-Research on humanoid robots for use in servicing tasks, e.g. fetching and delivery, attracts steadily more interest. With Rollin' Justin a mobile robotic system and research platform is presented that allows the implementation and demonstration of sophisticated control algorithms and dexterous manipulation. Important problems of service robotics such as mobile manipulation and strategies for using the increased workspace and redundancy in manipulation task can be studied in detail. This paper gives an overview of the design considerations for a mobile platform and their realizations to transform the formerly table-mounted humanoid upper body system Justin into Rollin' Justin, a fully self-sustaining mobile research platform.
Having observed that with iPath we have succeeded in satisfying all our telepathology needs, we are inclined to put the emphasis on the nature of the tasks being performed, as opposed to the methods or technical means for performing a given task. The three organisation models proposed by Weinstein et al. (2001) can be reduced to only two models: the model of discussion groups and the model of expert groups (virtual institutes).
The National Referral Hospital in Honiara, Solomon Islands, has used an Internet-based system in Switzerland for telepathology consultations since September 2001. Due to the limited bandwidth of Internet connections on the Solomon Islands, an email interface was developed that allows users in Honiara to submit cases and receive reports by email. At the other end, consultants can use a more sophisticated Web-based interface that allows discussion of cases among an expert panel. The result is a hybrid email- and Web-based telepathology system. Over two years, 333 consultations were performed, in which 94% of cases could be diagnosed by a remote pathologist. A computer-assisted 'virtual institute' of pathologists was established. This form of organization helped to reduce the median time from submission of the request to a report from 28 h to 8.5 h for a preliminary diagnosis and 13 h for a final report. A final report was possible in 77% of all submitted cases.
Demosponges possess a skeleton made of a composite material with various organic constituents and/or siliceous spicules. Chitin is an integral part of the skeleton of different sponges of the order Verongida. Moreover, sponges of the order Verongida, such as Aplysina cavernicola or Ianthella basta, are well-known for the biosynthesis of brominated tyrosine derivates, characteristic bioactive natural products. It has been unknown so far whether these compounds are exclusively present in the cellular matrix or whether they may also be incorporated into the chitin-based skeletons. In the present study, we therefore examined the skeletons of A. cavernicola and I. basta with respect to the presence of bromotyrosine metabolites. The chitin-based-skeletons isolated from these sponges indeed contain significant amounts of brominated compounds, which are not easily extractable from the skeletons by common solvents, such as MeOH, as shown by HPLC analyses in combination with NMR and IR spectroscopic measurements. Quantitative potentiometric analyses confirm that the skeleton-associated bromine mainly withstands the MeOH-based extraction. This observation suggests that the respective, but yet unidentified, brominated compounds are strongly bound to the sponge skeletons, possibly by covalent bonding. Moreover, gene fragments of halogenases suggested to be responsible for the incorporation of bromine into organic molecules could be amplified from DNA isolated from sponge samples enriched for sponge-associated bacteria.
This paper reports a fundamentally new concept for internet-based telemicroscopy. By separating a telemicroscopy application into three tasks - microscope control program, external server, and client application - it is possible to establish a telemicroscopy session between two arbitrary end points on the Internet even if both of the end points are secured by firewall (microscope and client application). The advantages of such a distributed system, compared with the classical point-to-point systems, are discussed. The telemicroscopy system is combined with a telepathology database, which is capable of automatically recording telemicroscopy sessions, allowing a convenient combination of interactive remote microscopy and store and forward telepathology. In addition to remote primary diagnosis, it is easily possible to discuss difficult cases within dedicated user groups, no matter whether images originate from a telemicroscopy session, or are manually entered into the database.
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