Dynamic modeling and CPG-based trajectory generation for a masticatory rehab robot

Human mastication is a complex and rhythmic biomechanical process which is regulated by a brain stem central pattern generator (CPG). Masticatory patterns, frequency and amplitude of mastication are different from person to person and significantly depend on food properties. The central nervous system controls the activity of muscles to produce smooth transitions between different movements. Therefore, to rehab human mandibular system, there is a real need to use the concept of CPG for development of a new methodology in jaw exercises and to help jaw movements recovery. This paper proposes a novel method for real-time trajectory generation of a mastication rehab robot. The proposed method combines several methods and concepts including kinematics, dynamics, trajectory generation and CPG. The purpose of this article is to provide a methodology to enable physiotherapists to perform the human jaw rehabilitation. In this paper, the robotic setup includes two Gough–Stewart platforms. The first platform is used as the rehab robot, while the second one is used to model the human jaw system. Once the modeling is completed, the second robot will be replaced by an actual patient for the selected physiotherapy. Gibbs–Appell’s formulation is used to obtain the dynamics equations of the rehab robot. Then, a method based on the Fourier series is employed to tune parameters of the CPG. It is shown that changes in leg lengths, due to the online changes of the mastication parameters, occur in a smooth and continuous manner. The key feature of the proposed method, when applied to human mastication, is its ability to adapt to the environment and change the chewing pattern in real-time parameters, such as amplitudes as well as jaw movements velocity during mastication.     

Long term ageing of polyamide 6 and polyamide 6 reinforced with 30% of glass fibers: physicochemical,mechanical and morphological characterization

Hygrothermal ageing of polyamide 6 (PA6) and polyamide 6 reinforced with 30 wt% of glass fibers (PA6GF30) was undertaken. Immersion was conducted in distilled water at 90 °C and 100% relative humidity (RH) for up to 80 days (1920 h). Results revealed a noteworthy decrease either in glass transition temperature T_g or in tensile properties, at early stage of ageing, for both studied materials. This decline was mainly caused by the plasticization effect of water and the weakness of the interfacial interactions leading as a consequence to a loss of adhesion between fiber and matrix. Afterwards, physical and mechanical properties decrease monotonically testifying the occurrence of exhaustive damages and chemical reaction phenomena. Such phenomena were yellowing and crazing formation which were observed for both materials after 1920 h of conditioning. The former is caused by the thermo- oxidation whereas the latter results from the release of internal stresses induced by water sorption. These chemical reactions were monitored by infrared spectroscopy. Thus, an increase of the free N-H stretch and the carbonyl groups (imides) was noted. Accordingly, it seems that long term immersion in distilled water at high temperature induces chemical reactions which indicate the severity of the damage.     

Biogenic Amine Contents in Non-alcoholic Beers: Screening and Optimization of Derivatization

A rapid, sensitive, and reproducible high-performance liquid chromatographic procedure for the determination of nine biogenic amines in non-alcoholic beers was developed by an optimized benzoylation procedure. A Plackett–Burman factorial design was used in order to screen the statistically significant variables. The significant factors of biogenic amine benzoylation, reagent volume and pH, were optimized by a complete factorial response surface design, and optimal reaction conditions were generated. The optimized method showed good linearity (correlation coefficients > 0.997) and good recoveries (from 88.6 to 104.7 %). The repeatability and reproducibility of method were >3.9 and >4.6 %, respectively. Moreover, the detection limits of biogenic amines were calculated between 0.05 and 0.15 μg/ml in wine samples. The optimized method has been applied to the determination of biogenic amine contents of non-alcoholic beers consumed in Iran. Their values ranged from 0 to 2.56 mg/l, no significant differences (p?>?0.05) were observed between the analyzed samples, and none of these samples surpass the toxic levels reported in the literature.     

Different combinations of salts affect the growth and bacteriocin production by Lactobacillus salivarius CRL 1328

BACKGROUND: The culture medium for optimal growth of vaginal Lactobacillus salivarius CRL 1328 is different from that for optimal bacteriocin production. To simultaneously obtain high amount of biomass and bacteriocin of this microorganism, the effects of different basal culture media and salts on both responses were evaluated. The study was performed by using a complete factorial experimental design 2⁶, with central points. Sixty‐four different growth media, which resulted from the combinations of two basal culture media and two concentrations of five salts (ammonium citrate, sodium acetate, MgSO₄, MnSO₄, and K₂HPO₄) were assayed. RESULTS: Only the addition of MnSO₄ to each culture medium significantly stimulated the growth of L. salivarius. The presence of sodium acetate or MgSO₄ stimulated the bacteriocin production, while MnSO₄ and K₂HPO₄ exerted an inhibitory effect. However, the simultaneous addition of MnSO₄ and sodium acetate to both basal culture media allowed high bacteriocin levels to be reached, attenuating the inhibitory effect of Mn²⁺. CONCLUSIONS: The application of a complete experimental design contributed to simultaneous optimization of the biomass and bacteriocin production of L. salivarius CRL 1328. The results obtained are potentially applicable to the technological production of probiotic bacteria and antagonistic substance to be included in a probiotic pharmaceutical product. Copyright © 2009 Society of Chemical Industry     

Evaluation of Gene Expression Knock-Down by Chemically and Structurally Modified Gapmer Antisense Oligonucleotides

We analyzed the effect of modified nucleotides within gapmer antisense oligonucleotides on RNase H mediated gene silencing. Additionally, short hairpins were introduced into antisense oligonucleotides as structural motifs, and their influence on biological and physicochemical properties of pre-structured gapmers was investigated for the first time. The results indicate that two LNA residues in specified positions of the gap flanking regions are sufficient and favorable for efficient knock-down of the β-actin gene. Furthermore, the introduction of other modified nucleotides, i. e. glycyl-amino-LNA−T, 2′-O-propagyluridine, polyamine functionalized uridine, and UNA, in specified positions, also increases the inhibition of β-actin expression. Importantly, the presence of hairpins within the gapmers improves their silencing properties.