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.     

Selective employment of chemokine receptors as human immunodeficiency virus type 1 coreceptors determined by individual amino acids within the envelope V3 loop

The chemokine receptor CCR5 acts as an essential cofactor for cell entry by macrophage-tropic human immunodeficiency virus type 1 (HIV-1) strains, whereas CXCR4 acts as an essential cofactor for T-cell-line-adapted strains. We demonstrated that the specific amino acids in the V3 loop of the HIV-1 envelope protein that determine cellular tropism also regulate chemokine coreceptor preference for cell entry by the virus. Further, a strong correlation was found between HIV-1 strains classified as syncytium inducing in standard assays and those using CXCR4 as a coreceptor. These data support the hypothesis that progressive adaptation to additional coreceptors is a key molecular basis for HIV-1 phenotypic evolution in vivo.     

Urinary obstruction

Radiologic imaging is commonly used in the diagnosis, classification, and follow-up of renal obstruction. Precise definitions of the elements of urinary obstruction are critical. This article examines the physiology of renal obstruction and the use of such imaging tests as excretory urogram, retrograde pyelography, antegrade pyelography, Whitaker test, ultrasound, CT scan, MR imaging, and radionuclide renography.     

Effect of furosemide and intravenous normal saline fluid load upon the renal resistive index in nonobstructed kidneys in children

Recent literature has shown that relative to baseline the renal resistive index remains unchanged in nonobstructed kidneys and increases in obstructed kidneys after administration of furosemide. To our knowledge the effect upon the renal resistive index of furosemide administered in conjunction with intravenous normal saline fluid load has not been reported. We evaluated the renal resistive index in 13 nonobstructed kidneys in 8 children 6 to 18 years old before and after furosemide and intravenous normal saline fluid load. The mean resistive index decreased from baseline (mean decrease was 0.06 +/- 0.06 standard deviation), with the observation of a resistive index decrease significant to p < 0.005). It appears likely that the combination of an intravenous normal saline fluid load and furosemide caused the resistive index decrease, since a decrease was not observed with furosemide alone; however, these results cannot exclude the possibility that the resistive index decrease was due to the intravenous normal saline fluid load alone. Nonetheless, these data are important since they may provide the foundation for the development of a pharmacologically challenged Doppler sonographic examination using furosemide and intravenous normal saline fluid load to evaluate better potentially obstructed kidneys.     

Multisource-sputtered ErBa2Cu3O7−x films on single-crystal and buffered crystalline substrates

High-quality superconducting films of erbium-barium-copper-oxide have been produced in a multisource sputtering system on a variety of substrates, including buffered sapphire and silicon wafers as well as various single-crystal materials. Fine-grained polycrystalline films with narrow (<4 K) resistive transitions have been grown on a number of different substrates. The use of erbium in the 12–3 compound leads to improved film morphology and to more forgiving conditions for establishing of the superconducting phase. Sputtered neutral mass spectroscopy (SNMS) yields useful information about the compositional profile of the films.     

Nitrate Radicals in Tropospheric Chemistry

Nitrate radicals are being recognized as key intermediates in a growing list of important chemical processes in the atmosphere. Here, the role of nitrate radicals (NO₃) in tropospheric chemistry is discussed, with special emphasis on results from field measurements, most of which have been made by differential optical absorption spectroscopy (DOAS), with matrix-isolation electron spin resonance being an alternative technique. Nitrate radicals were observed in the atmosphere at peak mixing ratios of 350 ppt. Long-term observation of NO₃ shows that 24-h averages in rural air masses are closer to a few ppt. Nevertheless, the NO₃ radical plays an important role in the non-photochemical conversion of NO_x to HNO₃. Also, NO₃ is a strong oxidizing agent and initiates the night-time removal of atmospheric trace species such as olefins, aromatic hydrocarbons, and organic sulfur compounds. Finally, night-time peroxy radical production and release of reactive halogen species from sea salt aerosol might be initiated by NO₃ reactions.     

Sensorless vector controller for a synchronous reluctance motor

A new high-performance sensorless speed vector controller that implements the maximum torque per ampere control strategy for the inverter-driven synchronous reluctance machine is presented in this paper. It is based on a parameter-dependent technique for online estimation of rotor position and angular velocity at the control rate. The current ripple principle is used to estimate position. The estimates are fed to a conventional closed-loop observer to predict the new position and angular velocity. The very high accuracy of the sensorless control algorithm at both low and high speeds is confirmed by experimental results     

Analysis of a complete DNA–protein affinity landscape

Properties of biological fitness landscapes are of interest to a wide sector of the life sciences, from ecology to genetics to synthetic biology. For biomolecular fitness landscapes, the information we currently possess comes primarily from two sources: sparse samples obtained from directed evolution experiments; and more fine-grained but less authentic information from ‘in silico’ models (such as NK-landscapes). Here we present the entire protein-binding profile of all variants of a nucleic acid oligomer 10 bases in length, which we have obtained experimentally by a series of highly parallel on-chip assays. The resulting complete landscape of sequence-binding pairs, comprising more than one million binding measurements in duplicate, has been analysed statistically using a number of metrics commonly applied to synthetic landscapes. These metrics show that the landscape is rugged, with many local optima, and that this arises from a combination of experimental variation and the natural structural properties of the oligonucleotides.     

The influence of delayed light curing on the degree of conversion and polymerization contraction stress in dual-cured resin luting agents

The aim of the study was to assess the effect of delayed photo-initiation on the polymerization contraction stress (PCS) and degree of conversion (DC) of a dual-cure resin-luting agent. Thirty-five disk (6 mm × 1 mm) samples (n = 10 each group) of dual cure resin luting agent for PCS assessment were fabricated and polymerized using two illuminated quartz rods. Based on the delay in photo-initiation, 30 disks were divided among six groups [group A-0 min (min) delay, group B-2 min, group C-4 min, group D-6 min, group E-8 min and group F-10 min]. A non-photoinitiated group (group G – chemical cure – n = 5) was included as control. The PCS for all specimens was assessed using a Tensometer. For DC evaluation thirty-five specimens were divided into seven groups with delays in photo-initiation (group H-0 min, group I-2 min, group J-4 min, group K-6 min, group L-8 min and group M-10 min, group N-chemical cure). DC was assessed using attenuated total reflectance spectroscopic technique. Statistical comparison among groups was performed using analysis of variance (α = 0.05). The maximum and minimum PCS and DC values with delayed photo-initiation was observed in group-C (3.34 MPa) & group-F (2.44 MPa); and group-M (0.78 MPa) and group-H (0.55 MPa) respectively. Chemically cured samples showed the least PCS (group-G, 1.94) and DC (group-N, 0.53) values in their respective categories. PCS significantly decreased with delayed photo-initiation. A significant increase in DC was noticed when photo-initiation was delayed in the dual cure resin luting agent.