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Model-based force estimation is an emerging methodology in the mechatronic community given the possibility to exploit physically inspired high-fidelity models in tandem with ready-to-use cheap sensors. In this work, an inverse input load identification methodology is presented combining high-fidelity multibody models with a Kalman filter-based estimator and providing the means for an accurate and computationally efficient state-input estimation strategy. A particular challenge addressed in this work is the handling of the redundant state-description encountered in common multibody model descriptions. A novel linearization framework is proposed on the time-discretized equations in order to extract the required system model matrices for the Kalman filter. The presented framework is experimentally validated on a slider-crank mechanism. The nonlinear kinematics and dynamics are well represented through a rigid multibody model with lumped flexibilities to account for localized interaction phenomena among bodies. The proposed methodology is validated estimating the input torque delivered by a driver electro-motor together with the system states and comparing the experimental data with the estimated quantities. The results show the stability and accuracy of the estimation framework by only employing the angular motor velocity, measured by the motor encoder sensor and available in most of the commercial electro-motors.

Buccal matrices represent a widely accepted dosage form permitting a convenient, easy, reliable drug administration and reducing administration errors. The aim of this study was the development of mucoadhesive buccal matrices for propranolol administration in children. Matrices were obtained by freeze-drying of drug loaded polymeric solutions based on gum tragacanth (GT), pectin (PEC), hydroxypropylmethylcellulose (HPMC), sodium hyaluronate (HA), gelatin (GEL), chitosan (CH) or a mixture of CH and HPMC (CH/HPMC). Matrices were characterized for drug solid state, morphology, water-uptake, mucoadhesion ability, in vitro drug release and permeation through porcine epithelium. The most promising formulations were tested for in vitro biocompatibility in human dental pulp fibroblasts. The preparative method and the polymeric composition influenced the drug solid state, as a complete amorphization as well as different polymorphic forms were observed. GEL and PEC guaranteed a fast and complete drug release due to their rapid dissolution, while for the other matrices the release was influenced by drug diffusion through the viscous gelled matrix. Moreover, matrices based on CH and CH/HPMC showed the best mucoadhesive properties, favoured the drug permeation, in virtue of CH ability to interfere with the lipid organization of biological membrane, and were characterized by a good biocompatibility profile., (Copyright © 2020 American Pharmacists Association®. Published by Elsevier Inc. All rights reserved.)