1,721,000 research outputs found
Determination of illicit drugs and related substances by high-performance liquid chromatography with an electrochemical coulometric-array detector.
No full textContact mechanics analysis of a soft robotic fingerpad
Full text linkThe precision grasping capabilities of robotic hands is a key feature which is more and more required in the manipulation of objects in several unstructured fields, as for instance industrial, medical, agriculture and food industry. For this purpose, the realization of soft robotic fingers is crucial to reproduce the human finger skills. From this point of view the fingerpad is the part which is mostly involved in the contact. Particular attention must be paid to the knowledge of the mechanical contact behavior of soft artificial fingerpads. In this paper, artificial silicone fingerpads are applied to the last phalanx of robotic fingers actuated by tendons. The mechanical interaction between the fingerpad and a flat surface is analyzed in terms of deformations, contact areas and indentations. A reliable model of fingertip deformation properties provides important information for understanding robotic hand performance, that can be useful both in the design phase and for defining control strategies. The approach is based on theoretical, experimental, and numerical methods. The results will be exploited for the design of more effective robotic fingers for precision grasping of soft or fragile objects avoiding damages
Determination of illicit drugs and related substances by high-performance liquid chromatography with an electrochemical coulometric-array detector.
No full textA general method for the simultaneous determination of fifteen common drugs (6-acetylmorphine, 3,4-methylenedioxymetamphetamine, buprenorphin, cocaine, codeine, dihydrocodeine, ethylmorphine, heroin, hydrocodone, lidocaine, methadone, morphine, naloxone, procaine and thebaine) was developed using reversed-phase HPLC and electrochemical detection. The separation of the drugs was achieved by using as the mobile phase 20 mM monobasic sodium phosphate-acetonitrile (90:10) with a gradient to 50% of the organic modifier, on a silica based C18 column (150 x 4.6 mm I.D.) of 3 μm particle size and by the selectivity supplied by an array of eight coulometric electrodes at increasing potential. It was possible to identify and to determine fifteen different drugs in the same chromatographic run in 50 min. The method was tentatively applied to the determination of drugs in extracts of human hair
Autoimmune diseases associated with common variable immune deficiency
No full textCommon variable immunodeficiency (CVID) is the most prevalent primary immune deficiency, affecting roughly 2-4/100 000 individuals in the general population. The etiology is currently unknown, even if several genetic mutations have been described, and no single clinical feature or single laboratory test can establish the diagnosis, which is based on multiple criteria. CVID is characterized by B- and T-cell dysfunction that predisposes to an increased risk of infections, with the typical involvement of the respiratory and gastrointestinal tracts. Besides this well-established complication, though the coexistence of immunodeficiency and autoimmunity appears paradoxical, two-thirds of CVID patients present concomitant autoimmune disorders. Of note, autoimmunity can often be the only clinical manifestation of CVID at the time of diagnosis. The most common autoimmune disorders associated with CVID are autoimmune cytopenias, that is, immune thrombocytopenic purpura and autoimmune hemolytic anemia, either as separate entities or as concurrently (Evans syndrome). CVID patients can also manifest rheumatologic diseases (eg, arthritis, Sjogren's disease, systemic lupus erythematosus, vasculitis, Behçet's syndrome) and gastrointestinal autoimmune disorders (eg, ulcerative colitis, autoimmune atrophic gastritis, celiac disease). This latter may pose a particular diagnostic challenge, as celiac-specific autoantibodies can be absent in CVID patients. Understanding the molecular basis and the clinical impact of autoimmunity in CVID patients might help manage CVID, thus reducing its diagnostic delay and preventing its complications
Going Beyond Counting First Authors in Author Co-citation Analysis
Full text linkThe present study examines one of the fundamental aspects of author co-citation analysis (ACA) - the way co-citation
counts are defined. Co-citation counting provides the data on which all subsequent statistical analyses and mappings
are based, and we compare ACA results based on two different types of co-citation counting - the traditional type that
only counts the first one among a cited work's authors on the one hand and a non-traditional type that takes into
account the first 5 authors of a cited work on the other hand. Results indicate that the picture produced through this non-traditional author co-citation counting contains more coherent author groups and is therefore considerably clearer. However, this picture represents fewer specialties in the research field being studied than that produced through the traditional first-author co-citation counting when the same number of top-ranked authors is selected and analyzed. Reasons for these effects are discussed
An Educational Test Rig for Kinesthetic Learning of Mechanisms for Underactuated Robotic Hands
No full textTeaching robotics requires interdisciplinary skills and a good creativity, providing instructions and hands-on experiences, exploiting different kinds of learning. Two kinds of learning methods are commonly used: the ‘visual learning’ and the ‘auditory learning’, recognizable by the preference of an approach for images, rather than for texts, or oral explanations. A third possible learning style is the ‘kinesthetic learning’, based on tactile activities, which is generally least exploited, both by teachers in the classroom and by students during individual study. In this perspective, the use of educational test rigs is a good practice and adds an opportunity to share a passion for robotics. The paper focuses on the realization and application of an educational test rig aimed at explaining how a differential mechanism works and how it can be applied to robotic underactuated soft grippers to move multiple robotic fingers independently of each other using just a single actuator. The differential test bench was realized by 3D printing and mounted with the help of students in high school seminaries oriented to encourage students towards robotic or mechatronic studies. This activity was very thrilling for the students and helped them to approach robotics in a natural way, exploiting kinesthetic learning as it is demonstrated by test results
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