A method to guide local physical adaptations in a robot based on phase portraits

In this paper, we propose a method that shows how phase portraits rendered by a controller can inform the development of a physical adaptation at a single degree of freedom (DoF) for a given control task. This approach has the advantage of having physical adaptations sharing the responsibility of control to accomplish a task. We use an inverted pendulum which is reminiscent of the trunk of a biped walker to conduct numerical simulations and hardware experiments to show how our method can innovate a physical adaptation at the pivot joint to reduce the control effort. Our method discovered that a torsional spring at the pivot joint would lead to a lower input effort by the regulator type feedback controller. The method can tune the spring to minimize the total cost of control up to about 32.81%. This physical adaptation framework allows multiple degrees of freedom robotic system to suggest local physical adaptations to accomplish a given control objective

Lumen shape reconstruction using a soft robotic balloon catheter and electrical impedance tomography

Incorrectly sized balloon catheters can lead to increased post-surgical complications, yet even with preoperative imaging, correct selection remains a challenge. With limited feedback during surgery, it is difficult to verify correct deployment. We propose the use of integrated impedance measurements and Electrical Impedance Tomography (EIT) imaging to assess the deformation of the balloon and determine the size and shape of the surrounding lumen. Previous work using single impedance measurements, or pressure data and analytical models, whilst demonstrating high sizing accuracy, have assumed a circular cross section. Here we extend these methods by adding a multitude of electrodes to detect elliptical and occluded lumen and obtain EIT images to localise deformations. Using a 14 Fr (5.3 mm) catheter as an example, numerical simulations were performed to find the optimal electrode configuration of two rings of 8 electrodes spaced 10 mm apart. The simulations predicted that the maximum detectable aspect ratio decreased from 0.9 for a 14mm balloon to 0.5 at 30mm. The sizing and ellipticity detection results were verified experimentally. A prototype robotic balloon catheter was constructed to automatically inflate a compliant balloon while simultaneously recording EIT and pressure data. Data were collected in experiments replicating stenotic vessels with an elliptical and asymmetrical profile, and the widening of a lumen during angioplasty. After calibration, the system was able to correctly localise the occlusion and detect aspect ratios of 0.75. EIT images further localised the occlusion and visualised the dilation of the lumen during balloon inflation

Cisgenesis and intragenesis as new strategies for crop improvement

Cisgenesis and intragenesis are emerging plant breeding technologies which offer great promise for future acceptance of genetically engineered crops. The techniques employ traditional genetic engineering methods but are confined to transferring of genes and genetic elements between sexually compatible species that can breed naturally. One of the main requirements is the absence of selectable marker genes (such as antibiotic resistance genes) in the genome. Hence the sensitive issues with regard to transfer of foreign genes and antibiotic resistance are overcome. It is a targeted technique involving specific locus; therefore, linkage drag that prolongs the time for crop improvement in traditional breeding does not occur. It has great potential for crop improvement using superior alleles that exist in the untapped germplasm or wild species. Cisgenic and intragenic plants may not face the same stringent regulatory assessment for field release as transgenic plants which is a clear added advantage that would save time. In this chapter, the concepts of cis/intragenesis and the prerequisites for the development of cis/intragenesis plants are elaborated. Strategies for marker gene removal after selection of transformants are discussed based on the few recent reports from various plant species

A method to guide local physical adaptations in a robot based on phase portraits

In this paper, we propose a method that shows how phase portraits rendered by a controller can inform the development of a physical adaptation at a single degree of freedom (DoF) for a given control task. This approach has the advantage of having physical adaptations sharing the responsibility of control to accomplish a task. We use an inverted pendulum which is reminiscent of the trunk of a biped walker to conduct numerical simulations and hardware experiments to show how our method can innovate a physical adaptation at the pivot joint to reduce the control effort. Our method discovered that a torsional spring at the pivot joint would lead to a lower input effort by the regulator type feedback controller. The method can tune the spring to minimize the total cost of control up to about 32.81%. This physical adaptation framework allows multiple degrees of freedom robotic system to suggest local physical adaptations to accomplish a given control objective

Determination of hepatitis B surface antibody and gamma interferon responsiveness in vaccinated personnel reffered to a health network in Dashte-e Azadegan (Khozestan province)

Background: Among the preventing measures for hepatitis B is vaccination against the virus. This study aimed to determine the antibody level against the hepatitis B surface antigen (anti-HBs) and its relation to interferon gamma (IFN-γ) level among the vaccinated staffs and also the reasons for the lack of response in such persons. Materials and Methods: This cross-sectional study was done on vaccinated staff (n=130) referred to Shahid Chamran Hospital. Using ELISA the samples were studied for anti-HBsAb and INF-γ level. Then, the relationship between antibody level and some indexes (e.g. sex, age, BMI, number of vaccine doses, time past after the last dose and INF-γ level) was considered. Results: Among the studied participants, 68.5 and 31.5 had a perfect and failure of immunity response (>10 IU/ml and <10 IU/ml, respectively). There was a direct relationship between the INF-γ and anti-HBs titration (R=0.635). In addition, there was a significant relationship (P<0.05) between anti-HBs titer and some indexes (e.g. BMI, the number of doses and the time interval since the last dose of vaccine); however, no significant relationship was observed between the sex and age on one hand and antibody titration on the other hand. Conclusion: Failure in INF-γ production against the virus can have a role in immunity response. Hence, measuring the anti-HBs level following the vaccination and also 5 years after are suggested for high risk cases; then, upon which a decision can be made on the reminder dosage

A Simple Image Analysis Method for Determination of Glucose by using Glucose Oxidase CdTe/TGA Quantum Dots

Glucose, as the major energy source in cellular metabolism, plays an important role in the natural growth of cells. Herein, a simple, rapid and low-cost method for the glucose determination by utilizing glucose oxidase and CdTe/thioglycolic acid (TGA) quantum dots (QDs) on a thin layer chromatography (TLC) plate has been described. The detection was based on the combination of the glucose enzymatic reaction and the quenching effect of H2O2 on the CdTe/TGA quantum dots photoluminescence. This QDs-based assay exhibits several advantages. Enzyme immobilization and QDs modification process are not required and the high stability of the QDs towards photobleaching is beneficial to this sensing system. The proposed method is linear in concentration range of 1.00 × 10-1-3.00 × 10-5 M of glucose and has a detection limit of 1.25 × 10-8 M. The results of real sample analysis show that the glucose oxidase CdTe/TGA QDs system would be a promising glucose-biosensing system

A Simple Image Analysis Method for Determination of Glucose by using Glucose Oxidase CdTe/TGA Quantum Dots

Glucose, as the major energy source in cellular metabolism, plays an important role in the natural growth of cells. Herein, a simple, rapid and low-cost method for the glucose determination by utilizing glucose oxidase and CdTe/thioglycolic acid (TGA) quantum dots (QDs) on a thin layer chromatography (TLC) plate has been described. The detection was based on the combination of the glucose enzymatic reaction and the quenching effect of H 2 O 2 on the CdTe/TGA quantum dots photoluminescence. This QDs-based assay exhibits several advantages. Enzyme immobilization and QDs modification process are not required and the high stability of the QDs towards photobleaching is beneficial to this sensing system. The proposed method is linear in concentration range of 1.00 × 10 -1 -3.00 × 10 -5 M of glucose and has a detection limit of 1.25 × 10 -8 M. The results of real sample analysis show that the glucose oxidase CdTe/TGA QDs system would be a promising glucose-biosensing system

Comparison of the symptoms and localisation of endometriosis involvement according to fertility status of endometriosis patients

This cross-sectional study aimed to assess the prevalence of endometriosis in women who were referred for Diagnostic Laparoscopy Unit due to infertility or pelvic pain between January 2012 and January 2013 and compare the symptoms and laparoscopic signs among the three groups according to the fertility status. Four hundred and thirteen women were evaluated; of these, 383 patients for infertility and 30 patients for pelvic pain and/or cyst. Endometriosis symptoms were compared between fertile and infertile women with primary and secondary infertility. There was no statistically significant difference in the overall prevalence of endometriosis between the three study groups (52.9, 45 and 40.7, respectively, in primary, secondary infertile and fertile women). The endometriosis stage was categorised as early- (I and II) or late- (III and IV) stages and the extent of endometriosis was divided into peritoneal, ovarian and ovarian coexisting with peritoneal. There is no relationship between the frequency of dysmenorrhoea or non-cyclic pelvic pain and the disease stage; although these pain symptoms are significantly more prevalent in cases with both ovarian and peritoneal endometriotic implants. Infertility was more prevalent among the patients with peritoneal endometriosis in comparison to the ones with ovarian endometriosis. Further studies with a larger sample size are required to confirm these findings.Impact statementWhat is already known on this subject? Few studies have been done in this area and only one study compared the localisation of endometriosis lesions between fertile and infertile endometriosis cases; however, more study is needed to confirm their results. What the results of this study add? A possible relationship between localisation of endometriosis involvement and infertility was found in the present study in agreement to result of a previous study performance in this area. Although the present study includes a greater number of cases than that of the previous reported study, further studies with a larger sample size are required for the confirmation or refusal of this finding. What are the implications of these findings for clinical practice and/or further research? The results of this study could have clinical application in the consultation and decision-making in infertile women with an endometriosis diagnosis. © 2018, © 2018 Informa UK Limited, trading as Taylor & Francis Group