5 research outputs found
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Robotic Tree-Fruit Harvesting with Telescoping Arms: A Study of Linear Fruit Reachability under Geometric Constraints
Modern commercial orchards are increasingly adopting trees of SNAP architectures (Simple, Narrow, Accessible, and Productive) as the fruits on such trees are, in general, more easily reachable by human or robotic harvesters. This article presents a methodology that utilizes three dimensional (3D) digitized computer models of high-density pear and cling-peach trees, and fruit positions to quantify the linear fruit reachability (LFR) of such trees, i.e., their reachability by telescoping robot arms. Robot-canopy non-interference geometric constraints were introduced in the simulator, to determine the closest position of the arms' base frames with respect to the trees, inside an orchard row. Also, design constraints for such arms, such as maximum reach, size and type of the gripper, and range of approach directions, were introduced to estimate the effect of each of these constraints on the LFR. Simulations results showed that 85.5% of pears were reachable after harvesting consecutively, at three different approach angles ('passes') with a gripper of size 11 cm and an arm extension of 150 cm. For peaches, after three passes, 83.5% were reachable with a gripper size of 11 cm and an arm extension of 200 cm. LFR increased as the gripper's size approached the maximum fruit size and decreased thereafter. Also, retractive grippers on linear arms yielded more fruit compared to vacuum-tube type grippers. Overall, the results suggested that telescoping arms can be used to harvest certain types of SNAP-style trees. Also, this methodology can be used to guide the design of robotic harvesters, as well as the canopy management practices of fruit trees
Recommended from our members
Robotic Tree-Fruit Harvesting with Telescoping Arms: A Study of Linear Fruit Reachability under Geometric Constraints
Modern commercial orchards are increasingly adopting trees of SNAP architectures (Simple, Narrow, Accessible, and Productive) as the fruits on such trees are, in general, more easily reachable by human or robotic harvesters. This article presents a methodology that utilizes three dimensional (3D) digitized computer models of high-density pear and cling-peach trees, and fruit positions to quantify the linear fruit reachability (LFR) of such trees, i.e., their reachability by telescoping robot arms. Robot-canopy non-interference geometric constraints were introduced in the simulator, to determine the closest position of the arms' base frames with respect to the trees, inside an orchard row. Also, design constraints for such arms, such as maximum reach, size and type of the gripper, and range of approach directions, were introduced to estimate the effect of each of these constraints on the LFR. Simulations results showed that 85.5% of pears were reachable after harvesting consecutively, at three different approach angles ('passes') with a gripper of size 11 cm and an arm extension of 150 cm. For peaches, after three passes, 83.5% were reachable with a gripper size of 11 cm and an arm extension of 200 cm. LFR increased as the gripper's size approached the maximum fruit size and decreased thereafter. Also, retractive grippers on linear arms yielded more fruit compared to vacuum-tube type grippers. Overall, the results suggested that telescoping arms can be used to harvest certain types of SNAP-style trees. Also, this methodology can be used to guide the design of robotic harvesters, as well as the canopy management practices of fruit trees
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Obesity, inflammatory and thrombotic markers, and major clinical outcomes in critically ill patients with COVID‐19 in the US
Objective
This study aimed to determine whether obesity is independently associated with major adverse clinical outcomes and inflammatory and thrombotic markers in critically ill patients with COVID‐19.
Methods
The primary outcome was in‐hospital mortality in adults with COVID‐19 admitted to intensive care units across the US. Secondary outcomes were acute respiratory distress syndrome (ARDS), acute kidney injury requiring renal replacement therapy (AKI‐RRT), thrombotic events, and seven blood markers of inflammation and thrombosis. Unadjusted and multivariable‐adjusted models were used.
Results
Among the 4,908 study patients, mean (SD) age was 60.9 (14.7) years, 3,095 (62.8%) were male, and 2,552 (52.0%) had obesity. In multivariable models, BMI was not associated with mortality. Higher BMI beginning at 25 kg/m2 was associated with a greater risk of ARDS and AKI‐RRT but not thrombosis. There was no clinically significant association between BMI and inflammatory or thrombotic markers.
Conclusions
In critically ill patients with COVID‐19, higher BMI was not associated with death or thrombotic events but was associated with a greater risk of ARDS and AKI‐RRT. The lack of an association between BMI and circulating biomarkers calls into question the paradigm that obesity contributes to poor outcomes in critically ill patients with COVID‐19 by upregulating systemic inflammatory and prothrombotic pathways