Compared to the existing vision-based self-calibration method, the proposed method can conduct the calibration more accurately and with less execution time. In the CP-690550 future work, we will research the approach which can accurately estimate the robot pose without stopping the robot. With the dynamic pose measurements, the robot calibration will be more efficient.Conflict of InterestsThe authors declare that there is no conflict of interests regarding the publication of this paper.
For decades, it was postulated that the placenta acts as a barrier that defends the fetus from the adverse effects of drugs. The thalidomide tragedy overturned this conception, showing that use of some drugs during vital periods of fetal development result in serious limb defects and other organ anomalies [1].

Many drugs have been shown to affect pre- and/or postnatal development of the brain resulting in aberrant behaviour [2]. One of these drugs is clomipramine, a member of the tricyclic antidepressant group. This drug is prescribed for panic, depressive, and obsessive-compulsive disorders. After absorption following oral administration, it enters the brain and leads to reuptake inhibition of serotonin and norepinephrine in the synaptic cleft, resulting in increased concentrations of these two neurotransmitters in the synapse [3]. Clomipramine enters fetal blood via the placenta due to its highly lipophilic properties [4].Caffeine is a natural alkaloid compound found in coffee, tea, and cola drinks; it is metabolized by liver cytochrome P450 enzymes.

This agent is easily absorbed from the gut and readily passes through placenta, so fetal and maternal plasma concentrations reach an equilibrium [5]. Following the disaster caused by thalidomide, an antivomiting agent which when administered to pregnant women caused limb deformities in new born infants, the teratogenic properties of drugs were considered in a new light [6]. It has been established that caffeine consumption by pregnant women can have adverse effects on the fetus and as clomipramine inhibits the metabolism of caffeine [7], it is possible that clomipramine may increase the teratogenicity of caffeine. Many articles about the likely effects of antidepressants on the fetus have been published [8�C10], but adequate studies in humans are not available [11].

Teratogenic effects of clomipramine have not been observed via the oral (mice and rats), subcutaneous (mice and rats), and intravenous (mice and rabbits) routes of administration [12]. In pregnant women, prescription of low amounts of clomipramine three times daily has had no teratogenic Brefeldin_A effects [13]. Researchers studied the effect of caffeine on pregnant women from the eighth to the twelfth week of pregnancy and results showed that even small amounts of caffeine had negative effects on fetal growth.