Cascaded Kalman and particle filters for photogrammetry based gyroscope drift and robot attitude estimation

Based on a cascaded Kalman–Particle Filtering, gyroscope drift and robot attitude estimation method is proposed in this paper. Due to noisy and erroneous measurements of MEMS gyroscope, it is combined with Photogrammetry based vision navigation scenario. Quaternions kinematics and robot angular velocity dynamics with augmented drift dynamics of gyroscope are employed as system state space model. Nonlinear attitude kinematics, drift and robot angular movement dynamics each in 3 dimensions result in a nonlinear high dimensional system. To reduce the complexity, we propose a decomposition of system to cascaded subsystems and then design separate cascaded observers. This design leads to an easier tuning and more precise debugging from the perspective of programming and such a setting is well suited for a cooperative modular system with noticeably reduced computation time. Kalman Filtering (KF) is employed for the linear and Gaussian subsystem consisting of angular velocity and drift dynamics together with gyroscope measurement. The estimated angular velocity is utilized as input of the second Particle Filtering (PF) based observer in two scenarios of stochastic and deterministic inputs. Simulation results are provided to show the efficiency of the proposed method. Moreover, the experimental results based on data from a 3D MEMS IMU and a 3D camera system are used to demonstrate the efficiency of the method.     

Fate of the glucose degradation products 3-deoxyglucosone and glyoxal during peritoneal dialysis

Conventional fluids for peritoneal dialysis (PD) contain reactive glucose degradation products (GDPs) as a result of glucose breakdown during heat-sterilization. GDPs in PD fluids (PDFs) have been associated with the progressive alteration of the peritoneal membrane during long-term PD by cytotoxic effects and formation of advanced glycation endproducts (AGEs). In this study, we investigated the possible fate of two characteristic GDPs, 3-deoxyglucosone (3-DG) and glyoxal, during PD. In vivo, 3-DG and glyoxal concentrations, which were analyzed by high-performance liquid chromatography (HPLC), decreased in PDFs by 78% and 88% during 4 h of dwell time. The PDFs were then incubated in vitro in the presence of the most important reaction partners of GDPs in the peritoneal cavity. Neither human peritoneal mesothelial cells, human peritoneal fibroblasts, soluble protein, an insoluble collagen surface, nor components of spent dialysate led to a significant reduction of 3-DG or glyoxal after 6 h. Only after long-term incubation, a noticeable decrease of 3-DG was observed (-37% after three weeks), more likely due to spontaneous degradation reaction than formation of advanced glycation endproducts. These results suggest that in the course of PD, 3-DG, and glyoxal are absorbed into the organism and thus might contribute to the systemic pool of reactive carbonyl compounds.     

Reactive inkjet printing of polyethylene glycol and isocyanate based inks to create porous polyurethane structures

Reactive inkjet printing offers a direct way to create polymeric structures in situ on a substrate. Therefore, two component polyurethane formulations can be utilized to be used in multicomponent inkjet printing. In this contribution, the use of polyethylene glycol (M = 200 g mol⁻¹), glycerol ethoxylate (M = 1,000 g mol⁻¹), and water (blowing agent) in combination with aliphatic 1,6-hexamethylene diisocyanate or aromatic methylene diphenyl diisocyanate for reactive inkjet printing is evaluated. The inks are jettable on a Dimatix DMP-3000 inkjet printer using a 10 pL piezo driven drop-on-demand printhead showing stable droplet formation. Solid films on glass are formed using a drop-by-drop printing strategy. Layer-by-Layer strategy gives best results on polycarbonate substrates forming porous polyurethane structures. © 2018 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2019 , 136, 46977.     

Airway Delivery of Hydrogel-Encapsulated Niclosamide for the Treatment of Inflammatory Airway Disease

Repurposing of the anthelminthic drug niclosamide was proposed as an effective treatment for inflammatory airway diseases such as asthma, cystic fibrosis, and chronic obstructive pulmonary disease. Niclosamide may also be effective for the treatment of viral respiratory infections, such as SARS-CoV-2, respiratory syncytial virus, and influenza. While systemic application of niclosamide may lead to unwanted side effects, local administration via aerosol may circumvent these problems, particularly when the drug is encapsulated into small polyethylene glycol (PEG) hydrospheres. In the present study, we examined whether PEG-encapsulated niclosamide inhibits the production of mucus and affects the pro-inflammatory mediator CLCA1 in mouse airways in vivo, while effects on mucociliary clearance were assessed in excised mouse tracheas. The potential of encapsulated niclosamide to inhibit TMEM16A whole-cell Cl⁻ currents and intracellular Ca²⁺ signalling was assessed in airway epithelial cells in vitro. We achieved encapsulation of niclosamide in PEG-microspheres and PEG-nanospheres (Niclo-spheres). When applied to asthmatic mice via intratracheal instillation, Niclo-spheres strongly attenuated overproduction of mucus, inhibited secretion of the major proinflammatory mediator CLCA1, and improved mucociliary clearance in tracheas ex vivo. These effects were comparable for niclosamide encapsulated in PEG-nanospheres and PEG-microspheres. Niclo-spheres inhibited the Ca²⁺ activated Cl⁻ channel TMEM16A and attenuated mucus production in CFBE and Calu-3 human airway epithelial cells. Both inhibitory effects were explained by a pronounced inhibition of intracellular Ca²⁺ signals. The data indicate that poorly dissolvable compounds such as niclosamide can be encapsulated in PEG-microspheres/nanospheres and deposited locally on the airway epithelium as encapsulated drugs, which may be advantageous over systemic application.     

Efficient moving horizon state and parameter estimation for SMB processes

In this paper, a moving horizon state and parameter estimation scheme for chromatographic simulated moving bed SMB processes is proposed. The simultaneous state and parameter estimation is based on a high-order nonlinear SMB model which incorporates rigorous models of the chromatographic columns and the discrete shiftings of the inlet and outlet ports. The estimation is performed using sparse measurement information: the concentrations of the components are only measured at the two outlet ports (which are periodically switched from one column to the next) and at one fixed location between two columns. The goal is to reconstruct the full state of the system, i.e. the concentration profiles along all columns, and to identify critical model parameters reliably such that the estimated model can be used in the context of online optimizing control. The state estimation scheme is based upon a deterministic model within the prediction horizon, state noise is only present in the state and the parameters prior to and at the beginning of the horizon. By solving the optimization problem with a multiple-shooting method and applying a real-time iteration scheme, the computation times are such that the scheme can be applied online. Numerical simulations of a validated model for a separation problem with nonlinear isotherms of the Langmuir type demonstrate the efficiency of the algorithm.     

A data model for managing drug therapy within a patient data management system for intensive care units

The major intent of this article was to describe the design principles of the drug-therapy documentation module of the Patient Data Management System (PDMS) ICUData, in routine use at the intensive care unit (ICU) of the Department of Anesthesiology and Intensive Care Medicine at the University Hospital of Giessen, Germany, since February 1999. The new drug management system has been in routine use since March 2000. Until 8 January 2001, 1140 patients have been documented using this approach. It could be demonstrated that it was possible to transform the formerly unstructured text-based documentation into a detailed and structured model. The mediated benefit resulted in the automatic calculation of fluid balance. Further, detailed statistical analyses of therapeutic behavior in drug administration are now possible.     

Layer‐by‐Layer Coated Gold Nanoparticles: Size‐Dependent Delivery of DNA into Cells

Because nanoparticles are finding uses in myriad biomedical applications, including the delivery of nucleic acids, a detailed knowledge of their interaction with the biological system is of utmost importance. Here the size‐dependent uptake of gold nanoparticles (AuNPs) (20, 30, 50 and 80 nm), coated with a layer‐by‐layer approach with nucleic acid and poly(ethylene imine) (PEI), into a variety of mammalian cell lines is studied. In contrast to other studies, the optimal particle diameter for cellular uptake is determined but also the number of therapeutic cargo molecules per cell. It is found that 20 nm AuNPs, with diameters of about 32 nm after the coating process and about 88 nm including the protein corona after incubation in cell culture medium, yield the highest number of nanoparticles and therapeutic DNA molecules per cell. Interestingly, PEI, which is known for its toxicity, can be applied at significantly higher concentrations than its IC₅₀ value, most likely because it is tightly bound to the AuNP surface and/or covered by a protein corona. These results are important for the future design of nanomaterials for the delivery of nucleic acids in two ways. They demonstrate that changes in the nanoparticle size can lead to significant differences in the number of therapeutic molecules delivered per cell, and they reveal that the toxicity of polyelectrolytes can be modulated by an appropriate binding to the nanoparticle surface.     

Ambient oxygen ingress rate method—an alternative method to Ox‐Tran for measuring oxygen transmission rate of whole packages

The ambient oxygen ingress rate method (AOIR) is an alternative method to Ox‐Tran for measuring the oxygen transmission rates (OTR) of whole packages. The objective of the present work was (a) to compare OTR values obtained by the two methods, and (b) to evaluate the use of the AOIR method for measuring OTR at realistic food storage temperatures and humidity levels. The AOIR method gave equal OTR values compared to the Ox‐Tran method for the five different types of whole packages used in the experiment, with OTR values in the range 0.06–1.48 ml O₂/day. The repeatability of the AOIR method measured on an HDPE bottle was ±2.6% of the measured value in this experiment. This is slightly higher than the general specifications of the Ox‐Tran method (1% of reading for packages). However, the AOIR method can be considered to be a reliable, precise and cheap alternative method to the Ox‐Tran method for measuring OTR of whole packages. The capacity of the method is also high. The AOIR method showed satisfactory results when comparing OTR for packages tested under realistic food storage conditions covering 23°C/50% relative humidity (RH) and at 4°C/60% RH on the outside, combined with water (100% RH) or dry air inside the packages. Copyright © 2000 John Wiley & Sons, Ltd.