Vision-enhanced Peg-in-Hole for automotive body parts using semantic image segmentation and object detection

Artificial Intelligence (AI) is an enabling technology in the context of Industry 4.0. In particular, the automotive sector is among those who can benefit most of the use of AI in conjunction with advanced vision techniques. The scope of this work is to integrate deep learning algorithms in an industrial scenario involving a robotic Peg-in-Hole task. More in detail, we focus on a scenario where a human operator manually positions a carbon fiber automotive part in the workspace of a 7 Degrees of Freedom (DOF) manipulator. To cope with the uncertainty on the relative position between the robot and the workpiece, we adopt a three stage strategy. The first stage concerns the Three-Dimensional (3D) reconstruction of the workpiece using a registration algorithm based on the Iterative Closest Point (ICP) paradigm. Such a procedure is integrated with a semantic image segmentation neural network, which is in charge of removing the background of the scene to improve the registration. The adoption of such network allows to reduce the registration time of about 28.8%. In the second stage, the reconstructed surface is compared with a Computer Aided Design (CAD) model of the workpiece to locate the holes and their axes. In this stage, the adoption of a Convolutional Neural Network (CNN) allows to improve the holes’ position estimation of about 57.3%. The third stage concerns the insertion of the peg by implementing a search phase to handle the remaining estimation errors. Also in this case, the use of the CNN reduces the search phase duration of about 71.3%. Quantitative experiments, including a comparison with a previous approach without both the segmentation network and the CNN, have been conducted in a realistic scenario. The results show the effectiveness of the proposed approach and how the integration of AI techniques improves the success rate from 84.5% to 99.0%

Adaptive manifold-mapping using multiquadric interpolation applied to linear actuator design

In this work a multilevel optimization strategy based on manifold-mapping combined with multiquadric interpolation for the coarse model construction is presented. In the proposed approach the coarse model is obtained by interpolating the fine model using multiquadrics in a small number of points. As the algorithms iterates, the response surface model is improved by enriching the set of interpolation points. This approach allows to accurately solve the TEAM Workshop Problem 25 using as little as 33 finite element simulations. Furthermore is allows a robust sizing optimization of a cylindrical voice-coil actuator with seven design variables. Further analysis is required to gain a better understand of the role that the initial coarse model accuracy plays the convergence of the algorithm. The proposed allows to carry out such analysis by varying the number of points included in the initial response surface model. The effect of the trust-region stabilization in the presence of manifolds of equivalent solutions is also a topic of further investigations

The current role of echocardiography in acute aortic syndrome

Acute aortic syndrome (AAS) comprises a range of interrelated conditions caused by disruption of the medial layer of the aortic wall, including aortic dissection, intramural haematoma and penetrating aortic ulcer. Since mortality from AAS is high, a prompt and accurate diagnosis using imaging techniques is paramount. Both transthoracic (TTE) and transoesophageal echocardiography (TEE) are useful in the diagnosis of AAS. TTE should be the first imaging technique to evaluate patients with thoracic pain in the emergency room. Should AAS be suspected, contrast administration is recommended when images are not definitive. TEE allows high-quality images in thoracic aorta. The main drawback of this technique is that it is semi-invasive and the presence of a blind area that limits visualisation of the distal ascending aorta near. TEE identifies the location and size of the entry tear, secondary communications, true lumen compression and the dynamic flow pattern of false lumen. Although computed tomography (CT) is the most used imaging technique in the diagnosis of AAS, echocardiography offers complementary information relevant for its management. The best imaging strategy for appropriately diagnosing and assessing AAS is to combine CT, mainly ECG-gated contrast-enhanced CT, and TTE. Currently, TEE tends to be carried out in the operating theatre immediately before surgical or endovascular therapy and in monitoring their results. The aims of this review are to establish the current role of echocardiography in the diagnosis and management of AAS based on its advantages and limitations

Effects of a Mixed Meal on Hemodynamics and Autonomic Control of the Heart in Patients with Type 1 Diabetes

Abstract Context: Food intake induces relevant cardiovascular changes together with parallel increases in cardiac sympathetic activity and insulin plasma levels in man. Objective: We evaluated hemodynamics, neurohormones, and cardiac autonomic control after eating in patients with type 1 diabetes, a disease characterized by the absence of basal and stimulated insulin production. Design and Setting: Fifteen type 1 diabetic patients and 15 healthy controls underwent blood sampling, electrocardiogram, blood pressure and respiration recordings, and heart rate variability analysis while recumbent, during the 70° head-up tilt, and 20 min after a mixed meal; on another occasion, diabetic patients were also studied 20 min after a mixed meal preceded by their scheduled bolus of exogenous insulin. Spectrum analysis of RR interval provided the indices of sympathetic (LFRR) and vagal (HFRR) modulation of the sinoatrial node. Results: At baseline, no significant differences were found between groups, except for metabolic parameters. Compared with baseline, heart rate, plasma catecholamines, and LFRR significantly (P < 0.005) increased, whereas HFRR significantly (P < 0.0001) decreased during the tilt in all subjects. Compared with baseline, plasma norepinephrine, heart rate, and LFRR significantly (P < 0.05) increased, whereas HFRR significantly (P < 0.02) decreased after eating in controls but not in diabetic patients (with and without insulin administered before eating). In both controls and diabetic patients, no relationship between postprandial changes of insulin and LFRR and HFRR was found. Conclusions: Hemodynamic, neurohormonal, and cardiac neural responses to eating are abnormal in type 1 diabetic patients, independently of insulin

Cardio4Health Study, a Cardiac Telerehabilitation Pilot Program Aimed at Patients After an Ischemic Event: Cross-sectional Study

BackgroundCenter-based cardiac rehabilitation programs (CRPs) reduce morbidity and mortality after an ischemic cardiac event; however, they are widely underused. Home-based CRP has emerged as an alternative to improve patient adherence; however, its safety and efficacy remain unclear, especially for older patients and female patients. ObjectiveThis study aimed to develop a holistic home-based CRP for patients with ischemic heart disease and evaluate its safety and impact on functional capacity, adherence to a healthy lifestyle, and quality of life. MethodsThe 8-week home-based CRP included patients of both sexes, with no age limit, who had overcome an acute myocardial infarction in the previous 3 months, had a left ventricular ejection fraction of ≥40%, and had access to a tablet or mobile device. The CRP was developed using a dedicated platform designed explicitly for this purpose and included 3 weekly exercise sessions combining tailored aerobic and strength training and 2 weekly educational session focused on lifestyle habits, therapeutic adherence, and patient empowerment. ResultsWe initially included 62 patients, of whom 1 was excluded for presenting with ventricular arrhythmias during the initial stress test, 5 were excluded because of incompatibility, and 6 dropped out because of a technological barrier. Ultimately, 50 patients completed the program: 85% (42/50) were male, with a mean age of 58.9 (SD 10.3) years, a mean left ventricular ejection fraction of 52.1% (SD 6.72%), and 25 (50%) New York Heart Association functional class I and 25 (50%) New York Heart Association II-III. The CRP significantly improved functional capacity (+1.6 metabolic equivalent tasks), muscle strength (arm curl test +15.5% and sit-to-stand test +19.7%), weekly training volume (+803 metabolic equivalent tasks), adherence to the Mediterranean diet, emotional state (anxiety), and quality of life. No major complications occurred, and adherence was excellent (>80%) in both the exercise and educational sessions. In the subgroup analysis, CRP showed equivalent beneficial effects irrespective of sex and age. In addition, patient preferences for CRP approaches were equally distributed, with one-third (14/50, 29%) of the patients preferring a face-to-face CRP, one-third (17/50, 34%) preferring a telematic CRP, and one-third (18/50, 37%) preferring a hybrid approach. Regarding CRP duration, 63% (31/50) of the patients considered it adequate, whereas the remaining 37% (19/50) preferred a longer program. ConclusionsA holistic telematic CRP dedicated to patients after an ischemic cardiac event, irrespective of sex and age, is safe and, in our population, has achieved positive results in improving maximal aerobic capacity, weekly training volume, muscle strength, quality of life, compliance with diet, and anxiety symptoms. The preference for a center- or home-based CRP approach is diverse among the study population, emphasizing the need for a tailored CRP to improve adherence and completion rates