Software and control shell for service robots with parallel computing

KIAM Russian Academy of Sciences, International Laboratory «Sensorika» conduct research and development of service robots for tasks of telemedicine. The developed mobile robot AMUR-307 is planned to be used in clinics to move various objects between the premises of the building, separated by thresholds, stairs and doors. The robot is controlled remotely via a radio channel from the operator's post. It is also intended to minimize operator interference and apply the developed algorithms for autonomous operation using an on-board computing device. To control robots of this type, a software and hardware microprocessor system was designed and manufactured and its comprehensive testing was performed. The solution allows you quickly make changes to the customer's requirements and deliver robots, integrating them into the existing infrastructure. The article presents the results of research and comparison of various ways to implement the robot, optimize its structure, replication technology and parallel programming using the GPU.

Chemical and structural investigations on uranium oxide-based microparticles as reference materials for analytical measurements

The analysis of individual micrometre- and submicrometre-sized particles collected by IAEA’s safeguards inspectors on swipe samples during in-field verification activities requires the implementation of a sustainable quality control system such as suitable microparticulate reference materials. To this end, pure and neodymium-doped uranium oxide-based microparticles utilising an aerosol-based particle production process were prepared. SEM/EDX measurements confirmed the monodispersity of the produced microspheres as well as the incorporation of 15 mol% Nd into the compound particles. The timeline of structural investigations mirror the ongoing alteration of particles being stored under laboratory atmosphere. While results from in-SEM Raman (CEA, DAM) on microparticles after two years storage time point to the formation of U3O8 and a minor fraction of schoepite phase (hydrated UO3), in U L3-edge XAFS after four months storage time and U M4-edge HR-XANES after ten months storage time spectra (INE-Beamline and ACT station @ KIT synchrotron radiation source) mainly U(IV) and U(V), respectively, was observed. These results provide new insight into ageing mechanism of the microparticles after preparation. From these results important conclusions with respect to storage conditions and shelf life of the reference particles can be drawn. The first batch of pure U-oxide microparticles produced in Juelich was successfully certified regarding the isotopic composition and the U amount per particle and applied in an international laboratory exercise NUSIMEP-9. Graphic Abstract

Serologically Weak D-phenotype: Review and Interpretation of Blood Group RhD

The Rhesus system is the second most important erythrocyte system for transfusion after ABO. Accurate determination of the Rhesus status of the donor, recipient, pregnant allows to prevent the development of post-transfusion hemolytic complications of the fetus or newborn associated with incompatibility of the blood of the mother and the fetus by D antigen. Generally, determination of the Rhesus affiliation of a person is performed by serological methods using anti-Rhesus reagents with full or incomplete antibodies. However, the results of serological studies are not always clear. Mutations and other effects of the RH gene locus disrupt the production of the normal D antigen and lead to the emergence of numerous varieties of antigen D. The variant of antigen D was described in 1946 and was designated as Du. The study showed that the differences between Du antigen and normal D were quantitative rather than qualitative. The Du antigen was later designated as Dweak - a weak D-antigen or a weak D-phenotype. In the early 1950s, anti-D antibodies were detected in recipients with a weak D-antigen after transfusion with Rh-positive blood and in pregnant women with the Du phenotype during pregnancy and at the birth of a D+ baby. It was suggested that the D antigen was not homogeneous and consisted of numerous partial variants: D1, D2, D3, etc. A complete set of partial variants corresponds to a complete D-antigen. The absence of any of one or more partial factors leads to the appearance of attenuated forms of the D antigen, denoted as Dpartial. People lacking certain partial antigens can produce anti-D antibodies against them. Differentiation of weak D phenotypes has great clinical importance, because transfusion of Rh-erythrocytes to recipients with Dweak and who are actually Rh-positive, has no scientific justification and leads to unjustified consumption of deficient blood and unnecessary immunoprophylaxis of anti-Rh immunoglobulin to pregnant women. International laboratory practice has no unified policy regarding the diagnosis of weak variants of D antigen and the interpretation of the results. Polymerase chain reaction allows to accurately define the Rh status of an individual and to avoid unreasonable transfusions of Rh-negative blood and unnecessary immunoprophylaxis

Microscopic Characteristics of Late Intraocular Lens Opacifications

Context.— The increases in overall life expectancy and in lens surgeries performed on younger patients have resulted in a significant increase in the anticipated duration of artificial intraocular lenses (IOLs) in the eye. Thus, the physicochemical properties of the IOL become a critical issue, and several types of postoperative IOL opacifications have been reported. Objective.— To describe the microscopic characteristics of opacified IOLs. Glistenings and subsurface nanoglistenings are fluid-related phenomena developing mainly in hydrophobic acrylic IOLs and are associated with aqueous influx into the IOL matrix. Calcification presents in hydrophilic acrylic or silicone IOLs as deposits of hydroxyapatite or other phases of calcium. Snowflake degeneration is less common, and it manifests in older polymethyl methacrylate IOLs. Data Sources.— PubMed and ScienceDirect databases were searched for the following keywords: intraocular lens, IOL, cataract surgery, phacoemulsification, opacification, glistening, subsurface nanoglistenings, calcification, snowflake degeneration. English-language articles published up to October 15, 2019 were included in the study. The manuscript contains mainly a literature review; however, it was supplemented with original investigations from the David J. Apple International Laboratory for Ocular Pathology Conclusions.— Glistenings and subsurface nanoglistenings should be evaluated in hydrated state and at room temperature; they manifest as microvacuoles sized from 1.0 to greater than 25.0 μm and less than 200 nm, respectively. Calcification deposits are situated on or underneath the surface of the IOL and can be stained with a 1% alizarin red solution or with the von Kossa method. Snowflake degeneration manifests as “particles” or “crystals,” causing whitish IOL discoloration. Scanning electron microscopy or energy dispersive X-ray spectroscopy may improve the diagnostic accuracy.

The NE-Atlantic challenge: where should we core and where should we conduct a wide-angle seismic survey?

<p>The Northeast Atlantic area presents new fundamental challenges in geodynamics, making it a superb international laboratory to develop new models and concepts that can be tested elsewhere. Among the most exciting challenges in this area is characterization of the different types of crust that may be encountered in oceanic realms. Viewing this area objectively, it appears that the classical distinction between oceanic and continental lithosphere is no longer adequate to interpret contemporary observations. This is a direct consequence of the huge input of magma into the lithosphere that has occurred at different stages of its evolution. Notably, we do not fully understand the true nature of the crust beneath Iceland and along the nearby continental margins and aseismic ridges (e.g., the GIFR). In particular, the classical distinctions made from linear magnetic anomalies (LMA) to distinguish oceanic and continental lithosphere is proven to not work. Massive magmatic-type accretion may occur together with continental thinning and stretching to generate symmetrical LMA over wide continental domains and give rise to erroneous interpretations as oceanic-type lithosphere. If part of the crust is inherited from former, albeit transformed, continental crust, this must also apply to the underlying mantle lithosphere. For example, old slabs may be trapped and reworked in the lithosphere and play major roles in its evolution. These new considerations have fundamental economic, political and scientific implications. It is now urgent to target and investigate the true nature of the crust in the NE-Atlantic, in particular seeking clues to the existence of continental material in specific areas. In my presentation I will make specific proposals.</p>

DARMA - INFORMATION SYSTEM FOR ACCESSING LHC DATA WITHIN THE ALICE EXPERIMENT AT CERN

The paper deals with the implementation of systems for remote data access in cooperation with the international laboratory CERN in Geneva. The first part discusses extensions of the DARMA information system for archive management. The main goal of this paper is to design and enhance the system with new functionalities and solve known shortcomings, and thus qualitatively increase the potential of the DARMA system in the context of the ALICE DCS (Detector Control System). The final part of the paper deals with the analysis of historical data and the design of a system for the anomaly and failure detection in the infrastructure of high voltage channels within the TRD detector (Transition Radiation Detector).

UNESCO Chair of Developmental Biology: How an initiative that fostered careers in Developmental Biology impacted Brazilian science

The UNESCO Chair in Developmental Biology started in 1998, at the Institute of Biomedical Sciences of the Federal University of Rio de Janeiro, in Brazil. This Chair was a Brazilian-French initiative led by Professor Vivaldo Moura Neto and Professor Nicole Le Douarin, one of the most inspiring Developmental Biologists of the 20th and 21st centuries. The UNESCO Chair wanted to stimulate interest in the Developmental Biology of Brazilian students and scientists by organizing annual international courses at an advanced level in Evolution and Developmental Biology. At the Federal University of Rio de Janeiro, the UNESCO Chair established an international laboratory for the permanent training of researchers and the development of research programs in Developmental Biology and related areas. Moreover, the program aimed at establishing an international network connecting Brazilian Universities and research centers in Latin America and Europe. The advanced hands-on courses, symposiums, and workshops promoted by this Chair inspired the careers of many young scientists. They generated new research lines of research in Developmental Biology using a variety of animal models. This review does not intend to bring up all the historical events that marked the beginning of Developmental Biology in Brazil. Instead, it will be dedicated to highlighting one specific initiative that inspired a new generation of Developmental Biologists who established important research lines and contributed to the advance of this scientific field in Brazil.

Tsetse and trypanosomiasis control in West Africa, Uganda and Ethiopia: ILRI's role in the field.

This book chapter was to tackle the mission of International Laboratory for Research on Animal Disease (ILRAD): discuss AAT and East Coast fever. As a result, a large body of research on AAT was conducted over 30 years: genetics, breeding and immunology research. This chapter reviews the earlier field work of ILRAD followed by that of International Livestock Research Institute (ILRI) after 1994 in East and West Africa, including the engagement of those institutions with regional and global initiatives. Looking to the future, AAT is likely to remain a priority constraint for African livestock. We now have approaches that are highly effective at reducing the impact of AAT, either singly or in combination. We also understand better the challenges of adoption of even economically attractive strategies and how the changing dynamics of AAT may lead to future opportunities for optimized control.

Effect of Various Surface Coatings on De-Icing/Anti-Icing Fluids Aerodynamic and Endurance Time Performances

The Anti-icing Materials International Laboratory (AMIL) has been testing SAE AMS1424 and AMS1428 ground de-icing/anti-icing fluids for more than 30 years. With the introduction of new surface coatings and their investigation as potential passive ice protection systems, or for hybrid use with other methods, it is important to understand their interaction with the ground de-icing/anti-icing fluids prior to applications on aircraft. In this study, five different surface coatings, both commercially available and under development, have been tested under two current test methods used to qualify the ground de-icing/anti-icing fluids: The Water Spray Endurance Test (WSET) and the Aerodynamic Acceptance Test (AAT). The tests were performed on three existing commercial de-icing/anti-icing fluids. The results have shown that the coatings tested in this study can considerably reduce the endurance time of the fluids and affect their ability to spread and wet the test surface. Superhydrophobic 1 coating also reduced the aerodynamic penalties created by the Ref. Fluid. Surface coatings, no matter their nature, can impact the performances and behaviour of the fluids and should be thoroughly tested before their use in the industry. The conclusions and methodology of this study were used in the development of sections of the SAE AIR6232 Aircraft Surface Coating Interaction with the Aircraft Deicing/Anti-Icing Fluids standard.