional technique should be incorporated into the MR protocol of all intracranial tumors including extra-axial neoplasms

Effect of dietary organic and inorganic selenium supplementation on chemical, mineral and fatty acid composition of ostrich meat

This study evaluated the effect of dietary organic and inorganic selenium supplementation on chemical, mineral and fatty acid composition of ostrich meat. Forty ostriches were raised in two groups (OSe and IOSe, diets supplemented with an organic form and an inorganic form of selenium, respectively). The form of selenium had no influence on chemical composition of ostrich muscle. Although, there were no significant differences in total content of SFA, MUFA and PUFA, the content of LA and EPA was higher in the muscles of ostriches which were put on a diet supplemented with an organic form of selenium, what resulted in lower n-6/n-3 fatty acids ratio in OSe group (9.99) in comparison to IOSe group (11.70). The results of the study indicate that dietary organic selenium supplementation improves the quality of the ostrich meat as related to the health promoting properties (LA, EPA and selenium content) of meat

Prenatal diagnosis--principles of diagnostic procedures and genetic counseling.

The frequency of inherited malformations as well as genetic disorders in newborns account for around 3-5%. These frequency is much higher in early stages of pregnancy, because serious malformations and genetic disorders usually lead to spontaneous abortion. Prenatal diagnosis allowed identification of malformations and/or some genetic syndromes in fetuses during the first trimester of pregnancy. Thereafter, taking into account the severity of the disorders the decision should be taken in regard of subsequent course of the pregnancy taking into account a possibilities of treatment, parent's acceptation of a handicapped child but also, in some cases the possibility of termination of the pregnancy. In prenatal testing, both screening and diagnostic procedures are included. Screening procedures such as first and second trimester biochemical and/or ultrasound screening, first trimester combined ultrasound/biochemical screening and integrated screening should be widely offered to pregnant women. However, interpretation of screening results requires awareness of both sensitivity and predictive value of these procedures. In prenatal diagnosis ultrasound/MRI searching as well as genetic procedures are offered to pregnant women. A variety of approaches for genetic prenatal analyses are now available, including preimplantation diagnosis, chorion villi sampling, amniocentesis, fetal blood sampling as well as promising experimental procedures (e.g. fetal cell and DNA isolation from maternal blood). An incredible progress in genetic methods opened new possibilities for valuable genetic diagnosis. Although karyotyping is widely accepted as golden standard, the discussion is ongoing throughout Europe concerning shifting to new genetic techniques which allow obtaining rapid results in prenatal diagnosis of aneuploidy (e.g. RAPID-FISH, MLPA, quantitative PCR)

Using two stackers on one rail in a production system

This paper deals with the possibilities for using two stackers for interoperation transport in a workshop with a technological layout of workplaces. Basic layouts of stacker production systems are discussed. Several strategies for selecting and ordering transport demands in systems with two stackers on one rail have been simulated and evaluated. FIFO strategies are the worst in various layouts of workplaces. On the other hand, the strategy of the choice of the proximate transport demand is simple and very successful. Good technological layout can enhance transport performance. Keywords: Stacker, material supply, production system, automated transport, optimization, two cooperating stackers