Passive and Active Grasping with a Prehensile Robot End-Effector

This report presents a design of a new type of robot end-effector with inherent mechanical grasping capabilities. Concentrating on designing an end-effector to grasp a simple class of objects, cylindrical, allowed a design with only one degree of actuation. The key features of this design are high bandwidth response to forces, passive grasping capabilities, ease of control, and ability to wrap around objects with simple geometries providing form closure. A prototype of this mechanism was built to evaluate these features.

Targeted Stimuli-Responsive Dextran Conjugates for Doxorubicin Delivery to Hepatocytes

A targeted, stimuli-responsive, polymeric drug delivery vehicle is being developed in our lab to help alleviate severe side-effects caused by narrow therapeutic window drugs. Targeting specific cell types or organs via proteins, specifically, lectin-mediated targeting holds potential due to the high specificity and affinity of receptor-ligand interactions, rapid internalization, and relative ease of processing. Dextran, a commercially available, biodegradable polymer has been conjugated to doxorubicin and galactosamine to target hepatocytes in a three-step, one-pot synthesis. The loading of doxorubicin and galactose on the conjugates was determined by absorbance at 485 nm and elemental analysis, respectively. Conjugation efficiency based on the amount loaded of each reactant varies from 20% to 50% for doxorubicin and from 2% to 20% for galactosamine. Doxorubicin has also been attached to dextran through an acid-labile hydrazide bond. Doxorubicin acts by intercalating with DNA in the nuclei of cells. The fluorescence of doxorubicin is quenched when it binds to DNA. This allows a fluorescence-based cell-free assay to evaluate the efficacy of the polymer conjugates where we measure the fluorescence of doxorubicin and the conjugates in increasing concentrations of calf thymus DNA. Fluorescence quenching indicates that our conjugates can bind to DNA. The degree of binding increases with polymer molecular weight and substitution of doxorubicin. In cell culture experiments with hepatocytes, the relative uptake of polymer conjugates was evaluated using flow cytometry, and the killing efficiency was determined using the MTT cell proliferation assay. We have found that conjugate uptake is much lower than that of free doxorubicin. Lower uptake of conjugates may increase the maximum dose of drug tolerated by the body. Also, non-galactosylated conjugate uptake is lower than that of the galactosylated conjugate. Microscopy indicates that doxorubicin localizes almost exclusively at the nucleus, whereas the conjugates are present throughout the cell. Doxorubicin linked to dextran through a hydrazide bond was used to achieve improved killing efficiency. Following uptake, the doxorubicin dissociates from the polymer in an endosomal compartment and diffuses to the nucleus. The LC₅₀ of covalently linked doxorubicin is 7.4 μg/mL, whereas that of hydrazide linked doxorubicin is 4.4 μg/mL.

Bluetooth Cameras / Phones

Getting images from your mobile phone is best done using bluetooth, remember the image quality on these phones will not be high and you may find you can only print very small images, however camera phones are great for ease of use and look fine on screen.

Sensibilidad y especificidad del ecocardiograma transtorácico para el diagnóstico de enfermedad coronaria

Introducción: La enfermedad coronaria es la principal causa de muerte en Colombia y el mundo en personas mayores de 45 años (1, 2). Con la variación en los perfiles epidemiológicos se espera que aumente su prevalencia y costo, disminuyendo la mortalidad. En el estudio diagnóstico de enfermedad coronaria, se realizan múltiples pruebas paraclínicas, dentro de estas, el ecocardiograma es muy utilizado y sus recomendaciones de uso se basan en estudios de hace más de 10 años (3). Metodología: Se realizó un estudio de prueba diagnóstica para determinar las características operativas del ecocardiograma transtorácico para el diagnóstico de enfermedad coronaria frente al cateterismo cardiaco en pacientes con dolor torácico. Resultados: Se analizaron 290 pacientes con una edad promedio de 67 años y 68% hombres; el 74.1% tenía hipertensión arterial y el 24.5% de diabetes mellitus. En el 61% de los pacientes se evidenció enfermedad coronaria por angiografía. La sensibilidad del ecocardiograma transtorácico para enfermedad coronaria fue del 70%, especificidad del 55%, valor predictivo negativo del 54% y valor predictivo positivo del 71%; con una efectividad del 65% y una capacidad predictora del 60.6% (p=0.02). Discusión: La anatomía coronaria fue similar a la descrita previamente, siendo las lesiones multivaso presente en un 41% y la lesión de un vaso fue del 22% (4, 5). Teniendo en cuenta la sensibilidad del 70% y especificidad del 55%, la facilidad de acceso, características no invasivas y el bajo costo; nos permiten recomendar utilizarlo como guía diagnóstica en el contexto del dolor torácico en el servicio de urgencias.

Participación del gobierno en el perfil logístico de Colombia

El presente documento tiene como objetivo general analizar la situación de la logística y la competitividad en Colombia a partir de la intervención del gobierno en el periodo del 2008 a 2013 sobre los sectores más importantes del país frente al comercio internacional. Para el desarrollo de este trabajo se establecerán las necesidades específicas de cada sector frente a la participación activa del gobierno. De acuerdo a lo anterior, se presentara un análisis global del perfil logístico del sector agrícola, del sector textil, del sector del papel, del sector de hidrocarburos, el farmacéutico y del sector minero. Además se expondrán las problemáticas de cada sector y las políticas frente a los tratados de libre comercio en los que Colombia participa actualmente. Consecuentemente, se analizara el estado de la infraestructura nacional y como esta afecta al desarrollo logístico de país. La metodología que se desarrolló para este trabajo concibe una documentación teórica con fuentes primarias y secundarias del sector, opiniones públicas, e indicadores tales como el de desempeño logístico generado por el banco mundial y la facilidad para hacer negocios (doing business) y el índice global de competitividad.

TASKGURU

La revolución del internet ha llevado a muchos cambios. Con el paso del tiempo, dependemos menos de los papeles y más de los archivos digitales. Los niveles de información han incrementado exponencialmente y la interconectividad que han brindado servicios como redes sociales se encuentra en niveles jamás pensados hace media década. Sin embargo, el mercado laboral tradicional ha visto pocos cambios; a pesar de que han surgido numerosas ocupaciones y desaparecido puestos del mismo modo, la gran mayoría de personas se ven obligadas a buscar el sustento propio y de sus familias dedicándole una cantidad considerable de tiempo a su trabajo y dejando de lado muchos otros asuntos pertinentes al hogar, a los negocios e incluso asuntos personales. El sistema de adquisición de servicios se encuentra completamente estancado. En Colombia, según cifras de 2011 del Departamento Administrativo Nacional de Estadistica (DANE), existen más de 10 millones de viviendas y más de 500.000 establecimientos de comercio, que por lo menos una vez por año tienen un reparo para hacer, por esta razón, se genera una amplia demanda en la prestación de este tipo de servicios. Miles de personas continúan sin encontrar servicios específicos a sus necesidades en el momento adecuado, incluso cuando existe dinero destinado hacia los mismos, en gran parte debido a los esquemas tradicionales y la inhabilidad de conectar necesidades con servicios. Este emprendimiento busca cambiar ese esquema tradicional de las páginas amarillas, los clasificados y otras fuentes que se han quedado en el siglo XX como medio publicitario de trabajos realizados por independientes en temas relacionados con el hogar u oficina y abrir camino hacia una nueva forma de encontrar un apareamiento en tiempo real y enfocado en los consumidores, creando una sitio web y posteriormente aplicaciones móviles, en la que cada cliente puede comparar los precios estandarizados de cada servicio del hogar, pagar electrónicamente lo pactado y dejar calificaciones del servicio posteriormente; cambiando el estilo de negociación de modo más formal y bajo un esquema que logre acuerdos mutuamente beneficiales. En el corto plazo, se busca que las personas puedan considerar alternativas a los esquemas existentes para dar a satisfacer sus necesidades. En el mediano y largo plazo el objetivo del 4 proyecto es romper los paradigmas en los mismos que se han mantenido desde tanto tiempo y revolucionar su funcionamiento conforme a las herramientas existentes en la actualidad. El siguiente proyecto tiene como propuesta proveer una solución completa para los hogares y establecimientos comerciales en términos de adquisición de servicios prestados por personas independientes y con poca o nula regulación en el mercado actual. Es una propuesta que permite cambiar la logística y el modelo de negociación de mediante una herramienta virtual que adicionalmente brinde una respuesta más rápida y facilidad de uso.

Factores perinatales para riesgo de sobrepeso y obesidad en niños de 4 a 5 años en Colombia 2010.

Introducción: La OMS revela que en 2010 alrededor de 43 millones de niños menores de 5 años presentan sobrepeso. En Colombia según la Encuesta Nacional de Situación Nutricional en Colombia en su versión 2005, mostraba una prevalencia general de sobrepeso de 3.1% niños de 0 a 4 años. Es una condición de salud de origen multifactorial en la que interviene factores genéticos, ambientales, maternos y perinatales. Objetivo: Establecer la asociación de riesgo entre el bajo peso al nacer y el desarrollo de sobrepeso y obesidad en niños de 4 a 5 años. Metodología: Se realizó un estudio observacional descriptivo retrospectivo de corte transversal con los datos nutricionales, maternos y perinatales de la Encuesta Nacional de Demografía en Salud del año 2010 en Colombia. Se analizó la asociación entre la variable independiente bajo peso al nacer con el desenlace sobrepeso y obesidad en menores de 4 a 5 años, usando como medida el IMC según la edad. Se realizaron análisis univariados, bivariados y de regresión logística con un modelo de riesgo según las variables que inciden en el desenlace y la variable independiente. Resultados: La muestra obtenida para el estudio fue de 2166 niños de 4 a 5 años de edad quienes cumplían los criterios de inclusión. La prevalencia de sobrepeso u obesidad en la primera infancia fue de 21.8% (472) y el bajo peso al nacer. Los resultados sugieren la asociación de bajo peso y sobrepeso u obesidad es de ORajustado= 0.560 (0.356 – 0.881). Conclusiones: Los resultados sugieren que existe una asociación como factor protector entre el bajo peso y el sobrepeso u obesidad en la primera infancia. Sin embargo, debido al comportamiento de las variables consideradas en la muestra no hay suficiente información para rechazar completamente la hipótesis nula.

El mètode APT (Auto Adjusting Perturbation Theory) de diagonalització de matrius

Es presenta un nou algorisme per a la diagonalització de matrius amb diagonal dominant. Es mostra la seva eficàcia en el tractament de matrius no simètriques, amb elements definits sobre el cos complex i, fins i tot, de grans dimensions. Es posa de manifest la senzillesa del mètode així com la facilitat d'implementació en forma de codi de programació. Es comenten els seus avantatges i característiques limitants, així com algunes de les millores que es poden implementar. Finalment, es mostren alguns exemples numèrics

An adaptive approach to implementing bivariate group sequential clinical trial designs

In clinical trials, situations often arise where more than one response from each patient is of interest; and it is required that any decision to stop the study be based upon some or all of these measures simultaneously. Theory for the design of sequential experiments with simultaneous bivariate responses is described by Jennison and Turnbull (Jennison, C., Turnbull, B. W. (1993). Group sequential tests for bivariate response: interim analyses of clinical trials with both efficacy and safety endpoints. Biometrics 49:741-752) and Cook and Farewell (Cook, R. J., Farewell, V. T. (1994). Guidelines for monitoring efficacy and toxicity responses in clinical trials. Biometrics 50:1146-1152) in the context of one efficacy and one safety response. These expositions are in terms of normally distributed data with known covariance. The methods proposed require specification of the correlation, ρ between test statistics monitored as part of the sequential test. It can be difficult to quantify ρ and previous authors have suggested simply taking the lowest plausible value, as this will guarantee power. This paper begins with an illustration of the effect that inappropriate specification of ρ can have on the preservation of trial error rates. It is shown that both the type I error and the power can be adversely affected. As a possible solution to this problem, formulas are provided for the calculation of correlation from data collected as part of the trial. An adaptive approach is proposed and evaluated that makes use of these formulas and an example is provided to illustrate the method. Attention is restricted to the bivariate case for ease of computation, although the formulas derived are applicable in the general multivariate case.

Low genetic diversity in a marine nature reserve: re-evaluating diversity criteria in reserve design

Little consideration has been given to the genetic composition of populations associated with marine reserves, as reserve designation is generally to protect specific species, communities or habitats. Nevertheless, it is important to conserve genetic diversity since it provides the raw material for the maintenance of species diversity over longer, evolutionary time-scales and may also confer the basis for adaptation to environmental change. Many current marine reserves are small in size and isolated to some degree (e.g. sea loughs and offshore islands). While such features enable easier management, they may have important implications for the genetic structure of protected populations, the ability of populations to recover from local catastrophes and the potential for marine reserves to act as sources of propagules for surrounding areas. Here, we present a case study demonstrating genetic differentiation, isolation, inbreeding and reduced genetic diversity in populations of the dogwhelk Nucella lapillus in Lough Hyne Marine Nature Reserve (an isolated sea lough in southern Ireland), compared with populations on the local adjacent open coast and populations in England, Wales and France. Our study demonstrates that this sea lough is isolated from open coast populations, and highlights that there may be long-term genetic consequences of selecting reserves on the basis of isolation and ease of protection.

Understanding construction consortia: Theory, practice and opinions

Firms form consortia in order to win contracts. Once a project has been awarded to a consortium each member then concentrates on his or her own contract with the client. Therefore, consortia are marketing devices, which present the impression of teamworking, but the production process is just as fragmented as under conventional procurement methods. In this way, the consortium forms a barrier between the client and the actual construction production process. Firms form consortia, not as a simple development of normal ways of working, but because the circumstances for specific projects make it a necessary vehicle. These circumstances include projects that are too large or too complex to undertake alone or projects that require on-going services which cannot be provided by the individual firms inhouse. It is not a preferred way of working, because participants carry extra risk in the form of liability for the actions of their partners in the consortium. The behaviour of members of consortia is determined by their relative power, based on several factors, including financial commitment and ease of replacement. The level of supply chain visibility to the public sector client and to the industry is reduced by the existence of a consortium because the consortium forms an additional obstacle between the client and the firms undertaking the actual construction work. Supply chain visibility matters to the client who otherwise loses control over the process of construction or service provision, while remaining accountable for cost overruns. To overcome this separation there is a convincing argument in favour of adopting the approach put forward in the Project Partnering Contract 2000 (PPC2000) Agreement. Members of consortia do not necessarily go on to work in the same consortia again because members need to respond flexibly to opportunities as and when they arise. Decision-making processes within consortia tend to be on an ad hoc basis. Construction risk is taken by the contractor and the construction supply chain but the reputational risk is carried by all the firms associated with a consortium. There is a wide variation in the manner that consortia are formed, determined by the individual circumstances of each project; its requirements, size and complexity, and the attitude of individual project leaders. However, there are a number of close working relationships based on generic models of consortia-like arrangements for the purpose of building production, such as the Housing Corporation Guidance Notes and the PPC2000.

Design considerations for the multiband OFDM physical layer in consumer electronic products

The creation of Wireless Personal Area Networks (WPANs) offers the Consumer Electronics industry a mechanism to truly unwire consumer products, leading to portability and ease of installation as never seen before. WPAN's can offer data-rates exceeding those that are required to convey high quality broadcast video, thus users can easily connect to high quality video for multimedia presentations in education, libraries, advertising, or have a wireless connection at home. There have been many WPAN proposals, but this paper concentrates on ECMA-368 as this standard has the largest industrial and implementers' forum backing. This paper discusses the technology behind ECMA-368, the required numerical bandwidth, buffer memory requirements and implementation considerations while concentrating on supporting all the offered data-rates'.

Towards natural human computer interaction in BCI

BCI systems require correct classification of signals interpreted from the brain for useful operation. To this end this paper investigates a method proposed in [1] to correctly classify a series of images presented to a group of subjects in [2]. We show that it is possible to use the proposed methods to correctly recognise the original stimuli presented to a subject from analysis of their EEG. Additionally we use a verification set to show that the trained classification method can be applied to a different set of data. We go on to investigate the issue of invariance in EEG signals. That is, the brain representation of similar stimuli is recognisable across different subjects. Finally we consider the usefulness of the methods investigated towards an improved BCI system and discuss how it could potentially lead to great improvements in the ease of use for the end user by offering an alternative, more intuitive control based mode of operation.

Design issues toward a cost effective physical layer for multiband OFDM (ECMA-368) in consumer products

The creation of Wireless Personal Area Networks (WPANs) offers the Consumer Electronics industry a mechanism to truly unwire consumer products, leading to portability and ease of installation as never seen before. WPAN's can offer data-rates exceeding those that are required to convey high quality broadcast video, thus users can easily connect to high quality video for multimedia presentations in education, libraries, advertising, or have a wireless connection at home. There have been many WPAN proposals, but this paper concentrates on ECMA-368 as this standard has the largest industrial and implementers' forum backing. With the aim to effective consumer electronic define and create cost equipment this paper discusses the technology behind ECMA-368 physical layer, the design freedom availabilities, the required processing, buffer memory requirements and implementation considerations while concentrating on supporting all the offered data-rates(1).

Multicore-enabling the MPJ express messaging library

With the transition to multicore processors almost complete, the parallel processing community is seeking efficient ways to port legacy message passing applications on shared memory and multicore processors. MPJ Express is our reference implementation of Message Passing Interface (MPI)-like bindings for the Java language. Starting with the current release, the MPJ Express software can be configured in two modes: the multicore and the cluster mode. In the multicore mode, parallel Java applications execute on shared memory or multicore processors. In the cluster mode, Java applications parallelized using MPJ Express can be executed on distributed memory platforms like compute clusters and clouds. The multicore device has been implemented using Java threads in order to satisfy two main design goals of portability and performance. We also discuss the challenges of integrating the multicore device in the MPJ Express software. This turned out to be a challenging task because the parallel application executes in a single JVM in the multicore mode. On the contrary in the cluster mode, the parallel user application executes in multiple JVMs. Due to these inherent architectural differences between the two modes, the MPJ Express runtime is modified to ensure correct semantics of the parallel program. Towards the end, we compare performance of MPJ Express (multicore mode) with other C and Java message passing libraries---including mpiJava, MPJ/Ibis, MPICH2, MPJ Express (cluster mode)---on shared memory and multicore processors. We found out that MPJ Express performs signicantly better in the multicore mode than in the cluster mode. Not only this but the MPJ Express software also performs better in comparison to other Java messaging libraries including mpiJava and MPJ/Ibis when used in the multicore mode on shared memory or multicore processors. We also demonstrate effectiveness of the MPJ Express multicore device in Gadget-2, which is a massively parallel astrophysics N-body siimulation code.