RESUMEN
Grasping and object manipulation have been considered key domains of Cyber-Physical Systems (CPS) since the beginning of automation, as they are the most common interactions between systems, or a system and its environment. As the demand for automation is spreading to increasingly complex fields of industry, smart tools with sensors and internal decision-making become necessities. CPS, such as robots and smart autonomous machinery, have been introduced in the meat industry in recent decades; however, the natural diversity of animals, potential anatomical disorders and soft, slippery animal tissues require the use of a wide range of sensors, software and intelligent tools. This paper presents the development of a smart robotic gripper for deployment in the meat industry. A comprehensive review of the available robotic grippers employed in the sector is presented along with the relevant recent research projects. Based on the identified needs, a new mechatronic design and early development process of the smart gripper is described. The integrated force sensing method based on strain measurement and magnetic encoders is described, including the adjacent laboratory and on-site tests. Furthermore, a combined slip detection system is presented, which relies on an optical flow-based image processing algorithm using the video feed of a built-in endoscopic camera. Basic user tests and application assessments are presented.
Asunto(s)
Robótica , Robótica/instrumentación , Carne/análisis , Automatización , Algoritmos , Animales , Humanos , Diseño de EquipoRESUMEN
Methods from artificial intelligence (AI), in general, and machine learning, in particular, have kept conquering new territories in numerous areas of science. Most of the applications of these techniques are restricted to the classification of large data sets, but new scientific knowledge can seldom be inferred from these tools. Here we show that an AI-based amyloidogenecity predictor can strongly differentiate the border- and the internal hexamers of ß-pleated sheets when screening all the Protein Data Bank-deposited homology-filtered protein structures. Our main result shows that more than 30% of internal hexamers of ß sheets are predicted to be amyloidogenic, while just outside the border regions, only 3% are predicted as such. This result may elucidate a general protection mechanism of proteins against turning into amyloids: if the borders of ß-sheets were amyloidogenic, then the whole ß sheet could turn more easily into an insoluble amyloid-structure, characterized by periodically repeated parallel ß-sheets. We also present that no analogous phenomenon exists on the borders of α-helices or randomly chosen subsequences of the studied protein structures.
Asunto(s)
Amiloide , Amiloide/química , Humanos , Conformación Proteica en Lámina beta , Bases de Datos de Proteínas , Modelos Moleculares , Inteligencia Artificial , Estructura Secundaria de ProteínaRESUMEN
Polycyclic aromatic hydrocarbons (PAHs) are highly toxic, carcinogenic substances. On soils contaminated with PAHs, crop cultivation, animal husbandry and even the survival of microflora in the soil are greatly perturbed, depending on the degree of contamination. Most microorganisms cannot tolerate PAH-contaminated soils, however, some microbial strains can adapt to these harsh conditions and survive on contaminated soils. Analysis of the metagenomes of contaminated environmental samples may lead to discovery of PAH-degrading enzymes suitable for green biotechnology methodologies ranging from biocatalysis to pollution control. In the present study, our goal was to apply a metagenomic data search to identify efficient novel enzymes in remediation of PAH-contaminated soils. The metagenomic hits were further analyzed using a set of bioinformatics tools to select protein sequences predicted to encode well-folded soluble enzymes. Three novel enzymes (two dioxygenases and one peroxidase) were cloned and used in soil remediation microcosms experiments. The experimental design of the present study aimed at evaluating the effectiveness of the novel enzymes on short-term PAH degradation in the soil microcosmos model. The novel enzymes were found to be efficient for degradation of naphthalene and phenanthrene. Adding the inorganic oxidant CaO2 further increased the degrading potential of the novel enzymes for anthracene and pyrene. We conclude that metagenome mining paired with bioinformatic predictions, structural modelling and functional assays constitutes a powerful approach towards novel enzymes for soil remediation.
Asunto(s)
Biodegradación Ambiental , Metagenómica , Hidrocarburos Policíclicos Aromáticos , Microbiología del Suelo , Contaminantes del Suelo , Metagenómica/métodos , Hidrocarburos Policíclicos Aromáticos/metabolismo , Contaminantes del Suelo/metabolismo , Suelo/química , Dioxigenasas/metabolismo , Dioxigenasas/genética , Dioxigenasas/química , Fenantrenos/metabolismo , Naftalenos/metabolismo , MetagenomaRESUMEN
Robot-Assisted Minimally Invasive Surgery (RAMIS) marks a paradigm shift in surgical procedures, enhancing precision and ergonomics. Concurrently it introduces complex stress dynamics and ergonomic challenges regarding the human-robot interface and interaction. This study explores the stress-related aspects of RAMIS, using the da Vinci XI Surgical System and the Sea Spikes model as a standard skill training phantom to establish a link between technological advancement and human factors in RAMIS environments. By employing different physiological and kinematic sensors for heart rate variability, hand movement tracking, and posture analysis, this research aims to develop a framework for quantifying the stress and ergonomic loads applied to surgeons. Preliminary findings reveal significant correlations between stress levels and several of the skill-related metrics measured by external sensors or the SURG-TLX questionnaire. Furthermore, early analysis of this preliminary dataset suggests the potential benefits of applying machine learning for surgeon skill classification and stress analysis. This paper presents the initial findings, identified correlations, and the lessons learned from the clinical setup, aiming to lay down the cornerstones for wider studies in the fields of clinical situation awareness and attention computing.
Asunto(s)
Procedimientos Quirúrgicos Robotizados , Cirujanos , Humanos , Procedimientos Quirúrgicos Robotizados/métodos , Frecuencia Cardíaca/fisiología , Ergonomía/métodos , Fenómenos Biomecánicos/fisiología , Procedimientos Quirúrgicos Mínimamente Invasivos , Aprendizaje Automático , MasculinoRESUMEN
Enzymatic processes play an increasing role in synthetic organic chemistry which requires the access to a broad and diverse set of enzymes. Metagenome mining is a valuable and efficient way to discover novel enzymes with unique properties for biotechnological applications. Here, we report the discovery and biocatalytic characterization of six novel metagenomic opine dehydrogenases from a hot spring environment (mODHs) (EC 1.5.1.X). These enzymes catalyze the asymmetric reductive amination between an amino acid and a keto acid resulting in opines which have defined biochemical roles and represent promising building blocks for pharmaceutical applications. The newly identified enzymes exhibit unique substrate specificity and higher thermostability compared to known examples. The feature that they preferably utilize negatively charged polar amino acids is so far unprecedented for opine dehydrogenases. We have identified two spatially correlated positions in their active sites that govern this substrate specificity and demonstrated a switch of substrate preference by site-directed mutagenesis. While they still suffer from a relatively narrow substrate scope, their enhanced thermostability and the orthogonality of their substrate preference make them a valuable addition to the toolbox of enzymes for reductive aminations. Importantly, enzymatic reductive aminations with highly polar amines are very rare in the literature. Thus, the preparative-scale enzymatic production, purification, and characterization of three highly functionalized chiral secondary amines lend a special significance to our work in filling this gap. KEY POINTS: ⢠Six new opine dehydrogenases have been discovered from a hot spring metagenome ⢠The newly identified enzymes display a unique substrate scope ⢠Substrate specificity is governed by two correlated active-site residues.