Modeling and control of 5-DoF boom crane

Automation of cranes can have a direct impact on the productivity of construction projects. In this paper, we focus on the control of one of the most used cranes, the boom crane. Tower cranes and overhead cranes have been widely studied in the literature, whereas the control of boom cranes has been investigated only by a few works. Typically, these works make use of simple models making use of a large number of simplifying assumptions (e.g. fixed length cable, assuming certain dynamics are uncoupled, etc.) A first result of this paper is to present a fairly complete nonlinear dynamic model of a boom crane taking into account all coupling dynamics and where the only simplifying assumption is that the cable is considered as rigid. The boom crane involves pitching and rotational movements, which generate complicated centrifugal forces, and consequently, equations of motion highly nonlinear. On the basis of this model, a control law has been developed able to perform position control of the crane while actively damping the oscillations of the load. The effectiveness of the approach has been tested in simulation with realistic physical parameters and tested in the presence of wind disturbances.Comment: the paper was published in 37th International Symposium on Automation and Robotics in Construction (ISARC 2020

The tumor-associated antigen RHAMM (HMMR/CD168) is expressed by monocyte-derived dendritic cells and presented to T cells

We formerly demonstrated that vaccination with Wilms' tumor 1 (WT1)-loaded autologous monocyte-derived dendritic cells (mo-DCs) can be a well-tolerated effective treatment in acute myeloid leukemia (AML) patients. Here, we investigated whether we could introduce the receptor for hyaluronic acid-mediated motility (RHAMM/HMMR/CD168), another clinically relevant tumor-associated antigen, into these mo-DCs through mRNA electroporation and elicit RHAMM-specific immune responses. While RHAMM mRNA electroporation significantly increased RHAMM protein expression by mo-DCs, our data indicate that classical mo-DCs already express and present RHAMM at sufficient levels to activate RHAMM-specific T cells, regardless of electroporation. Moreover, we found that RHAMM-specific T cells are present at vaccination sites in AML patients. Our findings implicate that we and others who are using classical mo-DCs for cancer immunotherapy are already vaccinating against RHAMM