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.     

Ion Exchange Kinetics of Heavy Metal Ions on Organic–Inorganic Composite Cation Exchanger Poly-o-toluidine Zr(IV) Tungstate

To study the ion exchange kinetics of heavy metal ions on the organic–inorganic composite cation exchanger poly-o-toluidine Zr(IV) tungstate, Nernst–Planck was computer simulated. Simulated numerical results for counter ions (Cu, Zn, Cd and Pb) of equal valence and four different ionic mobilities are presented to understand the ionic diffusion process. These results are based on the fractional attainment of equilibrium U(τ), of the counter ions under study. The forward (M²⁺–H⁺) and reverse (H⁺–M²⁺) ion exchange processes are justified as the particle diffusion phenomenon. The self-diffusion coefficient (D _o ), energy of activation (E _a ), and entropy of activation (?S*) have also been estimated to understand the ion exchange process occurring over the surface of this cation exchanger and indicated that the ion exchange process is feasible and spontaneous. It is concluded that the difference in activation energies and entropy of activation may facilitate the separation of metal ions. The regeneration capability of this cation exchanger was also explained.     

Electrochemical degradation of petroleum hydrocarbons (PAHS) from synthetic aqueous solutions

Water separated from crude oil and wastewater discharge from petroleum oil refineries contains significant quantity of dissolved hydrocarbons. Polycyclic aromatic hydrocarbons (PAHs) are major toxicants in wastewater of refineries. It is difficult to treat wastewater containing PAHs due to their recalcitrant property and low solubility. Conventional techniques for the treatment of wastewater are still a concern of toxicity. Electrochemical oxidation process has been found to be a favorable for treating wastewater. Electrodes with high stability and electrocatalytic activity are important factors for a successful electrochemical oxidation of toxic organics in wastewater. In this study titanium anodes were coated with tin, antimony and iridium oxide mixture from their respective salts by thermal decomposition method. FESEM and XRD used for surface characterization of Ti/SnO₂–Sb₂O₅–IrO₂ anode. Quantification of PAHs was done using GC–MS. Results confirm the presence of respective oxides on anode surface. Their electrocatalytic capability was tested for degradation of 16 priority PAHs in aqueous solution. Results reveal the complete degradation of naphthalene, acenaphthylene, acenaphthene and fluorene without using NaCl electrolyte. While in the presence of NaCl naphthalene, acenaphthylene, acenaphthene, fluorene, phenanthrene, anthracene, fluoranthene and pyrene were completely removed. About 98% of total PAHs removal was found at all initial pH values 3, 6, and 9 in the presence of electrolyte. Current study will be helpful in improving quality of petroleum industry wastewater containing PAHs.     

The influence of lateral forces on the cell stiffness measurement by optical tweezers vertical indentation

We studied the lateral forces arising during the vertical indentation of the cell membrane by an optically trapped microbead, using back focal plane interferometry to determine force components in all directions. We analyzed the cell-microbead interaction and showed that indeed the force had also lateral components. Using the Hertz model, we calculated and compared the elastic moduli resulting from the total and vertical forces, showing that the differences are important and the total force should be considered. To confirm our results we analyzed cells from two breast cancer cell lines: MDA-MB-231 and HBL-100, known to have different cancer aggressiveness and hence stiffness.     

Binary phase solid-state photopolymerization of acrylates: design,characterization and biomineralization of 3D scaffolds for tissue engineering

Porous polymer scaffolds designed by the cryogel method are attractive materials for a range of tissue engineering applications. However, the use of toxic crosslinker for retaining the pore structure limits their clinical applications. In this research, acrylates (HEA/PEGDA, HEMA/PEGDA and PEGDA) were used in the low-temperature solid-state photopolymerization to produce porous scaffolds with good structural retention. The morphology, pore diameter, mineral deposition and water absorption of the scaffold were characterized by SEM and water absorption test respectively. Elemental analysis and cytotoxicity of the biomineralized scaffold were revealed by using XRD and MTT assay test. The PEGDA-derived scaffold showed good water absorption ability and a higher degree of porosity with larger pore size compared to others. XRD patterns and IR results confirmed the formation of hydroxyapatite crystals from an alternative socking process. The overall cell proliferation was excellent, where PEGDA-derived scaffold had the highest and the most uniform cell growth, while HEMA/PEGDA scaffold showed the least. These results suggest that the cell proliferation and adhesion are directly proportional to the pore size, the shape and the porosity of scaffolds.     

Synthesis and characterization of novel curcumin based polyurethanes varying diisocyanates structure

In this research work, novel polyurethanes (PUs) based on blends of curcumin/1,4-butane diol (BDO) by varying the structure of diisocyanates were prepared following step growth polymerization. Structural study of blends and various diisocyanates based PU through Fourier Transform Infrared (FTIR) spectroscopy confirmed the incorporation of curcumin into the backbone of the PU. The scanning electron microscopic (SEM) study confirmed the well dispersion of incorporated curcumin and homogeneity of surface of synthesized samples. The SEM results also indicated that surface morphology of synthesized samples much dependent on diisocynates structure. Moreover SEM images inferred that phase separation is more pronounced in aromatic diisocyanate based PU. The anti-bacterial and anti-fungal tests were performed against different strains in order to determine the biocompatibility of the curcumin based PU. The antimicrobial activity results revealed that the material having aromatic diisocyanate are more biocompatible than the aliphatic diisocyanates in the PU structure. On the whole, this work is actually a step towards the generation of novel biocompatible materials preferably useful for biomedical applications.     

Banana peel: an effective biosorbent for aflatoxins

This work reports the application of banana peel as a novel bioadsorbent for in vitro removal of five mycotoxins (aflatoxins (AFB1, AFB2, AFG1, AFG2) and ochratoxin A). The effect of operational parameters including initial pH, adsorbent dose, contact time and temperature were studied in batch adsorption experiments. Scanning electron microscopy (SEM), Fourier transform infrared spectroscopy (FTIR) and point of zero charge (pH_pzc) analysis were used to characterise the adsorbent material. Aflatoxins’ adsorption equilibrium was achieved in 15 min, with highest adsorption at alkaline pH (6–8), while ochratoxin has not shown any significant adsorption due to surface charge repulsion. The experimental equilibrium data were tested by Langmuir, Freundlich and Hill isotherms. The Langmuir isotherm was found to be the best fitted model for aflatoxins, and the maximum monolayer coverage (Q₀) was determined to be 8.4, 9.5, 0.4 and 1.1 ng mg^?1 for AFB1, AFB2, AFG1 and AFG2 respectively. Thermodynamic parameters including changes in free energy (ΔG), enthalpy (ΔH) and entropy (ΔS) were determined for the four aflatoxins. Free energy change and enthalpy change demonstrated that the adsorption process was exothermic and spontaneous. Adsorption and desorption study at different pH further demonstrated that the sorption of toxins was strong enough to sustain pH changes that would be experienced in the gastrointestinal tract. This study suggests that biosorption of aflatoxins by dried banana peel may be an effective low-cost decontamination method for incorporation in animal feed diets.     

Group SkSP-R sampling plan for accelerated life tests

This study presents a group skip-lot sampling plan using resampling (SkSP-R) for accelerated life tests. It is assumed that the lifetime of a product follows Weibull distribution with known shape parameter under the use condition, while the scale parameter can be obtained from acceleration factor. The plan parameters are determined through a non-linear optimisation problem for fixed values of producer’s risk and consumer’s risk. The advantages of the proposed plan over the existing one are explained with some practical examples.