Industrial camera model positioned on an effector for automated tool center point calibration

The study presents a novel, full model of an industrial camera suitable for robotic manipulator tool center point (TCP) calibration. The authors propose a new solution which employs a full camera model positioned on the effector of an industrial robotic arm. The proposed full camera model simulates the capture of a calibration pattern for use in automated TCP calibration. The study describes an experimental test robot stand for producing a reference data set, a full camera model, the parameters of a generally known camera obscura model, and a comparison of proposed solution with the camera obscura model. The results are discussed in the context of an innovative approach which features a full camera model to assist the TCP calibration process. The results showed that the full camera model produced greater accuracy, a significant benefit not provided by other state-of-the-art methods. In several cases, the absolute error produced was up to seven times lower than with the state-of-the-art camera obscura model. The error for small rotation (max. of 5[Formula: see text]) and small translation (max. of 20 mm) was 3.65 pixels. The results also highlighted the applicability of the proposed solution in real-life industrial processes.

IoT Sensor Challenges for Geothermal Energy Installations Monitoring: A Survey

Geothermal energy installations are becoming increasingly common in new city developments and renovations. With a broad range of technological applications and improvements in this field, the demand for suitable monitoring technologies and control processes for geothermal energy installations is also growing. This article identifies opportunities for the future development and deployment of IoT sensors applied to geothermal energy installations. The first part of the survey describes the technologies and applications of various sensor types. Sensors that monitor temperature, flow rate and other mechanical parameters are presented with a technological background and their potential applications. The second part of the article surveys Internet-of-Things (IoT), communication technology and cloud solutions applicable to geothermal energy monitoring, with a focus on IoT node designs, data transmission technologies and cloud services. Energy harvesting technologies and edge computing methods are also reviewed. The survey concludes with a discussion of research challenges and an outline of new areas of application for monitoring geothermal installations and innovating technologies to produce IoT sensor solutions.

UHPLC-Orbitrap study of the first phase tacrine in vitro metabolites and related Alzheimer's drug candidates using human liver microsomes

Tacrine was the first drug used in the therapy of Alzheimer's disease (AD) and is one of the leading structures frequently pursued in the drug discovery of novel candidates for tackling AD. However, because tacrine has been withdrawn from the market due to its hepatotoxicity, ascribed to specific metabolites, concerns are high about the toxicity profile of newly developed compounds related to tacrine. From the point of view of drug safety, the formation of metabolites must be uncovered and analyzed. Bearing in mind that the main culprit of tacrine hepatotoxicity is its biotransformation to hydroxylated metabolites, human liver microsomes were used as a biotransformation model. Our study aims to clarify phase I metabolites of three potentially non-toxic tacrine derivatives (7-methoxytacrine, 6-chlorotacrine, 7-phenoxytacrine) and to semi-quantitatively determine the relative amount of individual metabolites as potential culprits of tacrine-based hepatotoxicity. For this purpose, a new selective UHPLC-Orbitrap method has been developed. Applying UHPLC-Orbitrap method, two as yet unpublished tacrine and 7-methoxytacrine monohydroxylated metabolites have been found and completely characterized, and the separation of ten dihydroxylated tacrine and 7-methoxytacrine metabolites was achieved for the first time. Moreover, the structures of several new metabolites of 7-phenoxytacrine and 6-chlorotacrine have been identified. In addition, the relative amount of these newly observed metabolites was determined. Based on the results and known facts about the toxicity of tacrine metabolites published so far, it appears that 7-phenoxytacrine and 6-chlorotacrine could be substantially less hepatotoxic compared to tacrine, and could potentially pave the way for metabolically safe molecules applicable in AD therapy.

Environment-Monitoring IoT Devices Powered by a TEG Which Converts Thermal Flux between Air and Near-Surface Soil into Electrical Energy

Energy harvesting has an essential role in the development of reliable devices for environmental wireless sensor networks (EWSN) in the Internet of Things (IoT), without considering the need to replace discharged batteries. Thermoelectric energy is a renewable energy source that can be exploited in order to efficiently charge a battery. The paper presents a simulation of an environment monitoring device powered by a thermoelectric generator (TEG) that harvests energy from the temperature difference between air and soil. The simulation represents a mathematical description of an EWSN, which consists of a sensor model powered by a DC/DC boost converter via a TEG and a load, which simulates data transmission, a control algorithm and data collection. The results section provides a detailed description of the harvested energy parameters and properties and their possibilities for use. The harvested energy allows supplying the load with an average power of 129.04 μW and maximum power of 752.27 μW. The first part of the results section examines the process of temperature differences and the daily amount of harvested energy. The second part of the results section provides a comprehensive analysis of various settings for the EWSN device’s operational period and sleep consumption. The study investigates the device’s number of operational cycles, quantity of energy used, discharge time, failures and overheads.

Energy Harvesting Sources, Storage Devices and System Topologies for Environmental Wireless Sensor Networks: A Review

The operational efficiency of remote environmental wireless sensor networks (EWSNs) has improved tremendously with the advent of Internet of Things (IoT) technologies over the past few years. EWSNs require elaborate device composition and advanced control to attain long-term operation with minimal maintenance. This article is focused on power supplies that provide energy to run the wireless sensor nodes in environmental applications. In this context, EWSNs have two distinct features that set them apart from monitoring systems in other application domains. They are often deployed in remote areas, preventing the use of mains power and precluding regular visits to exchange batteries. At the same time, their surroundings usually provide opportunities to harvest ambient energy and use it to (partially) power the sensor nodes. This review provides a comprehensive account of energy harvesting sources, energy storage devices, and corresponding topologies of energy harvesting systems, focusing on studies published within the last 10 years. Current trends and future directions in these areas are also covered.

Non-Invasive Fetal Monitoring: A Maternal Surface ECG Electrode Placement-Based Novel Approach for Optimization of Adaptive Filter Control Parameters Using the LMS and RLS Algorithms

This paper is focused on the design, implementation and verification of a novel method for the optimization of the control parameters (such as step size μ and filter order N) of LMS and RLS adaptive filters used for noninvasive fetal monitoring. The optimization algorithm is driven by considering the ECG electrode positions on the maternal body surface in improving the performance of these adaptive filters. The main criterion for optimal parameter selection was the Signal-to-Noise Ratio (SNR). We conducted experiments using signals supplied by the latest version of our LabVIEW-Based Multi-Channel Non-Invasive Abdominal Maternal-Fetal Electrocardiogram Signal Generator, which provides the flexibility and capability of modeling the principal distribution of maternal/fetal ECGs in the human body. Our novel algorithm enabled us to find the optimal settings of the adaptive filters based on maternal surface ECG electrode placements. The experimental results further confirmed the theoretical assumption that the optimal settings of these adaptive filters are dependent on the ECG electrode positions on the maternal body, and therefore, we were able to achieve far better results than without the use of optimization. These improvements in turn could lead to a more accurate detection of fetal hypoxia. Consequently, our approach could offer the potential to be used in clinical practice to establish recommendations for standard electrode placement and find the optimal adaptive filter settings for extracting high quality fetal ECG signals for further processing. Ultimately, diagnostic-grade fetal ECG signals would ensure the reliable detection of fetal hypoxia.

A Phonocardiographic-Based Fiber-Optic Sensor and Adaptive Filtering System for Noninvasive Continuous Fetal Heart Rate Monitoring

This paper focuses on the design, realization, and verification of a novel phonocardiographic- based fiber-optic sensor and adaptive signal processing system for noninvasive continuous fetal heart rate (fHR) monitoring. Our proposed system utilizes two Mach-Zehnder interferometeric sensors. Based on the analysis of real measurement data, we developed a simplified dynamic model for the generation and distribution of heart sounds throughout the human body. Building on this signal model, we then designed, implemented, and verified our adaptive signal processing system by implementing two stochastic gradient-based algorithms: the Least Mean Square Algorithm (LMS), and the Normalized Least Mean Square (NLMS) Algorithm. With this system we were able to extract the fHR information from high quality fetal phonocardiograms (fPCGs), filtered from abdominal maternal phonocardiograms (mPCGs) by performing fPCG signal peak detection. Common signal processing methods such as linear filtering, signal subtraction, and others could not be used for this purpose as fPCG and mPCG signals share overlapping frequency spectra. The performance of the adaptive system was evaluated by using both qualitative (gynecological studies) and quantitative measures such as: Signal-to-Noise Ratio—SNR, Root Mean Square Error—RMSE, Sensitivity—S+, and Positive Predictive Value—PPV.

Complex gunshot injury to the heart as a consequence of suicide attempt in a schizophrenic patient

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Self- inflicted gunshot injury to the heart is uncommon in Western Europe.

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Up to 40% of schizophrenic patients have history of suicide attempt.

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Discontinuation of antipsychotic medications is one of the major risk factor for suicide among individuals with schizophrenia.

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Midline sternotomy provides superior access to the heart and large vessels, pulmonary hilum as well as for access for extracorporeal circulation.

Introduction

Self-inflicted gunshot injury to the heart is uncommon in Western Europe countries. However it is considered to have a high mortality through cardiac tamponade or exsanguination and concomitant chest or abdominal cavity injury.

Case presentation

We present a 39-year-old schizophrenic woman who attempted suicide with the aid of a 6.35 mm caliber handgun, after self-discontinuing of antipsychotic treatment. Lower third of sternum, right heart atrium and ventricle and inferior caval vein were hit by the bullet which consequently got lodged in the right paravertebral muscle mass at the lower thoracic vertebral level. As she was hemodynamically unstable due to hemopericardium and a huge right hemothorax, she underwent emergent surgery. Heart and inferior vena caval injuries were repaired on extracorporeal circulation. The postoperative course was uneventful and she was transferred to a psychiatric facility on the 7th postoperative day. One year after the surgery she is well, compliant to antipsychotic medications and on periodic follow-up by psychiatrists.

Conclusion

This case represents management of complex self-inflicted gunshot cardiac injury in a schizophrenic patient who discontinued antipsychotic medication. Liaison between themedical rescue service and high level trauma center essentially reduced injury-to-surgery time. Complex heart injury was successfully repaired on extracorporeal circulation.

Radical D2 surgery for patients with gastric cancer

The authors analyzed and prepared a report concerning 18 radical surgeries for gastric cancer that were performed between 1999-2001. Overall, 55 operation were performed, 32 radical, 18 palliative and 5 explorative laparatomies. D2 resections were performed 18 times, while D1 type 14 times. The group undergoing D2 surgery comprised of 10 men and 8 women with average age of 64.3. D2 resection included partial (8 times), or total (10) gastrectomy and lymfadenectomy of perigastric nodes, supra and infrapyloric nodes and nodes along common hepatic artery, truncus coeliacus, lienal artery, left paracardial nodes and removing capsula of pancreas. Splenectomy was performed twice. On average, 37.5 lymphnodes were removed for every operation (25-69). Operative mortality was none (0%) and morbidity was 22%. As of January 1, 2002 relaps was noted in six patients, and 5 patients died.

CONCLUSION

D2 resection surgeries performed by an experienced surgeon show low morbidity as well as better outcome and higher perspective for long-term survival in patients with gastric cancer. (Tab. 1, Ref. 19.).

Concurrent neutral evolution of mRNA secondary structures and encoded proteins

Messenger RNA sequences often have to preserve functional secondary structure elements in addition to coding for proteins. We present a statistical analysis of retroviral mRNA which supports the hypothesis that the natural genetic code is adapted to such complementary coding. These sequences are still able to explore efficiently the space of possible proteins by point mutations. This is borne out by the observation that, in stem regions of retroviral mRNA foldings, silent mutations on one strand are preferentially accompanied by conservative mutations on the other. Distances between amino acids based on physicochemical properties are used to quantify the conservation of protein function under the constraint of maintained RNA secondary structure. We find that preservation of RNA secondary structure by compensatory mutations is evolutionary compatible with the efficient search for new variants on the protein level.

Complementary coding conforms to the primeval comma-less code

The hypothesis that the universal genetic code is adapted to double-strand coding is supported by its remarkable compatibility with the RNY comma-less hypothesis. Coding by a triplet code on a polynucleotide double-strand allows for enciphering of five additional messages with reference to a chosen primary reading frame. Assuming the acceptance of coupled mutations on both strands, the best codon register for two overlapping messages can be inferred. The idea of evolutionarily compatible coding of two proteins by one nucleotide double-strand is extended to complementary coding for one protein in folded, single-stranded RNA.

Neutral adaptation of the genetic code to double-strand coding

We lay new foundations to the hypothesis that the genetic code is adapted to evolutionary retention of information in the antisense strands of natural DNA/RNA sequences. In particular, we show that the genetic code exhibits, beyond the neutral replacement patterns of amino acid substitutions, optimal properties by favoring simultaneous evolution of proteins encoded in DNA/RNA sense-antisense strands. This is borne out in the sense-antisense transformations of the codons of every amino acid which target amino acids physicochemically similar to each other. Moreover, silent mutations in the sense strand generate conservative ones in its antisense counterpart and vice versa. Coevolution of proteins coded by complementary strands is shown to be a definite possibility, a result which does not depend on any physical interaction between the coevolving proteins. Likewise, the degree to which the present genetic code is dedicated to evolutionary sense-antisense tolerance is demonstrated by comparison with many randomized codes. Double-strand coding is quantified from an information-theoretical point of view.

Alkalimetric microassay of cephalosporins

Alkalimetric pH-stat titrations of cephalosporin C, cephacetril and their deacetyl derivatives using an acetyl esterase and beta-lactamase are described. The esterase was used to assay highly purified samples of cephalosporin C and cephacetril, and also to prepare analytically defined solutions of the deacetyl cephalosporins. Lactamase-catalyzed hydrolysis of the parent compounds was then found to generate exactly 2 equivalents of acid per mole; that of the deacetyl derivatives exactly 1 equivalent.

Effects of carrier morphology and buffer diffusion on the expression of enzymatic activity

A very stable esterase (EC 3.1.1.-), which hydrolyses ethyl acetate, cephalosporin C and other acetyl esters with a maximum turnover number of 3-10(2) s-1, was isolated from Bacillus subtilis ATCC 6633 and immobilized on two supports: controlled-pore glass and powdered brick, a representative of carriers having a wide pore-size distribution. Carrier morphology determines diffusion rates and the expression of activity. Rate-limiting mass transfer of buffer leads to apparent losses of activity, gross distortions of molecular pH vs. activity profiles and to apparent deviations from Michaelis-Menten kinetics.