This article presents a versatile soft robotic gripper system whereby its fingers can be reconfigured into different poses such as scoop, pinch, and claw. This allows the gripper to efficiently and ...safely handle food samples of different shapes, sizes and stiffness such as uncooked tofu and broccoli floret. The 3D-printed fingers were tested to last up to 25 000 cycles without significant changes in the curvature profile and force output profile. A benchmark experiment was conducted to evaluate the performance of the gripper and state-of-the-art gripping solutions. Capability of versatile soft gripper was optimized by integrating vision and tactile sensing facilities. An object recognition system was developed to identify food samples such as potato, broccoli, and sausage. Position and orientation of food samples were identified and pick-and-place pathway was optimized to achieve the best gripping performance. Flexible tactile sensors were integrated into soft fingers and closed-loop force feedback control system was developed. This allowed the gripper to automatically explore and select the most stable grip pose for different food samples. Integration of vision and force feedback system ensure that objects detected by the system would be firmly gripped. The reconfigurable soft robotic gripper system has been demonstrated to perform high-speed pick-and-place tasks (∼3 s per item) with object recognition system, making it a potential solution to food and grocery supply chain needs.
Robotic manipulation and automation have gained increasing popularity in the food manufacturing industry due to their potential benefits for enhancing hygiene standards, enforcing quality ...consistency, promoting product traceability, and reducing labor costs. As a majority of robotic manipulation, the pick-and-place operation plays a crucial role in food handling applications. However, the reproducibility and comparability of results have put a dilemma that hinders further advancement in this field, especially for those unstructured scenarios. To tackle such thorny issues, this article proposes a benchmarking framework for system-level evaluation of robotic-assisted food handling under the line production environment. A typical food handling scenario, including a pick-and-place operation and a packing operation, is presented as the benchmark task, where food items are supposed to be picked from the tray and placed in the serving dish. A robotic system incorporating a high-speed Delta robot, vision system, conveyor belt, and end-effector is developed as the testbed for the benchmarking implementation. Finally, five variants of the robotic system with different end-effectors are evaluated using the proposed benchmarking framework. Comparative studies illustrate the performance of various benchmarked systems and validate the applicability of the benchmarking strategy for the food handling context. Videos of our experiments are available at https://youtu.be/SBAOoswnjWM .
Task-orientated robot teleoperation using wearable IMUs Qilong Yuan; Teoh Yee Seng; Qinghua Lu ...
2017 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM),
2017-Nov.
Conference Proceeding
This paper introduces a robot teleoperation system using the human hand motion captured from IMU systems, and the evaluation of the performances based on user tests. In the system, with properly ...defined task scenarios and suitable initial hand posture for comfortable operation, the captured hand motion is mapped into the robot end-effector motion based on a simplified mapping function with adaptive parameters for different users. Experimental teleoperation testing on grasping tasks shows the efficiency of the system. Users can quickly adapt to the system and use such system for teleoperation with stable and smooth motion outputs. The testing also helps in addressing the directions to make improvements in developing such system in future.
A Robust Robot Design for Item Picking Causo, Albert; Chong, Zheng-Hao; Luxman, Ramamoorthy ...
2018 IEEE International Conference on Robotics and Automation (ICRA)
Conference Proceeding
Open access
In order to build a stable and reliable system for the Amazon Robotics Challenge we went through a detailed study of the performance and system requirements based on the rules and our past experience ...of the challenge. The challenge was to build a robot that integrates grasping, vision, motion planning, among others, to be able to pick items from a shelf to specific order boxes. This paper presents the development process including component selection, module designs, and deployment. The resulting robot system has dual 6 degrees of freedom industrial arms mounted on fixed bases, which in turn are mounted on a calibrated table. The robot works with a custom-designed top-open extendable shelf. The vision system uses multiple stereo cameras mounted on a fixed calibrated frame. Feature-based comparison and machine-learning based matching are used to identify and determine item pose. The gripper system uses suction cup and the grasping strategy is pick from the top. Error recovery strategies were also implemented to ensure robust performance. During the competition, the robot was able to pick all target items with the shortest amount of time.
Highlights ► Efficacy results during the first three years of life and individual year follow-up periods of infants participating in this Asian study is reported. ► Efficacy against severe RVGE was ...96.9% (95% CI 88.3–99.6) over the first three years of life and 100% (67.5–100) in RIXX4414 in the third-year. ► RIX4414 was efficacious against G1 (100.0% 84.8–100) and pooled non-G1 RV types (94.9% 80.2–99.4).
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UL, UM, UPCLJ, UPUK, ZRSKP
Lignosus rhinocerus (Cooke) Ryvarden (also known as Tiger Milk mushroom, TMM), is a basidiomycete belonging to the Polyporaceae family. It has been documented to be used by traditional Chinese ...physicians and indigenous people in Southeast Asia to treat a variety of illnesses, such as gastritis, arthritis, and respiratory conditions, as well as to restore patients' physical well-being. TMM has also been used in folk medicine to treat cancer. For example, people from the indigenous Kensiu tribe of northeast Kedah (Malaysia) apply shredded TMM sclerotium mixed with water directly onto breast skin to treat breast cancer, while Chinese practitioners from Hong Kong, China prescribe TMM sclerotium as a treatment for liver cancer. L. rhinocerus has previously been demonstrated to possess selective anti-proliferative properties in vitro, however pre-clinical in vivo research has not yet been conducted.
This study aimed to examine the anti-tumor activities of L. rhinocerus TM02®, using two different sample preparations cold water extract (CWE) and fraction via various routes of administration (oral and intraperitoneal) on an MCF7-xenograft nude mouse model. This study also investigated the inhibitory effect of TM02® CWE and its fractions against COX-2 in vitro using LPS-induced RAW264.7 macrophages, on the basis of the relationship between COX-2 and metastasis, apoptosis resistance, as well as the proliferation of cancer cells.
The first preparation, L. rhinocerus TM02® sclerotium powder (TSP) was dissolved in cold water to obtain the cold water extract (CWE). It was further fractionated based on its molecular weight to obtain the high (HMW), medium (MMW) and low (LMW) molecular weight fractions. The second preparation, known as the TM02® rhinoprolycan fraction (TRF), was obtained by combining the HMW and MMW fractions. TSP was given orally to mimic the daily consumption of a supplement; TRF was administered intraperitoneally to mimic typical tumorous cancer treatment with a rapid and more thorough absorption through the peritoneal cavity. Another experiment was conducted to examine changes in COX-2 activity in LPS-induced RAW264.7 macrophages after a 1-h pre-treatment with CWE, HMW, and MMW.
Our results revealed that intraperitoneal TRF-injection (90 μg/g BW) for 20 days reduced initial tumor volume by ∼64.3% (n = 5). The percentage of apoptotic cells was marginally higher in TRF-treated mice vs. control, suggesting that induction of apoptosis as one of the factors that led to tumor shrinkage. TSP (500 μg/g BW) oral treatment (n = 5) for 63 days (inclusive of pre-treatment prior to tumor inoculation) effectively inhibited tumor growth. Four of the five tumors totally regressed, demonstrating the effectiveness of TSP ingestion in suppressing tumor growth. Although no significant changes were found in mouse serum cytokines (TNF-α, IL-5, IL-6 and CCL2), some increasing and decreasing trends were observed. This may suggest the immunomodulatory potential of these treatments that can directly or indirectly affect tumor growth. Pre-treatment with CWE, HMW and MMW significantly reduced COX-2 activity in RAW264.7 macrophages upon 24 h LPS-stimulation, suggesting the potential of L. rhinocerus TM02® extract and fractions in regulating M1/M2 polarization.
Based on the findings of our investigation, both the rhinoprolycan fraction and crude sclerotial powder from L. rhinocerus TM02® demonstrated tumor suppressive effects, indicating that they contain substances with strong anticancer potential. The antitumor effects of L. rhinocerus TM02® in our study highlights the potential for further explorations into its mechanism of action and future development as a prophylactic or adjunct therapeutic against tumorous cancer.
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•Oral TM02® sclerotia (TSP) treatment suppressed MCF7 tumor growth in nude mice.•Intraperitoneal rhinoprolycan treatment (TRF) suppressed MCF-7 tumor growth in nude mice.•Tumor shrinkage could be led by apoptosis inducing and immunomodulation properties.•TM02® extract and its fractions inhibited COX-2 activities in RAW264.7 macrophages cells.
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NLZOH, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UILJ, UL, UM, UPCLJ, UPUK, ZAGLJ, ZRSKP
Abstract The immunogenicity and lot-to-lot consistency of an AS03-adjuvanted H5N1 vaccine were evaluated in 1206 Asian adults, randomised to receive two doses of adjuvanted (3.75 μg haemagglutinin) ...or diluent-mixed vaccines, 21 days apart. Post-Dose 2, 96.0% of vaccinees in the H5N1-AS03 group demonstrated a four-fold increase in neutralising antibody titres against the vaccine strain A/Vietnam/1194/2004 and 91.4% against strain A/Indonesia/05/2005. Haemagglutination-inhibiting antibodies (titre ≥1:40) against A/Vietnam/1194/2004 and A/Indonesia/05/2005 strains were observed in 94.3% and 50.2% of subjects, respectively. Lot-to-lot consistency of the AS03-adjuvanted vaccine combinations was demonstrated. The AS03-adjuvanted vaccine was well tolerated, induced a high frequency of immune responses to the vaccine strain, allowed antigen sparing and promoted cross-clade immunity. These characteristics make it suitable for presumptive use if an H5N1 pandemic were considered to be imminent.
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UL, UM, UPCLJ, UPUK, ZRSKP
, a recently discovered species of the unique
family, has been traditionally used by the indigenous communities in Peninsular Malaysia to treat various ailments and as an alternative medicine for ...cancer treatment. The
cultivar sclerotia (Ligno TG-K) was found to contain numerous bioactive compounds with beneficial biomedicinal properties and the sclerotial extract exhibited potent antioxidant activity. However, the anticancer property of the Ligno TG-K including in vitro and in vivo antitumor effects as well as its anticancer active compounds and the mechanisms has yet to be investigated.
The cytotoxicity of the Ligno TG-K against human breast (MCF7), prostate (PC3) and lung (A549) adenocarcinoma cell lines was evaluated using MTT cytotoxicity assay. The cytotoxic mechanisms of the active high molecular weight proteins (HMWp) fraction were investigated through detection of caspases activity and apoptotic-related proteins expression by Western blotting. The in vivo antitumor activity of the isolated HMWp was examined using MCF7 mouse xenograft model. Shotgun LC-MS/MS analysis was performed to identify the proteins in the HMWp.
Cold water extract of the sclerotia inhibited proliferation of MCF7, A549 and PC3 cells with IC
ranged from 28.9 to 95.0 µg/mL. Bioassay guided fractionation of the extract revealed that HMWp exhibited selective cytotoxicity against MCF7 cells via induction of cellular apoptosis by the activation of extrinsic and intrinsic signaling pathways. HMWp activated expression of caspase-8 and -9 enzymes, and pro-apoptotic Bax protein whilst inhibiting expression of tumor survivor protein, Bcl-2. HMWp induced tumor-cell apoptosis and suppressed growth of tumor in MCF-7 xenograft mice. Lectins, serine proteases, RNase Gf29 and a 230NA deoxyribonuclease are the major cytotoxic proteins that accounted for 55.93% of the HMWp.
The findings from this study provided scientific evidences to support the traditional use of the
sclerotia for treatment of breast cancer. Several cytotoxic proteins with high abundance have been identified in the HMWp of the sclerotial extract and these proteins have potential to be developed into new anticancer agents or as adjunct cancer therapy.
Abstract
Background
Community-based diabetes prevention programs varied widely in effectiveness, and the intervention strategy consisting of lifestyle interventions, stepwise addition of metformin, ...and financial incentives has not been studied in real-world clinical practice settings. The Pre-Diabetes Interventions and Continued Tracking to Ease-out Diabetes (Pre-DICTED) trial is a pragmatic trial that aims to compare the effectiveness of a community-based stepwise diabetes prevention program with added financial incentives (intervention) versus the standard of care (control) in reducing the risk of type 2 diabetes over 3 years among overweight or obese individuals with pre-diabetes.
Methods
This is an open-label, 1:1 randomized controlled trial which aims to recruit 846 adult individuals with isolated impaired fasting glucose (IFG), isolated impaired glucose tolerance (IGT), or both IFG and IGT from Singapore. Intervention arm participants attend 12 group-based sessions (2 nutrition workshops, 9 exercise sessions, and a goal-setting workshop) delivered at community sites (weeks 1 to 6), receive weekly physical activity and nutrition recommendations delivered by printed worksheets (weeks 7 to 12), and receive monthly health tips delivered by text messages (months 4 to 36). From month 6 onwards, intervention arm participants who remain at the highest risk of conversion to diabetes are prescribed metformin. Intervention arm participants are also eligible for a payment/rewards program with incentives tied to attendance at the group sessions and achievement of the weight loss target (5% of baseline weight). All participants are assessed at baseline, month 3, month 6, and every 6 months subsequently till month 36. The primary endpoint is the proportion of participants with diabetes at 3 years. Secondary endpoints include the mean change from baseline at 3 years in fasting plasma glucose, 2-hour plasma glucose, HbA1c, body weight, body mass index, physical activity, and dietary intake.
Discussion
The Pre-DICTED trial will provide evidence of the effectiveness and feasibility of a community-based stepwise diabetes prevention program with added financial incentives for individuals with pre-diabetes in Singapore. The study will provide data for a future cost-effectiveness analysis, which will be used to inform policymakers of the value of a nationwide implementation of the diabetes prevention program.
Trial registration
ClinicalTrials.gov
NCT03503942
. Retrospectively registered on April 20, 2018.
Protocol version:
5.0 Date: 1 March 2019
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IZUM, KILJ, NUK, PILJ, PNG, SAZU, UL, UM, UPUK
Most management guidelines and much of the available clinical trial evidence for immunosuppressants in liver transplantation (LT) pertain to Western practice. While evidence from Western studies may ...not translate to Asian settings, there is a paucity of Asian randomized controlled trials of immunosuppression in liver recipients. Nonetheless, there are notable differences in the indications and procedures for LT between Western and Asian settings. The Asian Liver Transplant Network held its inaugural meeting in Singapore in November 2016 and aimed to provide an Asian perspective on aspects of immunosuppression following LT. Because of their importance to outcome following LT, the meeting focused on (1) reducing the impact of renal toxicity, (2) hepatocellular carcinoma recurrence, and (3) nonadherence with immunosuppressant therapy.
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