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Pancreatic ductal adenocarcinoma (PDAC) is considered as one of the most aggressive and lethal malignancies. Development of chemoresistance in PDAC is one of the key contributors for the poor survival outcomes of PDAC patients and the major reason for urgent development of novel pharmacological approaches for effective treatment of PDAC. Systematically tailored combination therapy holds the promise for advancing the treatment of PDAC, but number of possible combinations considering all approved drugs and drug candidates is too large to be explored empirically. In respect to the many epigenetic alterations in PDAC, epigenetic drugs including histone deacetylase inhibitors (HDACi) could be seen as a game changer but available data indicates their efficacy only in combined therapy settings. In this work, we explored possibility of using drug-sensitivity data together with basal gene expression data on pancreatic cell lines to predict the combinatorial options available for HDACi and developed bioinformatics screening protocol for predictions of synergistic drug combinations in PDAC. Our results identified sphingolipid signaling pathway with associated downstream effectors as a promising novel target for future development of multi-target therapeutics or combined therapy with HDACi. Through the experimental validation, we have characterized novel synergism between HDACi and a Rho-associated protein kinase (ROCK) inhibitor RKI-1447, and HDACi and a sphingosine 1-phosphate (S1P) receptor agonist fingolimod.

We report the synthesis, characterization, and in vivo evaluation of the anticancer activity of a series of 5- and 6-(halomethyl)-2,2'-bipyridine rhenium tricarbonyl complexes. The study was promoted in order to understand if the presence and position of a reactive halomethyl substituent on the diimine ligand system of fac-[Re(CO)3]+ species may be a key molecular feature for the design of active and non-toxic anticancer agents. Only compounds potentially able of ligand-based alkylating reactions show significant antiproliferative activity against colorectal and pancreatic cell lines. The anticancer potency of the species, does not correlate with the hydrolysis rate or rate of reaction of the coordinated 5- and 6-(halomethyl)-2,2'-bipyridine with the amino acid lysine. Of the new species presented in this study, one compound (5-(chloromethyl)-2,2'-bipyridine derivative) shows significant inhibition of pancreatic tumour growth in vivo in zebrafish-Panc-1 xenografts. The complex is noticeably effective at 8 uM concentration, lower than its in vitro IC50 values, being also capable of inhibiting in vivo cancer cells dissemination.

Isoform-selective histone deacetylase (HDAC) inhibition is promoted as a rational strategy to develop safer anti-cancer drugs compared to non-selective HDAC inhibitors. Despite this presumed benefit, considerably more non-selective HDAC inhibitors have undergone clinical trials. In this report, we detail the design and discovery of potent HDAC inhibitors with 1-benzhydryl piperazine as a surface recognition group that differ in hydrocarbon linker. Surprisingly, in vitro HDAC screening identified two selective HDAC6 inhibitors (6b, IC50 = 186 nM and 9b, IC50 = 31 nM), as well as two non-selective nanomolar HDAC inhibitors (7b and 8b). The influence of linker chemistry of synthesized inhibitors on HDAC6 potency was studied using structure-based molecular modelling. The breast cancer cell-lines (MDA-MB-231 and MCF-7) were used to evaluate compound mediated in vitro anti-cancer, anti-migratory, and anti-invasive activities, leading to 8b as the most promising compound. In our study, 8b is identified as the HDAC inhibitor with very potent anti-angiogenic, anti-metastatic and anti-tumor effects in zebrafish MDA-MB-231 xenograft models at low micromolar concentrations.

Characteristic construction of cable-suspended parallel robot of artificial muscle, which presents an artificial forearm, is analyzed and synthesized. Novel results were achieved and presented. Results presented in this paper were initially driven to recognize and mathematically define undefined geometric relations of the artificial forearm since it was found that they strongly affect the dynamic response of this system. It gets more complicated when one has more complex system, which uses more artificial muscle subsystems, since these subsystems couple and system becomes more unstable. Unmodeled or insufficiently modeled dynamics can strongly affect the system’s instability. Because of that, the construction of this system and its new mathematical model are defined and presented in this paper. Generally, it can be said that the analysis of geometry of selected mechanism is the first step and very important step to establish the structural stability of these systems. This system is driven with two actuators, which need to work in a coordinated fashion. The aim of this paper is to show the importance of the geometry of this solution, which then strongly affects the system’s kinematics and dynamics. To determine the complexity of this system, it was presumed that system has rigid cables. Idea is to show the importance of good defined geometry of the system, which gives good basis for the definition of mathematical model of the system. Novel program package AMCO, artificial muscle contribution, was defined for the validation of the mathematical model of the system and for choice of its parameters. Sensitivity of the system to certain parameters is very high and hence analysis of this system needs to be done with a lot of caution. Some parameters are very influential on the possible implementation of the given task of the system. Only after choosing the parameters and checking the system through certain simulation results, control structure can be defined. In this paper, proportional–derivative controller was chosen.

In this project the use of Virtual World technology and Artificial Intelligence to produce a shared social landscape for the society of learners. The idea is to create a Virtual World in which learners can participate and interact. One that is parallel to the learning environment or classroom. This can be viewed as an online multi-user environment such as “Second-Life” where on-line learners can interact and construct their own spaces. Their ability to work in that space is governed by input from their robot mentor. Skills in the Virtual World are provided as a result of a student’s behavior in the learning environment. The Virtual World can persist after the learning session is concluded so it provided an incentive for learners to do well in the learning session so that they can acquire points that translate into skills in the corresponding Virtual World. That Virtual World can be shared by several learning sessions or classes to provide a more comprehensive learning environment.

To meet demands of the market and customers, a novel reconfigurable robot model is developed, and the Jacobian matrix is computed for singularity analysis. It is important to select the most appropriate method with the minimum complexity for this calculation. Six different algorithms for Jacobian matrix calculations are verified and compared. The procedure of using each method is analyzed, and the most suitable one for our reconfigurable robot model is selected.

Additive manufacturing process planning is in its infancy. Many new additive manufacturing platforms are being developed using a robotic based system for the positioning. It is proposed to use a collaborative robot solution to teach a ‘median line’ based travel path for a bead deposition based system to help with junction decision making. This input complements the model geometry and process planning settings. The logic for these tool paths is challenging algorithmically, but a process designer may have a solution in mind that it would be easier to teach; hence, integrating collaborative robots as part of the solution. Traditional robot systems require you to know the solution approach, while manual teaching involves intuition, and personal application experience. The collaborative robot is used with a designer as an intermediate step for rapid travel path development, as collaborative robots are designed for safe human-machine interactions. The designer generates path data via a collaborative rob...

The aim of our work was to optimize and apply simple high-performance liquid chromatography method with ultraviolet detection (HPLC-UV) for simultaneous determination of reduced (GSH) and oxidized (GSSG) glutathione in biological matrix (specifically, the rat liver tissue was used herein), since the ratio between oxidized and reduced glutathione forms (GSSG-GSH) has been recognized as an important biological marker of oxidatively depleted GSH in oxidative stress (OS)-associated diseases and poisonings. An isocratic chromatographic separation of GSH and GSSG (2.8 min and 6.3 min, respectively) was performed with the mobile phase consisted of sodium perchlorate solution (pH adjusted to 2.8) at flow rate of 1 mL min(-1), detection set at 215 nm, and column temperature of 40 degrees C. The method offers short run time, linearity in the range of 0.01-200 mu M concentration for both compounds (R-2 = 1), low limits of detection and quantification (GSH: 0.18 mu M and 0.56 mu M, GSSG: 0.52 mu M and 1.58 mu M, respectively), precision, accuracy (bias lt 2%), and high reproducibility. Through suitable sample handling, an overestimation of GSSG was prevented. High recovery (>99%) was achieved. The method was successfully applied for the analysis of GSH and GSSG in liver homogenates of Wistar rats intraperitoneally exposed to cadmium (Cd) (1 mg kg(-1) CdCl2/21 days). Regardless of other Cd-mediated hepatotoxicity mechanisms, herein, we have exclusively interpreted/emphasized oxidative GSH depletion. The presented method is acceptable for a routine analysis of GSH and GSSG in biological matrix, while the calculated ratio GSSG-GSH is considered as a valuable OS marker.

A 3-DOF reconfigurable robot model is presented with the reconfigurable parameters related to the joint types and the selection of joint positive directions. The Jacobian matrix is developed using the Vukobratovie-Potkonjak’s method, and the singularity regions are derived through the determinant of the related $3\times 3$ Jacobian matrix. Eight groups of the 3-DOF kinematic structure (TTT, TTR, TRT, RTT, TRR, RTR, RRT, and RRR) are analyzed separately, and the singular configurations of each group are given in detail.

In this paper, geometry of artificial muscle which moves forearm of robotic arm is described. We have chosen configuration which is driven with one actuator (motor, gear and winch), to check the possibility of the implementation of the desired motion. The analysis of the geometry of the selected mechanism is the first step and very important step to establish the structural stability of the artificial muscle system, which implies the possibility of the implementation of the desired motion.

This paper explores the work envelope and the work window for two 6 serial axis robot families using a unified robot model. The work envelope, or workspace, represents all possible positions which may be occupied by a mechanism during its normal range of motion (for all positions). The work window is the reachable region for any given end effector orientation and is a subset of the work envelope. It is not intuitive to define, and when assessing feasibility strategies for process planning scenarios, needs to be readily determined for various kinematic configurations. A methodology to determine the reach feasibility of a desired configuration set is presented in this research. The unified model developed using Maple and Matlab is presented. Several examples are shown to demonstrate the affect of twist angles on to the shape of a robot work window. This important kinematic property needs to be used in cases of robot selection and as a tool design feature.

Background: Synthesized aminocoumarins are heterocyclic compounds possessing potential for the treatment of insulin-dependent diabetes mellitus with unexplored anti-glycative action. Results: In this study 4-aminocoumarin derivatives (4-ACDs) were evaluated in vitro for antiglycation (AG) activities by using the human serum albumin (HSA)/glucose system, for 8 weeks of incubation. The glycation and conformational alteration of HSA in the presence of the tested compounds were evaluated by Congo red assay, fluorescence and circular dichroism spectroscopy. The antioxidant (AO) capacity were also tested by four different assays including: DPPH (2,2′-diphenyl-1-picrylhydrazyl radical), ABTS (2,2-azinobis(3-ethylbenzothiazoline-6-sulphonate) diammonium salt), FRAP (ferric reducing antioxidant power) and β-carotene-linoleic acid assay. The tested compounds showed AG and AO effects. The intensity of the accomplished AO potential is related to the type of the used assay. Significant alterations in the secondary (monitored by CD spectropolarimetry) and tertiary structure (assessed by spectrofluorimetry) of HSA upon glycation were mitigated by the 4-ACDs, suggesting their suppressive role in the late stage (post-Amadori) of the HSA glycation. Conclusions: By the analogues, in vitro ascertained AO and AG properties of 4-ACD may be recognized as rationale for their protective role against oxidative changes of proteins, thereby precluding diabetic complications in humans. Normal 0 21 false false false EN-US X-NONE AR-SA /* Style Definitions */ table.MsoNormalTable {mso-style-name:"Tabla normal"; mso-tstyle-rowband-size:0; mso-tstyle-colband-size:0; mso-style-noshow:yes; mso-style-priority:99; mso-style-parent:""; mso-padding-alt:0cm 5.4pt 0cm 5.4pt; mso-para-margin-top:0cm; mso-para-margin-right:0cm; mso-para-margin-bottom:10.0pt; mso-para-margin-left:0cm; line-height:115%; mso-pagination:widow-orphan; font-size:11.0pt; font-family:"Calibri","sans-serif"; mso-ascii-font-family:Calibri; mso-ascii-theme-font:minor-latin; mso-hansi-font-family:Calibri; mso-hansi-theme-font:minor-latin; mso-ansi-language:EN-US; mso-fareast-language:EN-US;}

This paper describes the geometric transformation of coordinates in the elements of an automated laser line scanning system caused by movements required for scanning a component surface. The automated scanning system elements are a laser line scanner mounted on a robot arm or a probe tip with coordinate measuring machine. A major challenge is determining the kinematic relationship between the elements of an automated laser scanning system that functions as a mechanical linkage in order to obtain a trajectory for scanning a surface. This paper solves the forward kinematic equations to get the validation pose for the elements of the system, derives the equation of component surface considering a spherical component, and uses inverse kinematics to characterize the movement of the entire automated scanning system on the point trajectory. The result is the position and orientation matrix for the laser line scanner beam and its movement on the trajectory in relation to a component surface. This kinematic chain of linkages and the obtained poses of point trajectory on the component surface is a starting point for future work that aims to develop optimal scan paths that can collect “best” point cloud datasets. The outcomes of this work contribute to enhancing the use of laser line scanners for inspection of component surfaces in manufacturing, remanufacturing, and reverse engineering applications.

The objective of this research is to develop a Virtual Teach Pendant for Android Cellphones (VTPAC) that is able to communicate with the robot model in the Visual Components software ⌈1⌉ ⌈2⌉. The VTPAC is a force multiplier that allows users to gain valuable teach pendant experience in labs with few robots, and makes the actual real-world robot time more valuable. It is also like a graduated driver’s license where the student must prove some proficiency with the VTPAC before being allowed to get behind the wheel. The VTPAC will be used to operate the real robot system too and will allow people to be trained without using real robotic systems in very safe environment. The VTPAC can be used for industrial training and can be integrated in the academic programs, especially for online courses. In this research, the Fanuc LR Mate 200iC robot and the Visual Components software have been selected as a case study. These choices were made because of the easy access to the Fanuc LR Mate 200iC and this interface by reason of it can control the robot the same way as the Teach Pendant in the real world. Using the robot kinematic theory to understand the Teach Pendant commands, the code was developed such that it respects the operating mode of the robot and all the security operations needed. For the VTPAC development we used Python to communicate with the Visual Components software to work as a client for the software. This can allow users to utilize its own cellphone as the teach pendant and the software as the robot, having a more real experience in a safe environment. The VTPAC has been implemented and tested successfully.

Collaborative robots (CoBots) are robots that can safely work alongside human workers. CoBots represent one form of advanced automation technology in manufacturing and are expected to become standard in production systems. They have the potential to transform manufacturing and assembly processes, however, there is a critical lack of U.S. trained CoBot technicians and engineers. The objective of this paper is to describe and introduce novel Collaborative Robotics course modules and their integration in Engineering and Engineering Technology programs at Wayne State University (WSU) and Oakland Community College (OCC). Modules cover three target areas: 1) Safety considerations for CoBots, 2) CoBot operations and programming, 3) Designing and evaluating CoBot systems. Modules cover fundamental knowledge of CoBots in advanced manufacturing systems and are developed based on input from CoBot manufacturers and experiments at the WSU’s Cobotics lab. Module components include CoBot fundamentals and hands-on laboratory exercises necessary to prepare a career-ready workforce, train industry professionals, and educate academicians on CoBot technologies for advanced manufacturing. Modules and components are developed such that the elements can be integrated into the current Robotics and Automated Systems Technology program at OCC and Engineering and Engineering Technology programs at WSU.

It is shown in the literature that in the traditional lecture teaching mode, students are mostly passive and do not actively engage in the learning process. Not being engaged in the learning process, students are more likely to lose interest in the material and less likely to comprehend material at a deep level. Consequently, students in traditional lecturing are more prone to simply target meeting the minimum requirements to pass a course. In contrast, active-learning pedagogies have been designed such that students are given the opportunity to engage in the learning process as active participants in the classroom. This promotes better comprehension of the concepts involved. At Wayne State University, statistics on students’ performance indicate that many students entering the Engineering Technology programs either drop or fail to pass courses with a C or better, with success rates being as low as 59% for some courses. To address this issue, the authors have adopted evidence-based active learning techniques in selected courses in the Mechanical Engineering Technology program. The Statics, Dynamics, and Applied Thermodynamics courses were targeted for this initial effort. Statics is a gateway course foundational to the rest of the program, Dynamics is taken right after Statics, and Thermodynamics is one of the most challenging senior level courses. These courses will serve as avenues for measuring the effectiveness (or otherwise) of using active learning techniques in engineering technology education. More specifically, the authors have adopted the following evidence-based techniques: in-class experiments, just-in-time teaching, team quizzes, and students as teachers. This paper describes the specific class activities that were undertaken when implementing the different techniques. The effectiveness of these techniques was measured using students’ persistence in the target courses and the final grades. In addition, standardized concept inventory tests were administered at the beginning and the end of the semester as another measure of the effectiveness of this implementation. Preliminary findings from this study indicate that this project has successfully fostered students’ interest, persistence, and performance.

Overproduction of free radicals accompanied with their insufficient removal/neutralization by antioxidative defense system impairs redox hemostasis in living organisms. Oxidative stress has been shown to be involved in all the stages of carcinogenesis and malignant melanocyte transformation. The aim of this study was to examine association between oxidative stress development and different stages of melanoma.The measured oxidative stress parameters included: superoxide anion radical, total and manganese superoxide dismutase, catalase and malondialdehyde. Oxidative stress parameters were measured spectrophotometrically in serum samples from melanoma patients (n=72) and healthy control subjects (n=30). Patients were classified according to AJCC clinical stage.Average superoxide anion and malondialdehyde concentrations were significantly higher in melanoma patients than in control group, with the highest value of superoxide anion in stage III, while malondialdehyde highest value was in stage IV. The activity of total and manganese superoxide dismutase was insignificantly higher in melanoma patients than in control group, while catalase activity was significantly higher. The highest activity of total activity of manganese superoxide dismutase was in stage IV. Catalase activity was increasing with the disease progression achieving the maximum in stage III.Results of our study suggest that melanoma is oxidative stress associated disease, as well as deteriorated cell functioning at mitochondrial level.Prekomerna produkcija slobodnih radikala i njihova nedovoljna eliminacija/neutralizacija putem sistema antioksidativne odbrane, narušava redoks homeostazu u organizmu. Oksidativni stres je uključen u sve faze razvoja karcinoma i maligne transformacije melanocita. Cilj ove studije bio je da se ispita razvoj oksidativnog stresa u razlićitim stadijumima melanoma.Parametri za procenu oksidativnog stresa su: superoksil anjon radikal, ukupna i mangan superoksidna dizmutaza, katalaza i malondialdehid. Parametri oksidativnog stresa su mereni metodom spektrofotometrije u serumu bo lesnika sa melanomom (n=72) i zdravih kontrolnih oso ba (n=30). Bolesnici su klasifikovani prema AJCC kriterijumu.Prosečne koncentracije superoksil anjon radikala i malonaldehida bile su značajno veće kod bolesnika sa melanomom u odnosu na kontrolnu grupu, najveća vrednost superoksil anjon radikala bila je u III stadijumu, a malondialdehida u IV stadijumu. Aktivnost ukupne i mangan superoksidne dizmutaze bila je neznačajno povećana kod obolelih od melanoma u odnosu na kontrolnu grupu, dok je aktivnost katalaze bila statistički značajno veća. Najveća aktivnost ukupne superoksidne dizmutaze bila je u III stadijumu, a mangan superoksidne dizmutaze u IV stadijumu.Zaključak Aktivnost katalaze je rasla sa napredovanjem bolesti i dostigla maksimum u III stadijumu.Rezultati našem studije ukazuju na povezanost melanoma i oksidativnog stresa, kao i na pogoršanu funkciju ćelija na nivou mitohondrija.

This paper presents a novel approach for kinematic and dynamic (kinetic) modeling of the selected aerial robot type, named CPR - A . The presented CPR - A system has three motors and two ropes connected together with a camera which can move in the 3 D parallelepiped workspace. The CPR - A workspace is maximized for non-redundant construction. The unique kinematic model of the considered system represents the fundamental base for its dynamic model. This complex model accurately represents a real CPR - A system, which can be used for various tasks by implementing intelligent control systems. The validity of the results has been presented through five case studies using newly developed software package AIRCAMA . The purpose of this research is to implement the presented results and possibly advance the model for future endeavors, autonomy and intelligent behavior of aerial robots.

SUMMARYThis paper presents design, modelling and analysis of the selected Rigid ropes S-type Cable-suspended Parallel Robot (RSCPR). The characteristic of this system is its geometric construction which defines the kinematic model through the Jacobian matrix. The relationship between external and internal forces is defined by the Lagrange principle of virtual work. The Jacobian matrix is directly involved in the application of the Lagrange principle of virtual work and generation of the dynamic model of the RSCPR system. Selected examples of the CPR system types are analysed and the comparison of their results is presented. The software package named ORIGI has been developed for the RSCPR model verification.

The initial steps in preclinical drug developing research concern the synthesis of new compounds for specific therapeutic use which needs to be confirmed by in vitro and then in vivo testing. Nine thiazolidinone derivatives (numerically labeled 1-9) classified as follows: 1,3-thiazole-based compounds (1 and 2); 1,3,4-thiadiazole based compounds (3 and 4); substituted 5-benzylideno-2-adamantylthiazol[3,2-b] [1,2,4] triazol-6(5H) ones (5-8); and an ethylaminothiazole-based chalcone (9), were tested for antioxidant activity (AOA) by using three in vitro assays: DPPH (1,1-diphenyl-2-picrylhydrazyl scavenging capacity test); FRAP (ferric reducing antioxidant power test); and TBARS (thiobarbituric acid reactive substances test). Compounds 1-4 and 9 in particular are newly synthesized compounds. Also, traditional antioxidants Vitamins E and C and alpha-lipoic acid (alpha-LA) were tested. The results of DPPH testing: Vitamin C 94.35%, Vitamin E 2.99% and alpha-LA 1.57%; compounds: 4 33.98%; 2 18.73%; 1 15.62%; 5 6.59%; 3 4.99%; 6-9 demonstrated almost no AOA. The results of TBARS testing (% of LPO inhibition): Vitamin C 62.32%; Vitamin E 36.29%; alpha-LA 51.36%; compounds: 1 62.11%; 5 66.71%; 9 60.93%; 4, 6 and 7 demonstrated similar to 50%; 3 and 8 displayed similar to 38%; 2 23.51%. By FRAP method, Vitamins E and C showed equal AOA, similar to 100%, unlike alpha-LA (no AOA), and AOA of the tested compounds (expressed as a fraction of the AOA of Vitamin C) were: 2 and 4-75%; 8, 3 and 1-45%; 5-7 and 9-27%. Different red-ox reaction principles between these assays dictate different AOA outcomes for a single compound. Vitamin C appeared to be the superior antioxidant out of the traditional antioxidants; and compound 4 was superior to other tested thiazolidinone derivatives. Vitamin C appeared to be the superior antioxidant out of the traditional antioxidants; and compound 4 was superior to other tested thiazolidinone derivatives. Phenyl-functionalized benzylidene, amino-carbonyl functional domains and chelating ligand properties of the thiazolidinone derivatives correlated with AOA.

Examination of cadmium (Cd) toxicity and disulfiram (DSF) effect on liver was focused on oxidative stress (OS), bioelements status, morphological and functional changes. Male Wistar rats were intraperitoneally treated with 1mg CdCl2/kg BW/day; orally with 178.5 mg DSF/kg BW/day for 1, 3, 10 and 21 days; and co-exposed from 22nd to 42nd day. The co-exposure nearly restored previously suppressed total superoxide dismutase (SOD), catalase (CAT) and increased glutathione peroxidase (GPx) activities; increased previously reduced glutathione reductase (GR) and total glutathione-S-transferase (GST) activities; reduced previously increased superoxide anion radical (O-2(center dot-)) and malondialdehyde (MDA) levels; increased zinc (Zn) and iron (Fe), and decreased copper (Cu) (yet above control value), while magnesium (Mg) was not affected; and decreased serum alanine aminotransferases (ALT) levels. Histopathological examination showed signs of inflammation process as previously demonstrated by exposure to Cd. Overall, we ascertained partial liver redox status improvement, compared with the formerly Cd-induced impact.

The aim of the study was to investigate if alcohol and disulfiram (DSF) individually and in combination affect bioelements' and red-ox homeostasis in testes of the exposed rats. The animals were divided into groups according to the duration of treatments (21 and/or 42 days): C-21/C-42 groups (controls); OL21 and OL22-42 groups (0.5 mL olive oil intake); A(1-21) groups (3 mL 20% ethanol intake); DSF1-21 groups (178.5 mg DSF/kg/day intake); and A(21)+DSF22-42 groups (the DSF ingestion followed previous 21 days' treatment with alcohol). The measured parameters in testes included metals: zinc (Zn), copper (Cu), iron (Fe), magnesium (Mg) and selenium (Se); as well as oxidative stress (OS) parameters: superoxide anion radical (O-2(center dot-)), glutathione reduced (GSH) and oxidized (GSSG), malondialdehyde (MDA), hydrogen peroxide (H2O2) decomposition and activities of total superoxide dismutase (tSOD), glutathione-Stransferase (GST) and glutathione reductase (GR). Metal status was changed in all experimental groups (Fe rose, Zn fell, while Cu increased in A(21)+DSF24-32 groups). Development of OS was demonstrated in A(1-21) groups, but not in DSF1-21 groups. In A(21)+DSF22-42 groups, OS was partially reduced compared to A groups (A(1-21)>MDA>C; A(1-21) lt GSH lt C). High metal-binding affinity of DSF/DDTC changes red-ox homeostasis in rat testes.

This paper introduces a novel mathematical model of the Aerial Robotic Camera (Cable suspended Parallel Robot CPR system). The novelty of the CPR model is the geometric relationship between the camera motion in the Cartesian coordinates (external coordinates) and motors angular positions in the joint coordinates (internal coordinates). This relationship is defined by the Jacobian matrix which is used for solving the kinematics and dynamics of the Aerial Robotic Camera. For the computation of the dynamic model the Lagrange principle of virtual work is used. The Jacobian matrix used in the formulation of the Lagrange principle of virtual work has been adopted according to the construction of the mechanism of the Aerial Robotic Camera. The specific structures of the Aerial Robotic Camera play an important role in defining the kinematic and dynamic models of the CPR system. The general form of the CPR mathematical model is defined and presented. Several numerical examples are used for the CPR model validation. © Faculty of Mechanical Engineering.

This paper deals with the analysis of the position of the load’s centre of mass relative to the load’s hanging point during the motion in the workspace of Cable-suspended Parallel Robot – CPR system. It will be proven that the distance between the load’s centre of mass and the hanging point is variable during the motion. Also, their relative positions are variable as well. This phenomenon can be present at any type of CPR system, whose workspace can have a shape of: parallelepiped, triangle or line (planar example). The CPR system carries the load via pulleys and ropes. This analysis is valid for any construction of the CPR system where the load is carried with ropes and each rope is wound (unwound) on the corresponding system motor – winch. The ropes are hanged on highest points of the CPR system’s workspace.

Dynamic modeling of robotic systems is always a challenge, not only because of the calculation complexity, but also because of the difficulties in separating basic elements of the system mass matrix, matrix of Coriolis torques, matrix of centrifugal torques, and the matrix of gravity torques. Automatic Separation Method (ASM) is applied and compared with the traditional Newton-Euler (N-E) recursive procedure using the SCARA robotic system with three Degrees of Freedom (3 DOF). In the comparison of the two methods, it is significant that using the N-E method will require additional computing time and effort to manually separate metrics elements, while the ASM takes no time to achieve the same result. The benefits of ASM can be important for more complex robotic systems, such as industrial robots with 6 or 7 DOF. The results achieved by ASM can be easily written in the form that the N-E recursive procedure delivers, but vice versa is very hard.

Automated model generation and solution for motion planning and re-planning of automated systems will play an important role in future reconfigurable manufacturing systems (RMS). An n-DOF Global Kinematic Model (n-GKM) was previously developed for any combination of either rotational or translational type of joints. In this paper, the automatic generation of the dynamic equations for the n-GKM is presented. For the symbolic calculation of the n-GKM dynamic equations, the recursive Newton-Euler algorithm is employed using the symbolic algebra package MAPLE 12. The dynamic model is named Global Dynamic Model (n-GDM). The significance of the n-GDM is that it automatically generates each element of the inertia matrix A, Coriolis torque matrix B, centrifugal torque matrix C, and the gravity torque vector G, using Automatic Separation Method (ASM). The n-GDM is a dynamic solver for the n-GKM which includes predefined reconfigurable parameters. These parameters are used to control the joint's positive directions and its type (rotational and/or translational). Instead of solving the dynamics of different kinematic structures, the n-GDM can be used to auto-generate the solution by only defining these reconfigurable parameters. Using n-DOF Global Dynamic Model equations, a 3-DOF Global Dynamic Model (GDM) is derived. The 3-GDM has been validated using five selected cases (RR, RT, TR, TT planar and SCARA configurations). The results show the model ability to automatically generate different dynamic realizations for any required configuration.

In this paper, the relationship between the original Euler-Bernoulli's rod equation and contemporary knowledge is established. The solution which Daniel Bernoulli defined for the simplest conditions is essentially the solution of 'direct kinematics'. For this reason, special attention is devoted to dynamics and kinematics of elastic mechanisms configuration. The Euler-Bernoulli equation and its solution (used in literature for a long time) should be expanded according to the requirements of the mechanisms motion complexity. The elastic deformation is a dynamic value that depends on the total mechanism movements dynamics. Mathematical model of the actuators comprises also elasticity forces.

Simulation tools need to be developed to support modeling and product/process analysis activities for material deposition processes. The long term research goal is to develop a set of virtual modeling tools to support advanced tool motions and process planning strategies for this application. The goal of this research is to develop a reconfigurable robotic platform that can adapt alternative deposition strategies while respecting the unique process-related constraints for 2 1/2 axis and 2 1/2 axis + 2 axis tool paths. A variety of topologies are investigated. For the selected systems, a parametric kinematic, dynamic and control model is developed, and results presented for kinematic and dynamic reconfigurations. An adaptability assessment is performed to determine a relative effort measure to physically reconfigure a base platform to a potential new configuration. This combined with reviewing the modeling complexity issue, is used to determine an appropriate base platform. To simulate the process realistically using existing tools, a methodology is developed to illustrate material deposition in conjunction with the tool motions for the systems investigated.

A reconfigurable 6R kinematic robotic model, named the Reconfigurable Puma–Fanuc (RPF) model, was developed by leveraging the similarities between different robotic systems in a unified approach. This model involves properties of all unified robots which allow the robot model to easily change from one configuration to another which produce this model to be reconfigurable. The objective of this study is to automatically generate dynamic equations for the RPF model. For the symbolic calculation of the RPF dynamic equations, the recursive Newton–Euler algorithm is employed using the symbolic algebra package MAPLE 10®. This dynamic model is named the Reconfigurable Puma–Fanuc Dynamic Model (RPFDM). The significance of the RPFDM is that it automatically generates each element of the inertia matrix A, Coriolis torque matrix B, centrifugal torque matrix C, and the gravity torque vector G using newly developed Automatic Separation Method (ASM). The RPFDM model is extended to the RPFDM+ model by coupling the dynamics of the actuator motors. As a numerical example, the dynamic equations for the PUMA 560 robot are obtained and compared to parameters presented in the literature.