Formal probabilistic analysis of a surgical robot control algorithm with different virtual fixtures

Surgical robots are increasingly being used in operation theaters involving normal or laparoscopic surgeries. The working of these surgical robots is highly dependent on their control algorithms, which require very rigorous analysis to ensure their correct functionality due to the safety-critical nature of surgeries. Traditionally, safety of control algorithms is ensured by simulations, but they provide incomplete and approximate analysis results due to their inherent sampling-based nature. We propose to use probabilistic model checking, which is a formal verification method, for quantitative analysis, to verify the control algorithms of surgical robots in this paper. As an illustrative example, the paper provides a formal analysis of a virtual fixture control algorithm, implemented in a neuro-surgical robot, using the PRISM model checker. In particular, we provide a formal discrete-time Markov chain-based model of the given control algorithm and its environment. This formal model is then analyzed for multiple virtual fixtures, like cubic, hexagonal and irregular shapes. This verification allowed us to discover new insights about the considered algorithm that allow us to design safer control algorithms.     

Significant G peak temperature shift in Raman spectra of graphene on copper

Linear G peak position temperature dependence in Raman spectra of graphene synthesized by chemical vapor deposition from decane on copper (220) with a shift factor of ?(5.4 ± 0.4) × 10^?2 cm^?1K^?1 was observed. The obtained value substantially exceeds values previously obtained for graphene by other authors, and was associated with the substrate interaction effects.     

Synthesis and characterization of monomeric and polymeric pyridinylimine‐based Ni(II) complexes and their catalytic activities in ethylene oligomerization

A new polymeric ligand was synthesized through the reaction of 4‐(pyridinylimine)phenol and formaldehyde in a basic medium, and its corresponding polymer–nickel complexes were formed in a 1:1 molar ratio. The synthesized compounds were characterized using elemental and spectral analyses. The monomeric and polymeric Ni(II) complexes (C₁ and C₂, respectively) were evaluated as catalyst precursors for ethylene oligomerization, using methylaluminoxane as an activator at two different ethylene pressures. C₂ was found to be a more effective pre‐catalyst than C₁, with the co‐catalyst having a similar effect in both cases. C₂ exhibited an activity of 1.282 × 10⁶ g (mol Ni)^?1 h^?1 bar^?1, with an Al:Ni ratio of 2000:1 at room temperature and 1 atm ethylene pressure. Meanwhile C₁ exhibited an activity of 1.126 × 10⁶ g (mol Ni)^?1 h^?1 bar^?1 under similar experimental conditions. At 5 atm ethylene pressure, C₁ favoured the formation of high‐density polyethylene, whereas C₂ favoured the formation of branched low‐density polyethylene. Copyright © 2012 Society of Chemical Industry     

Supporting ontology adaptation and versioning based on a graph of relevance

Ontologies recently have become a topic of interest in computer science since they are seen as a semantic support to explicit and enrich data-models as well as to ensure interoperability of data. Moreover, supporting ontology adaptation becomes essential and extremely important, mainly when using ontologies in changing environments. An important issue when dealing with ontology adaptation is the management of several versions. Ontology versioning is a complex and multifaceted problem as it should take into account change management, versions storage and access, consistency issues, etc. The purpose of this paper is to propose an approach and tool for ontology adaptation and versioning. A series of techniques are proposed to ‘safely’ evolve a given ontology and produce a new consistent version. The ontology versions are ordered in a graph according to their relevance. The relevance is computed based on four criteria: conceptualisation, usage frequency, abstraction and completeness. The techniques to carry out the versioning process are implemented in the Consistology tool, which has been developed to assist users in expressing adaptation requirements and managing ontology versions.     

Directed inorganic modification of bi-component polymer fibers by selective vapor reaction and atomic layer deposition

Nanocomposite organic/inorganic materials with spatially-controlled composition can be formed using vapor-phase atomic layer deposition (ALD) on bi-component polymer fibers. The ALD process promotes selective precursor infusion into the inner core of a core/shell polymer fiber, yielding nanoparticles encapsulated within the core. Likewise, choosing alternate precursors or reaction conditions yield particles or films on the outer polymer shell. In-situ infrared spectroscopy and transmission electron microscopy show that infusion yields selective dispersion of aluminum oxide in different polymer regions, forming fine nanoparticle dispersions or films. Selective inclusion of metal oxide materials during atomic layer deposition on polymers can create unique organic/inorganic composite structures for many advanced uses.     

Mixing of low-dose cohesive drug and overcoming of pre-blending step using a new gentle-wing high-shear mixer granulator

The objective of this study was to examine the influence of drug amount and mixing time on the homogeneity and content uniformity of a low-dose drug formulation during the dry mixing step using a new gentle-wing high-shear mixer. Moreover, the study investigated the influence of drug incorporation mode on the content uniformity of tablets manufactured by different methods. Albuterol sulfate was selected as a model drug and was blended with the other excipients at two different levels, 1% w/w and 5% w/w at impeller speed of 300?rpm and chopper speed of 3000?rpm for 30?min. Utilizing a 1?ml unit side-sampling thief probe, triplicate samples were taken from nine different positions in the mixer bowl at selected time points. Two methods were used for manufacturing of tablets, direct compression and wet granulation. The produced tablets were sampled at the beginning, middle, and end of the compression cycle. An analysis of variance analysis indicated the significant effect (p?相似文献   

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