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Research presented concerns programming industrial manipulators to compute on-line trajectory, or finding the optimal trajectory while maintaining performance if an object is impeding the path of the manipulator. The researchers suggest the use of 3-Cubic method to maximize time efficiency during on-line trajectory generation.

Encephalitis is a relatively challenging rare condition caused by a diverse group of etiologies. Brainstem encephalitis/Rhombencephalitis (BE), which affects the cerebellum, pons, and medulla, is even less common and more challenging for diagnosis and treatment. At this time, there is scattered data about BE in the literature, mainly in the form of case reports and case series. In this manuscript, the imaging presentation of BE is reviewed with the help of case examples. Many imaging presentations are not pathognomonic for BE; however, in many cases, clinical presentation, the spatial distribution of lesions, and other associated radiological lesions can provide the radiologists and clinician the clues to an accurate diagnosis. [ABSTRACT FROM AUTHOR]

A high-performance control system is essential to transfer maximum power from wind power generation system (WPGS) to the utility grid. In this paper, a fuzzy fractional-order terminal sliding mode control (Fuzzy-FOSMC) is presented based on the boundary layer approach. This boundary layer approach leads to the trade-off between chattering elimination and control performances. Initially a fractional order terminal sliding mode control (FOTSMC) is designed in this paper. Then, the reaching control part of the FOTSMC is replaced by a fuzzy system that eliminates the chattering even in the presence of lumped parametric uncertainties. The fuzzy control part is designed such that:(a) it maintains the stability of the system by introducing a non-linear slope inside the thin boundary layer near the sliding surface, and (b) it eliminates the chattering by acting like a saturation function. A novel wind speed estimation technique is also proposed in this paper based on Gaussian process regression (GPR). The inputs to the GPR framework are selected as the wind turbine power and its rotational speed. The superior performance of the proposed wind speed estimation technique is verified using error comparison with pre-existing techniques. The stability of the proposed GPR-based Fuzzy-FOSMC control paradigm is ensured by using the Lyapunov stability theorem. The proposed paradigm is compared with benchmark sliding mode control (SMC) and FOTSMC strategies. The proposed Fuzzy-FOSMC performance in terms of chattering elimination and stability is validated under normal conditions and lumped parametric uncertainties using extensive simulations in Matlab/SIMULINK and processor in the loop based experimental workbench. • Gaussian Process Regression (GPR) framework modeling to estimate the wind speed • GPR based wind speed estimator enhancement using autoregressive GPR (Ar-GPR) • Sliding mode control (SMC) enhancement using fuzzy fractional order SMC for DFIG-WPGS • Chattering elimination and robustness to uncertainties on experimental data [ABSTRACT FROM AUTHOR]

Objective: This is a discussion about correct suturing techniques and implications that follow inappropriate suturing. We deconstruct the suturing needle angles and methods to be adopted to acquire the perfect needle angle to the tissue being sutured. A study of angles confirms that 90° is perceptible to the naked eye and easy to identify, making it an appropriate foundation to explain, communicate and teach the concepts in the wet-lab and the operating room.Background: There is a lack of robust teaching regarding entry of the needle orthogonal to the tissue planes. In addition, objective methods of assessing angles of the needle relative to the tissue and consequences of inaccuracy are lacking. The authors aim to deconstruct the steps of suturing with the aim of demonstrating ninety degrees is the perfect suturing angle.Study Design: We conducted a study to identify 90° (the perfect suturing angle) as an angle easy to identify with the naked eye. Angles from 86° to 94° and 41° to 49° were printed and presented to volunteers with the instruction to identify the angles of 90° and 45°.Results: Fifty-one volunteers replied to the 90° angle study and sixty-five volunteers replied to the 45° study. 92% correctly identified at least one 90° angle and 72% identified both the 90° angles. 63% identified at least one 45° angle and only 27% identified both the 45° angles presented to them. This supported our hypothesis that 90° is an angle that is readily identifiable to the human eye.Conclusions: Objective assessment of surgical skills and training should focus on the basic needle skills with particular emphasis on suturing angles, progressing to higher skills using low and intermediate fidelity models and correlating practice alongside the trainees' operative progress. [ABSTRACT FROM AUTHOR]

Critical illness–associated cerebral microbleed (CICM) is a relatively rare and newly described condition. It can occur in critically ill ICU patients and can be secondary to many underlying etiologies. CICM is associated with high mortality and permanent neurologic deficits in surviving patients. Distribution of cerebral microhemorrhages in neuroimaging findings is critical for accurate diagnosis of this condition. Here, we present an ICU admitted patient with sickle cell disease crisis and CICM and will discuss their clinically and radiologically distinct phenomenon followed by a review of current literature. • CICM is a relatively rare and newly described form of cerebral microhemorrhage. • CICM can occur in sickle cell disease patients. • CICM mainly involves the gray-white matter junction of the brain. [ABSTRACT FROM AUTHOR]

Angiosarcomas are rare malignant tumors of endothelial origin. Nearly one half of all angiosarcomas occur in the head and neck. Temporal bone angiosarcomas are extremely uncommon. We present a case of temporal bone angiosarcoma and a review of the relevant data. We present the case of a 20-year-old man with a painful right postauricular mass after a closed head injury. Radiologic studies demonstrated a large right osteolytic and heterogeneously enhancing mass. The patient underwent right transpetrosal craniectomy for resection. Histologic studies confirmed high-grade sarcoma. Immunohistochemical staining demonstrated a uniformly positive ERG endothelial marker, CD31 staining with cytoplasmic and membranous patterns of immunopositivity, positive nuclear staining for FLI-1, positive cytoplasmic and membranous staining for CD99 and STAT6, and negative smooth muscle actin stains in the neoplastic cells. Ki-67 staining showed ∼94% positivity in the neoplastic cell nuclei. Postoperative follow-up imaging studies demonstrated evidence of metastatic right cervical lymphadenopathy. Angiosarcoma of the temporal bone is extremely uncommon. In the present case report, we explored a relationship between trauma and angiosarcoma of the temporal bone. We reviewed the reported data regarding the pathogenesis, diagnosis, treatment, radiologic findings, and histologic characteristics of angiosarcoma of the temporal bone. [ABSTRACT FROM AUTHOR]

Highlights • To introduce an Integrated Fuzzy Clustering Cooperative Game DEA. • To provide a clustering technique to deal with lack of homogeneity among DMUs. • To provide a framework for measuring hospitals in different provinces. • Use of Core and Shapley values for ranking efficient DMUs in DEA. Abstract Hospitals are the main sub-section of health care systems and evaluation of hospitals is one of the most important issue for health policy makers. Data Envelopment Analysis (DEA) is a nonparametric method that has recently been used for measuring efficiency and productivity of Decision Making Units (DMUs) and commonly applied for comparison of hospitals. However, one of the important assumption in DEA is that DMUs must be homogenous. The crucial issue in hospital efficiency is that hospitals are providing different services and so may not be comparable. In this paper, we propose an integrated fuzzy clustering cooperative game DEA approach. In fact, due to the lack of homogeneity among DMUs, we first propose to use a fuzzy C-means technique to cluster the DMUs. Then we apply DEA combined with the game theory where each DMU is considered as a player, using Core and Shapley value approaches within each cluster. The procedure has successfully been applied for performances measurement of 288 hospitals in 31 provinces of Iran. Finally, since the classical DEA model is not capable to distinguish between efficient DMUs, efficient hospitals within each cluster, are ranked using combined DEA model and cooperative game approach. The results show that the Core and Shapley values are suitable for fully ranking of efficient hospitals in the healthcare systems. [ABSTRACT FROM AUTHOR]

Residential buildings account for nearly 60% of electrical energy consumption in hot climates as in Kuwait. As a result, this study proposes a reliable multi-objective model to obtain the optimal design for a typical residential Kuwaiti building by integrating an Artificial Neural Network (ANN) model with Genetic Algorithm (GA) optimization method. The ANN model was investigated and verified using the results of building performance simulations applying EnergyPlus software. The effects of sample size of dataset on performance of ANN were evaluated. The final optimal building design was optimized using the GA method after ensuring the convergence of the final ANN model. Several design and operation parameters were considered as decision variables, while cooling energy consumption, discomfort hours, and equivalent carbon emissions were selected as objective functions. In addition, sensitivity analysis was conducted to evaluate the impacts of decision variables on objective functions. The sensitivity results indicated that insulation highly affect energy consumption and carbon emission, while cooling setpoint played a key role in discomfort hours. Furthermore, Technique for Order of Preference by Similarity to Ideal Solution (TOPSIS) method was applied for decision-making among Pareto optimal solutions. The results showed that the optimal solution suggested by TOPSIS methods using ANN-based model provided a substantial reduction in energy consumption, discomfort hours, and carbon emission up to 39.3%, 62.8%, and 40.5% compared with the base case, respectively. It is recommended that further research be undertaken in considering uncertainty parameters on optimization process and applying the developed framework for building in different climate. [Display omitted] • An ANN based framework developed for residential building energy performance optimization. • Energy consumption, discomfort hours, and carbon emission optimized simultaneously. • Sensitivity analysis conducted for design and operation parameters. • TOPSIS method applied to suggest optimal point among Pareto front solutions. • Energy consumption, discomfort hours, and carbon emission reduced up to 39.3%, 62.8%, and 40.5%, respectively. [ABSTRACT FROM AUTHOR]

There are ten nickel enzymes found across biological systems, each with a distinct active site and reactivity that spans reductive, oxidative, and redox–neutral processes. We focus on the reductive enzymes, which catalyze reactions that are highly germane to the modern-day climate crisis: [NiFe] hydrogenase, carbon monoxide dehydrogenase, acetyl coenzyme A synthase, and methyl coenzyme M reductase. The current mechanistic understanding of each enzyme system is reviewed along with existing knowledge gaps, which are addressed through the development of protein-derived models, as described here. This opinion is intended to highlight the advantages of using robust protein scaffolds for modeling multiscale contributions to reactivity and inspire the development of novel artificial metalloenzymes for other small molecule transformations. [Display omitted] [ABSTRACT FROM AUTHOR]

Introduction This study aimed evaluate the safety and feasibility of endoscopic potassium titanyl phosphate (KTP) laser application in the management of patients with radiation-induced hemorrhagic cystitis (RHC). Technical Considerations We retrospectively reviewed the records of 20 patients with RHC who underwent endoscopic KTP laser ablation of telangiectatic bladder vessels between October 2005 and January 2013. After initial cystoscopy, KTP laser was used to ablate the submucosal vasculature while preserving the overlying mucosa. The surgical outcome was evaluated by duration of hematuria-free interval, number of episodes of hematuria, and number of required medical and/or surgical interventions after initial treatment. Overall, 20 patients underwent 26 sessions of KTP laser ablation of bladder vessels. The procedure was able to stop bleeding 92% of the time and the average hematuria-free interval after ablation was 11.8 months, with a range of 1-37 months. In 13 patients (65%) hematuria resolved after 1 session of KTP laser treatment, whereas 5 patients (25%) required multiple sessions. Two patients (10%) with severe hematuria continued to have bleeding after laser treatment, which necessitated proximal diversion of urine with percutaneous nephrostomy tubes to control bleeding. Conclusion This study suggests that KTP laser, with its unique photoselectivity property, is a safe, effective, and durable treatment with minimal side effects for ablation of submucosal bladder vessels in patients with RHC. [ABSTRACT FROM AUTHOR]

• A novel bacterial strain with MICP capability was isolated from historical adobe structures. • This isolated strain had a high urease activity and grew faster than S. pasteurii. • Application of the native bacteria in manufacturing sustainable bio-bricks was investigated. • Bio-bricks produced by using this isolate showed a compressive strength of up to 3 MPa. Building and construction sector contributes to climate change due to the massive amounts of global energy use and greenhouse gas emissions; therefore, developing sustainable alternatives for manufacturing construction materials is of high priority. The cementation of sand into the sandstone through microbially induced carbonate precipitation is an environmentally friendly technology with multiple prospective applications, mainly in construction and geotechnical engineering. This study introduces ureolytic bacterial strains with high urease activity found in Iran's historical adobe structures and deserts, which were evaluated for the production of biologically cemented bricks as an alternative to conventional brick manufacturing methods. In the present study, 25 soil samples were collected from historical adobe structures and deserts in the central provinces of Iran. Samples were screened for urease-producing bacteria to find native bacteria and assess the possibilities of producing biologically cemented bricks. The urease activity and calcium carbonate precipitation mass of the ureolytic bacteria were determined. Among all the collected isolates, the most efficient carbonate-producing bacteria was compared with Sporocarsina pasteurii and Sporocarsina ureae control strains in point of the growth rate, urease activity, and calcite precipitation amounts. The isolate with highest urease activity was identified as Bacillus sp. and nominated as strain AF1 by 16S rRNA gene sequencing. The selected bacteria was further used to construct bio-bricks from silica sand through the immersion method. The produced bio-bricks showed an average compressive strength and water absorption percentage of 3000 kPa and 8.5%, respectively. The bio-treated bricks also showed satisfying durability when subjected to wet-dry cycles and their flexural stress–strain curve reached the peak of 1300 kPa. X-ray diffraction and Scanning electron microscopy confirmed the presence of calcite crystals, bonding the soil particles. In conclusion, the current study results show that future sustainable buildings can benefit from bacterial species with high urease activity similar to historical sustainable buildings in central provinces of Iran. [ABSTRACT FROM AUTHOR]

Abstract: Hydrogenase proteins catalyze the reversible conversion of molecular hydrogen to protons and electrons. The most abundant hydrogenases contain a [NiFe] active site; these proteins are generally biased towards hydrogen oxidation activity and are reversibly inhibited by oxygen. However, there are [NiFe] hydrogenase that exhibit unique properties, including aerobic hydrogen oxidation and preferential hydrogen production activity; these proteins are highly relevant in the context of biotechnological devices. This review describes four classes of these “nonstandard” [NiFe] hydrogenases and discusses the electrochemical, spectroscopic, and structural studies that have been used to understand the mechanisms behind this exceptional behavior. A revised classification protocol is suggested in the conclusions, particularly with respect to the term “oxygen-tolerance”. This article is part of a special issue entitled: metals in bioenergetics and biomimetics systems. [Copyright &y& Elsevier]

Abstract: Necrosis of distal portion of skin flaps due to ischemia still remains a problem in plastic surgery. Following ischemia, a cascade of deleterious events including over-activity of Na+–H+ Exchanger (NHE) takes place. In present study we evaluated the effect of the potent NHE inhibitor, 5-(N-ethyl-N-isopropyl) amiloride (EIPA) on ischemic tissue injury in a skin flap model, and investigated the role of mitochondrial ATP-sensitive K+ channels (KATP) in this phenomenon. Seventy-eight rats were randomly divided into thirteen treatment groups (6 rats each). Four groups received different doses of EIPA in the flap. EIPA/GLY group received an effective dose of a KATP channel blocker, glibenclamide (GLY, 0.3mg/kg) intraperitoneally (i.p.) 30min before raising the flap, and a local effective dose of EIPA (0.1mM) immediately after raising the flap. EIPA/diazoxide group (EIPA/DIA) received a sub-effective dose of diazoxide (7.5mg/kg i.p.) 30min before raising the flap and a local sub-effective dose of EIPA (0.075mM). EIPA 0.1 and 0.2mM significantly increased flap survival area compared to control group (56.01±6.1%, P<0.001). The protective effect of EIPA (0.1mM) was abolished by administration of glibenclamide (0.3mg/kg i.p.). Co-administration of a sub-effective dose of EIPA (0.075mM), with a sub-effective dose of diazoxide (7.5mg/kg i.p.) significantly improved flap survival (P<0.05). We demonstrated that the NHE inhibitor, EIPA can increase random pattern skin flap survival. Administration of diazoxide potentiates this effect, while glibenclamide abolishes that, implicating that the protective effect of EIPA is mediated through mitochondrial-KATP channels. [Copyright &y& Elsevier]

Abstract: Delayed graft function secondary to ischemia/reperfusion injury has been shown to be associated with increased rate of allograft failure following kidney transplantation. Previously, we have shown that chronic lithium pretreatment protects kidney against ischemia/reperfusion injury. In the present study we aimed to examine the effects of acute lithium administration on the renal ischemia/reperfusion injury in rat. Ischemia/reperfusion injury was induced by clamping left renal pedicle for 60min, two weeks after right nephrectomy. The mechanism of lithium-mediated renoprotection was explored by combined use of lithium and nitro-l-arginine methyl ester (L-NAME) (non-selective nitric oxide synthase inhibitor) and/or indomethacin (non-selective cyclooxygenase pathway inhibitor). Lithium-treated animals were given 40mg/kg lithium chloride intraperitoneally, 30min before ischemia. To investigate the role of nitric oxide and cyclooxygenase pathways in renoprotective effect of lithium, L-NAME and/or indomethacin were administered before lithium injection. Serum creatinine, blood urea nitrogen, and renal histology were assessed after 24h of reperfusion. Lithium preconditioning significantly reduced creatinine and blood urea nitrogen (P<0.001) and improved renal histology. Administration of L-NAME completely reversed renoprotective effect of lithium. In contrast indomethacin significantly potentiated the lithium renoprotection. Moreover, co-administration of L-NAME and indomethacin completely abolished the protective effects of lithium. The results show that a single dose of lithium significantly improves renal function following ischemia/reperfusion injury. In conclusion, the ability of lithium to enhance renal tissue tolerance against ischemia/reperfusion injury suggests a potential clinical application in the setting of kidney transplantation. However, more detailed investigations are required before any definite conclusion. [Copyright &y& Elsevier]

Abstract: Prediction of material flow behavior is essential for designing the forming process of any material. In this research, experimental flow curves of Ti–6Al–4V alloy were obtained using the isothermal hot compression test done at 750–950°C with 50°C intervals and constant strain rates of 0.001, 0.005 and 0.01s−1. For prediction of hot deformation flow curves two methods of modeling were applied. In the first method, an entire flow curve was modeled using Sellars equation. In the second one, modeling of a flow curve up to the peak point was carried out with Cingara model, and modeling beyond that was performed with a model developed based on the Johnson–Mehl–Avrami–Kolmogorov (JMAK) theory. The accuracy of each model was examined through a statistical method. Results showed that flow curve modeling using Cingara model and JMAK theory leads to results that are more consistent with the experimental data. [Copyright &y& Elsevier]