Robust fault-tolerant leader-follower control of four-wheel-steering mobile robots using terminal sliding mode

This paper addresses the actuator failure compensation problem of non-linear fourwheel-steering mobile robots based on vehicle kinematics, undergoing both known and unknown failures causing degenerated steering performance or wheels stuck at some observable angles. Terminal sliding mode control technique is used to guarantee the tracking stability infinite time with the presence of actuator fault. Simulation results are given to illustrate the effectiveness of the proposed control scheme. © Institution of Engineers Australia 2012.

Application of the embedded element technique to predict interlaminar failure

In this study a modelling technique, namely, the embedded element method is assessed to evaluate its ability to predict Mode I interlaminar failure. The embedded element technique takes advantage of the embedded constraint in ABAQUS and allows the two constituents, fibre and matrix, to be meshed independently. Since the two constituents can be meshed independently a contiguous mesh is not required and the time taken to create an acceptable mesh is significantly reduced. The embedded element technique has been used to model fibre-reinforced composite structures, however, to date no studies have been conducted which combine the embedded element technique with an interlaminar damage model. The work described herein evaluates the ability of the embedded element technique to predict mode I interlaminar failure. DCB specimens were modelled using the embedded element method and a traditional 3D solid FE modelling approach with the predictions compared against experimental data. Both modelling approaches provided good agreement with experimental results. The good agreement demonstrates that the embedded element technique is capable of providing a response that is equivalent to a traditional 3D solid FE models and is particularly suited to modelling thick composite structures with complex geometry.

Communicating about the management of medications as patients move across transition points of care: an observation and interview study

RATIONALE, AIMS AND OBJECTIVES: As patients move across transition points, effective medication management is critical for patient safety. The aims of this study were to examine how health professionals, patients and family members communicate about managing medications as patients moved across transition points of care and to identify possible sources of communication failure.

METHOD: A descriptive approach was used involving observations and interviews. The emergency departments and medical wards of two hospitals were involved. Observations focused on how health professionals managed medications during interactions with other health professionals, patients and family members, as patients moved across clinical settings. Follow-up interviews with participants were also undertaken. Thematic analysis was completed of transcribed data, and descriptive statistics were used to analyse characteristics of communication failure.

RESULTS: Three key themes were identified: environmental challenges, interprofessional relationships, and patient and family beliefs and responsibilities. As patients moved between environments, insufficient tracking occurred about medication changes. Before hospital admission, patients participated in self-care medication activities, which did not always involve exemplary behaviours or match the medications that doctors prescribed. During observations, 432 instances of communication failure (42.8%) were detected, which related to purpose, content, audience and occasion of the communication.

CONCLUSIONS: Extensive challenges exist involving the management of medications at transition points of care. Bedside handovers and ward rounds can be utilized as patient counselling opportunities about changes in the medication regimen. Greater attention is needed on how patients in the community make medication-related decisions.

Motorcycle clothing fabric burst failure during high speed impact with an abrasive surface

High energy is involved when a rider impacts a road surface in a crash. Rider speed, height of fall and road surface morphology all contribute to the level of initial impact energy. Impact can cause fabrics and seams of protective garments to burst rendering their protective value void. The Cambridge abrasion tester tests protective clothing with a fall height of 50mm and abrasive belt speed of 28km/hr, far below what can happen in a “high side” motorcycle crash at 100km/hr. This work addresses the mechanics of what occurs in the first few microseconds of an impact and provides insight into the effect that speed has on fabric burst. This work used a Cambridge impact abrasion test to evaluate two different protective motorcycle clothing fabrics (a denim and brushed fleecy fabric over a p-aramid protective liner). It measured their abrasion resistance at an abrasion speed of 28km/hr and standard impact height. It used a high speed camera to measure the impact displacement of the test head. Fabrics with high stretch were more prone to burst failure on initial impact. Fabric burst is caused by a high speed tensile stress between the fabric coupled with the abrasion surface and the inertia of the body dragging against it. Stretch fabrics are pushed into the abrasion surface for a longer period by the body before the tensile stress occurs so the coupling force is higher. If the transition to abrasion occurs early in the impact then a fabric is less likely to burst.

Targeting epithelial-mesenchymal transition and cancer stem cells for chemoresistant ovarian cancer

Chemoresistance is the main challenge for the recurrent ovarian cancer therapy and responsible for treatment failure and unfavorable clinical outcome. Understanding mechanisms of chemoresistance in ovarian cancer would help to predict disease progression, develop new therapies and personalize systemic therapy. In the last decade, accumulating evidence demonstrates that epithelial-mesenchymal transition and cancer stem cells play important roles in ovarian cancer chemoresistance and metastasis. Treatment of epithelial-mesenchymal transition and cancer stem cells holds promise for improving current ovarian cancer therapies and prolonging the survival of recurrent ovarian cancer patients in the future. In this review, we focus on the role of epithelial-mesenchymal transition and cancer stem cells in ovarian cancer chemoresistance and explore the therapeutic implications for developing epithelial-mesenchymal transition and cancer stem cells associated therapies for future ovarian cancer treatment.