Vibration Measurements on a Six-Axis Collaborative Robotic Arm-Part I.

This article deals with the design of a methodology for vibration and noise measurement on a six-axis collaborative robotic arm. A vibration and noise measurement methodology is proposed for six robot positions. In each position, measurements were performed under defined equal boundary conditions. The boundary conditions were related to the velocities of the joints and the load on the robotic arm. The second part of the article is an evaluation of the initial experimental results. So far, only the acceleration of the sixth joint of the robotic arm-Wrist 3-has been measured. The aim of the measurements was to verify if the methodology presented can be used for vibration measurements. From the evaluation of the experimental measurements, it was determined that the given methodology can be used for vibration measurements. It was also found that the acceleration is transmitted in the axes other than the axis of motion of the robotic arm. In future experiments, the vibration at the other joints of the robotic arm will be measured and the noise of the robotic arm will be measured to confirm whether the proposed methodology is indeed functional.

Infrared Laser Desorption of Intact Nanoparticles for Digital Tissue Imaging.

We report a new technique for the digital mapping of biomarkers in tissues based on desorption and counting intact gold nanoparticle (Au NP) tags using infrared laser ablation single-particle inductively coupled plasma mass spectrometry (IR LA SP ICP MS). In contrast to conventional UV laser ablation, Au NPs are not disintegrated during the desorption process due to their low absorption at 2940 nm. A mass spectrometer detects up to 83% of Au NPs. The technique is demonstrated on mapping a proliferation marker, nuclear protein Ki-67, in three-dimensional (3D) aggregates of colorectal carcinoma cells, and the results are compared with confocal fluorescence microscopy and UV LA ICP MS. Precise counting of 20 nm Au NPs with a single-particle detection limit in each pixel by the new approach generates sharp distribution maps of a specific biomarker in the tissue. Advantageously, the desorption of Au NPs from regions outside the tissue is strongly suppressed. The developed methodology promises multiplex mapping of low-abundant biomarkers in numerous biological and medical applications using multielemental mass spectrometers.

SPG11: clinical and genetic features of seven Czech patients and literature review.

SPG11 is one of the most frequent autosomal recessively inherited types of hereditary spastic paraplegias (HSP or SPG). We describe the first seven patients from the Czech Republic with biallelic pathogenic variants in the SPG11. The typical HSP neurological findings are present in all the described patients in that the signs of a complicated phenotype develop slowly. The speed of disease progression, and the severity of gait impairment, was fast in all patients but the phenotype varied from patient to patient. Thin corpus callosum was not observed in two patients. Two Czech SPG11 patients had unusual late onset of disease and both were compound heterozygotes for the c.5381T>C variant. Therefore, we looked for a potential ralationship between the type of variant in the SPG11 gene and the age of disease onset. By reviewing all described SPG11 patients carrying at least one missense pathogenic variant in the SPG11 gene we did not found any relationship between the age of onset and the type of variant. Together twelve pathogenic variants, including gross deletions, were found in the SPG11 gene the Czech SPG11 patients, the c.3454-2A>G variant is novel.

MALDI MS Imaging at Acquisition Rates Exceeding 100 Pixels per Second.

The practicality of matrix-assisted laser desorption/ionization (MALDI) time-of-flight (TOF) mass spectrometry (MS) applied to molecular imaging of biological tissues is limited by the analysis speed. Typically, a relatively low speed of stop-and-go micromotion of XY stages is considered as a factor substantially reducing the rate with which fresh sample material can be supplied to the laser spot. The sample scan rate in our laboratory-built high-throughput imaging TOF mass spectrometer was significantly improved through the use of a galvanometer-based optical scanner performing fast laser spot repositioning on a target plate. The optical system incorporated into the ion source of our MALDI TOF mass spectrometer allowed focusing the laser beam via a modified grid into a 10-µm round spot. This permitted the acquisition of high-resolution MS images with a well-defined pixel size at acquisition rates exceeding 100 pixel/s. The influence of selected parameters on the total MS imaging time is discussed. The new scanning technique was employed to display the distribution of an antitumor agent in 3D colorectal adenocarcinoma cell aggregates; a single MS image comprising 100 × 100 pixels with 10-µm lateral resolution was recorded in approximately 70 s. Graphical Abstract.

Rapid matrix-assisted laser desorption/ionization time-of-flight mass spectrometry imaging with scanning desorption laser beam.

Matrix-assisted laser desorption/ionization time-of-flight mass spectrometry (MALDI TOF MS) imaging of surfaces and tissues is a rapidly evolving technique having great potential in the field of biosciences. In earlier times, acquisition of a single high-resolution MS image could take days. Despite the recent introduction of high-repetition rate lasers to increase sample throughput of axial TOF MS instruments, obtaining a high-resolution image still requires a few hours. This paper shows that a substantial increase in the throughput of the TOF MS-based tissue imaging can be achieved by incorporating a mirror providing high-speed precision scanning of the laser beam along the sample surface. Equipped with the scanning mirror, a laboratory-built axial MALDI TOF MS instrument utilizing a 4-kHz UV laser recorded a 100 × 100 pixel MS image in ~11 min using 100 laser shots per pixel. This is almost an order of magnitude faster when compared to a modern commercial instrument equipped with 1-kHz laser.