Macdonaldbachmann2927

Increasing requirements for the safety of human-robot interaction and the cost-effectiveness of collision detection rapidly promote the development of collision detection technology without torque sensors. To address nonlinear disturbance factors in collision detection that may cause unstable or even incorrect detection, this paper proposed a research strategy that considered the friction as the disturbance term in manipulator motion for the collision detection. The manipulator joint disturbance model was established based on the LuGre dynamic friction model, and the external torque observer was designed based on the generalized momentum. Then, the friction measurement was realized using the external torque observer, and the model parameters were identified through the genetic algorithm. The collision detection can be reduced errors after the friction model by compensating the disturbance and can be applicable to variable working conditions. Finally, the accuracy of the constructed disturbance model and the performance of the proposed collision detection method were validated by the experimental studies.This study was conducted to investigate the efficacy of shoot regeneration from different leaf types (normal leaves and vitrified leaves) from three different carnation cultivars 'Kumbuyl', 'Denev', and 'Jinju' using different combinations of 3-indole butyric acid (IBA) and thidiazuron (TDZ) concentrations. The shoot tips cultured on Murashige and Skoog (MS) basal media (Type 1 media) produced normal leaves, while those cultured-on media supplemented with plant growth regulators and/or vitamin (Type 2 media and Type 3 media) produced vitrified leaves for all cultivars. Culture of normal leaf segments on MS medium containing different combinations of IBA and TDZ concentrations induced callus in all treatments; however, the callus was unable to induce shoots and finally became necrotic. In contrast, no callus induction was observed in the control (hormone-free treatment). When vitrified leaf segments underwent the same treatments, shoots were induced from the vitrified leaves (derived from Type 2 media) but werenetic transformation of the cultivars.The biosynthesis of calcium carbonate (CaCO3) minerals through a metabolic process known as microbially induced calcium carbonate precipitation (MICP) between diverse microorganisms, and organic/inorganic compounds within their immediate microenvironment, gives rise to a cementitious biomaterial that may emerge as a promissory alternative to conventional cement. Among photosynthetic microalgae, Chlorella vulgaris has been identified as one of the species capable of undergoing such activity in nature. In this study, response surface technique was employed to ascertain the optimum condition for the enhancement of biomass and CaCO3 precipitation of C. vulgaris when cultured in Blue-Green (BG)-11 aquaculture medium. Preliminary screening via Plackett-Burman Design showed that sodium nitrate (NaNO3), sodium acetate, and urea have a significant effect on both target responses (p less then 0.05). Further refinement was conducted using Box-Behnken Design based on these three factors. The highest production of 1.517 g/L C. vulgaris biomass and 1.143 g/L of CaCO3 precipitates was achieved with a final recipe comprising of 8.74 mM of NaNO3, 61.40 mM of sodium acetate and 0.143 g/L of urea, respectively. Moreover, polymorphism analyses on the collected minerals through morphological examination via scanning electron microscopy and crystallographic elucidation by X-ray diffraction indicated to predominantly calcite crystalline structure.Ribosomal DNA is one of the most conserved parts of the genome, especially in its rRNA coding regions, but some puzzling pieces of its noncoding repetitive sequences harbor secrets of cell growth and development machinery. Disruptions in the neat mechanisms of rDNA orchestrating the cell functioning result in malignant conversion. In cancer cells, the organization of rRNA coding genes and their transcription somehow differ from that of normal cells, but little is known about the particular mechanism for this switch. In this study, we demonstrate that the region ~2 kb upstream of the rDNA promoter is transcriptionally active in one type of the most malignant human brain tumors, and we compare its expression rate to that of healthy human tissues and cell cultures. Sense and antisense non-coding RNA transcripts were detected and mapped, but their secondary structure and functions remain to be elucidated. We propose that the transcripts may relate to a new class of so-called promoter-associated RNAs (pRNAs), or have some other regulatory functions. We also hope that the expression of these non-coding RNAs can be used as a marker in glioma diagnostics and prognosis.The term "Exosomes" defines small extracellular vesicles, ranging from 30 to 150 nm in diameter, secreted by most eukaryotic cells into surrounding body fluids including blood, saliva, urine, bile and breast milk [...].The contour scan strategies in laser powder bed fusion (LPBF) of Ti-6Al-4V were studied at the coupon level. These scan strategies determined the surface qualities and subsurface residual stresses. The correlations to these properties were identified for an optimization of the LPBF processing. The surface roughness and the residual stresses in build direction were linked combining high laser power and high scan velocities with at least two contour lines substantially reduced the surface roughness, expressed by the arithmetic mean height, from values as high as 30 µm to 13 µm, while the residual stresses rose from ~340 to about 800 MPa. At this stress level, manufactured rocket fuel injector components evidenced macroscopic cracking. A scan strategy completing the contour region at 100 W and 1050 mm/s is recommended as a compromise between residual stresses (625 MPa) and surface quality (14.2 µm). The LPBF builds were monitored with an in-line twin-photodiode-based melt pool monitoring (MPM) system, which revealed a correlation between the intensity quotient I2/I1, the surface roughness, and the residual stresses. Selleckchem PP121 Thus, this MPM system can provide a predictive estimate of the surface quality of the samples and resulting residual stresses in the material generated during LPBF.The unstable operation of a centrifugal pump under the gas-liquid two-phase condition seriously affects its performance and reliability. In order to study the gas phase distribution and the unsteady force in an impeller, based on the Euler-Euler heterogeneous flow model, the steady and unsteady numerical calculations of the gas-liquid two-phase full flow field in a centrifugal pump was carried out, and the simulation results were compared with the test data. The results show that the test results are in good agreement with the simulation data, which proves the accuracy of the numerical calculation method. The energy performance curve of the model pump decreases with the increase of the gas content, which illustrates a serious impact on the performance under the part-load operating condition. The results reveal that the high-efficiency-operating range become narrow, as the gas content increases. The gas phase is mainly distributed on the suction surface of the impeller blades. When the gas content reaches a certain value, the gas phase separation occurs. As the inlet gas content increases, the radial force on the impeller blades decreases. The pattern of the pressure pulsation is similar to that under pure water and low gas content conditions, and the number of peaks during the pulsation is equal to the number of the impeller blades. After the gas content reaches a certain value, the pressure fluctuates disorderly and the magnitude and the direction of radial force change frequently, which are detrimental to the operation stability of the pump. The intensity of the pressure pulsations in the impeller flow channel continues to increase in the direction of the flow under pure water conditions. The pressure pulsation intensities at the blade inlet and the volute tongue become more severe with the increase of the gas content.The brain-computer interface (BCI) spellers based on steady-state visual evoked potentials (SSVEPs) have recently been widely investigated for their high information transfer rates (ITRs). This paper aims to improve the practicability of the SSVEP-BCIs for high-speed spelling. The system acquired the electroencephalogram (EEG) data from a self-developed dedicated EEG device and the stimulation was arranged as a keyboard. The task-related component analysis (TRCA) spatial filter was modified (mTRCA) for target classification and showed significantly higher performance compared with the original TRCA in the offline analysis. In the online system, the dynamic stopping (DS) strategy based on Bayesian posterior probability was utilized to realize alterable stimulating time. In addition, the temporal filtering process and the programs were optimized to facilitate the online DS operation. Notably, the online ITR reached 330.4 ± 45.4 bits/min on average, which is significantly higher than that of fixed stopping (FS) strategy, and the peak value of 420.2 bits/min is the highest online spelling ITR with a SSVEP-BCI up to now. The proposed system with portable EEG acquisition, friendly interaction, and alterable time of command output provides more flexibility for SSVEP-based BCIs and is promising for practical high-speed spelling.Early onset breast cancer (EOBC), diagnosed at age ~40 or younger, is associated with a poorer prognosis and higher mortality rate compared to breast cancer diagnosed at age 50 or older. EOBC poses a serious threat to public health and requires in-depth investigation. We studied a cohort comprising 90 Taiwanese female patients, aiming to unravel the underlying mechanisms of EOBC etiopathogenesis. Sequence data generated by whole-exome sequencing (WES) and whole-genome sequencing (WGS) from white blood cell (WBC)-tumor pairs were analyzed to identify somatic missense mutations, copy number variations (CNVs) and germline missense mutations. Similar to regular breast cancer, the key somatic mutation-susceptibility genes of EOBC include TP53 (40% prevalence), PIK3CA (37%), GATA3 (17%) and KMT2C (17%), which are frequently reported in breast cancer; however, the structural protein-coding genes MUC17 (19%), FLG (16%) and NEBL (11%) show a significantly higher prevalence in EOBC. Furthermore, the top 2 genes harboring EOBC germline mutations, MUC16 (19%) and KRT18 (19%), encode structural proteins. Compared to conventional breast cancer, an unexpectedly higher number of EOBC susceptibility genes encode structural proteins. We suspect that mutations in structural proteins may increase physical permeability to environmental hormones and carcinogens and cause breast cancer to occur at a young age.Objective This study aimed at exploring the compassion attitudes and needs for awareness and training related to a compassionate approach for Medicine, Nursing, and Psychology students, as well as for the academic and administration personnel from the Universidad Técnica Particular de Loja (UTPL, Ecuador) Health Sciences area. Methods A cross-sectional observational study, based on a self-administered questionnaire through a sample of 788 UPTL students. STROBE guidelines were followed and applied. Results A positive correlation was found between life engagement and compassion for others, from others, and self-compassion. The Nursing students were those who reported having previous experiences of contact with people with an advanced disease or in an end-of-life situation and having received some type of training compared to Medicine and Psychology students and lecturers (faculty members). Differences were found on the "self-compassion" and "compassion for others" subscales, noting a higher level of compassion among Psychology students.