Manipulation Errors Research Articles

Perlindungan Hukum Bagi Penghadap Penyandang Disabilitas Dalam Pembuatan Akta Notaris

Legal protection for persons with disabilities in the preparation of notary deeds involving land disputes, with a focus on the analysis of Supreme Court Decision Number 1263 K/Pdt/2021. Notaries have a responsibility to ensure that the deeds they make meet the formal and material provisions, especially when it involves persons with disabilities who are vulnerable to potential manipulation or legal errors. This study uses normative juridical methods through a legislative and case approach, by examining the preventive and repressive aspects of the legal protection of persons with disabilities in notary practice. The results of the analysis show that there is the implementation of legal protection for persons with disabilities in notarial practice still faces various significant obstacles, including limited infrastructure, lack of notary competence in serving persons with disabilities, and the absence of standardization of special service procedures. The preventive aspect includes the obligation of notaries to ensure the understanding of the parties, provide accessibility, and verify legal capacity without discrimination. Meanwhile, the repressive aspect is manifested in the dispute resolution mechanism and adequate legal assistance for persons with disabilities. Supreme Court Decision Number 1263 K/Pdt/2021 has emphasized the importance of fulfilling formal and material aspects in making notarial deeds involving persons with disabilities, especially regarding the obligation to read the deed and the presence of witnesses. This decision is an important jurisprudence that strengthens legal protection for persons with disabilities in notarial practice and emphasizes the responsibility of notaries in providing services that pay attention to the special needs of persons with disabilities. Systematic efforts are needed in the form of improving notary competence, developing accessible infrastructure, and strengthening the supervision system to optimize the implementation of this legal protection. Keywords : Legal Protection; Disabilities; Notary’s Deed

Fuzzy PI vibration suppression control strategy for space double flexible telescopic manipulator with fractional disturbance observer

The space double flexible telescopic manipulator (SDFTM) with time-varying length, is called the space flexible manipulator and can carry out reciprocating linear telescopic motion along its axis. It possesses characteristics such as lightweight flexibility, small space occupation, large turning radius, and a wide working range. These features can assist astronauts in performing complex tasks in dangerous outer space environments and offer broad application prospects. However, due to the highly nonlinear and time-varying length characteristics of the space flexible manipulator, its dynamic modeling becomes more complex and challenging. Moreover, during the rotation of the space flexible manipulator, its inherent flexible behavior can trigger vibration phenomena, significantly impacting the execution accuracy of on-orbit tasks. Therefore, proposing control methods to address vibration issues is an effective approach. Thus, achieving stable and precise operation of the space flexible manipulator necessitates the precise establishment of its dynamic model and the development of high-precision control algorithms, which have become key research directions. Firstly, a time-varying dynamic modeling method of the space manipulator is proposed by combining the Lagrange principle and flexible beam vibration theory. Unlike the traditional method, which only considers the limit length of the space manipulator under static conditions, the dynamic process of the space manipulator presented during actual operation is fully considered, which greatly improves the modeling accuracy. Then, a time-varying model based on the fuzzy PI real-time control strategy (FD-FZPI) with fractional order disturbance observer (FO-DOB) is proposed. Based on the robust stability principle, a more accurate FO-DOB is proposed based on integer order DOB, coupled with a fuzzy PI controller to compensate for the external disturbance and modeling error of the space manipulator. Finally, numerical simulation analysis is carried out, and the results show that the average parameter difference between the time-varying dynamic model and the static dynamic model can reach about 5.2 %, which indicates the accuracy of the proposed dynamic modeling method. At the same time, the proposed FD-FZPI control strategy achieves about 14.6 % performance improvement over the traditional DOB-PI control method, indicating that the proposed control strategy can effectively suppress the flutter fluctuation of the space manipulator and achieve accurate and stable dynamic tracking.

Calibration of rotary axis angular positioning deviations in a six-axis robotic manipulator by using the R-Test

Prediction accuracy of the kinematic model plays a pivotal role in offline numerical compensation for three-dimensional (3D) positioning error of a six-axis robotic manipulator. In addition to the Denavit-Hartenberg (D-H) error that was typically discussed in the analogous research, this paper proposes a novel scheme to identify the bidirectional angular positioning deviations of all the rotary axes without using the commercial laser tracker. This proposed scheme employs the R-Test, which is significantly more cost-efficient than a laser tracker employed in many past works. Compared to the conventional D-H model, significantly improved prediction performance of the proposed model was experimentally investigated on three rectangular paths covering the entire workspace. Experimental results indicate that the proposed scheme reduces the residual error from 505.2 to 215.2 mm, compared to 118.8 mm with a laser tracker, while maintaining a significantly lower cost that is 1/100 of a commercial laser tracker. Uncertainty analysis also clarify that when only the D-H error parameters are identified, as in many conventional works, the angular positioning deviations can be a major uncertainty contributor to the identification of the D-H errors. The proposed scheme does not require the R-Test locations to be calibrated, and its influence on the uncertainty in the identified errors is assessed.

Virtual Reality (VR) Technology in Laparoscopy Surgery: The Effect of Large Viewing Angle from the Head-Mounted Display (HMD) and Laparoscopic Performance

Background: A vital component of laparoscopic surgery is its display monitor. The viewing angle of the laparoscopic monitor impacts on the performance of the surgeon. Given that head-mounted display (HMD), an integral part of Virtual Reality (VR) technology, offers a large viewing angle, this project aimed to determine the potential benefits of using HMD in performing laparoscopic tasks. Methods: 54 laparoscopic/endoscopic clinicians performed a simulated laparoscopic task with three different monitors (HMD, 21-inch and 15-inch monitor) in a random order. Duration of task, distance travelled by graspers and manipulation errors were recorded and analyzed. Simulation Sickness Questionnaires (SSQs) were also given to participants. Results: There were statistically significant differences in all performance metrics recorded across all groups when compared to each other (P<0.05). HMD had the longest task completion duration followed by 15-inch and 21-inch monitors. However, the distance travelled by the graspers and error rate was lowest in the HMD group followed by 21-inch and 15-inch monitors. The SSQ questionnaire showed that eye strain and headache are the two most common transient side effects recorded by users of HMD. Conclusion: The study shows that HMD users perform fewer mistakes and are more precise with the movement of graspers compared to other groups. As such, HMD has the potential to enhance laparoscopic performance. HMD is cost effective and has the added benefit of improving surgical ergonomics. Further research should focus on ensuring that HMD is a viable and safe alternative to conventional laparoscopic monitor as well as in identifying barriers to adoption.

Modification of an Airway Training Mannequin to Teach Engagement of the Hyoepiglottic Ligament.

This airway trainer modification is designed to instruct all levels of training in emergency medicine in order to familiarize trainees with airway anatomy and obtain superior views of the glottic inlet. During intubation with a standard geometry laryngoscope, such as the Macintosh blade, placement of the distal end of the blade within the vallecula and engagement of the median glossoepiglottic fold, also referred to as the midline vallecular fold (MVF), has long been championed by experts in airway management for its ability to improve glottic inlet visualization. This notion was further supported by the recent publication of a retrospective video review by Driver et al.1 Unfortunately, airway anatomy, including engagement of the MVF, does not receive the emphasis it deserves during intubation training of emergency medicine residents. Emergency physicians often have limited time to perform complete airway examinations, but a sound recognition and appreciation of the laryngeal inlet can serve as a roadmap to optimal laryngoscopy.2Recent advancements in airway education emphasize visualization of airway anatomy with review of video laryngoscopy (VL) recordings to identify routine VL errors in vallecula manipulation, such as failure to engage the MVF. 3 Simulation can continue to play an essential role in enhancing trainees' airway skills. Current airway trainers lack functional fidelity components, such an engageable MVF, resulting in a missed opportunity to teach airway skills and anatomy in a safe and controlled setting.4, 5 To address these concerns, we modified an existing airway task trainer with the addition of a simulated MVF to expose trainees to airway anatomy and adequate MVF engagement resulting in epiglottic elevation. By the end of this education session, participants should be able to:Identify relevant airway anatomy during intubation, including base of the tongue, epiglottis, midline vallecular fold, anterior arytenoids.Appreciate the value of a stepwise anatomically guided approach to intubation.Become familiar with the midline vallecular fold and underlying anatomy, including the hyoepiglottic ligament, and how proper placement of the laryngoscope can result in improved glottic visualization. The TrueCorp AirSim airway task trainer was modified with the addition of a simulated MVF. Prior to the modification described here, there were no dynamic trainers with the functional fidelity needed to teach trainees how to engage the MVF with proper placement of the distal tip of the laryngoscope. Once the trainer was created, learners are introduced to relevant anatomy through the initial lecture to unsure baseline knowledge. During the lecture, videos and images are reviewed to demonstrate the importance of an anatomical roadmap to successful intubation. Learners then practiced with the modified task trainer to gain hands-on experience with laryngoscope placement and improved glottic visualization. A short verbal debriefing was performed at the end of the skills session to address any remaining questions. Pre- and post-simulation surveys were completed by attendees of a weekly didactic session, ranging from medical students, PGY 1-4 emergency medicine residents, and emergency medicine attending physicians. Pre- and post-simulation familiarity with airway anatomy and comfortability with MVF engagement was assessed using a 5-point Likert scale. Twenty-six participants ranging from medical students to attending physicians completed a pre- and post-simulation survey. Overall, feedback from leaners was positive. Learners were excited to learn new airway management techniques and requested an expansion of current airway curriculum based on the success of this implementation. This modified task trainer places an emphasis on teaching airway anatomy to trainees with the addition of functional fidelity by adding an engageable element providing the trainee with feedback on successful placement of the laryngoscope. This simple and cost-effective modification can add value to existing airway management curriculums by serving as a visual cue of airway anatomy and instructing trainees on proper placement of the laryngoscope. Our results showed participants experienced increased comfort with airway anatomy recognition and engagement of MVF for difficult intubations. Participants found the trainer effective with the simulated MVF resulting in glottic elevation and recommended this for future simulation. Participants were eager to learn additional airway techniques to improve their laryngoscopy skills, suggesting an area of growth for emergency medicine didactic curriculums. Airway, midline vallecular fold, anatomy, difficult airway, education.

Finite-time adaptive super-twisting sliding mode control for autonomous robotic manipulators with actuator faults

This paper proposes a new adaptive super-twisting global integral terminal sliding mode control algorithm for the trajectory tracking of autonomous robotic manipulators with uncertain parameters, unknown disturbances, and actuator faults. Firstly, a novel global integral terminal sliding mode surface is designed to ensure that the tracking errors of autonomous robotic manipulators converge to zero in finite time and the global robustness of the system is also enhanced. Then a new adaptive method is devised to deal with the adverse effect of nonlinear uncertainty. To suppress the chattering phenomenon, the adaptive super-twisting algorithm is used in this paper, which can ensure that the control torque is a continuous input signal. Based on the adaptive mechanism, the adaptive super-twisting global integral terminal sliding mode controller is developed to provide superior control performance. The stability analysis of the system is demonstrated by using the Lyapunov method. Ultimately, the effectiveness of the control scheme is confirmed by a simulation study.

Muscle synergies in joystick manipulation.

Extracting muscle synergies from surface electromyographic signals (sEMGs) during exercises has been widely applied to evaluate motor control strategies. This study explores the relationship between upper-limb muscle synergies and the performance of joystick manipulation tasks. Seventy-seven subjects, divided into three classes according to their maneuvering experience, were recruited to perform the left and right reciprocation of the joystick. Based on the motion encoder data, their manipulation performance was evaluated by the mean error, standard deviation, and extreme range of position of the joystick. Meanwhile, sEMG and acceleration signals from the upper limbs corresponding to the entire trial were collected. Muscle synergies were extracted from each subject's sEMG data by non-negative matrix factorization (NMF), based on which the synergy coordination index (SCI), which indicates the size of the synergy space and the variability of the center of activity (CoA), evaluated the temporal activation variability. The synergy pattern space and CoA of all participants were calculated within each class to analyze the correlation between the variability of muscle synergies and the manipulation performance metrics. The correlation level of each class was further compared. The experimental results evidenced a positive correlation between manipulation performance and maneuvering experience. Similar muscle synergy patterns were reflected between the three classes and the structure of the muscle synergies showed stability. In the class of rich maneuvering experience, the correlation between manipulation performance metrics and muscle synergy is more significant than in the classes of trainees and newbies, suggesting that long-term training and practicing can improve manipulation performance, stability of synergy compositions, and temporal activation variability but not alter the structure of muscle synergies determined by a specific task. Our approaches and findings could be applied to 1) reduce manipulation errors, 2) assist maneuvering training and evaluation to enhance transportation safety, and 3) design technical support for sports.

Vision Guided Dynamic Synchronous Path Tracking Control of Dual Manipulator Cooperative System

Abstract Compared with a single manipulator manufacturing cell, a dual manipulator cooperative system has more advantages in reconfigurability and flexibility. However, there are calibration errors and multi-source disturbances in the collaborative process, which lead to the processing trajectory accuracy defects of large-scale associated machining features. To solve the above problems, a practical path tracking synchronous control algorithm based on position-based visual servoing (PBVS) is proposed in this paper for the dual manipulator cooperative system, the proposed dynamic path tracking cross-coupled sliding mode controller (PTCSMC) scheme can realize dynamic paths correction while executing the pre-planned paths. In addition, for the cross-coupled technology to be applied into the proposed control algorithm for dynamic path tracking based on the real-time feedback of the highly repeatable 3D visual measurement instrument (VMI), the tracking and synchronous errors of the dual manipulators converge synchronously to zero. Finally, the stability of proposed control algorithm is proven by the Lyapunov method. In the end, the real-time line and circle path tracking experimental results using two industrial manipulators demonstrate the effectiveness of the proposed algorithm.

A Tensegrity Joint for Low‐Inertia, Compact, and Compliant Soft Manipulators

Compact, low‐inertia, and soft compliant robotic joint mechanisms are in great demand for ensuring safe interactions in human–robot collaborative tasks. Tensegrity, of which the structural integrity is constrained by tension, does not involve static/sliding friction among the rigid components. However, this mechanical stability is very susceptible to actuation errors. It requires complex kinematics modeling and sophisticated control model with sensing feedback. Herein, a low‐inertia tensegrity joint that is covered/protected by a fiber Bragg grating (FBG)‐embedded silicone sheath is proposed, with the aim to reinforce the joint motion stability and enable self‐contained sensing feedback. A learning‐based closed‐loop controller is also designed and trained with the proper joint configurations selected by a two‐step sampling method. Both the kinematics and static equilibriums of such configurations can be well satisfied. The experiments demonstrate that the joint can follow paths accurately in 2D by compensating manipulation error shortly under the closed‐loop control. The joint stiffness can also be varied against the external/impulsive disturbances. It can be foreseen that this primitive robot joint component with 2 degrees of freedom (DoFs) can provide safe, compliant interaction with human, for which a simple test of maneuvering a portable ultrasound probe (≈210 g) for abdominal imaging is demonstrated.

Standard addition method (SAM) in LC-MS/MS to quantify gluten-derived metabolites in urine samples

A tight adherence to a gluten-free diet (GFD), the most effective treatment currently available for celiac disease, is important to reduce symptoms, avoid nutritional deficiencies and improve quality of life in celiac patients. The development of analytical methods allowing detecting gluten exposure due to occasional or involuntary food transgressions could represent a useful tool to monitor patient habits and conditions and prevent long-term complications. The aim of this work was to develop and validate an approach based on the standard addition methodology (SAM) for the detection and quantification of two main metabolites of alkylresorcinols, 3,5-dihydroxybenzoic acid (DHBA) and 3-(3,5-dihydroxyphenyl)-propanoic acid (DHPPA), whose presence in urine samples is related to the intake of gluten-containing foods. Analytically, the method consisted of a protein precipitation step followed by liquid chromatography coupled to tandem mass spectrometry (LC-MS/MS) analysis. The chromatographic method involved the use of a hydrophilic interaction liquid chromatography (HILIC) in a direct phase approach; LC-MS/MS analyses were performed in selected reaction monitoring (SRM) mode. Manipulation and instrumental errors were normalised using stable isotopic standards (ISs). The SAM approach here described requires less than 1 mL of urine per sample, thus greatly reducing the sample volume needed. Noteworthy, despite the small cohort of samples analysed, our data allowed to identify a potential “threshold” value, around 200 ng/mL for DHBA and 400 ng/mL for DHPPA, to discriminate between a GFD and a gluten rich diet (GRD).

Analysis of an event study using the Fama–French five-factor model: teaching approaches including spreadsheets and the R programming language

The current financial education framework has an increasing need to introduce tools that facilitate the application of theoretical models to real-world data and contexts. However, only a limited number of free tools are available for this purpose. Given this lack of tools, the present study provides two approaches to facilitate the implementation of an event study. The first approach consists of a set of MS Excel files based on the Fama–French five-factor model, which allows the application of the event study methodology in a semi-automatic manner. The second approach is an open-source R-programmed tool through which results can be obtained in the context of an event study without the need for programming knowledge. This tool widens the calculus possibilities provided by the first approach and offers the option to apply not only the Fama–French five-factor model but also other models that are common in the financial literature. It is a user-friendly tool that enables reproducibility of the analysis and ensures that the calculations are free of manipulation errors. Both approaches are freely available and ready-to-use.

Prescribed Performance Control for Electro-hydraulic Servo System of the Ammunition Manipulator

There are stochastic initial disturbances which lead to unexpected tracking errors of the ammunition manipulator during the starting stage. In this paper, a prescribed performance control strategy is proposed for the steady constraint control of the ammunition coordinator. In order to keep the position errors of the ammunition coordinator in the whole tracking control process within the prescribed constraint range, the prescribed performance control theory is adopted to convert the system original error into a new error form that can be restrained through error transformation, and the performance function is designed to constrain the error boundary. The second-order command filter is used to reduce the derivation calculation error of the virtual control variables during the backstepping iteration and the corresponding filtering error compensation algorithm is designed to improve the control accuracy. In addition, adaptive laws are well-designed to compensate the uncertainty of system parameters. The simulation analysis shows that the designed prescribed performance controller obtains good control performance. The convergence and stability of the tracking error of the ammunition manipulator are achieved, and the prescribed performance function prevents the violation of tracking error performance constraints.

A Selective Hand Posture Apraxia in an Individual With Posterior Cortical Atrophy and Probable Corticobasal Syndrome.

A selective impairment for making hand postures that are required to use specific tools has rarely been reported in individuals with acquired brain injury, and such an impairment has not been documented at all in individuals with degenerative disorders. We describe an individual with posterior cortical atrophy and probable corticobasal syndrome who was unable to use tools because of an inability to make the proper hand posture required for each tool. This individual was, however, able to use the tools properly once her hand postures were corrected, and her ability to manipulate the tools (ie, timing, arm posture, and amplitude) was intact. Also, she had no difficulty with a test of her manipulation knowledge. Areas of hypoperfusion observed by single-photon emission computerized tomography included the anterior intraparietal sulcus in the left parietal lobe, which is an area that has been proposed to control hand postures. This selective impairment might be explained by the reasoning-based hypothesis for apraxia, which attributes hand posture errors in the absence of manipulation errors to dysfunction in one of the three independent pathways that subserve tool use, rather than the manipulation-based hypothesis for apraxia, which attributes hand posture errors to impaired manipulation knowledge. This is the first case with a degenerative disorder that revealed a selective impairment for making hand postures for tool use, which might be explained mainly by apraxia of hand postures along with visuospatial dysfunction (simultanagnosia) and/or sensory disturbance.

메타버스 활용 영어 말하기 교육프로그램 개발연구

Objectives The purpose of this study is to develop an English speaking program using metaverse for language learners to core skills required in 21st century.
 Methods Nine Korean EFL students at age 12-13 who completed the national curriculum of grade 6 were recruited as the participants of the pilot study to confirm the effects of the program. The effects of the designed lessons were examined through the questionnaire-based tests, learning progress monitoring, and interviews. The variables of the tests included digital literacy, and L2 motivational experience.
 Results The results of pre- and post-test comparison showed improvements in digital literacy, and motivation with regard to English learning experience. According to the interviews, the learners and the instructor were positive on the whole about the use of metaverse in English classrooms based on the lesson design proposed in this study. The learners showed great interests in the metaverse-based English lessons in general, and reported higher immersion into classes than previous school classes due to diverse activities and affordance of metaverse. The instructor who delivered the lesson emphasized the importance of teacher training for the success of the future metaverse-mediated language learning. The progress monitoring and interviews also indicated a demand for dealing technical issues.
 Conclusions The implications of this study and suggestions for future research are as follows. This study confirmed the effects of metaverse-mediated language learning on high immersion by transcending temporal and spacial borders, leading to authentic learning and L2 speaking experience. Moreover, with appropriate task designs, metaverse helped learners foster not only oral communication skills but also digital literacy in English classes. Lastly, this study suggests developing a detailed guideline for potential problems regarding manipulation and technical errors for successful application of metaverse in educational programs in future research and classrooms.

Development of Integrated Leader Controller for Forceps/Retractor Manipulation in Single-Port Water-Filled Laparo-Endoscopic Surgery

Single-port water-filled laparo-endoscopic surgery (WaFLES) is a surgical procedure used for treatment in an environment filled with isotonic water in the abdominal cavity under a single-port condition. In this study, we developed two leader controllers for the forceps manipulator and retractor to generate and maintain a surgical workspace for a single-port WaFLES support robot. The development of the specific controller for each device increased the operation time and complicated the motion, such as regripping. We integrated the two functions as a controller to prevent the problem above. We performed grasping and retracting tasks in the virtual surgical workspace to evaluate the proposed controller. Based on the experimental results, we clarified the effect on the operation time by a different mechanism and observed that arranging the switch decreased the operation time. In addition, one of the proposed leader controllers improved operability in terms of operation time during selection and switching from the retractor to the forceps manipulator. However, the arrangement of the switch could adversely affect controller operability when switching from a simple operation (requiring only position control during retractor operation) to a complex operation (requiring both position and posture control during forceps operation). Furthermore, manipulation errors were observed using either of the proposed controllers. Therefore, the sensing procedure of the controller should be improved by addressing these errors in software and hardware.

Reversing Negative Trends in Spare Parts Control

The consumer SPARE BROTHERS’ a Colombo, Sri Lanka company, commissioned the implementation of the online e-commerce management system. The users currently manage its employees' significant amounts of data manually using a manual approach. The suggested solution enables consumers to store and manage data in own database, greatly improving the efficiency of their data handling methods. The suggest system is designed to handle all the steps involved in managing a spare parts business, including consumer, store, cart, payment, delivery, order, and rider management. Firstly, if a user is already a consumer, user can connect to the system with users’ credentials and be redirected to user’s responsible side. If not, user can sign up for the system. Here, it includes with this system set up as a distinct site for the user and the administrator. The system's spare parts can be added by the admin, and those parts will then appear on the user side. Hence that consumer can purchase products based on user’s interests. Users can manage cart items here, and if user’s wish to proceed to check out, users can enter own payment and delivery details. After the order is complete, the administrator can designate a rider to transport those things to the appropriate location. Lastly, the admin can edit, delete, and generate certain essential reports to manage all the user, product, order, delivery, and rider details. Consequently, the administrator can add notifications, search relevant categories, and allow users to add wish lists. The solution decreases data manipulation errors in the present process, leading to a significant improvement in the utilization of human resources. It enhances consumers' interactions with their customers, increasing revenue for the company. The process is simple to use, dependable, and effective, and its statistics meet the needs of consumers.

Hotel Green Implementation for Future

The online hotel management system was designed for the client hotel green, colombo, sri lanka. Currently, the client uses a manual system for management purposes where employees handle large amounts of data manually. The proposed system allows users to store and manipulated all the data in their database making their data handling process very effective. The proposed system is developed to cover the process of the hotel such as employee management, resource management, food management, rooms management, and user account management. The admin adds and updates the available rooms and foods, and customers can check the available rooms and order foods through the system. Admin adds, updates, and deletes employee details. Admin can mark the attendance of the employees. Admin can search relevant details. Admin can view details of all customers. The customers register and log in to the system. Customers can update and delete their accounts. A web application was developed to ensure that the customers of the hotel can make orders and reservations online. The system reduces data manipulation errors in the current process, resulting in considerable development in human resource utilization. It improves the client's relationship with their customers gaining profit for the business. The system is user-friendly, reliable, and efficient and its statistics all the customer requirements.

Using a Double Syringe Sterile System for MSK Aspiration/Injection Procedures Eliminates Risk of Iatrogenic Infection.

Diverse musculo-skeletal pathology can be treated conservatively by different types of injections and in most cases, results are significantly better if the existing inflammatory fluid is aspirated prior to injection of medication solutions. The present study analyses an original technique which uses infusion therapy accessories to create two types of closed sterile double syringe systems, and compares the benefits of using such a system in aspiration/injection procedures to classic aspiration injection technique that implies changing and connecting multiple syringes to the same needle, thus increasing the risk for septic complications. The aim of the present study is to minimize therapeutic risk of iatrogenic septic complications during aspiration/injection procedures. 1024 patients underwent aspiration/injection procedures in our clinic using the double syringe system between 2015 and 2020. During the early stages of the study, the second type of assembly was rendered impractical so the study continued with analyzing a single type of double syringe system using a three way infusion therapy device which is readily available, and allows the assembly of a closed sterile system with a single, two-step procedure technique. Iatrogenic local septic complications were followed by means of a six week clinical follow-up evaluation with additional investigations only if necessary. In 1024 procedures we report 0% incidence of iatrogenic septic complications, or other types of complications and recommend this technique in a vast array of rheumatic, orthopedic or traumatic conditions that require aspiration/injection procedures. The double syringe system is practical, easy to use, it completely eliminates the risk of iatrogenic infection due to manipulation errors, and significantly simplifies the technique for sonography guided aspiration/injection procedures for musculo-skeletal pathology.

Using Artificial Neural Networks to Model Errors in Biochemical Manipulation of DNA Molecules.

In recent years, the non-biological applications of DNA molecules have made considerable progress; most of these applications were performed in vitro, involving biochemical operations such as synthesis, amplification and sequencing. Because errors may occur with specific sequence patterns or experimental instruments, these biochemical operations are not completely reliable. Modeling errors in these biochemical procedures is an interesting research topic. For example, researchers have proposed several methods to avoid the known vulnerable sequence patterns in the study of storing binary information in DNA molecules. However, there are few end-to-end methods to evaluate these biochemical errors with regard to the DNA sequences. In this article, based on the data generated by a DNA storage research, we use artificial neural networks to predict whether a DNA sequence tends to cause errors in biochemical operations. Through comparative experiments and hyperparameter optimization, we analyze the known and potential problems in the research process. As a result, an end-to-end method to model the biochemical errors of DNA molecules in vitro through a computer system is proposed.

Position error modeling and accuracy evaluation of n-DoF translational parallel manipulators that can be transformed into n four-bar mechanisms based on motion/force transmissibility

Accuracy is one of the most important properties for manipulators, and sensitivity analysis combined with tolerance allocation is usually used for ensuring their accuracy in the design stage. However, the improvement of tolerance grade is limited by manufacturing cost and processing technology level. For parallel manipulators, there are generally more joints than the serial ones, and the requirement for cost-efficient design is in urgent need. This paper focuses on error modeling, evaluating and improving the accuracy of parallel manipulators. Firstly, the error models based on motion/force transmissibility are established for translational parallel manipulators. The influence of motion/force transmissibility on theoretical accuracy is revealed. The result indicates that the position error of the parallel manipulator is inversely correlated with the output transmissibility of each limb. According to the established error models, the accuracy evaluation indices are proposed and used for accuracy optimization of the parallel manipulator via dimensional synthesis. The comparison before and after optimization shows that the optimized parallel manipulator has higher simulation accuracy. This work provides a new idea for the accuracy investigation of parallel manipulators.