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INÁCIO A, Domingues P, Piedade A, Furtado T, Mendes B, Valério P, Farinha A, Cunha L, Soto K. WCN23-1174 HISTOPATHOLOGICAL PREDICTORS OF RENAL OUTCOMES IN ANCA-ASSOCIATED VASCULITIDES. Kidney Int Rep 2023. [DOI: 10.1016/j.ekir.2023.02.186] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 03/22/2023] Open
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Zheng P, Xiao F, Nguyen PH, Farinha A, Kovac M. Metamorphic aerial robot capable of mid-air shape morphing for rapid perching. Sci Rep 2023; 13:1297. [PMID: 36690665 PMCID: PMC9870873 DOI: 10.1038/s41598-022-26066-5] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/27/2022] [Accepted: 12/08/2022] [Indexed: 01/24/2023] Open
Abstract
Aerial robots can perch onto structures at heights to reduce energy use or to remain firmly in place when interacting with their surroundings. Like how birds have wings to fly and legs to perch, these bio-inspired aerial robots use independent perching modules. However, modular design not only increases the weight of the robot but also its size, reducing the areas that the robot can access. To mitigate these problems, we take inspiration from gliding and tree-dwelling mammals such as sugar gliders and sloths. We noted how gliding mammals morph their whole limb to transit between flight and perch, and how sloths optimized their physiology to encourage energy-efficient perching. These insights are applied to design a quadrotor robot that transitions between morphologies to fly and perch with a single-direction tendon drive. The robot's bi-stable arm is rigid in flight but will conform to its target in 0.97 s when perching, holding its grasp with minimal energy use. We achieved a [Formula: see text] overall mass reduction by integrating this capability into a single body. The robot perches by a controlled descent or a free-falling drop to avoid turbulent aerodynamic effects. Our proposed design solution can fulfill the need for small perching robots in cluttered environments.
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Affiliation(s)
- Peter Zheng
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, SW7 2AZ, UK.
- The Grantham Institute-Climate Change and the Environment, Imperial College London, London, SW7 2AZ, UK.
| | - Feng Xiao
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, SW7 2AZ, UK
| | - Pham Huy Nguyen
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, SW7 2AZ, UK
| | - Andre Farinha
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, SW7 2AZ, UK
| | - Mirko Kovac
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, SW7 2AZ, UK.
- Laboratory of Sustainability Robotics, Swiss Federal Laboratories of Materials Science and Technology, 8600, Dübendorf, Switzerland.
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Farinha A, Flores F, Sampaio A, Kimura N, Freire F. Phase transition detection in liquid crystal analysis by mathematical morphology. J Mol Liq 2022. [DOI: 10.1016/j.molliq.2021.117015] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/24/2022]
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Wiesemüller F, Meng Z, Hu Y, Farinha A, Govdeli Y, Nguyen PH, Nyström G, Kovač M. Transient bio-inspired gliders with embodied humidity responsive actuators for environmental sensing. Front Robot AI 2022; 9:1011793. [PMID: 36388255 PMCID: PMC9659746 DOI: 10.3389/frobt.2022.1011793] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/04/2022] [Accepted: 10/10/2022] [Indexed: 01/25/2023] Open
Abstract
Collecting temporal and spatial high-resolution environmental data can guide studies in environmental sciences to gain insights in ecological processes. The utilization of automated robotic systems to collect these types of data can maximize accuracy, resilience, and deployment rate. Furthermore, it reduces the risk to researchers deploying sensors in inaccessible environments and can significantly increase the cost-effectiveness of such studies. The introduction of transient robotic systems featuring embodied environmental sensors pushes towards building a digital ecology, while introducing only minimal disturbance to the environment. Transient robots made from fully biodegradable and non-fossil based materials, do not develop into hazardous e-waste at the end of their lifetime and can thus enable a broader adoption for environmental sensing in the real world. In this work, our approach towards the design of transient robots includes the integration of humidity-responsive materials in a glider, which is inspired by the Alsomitra macrocarpa seed. The design space of these gliders is explored and their behavior studied numerically, which allows us to make predictions on their flight characteristics. Results are validated against experiments, which show two different gliding behaviors, that can help improve the spread of the sensors. By tailoring the Cellulose-Gelatin composition of the humidity actuator, self-folding systems for selective rainwater exposure can be designed. The pH sensing layer, protected by the actuator, provides visual feedback on the pH of the rainwater. The presented methods can guide further concepts developing transient aerial robotic systems for sustainable, environmental monitoring.
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Affiliation(s)
- Fabian Wiesemüller
- Materials and Technology Center of Robotics, Department of Functional Materials, Empa–Swiss Federal Laboratories for Materials Science and Technology, Dübendorf, Switzerland
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, United Kingdom
- *Correspondence: Fabian Wiesemüller, ; Mirko Kovač,
| | - Ziwen Meng
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, United Kingdom
| | - Yijie Hu
- Laboratory for Cellulose & Wood Materials, Department of Functional Materials, Empa–Swiss Federal Laboratories for Materials Science and Technology, Dübendorf, Switzerland
- State Key Laboratory of Pulp and Paper Engineering, South China University of Technology, Guangzhou, China
| | - Andre Farinha
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, United Kingdom
| | - Yunus Govdeli
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, United Kingdom
| | - Pham H. Nguyen
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, United Kingdom
| | - Gustav Nyström
- Laboratory for Cellulose & Wood Materials, Department of Functional Materials, Empa–Swiss Federal Laboratories for Materials Science and Technology, Dübendorf, Switzerland
- Department of Health Sciences and Technology, ETH Zürich, Zürich, Switzerland
| | - Mirko Kovač
- Materials and Technology Center of Robotics, Department of Functional Materials, Empa–Swiss Federal Laboratories for Materials Science and Technology, Dübendorf, Switzerland
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, United Kingdom
- *Correspondence: Fabian Wiesemüller, ; Mirko Kovač,
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Debruyn D, Zufferey R, Armanini SF, Winston C, Farinha A, Jin Y, Kovac M. MEDUSA: A Multi-Environment Dual-Robot for Underwater Sample Acquisition. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2020.3001534] [Citation(s) in RCA: 13] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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Zufferey R, Ancel AO, Farinha A, Siddall R, Armanini SF, Nasr M, Brahmal RV, Kennedy G, Kovac M. Consecutive aquatic jump-gliding with water-reactive fuel. Sci Robot 2019; 4:4/34/eaax7330. [PMID: 33137775 DOI: 10.1126/scirobotics.aax7330] [Citation(s) in RCA: 29] [Impact Index Per Article: 5.8] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/03/2019] [Accepted: 08/07/2019] [Indexed: 11/02/2022]
Abstract
Robotic vehicles that are capable of autonomously transitioning between various terrains and fluids have received notable attention in the past decade due to their potential to navigate previously unexplored and/or unpredictable environments. Specifically, aerial-aquatic mobility will enable robots to operate in cluttered aquatic environments and carry out a variety of sensing tasks. One of the principal challenges in the development of such vehicles is that the transition from water to flight is a power-intensive process. At a small scale, this is made more difficult by the limitations of electromechanical actuation and the unfavorable scaling of the physics involved. This paper investigates the use of solid reactants as a combustion gas source for consecutive aquatic jump-gliding sequences. We present an untethered robot that is capable of multiple launches from the water surface and of transitioning from jetting to a glide. The power required for aquatic jump-gliding is obtained by reacting calcium carbide powder with the available environmental water to produce combustible acetylene gas, allowing the robot to rapidly reach flight speed from water. The 160-gram robot could achieve a flight distance of 26 meters using 0.2 gram of calcium carbide. Here, the combustion process, jetting phase, and glide were modeled numerically and compared with experimental results. Combustion pressure and inertial measurements were collected on board during flight, and the vehicle trajectory and speed were analyzed using external tracking data. The proposed propulsion approach offers a promising solution for future high-power density aerial-aquatic propulsion in robotics.
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Affiliation(s)
- R Zufferey
- Aerial Robotics Lab, Imperial College of London, London, UK
| | - A Ortega Ancel
- Aerial Robotics Lab, Imperial College of London, London, UK
| | - A Farinha
- Aerial Robotics Lab, Imperial College of London, London, UK
| | - R Siddall
- Aerial Robotics Lab, Imperial College of London, London, UK
| | - S F Armanini
- Aerial Robotics Lab, Imperial College of London, London, UK
| | - M Nasr
- Aerial Robotics Lab, Imperial College of London, London, UK
| | - R V Brahmal
- Aerial Robotics Lab, Imperial College of London, London, UK
| | - G Kennedy
- Aerial Robotics Lab, Imperial College of London, London, UK
| | - M Kovac
- Aerial Robotics Lab, Imperial College of London, London, UK. .,Materials and Technology Centre of Robotics, Swiss Federal Laboratories for Materials Science and Technology, Dübendorf, Switzerland
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Zufferey R, Ancel AO, Raposo C, Armanini SF, Farinha A, Siddall R, Berasaluce I, Zhu H, Kovac M. SailMAV: Design and Implementation of a Novel Multi-Modal Flying Sailing Robot. IEEE Robot Autom Lett 2019. [DOI: 10.1109/lra.2019.2921507] [Citation(s) in RCA: 15] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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Farinha A, Lavreysen H, Peeters L, Russo B, Masure S, Trabanco AA, Cid J, Tresadern G. Molecular determinants of positive allosteric modulation of the human metabotropic glutamate receptor 2. Br J Pharmacol 2015; 172:2383-96. [PMID: 25571949 DOI: 10.1111/bph.13065] [Citation(s) in RCA: 34] [Impact Index Per Article: 3.8] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/04/2014] [Revised: 12/20/2014] [Accepted: 12/23/2014] [Indexed: 12/21/2022] Open
Abstract
BACKGROUND AND PURPOSE The activation of the metabotropic glutamate receptor 2 (mGlu2 ) reduces glutamatergic transmission in brain regions where excess excitatory signalling is implicated in disorders such as anxiety and schizophrenia. Positive allosteric modulators (PAMs) can provide a fine-tuned potentiation of these receptors' function and are being investigated as a novel therapeutic approach. An extensive set of mutant human mGlu2 receptors were used to investigate the molecular determinants that are important for positive allosteric modulation at this receptor. EXPERIMENTAL APPROACH Site-directed mutagenesis, binding and functional assays were employed to identify amino acids important for the activity of nine PAMs. The data from the radioligand binding and mutagenesis studies were used with computational docking to predict a binding mode at an mGlu2 receptor model based on the recent structure of the mGlu1 receptor. KEY RESULTS New amino acids in TM3 (R635, L639, F643), TM5 (L732) and TM6 (W773, F776) were identified for the first time as playing an important role in the activity of mGlu2 PAMs. CONCLUSIONS AND IMPLICATIONS This extensive study furthers our understanding of positive allosteric modulation of the mGlu2 receptor and can contribute to improved future design of mGlu2 PAMs.
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Affiliation(s)
- A Farinha
- Neuroscience Discovery, Janssen Research and Development, Division of Janssen Pharmaceutica, Beerse, Belgium
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Oliveira A, Farinha A, Rebelo M, Dias D. Forensic entomology: Molecular identification of blowfly species (Diptera: Calliphoridae) in Portugal. Forensic Science International: Genetics Supplement Series 2011. [DOI: 10.1016/j.fsigss.2011.09.081] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/25/2022]
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Farinha A, Nóbrega SD, Paulo MG. Evaluation of Pharmaceutical Quality of Phenytoin Sodium Capsules and Tablets from Multinational Markets. Drug Dev Ind Pharm 2008. [DOI: 10.3109/03639049709148481] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.1] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/13/2022]
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Chilcott RP, Barai N, Beezer AE, Brain SI, Brown MB, Bunge AL, Burgess SE, Cross S, Dalton CH, Dias M, Farinha A, Finnin BC, Gallagher SJ, Green DM, Gunt H, Gwyther RL, Heard CM, Jarvis CA, Kamiyama F, Kasting GB, Ley EE, Lim ST, McNaughton GS, Morris A, Nazemi MH, Pellett MA, Du Plessis J, Quan YS, Raghavan SL, Roberts M, Romonchuk W, Roper CS, Schenk D, Simonsen L, Simpson A, Traversa BD, Trottet L, Watkinson A, Wilkinson SC, Williams FM, Yamamoto A, Hadgraft J. Inter‐ and intralaboratory variation of in vitro diffusion cell measurements: An international multicenter study using quasi‐standardized methods and materials. J Pharm Sci 2005; 94:632-8. [PMID: 15666298 DOI: 10.1002/jps.20229] [Citation(s) in RCA: 47] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Abstract
In vitro measurements of skin absorption are an increasingly important aspect of regulatory studies, product support claims, and formulation screening. However, such measurements are significantly affected by skin variability. The purpose of this study was to determine inter- and intralaboratory variation in diffusion cell measurements caused by factors other than skin. This was attained through the use of an artificial (silicone rubber) rate-limiting membrane and the provision of materials including a standard penetrant, methyl paraben (MP), and a minimally prescriptive protocol to each of the 18 participating laboratories. "Standardized" calculations of MP flux were determined from the data submitted by each laboratory by applying a predefined mathematical model. This was deemed necessary to eliminate any interlaboratory variation caused by different methods of flux calculations. Average fluxes of MP calculated and reported by each laboratory (60 +/- 27 microg cm(-2) h(-1), n = 25, range 27-101) were in agreement with the standardized calculations of MP flux (60 +/- 21 microg cm(-2) h(-1), range 19-120). The coefficient of variation between laboratories was approximately 35% and was manifest as a fourfold difference between the lowest and highest average flux values and a sixfold difference between the lowest and highest individual flux values. Intralaboratory variation was lower, averaging 10% for five individuals using the same equipment within a single laboratory. Further studies should be performed to clarify the exact components responsible for nonskin-related variability in diffusion cell measurements. It is clear that further developments of in vitro methodologies for measuring skin absorption are required.
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Affiliation(s)
- R P Chilcott
- Dstl Biomedical Sciences, Porton Down, Salisbury, Wiltshire, SP4 0JQ, United Kingdom.
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Abstract
A reversed-phase high-performance liquid chromatographic method that enables the determination of clonixin in human plasma and urine samples is described. Recovery of the drug was over 87.6 and 80.7% for plasma and urine, respectively. The limit of quantitation of the method was established as 10 ng/ml in plasma and 20 ng/ml in urine samples, with RSDs of less than 11.1%. The applicability of the method was further assessed by determining the plasma concentrations time course of clonixin in six healthy volunteers after single oral dose administration of 150 and 300 mg of clonixin and Clonix.
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Affiliation(s)
- A Bica
- Laboratório de Estudos Farmacêuticos, Lisbon, Portugal
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Abstract
The evaluation of the biopharmaceutical quality of omeprazole enteric-coated products (granules in capsules) with respect to its dissolution characteristics is not specifically regulated in any of the most common official pharmacopoeia. USP 23 includes a general monograph for enteric-coated products. This paper reports the evaluation of the medium pH effect on the dissolution rates of omeprazole from four omeprazole-containing products of different manufacturers. It is concluded that the USP 23 recommended dissolution procedure for enteric-coated products is not suitable due to the degradation of omeprazole under such conditions. Furthermore, the medium with pH 8.0 showed different dissolution rates not observed at pH 7.4, allowing discrimination between products of different manufacturers.
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Affiliation(s)
- A Farinha
- Laboratório de Estudos Farmacêuticoş, Lisboa, Portugal
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Abstract
Megestrol acetate, a progestogen widely used in the palliative treatment of endometrial carcinoma and breast cancer, is currently administered orally as a solid dosage form. Bioavailability of the drug following oral administration is closely related to the effectiveness and safety profile of the drug in formulation. Improved immediate-release formulations should allow improved drug delivery into the systemic circulation and, at the end, to the site of action. The micronization of drugs is one of the technological procedures to achieve such a purpose. This paper reports the design and results obtained in an in vivo study of the bioavailability of a micronized megestrol acetate tablet formulation compared to a conventional form. A significant increase in the drug bioavailability was observed, in either the rate or the extent of absorption. In vitro dissolution data of the two study formulations reflected the in vivo findings.
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Affiliation(s)
- A Farinha
- Laboratório de Estudos Farmacêuticos, Lisboa, Portugal.
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Abstract
Permeation of caffeine through human skin and artificial membranes (mounted in modified Franz type diffusion cells) was evaluated, either from saturated solutions or from commercially available topical formulations (all containing 3% caffeine). Data interpretation of the caffeine diffusion through human skin does not implicate transfer through pores despite caffeine being a relatively polar molecule. No correlation was found between transfer though the synthetic membranes (cellulose acetate impregnated with isopropyl myristate and silicone rubber soaked in isopropyl myristate) and that observed through skin. The synthetic membranes can be used for assessing product performance in quality assurance but will give little indication of its performance in vivo. The study investigated the percutaneous permeation of caffeine through human skin in order to obtain a mechanistic interpretation of its route of permeation. Synthetic membranes were also examined to determine if they could be used as models for human skin. Different commercial formulations investigated to determine the significance of enhancement strategies.
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Affiliation(s)
- M Dias
- Laboratorio de Estudos Famacêuticos (LEF), Rua Alto do Duque, 67, Lisbon, Portugal
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Abstract
Omeprazole, a proton pump inhibitor, effectively suppresses the gastric acid secretion in the parietal cells of the stomach. Several previously published papers focus on the pharmacokinetics of the drug and its interactions with physiological aspects or with other drugs. The increasing number of omeprazole containing products available in the market, raises questions of therapeutic equivalence and/or generic substitution. The bioequivalence evaluation between two or more formulations provides information about in vivo performance. In a favorable decision regarding bioequivalence, the products are considered to have a similar therapeutic efficacy when used under the same therapeutic conditions. This paper reports the design, results and some important aspects involved in a bioequivalence study between two solid oral formulations from different manufacturers. Some important findings were the high intra-subject variability observed for Cmax and the variability observed between subject profiles, probably caused by the multi-unit type of formulations studied.
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Affiliation(s)
- A Farinha
- Laboratório de Estudos Farmacêuticos, Rua Alto do Duque 67, 1400 Lisbon, Portugal
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Abstract
Methods and specifications of Eur. Ph. 3rd Ed. and USP 23 for the evaluation of the uniformity of dosage units were compared, in relation to: (i) allowed dispersion of the sample; and (ii) adequability to control the individual contents of active ingredient in relation to the labelled amount. Using the characteristics of the normal distribution curve, we calculate: (1) the highest dispersion allowable, represented by the relative standard deviation of the uniformity of mass of single-dose preparations of Eur. Ph. 3rd Ed., (results were 3.4, 5.1 and 6.8% for L1 = 5, L = 7.5 and L = 10, respectively); and (2) for all the methods studied the allowable units frequency for different intervals of the labelled amount. Differences between the tests of Eur. Ph. 3rd Ed. and USP 23 can lead to acceptance samples with very different individual contents variability, namely if the limit specifications for the strength was +/- 10%. The main reasons for that are: (1) in Eur. Ph. 3rd Ed., the limits are set with reference to the average content of the sample, and in USP 23, they are set with reference to the labelled amount of the active ingredient; and (2), the USP 23 calculates the content of active ingredient in each tablet from the result of the assay, when the weight variation method was used. Taking +/- 5% of label claim as the specification for the strength of the product, according EEC requirements, the maximum percentage of units outside the range 95-105% of label claim allowed by Eur. Ph. 3rd Ed. and USP 23 tests are similar.
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Affiliation(s)
- J M Martins
- Laboratório de Estudos Farmacêuticos, Lisboa, Portugal
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Paiva T, Farinha A, Martins A, Batista A, Guilleminault C. Chronic headaches and sleep disorders. Arch Intern Med 1997; 157:1701-5. [PMID: 9250231] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Subscribe] [Scholar Register] [Indexed: 02/05/2023]
Abstract
BACKGROUND Headaches and sleep problems are common complaints in the daily practice of the general practitioner. Since the relationship between headaches and sleep complaints is complex, clear models of interaction are needed for adequate diagnosis and treatment. METHODS All subjects, successively seen in a headache clinic during a defined period, were subdivided based on the time of onset of cephalalgia. Subjects who reported onset of headache on a long-term basis, during the nocturnal or early morning (before final awakening) period, were systematically studied by a headache clinic and a sleep disorders center. This subgroup represented 17% of the total headache group. RESULTS Although the results of the headache clinic study did not differentiate this subgroup from the other patients, the sleep disorders center's interviews and questionnaires demonstrated a significant impact of the sleep disorders on headache and daytime function. Nocturnal monitoring during sleep identified specific sleep disorders in 55% of the subjects with onset of headache during the nocturnal sleep period. Follow-up after treatment of the sleep disorder showed that all subjects with an identifiable sleep disorder reported either an improvement or absence of their headache. The subjects identified with periodic limb movement syndrome were mostly those who reported only an improvement in their sleep and still needed treatment for their headaches. The question of the interaction and association of sleep-related headache and periodic limb movement syndrome is unresolved. CONCLUSION Headaches occurring during the night or early morning are often related to a sleep disturbance.
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Affiliation(s)
- T Paiva
- Laboratory EEG/Sleep, Centro de Estudos Egas Moniz, Hospital de Santa Maria, Lisboa, Portugal
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