Miniature in vivo robots for remote and harsh environments

Long-term human space exploration will require contingencies for emergency medical procedures including some capability to perform surgery. The ability to perform minimally invasive surgery (MIS) would be an important capability. The use of small incisions reduces surgical risk, but also eliminates the ability of the surgeon to view and touch the surgical environment directly. Robotic surgery, or telerobotic surgery, may provide emergency surgical care in remote or harsh environments such as space flight, or extremely forward environments such as battlefields. However, because current surgical robots are large and require extensive support personnel, their implementation has remained limited in forward environments, and they would be difficult, or impossible, to use in space flight or on battlefields. This paper presents experimental analysis of miniature fixed-base and mobile in vivo robots to support MIS surgery in remote and harsh environments. The objective is to develop wireless imaging and task-assisting robots that can be placed inside the abdominal cavity during surgery. Such robots will provide surgical task assistance and enable an on-site or remote surgeon to view the surgical environment from multiple angles. This approach is applicable to long-duration space flight, battlefield situations, and for traditional medical centers and other remote surgical locations.     

Modeling wireless fading channels via stochastic differential equations: identification and estimation based on noisy measurements

This paper is concerned with modeling and identification of wireless channels using noisy measurements. The models employed are governed by stochastic differential equations (SDEs) in state space form, while the identification method is based on the expectation-maximization (EM) algorithm and Kalman filtering. The algorithm is tested against real channel measurements. The results presented include state space models for the channels, estimates of inphase and quadrature components, and estimates of the corresponding Doppler power spectral densities (DPSDs), from sample noisy measurements. Based on the available measurements, it is concluded that state space models of order two are sufficient for wireless flat fading channel characterization.     

Global Asymptotical Synchronization of Chaotic Lur'e Systems Using Sampled Data: A Linear Matrix Inequality Approach

Sampled-data feedback control for master-slave synchronization schemes that consist of identical chaotic Lur'e systems is studied. Sufficient conditions for global asymptotic synchronization of such chaotic Lur'e systems are obtained using the free-weighting matrix approach and expressed in terms of linear matrix inequalities (LMIs). With the help of the LMI solvers, the sampled-data feedback control law can easily be obtained to globally asymptotically synchronize Lur'e chaotic systems. The effectiveness of the proposed method is finally illustrated via numerical simulations of chaotic Chua's circuits.     

Inverted Solution Processable OLEDs Using a Metal Oxide as an Electron Injection Contact.

A new type of bottom‐emission electroluminescent device is described in which a metal oxide is used as the electron‐injecting contact. The preparation of such a device is simple. It consists of the deposition of a thin layer of a metal oxide on top of an indium tin oxide covered glass substrate, followed by the solution processing of the light‐emitting layer and subsequently the deposition of a high‐workfunction (air‐stable) metal anode. This architecture allows for a low‐cost electroluminescent device because no rigorous encapsulation is required. Electroluminescence with a high brightness reaching 5700 cd m^–2 is observed at voltages as low as 8 V, demonstrating the potential of this new approach to organic light‐emitting diode (OLED) devices. Unfortunately the device efficiency is rather low because of the high current density flowing through the device. We show that the device only operates after the insertion of an additional hole‐injection layer in between the light‐emitting polymer (LEP) and the metal anode. A simple model that explains the experimental results and provides avenues for further optimization of these devices is described. It is based on the idea that the barrier for electron injection is lowered by the formation of a space–charge field over the metal‐oxide–LEP interface due to the build up of holes in the LEP layer close to this interface.     

Manifold mapping: a two-level optimization technique

In this paper, we analyze in some detail the manifold-mapping optimization technique introduced recently [Echeverría and Hemker in space mapping and defect correction. Comput Methods Appl Math 5(2): 107—136, 2005]. Manifold mapping aims at accelerating optimal design procedures that otherwise require many evaluations of time-expensive cost functions. We give a proof of convergence for the manifold-mapping iteration. By means of two simple optimization problems we illustrate the convergence results derived. Finally, the performances of several variants of the method are compared for some design problems from electromagnetics.     

Integrating trust into the CyberCraft Initiative via the Trust Vectors model [Application Notes]

This research supports the hypothesis that the Trust Vector model can be modified to fit the CyberCraft Initiative, and that there are limits to the utility of historical data. This research proposed some modifications and expansions to the Trust Model Vector, and identified areas for future research.     

Guest Editors' Introduction: Overview of Sensor Networks

Wireless sensor networks could advance many scientific pursuits while providing a vehicle for enhancing various forms of productivity, including manufacturing, agriculture, construction, and transportation.     

Mechanisms and Special Features of the Thermodeformational Behavior of a Channel Pipe and Graphite Elements in RBMK Reactors During Heating Due to an Accident

Two- and three-parameter quadratic fitting curves, characterizing the basic thermal and deformational parameters of the state of the structural components of a RBMK technological channel heated as a result of an accident, are constructed on the basis of numerical simulation. The parameters characterizing the accidental heating are assumed to be the heat flux density on the inner surface of the channel pipe, the pressure in the channel, and the thermal resistance on contact surfaces. The output functions are the temperature of the channel pipe at the moment it sets on the graphite, the rate of heating, the average rate of radial expansion of the pipe before and after it sets on the graphite, and the temperature of the surface of the opening in the block at the moment the pipe sets on the graphite. The fitting relations constructed can be used to obtain real-time estimates of the basic thermal and deformational characteristics of the heating process due to the accident and to develop new integral criteria for the integrity of a damaged RBMK channel.     

Stability of a floating cylinder

A cylinder having a length less than 0.707 of its diameter will float with its axis vertical while one of length exceeding one diameter floats with its axis horizontal. This transition range was investigated and under certain circumstances, two stable positions of the cylinder axis were found in each quadrant of rotation. Details of behaviour in the transition range were attributed to the edges of the square-ended cylinder.     

Formaldehyde content of milk in goats fed formaldehyde-treated soybean oil-meal

Formaldehyde is used in ruminant feeding for different purposes including the protection of dietary proteins from ruminal degradation. The formaldehyde content of milk of goats fed various levels of formaldehyde-treated soybean oil-meal has been determined by using a sensitive HPLC method. Results showed a significant linear correlation between ingested formaldehyde and formaldehyde concentration in milk. About 0.02% of ingested formaldehyde was excreted in milk, as free formaldehyde.