Chiral assay methods for lifibrol and metabolites in plasma and the observation of unidirectional chiral inversion following administration of the enantiomers to dogs

Lifibrol, a new drug for the treatment of hypercholesterolemia, contains a stereogenic center bearing a secondary alcohol group. A normal-phase achiral–chiral HPLC separation of the enantiomers of lifibrol and two of its metabolites was developed and validated for quantitation in dog plasma. A silica and a Chiralcel OD-H column were operated in series and all six enantiomeric components and internal standard were directly separated. An initial solid-phase extraction (phenyl) clean-up step and a column-switching step to eliminate late-eluting compounds were also utilized. The solid-phase extraction step was automated using a robotic system. Assay development, validation, and application of the method to a bioavailability study of the racemate and enantiomers of lifibrol in dogs are described. The lower limit of quantitation was 0.0125 μg/ml for each enantiomer of lifibrol using 200 μl of dog plasma with UV detection (255 nm). In dog plasma following oral or intravenous administration of the racemate, the (R)/(S) ratio of the enantiomers of lifibrol was greater than one and increased with time. Following administration of the individual enantiomers, chiral inversion of the (S)-enantiomer but not the (R)-enantiomer was observed. © 1994 Wiley-Liss, Inc.     

Dynamic Modeling and Experiment of a Fish Robot with a Flexible Tail Fin

This paper presents the dynamic modeling of a flexible tail for a robotic fish. For this purpose firstly, the flexible tail was simplified as a slewing beam actuated by a driving moment. The governing equation of the flexible tail was derived by using the Euler-Bernoulli theory. In this equation, the resistive forces were estimated as a term analogous to viscous damping. Then, the modal analysis method was applied in order to derive an analytical solution of the governing equation, by which the relationship between the driving moment and the lateral movement of the flexible tail was described. Finally, simulations and experiments were carried out and the results were compared to verify the accuracy of the dynamic model. It was proved that the dynamic model of a fish robot with a flexible tail fin well explains the real behavior of robotic fish in underwater environment.     

Scalable 96-well Plate Based iPSC Culture and Production Using a Robotic Liquid Handling System

Continued advancement in pluripotent stem cell culture is closing the gap between bench and bedside for using these cells in regenerative medicine, drug discovery and safety testing. In order to produce stem cell derived biopharmaceutics and cells for tissue engineering and transplantation, a cost-effective cell-manufacturing technology is essential. Maintenance of pluripotency and stable performance of cells in downstream applications (e.g., cell differentiation) over time is paramount to large scale cell production. Yet that can be difficult to achieve especially if cells are cultured manually where the operator can introduce significant variability as well as be prohibitively expensive to scale-up. To enable high-throughput, large-scale stem cell production and remove operator influence novel stem cell culture protocols using a bench-top multi-channel liquid handling robot were developed that require minimal technician involvement or experience. With these protocols human induced pluripotent stem cells (iPSCs) were cultured in feeder-free conditions directly from a frozen stock and maintained in 96-well plates. Depending on cell line and desired scale-up rate, the operator can easily determine when to passage based on a series of images showing the optimal colony densities for splitting. Then the necessary reagents are prepared to perform a colony split to new plates without a centrifugation step. After 20 passages (~3 months), two iPSC lines maintained stable karyotypes, expressed stem cell markers, and differentiated into cardiomyocytes with high efficiency. The system can perform subsequent high-throughput screening of new differentiation protocols or genetic manipulation designed for 96-well plates. This technology will reduce the labor and technical burden to produce large numbers of identical stem cells for a myriad of applications.     

Automated Assay of Telomere Length Measurement and Informatics for 100,000 Subjects in the Genetic Epidemiology Research on Adult Health and Aging (GERA) Cohort

The Kaiser Permanente Research Program on Genes, Environment, and Health (RPGEH) Genetic Epidemiology Research on Adult Health and Aging (GERA) cohort includes DNA specimens extracted from saliva samples of 110,266 individuals. Because of its relationship to aging, telomere length measurement was considered an important biomarker to develop on these subjects. To assay relative telomere length (TL) on this large cohort over a short time period, we created a novel high throughput robotic system for TL analysis and informatics. Samples were run in triplicate, along with control samples, in a randomized design. As part of quality control, we determined the within-sample variability and employed thresholds for the elimination of outlying measurements. Of 106,902 samples assayed, 105,539 (98.7%) passed all quality control (QC) measures. As expected, TL in general showed a decline with age and a sex difference. While telomeres showed a negative correlation with age up to 75 years, in those older than 75 years, age positively correlated with longer telomeres, indicative of an association of longer telomeres with more years of survival in those older than 75. Furthermore, while females in general had longer telomeres than males, this difference was significant only for those older than age 50. An additional novel finding was that the variance of TL between individuals increased with age. This study establishes reliable assay and analysis methodologies for measurement of TL in large, population-based human studies. The GERA cohort represents the largest currently available such resource, linked to comprehensive electronic health and genotype data for analysis.     

Impact of automatic milking systems on dairy cattle producers’ reports of milking labour management,milk production and milk quality

Automatic milking systems (AMS), or milking robots, are becoming widely accepted as a milking technology that reduces labour and increases milk yield. However, reported amount of labour saved, changes in milk yield, and milk quality when transitioning to AMS vary widely. The purpose of this study was to document the impact of adopting AMS on farms with regards to reported changes in milking labour management, milk production, milk quality, and participation in dairy herd improvement (DHI) programmes. A survey was conducted across Canada over the phone, online, and in-person. In total, 530 AMS farms were contacted between May 2014 and the end of June 2015. A total of 217 AMS producers participated in the General Survey (Part 1), resulting in a 41% response rate, and 69 of the respondents completed the more detailed follow-up questions (Part 2). On average, after adopting AMS, the number of employees (full- and part-time non-family labour combined) decreased from 2.5 to 2.0, whereas time devoted to milking-related activities decreased by 62% (from 5.2 to 2.0 h/day). Median milking frequency was 3.0 milkings/day and robots were occupied on average 77% of the day. Producers went to fetch cows a median of 2 times/day, with a median of 3 fetch cows or 4% of the herd per robot/day. Farms had a median of 2.5 failed or incomplete milkings/robot per day. Producers reported an increase in milk yield, but little effect on milk quality. Mean milk yield on AMS farms was 32.6 kg/cow day. Median bulk tank somatic cell count was 180 000 cells/ml. Median milk fat on AMS farms was 4.0% and median milk protein was 3.3%. At the time of the survey, 67% of producers were current participants of a DHI programme. Half of the producers who were not DHI participants had stopped participation after adopting AMS. Overall, this study characterized impacts of adopting AMS and may be a useful guide for making this transition.     

Kinematics Modeling and Experiments of Pectoral Oscillation Propulsion Robotic Fish

A robotic fish driven by oscillating fins, "Cownose Ray-I", is developed, which is in dorsoventrally flattened shape withouta tail. The robotic fish is composed of a body and two lateral fins. A three-factor kinematic model is established and used in thedesign of a mechanism. By controlling the three kinematic parameters, the robotic fish can accelerate and maneuver. Forwardvelocity is dependent on the largest amplitude and the number of waves in the fins, while the relative contribution of fin beatfrequency to the forward velocity of the robotic fish is different from the usual result. On the other hand, experimental results onmaneuvering show that phase difference has a stronger effect on swerving than the largest amplitude to some extent. In addition,as propulsion waves pass from the trailing edge to the leading edge, the robotic fish attains a backward velocity of 0. 15 m·s^-1.     

Safety and feasibility of atrial fibrillation ablation using Amigo® system versus manual approach: A pilot study

Background

The Amigo^® Remote Catheter System is a relatively new robotic system for catheter navigation. This study compared feasibility and safety using Amigo (RCM) versus manual catheter manipulation (MCM) to treat paroxysmal atrial fibrillation (PAF). Contact force (CF) and force-time integral (FTI) values obtained during pulmonary vein isolation (PVI) ablation were compared.

微创体外循环在机器人辅助下心脏手术中的应用

目的总结微创体外循环在机器人（AESOP3000）辅助下心脏手术中应用的管理和经验。方法2003年11月～2007年11月,共17例患者接受体外循环下机器人辅助心脏手术,其中房缺修补术10例、室缺修补术2例、二尖瓣置换术4例、二尖瓣成形术1例。右腹股沟做约3—4cm小切口,行股动静脉插管建立体外循环。结果术中转流平稳,血流动力学稳定,未附加颈内静脉引流,仅在个别病例中,采用股静脉引流管上加用暂时性动力负压引流,监测指标均在正常范围,无手术死亡和围手术期并发症。结论微创体外循环的应用是保证机器人辅助心脏手术顺利、成功的重要因素。     

Design and Experiments of a Robotic Fish Imitating Cow-Nosed Ray

<正> The cow-nosed ray is studied as natural sample of a flapping-foil robotic fish.Body structure, motion discipline, and dynamicfoil deformation of cow-nosed ray are analyzed.Based on the analysis results, a robotic fish imitating cow-nosed ray,named Robo-ray Ⅱ, mainly composed of soft body, flexible ribs and pneumatic artificial muscles, is developed.Structure andswimming morphology of the robotic prototype are as that of a normal cow-nosed ray in nature.Key propulsion parameters ofRobo-ray Ⅱ at normal conditions, including the St Number at linear swimming, thrust coefficient at towing are studied throughexperiments.The suitable driving parameters are confirmed considering the efficiency and swimming velocity.Swimmingvelocity of 0.16 m·s~(-1)'and thrust coefficient of 0.56 in maximum are achieved in experiments.