Cable Robot Performance Evaluation by Wrench Exertion Capability

Although cable driven robots are a type of parallel manipulators, the evaluation of their performances cannot be carried out using the performance indices already developed for parallel robots with rigid links. This is an obvious consequence of the peculiar features of flexible cables-a cable can only exert a tensile and limited force in the direction of the cable itself. A comprehensive performance evaluation can certainly be attained by computing the maximum force (or torque) that can be exerted by the cables on the moving platform along a specific (or any) direction within the whole workspace. This is the idea behind the index-called the Wrench Exertion Capability (WEC)-which can be employed to evaluate the performance of any cable robot topology and is characterized by an efficient and simple formulation based on linear programming. By significantly improving a preliminary computation method for the WEC, this paper proposes an ultimate formulation suitable for any cable robot topology. Several numerical investigations on planar and spatial cable robots are presented to give evidence of the WEC usefulness, comparisons with popular performance indices are also provided

Kinematic directional index for the performance of redundant manipulators

Performance indexes are a powerful tool to evaluate the behavior of industrial manipulators throughout their workspace and improve their performance. When dealing with intrinsically redundant manipulators, the additional joint influences their performance; hence, it is fundamental to consider the influence of the redundant joint when evaluating the performance index. This work improves the formulation of the kinematic directional index (KDI) by considering redundant manipulators. The KDI represents an improvement over traditional indexes, as it takes into account the direction of motion when evaluating the performance of a manipulator. However, in its current formulation, it is not suitable for redundant manipulators. Therefore, we extend the index to redundant manipulators. This is achieved by adopting a geometric approach that allows identifying the appropriate redundancy to maximize the velocity of a serial manipulator along the direction of motion. This approach is applied to a 4-degree-of-freedom (DOF) planar redundant manipulator and a 7-DOF spatial articulated one. Experimental validation for the articulated robot is presented, demonstrating the effectiveness of the proposed method and its advantages

Análise envoltória de dados para aprimorar a sistemática de precificação em um restaurante casual dining

O estudo propõe a utilização da Análise Envoltória de Dados (AED) para o desenvolvimento de uma sistemática de precificação em um restaurante casual dining. Inicialmente foram gerados índices que descrevem a eficiência de cada prato em utilizar os recursos do restaurante. Com base nesses índices, os pratos menos eficientes são acrescidos de um custo simbólico e tendem a receber um preço maior. Na sequência foram simulados cenários de custos para a equipe de precificação do restaurante, avaliando-se assim o impacto da utilização do índice na determinação dos preços. Os resultados obtidos mostram que o método desenvolvido foi eficiente em incluir na sistemática de precificação fatores outros que o custo de ingredientes

Passive Gravity Balancing with a Self-Regulating Mechanism for Variable Payload

Gravity balancing techniques allow for the reduction of energy consumptions in robotic systems. With the appropriate arrangements, often including springs, the overall potential energy of a manipulator can be made configuration-independent, achieving an indifferent equilibrium for any position. On the other hand, such arrangements lose their effectiveness when some of the system parameters change, including the mass. This paper proposes a method to accommodate different payloads for a mechanism with a single degree-of-freedom (DOF). By means of an auxiliary mechanism including a slider, pulleys and a counterweight, the attachment point of a spring is automatically regulated so as to maintain the system in indifferent equilibrium regardless of the position, even when the overall mass of the system varies. Practical implications for the design of the mechanism are also discussed. Simulation results confirm the effectiveness of the proposed approach

Understanding the Origin and Mixing of Deep Fluids in Shallow Aquifers and Possible Implications for Crustal Deformation Studies: San Vittorino Plain, Central Apennines

Expanding knowledge about the origin and mixing of deep fluids and the water–rock–gas interactions in aquifer systems can represent an improvement in the comprehension of crustal deformation processes. An analysis of the deep and meteoric fluid contributions to a regional groundwater circulation model in an active seismic area has been carried out. We performed two hydrogeochemical screenings of 15 springs in the San Vittorino Plain (central Italy). Furthermore, we updated the San Vittorino Plain structural setting with a new geological map and cross-sections, highlighting how and where the aquifers are intersected by faults. The application of Na-Li geothermometers, coupled with trace element and gas analyses, agrees in attributing the highest temperatures (>150 °C), the greatest enrichments in Li (124.3 ppb) and Cs (>5 ppb), and traces of mantle-derived He (1–2%) to springs located in correspondence with high-angle faults (i.e., S5, S11, S13, and S15). This evidence points out the role of faults acting as vehicles for deep fluids into regional carbonate aquifers. These results highlight the criteria for identifying the most suitable sites for monitoring variations in groundwater geochemistry due to the uprising of deep fluids modulated by fault activity to be further correlated with crustal deformation and possibly with seismicit

The intermediate-age open cluster NGC 2112

We report on $BVI$ CCD photometry of a field centered on the region of the intermediate-age open cluster NGC 2112 down to V=21. Due to the smaller field coverage, we are able to limit the effect of field star contamination which hampered in the past precise determinations of the cluster age and distance. This way, we provide updated estimates of NGC 2112 fundamental parameters. Having extended the photometry to the $I$ pass-band, we are able to construct a colour-colour diagram, from which we infer a reddening $E_{B-V}= 0.63\pm0.14$ mag. The comparison of the Colour-Magnitude Diagram (CMD) with theoretical isochrones leads to a distance of $850 \pm 100$ pc, and an age of $2.0 \pm 0.3$ Gyr. While the distance is in agreement with previous determinations, the age turns out to be much better constrained and significantly lower than previous estimates.Comment: 7 pages, 7 eps figures, in press in MNRA

Planar robotic systems for upper-limb . . .

Rehabilitation is the only way to promote recovery of lost function in post

Artificial Intelligence Application to Screen Abdominal Aortic Aneurysm Using Computed tomography Angiography

The aim of our study is to validate a totally automated deep learning (DL)-based segmentation pipeline to screen abdominal aortic aneurysms (AAA) in computed tomography angiography (CTA) scans. We retrospectively evaluated 73 thoraco-abdominal CTAs (48 AAA and 25 control CTA) by means of a DL-based segmentation pipeline built on a 2.5D convolutional neural network (CNN) architecture to segment lumen and thrombus of the aorta. The maximum aortic diameter of the abdominal tract was compared using a threshold value (30 mm). Blinded manual measurements from a radiologist were done in order to create a true comparison. The screening pipeline was tested on 48 patients with aneurysm and 25 without aneurysm. The average diameter manually measured was 51.1 ± 14.4 mm for patients with aneurysms and 21.7 ± 3.6 mm for patients without aneurysms. The pipeline correctly classified 47 AAA out of 48 and 24 control patients out of 25 with 97% accuracy, 98% sensitivity, and 96% specificity. The automated pipeline of aneurysm measurements in the abdominal tract reported a median error with regard to the maximum abdominal diameter measurement of 1.3 mm. Our approach allowed for the maximum diameter of 51.2 ± 14.3 mm in patients with aneurysm and 22.0 ± 4.0 mm in patients without an aneurysm. The DL-based screening for AAA is a feasible and accurate method, calling for further validation using a larger pool of diagnostic images towards its clinical use

Cognitive Functions and Cognitive Reserve in Relation to Blood Pressure Components in a Population-Based Cohort Aged 53 to 94 Years

In 288 men and women from general population in a cross-sectional survey, all neuropsychological tests were negatively associated with age; memory and executive function were also positively related with education. The hypertensives (HT) were less efficient than the normotensives (NT) in the test of memory with interference at 10 sec (MI-10) (−33%, P = 0.03), clock drawing test (CLOX) (−28%, P < 0.01), and mini-mental state examination (MMSE) (−6%, P = 0.02). Lower MMSE, MI-10, and CLOX were predicted by higher systolic (odds ratio, OR, 0.97, P = 0.02; OR 0.98, P < 0.005; OR 0.95, P < 0.001) and higher pulse blood pressure (BP) (OR 0.97, P = 0.02; OR 0.97, P < 0.01; and 0.95, P < 0.0001). The cognitive reserve index (CRI) was 6% lower in the HT (P = 0.03) and was predicted by higher pulse BP (OR 0.82, P < 0.001). The BP vectors of lower MMSE, MI-10, and CLOX were directed towards higher values of systolic and diastolic BP, that of low CRI towards higher systolic and lower diastolic. The label of hypertension and higher values of systolic or pulse BP are associated to worse memory and executive functions. Higher diastolic BP, although insufficient to impair cognition, strengthens this association. CRI is predicted by higher systolic BP associated to lower diastolic BP

orthostatic hypotension does not increase cardiovascular risk in the elderly at a population level

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