Renal and gastrointestinal amyloidosis in an HIV-infected injection drug user

A 30-year-old HIV-infected intravenous drug user presented with sepsis, acute renal failure, oedema, proteinuria and iron deficiency anaemia. After extensive investigation, a diagnosis of reactive systemic AA (amyloid, serum amyloid A protein) amyloidosis was made on the basis of renal, gastric and duodenal biopsies.

Towards haptic microrobotic intracellular injection

This paper proposes a system providing the operator with an intuitive method for controlling a micromanipulator during intracellular injection. A low-cost haptic device is utilised and 3D position-to-position kinematic mapping allows the operator to control the micropipette using a similar method to handheld needle insertion. The workspaces of the haptic device and micromanipulator are analysed and the importance of appropriate scaling to positioning resolution and tracking performance is investigated. The control issues integral to achieving adequate control of the micromanipulator using the Phantom Omni haptic device are addressed. Aside from offering an intuitive method for controlling the micropipette, this work lays the foundation for real-time haptic assistance in the cell injection task.

Haptic guidance for microrobotic intracellular injection

The ability for a bio-operator to utilise a haptic device to manipulate a microrobot for intracellular injection offers immense benefits. One significant benefit is for the bio-operator to receive haptic guidance while performing the injection process. In order to address this, this paper investigates the use of haptic virtual fixtures for cell injection and proposes a novel force field virtual fixture. The guidance force felt by the bio-operator is determined by force field analysis within the virtual fixture. The proposed force field virtual fixture assists the bio-operator when performing intracellular injection by limiting the micropipette tip's motion to a conical volume as well as recommending the desired path for optimal injection. A virtual fixture plane is also introduced to prevent the bio-operator from moving the micropipette tip beyond the deposition target inside the cell. Simulation results demonstrate the operation of the guidance system.

A haptic training environment for the heart myoblast cell injection procedure

The heart muscle of a cardiac arrest victim continues to accumulate damage throughout its lifetime. This reduces the heart's ability to pump sufficient oxygen and nutrient blood to meet the body's needs. Medical researchers have shown that direct injection of pre-harvested skeletal myoblast cells into the heart can restore some muscle function [1]. This operative procedure usually necessitates the surgeon to open a patient's chest. The open chest procedure is usually a lengthy process and often extends the recovery time of the patient. Alternatively, a high accuracy surgical aid robotic system can be used to assist the thoracoscopic surgery [2][3]. While the robotic surgical method aids faster patient recovery, a less experienced surgeon can potentially cause damage to surrounding tissue.

This paper presents a study into the development of a virtual haptically-enabled heart myoblast injection simulation environment, which can be used to train new surgeons to get hands on experience with the process. The paper also discusses the development of a generic constraint motion technique for needle insertion. Experiments on human performance measures and efficacy, while interacting with haptic feedback training models, are also presented. The experiment involved 10 operators, with each person repeating the needle insertion and injection 10 times. A notable improvement in the task execution time with the number of repetitions was observed. Operators improved their time by up to 300% compared to their first training attempt for a static heart scenario. Under a dynamic heart motion, operator's performance was slightly lower, with the successful rate of completing the experiment reduced from 84% to 75%.

Haptic microrobotic intracellular injection assistance using virtual fixtures

In manual cell injection the operator relies completely on visual information for task feedback and is subject to extended training times as well as poor success rates and repeatability. From this perspective, enhancing human-in-the-loop intracellular injection through haptic interaction offers significant benefits. This paper outlines two haptic virtual fixtures aiming to assist the human operator while performing cell injection. The first haptic virtual fixture is a parabolic force field designed to assist the operator in guiding the micropipette's tip to a desired penetration point on the cell's surface. The second is a planar virtual fixture which attempts to assist the operator from moving the micropipette's tip beyond the deposition target location inside the cell. Preliminary results demonstrate the operation of the haptically assisted microrobotic cell injection system.

Modelling for injection moulding process based on principal component regression method

Determination of the optimal operating condition for moulding process has been of special interest for many researchers. To determine the optimal setting, one has to derive the model of injection moulding process first which is able to map the relationship between the input process control factors and output responses. One of most popular modeling techniques is the linear least square regression due to its effectiveness and completeness. However, the least square regression was found to be very sensitive to the outliers and failed to provide a reliable model if the control variables are highly related with each other. To address this problem, a new modeling method based on principal component regression was proposed in this paper. The distinguished feature of our proposed method is it does not only consider the variance of covariance matrix of control variables but also consider the correlation coefficient between control variables and target variables to be optimised. Such a modelling method has been implemented into a commercial optimisation software and field test results demonstrated the performance of the proposed modelling method.

3D particle-based cell modelling for haptic microrobotic cell injection

Introducing haptic interface to conduct microrobotic intracellular injection has many beneficial implications. In particular, the haptic device provides force feedback to the bio-operator's hand. This paper introduces a 3D particle-based model to simulate the deformation of the cell membrane and corresponding cellular forces during microrobotic cell injection. The model is based on the kinematic and dynamic of spring – damper multi particle joints considering visco-elastic fluidic properties. It simulates the indentation force feedback as well as cell visual deformation during the microinjection. The model is verified using experimental data of zebrafish embryo microinjection. The results demonstrate that the developed cell model is capable of estimating zebrafish embryo deformation and force feedback accurately.

Injection, detection and repair of aesthetics in home movies

This paper details the design of an algorithm for automatically manipulating the important aesthetic element of video, visual tempo. Automatic injection, detection and repair of such aesthetic elements, it is argued, is vital to the next generation of amateur multimedia authoring tools. We evaluate the performance of the algorithm on a battery of synthetic data and demonstrate its ability to return the visual tempo of the final media a considerable degree closer to the target signal. The novelty of this work lies chiefly in the systematic manipulation of this high level aesthetic element of video.

Web application protection against SQL injection attack

SQL injection vulnerabilities poses a severe threat to web applications as an SQL Injection Attack (SQLIA) could adopt new obfuscation techniques to evade and thwart countermeasures such as Intrusion Detection Systems (IDS). SQLIA gains access to the back-end database of vulnerable websites, allowing hackers to execute SQL commands in a web application resulting in financial fraud and website defacement. The lack of existing models in providing protections against SQL injection has motivated this paper to present a new and enhanced model against web database intrusions that use SQLIA techniques. In this paper, we propose a novel concept of negative tainting along with SQL keyword analysis for preventing SQLIA and described our that we implemented. We have tested our proposed model on all types of SQLIA techniques by generating SQL queries containing legitimate SQL commands and SQL Injection Attack. Evaluations have been performed using three different applications. The results show that our model protects against 100% of tested attacks before even reaching the database layer.

Chemiluminescence detection flow cells for flow injection analysis and high-performance liquid chromatography

We have examined a range of new and previously described flow cells for chemiluminescence detection. The reactions of acidic potassium permanganate with morphine and amoxicillin were used as model systems representing the many fast chemiluminescence reactions between oxidising agents and organic analytes, and the preliminary partial reduction of the reagent was exploited to further increase the rates of reaction. The comparison was then extended to high-performance liquid chromatography separations of α- and β-adrenergic agonists, with permanganate chemiluminescence detection. Flow cells constructed by machining novel channel designs into white polymer materials (sealed with transparent films or plates) have enabled improvements in mixing efficiency and overall transmission of light to the photodetector.

Haptic microrobotic cell injection system

Microrobotic cell injection is the subject of increasing research interest. At present, an operator relies completely on visual information and can be subject to low success rates, poor repeatability, and extended training times. This paper focuses on increasing operator performance during cell injection in two ways. First, our completed haptic cell injection system aims to increase the operator's performance during real-time cell injection. Haptic bilateralism is investigated and a mapping framework provides an intuitive method for manoeuvring the micropipette in a manner similar to handheld needle insertion. Volumetric virtual fixtures are then introduced to haptically assist the operator to penetrate the cell at the desired location. The performance of the volumetric virtual fixtures is also discussed. Second, the haptically enabled cell injection system is replicated as a virtual environment facilitating virtual offline operator training. Virtual operator training utilizes the same mapping framework and haptic virtual fixtures as the physical system allowing the operator to train offline and then directly transfer their skills to real-time cell injection.

Drag models comparison by single injection in vacuum fluidised beds

Single bubble injection simulations inside a minimally fluidized bed have been studied widely and are often used to validate the accuracy of different numerical models. Bubble shape, size and voidage distribution are the important parameters that are validated from the experiments. In the present work, the most widely used drag model (Gidaspow’s drag model) is compared to a new proposed slip flow drag model which takes into account the presence of the slip flow regime, often encountered in vacuum fluidized beds and characterised by Knudsen no. (Kn). Shape and size prediction of the bubble evolution inside the bed is carried out numerically by using the two fluid model, comparing the results predicted by the drag models. It is seen that the predictions are different for the two drag models only under high vacuum conditions corresponding to Kn in slip/transition flow regime. The predictions are also found sensitive to pressure gradient in the bed and fluid velocity.