The quality of the diagnostic information obtained in the course of laboratory studies depends on the accuracy of compliance with the regulations for the necessary work. The process of aliquoting blood serum requires immersing the pipette to different depths depending on the boundary level between blood phases. A vision system can be used to determine this depth during automated aliquoting using various algorithms. As part of the work, two recognition algorithms are synthesized, one of which is based on the use of the HSV color palette, the other is based on the convolutional neural network. In the Python language, software systems have been developed that implement the ability of a vision system to recognize blood in test tubes. The developed methods are supposed to be used for aliquoting biosamples using a delta robot in a multirobotic system, which will increase the productivity of ongoing biomedical research through the use of new technical solutions and principles of intelligent robotics. The visualized results of the work of the considered programs are presented and a comparative analysis of the quality of recognition is carried out.

/pdf/robotic-system-for-blood-serum-aliquoting-based-on-a-neural-1kr27zc2.pdf

Robotic System for Blood Serum Aliquoting Based on a Neural Network Model of Machine Vision

Aim. To assess the safety of IgG antibodies during long-term storage of blood serum samples using measles- and rubella-specific antibodies as an example.Material and methods. The study used serum samples from the collection of the Department of Epidemiology of the Gamaleya National Research Center for Epidemiology and Microbiologya, which were tested for measles- or rubella-specific IgG antibodies immediately upon admission to the laboratory, were frozen and stored at -70оC (n=180). The samples were reexamined after 20 months (n=90) and 6 years (n=90).Results. Reexamination after 20-month storage showed a decrease in the mean level of measles- and rubella-specific antibodies by 13,1% (from 0,36 (0,08-1,21) to 0,31 (0,02-1,2) IU/ml) and by 11,8% (from 151,4 (45-235) to 133,5 (72-198) IU/ml), respectively (p<0,05 for all). At the same time, the number of seronegative samples did not change. After a 6-year storage period, the mean level of measles-specific antibodies decreased by 33,8% (p<0,05) from 0,72 (0,4-1,79) to 0,34 (0,18-1,14) IU/ml and only two samples became seronegative. It was shown that the higher the IgG level in native samples, the more pronounced its decrease was during the second examination.Conclusion. Storage of serum samples in a biobank for 20 months at -70оC ensures the safety of measles- and rubella-specific IgG antibodies, and is the basis for the reliability of future studies.

Influence of long-term storage of blood serum samples in a biobank for population-based seroepidemiologic studies

The object of the study is a six degrees-of-freedom motion system of the synergistic type of a flight simulator. The latter is the main technical means for training pilots and means of research and development of aircraft. The task of optimal utilization of its structural resources was solved, which provides an opportunity to improve the quality of motion cueing. The result is the developed method, which ensures optimal use of structural resources of motion systems of flight simulators. This is explained, first of all, by the use of the developed simplified operator for converting the movements of jacks into the movement of a motion system along individual degrees of freedom on the basis of quadratic approximation. Given this, it became possible to describe the coordinates of the centers of the axes of rotation of the motion system by cubic spline functions. Secondly, the solution of the task of estimating the structural resources of the motion system along linear degrees of freedom on the basis of the developed criterion was carried out by an effective modified method of the deformed polyhedron. This method combines the random search method in the first steps of the search and the gradient method in determining the global extremum. Thirdly, the problem of determining the dependence of the coordinates of the pitch and yaw axes along the pitch angle was stated and solved. Owing to the optimal utilization of the structural resources of motion systems, the coordinates of the axis of their rotation along pitch are as close as possible to the coordinate of the axis of the aircraft. Thus, the quality of motion cueing on the flight simulator is significantly increased and it is possible to use motion systems with shorter lengths of jacks, and therefore, to reduce the cost of their manufacture and operation

Optimizing the utilization of structural resources of flight simulator motion systems

The article discusses the design of a suspended lever mechanism with elastic elements, which is used as a safety device in a robotic system for the rehabilitation of the lower limbs. The article analyzes the existing mechanical structures of devices for rehabilitation, identifies the problems of operation, design, and safety systems and suggests a new design of the device. The process of reverse development of a lever mechanism scheme to ensure safety during rehabilitation of the lower limbs is presented. The design of the lever mechanism consists of movable levers connected by elastic elements. The device allows you to dampen the force during active rehabilitation. The power calculation of the lever mechanism in the rehabilitation system was carried out. The article addresses the issues present in the current mechanical designs with a brief discussion on the system architecture.

"Design of a Suspension Lever Mechanism in Biomedical Robotic System"

Researching on the structural spectrum synthesis method of the open kinematic chain

The article describes the main stages of developing a robotic system for the rehabilitation of the lower limbs based on the "tripteron" robot. The structure of a robotic system has been designed, consisting of a 3-PRRR parallel mechanism, which provides the angles of rotation of all joints of the patient's leg required for rehabilitation and a passive orthosis for supporting the limb. At the first stage, the positions of the active mechanism links are determined. The output link of only one kinematic chain, making a translational movement in the vertical direction, will experience a maximum load. A design diagram of this kinematic chain was built, and the reactions of the supports were determined at the second stage. At the third stage, kinematic dependences were obtained, and an engine was selected that would provide the required torque at the required speeds.

Design of mechanisms of a robotic system for rehabilitation of the lower limbs

The article discusses and analyzes various options for the design of robotic mobility platforms (RMP), which can be used as part of complete test benches and simulators for training operators of various equipment. Various trajectories of movement of the mobile platform of the RMP are considered. Investigations have been carried out based on a parameterized simulation model (MSC Adams) to determine the optimal location of the attachment points of the joints in the upper movable platform. Minimization of the force parameters in the reactions of the corresponding supports was chosen as an optimization criterion in this case. All the accepted trajectories were worked out during the investigation. Various options of the relative position of the joints of the base and the upper movable platform of the RMP have been investigated. Similarly, for the selected trajectories, an investigation and analysis of the force parameters arising in the joints at different main diameters of the location of the base and upper movable platform joints were carried out. As an initial main version, an option was adopted with the arrangement of the joint supports taken as the optimal one. Modeling and search for the most optimal execution options are carried out based on the developed digital simulation model of the RMP in the MSC Adams system. The results of mathematical and simulation modeling are presented.

Optimization of the design parameters of robotic mobility platforms for training machine operators on the simulator and the implementation of the required trajectories

Measles is one of the preventable infections that does not lose its relevance to this day. In Russia, as well as throughout the world, waves of an increase in the incidence of measles are still being recorded, so in 2019 the maximum incidence rate over the past 20 years (3.05 %ооо) was noted. According to the current Measles Elimination Program of the Russian Federation, each case of this infection is subject to investigation, based on the results of which the epidemiologist organizes measures to prevent its spread in the outbreak. The main anti-epidemic measures in this case are isolation of the patient (at home or in a hospital according to clinical indications) and vaccination of persons in contact with him who need it. Thus, in order to prevent the occurrence of secondary cases, it is necessary to determine the vaccination and infectious history of all persons in contact with the sick person and vaccinate them no later than the seventh day from the moment the outbreak was registered. To date, it is difficult to generalize data from investigations of measles cases, despite their value for epidemiological diagnosis and the development of epidemiological surveillance (ES) tactics. The aim of the work was to improve the information support for the investigation of measles cases by creating and analyzing a database. The authors proposed a method for summarizing and analyzing the results of the investigation of measles cases using the formation of a database. For this purpose, about 1000 acts and reports on the results of the investigation of measles foci (on paper) registered in Moscow in the period from 2013 to 2015 were analyzed. The data contained in these documents is entered into the database, systematized in separate blocks and processed by the appropriate software for the purpose of their subsequent accumulation, storage and analysis. Based on the results of the work, the age composition of measles patients was analyzed. It was found that children under 18 years of age were more likely to have this infection, while the largest share among them was in persons aged 3–6 (32.4 %) and 7–14 years (25.0 %). The use of the database made it possible to confirm the high epidemiological effectiveness of the measles vaccine — the protection factor (E) was 86 %. Using the database, it was found that adults aged 20–35 years old were most actively vaccinated in measles foci (vaccination coverage was 57.7 %). With the threat of this infection, only 25.9 % of children (under 17 years old) who needed vaccination agreed to be vaccinated, and the percentage of refusals varied from 69.8 % in the age group up to two years old to 42.3 % in the group 20–35 years old.

Improvement of epidemiological diagnosis in the system of epidemiological surveillance of current infections by creating a database of the results of foci investigation

Abstract Every year the shortage of biosamples is increasing, while the requirements for their quality are constantly tightening, which requires the introduction of new technological solutions. To solve these problems, a robotic system for aliquoting biological liquid was developed. The aliquotation process is described. The station includes a serial robot on which a gripper based on a globoid worm is installed. The gripping device is parameterized and takes into account the gripping force for different finger deflections. 3D models were developed using Computer Aided Design (CAD) system tools, after which working layouts were created using 3D printing. The design process and test results are discussed to show the efficiency of the built prototype with lab tests.

Design of gripping devices based on a globoid transmission for a robotic biomaterial aliquoting system

This paper proposes a robotic system for fruit harvesting, which includes a mobile platform with a fruit basket, on which a parallel platform is installed, and in the center of the moving platform a telescopic link is installed for harvesting fruit from trees. Numerical algorithms are developed for determining the workspace of platforms with a parallel structure, represented as an ordered set of integers, and for transferring constraints from the platform orientation coordinate space to the end-effector coordinate space. The limits of the workspace are the permissible ranges of rod lengths and the condition that there are no singularities or link interference. The results of modeling are presented.

/pdf/algorithm-for-determining-the-singularity-free-and-2vq1bx0o.pdf

A A Voloshkin

Papers

Design of mechanisms of a robotic system for rehabilitation of the lower limbs

Optimization of the design parameters of robotic mobility platforms for training machine operators on the simulator and the implementation of the required trajectories

Improvement of epidemiological diagnosis in the system of epidemiological surveillance of current infections by creating a database of the results of foci investigation

Design of gripping devices based on a globoid transmission for a robotic biomaterial aliquoting system

Algorithm for Determining the Singularity-Free and Interference-Free Workspace of a Robotic Platform for Fruit Harvesting