Calibration of Parallel Kinematic Machines: theory and applications

Introduction As already stated in the chapter addressing the calibration of serial manipulators, kinematic calibration is a procedure for the identification and the consequent compensation of the geometrical pose errors of a robot. This chapter extends the discussion to Parallel Manipulators (also called PKM Parallel Kinematic Machines). As described in the following (Section 2) this extension is not obvious but requires special care. Although for serial manipulators some procedures for the calibration based on automatic generation of a MCPC (Minimum Complete Parametrically Continuos) model exist, for PKMs only methodologies for individual manipulators have been proposed but a general strategy has not been presented since now. A few examples of the numerous approaches for the calibration of individual PKMs are proposed in (Parenti-Castelli & Di Gregorio, 1995), (Jokiel et al., 2000) for direct calibration and (Neugebauer et al., 1999), (Smollett, 1996) for indirect or self calibration techniques. This paper makes one significant step integrating available results with new ones and reordering them in simple rules that can be automatically applied to any PKM with general kinematic chains. In all the cases a MCPC kinematic model for geometrical calibration is automatically obtained. In Section 2 the main features of PKMs calibration is pointed out and the total number of the necessary parameters is determined; this is an original contribution. In Sections 3 and 4 two novel approaches for the generation of a MCPC model are described. Sections 5 and 6 are dedicated to the analysis of the singular cases and to the procedure for the elimination of the redundant parameters respectively; actual cases are discussed. Section 7 presents several examples of application of the two proposed procedures to many existing PKMs. Section 8 eventually draws the conclusions

Do women with venous thromboembolism bleed more than men during anticoagulation? Data from the real-life, prospective START-Register

Background: Venous thromboembolism (VTE) is a frequent and serious disease that requires immediate and long-term anticoagulant treatment, which is inevitably associated with a risk of bleeding complications. Some studies, though not all, reported a higher risk of bleeding in female patients treated with either old anticoagulants [vitamin k antagonists (VKAs)] or recent anticoagulants [direct oral anticoagulants (DOACs)]. Furthermore, analyses of clinical trials reported an abnormal vaginal bleeding in women of reproductive age treated with DOACs. This study aimed at comparing the risk of bleeding in an inception cohort of VTE women and men included in a prospective observational registry. Methods: Baseline characteristics and bleeding events occurring during anticoagulation in patients of both sexes, included in the START-Register after a first VTE, were analyzed. Results: In all, 1298 women were compared with 1290 men. Women were older and more often had renal diseases; their index events were often provoked (often by hormonal contraception and pregnancy), and more frequently presented as isolated pulmonary embolism (PE). The rate of bleeding was similar in women (2.9% patient-years) and men (2.1% patient-years), though it was higher when uterine bleeds were included (3.5% patient-years, p = 0.0141). More bleeds occurred in VKA- than DOAC-treated patients (6.4% versus 2.6%, respectively; p = 0.0013). At multivariate analysis, age ⩾ 75 years was associated with higher prevalence of bleeds. Conclusion: The occurrence of bleeding was not different between women and men during anticoagulation after VTE. Only after inclusion of vaginal/uterine bleeds, the rate of bleeding was higher in women. The incidence of bleeding was higher in women treated with VKAs. Background: The occurrence of a venous thromboembolic event (VTE, including deep vein thrombosis and pulmonary embolism) necessarily requires a period of at least 3–6 months of treatment with anticoagulant drugs [either vitamin k antagonists (VKA) or, more recently, direct oral anticoagulants (DOACs)]. Anticoagulation therapy, however, is associated with a risk of bleeding that is influenced by several factors. Sex is one of these factors as some authors have hypothesized that women are at higher risk than men. Furthermore, some studies have recently found more vaginal bleeding in VTE women treated with a DOAC compared with those who received VKAs. Methods: The present study aimed to compare the frequency of bleeds occurring in women and in men who were treated with DOACs or VKAs for a first VTE event and followed in real-life conditions. Since the beginning of their anticoagulant treatment, the patients were included in a prospective, multicenter, observational registry (the START-Register), and bleeding events were recorded. Results: A total of 1298 women were compared with 1290 men. Women were older and more often were affected by renal diseases; their VTE events were often associated with risk factors (especially hormonal contraception and pregnancy) and presented as isolated pulmonary embolism. The rate of all bleeding events (including major, non-major but clinically relevant, and minor bleeds) was higher in women (3.5% patient-years) than in men (2.1% patient-years, p = 0.0141); however, the difference was no longer statistically significant after exclusion of uterine bleeds (2.9% patient years). More bleeding occurred in women receiving VKA as anticoagulant drug compared with those treated with a DOAC (6.4% versus 2.6%, respectively; p = 0.0013). At multivariate analysis, age ⩾ 75 years was associated with higher prevalence of bleeds. Conclusion: In conclusion, we found that in real-life conditions, the rate of bleeding events occurring during anticoagulation after a VTE episode is not higher in women than in men. Only after inclusion of vaginal bleeds, the rate of bleeding was higher in women. More bleeds (including vaginal bleeding) occurred in women treated with VKA than DOACs. © The Author(s), 2021

Photoluminescence, photoabsorption and photoemission studies of hydrazone thin film used as hole transporting material in OLEDs

A fotoluminescência de filmes finos de 1-(3-metilfenil)-1,2,3,4-tetrahidroquinolina-6-carboxialdeído-1,1’-difenilhidrazona foi monitorada em função da irradiação com luz UV. A intensidade da emissão decresce exponencialmente com o tempo de exposição, sugerindo degradação das amostras. Com o objetivo de investigar os mecanismos de degradação e determinar a estrutura eletrônica desse material orgânico usado com sucesso como camada transportadora de buracos na fabricação de diodos orgânicos emissores de luz (OLEDs), foram empregadas as técnicas de fotoabsorção e de fotoemissão nas bordas 1s do carbono e do nitrogênio bem como na banda de valência. A influência da luz solar foi simulada usando radiação síncrotron não-monocromática. Após exposição, todos os espectros apresentam um decréscimo nos sinais de fotoabsorção e de fotoemissão, que é menos acentuado na borda do carbono, apresentando, entretanto, um decréscimo drástico na borda do nitrogênio e na região de valência. O estudo sugere que a perda de nitrogênio é a principal causa para a quebra do sistema π, levando, dessa forma, à falha do dispositivo fabricado com esse composto.Photoluminescence (PL) emission of 1-(3-methylphenyl)-1,2,3,4-tetrahydroquinoline-6-carboxyaldehyde-1,1’-diphenylhydrazone (MTCD) thin films was monitored as a function of UV irradiation, and it was found to decrease exponentially with the exposure time. In order to gain insight into the degradation mechanisms and evaluate the electronic structure of this organic material used with good results as hole transporting layer (HTL) in the fabrication of organic light emitting diodes (OLEDs), synchrotron radiation-based photoabsorption and photoemission techniques at the carbon and nitrogen 1s edges as well as at the valence band were employed. The influence of sunlight was simulated using non-monochromatized synchrotron radiation. After exposure all the spectra show a decrease of the photoabsorption and photoemission signals, however, while it is less accentuated at the carbon edge, at the nitrogen edge and at the valence region it decreases drastically. The loss of nitrogen is suggested to be the main step in the disruption of the π system, leading to the failure of the devices fabricated with this compound as hole transporting layer

D-dimer levels during and after anticoagulation withdrawal in patients with venous thromboembolism treated with non-Vitamin K anticoagulants

Background D-dimer levels measured during and after vitamin K antagonist withdrawal may be used in clinical practice to assess the individual risk of recurrent venous thromboembolism. Currently, direct oral anticoagulants (DOACs) are frequently used in venous thromboembolism treatment; however, their pharmacokinetics and pharmacodynamics characteristics are completely different than vitamin K antagonists. The present study aimed at comparing the results of D-dimer levels during and after anticoagulation withdrawal in patients with venous thromboembolism treated with DOACs or warfarin. Material and methods D-dimer levels were measured in 527 patients (\u201ccases\u201d) during DOACs treatment (T0) and after 15 (T15), 30 (T30), 60 (T60) and 90 (T90) days after their discontinuation and in 527 patients (\u201ccontrols\u201d) enrolled in the DULCIS study (all treated with warfarin), matched for sex, age (+/-3 y), type of D-dimer assay and site of venous thromboembolism. Both cases and controls received anticoagulant treatment after a first venous thromboembolism event that was unprovoked or associated with weak risk factors. Results The rate of positive D-dimer results was significantly higher in cases than in controls at T0 (10.8% vs 5.1%, p = 0.002) and at T30 (18.8% vs 11.8%, p = 0.019), as well as at the other time-points, though not statistically significant. Conclusion D-dimer levels during and after stopping an anticoagulant treatment for a venous thromboembolism episode differ between patients treated with a DOAC than in those treated with warfarin. Specifically designed prospective studies are warranted to reassess the use of D-dimer as predictor of the risk of recurrent venous thromboembolism in patients treated with DOACs

Low drug levels and thrombotic complications in high-risk atrial fibrillation patients treated with direct oral anticoagulants

Essentials Direct oral anticoagulants (DOACs) do not require laboratory monitoring currently. DOAC specific measurements were performed at trough in patients with atrial fibrillation. Patients who developed thromboembolic events showed lower DOAC plasma levels. This study supports the concept of measuring DOAC levels at steady state. Summary: Background Direct oral anticoagulants (DOACs) are administered at fixed doses without the need for dose adjustment according to laboratory testing. High interindividual variability in drug blood levels has been shown with all DOACs. To evaluate a possible relationship between DOAC C-trough anticoagulant levels and thromboembolic events, 565 consecutive naive patients with atrial fibrillation (AF) were enrolled in this study performed within the START Laboratory Registry. Methods DOAC-specific measurements (diluted thrombin time or anti-activated factor II calibrated for dabigatran; anti-activated FX calibrated for rivaroxaban or apixaban) at C-trough were performed locally at steady state within 15–25 days after the start of treatment. For each DOAC, the interval of C-trough levels, from the limit of quantification to the highest value, was subdivided into four equal classes, and results were attributed to these classes; the median values of results were also calculated. Thromboembolic complications occurring during 1 year of follow-up were recorded. Results Thromboembolic events (1.8%) occurred in 10 patients who had baseline C-trough levels in the lowest class of drug levels. The incidence of thromboembolic events among patients with DOAC C-trough levels in the lowest level class was 2.4%, and that in the remaining groups was 0%. The patients with thrombotic complications also had a higher mean CHA2DS2-VASc score than that of the total patient population: 5.3 (95% confidence interval [CI] 4.3–6.3 versus 3.0 (95% CI 2.9–3.1). Conclusion In this study cohort, thrombotic complications occurred only in DOAC-treated AF patients who had very low C-trough levels, with a relatively high CHA2DS2-VASc score. Larger studies are warranted to confirm these preliminary observations. © 2018 The Authors. Journal of Thrombosis and Haemostasis published by Wiley Periodicals, Inc. on behalf of International Society on Thrombosis and Haemostasis

A full conformational characterization of antiandrogen cortexolone- 17α-propionate and related compounds through theoretical calculations and nuclear magnetic resonance spectroscopy

Cortexolone-17\u3b1-propionate is a topical antiandrogen under investigation for the treatment of androgen-related skin disorders. A full conformational characterization was realized, in comparison with other steroidal androgens and antiandrogens, by means of theoretical calculations at the B3LYP/6-31G(d) level supported by high-field NMR analyses. All of the studied molecules showed a good overlay; nevertheless, the different functional groups present in the skeleton of the molecules drive the individual biological profile. \ua9 2014 the Partner Organisations

Numerical experiments on the atmospheric response to cold equatorial Pacific conditions ("La Nina") during northern summer

The effect of cold conditions in the central and eastern Equatorial Pacific during Northern Summer is examined in a series of numerical experiments with the low resolution (T21) atmospheric general circulation model ECHAM2. Anomalous sea surface temperatures (SST) as observed in June 1988 were prescribed and the effect on the global circulation is examined. In the model atmosphere, the anomalous cold water in the Equatorial Pacific excites a strong and stable response over the tropical Central and East Pacific. From here stationary Rossby waves radiate into both hemispheres. The Northern Hemisphere wave train is weak and affects only the Northeast Pacific area; the Southern Hemisphere wave train arches from the Central Pacific over the southern tip of South America to the South Atlantic. This response is not only present in the basic anomaly experiment with the T21 GCM but also in experiments with SST anomalies confined to the tropics and with an envelope- forrnulation of the SST anomalies, in experiments with a linear model, and in high resolution (T42) model experiments. The model output is also compared to the actually observed atmospheric state in June 1988. The model simulations do not reproduce the global circulation anomalies which were observed in June 1988. The model experiments are inconclusive with respect to the question of whether the North American drought observed in summer 1988 was related to the anomalous SST conditions in the Subtropical and Tropical Pacific. An explanatory analysis with a linear model reacting to prescribed heating anomalies as well as with the high-resolution GCM indicates that the model overreacted to the equatorial SST anomalies but almost ignored the contemporaneous subtropical SST anomalies on the Southern Hemisphere