Formal probabilistic analysis of a surgical robot control algorithm with different virtual fixtures

Surgical robots are increasingly being used in operation theaters involving normal or laparoscopic surgeries. The working of these surgical robots is highly dependent on their control algorithms, which require very rigorous analysis to ensure their correct functionality due to the safety-critical nature of surgeries. Traditionally, safety of control algorithms is ensured by simulations, but they provide incomplete and approximate analysis results due to their inherent sampling-based nature. We propose to use probabilistic model checking, which is a formal verification method, for quantitative analysis, to verify the control algorithms of surgical robots in this paper. As an illustrative example, the paper provides a formal analysis of a virtual fixture control algorithm, implemented in a neuro-surgical robot, using the PRISM model checker. In particular, we provide a formal discrete-time Markov chain-based model of the given control algorithm and its environment. This formal model is then analyzed for multiple virtual fixtures, like cubic, hexagonal and irregular shapes. This verification allowed us to discover new insights about the considered algorithm that allow us to design safer control algorithms.     

Preparation and characterization study on maleic acid cross-linked poly(vinyl alcohol)/chitin/nanocellulose composites

In the quest on improving composite formulations for environmental sustainability, maleic acid (MA) cross-linked poly(vinyl alcohol) (PVA)-α-chitin composites reinforced by oil palm empty fruit bunch fibers (OPEFB)-derived nanocellulose crystals (NCC) had been successfully prepared. Based on the Fourier transform infrared (FTIR) spectroscopic analysis, it was proven that molecular interactions of the cross-linker to the polymeric networks was through conjugated ester linkage. Differential scanning calorimetry (DSC) showed that the influence of MA was minimal toward crystallization in the PVA/chitin/NCC composite. Maximum tensile strength, elongation at break and Young's modulus of the respective PVA/chitin/NCC composites were achieved at different content of MA, dependent on the PVA/chitin mass ratio. Among all compositions, a maximum Young's modulus was achieved at 30 wt% MA loading in PVA/chitin-30/NCC, amounting to 2,413.81 ± 167.36 MPa. Moreover, the mechanical properties and selected physicochemical properties (swelling, gel content, and contact angle) of the PVA/chitin/NCC composites could be tailored by varying the chitin content (10–30 wt%) and MA content (10–50 wt% based on total mass of composite). In brief, this chemically cross-linked PVA-based biocomposites formulated with sustainable resources exhibited tunable physicochemical and mechanical properties.     

Comparison on abrasive wear of SiCrFe, CrFeC and Al2O3 reinforced Al2024 MMCs

The effects of volume fraction and size of SiCrFe, CrFeC, and Al₂O₃ particulates on the abrasive wear rate of compo-casted Al2024 metal matrix composites (MMCs) were studied. The process variables like the stirring speed, position and the diameter of the stirrer have affected the diffusion between particulates and matrix.The abrasive wear rate was decreased by the increase in particulate volume fraction of SiCrFe and CrFeC intermetallic reinforced composites over 80 grade SiC abrasive paper. The wear rates of the all composites decreased with aging treatment, and the best result was seen for the composite having a hybrite structure as SiCrFe and CrFeC particulates together. Nevertheless, the fabrication of composites containing soft particles as copper favors a reduction in the friction coefficient.     

Effect of Lubricant Non-Newtonian Behavior and Elastic Deformation on the Dynamic Performance of Finite Journal Plastic Bearings

This paper presents a numerical study of the performance of a dynamically loaded finite journal plastic bearing lubricated with a non-Newtonian fluid, taking into account the elastic deformation of the bearing. The non-Newtonian characteristics are adopted in this paper through an equivalent power-law. An expression for a modified Reynolds equation is derived in order to obtain the pressure gradient. Elastic deformation of the bearing surface was estimated in a direction normal to the bearing surface using Boussinesq equations. The film shape was modified accordingly and then iterated with the hydrodynamic pressure distribution in the bearing until a convergent solution was obtained. The Reynolds equation was solved numerically, considering three values of the flow-behavior index (n = 0.6, 1, and 1.2) and a wide range of journal speeds, materials, and clearance ratios. Consequently, the finite perturbation technique was used to determine the eight values of oil film stiffness and damping coefficients. By using the dynamic coefficients, the stability characteristics of the rotor-bearing system and the critical speed were calculated. The results show that increasing the flow-behavior index enhances the rotor-bearing system stability. A considerable destabilizing effect is obtained upon decreasing the elastic deformation coefficient.     

Cysts of median raphe

Middle raphe cysts are very uncommon lesions in the daily clinical practice and can go unnoticed based on their size. We contribute two cases where a quick growth is seen over the last few months. Their histological origin is discussed using specific staining and immunohistochemical techniques.     

Pseudohalogenation of methyl 9-hydroxy-cis-12-and 12-hydroxy-cis-9-octadecenoate

Pseudohalogenation of methyl 9-hydroxy-cis-12-octadecenoate (I) and methyl 12-hydroxy-cis-9-octadecenoate (II) has been carried out with N,N-dibromobenzenesulfonamide (NNDBS). Compounds I and II, on reaction with NNDBS, formed four and three products, respectively. The interesting feature of these reactions was the formation of 1,4-epoxy compounds. The structures of individual compounds were established with the help of elemental and spectral analysis.     

Selective separation of cobalt and nickel by supported liquid membranes

The selective separation of cobalt from acidic media, containing both equimolar and nonequimolar mixtures of cobalt and nickel, was examined by supported liquid membranes using Alamine 336 as mobile carrier dissolved in various diluents. The membrane support was microporous hydrophobic polypropylene Celgard 2500 (25 μm thick, 0.209 × 0.054 μm pore size and 55% porosity). Acetic acid-Na acetate buffer was used for the adjustment of the feed pH which was critical. Various parameters were experimentally studied and the optimum conditions were determined.