Illustrated Catalogue of Standard Surgical Instruments and Allied Lines

Section "A": Dissecting and Post-Mortem Instruments Diagnostic Instruments and Apparatus Microscopes and Microscopic Accessories Laboratory Apparatus and Glass Ware Apparatus for Blood and Urine Analysis Apparatus for Phlebotomy, Cupping and Leeching Apparatus for Infusion and Transfusion Syringes for Aspiration and Injection Osteological Preparations Section "B": Anaesthetic, General Operating, Osteotomy, Trepanning, Bullet, Pocket Case, Cautery, Ligatures, Sutures, Dressings, Etc. Section "B" continued Section "C": Eye, Ear, Nasal, Dermal, Oral, Tonsil, Tracheal, Laryngeal,Esophageal, Stomach, Intestinal, Gall Bladder Section "C": continued Section "D": Rectal, Phimosis, Prostatic, Vesical, Urethral, Ureteral, Instruments Section "E": Gynecic, Hysterectomy, Obstetrical, Instrument Satchels, Medicine Cases Section "F": Electric Cautery Transformers, Electro-Cautery Burners and Accessories, Electric Current Controllers, Electro-Diagnostic Outfits, Electrolysis Instruments Electro-Therapeutic Lamps, Faradic Batteries, Galvanic Batteries Section "G": Office Furniture, Office Sterilizing Apparatus, Hospital Supplies, Surgical Rubber Goods, Sick Room Utensils, Invalid Rolling Chairs, Invalid Supplies Section "H": Artificial Limbs, Deformity Apparatus, Fracture Apparatus, Splints, Splint Material, Elastic Hosiery, Abdominal Supporters, Crutches, Trusses, Suspensories, Etc. Index

Relevamiento de plagas y enemigos naturales en el cultivo de lechuga : : provincia de La Pampa (Argentina)

En la provincia de La Pampa son escasos los datos sobre relevamiento de plagas y de especies benéficas en lechuga, por ello resulta necesario conocer e investigar los organismos perjudiciales y sus enemigos naturales y las condiciones predisponentes al incremento de sus poblaciones. Los objetivos de este trabajo fueron determinar las especies fitófagas para dos variedades de lechuga, en dos sistemas de producción, e identificar las especies benéficas que puedan actuar como controladores biológicos. El estudio se realizó en la huerta de la Facultad de Agronomía de la UNLPam, con muestreos semanales, desde julio hasta octubre de 2004, a campo con riego complementario y bajo cubierta en macrotúnel con riego por goteo, con las variedades de lechuga Grand Rapid y Gallega de Invierno. En cada variedad y en cada sistema se revisaron 6 plantas al azar, registrándose: especie, número de individuos y su estado de desarrollo. Se comparó mediante ANOVA y test de Tukey (a = 0,05). Se detectó la presencia de dos especies de pulgones: Myzus persicae Sulzer (Homoptera: Aphididae) y Nasonovia ribisnigri (Mosley) (primera cita de N. ribisnigri para la provincia de La Pampa). El mayor número de pulgones se concentró en el cultivo protegido bajo cubierta. Se registraron dos enemigos naturales de los pulgones: un hongo entomopatógeno y un parasitoide: Aphidius ervi (Hymenoptera: Braconidae). También se encontraron, en bajas densidades, larvas de Naupactus leucoloma Boheman (Coleoptera: Curculionidae) que se alimentaban de las hojas.

Impact of medium-term exposure to elevated pCO2 levels on the physiological energetics of the mussel Mytilus chilensis

This study evaluated the impact of medium-term exposure to elevated pCO2 levels (750-1200 ppm) on the physiological processes of juvenile Mytilus chilensis mussels over a period of 70 d in a mesocosm system. Three equilibration tanks filled with filtered seawater were adjusted to three pCO2 levels: 380 (control), 750 and 1200 ppm by bubbling air or an air-CO2 mixture through the water. For the control, atmospheric air (with aprox. 380 ppm CO2) was bubbled into the tank; for the 750 and 1200 ppm treatments, dry air and pure CO2 were blended to each target concentration using mass flow controllers for air and CO2. No impact on feeding activity was observed at the beginning of the experiment, but a significant reduction in clearance rate was observed after 35 d of exposure to highly acidified seawater. Absorption rate and absorption efficiency were reduced at high pCO2 levels. In addition, oxygen uptake fell significantly under these conditions, indicating a metabolic depression. These physiological responses of the mussels resulted in a significant reduction of energy available for growth (scope for growth) with important consequences for the aquaculture of this species during medium-term exposure to acid conditions. The results of this study clearly indicate that high pCO2 levels in the seawater have a negative effect on the health of M. chilensis. Therefore, the predicted acidification of seawater associated with global climate change could be harmful to this ecologically and commercially important mussel.

Separation of Control and Cash-Flow Rights of State Owned Listed Enterprises: Channels of Expropriation after the Discriminated Share Reform in China

Literature on agency problems arising between controlling and minority owners claim that separation of cash flow and control rights allows controllers to expropriate listed firms, and further that separation emerges when dual class shares or pyramiding corporate structures exist. Dual class share and pyramiding coexisted in listed companies of China until discriminated share reform was implemented in 2005. This paper presents a model of controller to expropriate behavior as well as empirical tests of expropriation via particular accounting items and pyramiding generated expropriation. Results show that expropriation is apparent for state controlled listed companies. While reforms have weakened the power to expropriate, separation remains and still generates expropriation. Size of expropriation is estimated to be 7 to 8 per cent of total asset at mean. If the "one share, one vote" principle were to be realized, asset inflation could be reduced by 13 percent.

Adaptive fuzzy knowledge-based systems for control metabots' mobility on virtual environments

The confluence of three-dimensional (3D) virtual worlds with social networks imposes on software agents, in addition to conversational functions, the same behaviours as those common to human-driven avatars. In this paper, we explore the possibilities of the use of metabots (metaverse robots) with motion capabilities in complex virtual 3D worlds and we put forward a learning model based on the techniques used in evolutionary computation for optimizing the fuzzy controllers which will subsequently be used by metabots for moving around a virtual environment.

A speech interface for air traffic control terminals

Several issues concerning the current use of speech interfaces are discussed and the design and development of a speech interface that enables air traffic controllers to command and control their terminals by voice is presented. A special emphasis is made in the comparison between laboratory experiments and field experiments in which a set of ergonomics-related effects are detected that cannot be observed in the controlled laboratory experiments. The paper presents both objective and subjective performance obtained in field evaluation of the system with student controllers at an air traffic control (ATC) training facility. The system exhibits high word recognition test rates (0.4% error in Spanish and 1.5% in English) and low command error (6% error in Spanish and 10.6% error in English in the field tests). Subjective impression has also been positive, encouraging future development and integration phases in the Spanish ATC terminals designed by Aeropuertos Españoles y Navegación Aérea (AENA).

Visual Servoing for the Robotenis System: a Strategy for a 3 DOF Parallel Robot to Hit a Ping-Pong Ball

This article describes a new visual servo control and strategies that are used to carry out dynamic tasks by the Robotenis platform. This platform is basically a parallel robot that is equipped with an acquisition and processing system of visual information, its main feature is that it has a completely open architecture control, and planned in order to design, implement, test and compare control strategies and algorithms (visual and actuated joint controllers). Following sections describe a new visual control strategy specially designed to track and intercept objects in 3D space. The results are compared with a controller shown in previous woks, where the end effector of the robot keeps a constant distance from the tracked object. In this work, the controller is specially designed in order to allow changes in the tracking reference. Changes in the tracking reference can be used to grip an object that is under movement, or as in this case, hitting a hanging Ping-Pong ball. Lyapunov stability is taken into account in the controller design.

ITER fast plant system controller prototype based on PXIe platform

The ITER CODAC design identifies slow and fast plant system controllers (PSC). The gast OSCs are based on embedded technologies, permit sampling rates greater than 1 KHz, meet stringent real-time requirements, and will be devoted to data acquisition tasks and control purposes. CIEMAT and UPM have implemented a prototype of a fast PSC based on commercial off-the-shelf (COTS) technologies with PXI hardware and software based on EPICS

ITER Fast Plant System Controller Prototype Based on Commercial PXI Platform

The ITER CODAC design identifies slow and fast plant system controllers (PSC). The gast OSCs are based on embedded technologies, permit sampling rates greater than 1 KHz, meet stringent real-time requirements, and will be devoted to data acquisition tasks and control purposes. CIEMAT and UPM have implemented a prototype of a fast PSC based on commercial off-the-shelf (COTS) technologies with PXI hardware and software based on EPICS

Non-linear Control of an Autonomous Ground Vehicle

In this paper, in order to select a speed controller for a specific non-linear autonomous ground vehicle, proportional-integral-derivative (PID), Fuzzy, and linear quadratic regulator (LQR) controllers were designed. Here, in order to carry out the tuning of the above controllers, a multicomputer genetic algorithm (MGA) was designed. Then, the results of the MGA were used to parameterize the PID, Fuzzy and LQR controllers and to test them under laboratory conditions. Finally, a comparative analysis of the performance of the three controllers was conducted.

PWM Control of a Buck Converter with an Amorphous Core Coil

Pulse-width modulation is widely used to control electronic converters. One of the most topologies used for high DC voltage/low DC voltage conversion is the Buck converter. It is obtained as a second order system with a LC filter between the switching subsystem and the load. The use of a coil with an amorphous magnetic material core instead of air core lets design converters with smaller size. If high switching frequencies are used for obtaining high quality voltage output, the value of the auto inductance L is reduced throughout the time. Then, robust controllers are needed if the accuracy of the converter response must not be affected by auto inductance and load variations. This paper presents a robust controller for a Buck converter based on a state space feedback control system combined with an additional virtual space variable which minimizes the effects of the inductance and load variations when a not-toohigh switching frequency is applied. The system exhibits a null steady-state average error response for the entire range of parameter variations. Simulation results are presented.

Automatic lateral control for unmanned vehicles via genetic algorithms

It is known that the techniques under the topic of Soft Computing have a strong capability of learning and cognition, as well as a good tolerance to uncertainty and imprecision. Due to these properties they can be applied successfully to Intelligent Vehicle Systems; ITS is a broad range of technologies and techniques that hold answers to many transportation problems. The unmannedcontrol of the steering wheel of a vehicle is one of the most important challenges facing researchers in this area. This paper presents a method to adjust automatically a fuzzy controller to manage the steering wheel of a mass-produced vehicle; to reach it, information about the car state while a human driver is handling the car is taken and used to adjust, via iterative geneticalgorithms an appropriated fuzzy controller. To evaluate the obtained controllers, it will be considered the performance obtained in the track following task, as well as the smoothness of the driving carried out.

See-and-avoid quadcopter using fuzzy control optimized by cross-entropy

In this work we present an optimized fuzzy visual servoing system for obstacle avoidance using an unmanned aerial vehicle. The cross-entropy theory is used to optimise the gains of our controllers. The optimization process was made using the ROS-Gazebo 3D simulation with purposeful extensions developed for our experiments. Visual servoing is achieved through an image processing front-end that uses the Camshift algorithm to detect and track objects in the scene. Experimental flight trials using a small quadrotor were performed to validate the parameters estimated from simulation. The integration of crossentropy methods is a straightforward way to estimate optimal gains achieving excellent results when tested in real flights.

Adaptive control system based on lineal control theory for the path-following problem of a car-like mobile robot

The objective of this paper is to design a path following control system for a car-like mobile robot using classical linear control techniques, so that it adapts on-line to varying conditions during the trajectory following task. The main advantages of the proposed control structure is that well known linear control theory can be applied in calculating the PID controllers to full control requirements, while at the same time it is exible to be applied in non-linear changing conditions of the path following task. For this purpose the Frenet frame kinematic model of the robot is linearised at a varying working point that is calculated as a function of the actual velocity, the path curvature and kinematic parameters of the robot, yielding a transfer function that varies during the trajectory. The proposed controller is formed by a combination of an adaptive PID and a feed-forward controller, which varies accordingly with the working conditions and compensates the non-linearity of the system. The good features and exibility of the proposed control structure have been demonstrated through realistic simulations that include both kinematics and dynamics of the car-like robot.

Estudio de la fiabilidad software, según defectos, en controladores de velocidad para robots autónomos móviles

Tanto los robots autónomos móviles como los robots móviles remotamente operados se utilizan con éxito actualmente en un gran número de ámbitos, algunos de los cuales son tan dispares como la limpieza en el hogar, movimiento de productos en almacenes o la exploración espacial. Sin embargo, es difícil garantizar la ausencia de defectos en los programas que controlan dichos dispositivos, al igual que ocurre en otros sectores informáticos. Existen diferentes alternativas para medir la calidad de un sistema en el desempeño de las funciones para las que fue diseñado, siendo una de ellas la fiabilidad. En el caso de la mayoría de los sistemas físicos se detecta una degradación en la fiabilidad a medida que el sistema envejece. Esto es debido generalmente a efectos de desgaste. En el caso de los sistemas software esto no suele ocurrir, ya que los defectos que existen en ellos generalmente no han sido adquiridos con el paso del tiempo, sino que han sido insertados en el proceso de desarrollo de los mismos. Si dentro del proceso de generación de un sistema software se focaliza la atención en la etapa de codificación, podría plantearse un estudio que tratara de determinar la fiabilidad de distintos algoritmos, válidos para desempeñar el mismo cometido, según los posibles defectos que pudieran introducir los programadores. Este estudio básico podría tener diferentes aplicaciones, como por ejemplo elegir el algoritmo menos sensible a los defectos, para el desarrollo de un sistema crítico o establecer procedimientos de verificación y validación, más exigentes, si existe la necesidad de utilizar un algoritmo que tenga una alta sensibilidad a los defectos. En el presente trabajo de investigación se ha estudiado la influencia que tienen determinados tipos de defectos software en la fiabilidad de tres controladores de velocidad multivariable (PID, Fuzzy y LQR) al actuar en un robot móvil específico. La hipótesis planteada es que los controladores estudiados ofrecen distinta fiabilidad al verse afectados por similares patrones de defectos, lo cual ha sido confirmado por los resultados obtenidos. Desde el punto de vista de la planificación experimental, en primer lugar se realizaron los ensayos necesarios para determinar si los controladores de una misma familia (PID, Fuzzy o LQR) ofrecían una fiabilidad similar, bajo las mismas condiciones experimentales. Una vez confirmado este extremo, se eligió de forma aleatoria un representante de clase de cada familia de controladores, para efectuar una batería de pruebas más exhaustiva, con el objeto de obtener datos que permitieran comparar de una forma más completa la fiabilidad de los controladores bajo estudio. Ante la imposibilidad de realizar un elevado número de pruebas con un robot real, así como para evitar daños en un dispositivo que generalmente tiene un coste significativo, ha sido necesario construir un simulador multicomputador del robot. Dicho simulador ha sido utilizado tanto en las actividades de obtención de controladores bien ajustados, como en la realización de los diferentes ensayos necesarios para el experimento de fiabilidad. ABSTRACT Autonomous mobile robots and remotely operated robots are used successfully in very diverse scenarios, such as home cleaning, movement of goods in warehouses or space exploration. However, it is difficult to ensure the absence of defects in programs controlling these devices, as it happens in most computer sectors. There exist different quality measures of a system when performing the functions for which it was designed, among them, reliability. For most physical systems, a degradation occurs as the system ages. This is generally due to the wear effect. In software systems, this does not usually happen, and defects often come from system development and not from use. Let us assume that we focus on the coding stage in the software development pro¬cess. We could consider a study to find out the reliability of different and equally valid algorithms, taking into account any flaws that programmers may introduce. This basic study may have several applications, such as choosing the algorithm less sensitive to pro¬gramming defects for the development of a critical system. We could also establish more demanding procedures for verification and validation if we need an algorithm with high sensitivity to programming defects. In this thesis, we studied the influence of certain types of software defects in the reliability of three multivariable speed controllers (PID, Fuzzy and LQR) designed to work in a specific mobile robot. The hypothesis is that similar defect patterns affect differently the reliability of controllers, and it has been confirmed by the results. From the viewpoint of experimental planning, we followed these steps. First, we conducted the necessary test to determine if controllers of the same family (PID, Fuzzy or LQR) offered a similar reliability under the same experimental conditions. Then, a class representative was chosen at ramdom within each controller family to perform a more comprehensive test set, with the purpose of getting data to compare more extensively the reliability of the controllers under study. The impossibility of performing a large number of tests with a real robot and the need to prevent the damage of a device with a significant cost, lead us to construct a multicomputer robot simulator. This simulator has been used to obtain well adjusted controllers and to carry out the required reliability experiments.