Search

This study describes the development (design, construction, instrumentation, and control) of a nursing mobile robotic device to monitor vital signals in home-cared patients. The proposed device measures electrocardiography potentials, oxygen saturation, skin temperature, and non-invasive arterial pressure of the patient. Additionally, the nursing robot can supply assistance in the gait cycle for people who require it. The robotic device's structural and mechanical components were built using 3D-printed techniques. The instrumentation includes electronic embedded devices and sensors to know the robot's relative position with respect to the patient. With this information together with the available physiological measurements, the robot can work in three different scenarios: (a) in the first one, a robust control strategy regulates the mobile robot operation, including the tracking of the patient under uncertain working scenarios leading to the selection of an appropriate sequence of movements; (b) the second one helps the patients, if they need it, to perform a controlled gait-cycle during outdoors and indoors excursions; and (c) the third one verifies the state of health of the users measuring their vital signs. A graphical user interface (GUI) collects, processes, and displays the information acquired by the bioelectrical amplifiers and signal processing systems. Moreover, it allows easy interaction between the nursing robot, the patients, and the physician. The proposed design has been tested with five volunteers showing efficient assistance for primary health care. Graphical Abstract Main stages of the home-care nursing controlled mobile robot., (© 2022. International Federation for Medical and Biological Engineering.)

Diethyl phthalate (DEP) is a pollutant which can be found on soils as a result of its widespread application in plastic industry. Soil contaminated with DEP requires the application of different chemical methods to attain its remediation. Among these methods, ozonation has proven to be effective against toxic soil pollutants. The presence of metal oxides in soil is a possible source of catalytic effect. In this study, it was analyzed the catalytic effect of goethite (α-FeOOH), hematite (α-Fe 2 O 3 ), and gibbsite (γ-Al(OH) 3 ) in combination with O 3 to achieve DEP decomposition. The DEP elimination efficiency by ozonation on the sand increased according to the following order: without catalyst < γ-Al(OH) 3  < α-Fe 2 O 3  < α-FeOOH. Among these three oxides, goethite has the highest OH groups density. The reaction of OH groups and O 3 favors the formation of oxidant species, such as O 2 • - and OH•. The effect of the moisture content, the catalyst concentration, and the type of soil (sand and calcined soil) were also studied. The latter had a significant influence on the total organic carbon (TOC) removal. The mineralization degree was 84% in the O 3 -soil system, while only 40% was obtained with O 3 -sand (α-FeOOH) in dry sand after 8 h of treatment. Calcined soil promoted the increase of TOC removal due to the presence of different metal oxides, which were active centers for O 3 decomposition. The toxicity tests of the three reaction systems (O 3 -sand, O 3 -sand (α-FeOOH), and O 3 -soil) were evaluated on lettuce seed germination before and after DEP ozonation.

Improving the competitiveness of biodiesel production by microalgae cultures requires the application of several strategies to obtain a high content of lipids, rapid biomass growth and a capacity to adapt to different kinds of environment, with the aim of using non-renewable nutrient sources. Therefore, the use of an individual indigenous microalgae strain or a consortium from natural or anthropogenic sites is now considered an alternative for biofuel production. This study examined the temporal behaviour of secondary metabolites produced by a native microalgae and yeast consortium isolated from wastewater, which was characterized by a genetic identification method based on the MiSeq system. The predominant species in the consortium was Scenedesmus obliquus, representing 68% of the organisms. In addition, the consortium contained a number of yeast species, including Candida pimensis (43%), Arthroderma vanbreuseghemii (23%), Diaporthe aspalathi/Diaporthe meridionalis (25%) and Hericium americanum (3%). This indigenous co-culture of microalgae and yeast showed biomass productivity of 0.06 g l -1  day -1 , with a content of 30% (w/w) carbohydrates, 4% (w/w) proteins and 55% (w/w) lipids. Transesterification of the extracted lipids produced fatty acid methyl esters (FAMEs), which were analysed by gas chromatography (GC). The FAMEs included methyl pentadecanoate (1.90%), cis-10-pentanedecanoic acid methyl ester (1.36%), methyl palmitate (2.64%), methyl palmitoleate (21.36%), methyl oleate (64.95%), methyl linolenate (3.83%) and methyl linolelaidate (3.95%). This composition was relevant for biodiesel production based on the co-culture of indigenous microalgae and yeast consortia.

The carbamazepine (CBZ) abatement is herein evaluated using catalytic ozonation at different NiO concentrations as catalyst: 100, 300, and 500 mg L -1 , revealing its total destruction after 5 min of reaction either by conventional or catalytic ozonation. The NiO incorporation in the reactor does not increase the destruction rate, but the catalyst presence enhances the partial mineralization of the contaminant by conversion into oxalic and formic acids and the removal of total organic carbon (TOC) associated with the formation of oxidant species such as hydroxyl radical. Evidence for this behavior is the accumulation rate of the above acids which rise proportionally to the NiO concentration. The highest NiO concentration (500 mg L -1 ) reached a maximum TOC removal of 79.2%, which exceeds by 50% the outcome of the conventional treatment. The accumulation-decomposition profiles of oxalic and formic acids suggest the occurrence of simultaneous reaction mechanisms (hydroxyl radicals and complex formations) on the catalyst during CBZ ozonation. According to XPS analysis, the presence of nitrogen species in the NiO-ozonated was attributable to byproducts of CBZ decomposition. The toxicity bioassay based on Lactuca sativa seeds demonstrate that ozonated samples attained similar plant germination than the reference substance (water) after 120 min of treatment. This result is comparable with or without the catalyst presence, indicating the formation of non-toxic accumulated byproducts at the end of the ozonation reaction.

This article shows the design of a robust second-order sliding mode controller to solve the trajectory tracking problem of an active orthosis for assisting back physiotherapies. The orthosis was designed in agreement with morphological dimensions and its articulations distribution followed the same designing rules. The orthosis has six articulated arms attached to an articulated column. The orthosis was fully instrumented with actuators and position sensors at each articulation. The controller implemented a class of hybrid/position controller depending on the relative force exerted by the patient and the orthosis movement. The position information provided by each articulation was supplied to a distributed super-twisting differentiator to recover the corresponding angular velocity. A set of twisting controllers was implemented to regulate the position of the robot in agreement to predefined reference trajectories. Reference trajectories were obtained from a biomechanical-based analysis. The hybrid tracking control problem solved the automation of the assisted therapy to the patient, including the force feedback. The performance of the orthosis was tested with different dummy bodies with different resistance. The robust output feedback controller successfully tracked the reference trajectories despite the material of the dummy used during the testing. The orthosis was evaluated with two volunteers using a simple reference trajectory. Graphical Abstract General structure of the active back assisted orthosis.

The aim of this study was to characterize the in vivo volumetric distribution of three folate-based biosensors by different imaging modalities (X-ray, fluorescence, Cerenkov luminescence, and radioisotopic imaging) through the development of a tridimensional image reconstruction algorithm. The preclinical and multimodal Xtreme imaging system, with a Multimodal Animal Rotation System (MARS), was used to acquire bidimensional images, which were processed to obtain the tridimensional reconstruction. Images of mice at different times (biosensor distribution) were simultaneously obtained from the four imaging modalities. The filtered back projection and inverse Radon transformation were used as main image-processing techniques. The algorithm developed in Matlab was able to calculate the volumetric profiles of 99m Tc-Folate-Bombesin (radioisotopic image), 177 Lu-Folate-Bombesin (Cerenkov image), and FolateRSense™ 680 (fluorescence image) in tumors and kidneys of mice, and no significant differences were detected in the volumetric quantifications among measurement techniques. The imaging tridimensional reconstruction algorithm can be easily extrapolated to different 2D acquisition-type images. This characteristic flexibility of the algorithm developed in this study is a remarkable advantage in comparison to similar reconstruction methods.

Naphthalene (NA) is a polycyclic aromatic hydrocarbon with toxic properties in aquatic systems. Ozonation (O 3 ) and catalytic ozonation (O 3 -cat) processes are attractive alternatives of degradation for this kind of compound. NA (20 mg L -1 ) degradation by conventional and catalytic ozonation in the presence of a cosolvent (ethanol) was the aim of this study. This solution was proposed to simulate some aspects of real wastewaters where not only water acts as solvent. Two proportions of the mixture ethanol/water were selected (30:70 and 50:50) with the purpose of studying the cosolvent effect on NA degradation system by ozonation. O 3 -cat process used nickel oxide as catalyst (0.1 g L -1 ). The degradation analysis of NA by O 3 -cat in two different proportions of cosolvent showed that in the case of 30:70 (ethanol/water), a 95 % of NA elimination in 60 min was obtained, while in the case 50:50 (ethanol/water), only 55 % was achieved. The O 3 process showed similar results of degradation to the initial compound in comparison with catalytic system. According to these results, there is an inhibition effect in pollutant removal by ethanol due to the higher ethanol concentration; the lower elimination rate of NA was obtained (by 40 % during the 60 min). The by-products analysis of ozonation process detected oxalic and formic acids. Treatments with NiO presented less production of organic acids in comparison with conventional ozonation process. The high concentration of ethanol has a relevant factor in the elimination of NA and formation of organic acids; samples with 50 % of cosolvent have showed a higher concentration of organic acids. X-ray photoelectron spectroscopy (XPS) study of O 3 -cat of diluent (O 3 -NiO control) and O 3 -NA-NiO showed the presence of -CO 3 absorbed on catalyst due to ethanol decomposition.

Terephthalic acid (TA) is considered as a refractory model compound. For this reason, the TA degradation usually requires a prolonged reaction time to achieve mineralization. In this study, vanadium oxide (VxOy) supported on titanium oxide (TiO2) served as a photocatalyst in the ozonation of the TA with light-emitting diodes (LEDs), having a bandwidth centered at 452 nm. The modified catalyst (VxOy/TiO2) in combination with ozone and LEDs improved the TA degradation and its by-products. The results obtained by this system were compared with photolysis, single ozonation, catalytic ozonation, and photocatalytic ozonation of VxOy/TiO2 with UV lamp. The LED-based photocatalytic ozonation showed almost the same decomposition efficiency of the TA, but it was better in comparison with the use of UV lamp. The oxalic acid accumulation, as the final product of the TA decomposition, was directly influenced by either the presence of VxOy or/and the LED irradiation. Several by-products formed during the TA degradation, such as muconic, fumaric, and oxalic acids, were identified. Besides, two unidentified by-products were completely removed during the observed time (60 min). It was proposed that the TA elimination in the presence of VxOy/TiO2 as catalyst was carried out by the combination of different mechanisms: molecular ozone reaction, indirect mechanism conducted by ·OH, and the surface complex formation.