An Omnidirectional Aerial Manipulation Platform for Contact-Based Inspection

This paper presents an omnidirectional aerial manipulation platform for robust and responsive interaction with unstructured environments, toward the goal of contact-based inspection. The fully actuated tilt-rotor aerial system is equipped with a rigidly mounted end-effector, and is able to exert a 6 degree of freedom force and torque, decoupling the system's translational and rotational dynamics, and enabling precise interaction with the environment while maintaining stability. An impedance controller with selective apparent inertia is formulated to permit compliance in certain degrees of freedom while achieving precise trajectory tracking and disturbance rejection in others. Experiments demonstrate disturbance rejection, push-and-slide interaction, and on-board state estimation with depth servoing to interact with local surfaces. The system is also validated as a tool for contact-based non-destructive testing of concrete infrastructure.Comment: Accepted submission to Robotics: Science and Systems conference 2019. 9 pages, 12 figure

Antiarrhythmic Medication in Neonates and Infants with Supraventricular Tachycardia

Supraventricular tachycardia (SVT) is the most common arrhythmia in neonates and infants, and pharmacological therapy is recommended to prevent recurrent episodes. This retrospective study aims to describe and analyze the practice patterns, effectiveness, and outcome of drug therapy for SVT in patients within the first year of life. Among the 67 patients analyzed, 48 presented with atrioventricular re-entrant tachycardia, 18 with focal atrial, and one with atrioventricular nodal re-entrant. Fetal tachycardia was reported in 27%. Antiarrhythmic treatment consisted of beta-receptor blocking agents in 42 patients, propafenone in 20, amiodarone in 20, and digoxin in 5. Arrhythmia control was achieved with single drug therapy in 70% of the patients, 21% needed dual therapy, and 6% triple. Propafenone was discontinued in 7 infants due to widening of the QRS complex. After 12 months (6-60), 75% of surviving patients were tachycardia-free and discontinued prophylactic treatment. Patients with fetal tachycardia had a significantly higher risk of persistent tachycardia (p: 0.007). Prophylactic antiarrhythmic medication for SVT in infancy is safe and well tolerated. Arrhythmia control is often achieved with single medication, and after cessation, most patients are free of arrhythmias. Infants with SVT and a history of fetal tachycardia are more prone to suffer from persistent SVT and relapses after cessation of prophylactic antiarrhythmic medication than infants with the first episode of SVT after birth

Cost-optimal adaptive iterative linearized FEM for semilinear elliptic PDEs

We consider scalar semilinear elliptic PDEs where the nonlinearity is strongly monotone, but only locally Lipschitz continuous. We formulate an adaptive iterative linearized finite element method (AILFEM) which steers the local mesh refinement as well as the iterative linearization of the arising nonlinear discrete equations. To this end, we employ a damped Zarantonello iteration so that, in each step of the algorithm, only a linear Poisson-type equation has to be solved. We prove that the proposed AILFEM strategy guarantees convergence with optimal rates, where rates are understood with respect to the overall computational complexity (i.e., the computational time). Moreover, we formulate and test an adaptive algorithm where also the damping parameter of the Zarantonello iteration is adaptively adjusted. Numerical experiments underline the theoretical findings

Interface strength and toughness measurements in multi-layered systems

Over the last years, miniaturization caused increasingly complex thin film combinations and geometries. Since macro scale tests are not suitable, small-scale experiments are suggested to study the materials response in current and future devices at small length scales. Here, focus is placed on the local determination of interface strength and toughness in layered thin films, also accounting for the presence of residual stresses. The investigated materials were sputter deposited Cu-W-Cu and W-Cu-W films with individual layer thicknesses of 500 nm on a Si(100) substrate [1]. Different geometries such as notched bending beams, double cantilever beams, and miniaturized shear specimens were fabricated via cross-section polishing and focused ion beam (FIB) milling to quantitatively test individual interfaces. A schematic representation of the involved test setups is shown in Figure 1. Subsequently, miniaturized fracture experiments parallel [2] and perpendicular [3] to the interfaces were performed in-situ in the SEM to obtain comprehensive knowledge of the fracture and interface toughness. Complementary, nanoindentation induced buckles were analyzed. Please click Additional Files below to see the full abstract

Die Neupositionierung des Wealth Management in der Schweiz : Entwicklungen und ihre Auswirkungen auf die Soll-Kompetenzen in der Kundenberatung

StudieDie vorliegende Studie zeichnet ein umfassendes Bild zur Neupositionierung des Wealth Management in der Schweiz. Sie stützt sich dabei namentlich auf eine Online-Befragung von in der Kundenberatung tätigen Personen und auf persönliche Interviews mit Führungskräften von Schweizer Banken ab. Dabei stand insgesamt die Frage im Zentrum, wie sich die Rahmenbedingungen für die Beratung von Privatkunden im Wealth Management verändern werden und was dies für die zukünftigen Soll-Kompetenzen von Kundenberatern und den Aus- und Weiterbildungsbedarf bedeutet

Pioneering Robotic Liver Surgery in Germany: First Experiences with Liver Malignancies

Background Minimally invasive liver surgery is growing worldwide with obvious benefits for the treated patients. These procedures maybe improved by robotic techniques, which add several innovative features. In Germany, we were the first surgical department implementing robotic assisted minimally invasive liver resections. Material and methods Between June 2013 and March 2015, we performed robotic based minimally invasive liver resections in nine patients with malignant liver disease. Five off these patients suffered from primary and four from secondary liver malignancies. We retrospectively analyzed the perioperative variables of these patients and the oncological follow up. Results Mean age of the patients was 63 years (range 45–71). One patient suffered from intrahepatic cholangiocellular, four from hepatocellular carcinoma, and four patients from colorectal liver metastases. In six patients, left lateral liver resection, in two cases single segment resection, and in one case minimally invasive guided liver ablation were performed. Five patients underwent previous abdominal surgery. Mean operation time was 312 min (range 115–458 min). Mean weight of the liver specimens was 182 g (range 62–260 g) and mean estimated blood loss was 251 ml (range 10–650 ml). The mean tumor size was 4.4 cm (range 3.5–5.5 cm). In all cases, R0 status was confirmed with a mean margin of 0.6 cm (range 0.1–1.5 cm). One patient developed small bowel fistula on postoperative day 5, which could be treated conservatively. No patient died. Mean hospital stay of the patients was 6 days (range 3–10 days). During a mean follow up of 12 months (range 1–21 months), two patients developed tumor recurrence. Conclusion Robotic-based liver surgery is feasible in patients with primary and secondary liver malignancies. To achieve perioperative parameters comparable to open settings, the learning curve must be passed. Minor liver resections are good candidates to start this technique. But the huge benefits of robotic-based liver resections should be expected in extended procedures beyond minor liver resections with the currently available technology