9 research outputs found
The Atlantic Bonito ( Sarda sarda,Bloch 1793) Transcriptome and Detection of Differential Expression during Larvae Development
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Autonomous Robot-Assistant Camera Holder for Minimally Invasive Surgery
No full textInternational audienceIn this paper we present an autonomous camera holder robotic system for minimally invasive surgery (MIS). The proposed system is composed of a 7-DoF collaborative robot, i.e. Franka robot, holding the surgical camera and a motion capture system, i.e. Qualisys system, tracking online the surgical tools movements. The robot adapts its movements to continuously monitor the surgical gestures, based on the tools tips coordinates provided by the Qualisys system. The surgical camera is inserted into the patient’s body through a surgical device, i.e. trocar, generating a kinematic constraint commonly known as Remote Center of Motion (RCM) constraint. In order to preserve the patient safety, the RCM constraint is guaranteed by the control approach. Moreover, a compliance control law is implemented to smooth the robot movements as well as to reduce the efforts generated by the human-robot interactions. Robot Operating System (ROS) framework has been used to establish the communication between the robot and Qualisys, using the UDP protocol for data exchange
Estimation of coordination bond energies of NH3, H2O and Et2NH ligands in the Ni(II) and Cu(II) complexes
No full textTwo non-linear azide containing heteronuclear complexes: crystal structure and thermal decomposition
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Synthesis, crystal structure, theoretical calculations and thermal characterization of two heterodinuclear NiII–ZnII complexes prepared from ONNO-type symmetrical Schiff base and its reduced derivative
No full textCell adhesion molecules and plasminogen activator inhibitor type-1 (PAI-1) in patients with rheumatoid arthritis: influence of metabolic syndrome
No full textExplaining green technology purchases by US and Canadian households: the role of pro-environmental lifestyles, values, and environmental concern
No full textBiodiversity and Taxonomy of the Parasitic Crustacea
No full textCrustaceans have independently adopted a parasitic mode of life on numerous occasions, and this chapter reviews the classification and species richness of each of the parasitic clades, which lie within two major pancrustacean lineages, the Multicrustacea and the Oligostraca. Tabulated data are presented on the genera, species richness and host usage of the whale lice (Cyamidae); the generic and species richness of the families of hyperiidean amphipods; the generic and species richness and the host usage of the families and subfamilies of epicaridean isopods; the species richness, salinity regime and host taxon of cymothoid isopods; the generic and species richness and the host usage of the families of Ascothoracida and Rhizocephala; the species of Tantulocarida and their hosts; the generic and species richness and the host usage of the families and family-level groupings of cyclopoid and siphonostomatoid copepods; the species richness and salinity regimes of the genera of Branchiura; and the species richness and host usage of the genera of tongue worms (Pentastomida). Parasitic crustaceans use a total of 15 different phyla as hosts
