A soft robotics nonlinear hybrid position/force control for tendon driven catheters

Minimally invasive steerable catheters, commonly implemented in cardiac ablation, are currently operated by interventionalists exposing them to X-ray radiation and requiring the dexterity for accurate steering. To conduct robot-assisted cardiac ablation, highly accurate stable control platform for precise force/position control on the moving tissue is required. This paper introduces hybrid force/position control strategy to apply a constant force to the cardiac tissue while tracking the desired trajectory. The position controller is based on a nonlinear model predictive tracking control satisfying the input constraints. Cosserat rod theory is incorporated for the distal shaft modeling of tendon-driven catheters, and the model is reformulated for controller design and stability proof. Lyapunov-based stability analysis is conducted. To apply the controller, the force-displacement mapping of the cardiac tissue is obtained through ex vivo experimental tests. The performance of the controller is evaluated, and the catheter is capable of regulating the force with the RMSE of 4.9 mN and tracking the position with the RMSE of 0.89 mm. The promising results verify the potential of the application of the introduced approach in real applications including in vitro and clinical cardiac ablation.     

A Plan for the Development of Fusion Energy

This is the final report of a panel set up by the U.S. Department of Energy (DOE) Fusion Energy Sciences Advisory Committee (FESAC) in response to a charge letter dated September 10, 2002 from Dr. Ray Orbach, Director of the DOE's Office of Science. In that letter, Dr. Orbach asked FESAC to develop a plan with the end goal of the start of operation of a demonstration power plant in approximately 35 years. This report, submitted March 5, 2003, presents such a plan, leading to commercial application of fusion energy by mid-century. The plan is derived from the necessary features of a demonstration fusion power plant and from the time scale defined by President Bush. It identifies critical milestones, key decision points, needed major facilities and required budgets. The report also responds to a request from DOE to FESAC to describe what new or upgraded fusion facilities will best serve our purposes over a time frame of the next twenty years.     

Continuous self-improvement: systems thinking in a personal context

BACKGROUND: Continuous quality improvement (CQI) thinking and tools have broad applicability to improving people's lives--in continuous self-improvement (CSI). Examples include weight loss, weight gain, increasing exercise time, and improving relationship with spouse. In addition, change agents, who support and facilitate organizational efforts, can use CSI to help employees understand steps in CQI. A STEP-BY-STEP APPROACH: Team members should be involved in both the definition of the problem and the search for the solution. How do everyday processes and routines affect the habit that needs to change? What are the precursors of the event? Clients list possible solutions, prioritize them, and pilot test the items selected. One needs to change the daily routines until the desired behavior is accomplished habitually and with little external decision. DISCUSSION: CSI is successful because of its emphasis on habits embedded in personal processes. CSI organizes support from process owners, buddies, and coaches, and encourages regular measurement, multiple small improvement cycles, and public reporting.     

Synthesis and crystal structure determination of Br<Subscript>2</Subscript>SeIBr polyhalogen-chalcogen

In this paper polyhalogen-chalcogen Br₂SeIBr was synthesized and the crystal structure was determined by single crystal X-ray diffraction method. This compound was prepared in the temperature range 150–50°C which was brownish-red in colour and crystallized in monoclinic crystal system and space groupP2_1/c with four molecules per unit cell. Lattice parameters were:a = 6.3711(1),b = 6.7522(2),c = 16.8850(5) Å, α = γ = 90°, β = 95.96°, ν = 722.45 ų.     

An advanced reactive ion etching process for very high aspect-ratio sub-micron wide trenches in silicon

This paper reports on a practical modification of the two-step time-multiplexed plasma etching recipe (also known as the Bosch process) to achieve high aspect-ratio sub-micron wide trenches in silicon. Mixed argon and oxygen plasma depassivation steps are introduced in between the passivation and etching phases to promote the anisotropic removal of the passivation layer at the base of the trench. Argon does not chemically react with polymers and silicon and removes the passivation layer only by physical sputtering. Therefore, it results in a highly anisotropic polymer etching process. This recipe can be easily integrated on conventional ICP equipment and the scalloping on the trench sidewall can potentially be reduced in size to less than 50 nm. To clean up all the passivation residues, a short oxygen plasma step is also added at the end of the cycle that effectively improves the uniformity of the etching profile over various opening sizes. Excellent anisotropy of the inserted argon depassivation step facilitates narrow trenches down to 130 nm wide and gap aspect-ratios as high as 40:1, extending the application of deep reactive ion etching (DRIE) processes into a new broad regime.     

Design through selection: a method that works

In this paper a practical approach to design, based on the concept of selection, is presented. The approach involves: first, the generation of alternative concepts using ideation tecniques; second, the selection of the ‘most-likely-to-succeed’ concepts for further development into feasible alternatives; third, the formulation and solution of selection-decision-support problems to rank the feasible alternatives in order of preference using multiple attributes.The method presented in this paper is a combination of the methods proposed by Pugh and by Mistree and Muster. The former method is appropriate for use in concept selection, which is characterized by many alternatives and essentially insight-based ‘soft’ information. The latter method is appropriate when there are few alternatives and a mix of science-based ‘hard’ and insight-based ‘soft’ information. The method presented by Mistree and Muster is therefore used to formulate and solve the selection-decision-support problem. The design example used in this paper is a modified version of that used by Pugh.     

TP53 Targeted Deep Sequencing of Cell-Free DNA in Esophageal Squamous Cell Carcinoma Using Low-Quality Serum: Concordance with Tumor Mutation

Circulating cell-free DNA (cfDNA) is emerging as a potential tumor biomarker. CfDNA-based biomarkers may be applicable in tumors without an available non-invasive screening method among at-risk populations. Esophageal squamous cell carcinoma (ESCC) and residents of the Asian cancer belt are examples of those malignancies and populations. Previous epidemiological studies using cfDNA have pointed to the need for high volumes of good quality plasma (i.e., >1 mL plasma with 0 or 1 cycles of freeze-thaw) rather than archival serum, which is often the main available source of cfDNA in retrospective studies. Here, we have investigated the concordance of TP53 mutations in tumor tissue and cfDNA extracted from archival serum left-over from 42 cases and 39 matched controls (age, gender, residence) in a high-risk area of Northern Iran (Golestan). Deep sequencing of TP53 coding regions was complemented with a specialized variant caller (Needlestack). Overall, 23% to 31% of mutations were concordantly detected in tumor and serum cfDNA (based on two false discovery rate thresholds). Concordance was positively correlated with high cfDNA concentration, smoking history (p-value = 0.02) and mutations with a high potential of neoantigen formation (OR; 95%CI = 1.9 (1.11–3.29)), suggesting that tumor DNA release in the bloodstream might reflect the effects of immune and inflammatory context on tumor cell turnover. We identified TP53 mutations in five controls, one of whom was subsequently diagnosed with ESCC. Overall, the results showed that cfDNA mutations can be reliably identified by deep sequencing of archival serum, with a rate of success comparable to plasma. Nonetheless, 70% non-identifiable mutations among cancer patients and 12% mutation detection in controls are the main challenges in applying cfDNA to detect tumor-related variants when blindly targeting whole coding regions of the TP53 gene in ESCC.     

A complex nine base pair deletion in RET exon 11 common in sporadic medullary thyroid carcinoma

Genetic alteration of the RET proto-oncogene is associated with multiple endocrine neoplasia type 2A and 2B (MEN 2A and MEN 2B), familial medullary thyroid carcinoma (FMTC) and Hirschprung's disease. Oncogenically activated RET has also been demonstrated in sporadic medullary thyroid tumors, which in some cases show somatic missense mutations. We have recently described a complex 9 bp deletion in RET exon 11 in a single case of sporadic MTC. In order to determine the prevalence of this mutation among sporadic MTC tumors, we have now analysed 15 cases and five normal controls by PCR-based nonradioactive single-strand conformational polymorphism analysis (PCR-SSCP) and fragment size analysis of exon 11. DNA was extracted from microdissected tumor tissue or normal cells and subjected to nested PCR prior to analysis. A markedly divergent SSCP pattern and a PCR fragment 9 bp shorter than normal were demonstrated in 14 of the 15 MTC tumors. Sequencing revealed the deletion of nine bases encompassing a key cysteine at codon 634, often altered in MEN 2A. Four lymphocyte controls and normal thyroid tissue from one patient failed to show the deletion. Several factors in the DNA sequence environment immediately surrounding the deletions, including an extended inverted repeat, several direct repeats and a so-called symmetric element suggest that the deletional events may be non-random.     

Synthesis and characterization of cadmium doped lead-borate glasses

Cadmium doped lead-borate glasses were prepared from the melts in appropriate proportions of PbO₂, H₃BO₃ and (15–40 mol%) CdO mixture in the temperature range 700–950°C. The infrared spectra of the glasses in the range 400–4000 cm^-1 show their structures. No boroxol ring formation was observed in the structure of these glasses. Furthermore, doped cadmium atoms were not seen in tetrahedral coordination. But the conversion of three-fold to four-fold coordination of boron atoms in the structure of glasses was observed.     

Opportunistic scheduling for streaming multimedia users in high-speed downlink packet access (HSDPA)

High-speed downlink packet access (HSDPA) achieves high data rates and high spectral efficiency by using adaptive modulation and coding schemes and employing multicode CDMA. In this paper, we present opportunistic algorithms for scheduling HSDPA users and selecting modulation/coding and multicode schemes that exploit channel and buffer variations to increase the probability of uninterrupted media play-out. First, we introduce a stochastic discrete event model for a HSDPA system. By employing the discrete event model, we transform the scheduling problem of providing uninterrupted play-out to a feasibility problem that considers two sets of stochastic quality-of-service (QoS) constraints: stability constraints and robustness constraints. A methodology for obtaining a feasible solution is then proposed by starting with a so-called stable algorithm that satisfies the stability QoS constraints. Next, we present stochastic approximation algorithms that adapt the parameters of the stable algorithm in a way that a feasible point for the robustness QoS is reached within the feasibility region of the stability QoS.