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Diagnostics of a hand requires measurements of kinematics and joint limits. The standard tools for this purpose are manual devices such as goniometers which allow measuring only one joint simultaneously, making the diagnostics time-consuming. The paper presents a system for automatic measurement and computer presentation of essential parameters of a hand. Constructed software uses an integrated vision system, a haptic device for measurement, and has a web-based user interface. The system provides a simplified way to obtain hand parameters, such as hand size, wrist, and finger range of motions, using the homogeneous-matrix-based notation. The haptic device allows for active measurement of the wrist’s range of motion and additional force measurement. A study was conducted to determine the accuracy and repeatability of measurements compared to the gold standard. The system functionality was confirmed on five healthy participants, with results showing comparable results to manual measurements regarding fingers’ lengths. The study showed that the finger’s basic kinematic structure could be measured by a vision system with a mean difference to caliper measurement of 4.5 mm and repeatability with the Standard Deviations up to 0.7 mm. Joint angle limits measurement achieved poorer results with a mean difference to goniometer of 23.6º. Force measurements taken by the haptic device showed the repeatability with a Standard Deviation of 0.7 N. The presented system allows for a unified measurement and a collection of important parameters of a human hand with therapist interface visualization and control with potential use for post-stroke patients’ precise rehabilitation.

Growth in application fields of unmanned aerial vehicles (UAVs) and an increase in their total number are followed by higher and higher expectations imposed on improvements in UAV propulsion and energy management systems. Most commercial vertical takeoff and landing (VTOL) UAVs employ a constant pitch propeller that forces a mission execution tradeoff in the majority of cases. An alternative solution, presented here, consists of the use of a variable pitch propeller. The paper summarizes experimental measurements of the propulsion system equipped with an innovative variable pitch rotor. The investigations incorporated characteristics of the rotor for no wind conditions and a new approach to optimize pitch settings in hover flight as a function of UAV weight and energy consumption. As UAV battery capacity is always limited, efficient energy management is the only way to increase UAV mission performance. The study shows that use of a variable pitch propeller can increase the maximal takeoff weight of the aircraft and improve power efficiency in hover, especially if load varies for different missions. The maximal thrust measured was 31% higher with respect to the original blade settings. The coefficient of thrust during hover showed an increase of 2.6% up to 7.5% for various pitch angles with respect to the original fixed propeller.

In this study novel transversal pneumatic artificial muscles (TPAM), made from composite - poly(dimethylsiloxane) (PDMS) matrix membrane and poly(ethylene terephthalate) (PET) satin reinforcement, are presented. Miniature TPAM consists of a flexible internal braid (IB) reinforcing the membrane and the external braid (EB). EB, with fibers arranged transversely to the IB, is placed laterally. Differently prepared TPAMs were tested for their effectiveness as actuators for robot drive and the PDMS/PET composite suitability was evaluated for applications in human gastrointestinal tract (chemical resistance, thermal characteristic). FT-IR spectra of the composite were compared for study PDMS impregnation process of PET satin and effect of immersion in selected solution. The composite shows outstanding biocompatibility and the muscles have competitive static load characteristics in comparison with other pneumatic artificial muscles (PAM). These results lead to believe, that in the near future painless examination of the gastrointestinal tract using a secure robot will be possible.

Background: This study of the large-flowered azalea cv. ‘Anneke’ investigated the impact of two factors, i.e., methods of fertilization and mycorrhization, on the nutritional status of plants during three years of nursery cultivation. Methods: Single mineral fertilizers, a slow-release fertilizer Hortiform pH (SRF), and fertigation in combination with mycorrhization of plants, were applied. Plant roots were inoculated with fungi from the genera Oidiodendron and Hymenoscyphus sp. The nutritional status of the large-flowered azalea in the first three years of cultivation was assessed based on macroelements. Results: The analyses revealed significantly higher content of nitrogen, phosphorus and calcium in the leaves of plants inoculated with fungal mycelium. A beneficial effect of plant mycorrhization on plant nutritional status, i.e., higher levels of nitrogen, phosphorus, potassium, calcium, and magnesium, was noted in the second and third years of azalea cultivation. Conclusions: Significant amounts of the nutrients were utilized in the middle of the growing season and almost fully utilized after the season. Hence, the necessity to supplement nutrients in each subsequent year of plant vegetation was postulated. Fertigation was shown to require further improvement of the nutrient solution.

A strategy for the bioconjugation of the enzyme Candida antarctica lipase B onto titania ceramic membranes with varied pore sizes (15, 50, 150, and 300 kDa) was successfully performed. The relationship between the membrane morphology, i.e.,the pore size of the ceramic support, and bioconjugation performance was considered. Owing to the dimension of the enzyme (~33 kDa), the morphology of the ceramics allowed (50, 150, and 300 kDa) or did not allow (15 kDa) the entrance of the enzyme molecules into the porous structure. Such a strategy made it possible to better understand the changes in the material (morphology) and physicochemical features (wettability, adhesiveness, and surface charge) of the samples, which were systematically examined. The silane functionalization and enzyme immobilization were accomplished via the covalent route. The samples were characterized after each stage of the modification, which was very informative from the material point of view. As a consequence of the modification, significant changes in the contact angle, roughness, adhesion, and zeta potential were observed. For instance, for the 50 kDa membrane, the contact angle increased from 29.1 ± 1.5° for the pristine sample to 72.3 ± 1.5° after silane attachment; subsequently, it was reduced to 57.2 ± 1.5° after the enzyme immobilization. Finally, the contact angle of the bioconjugated membrane used in the enzymatic process rose to 92.9 ± 1.5°. By roughness (Sq) controlling, the following amendments were noticed: for the pristine 50 kDa membrane, Sq = 1.87 ± 0.21 µm; after silanization, Sq = 2.33 ± 0.30 µm; after enzyme immobilization, Sq = 2.74 ± 0.26 µm; and eventually, after the enzymatic process, Sq = 2.37 ± 0.27 µm. The adhesion work of the 50 kDa samples was equal to 136.41 ± 2.20 mN m−1 (pristine membrane), 94.93 ± 2.00 mN m−1 (with silane), 112.24 ± 1.90 mN m−1 (with silane and enzyme), and finally, 69.12 ± 1.40 mN m−1 (after the enzymatic process). The materials and physicochemical features changed substantially, particularly after the application of the membrane in the enzymatic process. Moreover, the impact of ceramic material morphology on the zeta potential value is here presented for the first time. With an increase in the ceramic support cut-off, the amount of immobilized lipase rose, but the specific productivity was higher for membranes possessing smaller pores, owing to the higher grafting density. For the enzymatic process, two modes of accomplishment were selected, i.e., stirred-tank and cross-flow. The latter method was characterized by a much higher effectiveness, with a resulting productivity equal to 99.7 and 60.3 µmol h−1 for the 300 and 15 kD membranes, respectively.

A highly effective method was developed to functionalize ceramic supports (Al2O3 powders and membranes) using newly synthesized spacer molecules. The functionalized materials were subsequently utilized for Candida antarctica lipase B enzyme immobilization. The objective is to systematically evaluate the impact of various spacer molecules grafted onto the alumina materials will affect both the immobilization of the enzymes and specific material surface properties, critical to enzymatic reactors performance. The enzyme loading was significantly improved for the supports modified with shorter spacer molecules, which possessed higher grafting effectiveness on the order of 90%. The specific enzyme activity was found to be much higher for samples functionalized with longer modifiers yielding excellent enantioselectivity >97%. However, the enantiomeric ratio of the immobilized lipase was slightly lower in the case of shorter spacer molecules.