Design Issues and Application of Cable-Based Parallel Manipulators for Rehabilitation Therapy

In this study, cable-based manipulators are proposed for application in rehabilitation therapies. Cable-based manipulators show good features that are very useful when the system has to interact with humans. In particular, they can be used to aid motion or as monitoring/training systems in rehabilitation therapies. Modelling and simulation of both active and passive cable-based parallel manipulators are presented for an application to help older people, patients or disabled people in the sit-to-stand transfer and as a monitoring/training system. Experimental results are presented by using built prototypes

Design and Development of an Inspection Robotic System for Indoor Applications

The inspection and monitoring of industrial sites, structures, and infrastructure are important issues for their sustainability and further maintenance. Although these tasks are repetitive and time consuming, and some of these environments may be characterized by dust, humidity, or absence of natural light, classical approach relies on large human activities. Automatic or robotic solutions can be considered useful tools for inspection because they can be effective in exploring dangerous or inaccessible sites, at relatively low-cost and reducing the time required for the relief. The development of a paradigmatic system called Inspection Robotic System (IRS) is the main objective of this paper to demonstrate the feasibility of mechatronic solutions for inspection of industrial sites. The development of such systems will be exploited in the form of a tool kit to be flexible and installed on a mobile system, in order to be used for inspection and monitoring, possibly introducing high efficiency, quality and repetitiveness in the related sector. The interoperability of sensors with wireless communication may form a smart sensors tool kit and a smart sensor network with powerful functions to be effectively used for inspection purposes. Moreover, it may constitute a solution for a broad range of scenarios spacing from industrial sites, brownfields, historical sites or sites dangerous or difficult to access by operators. First experimental tests are reported to show the engineering feasibility of the system and interoperability of the mobile hybrid robot equipped with sensors that allow real-time multiple acquisition and storage

Hybrid Inspection Robot for Indoor and Outdoor Surveys

In this paper, simulation and experimental tests are reported for a hybrid robot being used for indoor and outdoor inspections. Automatic or tele-operated surveys can be performed by mobile robots, which represent the most efficient solution in terms of power consumption, control, robustness, and overall costs. In the context of structures and infrastructure inspection, robots must be able to move on horizontal or sloped surfaces and overpass obstacles. In this paper, the mechatronic design, simulations, and experimental activity are proposed for a hybrid robot being used for indoor and outdoor inspections, when the environmental conditions do not allow autonomous navigation. In particular, the hybrid robot is equipped with external and internal sensors to acquire information on the main structural elements, avoiding the need for experienced personnel being directly inside the inspection site, taking information from the environment and aiding the pilot to understand the best maneuvers/decisions to take. Given the current state of research and shortcomings worldwide, this paper discusses inspection robots taking into account the main issues in their use, functionality and standard systems, and how internal sensors can be set in order to improve inspection robots’ performances. On this basis, an illustrative study case is proposed

Global Income Divergence, Trade and Industrialisation: The Geography of Growth Take-Offs

This paper takes a step towards formalizing the theoretical interconnections among four post-Industrial Revolution phenomena - the industrialization and growth take-off of rich 'northern' nations, massive global income divergence, and rapid trade expansion. Specifically, we present a stages-of growth model in which the four phenomena are jointly endogenous and all are trigged by a gradual fall in the cost of doing business internationally. In the first stage, while trade costs are high, industry is dispersed and growth is low. In the second stage, the north industrializes rapidly, growth takes off and the south diverges. In the third stage, high growth becomes self sustaining. The model shows under which conditions, in a fourth stage, the south can quickly industrialize and converge

Direct dynamics of 2D cable-driven parallel robots including cables mass effect and its influence in the control performance

Cable-driven parallel robots are a type of parallel manipulators where rigid links are replaced by actuated cables. Although in many cases dynamic models that neglect the cables mass and elasticity are employed to simulate the robot behavior and test the control approach to be used, there are several situations in which their effect cannot be disregarded, especially when large span cables are used, and the cable mass density generates important cable sagging. This work proposes a dynamic model for planar cable-driven parallel robots with 3 degrees-of-freedom considering cables mass and elasticity. Furthermore, the effect of using control approaches based on massless inelastic cables dynamic models on robots with non-negligible cable mass and elasticity is finally assessed

A model of discriminant analysis on the basis of descriptor variables for the ampelography of Vitis sp.

Use of descriptor variables in ampelography is recommended to simplify recording of data and to enable useful comparisons. Parametric assumptions are, however, poorly satisfied especially with regard to statistical interference. In the paper some statistical procedures to improve the discriminant ability of descriptor variables are considered. The use of variances and covariances of variety by year interactions is suggested for the error matrix within a multiple discriminant analysis procedure. The adequacy of this model is verified in a 3-year experiment with Italian wine varieties. The discriminant power, as evaluated on the basis of the estimated distances among varieties, is satisfactory

Prognostic significance of serine-phosphorylated STAT3 expression in pT1-T2 oral tongue carcinoma

Objectives. Phosphorylated (activated) STAT3 (pSTAT3) is a regulator of numerous genes that play an essential part in the onset, development and progression of cancer; it is involved in cell proliferation and preventing apoptosis, and in invasion, angiogenesis, and the evasion of immune surveillance. This study aimed mainly to investigate the potential prognostic role of pSTAT3 expression in oral tongue squamous cell carcinoma (SCC). Methods. Phospho-ser727 STAT3 immunolabeling was correlated with prognostic parameters in 34 consecutive cases of pT1\u2013T2 tongue SCCs undergoing primary surgery. Computer-based image analysis was used for the immunohistochemical reactions analysis. Results. Statistical analysis showed a difference in disease-free survival (DFS) when patients were stratified by pN status (P=0.031). Most tumors had variable degrees (mean\ub1SD, 80.7%\ub123.8%) of intense nuclear immunoreaction to pSTAT3. Our findings rule out any significant association of serine-phosphorylated nuclear STAT3 expression with tumor stage, grade, lymph node metastasis, recurrence rate, or DFS. Conclusion. In spite of these results, it is worth further investigating the role of pSTAT3 (serine-and tyrosine-pSTAT3) in oral tongue SCC in larger series because preclinical models are increasingly showing that several anticancer strategies would benefit from STAT3 phosphorylation inhibition

Gut microbiota profile in CDKL5 deficiency disorder patients

: CDKL5 deficiency disorder (CDD) is a neurodevelopmental condition characterized by global developmental delay, early-onset seizures, intellectual disability, visual and motor impairments. Unlike Rett Syndrome (RTT), CDD lacks a clear regression period. Patients with CDD frequently encounter gastrointestinal (GI) disturbances and exhibit signs of subclinical immune dysregulation. However, the underlying causes of these conditions remain elusive. Emerging studies indicate a potential connection between neurological disorders and gut microbiota, an area completely unexplored in CDD. We conducted a pioneering study, analyzing fecal microbiota composition in individuals with CDD (n = 17) and their healthy relatives (n = 17). Notably, differences in intestinal bacterial diversity and composition were identified in CDD patients. In particular, at genus level, CDD microbial communities were characterized by an increase in the relative abundance of Clostridium_AQ, Eggerthella, Streptococcus, and Erysipelatoclostridium, and by a decrease in Eubacterium, Dorea, Odoribacter, Intestinomonas, and Gemmiger, pointing toward a dysbiotic profile. We further investigated microbiota changes based on the severity of GI issues, seizure frequency, sleep disorders, food intake type, impairment in neuro-behavioral features and ambulation capacity. Enrichment in Lachnoclostridium and Enterobacteriaceae was observed in the microbiota of patients with more severe GI symptoms, while Clostridiaceae, Peptostreptococcaceae, Coriobacteriaceae, Erysipelotrichaceae, Christensenellaceae, and Ruminococcaceae were enriched in patients experiencing daily epileptic seizures. Our findings suggest a potential connection between CDD, microbiota and symptom severity. This study marks the first exploration of the gut-microbiota-brain axis in subjects with CDD. It adds to the growing body of research emphasizing the role of the gut microbiota in neurodevelopmental disorders and opens doors to potential interventions that target intestinal microbes with the aim of improving the lives of patients with CDD