A dynamic model of an environmental system withn interacting components andp degrees of freedom

The nonlinear differential equations of growth proposed by Volterra (1931) are used as the basis for a dynamic model of ann-element system withp specified, terminal conditions andp missing initial conditions. The resulting two-point boundary-value problem can be solved, ifp is not large, by the shooting method used previously by Huddleston (1967). A numerical example withn=4 andp=2 is solved on a digital computer, and some results are presented.     

A gearing mechanism with 4 degrees of freedom for robotic applications in medicine]

Applications in robot-aided surgery are currently based on modifications of manipulators used in industrial manufacturing processes. In this paper we describe novel rotatory kinematics for a manipulator, specially developed for deployment in robot-aided surgery. The construction of the gearing mechanism used for the positioning and orientation of a linkage point is described. Forward and inverse kinematics were calculated, and a constructive solution proposed. The gearing mechanism is based on two disk systems, each of which consists of two opposing rotatable discs. The construction was designed in such a way that the linkage point can be positioned freely anywhere within the mechanism's range of motion. The kinematics thus permits an x-y-positioning via rotating movements only. The spatial arrangement of two of such disc systems permits movements in four degrees of freedom (DOF). The construction is compact, but can be further miniaturized, is flexible and manufacturing costs are low. On the basis of this mechanical concept a new, small automated manipulator for surgical application will be developed.     

Application of polydimethylsiloxane-based optical system for measuring optical density of microbial culture

The performance of recently developed polydimethylsiloxane (PDMS)-based optical system was tested for measuring optical density of microbial culture. The data showed that PDMS-based spectrometer is superior to “one drop” spectrometers in the accuracy, and has an advantage over conventional spectrometers in measuring dense culture without dilution.     

Development of detection system of extraterrestrial microorganisms]

A noble method for the exploration of terrestrial and extraterrestrial soil microorganisms, especially targeted for Mars, has been developed. The method is based on the microscopic observation using fluorescence techniques. Microorganisms could be fluorescent by adsorption, enzymatic cleavage of extrinsic fluorescence chromophores such as acridine orange, ANS and SFDA, and also by intrinsic chromophores. The characteristic points of our fluorescence method are shown below. 1. The present method detected all the culturable cells tested (about 200 species from bacteria to eukaryofic cells). 2. Microorganisms in soil were much brighter than background fluorescence of soil. Cell shapes and location were clearly observed. 3. An esterase substatum SFDA, discriminated vital (reproductive) cells from dead. On the other hand, a membrane probe, ANS, detected both vital and dead cells. 3. Pre-treatment of cells with bleaching reagents improved the detection efficiency. Especially, this pretreatment was effecfive in Fungi with black chromophores. 4. Some anaerobic microorganisms such as methanogenic bacteria with intrinsic chromophores can be detected without stain. 5. Application of the technique to terrestrial soil revealed that more than 100 times larger cell density was obtained compared to the value obtained by the classic plate counting technique. Vertical distribution of microorganism of soil microorganisms from Mt. Shigayama showed that, at surface, cell density was small and maximum was shown below 15 cm from surface. 6. Some pre-biotic cell (cell like aggregates composed of amino acids) could be detected by SFDA or ANS. It can be concluded that the fluorescence technique is one of the most promising method for the exploration of extraterrestrial microorganisms.     

Accuracy and repeatability of an optical motion analysis system for measuring small deformations of biological tissues

Optical motion analysis techniques have been widely used in biomechanics for measuring large-scale motions such as gait, but have not yet been significantly explored for measuring smaller movements such as the tooth displacements under load. In principle, very accurate measurements could be possible and this could provide a valuable tool in many engineering applications. The aim of this study was to evaluate accuracy and repeatability of the Qualisys ProReflex-MCU120 system when measuring small displacements, as a step towards measuring tooth displacements to characterise the properties of the periodontal ligament. Accuracy and repeatability of the system was evaluated using a wedge comparator with a resolution of 0.25 microm to provide measured marker displacements in three orthogonal directions. The marker was moved in ten steps in each direction, for each of seven step sizes (0.5, 1, 2, 3, 5, 10, and 20 microm), repeated five times. Spherical and diamond markers were tested. The system accuracy (i.e. percentage of maximum absolute error in range/measurement range), in the 20-200 microm ranges, was +/-1.17%, +/-1.67% and +/-1.31% for the diamond marker in x, y and z directions, while the system accuracy for the spherical marker was +/-1.81%, +/-2.37% and +/-1.39%. The system repeatability (i.e. maximum standard deviation in the measurement range) measured under the different days, light intensity and temperatures for five times, carried out step up and then step down measurements for the same step size, was +/-1.7, +/-2.3 and +/-1.9 microm for the diamond marker, and +/-2.6, +/-3.9 and +/-1.9 microm for the spherical marker in x, y and z directions, respectively. These results demonstrate that the system suffices accuracy for measuring tooth displacements and could potentially be useful in many other applications.     

Development of antibody array for simultaneous detection of foodborne pathogens

Pathogenic bacterial contaminations present serious problems for food industry and public health. Rapid, accurate and affordable assays are needed. In this study, antibody arrays to simultaneously detect two foodborne pathogenic bacteria (Escherichia coli O157:H7 and Salmonella spp.) have been developed using chemiluminescent detecting system. Solid supports using nitrocellulose membrane and poly-l-lysine (PLL) glass slide were compared and optimized for antibody array construction. Many parameters including optimal concentrations of antibodies, blocking reagents, assay time, storage time, sensitivity and cross-reactivity were considered during optimization. This study revealed that the PLL slide was a more suitable support due to highly accurate results and the absence of non-specific background. Phosphate-buffered saline (PBS, pH 7.2) and 3% skim milk in PBS buffer were optimal spotting and blocking reagents, respectively. With the same sensitivity for bacterial detection as in a conventional ELISA (10(5)-10(6)CFU/ml for the E. coli O157:H7 and 10(6)-10(7)CFU/ml for Salmonella detections), this antibody array has advantages of a much shorter assay time of 1h and much lower required amounts of antibodies. Moreover, there was no cross-reactivity in the detection among bacteria tested in this study. Bacteria detection in food sample was feasible as demonstrated using bacteria-added milk.     

Development of an 82.2 degrees C (180 degrees F) temperature indicatior system for monitoring equipment washing and sanitizing programs

A survey performed at 12 institutions showed that while the temperatures in the water tanks of mechanical cage washers were monitored, these temperatures deviated from the temperatures obtained on the items actually being washed. Most surveyed facilities were not meeting the 82.2 degrees C (180 degrees F) standard in the washing chamber. A temperature indicator was developed which revealed whether 82.2 degrees C had been reached at the surface of the items being sanitized. The indicator was a sealed glass ampule which produced a visible color change when exposed to temperatures of 82.2 degress C or higher. The indicator was located on the items being washed. Due to the variability of water heating in washing machines, it was recommended that one indicator be used in each load of equipment being sanitized.     

The relation of workspace and installation space of epicyclic kinematics with six degrees of freedom]

INTRODUCTION: The kinematics of a robotic device significantly determines its installation space when it comes to technical realisation. With regard to the deployment of robotic manipulators in surgery, manipulators with a preferably small installation space are needed. MATERIALS AND METHODS: This study describes six versions of novel epicyclic kinematics with six degrees of freedom (DOF). At first, the kinematics functionality was analysed using Gruebler's formula. Subsequently, the quantitative determination of the relation of workspace and installation space was performed using Matlab algorithms. To qualitatively describe the shape of the workspace, the Matlab visualisation features were utilised. For comparison, the well-known Hexapod was used. RESULTS: The assessed kinematics had 6-DOF-functionality. It became apparent that one version of the epicyclic kinematics having two 3-DOF disk systems mounted in a parallel way featured a particularly good relation of workspace and installation space. Compared to the Hexapod, this is approximately four times better. The shape of the workspaces of all epicyclic kinematics assessed was convex and compact. CONCLUSION: It could be shown that a novel epicyclic kinematics has a notably advantageous relation of workspace and installation space. Apparently, it seems to be well suited for the deployment in robotic machines for surgical procedures.     

Non-contact measuring of small translations and rotations in all degrees of displacement]

The investigation of biomechanical problems often makes it necessary to measure displacements and rotations in space. An easy-to-handle optical measuring system has been developed that permits non-contact simultaneous determination of small translations and rotations in all degrees of freedom. Three two-dimensional light-sensitive sensors (PSD [position sensing detector] elements) were arranged spatially to form a measuring sensor. After processing in a computer, the signals definitively determine relative shift and rotation. Thus it is possible, for example, to measure the relative movement between two adjacent spinal vertebrae under different loads.     

Adaptability of myosin V studied by simultaneous detection of position and orientation

We studied the structural dynamics of chicken myosin V by combining the localization power of fluorescent imaging with one nanometer accuracy (FIONA) with the ability to detect angular changes of a fluorescent probe. The myosin V was labeled with bifunctional rhodamine on one of its calmodulin light chains. For every 74 nm translocation, the probe exhibited two reorientational motions, associated with alternating smaller and larger translational steps. Molecules previously identified as stepping alternatively 74-0 nm were found to actually step 64-10 nm. Additional tilting often occurred without full steps, possibly indicating flexibility of the attached myosin heads or probing of their vicinity. Processive myosin V molecules sometimes shifted from the top to the side of actin, possibly to avoid an obstacle. The data indicate marked adaptability of this molecular motor to a nonuniform local environment and provide strong support for a straight-neck model of myosin V in which the lever arm of the leading head is tilted backwards at the prepowerstoke angle.     

Coherent conformational degrees of freedom as a structural basis for allosteric communication

Conformational changes in allosteric regulation can to a large extent be described as motion along one or a few coherent degrees of freedom. The states involved are inherent to the protein, in the sense that they are visited by the protein also in the absence of effector ligands. Previously, we developed the measure binding leverage to find sites where ligand binding can shift the conformational equilibrium of a protein. Binding leverage is calculated for a set of motion vectors representing independent conformational degrees of freedom. In this paper, to analyze allosteric communication between binding sites, we introduce the concept of leverage coupling, based on the assumption that only pairs of sites that couple to the same conformational degrees of freedom can be allosterically connected. We demonstrate how leverage coupling can be used to analyze allosteric communication in a range of enzymes (regulated by both ligand binding and post-translational modifications) and huge molecular machines such as chaperones. Leverage coupling can be calculated for any protein structure to analyze both biological and latent catalytic and regulatory sites.     

Development of an acid-soluble assay for measuring retrovirus integrase 3'-OH terminal nuclease activity

A quantitative and efficient assay was developed to measure the 3'-OH terminal DNA endonuclease activity of the avian myeloblastosis virus (AMV) integrase protein. A retroviral-like linearized plasmid containing long terminal repeat (LTR) sequences at its recessed 3'-OH termini was filled in and labeled with the Escherichia coli Klenow DNA polymerase fragment. The 32P-labeled nucleotide was located at the penultimate position. The labeled linearized plasmid or restriction fragments derived from it were incubated with AMV IN and release of the label was quantitated by conversion to acid-soluble counts. The structure of the released product was characterized on 23% sequencing gels. Results indicate that AMV integration protein is functioning as an endonuclease releasing a dinucleotide and that the activity is stoichiometric with a preference for the cleavage of the U3 LTR terminus over that of the U5 LTR terminus.     

An optical multi-sensing system for detection of cardiovascular toxicity

A mini-microscope-based system for multisite detection of cardiovascular toxicity was developed. The mini-microscope consisted of an image sensor and lens module extracted from an inexpensive webcam. The flipped lens module enabled cells to be magnified and monitored during testing. The portability and compactness of this system enables short-term and potential long-term experimentation inside a conventional incubator. The toxicity test results demonstrated that the normalized beating rates of cardiac muscle cells selected from multiple regions increased over time when treated with 100 nM isoprenaline. The presented system could be a promising cost-effective cell-based testing tool for discovering and screening drugs.     

A new calibration method for 3-D position measurement in biomedical applications.

Aim of the study was to determine practicality and to test accuracy of a new calibration technique firstly introduced in 1998 by Schmid and Bess for biomechanical human tests. This technique enables three-dimensional calibration of camera positions as well as the calculation of internal and external camera parameters. It can be performed unlike other three-dimensional calibration techniques as the first with a planar calibration grid and only one single video image (of each camera) to calculate all 3-D reconstruction parameters. The tests were performed using two albavision ACAM G-Cameras with a resolution of 480 (h) by 420 (v) pixels. The achievable accuracy of distance measurements in recent commercially available motion measurement systems usually ranges from about 0.09% to 1.77% and higher. Accuracy of 0.0373% was determined with the new calibration technique. The 95% confidence interval ranged at +/- 0.02322 mm, the RMS (root mean square) error at 0.18776 mm. Better accuracy, easier and faster calibration are features of this new calibration technique. Required time for complete calibration ranged below one minute. Anticipating this new method will have good practicality in gait analysis or in research and industry due to increased accuracy and ease of use.     

Small-sample degrees of freedom for multi-component significance tests with multiple imputation for missing data

When performing multi-component significance tests with multiply-imputeddatasets, analysts can use a Wald-like test statistic and areference F-distribution. The currently employed degrees offreedom in the denominator of this F-distribution are derivedassuming an infinite sample size. For modest complete-data samplesizes, this degrees of freedom can be unrealistic; for example,it may exceed the complete-data degrees of freedom. This paperpresents an alternative denominator degrees of freedom thatis always less than or equal to the complete-data denominatordegrees of freedom, and equals the currently employed denominatordegrees of freedom for infinite sample sizes. Its advantagesover the currently employed degrees of freedom are illustratedwith a simulation.     

A holistic model for an internal representation to control the movement of a manipulator with redundant degrees of freedom

The paper proposes a model for the control of a multisegmented manipulator with redundant degrees of freedom. On the basis of an earlier model, the so-called MMC net, a simplified version is proposed here which has several advantages. First, it can easily be scaled up for the 3D case. Second, for the linear version a complete convergence proof is possible. Third, an easy way of implementing a damping parameter is shown. Fourth, the properties of the earlier model are unchanged, namely versatile control of the redundant system, immediate change from direct kinematics to inverse kinematics or any mixed control task, as well as robustness in the case of singularities. Received: 4 October 1997 / Accepted in revised form: 26 August 1998     

马铃薯病毒一步法多重RT-PCR检测技术的构建

根据马铃薯病毒PVX、PVY、PVA、PLRV的CP基因序列设计4对特异性引物,通过对试剂浓度和反应条件进行优化,建立了能够同步检测PVX、PVY、PVA、PLRV的一步法多重RT-PCR检测方法。该方法对PVX、PVY、PVA、PLRV扩增出的靶带大小分别为732、422、132和336 bp,凝胶电泳易辨别区分。病毒RNA最低检测限度为7.8 pg/μL,对PVM、PVS、AMV、TMV及PSTVd的扩增为阴性。研究结果表明,该方法特异、灵敏,比两步法多重RT-PCR检测更加快速、简便,提高了检测效率,降低检测成本,为马铃薯病毒的高效检测提供了有效手段。