Blending in pick and place applications

At the start of this internship a conventional pick and place algorithm was available to generate pick and place trajectories. To get a small motion time, time optimal point to points are constructed on the linear segments using the theory of Lambrechts, which was extended by van Dijk, while monitoring Cartesian constraints on velocity, acceleration and jerk using the procedure described by Macfarlane. The major disadvantage of this conventional algorithm is the use of a blend function during blending. On of the boundary conditions of this fixed blend function is, that the track velocity at the beginning of the blend should be equal to the track velocity at the end of the blend, i.e. no track acceleration can be attained during blending. When an application needs trajectories containing small linear segments with large blends, the manipulator must maintain that low velocity reached at the end of such a small segment during the whole blend path and this will cause more process time than necessary. In this report, a new blending algorithm is developed, which can have track acceleration during blend-ing. In this case, the manipulator can accelerate during blending and this will decrease motion time. Theoretical results prove that the generated motion time will be in fact the time optimal one. With this new pick and place algorithm simulations with different trajectories are performed an

Glucose metabolism during bovine preimplantation development: analysis of gene expression in single oocytes and embryos.

peer reviewedGlucose metabolism of the bovine embryo is low during the first cleavages and increases sharply after the major resumption of the genome (8-16 cells). The mRNA level for genes involved in glucose metabolism was tested by RT-PCR on individual oocytes and embryos at different stages of development. These genes were: glucose transport GLUT-1, hexokinase (HK), glucose-6-phosphatase-dehydrogenase (G6PDH), and glucose-phosphate-isomerase (GPI); actin was used as a reference transcript. RT-PCR results revealed three types of oocytes or embryos: positive with a PCR signal for each transcript considered, nul with no signal for any transcript, and heterogeneous with a PCR signal for some transcripts and none for others. The number of nul and heterogeneous samples was higher for slow than for fast-cleaving embryos (81% vs. 36%), and the proportion of positive embryos increased significantly at the 16-cell and morula stages (P < 0.002), suggesting a correlation between mRNA content and developmental capacity. In positive embryos, GLUT-1 level was reduced by half during maturation and fertilization. Actin and hexokinase mRNA levels decreased during the first cleavages, but significantly increased at the 16-cell and morula stages, respectively. GPI transcript remained stable throughout development, whereas there was a significant rise for G6PDH at the 4-cell stage, perhaps due to a polyadenylation process. Finally, the absence or decrease in intensity of several transcripts at the blastocyst stage suggests suboptimal culture conditions

Utilization of translesional hemodynamics: comparison of pressure and flow methods in stenosis assessment in patie

Aim of this study is the assessment of feasibility and clinical usefulness of a new index of stenosis severity, the slope of the instantaneous transstenotic pressure gradient/velocity relationship. Twenty-one patients scheduled for percutaneous revascularization procedures were studied with simultaneous measurement of poststenotic coronary pressure and flow velocity, in basal condition and during maximal hyperemia induced with intracoronary papaverine. Reliable measurements of the transstenotic pressure gradient/velocity relationship could be obtained in 11 patients. In 64% of the cases, a quadratic equation showed the best fit for the data. Steeper increases of the transstenotic pressure gradient at any given velocity increase were observed in the lesions with the smallest cross-sectional area measured with quantitative angiography. A comparison of this new index with coronary flow reserve, maximal hyperemic velocity, stenosis flow reserve derived from quantitative angiography, basal and hyperemic transstenotic pressure gradient and fractional flow reserve is presented and the relative merits of all these parameters are discussed. This pilot experience suggests that the instantaneous relationship between pressure gradient and flow velocity changes during the cardiac cycle can accurately characterize the stenosis hemodynamics in the catheterization laboratory

What happens in the Lab: Applying Midstream Modulation to Enhance Critical Reflection in the Laboratory

In response to widespread policy prescriptions for responsible innovation, social scientists and engineering ethicists, among others, have sought to engage natural scientists and engineers at the ‘midstream’: building interdisciplinary collaborations to integrate social and ethical considerations with research and development processes. Two ‘laboratory engagement studies’ have explored how applying the framework of midstream modulation could enhance the reflections of natural scientists on the socio-ethical context of their work. The results of these interdisciplinary collaborations confirm the utility of midstream modulation in encouraging both first- and second-order reflective learning. The potential for second-order reflective learning, in which underlying value systems become the object of reflection, is particularly significant with respect to addressing social responsibility in research practices. Midstream modulation served to render the socio-ethical context of research visible in the laboratory and helped enable research participants to more critically reflect on this broader context. While lab-based collaborations would benefit from being carried out in concert with activities at institutional and policy levels, midstream modulation could prove a valuable asset in the toolbox of interdisciplinary methods aimed at responsible innovation

Simulating the Genetics Clinic of the Future - whether undergoing whole-genome sequencing shapes professional attitudes

Whole-genome sequencing (WGS) can provide valuable health insight for research participants or patients. Opportunities to be sequenced are increasing as direct-to- consumer (DTC) testing becomes more prevalent, but it is still fairly unusual to have been sequenced. We offered WGS to fourteen professionals with pre-existing familiarity with an interest in human genetics - healthcare, science, policy and art. Participants received a hard drive containing their personal sequence data files (.BAM,. gvcf), without further explanation or obligation, to consider how experiencing WGS firsthand might influence their professional attitudes. We performed semi-structured pre- and post-sequencing interviews with each participant to identify key themes that they raised after being sequenced. To evaluate how their experience of the procedure evolved over time, we also conducted a questionnaire to gather their views 3 years after receiving their genomic data. Participants were generally satisfied with the experience (all 14 participants would choose to participate again). They mostly decided to participate out of curiosity (personal) and to learn from the experience (professional). Whereas most participants slightly developed their original perspective on genetic data, a small selection of them radically changed their views over the course of the project. We conclude that personal experience of sequencing provides an interesting alternative perspective for experts involved in leading, planning, implementing or researching genome sequencing services. Moreover, the personal experience may provide professionals with a better understanding of the challenges visitors of the Genetics Clinic of the Future may face.Peer reviewe

OCT-measured plaque free wall angle is indicative for plaque burden: overcoming the main limitation of OCT?

textabstractThe aim of this study was to investigate the relationship between the plaque free wall (PFW) measured by optical coherence tomography (OCT) and the plaque burden (PB) measured by intravascular ultrasound (IVUS). We hypothesize that measurement of the PFW could help to estimate the PB, thereby overcoming the limited ability of OCT to visualize the external elastic membrane in the presence of plaque. This could enable selection of the optimal stent-landing zone by OCT, which is traditionally defined by IVUS as a region with a PB < 40 %. PB (IVUS) and PFW angle (OCT and IVUS) were measured in 18 matched IVUS and OCT pullbacks acquired in the same coronary artery. We determined the relationship between OCT measured PFW (PFWOCT) and IVUS PB (PBIVUS) by non-linear regression analysis. An ROC-curve analysis was used to determine the optimal cut-off value of PFW angle for the detection of PB < 40 %. Sensitivity, specificity, positive predictive value (PPV) and negative predictive value (NPV) were calculated. There is a significant correlation between PFWOCT and PBIVUS (r2 = 0.59). The optimal cut-off value of the PFWOCT for the prediction of a PBIVUS < 40 % is ≥220° with a PPV of 78 % and an NPV of 84 %. This study shows that PFWOCT can be considered as a surrogate marker for PBIVUS, which is currently a common criterion to select an optimal stent-landing zone