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Saving energy and resources has become increasingly important for industrial applications. Foremost, this requires knowledge about the energy requirement. For this purpose, this paper presents a state-based energy requirement model for mobile robots, e.g., automated guided vehicles or autonomous mobile robots, that determines the energy requirement by integrating the linearized power requirement parameters within each system state of the vehicle. The model and their respective system states were verified using a qualitative process analysis of 25 mobile robots from different manufacturers and validated by comparing simulated data with experimental data. For this purpose, power consumption measurements over 461 operating hours were performed in experiments with two different industrial mobile robots. System components of a mobile robot, which require energy, were classified and their power consumptions were measured individually. The parameters in the study consist of vehicle speed, load-handling duration, load, utilization, material flow and layout data, and charging infrastructure system frequency, yet these varied throughout the experiments. Validation of the model through real experiments shows that, in a 99 % confidence interval, the relative deviation in the modeled power requirement for a small-scale vehicle is [ − 1.86 % , − 1.14 % ] , whereas, for a mid-scale vehicle, it is [ − 0.73 % , − 0.31 % ] . This sets a benchmark for modeling the energy requirement of mobile robots with multiple influencing factors, allowing for an accurate estimation of the energy requirement of mobile robots. [ABSTRACT FROM AUTHOR]

With the emergence of Industry 4.0 in intralogistics, the need for flexible material handling solutions is increasing. While conventional conveyor systems are often too inflexible to meet changing requirements. Automated guided vehicles offer an answer, additional solutions are required for companies relying on already busy and crowded shop floors. This paper presents a concept for a periphery-free electrified monorail system (PEMS) that enables flexible material transport with minimal floor requirements. The PEMS is based on classic electrified monorail technology, and requires no additional peripheral devices within the rail system. Installation and maintenance costs are kept to a minimum through simplified branching elements and a battery-powered energy supply for the vehicles. The modular design of the rail elements further allows transport on standardized Euro-pallets. Moreover, a taxonomy for evaluating the passivity of branching elements of electrified monorail systems is introduced. The functionality of the PEMS was validated by conducting real experiments using a prototype, The results show that the PEMS provides high flexibility in terms of layout design and usage, allowing for fast adaption to the changing requirements of intralogistics. [ABSTRACT FROM AUTHOR]

The aim of this study was to assess the feasibility of using a commercially available high-resolution adaptive optics (AO) camera to image the cone mosaic in Japanese macaques (Macaca fuscata) with dominantly inherited drusen. The macaques examined develop drusen closely resembling those seen in humans with age-related macular degeneration (AMD). For each animal, we acquired and processed images from the AO camera, montaged the results into a composite image, applied custom cone-counting software to detect individual cone photoreceptors, and created a cone density map of the macular region. We conclude that flood-illuminated AO provides a promising method of visualizing the cone mosaic in nonhuman primates. Future studies will quantify the longitudinal change in the cone mosaic and its relationship to the severity of drusen in these animals.

Purpose: To evaluate the safety and efficacy of three doses of PF-04523655, a 19-nucleotide methylated double stranded siRNA targeting the RTP801 gene, for the treatment of diabetic macular edema (DME) compared to focal/grid laser photocoagulation., Methods: This multicenter, prospective, masked, randomized, active-controlled, phase 2 interventional clinical trial enrolled 184 DME patients with best corrected visual acuity (BCVA) of 20/40 to 20/320 inclusive in the study eye. Patients were randomly assigned to 0.4-mg, 1-mg, 3-mg PF-04523655 intravitreal injections or laser. The main outcome measure was the change in BCVA from baseline to month 12., Results: All doses of PF-04523655 improved BCVA from baseline through month 12. At month 12, the PF-04523655 3-mg group showed a trend for greater improvement in BCVA from baseline than laser (respectively 5.77 vs. 2.39 letters; P = 0.08; 2-sided α = 0.10). The study was terminated early at month 12 based on predetermined futility criteria for efficacy and discontinuation rates. PF-04523655 was generally safe and well-tolerated, with few adverse events considered treatment-related. By month 12, the discontinuation rates in the PF-04523655 groups were higher than the laser group and were inversely related to dose levels., Conclusions: PF-04523655 showed a dose-related tendency for improvement in BCVA in DME patients. Studies of higher doses are planned to determine the optimal efficacious dose of PF-04523655. PF-04523655 may offer a new mode of therapeutic action in the management of DME. (ClinicalTrials.gov number, NCT00701181.).