Controlling free flight of a robotic fly using an onboard vision sensor inspired by insect ocelli

Scaling a flying robot down to the size of a fly or bee requires advances in manufacturing, sensing and control, and will provide insights into mechanisms used by their biological counterparts. Controlled flight at this scale has previously required external cameras to provide the feedback to regulate the continuous corrective manoeuvres necessary to keep the unstable robot from tumbling. One stabilization mechanism used by flying insects may be to sense the horizon or Sun using the ocelli, a set of three light sensors distinct from the compound eyes. Here, we present an ocelli-inspired visual sensor and use it to stabilize a fly-sized robot. We propose a feedback controller that applies torque in proportion to the angular velocity of the source of light estimated by the ocelli. We demonstrate theoretically and empirically that this is sufficient to stabilize the robot''s upright orientation. This constitutes the first known use of onboard sensors at this scale. Dipteran flies use halteres to provide gyroscopic velocity feedback, but it is unknown how other insects such as honeybees stabilize flight without these sensory organs. Our results, using a vehicle of similar size and dynamics to the honeybee, suggest how the ocelli could serve this role.     

Shell-and-Tube Minichannel Condenser for Low Refrigerant Charge

The design of an innovative shell-and-tube heat pump condenser using 2 mm ID minichannels is presented. This condenser has been designed aiming at the minimization of the charge, which can be required by safety or environmental restrictions. Nevertheless, minichannels represent also a solution to the high-pressure challenge when using carbon dioxide as a refrigerant. The present prototype was realized for the use with propane in the framework of the European project SHERHPA, concerning the development of heat pumps working with natural fluids. Experimental data for heat transfer and pressure drop are reported in the present paper. The measurements have been obtained using refrigerant R22, which displays a temperature versus pressure saturation curve pretty close to the one of propane. The data have also been compared against a computational procedure for shell-and-tube heat exchangers design. The refrigerant charge has been computed by means of different void fraction correlations, showing that the expected charge is less than half the quantity required by a brazed plate condenser giving the same capacity.     

Influence of Metronidazole Particle Properties on Granules Prepared in a High-Shear Mixer-Granulator

ABSTRACT

Metronidazole is a good example of high-dose drug substance with poor granulating and tableting properties. Tablets are generally produced by liquid granulation; however, the technological process failure is quite frequent. In order to verify how the metronidazole particle characteristics can influence granule properties, three metronidazole batches differing for crystal habit, mean particle size, BET surface area and wettability were selected, primarily designed according to their different elongation ratio: needle-shaped, stick-shaped, and isodimensional. In the presence of lactose monohydrate and pregelatinized maize starch, respectively as diluent and binder, they were included in a formula for wet granulation in a high-shear mixer-granulator. In order to render the process comparable as far as possible, all parameters and experimental conditions were maintained constant. Four granule batches were obtained: granules from placebo (G-placebo), granules from needle-shaped crystals (G-needle-shaped), granules from stick-shaped crystals (G-stick-shaped), and granules from isodimensional crystals (G-isodimensional). Different granule properties were considered, in particular concerning porosity, friability, loss on drying (LOD), and flowability. In order to study their tabletability and compressibility, the different granules obtained were then compressed in a rotary press. The best tabletability was obtained with the isodimensional batch, while the poorest was exhibited by the stick-shaped one. Differences in tabletability are in good accordance with compressibility results: to a better tabletability corresponds an important granule ability to undergo a volume reduction as a result of an applied pressure. In particular, it was proposed that the greatest compressibility of the G-isodimensional must be related to the greatest granule porosity percentage.     

Cathodically pretreated poly(1-aminoanthraquinone)-modified electrode for determination of ascorbic acid, dopamine, and uric acid

This paper describes a rapid and reliable method for dopamine (DA), ascorbic acid (AA), and uric acid (UA) determination in human urine using a cathodically pretreated poly(1-aminoanthraquinone) (PAAQ)-modified electrode. By applying a simple cathodic pretreatment to the PAAQ electrode well-defined voltammetric peaks for AA, DA, and UA were obtained. The pretreated PAAQ showed good selectivity, sensitivity, and repeatability for measuring AA, DA, and UA with detection limits of 2.50 × 10^?5, 3.05 × 10^?6, and 1.15 × 10^?5 M, respectively. The practical applicability of the modified electrode is illustrated by selective measurements of AA and UA in human urine without any preliminary treatment. Recovery values between 94.8 and 102 % for AA and between 77.8 and 100 % for UA were obtained with a relative standard deviation of 2.74 and 2.98 %, respectively.     

Coupling patterns between spontaneous rhythms and respiration in cardiovascular variability signals

We performed a quantitative study of coupling patterns between respiration and spontaneous rhythms of heart rate and blood pressure variability signals by using the Recurrence Quantification Analysis (RQA). We applied RQA to both simulated and experimental data obtained in control breathing at three different frequencies (0.25, 0.20, and 0.13 Hz) from ten normal subjects. RQA succeeded in quantifying different degrees of non-linear coupling associated to several interference patterns. We found higher degrees of non-linear coupling when the respiratory frequency was close to the spontaneous Low Frequency (LF) rhythm (0.13 Hz), or almost twice the LF frequency (0.2 Hz), whereas weaker coupling was observed when the respiratory frequency was 0.25 Hz. Clinical applications of our approach should focus on new experimental protocols, featuring the stimulation of one of the two branches of the autonomic nervous system (ANS) or aimed at the analysis of pathologies linked to the ANS.     

Overexpression of miR-375 and L-type Amino Acid Transporter 1 in Pheochromocytoma and Their Molecular and Functional Implications

Pheochromocytoma (Pheo) is a tumor derived from chromaffin cells. It can be studied using 18F-dihydroxyphenylalanine (DOPA)—positron emission tomography (PET) due to its overexpression of L-type amino acid transporters (LAT1 and LAT2). The oncogenic pathways involved are still poorly understood. This study examined the relationship between ¹⁸F-DOPA-PET uptake and LAT1 expression, and we explored the role of miR-375 and putative target genes. A consecutive series of 58 Pheo patients were retrospectively analyzed, performing ¹⁸F-DOPA-PET in 32/58 patients. Real-time quantitative PCR was used to assess the expression of LAT1, LAT2, phenylethanolamine N-methyltransferase (PNMT), miR-375, and the major components of the Hippo and Wingless/Integrated pathways. Principal germline mutations associated with hereditary Pheo were also studied. Pheo tissues had significantly higher LAT1, LAT2, and PNMT mRNA levels than normal adrenal tissues. MiR-375 was strongly overexpressed. Yes-associated protein 1 and tankyrase 1 were upregulated, while beta-catenin, axin2, monocarboxylate transporter 8, and Frizzled 8 were downregulated. A positive relationship was found between ¹⁸F-DOPA-PET SUV mean and LAT1 gene expression and for 24 h-urinary norepinephrine and LAT1. This is the first experimental evidence of ¹⁸F-DOPA uptake correlating with LAT1 overexpression. We also demonstrated miR-375 overexpression and downregulated (Wnt) signaling and identified the Hippo pathway as a new potentially oncogenic feature of Pheo.