Feedback Control of an Achiral Robotic Microswimmer

Magnetic microswimmers are useful for navigating and performing tasks at small scales.To demonstrate effective control over such microswimmers,we implemented feedback control of the three-bead achiral microswimmers in both simulation and experiment.The achiral microswimmers with the ability to swim in bulk fluid are controlled wirelessly using magnetic fields generated from electromagnetic coils.The achirality of the microswimmers introduces unknown handedness resulting in uncertainty in swimming direction.We use a combination of rotating and static magnetic fields generated from an approximate Helmholtz coil system to overcome such uncertainty.There are also movement uncertainties due to environmental factors such as unsteady flow conditions.A kinematic model based feedback controller was created based on data fitting of experimental data.However,the controller was unable to yield satisfactory performance due to uncertainties from environmental factors;i.e.,the time to reach target pose under adverse flow condition is too long.Following the implementation of an integral controller to control the microswimmers' swimming velocity,the microswimmers were able to reach the target in roughly half the time.Through simulation and experiments,we show that the feedback control law can move an achiral microswimmer from any initial conditions to a target pose.     

Fatigue compensation during FES using surface EMG

Muscle fatigue limits the effectiveness of FES when applied to regain functional movements in spinal cord injured (SCI) individuals. The stimulation intensity must be manually increased to provide more force output to compensate for the decreasing muscle force due to fatigue. An artificial neural network (ANN) system was designed to compensate for muscle fatigue during functional electrical stimulation (FES) by maintaining a constant joint angle. Surface electromyography signals (EMG) from electrically stimulated muscles were used to determine when to increase the stimulation intensity when the muscle’s output started to drop.

In two separate experiments on able-bodied subjects seated in hard back chairs, electrical stimulation was continuously applied to fatigue either the biceps (during elbow flexion) or the quadriceps muscle (during leg extension) while recording the surface EMG. An ANN system was created using processed surface EMG as the input, and a discrete fatigue compensation control signal, indicating when to increase the stimulation current, as the output. In order to provide training examples and test the systems’ performance, the stimulation current amplitude was manually increased to maintain constant joint angles. Manual stimulation amplitude increases were required upon observing a significant decrease in the joint angle. The goal of the ANN system was to generate fatigue compensation control signals in an attempt to maintain a constant joint angle.

On average, the systems could correctly predict 78.5% of the instances at which a stimulation increase was required to maintain the joint angle. The performance of these ANN systems demonstrates the feasibility of using surface EMG feedback in an FES control system.     

A validated method for the quantification of pimarane and trachylobane diterpenes in the leaves of Croton zambesicus by capillary gas chromatography

A sensitive and accurate method, combining Soxhlet extraction, solid-phase extraction and capillary gas chromatography, is described for the quantitative determination of four new diterpenes (ent-trachyloban-3beta-ol, ent-18-hydroxy-trachyloban-3-one, ent-trachyloban-3-one and isopimara-7,15-dien-3beta-ol) from the leaves of Croton zambesicus. This is the first method describing the quantification of trachylobane diterpenes in a crude extract. It has been fully validated in order to be able to compare the diterpene composition in other samples of C. zambesicus, which is an important source of trachylobanes.     

Therapy of paretic arm in hemiplegic subjects augmented with a neural prosthesis: a cross-over study

There are indications that both intensive exercise and electrical stimulation have a beneficial effect on arm function in post-stroke hemiplegic patients. We recommend the use of Functional Electrical Therapy (FET), which combines electrical stimulation of the paretic arm and intensive voluntary movement of the arm to exercise daily functions. FET was applied 30 min daily for 3 weeks. Forty-one acute hemiplegics volunteered in the 18-months single blinded cross-over study (CoS). Nineteen patients (Group A) participated in FET during their acute hemiplegia, and 22 patients (Group B) participated in FET during their chronic phase of hemiplegia. Group B patients were controls during FET in acute hemiplegia, and Group A patients were controls during the FET in chronic hemiplegia. Thirty-two patients completed the study. The outcomes of the Upper Extremity Function Test (UEFT) were used to assess the ability of patients to functionally use objects, as were the Drawing Test (DT) (used to assess the coordination of the arm), the Modified Ashworth Scale, the range of movement, and the questionnaire estimating the patients' satisfaction with the usage of the paretic arm. Patients who participated in the FET during the acute phase of hemiplegia (Group A) reached functionality of the paretic arm, on average, in less than 6 weeks, and maintained this near-normal use of the arm and hand throughout the follow-up. The gains in all outcome scores were significantly larger in Group A after FET and at all follow-ups compared with the scores before the treatment. The gains in patients who participated in the FET in the chronic phase of hemiplegia (Group B) were measurable, yet not significant. The speed of recovery was larger during the period of the FET compared with the follow-up period. The gains in Group A were significantly larger compared with the gains in Group B. The FET greatly promotes the recovery of the paretic arm if applied during the acute phase of post-stroke hemiplegia.     

Canonical labeling of proteome maps

We propose a canonical labeling of proteome maps, which enables one to sort and catalog the maps in a simple way. The canonical label of a proteome map is based on the canonical labeling of vertexes of Hasse diagram embedded in the map resulting in the adjacency matrix, the rows of which when viewed as binary numbers are the smallest possible such numbers. The use of the approach in documentation is illustrated with the proteome maps of liver cells of healthy male Fisher F344 rats and the rats treated with different peroxisome proliferators.     

Clinical evaluation of the simultaneous determination of CA 15-3, CA 125 and sHER2 in breast cancer

Objective We investigated serum levels of CA 15-3, sHER2 and CA 125, and their usefulness in the detection of metastatic disease in breast cancer patients.

Methods The levels of CA 15-3, sHER2 and CA 125 tumour markers were determined in 60 patients, 40 with localized and 20 with metastatic breast carcinoma. The control group consisted of 10 healthy women.

Results We found that, at the time of diagnosis, serum levels of all three tumour markers were elevated in patients with distant metastases, but of minute importance in the detection of any breast cancer. When the data for the individual markers were combined the overall sensitivity of metastases detection with all three markers improved. In this regard, 90% of patients with distant metastases had an increase in serum level of at least one of tested tumour markers. Similar results were obtained using receiver operating characteristic curve (ROC). Moreover, using ROC we defined cut-off values for metastasis detection for each of the tested markers.

Conclusion Our findings indicate that measurement of CA 15-3 serum values in conjunction with sHER2 and CA 15-3 can increase sensitivity in metastasis detection.     

Antibiotic resistance evolved via inactivation of a ribosomal RNA methylating enzyme

Modifications of the bacterial ribosome regulate the function of the ribosome and modulate its susceptibility to antibiotics. By modifying a highly conserved adenosine A2503 in 23S rRNA, methylating enzyme Cfr confers resistance to a range of ribosome-targeting antibiotics. The same adenosine is also methylated by RlmN, an enzyme widely distributed among bacteria. While RlmN modifies C2, Cfr modifies the C8 position of A2503. Shared nucleotide substrate and phylogenetic relationship between RlmN and Cfr prompted us to investigate evolutionary origin of antibiotic resistance in this enzyme family. Using directed evolution of RlmN under antibiotic selection, we obtained RlmN variants that mediate low-level resistance. Surprisingly, these variants confer resistance not through the Cfr-like C8 methylation, but via inhibition of the endogenous RlmN C2 methylation of A2503. Detection of RlmN inactivating mutations in clinical resistance isolates suggests that the mechanism used by the in vitro evolved variants is also relevant in a clinical setting. Additionally, as indicated by a phylogenetic analysis, it appears that Cfr did not diverge from the RlmN family but from another distinct family of predicted radical SAM methylating enzymes whose function remains unknown.     

Sublethal effects of NeemAzal- T/S botanical insecticide on Dutch and Serbian populations of Encarsia formosa (Hymenoptera: Aphelinidae)

Sublethal effects of an azadirachtin-based botanical insecticide (commercial product NeemAzal-T/S) on behaviour, life history traits and population growth of one commercial (Dutch strain, D) and two Serbian populations (Bujanovac, B; Negotin, N) of Encarsia formosa Gahan were evaluated in laboratory bioassays. In a two-choice test, parasitoids from all tested populations preferred to parasitise the untreated whitefly nymphs over those treated with 50, 25, 12.5, 6.25 and 3.12?mg/l of azadirachtin. All concentrations caused significant deterrent effects after 24?h, and the following deterrence indices were calculated: 9.7–60.9% (B), 5.5–57.5% (N) and 12.9–63.5% (D). The longevity of adults exposed for 48?h to residues of the botanical insecticide (applied at LC₅₀) was shorter (1.5–1.7 days) than that of control wasps. Both daily and total parasitism were significantly reduced (by 41.7, 48.3 and 60.1% for N, D and B, respectively) compared to control, as well as adult emergence in the F₁ generation. The instantaneous rate of increase (r_i) of surviving adults was also significantly reduced (by 13.2, 19. 3 and 20.5%, for populations N, B, and D, respectively). Adults from all tested populations, emerged from pupae treated with the botanical insecticide applied at LC₅₀, showed reduced parasitism, adult emergence, and r_i levels, but the reduction was significant only for adult emergence of B and r_i of B and N. Juvenile development of the parasitoid in treated pupae was significantly extended, compared to control. The implications of these results on integrated control of the greenhouse whitefly are discussed.     

Habitat preference of the striped legless lizard: Implications of grazing by native herbivores and livestock for conservation of grassland biota

Across the globe, many species of reptile are threatened with extinction, with changes in grazing pressure as a significant factor in their decline. Few studies have investigated the role of native herbivores, yet studying natural grazers may provide insight into natural grazing regimes, not apparent in studies of domestic livestock. In this study, we investigate the habitat requirements of a threatened Australian grassland reptile, the striped legless lizard, Delma impar, in grasslands grazed by a native herbivore, the eastern grey kangaroo Macropus giganteus. Delma impar appears sensitive to habitat change resulting from altered grazing intensity, but a lack of information hinders implementation of appropriate grazing regimes. To address this gap, we investigated habitat preferences of D. impar at multiple spatial scales across a grazing gradient. We found that the occurrence of D. impar was not affected by the size of grassland remnants, but was negatively related to the density of native grazers. This result was likely a consequence of the negative effect of high grazing intensity on grass structural complexity, as the probability of encountering a D. impar was positively related to grass structural complexity at the fine scale (1 m²). We recommend that conservation efforts should avoid high intensity grazing (equivalent to > 1.3 kangaroos/ha), yet ensure enough grazing disturbance is maintained to promote the formation of complex grass structures. We also recommend that small floristically degraded and fragmented grassland habitat should be included in conservation efforts. These recommendations will likely benefit a number of faunal species in grasslands grazed by domestic and native grazers. Importantly, our data highlight the need for managing grazing regimes, even in environments dominated by native herbivores.