Safety-enhanced Collaborative Framework for Tele-operated Minimally Invasive Surgery Using a 7-DoF Torque-controlled Robot

International Journal of Control, Automation and Systems - In this paper, a safety-enhanced collaborative control framework is proposed for tele-operated minimally invasive surgery (MIS) using a...     

Surface modification of activated carbon fabric with ozone. Part 2: Thermal analysis with TGA-FTIR and DTA

Two samples of activated carbon fabrics (ACF) with very high surface area (>1300 to >1800 m²/g) fully ozonized in the part 1 of this study were analyzed by thermogravimetric analysis (TGA) coupled both with differential thermal analysis (DTA) and FT-IR spectroscopy (TGA-FTIR). The adsorbed water and the amount of oxygenated functional groups were determined. The ozonized ACF shows an exothermal decomposition at about 181–189°C which may be due at least in part to the decomposition of ozonide and/or peroxide groups. The TGA-FTIR has revealed that the main products released from the thermal decomposition are CO₂ followed by CO. Formic acid was detected only in correspondence to the exothermal transition at 181°C and was taken as a proof of the decomposition of secondary ozonides.     

Optical properties of hybrid T3Pyr/SiO2/3C-SiC nanowires

A new class of nanostructured hybrid materials is developed by direct grafting of a model thiophene-based organic dye on the surface of 3C-SiC/SiO₂ core/shell nanowires. TEM-EDX analysis reveals that the carbon distribution is more spread than it would be, considering only the SiC core size, suggesting a main contribution from C of the oligothiophene framework. Further, the sulfur signal found along the treated wires is not detected in the as-grown samples. In addition, the fluorescent spectra are similar for the functionalized nanostructures and T3Pyr in solution, confirming homogeneous molecule grafting on the nanowire surface. Chemical and luminescence characterizations confirm a homogeneous functionalization of the nanowires. In particular, the fluorophore retains its optical properties after functionalization.     

Application of chemical and physical agents in model systems to controlling phenoloxidase enzymes

Several chemical and physical anti-browning agents are studied in different model systems in which caffeic acid (as substrate) and laccase from Trametes versicolor (LAC) and polyphenoloxidase from sunflower seeds (PPO) (as enzymes) are used to emulate the browning reaction. Temperature and low electric current were the tested physical agents, while acetic acid, sodium acetate, sodium chloride and, finally, sodium bisulfite were the chemical agents. Sunflower PPO was observed to be less heat sensitive than LAC that was fully inactivated after 1 and 3 min of exposure to 100 and 80 °C, respectively. Conversely, PPO required more than 3 min at 100 °C to be fully inactivated, and it still showed a significant activity (ca. 17%) after an exposure to 80 °C for 15 min. Both LAC and PPO were found to be active at frozen (−18 °C) and cool (+4 °C) temperature, and their activities were strengthened at 40 and 60 °C. As concerning chemical agents, inhibitory power of acetic acid on LAC was observed to be very weak. In the sodium acetate solution at the concentrations of 0.5, 1.0, 2.0 and 4.0%, LAC residual activity was equal to 81.5, 63.9, 61.1 and 35.2%, respectively. PPO is shown to be more sensitive to the NaCl than LAC and indifferent to the presence of NaHSO₃. A 28% residual activity of LAC was found in the solution with 200 mg L⁻¹ NaHSO₃. Finally, LAC activity was decreased to 72.3, 60.0, 16.7 and 8.4% after a low electric current (LEC) treatment of 30 s and 1, 3 and 6 min, respectively. Conversely, PPO activity was not affected under these conditions.     

Glass-Ceramic Materials for Guided-Wave Optics

Glass-ceramics (GCs) are multiphase micro- or nano-crystalline materials produced by the controlled nucleation and crystallization of an amorphous glass through a proper heating or chemical process. Most optical applications require transparency, and this usually implies that the crystalline phase be made of nanocrystals. Transparent GCs are able to combine the advantages of all their components, glasses, and crystals. Incorporation of semiconducting, ferroelectrical, and nonlinear optical phases in glass matrices can produce very promising materials for different applications. A very important role is played by nanocrystals which are activated by luminescent species, as rare earth ions. The presence of the crystalline environment around a rare earth ion allows high absorption and emission across sections, and reduction in the nonradiative relaxations thanks to the lower phonon cut-off energy. Such materials may lead to real advances in optical amplifiers, up-conversion fibers, solid-state lasers, medical sensors, and several other devices, especially if combined with a guided-wave configuration, which allows high energy densities and efficient delivery of the transmitted optical beams. The present review article covers the properties and current state of transparent glass-ceramics for guided-wave devices, including the discussion of the preparation methods and of their spectral and luminescent properties.     

Towards controlled cationic polymer growth from inorganic oxide defects: Directing the mechanism of polystyrene grafting from γ-irradiated silica

Most studies on surface-initiated controlled polymerizations for the synthesis of polymeric covalent organic-inorganic hybrid materials focus on chemical methods requiring specific modifications of the inorganic substrate. Few mechanistically-aware approaches have been undertaken towards exploiting the reactivity of defects induced by physical techniques such as ionizing radiations or UV–Vis light. Within this framework, we take grafted polymerization of styrene from γ-irradiated silica as a mechanistic testing ground where para- and diamagnetic silica defects are present, and polymerization proceeds through both radical and cationic mechanisms, resulting in a bimodal molecular weight distribution. We show that these mechanistic intricacies can be sorted out by resorting to the chemical arsenal developed in the last decades for controlled polymerizations. Specifically, we obtained a silica-polystyrene grafted material by cationic grafting from at 30 °C, a unimodal molecular weight distribution, and a relatively high molecular weight (Mn = 7.4 kDa) with a PDI of 1.68.     

Cloud-assisted body area networks: state-of-the-art and future challenges

Body area networks (BANs) are emerging as enabling technology for many human-centered application domains such as health-care, sport, fitness, wellness, ergonomics, emergency, safety, security, and sociality. A BAN, which basically consists of wireless wearable sensor nodes usually coordinated by a static or mobile device, is mainly exploited to monitor single assisted livings. Data generated by a BAN can be processed in real-time by the BAN coordinator and/or transmitted to a server-side for online/offline processing and long-term storing. A network of BANs worn by a community of people produces large amount of contextual data that require a scalable and efficient approach for elaboration and storage. Cloud computing can provide a flexible storage and processing infrastructure to perform both online and offline analysis of body sensor data streams. In this paper, we motivate the introduction of Cloud-assisted BANs along with the main challenges that need to be addressed for their development and management. The current state-of-the-art is overviewed and framed according to the main requirements for effective Cloud-assisted BAN architectures. Finally, relevant open research issues in terms of efficiency, scalability, security, interoperability, prototyping, dynamic deployment and management, are discussed.     

Behavior of Paramagnetic Iron during the Thermal Transformations of Kaolinite

Kaolinites with various degrees of structural order and iron content were heated and subsequently analyzed via electron paramagnetic resonance. Iron was present in two different states in the heated materials, either as dilute structural Fe³⁺ ions or in concentrated Fe³⁺ phases. During metakaolinization, the environment of dilute Fe³⁺ ions changed, following modifications of the Al³⁺ coordination, and the Fe³⁺ concentration increased. With the breakdown of metakaolinite, the diffusion of Fe³⁺ ions induced their exsolution in superparamagnetic iron-rich domains (Fe³⁺ clusters in γ-Al₂O₃ and/or Fe³⁺ oxide nanophases), which produced a decrease in the dilute Fe³⁺ concentration. The subsequent breakdown of γ-Al₂O₃ and the formation of mullite made the dilute Fe³⁺ concentration increase again, because of the incorporation of Fe³⁺ ions in the mullite structure.     

Fingerprint Clustering with Bounded Number of Missing Values

The problem of clustering fingerprint vectors with missing values is an interesting problem in Computational Biology that has been proposed in Figueroa et al. (J. Comput. Biol. 11(5):887–901, 2004). In this paper we show some improvements in closing the gaps between the known lower bounds and upper bounds on the approximability of variants of the biological problem. Moreover, we have studied two additional variants of the original problem proposed in Figueroa et al. (Proc. 11th Computing: The Australasian Theory Symposium (CATS), CRPIT, vol. 41, pp. 57–60, 2005). We prove that all such problems are APX-hard even when each fingerprint contains only two unknown positions and we present a greedy algorithm that has constant approximation factors for these variants. Despite the hardness of these restricted versions of the problem, we show that the general clustering problem on an unbounded number of missing values such that they occur for every fixed position of an input vector in at most one fingerprint is polynomial time solvable.     

A 3D moisture-stress FEM analysis for time dependent problems in timber structures

This paper presents a 3D moisture-stress numerical analysis for timber structures under variable humidity and load conditions. An orthotropic viscoelastic-mechanosorptive material model is specialized on the basis of previous models. Both the constitutive model and the equations needed to describe the moisture flow across the structure are implemented into user subroutines of the Abaqus finite element code and a coupled moisture-stress analysis is performed for several types of mechanical loads and moisture changes. The presented computational approach is validated by analyzing some wood tests described in the literature and comparing the computational results with the reported experimental data.