Grasp Force Sensing Using Visual Servoing and Fingernail Imaging

2018 ◽  
Author(s):  
Navid Fallahinia ◽  
Sonoma Harris ◽  
Stephen Mascaro
Keyword(s):  
Visual Servoing ◽  
Human Subjects ◽  
Experimental Studies ◽  
Mean Value ◽  
Force Sensing ◽  
Imaging Method ◽  
Normal Forces ◽  
The Mean ◽  
Grasp Force ◽  
Fingertip Forces

This paper discusses the grasp force sensing capabilities of the fingernail imaging method integrated with a visual servoing robotic system. The effectiveness of the fingernail imaging method has been demonstrated on the previous works in the prediction of 3-D fingertip forces. In this study, the fingernail imaging method has been modified to be used in constrained grasping studies. Moreover, the technique can be extended to be applied to the unconstrained grasping study as well. Visual servoing has been utilized in this paper to solve the issue of keeping fingernail images in the field of view of the camera during unconstrained grasping motions. The experimental results show the effectiveness of applying visual servoing for use with the fingernail imaging method to be used in grasping studies. Experimental studies were performed on 2 human subjects and the mean value of RMS errors for predicted normal forces during grasping has been found as 0.57 N. (5.7% for the range of 0–10 N)

Detection of Soluble Fibrin Monomer Complexes in Blood by Means of Protamine Sulphate Test

1968 ◽  
Vol 20 (01/02) ◽  
pp. 044-049 ◽  
Author(s):  
B Lipiński ◽  
K Worowski
Keyword(s):  
Human Subjects ◽  
Coronary Thrombosis ◽  
Mean Value ◽  
Healthy Human ◽  
Protamine Sulphate ◽  
Soluble Fibrin ◽  
Fibrin Monomer ◽  
Dog Plasma ◽  
The Mean ◽  
Precipitable Protein

SummaryIn the present paper described is a simple test for detecting soluble fibrin monomer complexes (SFMC) in blood. The test consists in mixing 1% protamine sulphate with diluted oxalated plasma or serum and reading the optical density at 6190 Å. In experiments with dog plasma, enriched with soluble fibrin complexes, it was shown that OD read in PS test is proportional to the amount of fibrin recovered from the precipitate. It was found that SFMC level in plasma increases in rabbits infused intravenously with thrombin and decreases after injection of plasmin with streptokinase. In both cases PS precipitable protein in serum is elevated indicating enhanced fibrinolysis. In healthy human subjects the mean value of OD readings in plasma and sera were found to be 0.30 and 0.11, while in patients with coronary thrombosis they are 0.64 and 0.05 respectively. The origin of SFMC in circulation under physiological and pathological conditions is discussed.

scholarly journals Anticoagulation in Cardiopulmonary Bypass

1977 ◽  
Author(s):  
C. Thomas Kisker ◽  
John A. Young ◽  
Donald B. Doty ◽  
Barbara J. Taylor
Keyword(s):  
Cardiopulmonary Bypass ◽  
Antithrombin Iii ◽  
Human Subjects ◽  
Mean Value ◽  
Clotting Time ◽  
Excessive Bleeding ◽  
Safe Level ◽  
Activated Clotting Time ◽  
Before And After ◽  
The Mean

Prolonging the activated clotting time (ACT) 2 to 3 times normal is said to provide a “safe” level of anticoagulation during cardiopulmonary bypass. To test this level of anticoagulation 9 monkeys were anticoagulated with heparin at the start of cardiopulmonary bypass so that ACT’s ranged from 201 sec to > 1000 sec (normal 91 sec). ACT, platelet count (P), fibrinogen (F), and fibrin monomer (FM) were measured at 10, 30, 60, 90, and 120 minutes during bypass. Antithrombin III (AT3) was measured before and after bypass. Six monkeys developed increased FM indicating active coagulation beginning from 10 to 60 minutes on bypass. ACT’s were > 200 sec in all animals at the time of FM detection. P fell below 100,000/mm3 in the 6 animals with elevated FM, but remained above 100,000/mm3 in the other 3 animals. The mean value of AT3 (69%) decreased to 24.4% after bypass in the 6 animals with elevated FM, but was 61% after bypass in the others. Scanning electron microscopy of the oxygenator membranes showed significant amounts of fibrin on the membranes used in monkeys who developed increased FM levels, but not on those with normal FM concentrations. F decreased from 167 mgm/dl to 80.5 mgm/dl in monkeys with elevated FM and to 117 mgm/dl in those with normal FM concentrations. Excessive bleeding did not occur in the animals without increased FM although ACT’s were in excess of 1000 sec. Subsequently three human subjects on cardiopulmonary bypass whose ACT’s were maintained above 400 sec have not shown increased FM levels. The results suggest that prolonging the ACT more than 2 - 3 times normal is required to prevent activation of clotting during cardiopulmonary bypass.

Respiratory quotients of human kidney in vivo

1963 ◽  
Vol 18 (4) ◽  
pp. 815-817 ◽  
Author(s):  
Earl S. Barker ◽  
Archer P. Crosley ◽  
John K. Clark
Keyword(s):  
Human Subjects ◽  
Human Kidney ◽  
Mean Value ◽  
Whole Body ◽  
Mean Values ◽  
Anesthetized Dogs ◽  
The Mean ◽  
Urine Formation ◽  
Analytical Errors

Renal respiratory quotient (RQ) has been calculated from data collected in unanesthetized human subjects. In contrast to RQ recently reported on anesthetized dogs, these data do not indicate a mean value greater than 1. Under control conditions in 24 subjects, renal RQ calculated without special corrections averaged 0.88. Correcting for differences in blood flow between renal artery and vein due to urine formation the mean was 0.73, with 95% confidence limits 0.49–0.97. With alkaline urines an additional correction for urinary excretion of CO2 is advised. Excluding procedures known to alkalinize the urine, RQ values were similar in 46 observations after a variety of experimental procedures. Since both numerator and denominator of the ratio involve small differences between large values, small analytical errors can produce large changes indistinguishable from physiologic variation. Therefore mean values rather than individual observations are stressed. While such values in our data appear similar to RQ for other organs and the whole body, they do not preclude considerable anaerobic metabolism. Submitted on August 9, 1962

Attitude and Practice Towards Aflatoxin Contamination in Food and Sociodemographic Factors Contributed Toward Urinary AFM1 Occurrence Among Residents in Hulu Langat, Selangor, Malaysia

2020 ◽  
Author(s):  
Siti Husna Sulaiman ◽  
Wei Lin Chang ◽  
Rosita Jamaluddin ◽  
Mohd Redzwan Sabran
Keyword(s):  
Household Income ◽  
Human Subjects ◽  
Sociodemographic Factors ◽  
Cross Sectional Study ◽  
Mean Value ◽  
Aflatoxin Contamination ◽  
Cross Sectional ◽  
Monthly Household Income ◽  
Attitude And Practice ◽  
The Mean

Abstract Background: Aflatoxin occurrence could be affected by several factors. This study aimed to assess the association between knowledge, attitude and practice (KAP) towards aflatoxin and sociodemographic factors with urinary AFM1 occurrence among residents in Hulu Langat, Selangor. Methods: A cross-sectional study was conducted among healthy Malaysian adults aged 18 to 60 years in six subdistricts of Hulu Langat, Selangor. Sociodemographic factors and KAP towards aflatoxin were assessed via questionnaires while morning urine sample was collected for AFM 1 analysis. Of 444 respondents, the urinary AFM 1 level was detected in 199 samples (detection rate = 44.8 %). From 37 positive samples with AFM 1 level above the detection limit of 0.64 ng/ml, the mean value was 1.23 ± 0.91 ng/ml with a range of 0.65 – 5.34 ng/ml (median = 0.89 ng/ml). The variables were examined based on the occurrence of urinary AFM 1 biomarker. Results: Findings showed that there were significant differences in urinary AFM1 occurrence across ethnicity ( p <0.01), age group ( p <0.05), monthly household income ( p <0.01), as well as attitude ( p <0.01) and practice ( p <0.05) towards aflatoxin contamination in food. Binomial logistic regression confirmed that ethnicity and monthly household income were the factors contributing to urinary aflatoxin occurrence ( p <0.01). Chinese were 3.20 times more likely to have aflatoxin exposure than the non-Chinese. Detected urinary AFM 1 was more common among household with income more than RM 1500 monthly. Conclusion: The results provided an insight to explain the variation in aflatoxin occurrence among the population. Trial registration: Ethics Committee for Research Involving Human Subjects Universiti Putra Malaysia (JKEUPM), project number: FPSK (EXP16) P047

scholarly journals EFEKTIVITAS PERSUASIF MELALUI NARASI DAN BUKTI STATISTIK TERHADAP PENGAMBILAN KEPUTUSAN MEMILIH PRODUK HANDPHONE

2017 ◽  
Vol 2 (1) ◽  
pp. 25-32
Author(s):  
Alwinansyah Farnas ◽  
Gumgum Gumelar
Keyword(s):  
Decision Making ◽  
Experimental Studies ◽  
Mean Value ◽  
Statistical Evidence ◽  
T Test ◽  
Test Results ◽  
Independent Test ◽  
The Mean ◽  
The Difference

The aim of this study was to determine whether there is a difference to the effectiveness of persuasion toward narrative and statistical evidence in making decisions selecting mobile products in adolescents. The study was conducted from September to January 2013. This study uses a method of controlled experimental studies labolatory. Analysis using t-test of the difference independent test samples from the test results obtained values F = 1461, p = 0231> 0.05 (not significant), meaning that there is no difference in the effectiveness of persuasion through narrative and statistical evidence on decision making in adolescents choose mobile products . Comparison of average (mean) persuasive narrative and persuasive statistical evidence obtained mean value 62.12 for the narrative and the mean value for the statistical proof of 60.06. Based on the results of this analysis rejected the hypothesis that there is no difference in the effectiveness of persuasion through narrative and statistical evidence for making decisions on choosing mobile products in teens. The implication of this research is to use both types of persuasive in influencing a person's decision-making in the absence of differences in effectiveness between the two.

Magnesium metabolism in the dairy cow V. Experimental observations with a purified diet low in magnesium

1963 ◽  
Vol 61 (2) ◽  
pp. 167-171 ◽  
Author(s):  
J. E. Storry ◽  
J. A. F. Rook
Keyword(s):  
Dry Matter ◽  
Experimental Studies ◽  
Basal Diet ◽  
Mean Value ◽  
Faecal Excretion ◽  
Low Magnesium ◽  
Lactating Cows ◽  
Rapid Fall ◽  
Significant Difference ◽  
The Mean

1. An artificial diet low in magnesium (0·01–0·02% of the dry matter), and providing about 0·5 g. magnesium daily, was prepared from paper pulp, maize gluten, magnesium-free minerals and vitamins A and D and used in experimental studies with two non-lactating cows.2. The omission of a dietary supplement of magnesium oxide (5 g./day) caused a rapid fall in the excretion of magnesium in the urine, from values of 1–2 g./day to virtually zero within about 4 days. There was a similar rapid fall in the concentration of magnesium in the serum, from about 2·7 to 2·0 mg./lOO ml., and then a slow fall to between 1·0 and 1·5 mg./lOO ml. after 12 days. Faecal excretion of magnesium was also reduced but the faecal loss continued at about 1·0 g./day after 2–3 days on the low magnesium diet.3. The availability of the magnesium of various salts was determined by giving them as supplements to the basal diet and measuring the increase in the excretion of magnesium in the urine. The mean value was 26·2% in one cow and 34·5% in the other, a highly significant difference (P < 0·01). The availabilities of the oxide, nitrate, acetate and lactate were similar, but the citrate gave a higher value and the sulphate, silicate and, in one cow, the chloride a lower value.

scholarly journals Beating your Neighbor to the Berry Patch

2020 ◽  
Author(s):  
Alan R. Rogers
Keyword(s):  
Nash Equilibrium ◽  
Mixed Strategy ◽  
Human Subjects ◽  
Pure Strategy ◽  
Initial Period ◽  
Mean Value ◽  
Mixed Strategies ◽  
The Mean ◽  
The Cost ◽  
Evolutionarily Stable

AbstractThis paper studies the situation in which multiple foragers compete for a resource that ripens (or otherwise improves) gradually. There is a unique mixed Nash Equilibrium (NE), which is stable against pure-strategy invaders provided that either the cost of visiting the resource or number of competitors is large. This equilibrium is not evolutionarily stable, however, because mixed strategies that are similar to the NE can invade.This mixed-strategy instability was not observed in computer simulations. The process converged to the neighborhood of the NE whenever the parameters implied stablity against pure-strategy invaders. Experiments with human subjects also failed to exhibit this mixed-strategy instability. After an initial period of familiarization, the behavior of human subjects was close to that predicted by the NE.This suggests that the NE may be useful as a prediction of behavior, and when that it true, strange conclusions emerge: the larger the number of foragers, the less likely it is that the resource will be harvested at all, and the greater the mean value of that resource when it is harvested.

New Methodology of Controlling Mechanical Properties of Materials

2017 ◽  
Vol 748 ◽  
pp. 369-374
Author(s):  
Romuald Kotowski ◽  
V.I. Alshits ◽  
E.V. Darinskaya ◽  
M.V. Koldaeva ◽  
E.A. Petrzhik ◽  
...  
Keyword(s):  
Mechanical Properties ◽  
Point Defects ◽  
Random Distribution ◽  
Dislocation Line ◽  
Experimental Studies ◽  
Mean Value ◽  
Crystal Defects ◽  
Plastic Deformations ◽  
Properties Of Materials ◽  
The Mean

The new relations in kinematics of the magnetoplasticity phenomenon in nonmagnetic materials based on the experimental studies and the computer simulations are presented. The movement of the crystal dislocations, the fundamental crystal defects responsible for plastic deformations, through the random distribution of the point defects, being the obstacles for the motion of the dislocation, is discussed. It is shown that the mean value of the obstacles on the dislocation line does not depend on their concentration C in the sample and the critical dispatching force is proportional to √C.

scholarly journals Clinical and Enzymatic Investigation of Induction of Oxygen Free Radicals by Ischemia and Reperfusion in Human Hepatocellular Carcinoma and Adjacent Liver

HPB Surgery ◽  
1995 ◽  
Vol 8 (3) ◽  
pp. 193-199 ◽  
Author(s):  
Akira Yamanoi ◽  
Naofumi Nagasue ◽  
Hitoshi Kohno ◽  
Takeo Kimoto ◽  
Terushisa Nakamura
Keyword(s):  
Hepatocellular Carcinoma ◽  
Free Radicals ◽  
Liver Tissue ◽  
Oxygen Free Radicals ◽  
Human Subjects ◽  
Thiobarbituric Acid ◽  
Mean Value ◽  
Ischemia And Reperfusion ◽  
Before And After ◽  
The Mean

Serum concentration of thiobarbituric acid (TBA) reactants in the hepatic vein were measured before and after transient dearterialization of the liver in five human subjects bearing unresectable hepatocellular carcinoma (HCC). During 1 hour of the occlusion of the hepatic artery, change inTBA reactants level was slight. However, the mean value of TBA reactants in 1 hour after the reflow increased to 1.50 ± 0.11 nmol/ml (mean ± S.E.) and was significantly higher (p < 0.05) than those before hepatic dearterialization (1.28 ± 0.11 nmol/ml) and just before the release of occlusion (1.32 ± 0.09 nmol/ml).Further, two endogeneous scavenger enzymes, superoxide dismutase (SOD) and catalase (CAT), and one of the major sources of oxygen free radicals, xanthine oxidase (XOD) were measured in human untreated HCC and the corresponding adjacent liver tissue. The results demonstrated an increase in SOD in 81.8% (9/11) of HCC, and a decrease in CAT in 72.7% (8/11) of HCC when compared with the corresponding adjacent liver tissue. The mean value of SOD in HCC was significantly higher (66.8 ± 6.5 vs 52.8 ± 3.8 U/mg protein; p < 0.05), and that of CAT was significantly lower (22.6 ± 2.4 vs 36.0 ± 6.1 U/mg protein; p < 0.05) than those in liver tissue. All of nine HCC samples had a significantly lower activity of XOD (6.4 ± 1.9 vs 20.3 ± 3.4 pmol/minute/mg protein; p < 0.01) than the corresponding liver tissue. There was no obvious relation between the content of SOD and CAT in HCC, or in liver tissue.These data may suggest that oxygen free radicals can be generated in human HCC by ischemia and reperfusion of the tumor- bearing liver. It is also indicated that the antioxidant system of HCC is not always impaired, and that HCC might develop several lines of defence systems against the oxidative attack. A possible strategy of the treatment for liver tumor with oxygen derived free radicals induced by ischemia and reperfusion is hypothized here.

scholarly journals Three-dimensional numerical simulation of flow in vertical slot fishways: validation of the model and characterization of the flow

RBRH ◽  
2019 ◽  
Vol 24 ◽  
Author(s):  
Daniela Guzzon Sanagiotto ◽  
Júlia Brusso Rossi ◽  
Luísa Lüdtke Lauffer ◽  
Juan Martín Bravo
Keyword(s):  
Numerical Simulation ◽  
Computational Cost ◽  
Experimental Studies ◽  
Three Dimensional ◽  
Maximum Flow ◽  
Mean Value ◽  
Vertical Slot ◽  
Longitudinal Slope ◽  
The Mean

ABSTRACT Vertical slot fishways allow energy dissipation as a function of the pool, longitudinal slope, baffle and vertical slot design. The mean and turbulent flow patterns in these structures must be compatible with the fish target. The design of these structures is commonly based on previous successful fishways as well as simplified theoretical equations and empirical relationships. To aid in the design of these structures, a three-dimensional hydrodynamic model was used to simulate the flow, and experimental studies were used to validate the model. The mean velocities, pressures and parameters indicative of turbulence were analyzed. The maximum flow velocities were up to 32% higher than the values obtained using a simplified theoretical equation. The evaluation of the volumetric dissipated power indicated that the mean value for the pool was lower than 150 W/m3; however, analysis of the spatial distribution showed that in some areas, the values can exceed 1000 W/m3. The results indicate that the numerical simulation was able to adequately represent the flow considering the computational cost involved. Accordingly, it can be used as a complementary tool for the design of new fishways and for the analysis of modifications in existing ones.

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