Monitoring the early stage self-assembly of enzyme-assisted peptide hydrogels

The early stages of the self-assembly of peptide hydrogels largely determine their final material properties. Here we discuss experimental methodologies for monitoring the self-assembly kinetics which underpin peptide hydrogel formation. The early stage assembly of an enzyme-catalysed Fmoc-trileucine based self-assembled hydrogel was examined using spectroscopic techniques (circular dichroism, CD, and solution NMR) as well as chromatographic (HPLC) and mechanical (rheology) techniques. Optimal conditions for enzyme-assisted hydrogel formation were identified and the kinetics examined. A lag time associated with the formation and accumulation of the self-assembling peptide monomer was observed and a minimum hydrogelator concentration required for gelation was identified. Subsequent formation of well defined nano-and microscale structures lead to self-supporting hydrogels at a range of substrate and enzyme concentrations. 1H NMR monitoring of the early self-assembly process revealed trends that were well in agreement with those identified using traditional methods (i.e. HPLC, CD, rheology) demonstrating 1H NMR spectroscopy can be used to non-invasively monitor the self-assembly of peptide hydrogels without damaging or perturbing the system.

Motion analysis of a robotic assisted surgery and microsurgery system - experimental verification

Motion analysis of a parallel robot assisted minimally invasive surgery/microsurgery system (PRAMiSS) and the control structures enabling it to achieve milli/micromanipulations under the constraint of moving through a fixed penetration point or so-called remote centre-of-motion (RCM) are presented in this article. Two control algorithms are proposed suitable for minimally invasive surgery (MIS) with submillimeter accuracy and for minimally invasive micro-surgery (MIMS) with submicrometer accuracy. The RCM constraint is performed without having any mechanical constraint. Control algorithms also apply orientation constraint preventing the tip to orient relative to the soft tissues due to the robot movements. Experiments were conducted to verify accuracy and effectiveness of the proposed control algorithms for MIS and MIMS operations. The experimental results demonstrate accuracy and performance of the proposed position control algorithms.

Remote centre-of-motion control algorithms of 6-RRCRR parallel robot assisted surgery system (PRAMiSS)

In this paper a 6-RRCRR parallel robot assisted minimally invasive surgery/microsurgery system (PRAMiSS) is introduced. Remote centre-of-motion (RCM) control algorithms of PRAMiSS suitable for minimally invasive surgery and microsurgery are also presented. The programmable RCM approach is implemented in order to achieve manipulation under the constraint of moving through the fixed penetration point. Having minimised the displacements of the mobile platform of the parallel micropositioning robot, the algorithms also apply orientation constraint to the instrument and prevent the tool tip to orient due to the robot movements during the manipulation. Experimental results are provided to verify accuracy and effectiveness of the proposed RCM control algorithms for minimally invasive surgery.

Building movements: directed improvisation performances : conversing with buildings; assisted falling

For these performances, the new Design Hub building will play the role of architectural surrounds used as spatial research devices, architectural agent and collaborator – by giving the building our attention we aim to bring it and its affordances explicitly into the collective body. In exploring the set of interlinked spaces in the Hub (with an emphasis, we propose, on the stairs) as “elaborately structured pretexts for action” , we anticipate that the beginnings of an approach may emerge and allow us to understand that when a person “flexes her muscles, a person [also] flexes her surroundings”. Arakawa and Gins offer ways to assist us in approaching architecture as a tentative constructing toward a holding in place – in which all modes of sensing and scales of action are exercised – through their notions of ‘architectural surround’ and ‘architectural body’ garnered from chapters ‘Notes for an Architectural Body’ and ‘Architectural Surround’ (Gins and Arakawa, 2002).

Picture my future image-assisted goal exploration

Plain English Summary
• Some people with disability find pictures help them to plan for their future.
• Picture My Future is a project run by Deakin University.
• It supported 29 people with a disability to use photos and pictures to tell others about what they like and what they want.