The dynamic effects and compensation of load transitions in robotic systems

The problem of a robot handling a payload typically involves pre-load, load, and post-load stages, and payload transitions between these stages. Although considerable work has focused on the control of robots carrying payloads, few consider the problem of load transitions—one of the most important effects on system performance. This article studies these transitions and presents a compensation method. It is shown that load transitions lead to abrupt (jump) parameters and uncertain transition times in the robot/payload model. A control strategy is proposed that takes the load transitions into account and guarantees the stable path tracking of robots in the face of these transitions. The effectiveness of the proposed control strategy is verified via simulation. © 1994 John Wiley & Sons, Inc.     

Integrated imaging for neurosurgery

The authors address using the concept of multimodal bioimage integration at the local area network level, using 3D MRI and PET data of the human head. Here, integration is intended between structural and functional multidimensional images of the same body area of a patient. They analyze the role of present technology and standards (such as the X Window protocol) in providing the physician with a better understanding of the structure-to-function relationships of a given biological organ. They analyze the concept of integration intended as a tool to extract the significative information content from bioimages, i.e. to perform image analysis. The fusion of visual eidetic and linguistic knowledge, which plays an important role in medical diagnosis formation, is seen as a significant step towards obtaining quantitative evaluation of the relevant information content of bioimages     

Calculation of secondary cable losses and ampacity in the presenceof harmonics

A simplified procedure for computing ohmic losses in secondary distribution cable systems by extending the Neher-McGrath model for 60 Hz losses is presented. Specifically, simplified formulae for evaluating ohmic losses due to harmonics are given. These results are subsequently used to compute the cable ampacity or the derating factor due to harmonics. The overall method is simple to follow and can be performed with a calculator. A typical example is given     

Obesity, hypertension and atherosclerosis

OBJECTIVE: To determine the effect on oxygen saturation of instilling a saline bolus into artificial airways prior to suctioning, as measured by pulse oximeter. DESIGN: Quasi-experimental, single-case, counterbalanced design. SETTING: The surgical, medical and coronary intensive care units of a federal, teaching medical center. SUBJECTS: Subjects were 40 men, more than 40 years old, in need of intensive care nursing and mechanical ventilation. INTERVENTIONS: Subjects were suctioned as needed for 24 hours. A 5-mL saline bolus was instilled every other time the subject was suctioned. Outcome measurements were done immediately before and after suctioning and at 1-minute intervals for 5 minutes after suctioning. MAIN OUTCOME MEASURES: Noninvasive oxygen saturation values. RESULTS: The instillation of a saline bolus was found to have an adverse effect on oxygen saturation that worsened over time. Significant changes in oxygen saturation as a result of saline bolus instillation were found at 2,3,4 and 5 minutes after instillation. CONCLUSIONS: These results indicate that instilling saline prior to suctioning has an adverse effect on oxygen saturation. These results support the recommendation that the practice of instilling saline prior to suctioning should be abandoned as a routine procedure. More study is needed to investigate whether a specific group of patients may actually benefit from this procedure.     

Utility of Albicans ID plate for rapid identification of Candida albicans in clinical samples. Rapid identification of Candida albicans

A clinical study was carried out in an attempt to assess the efficacy of a newly designed electric toothbrush compared to a conventional manual toothbrush using the American Dental Association's protocol for evaluating toothbrushes. An Oral-B 35 manual toothbrush, which served as the control, was compared to the Plaq & White125 electric toothbrush. Examinations were performed by two calibrated examiners at baseline, day 15 and day 30. Examinations included the gingival index, plaque index and bleeding index. Mean indices were calculated and compared between the two brushes using the repeated measures multiple analysis of variance. No statistically significant differences between the mean indices on the three examination days were observed following the use of the manual or the electric toothbrushes. The results of this study demonstrate that the electric toothbrush was numerically more effective than the manual toothbrush in reducing supragingival plaque levels, either before or after brushing, at each examination date compared to baseline plaque values. However, this difference was not statistically significant. This and other findings concluded that the Plaq & White toothbrush is comparable to the control ADA-accepted toothbrush.     

Thermochemical properties of solid solutions in the goethite — diaspore series

Thermochemical constants for specimens of alumogoethite and alumohematite are determined. Limited miscibility of solid solutions and their thermodynamic stability are shown. Their possible effect on the properties of bauxite refractories is estimated. Translated from Ogneupory i Tekhnicheskaya Keramika, No. 7, pp. 35–39, July, 1996.     

Glass-enamel coatings based on apatite-nepheline ore dressing products

Translated from Steklo i Keramica, No. 3, pp. 7–10, March, 1993.