Energy-based trajectory tracking and vibration control for multilink highly flexible manipulators

In this paper, a discrete model is adopted, as proposed by Hencky for elastica based on rigid bars and lumped rotational springs, to design the control of a lightweight planar manipulator with multiple highly flexible links. This model is particularly suited to deal with nonlinear equations of motion as those associated with multilink robot arms, because it does not include any simplification due to linearization, as in the assumed modes method. The aim of the control is to track a trajectory of the end effector of the robot arm, without the onset of vibrations. To this end, an energy-based method is proposed. Numerical simulations show the effectiveness of the presented approach

Dynamic problems for metamaterials: Review of existing models and ideas for further research

Metamaterials are materials especially engineered to have a peculiar physical behaviour, to be exploited for some well-specified technological application. In this context we focus on the conception of general micro-structured continua, with particular attention to piezoelectromechanical structures, having a strong coupling between macroscopic motion and some internal degrees of freedom, which may be electric or, more generally, related to some micro-motion. An interesting class of problems in this context regards the design of wave-guides aimed to control wave propagation. The description of the state of the art is followed by some hints addressed to describe some possible research developments and in particular to design optimal design techniques for bone reconstruction or systems which may block wave propagation in some frequency ranges, in both linear and non-linear fields. (C) 2014 Elsevier Ltd. All rights reserved

Piezo-electromechanical smart materials with distributed arrays of piezoelectric transducers: Current and upcoming applications

This review paper intends to gather and organize a series of works which discuss the possibility of exploiting the mechanical properties of distributed arrays of piezoelectric transducers. The concept can be described as follows: on every structural member one can uniformly distribute an array of piezoelectric transducers whose electric terminals are to be connected to a suitably optimized electric waveguide. If the aim of such a modification is identified to be the suppression of mechanical vibrations then the optimal electric waveguide is identified to be the 'electric analog' of the considered structural member. The obtained electromechanical systems were called PEM (PiezoElectroMechanical) structures. The authors especially focus on the role played by Lagrange methods in the design of these analog circuits and in the study of PEM structures and we suggest some possible research developments in the conception of new devices, in their study and in their technological application. Other potential uses of PEMs, such as Structural Health Monitoring and Energy Harvesting, are described as well. PEM structures can be regarded as a particular kind of smart materials, i.e. materials especially designed and engineered to show a specific andwell-defined response to external excitations: for this reason, the authors try to find connection between PEM beams and plates and some micromorphic materials whose properties as carriers of waves have been studied recently. Finally, this paper aims to establish some links among some concepts which are used in different cultural groups, as smart structure, metamaterial and functional structural modifications, showing how appropriate would be to avoid the use of different names for similar concepts. © 2015 - IOS Press and the authors

Editorial

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Editorial

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Rationale and study design of intravenous loop diuretic administration in acute heart failure. DIUR-AHF

Aims: Although loop diuretics are the most commonly used drugs in acute heart failure (AHF) treatment, their short-term and long-term effects are relatively unknown. The significance of worsening renal function occurrence during intravenous treatment is not clear enough. This trial aims to clarify all these features and contemplate whether continuous infusion is better than an intermittent strategy in terms of decongestion efficacy, diuretic efficiency, renal function, and long-term prognosis. Methods and results: This is a prospective, multicentre, randomized study that compares continuous infusion to intermittent infusion and a low vs. high diuretic dose of furosemide in patients with a diagnosis of acute heart failure, BNP ≥ 100 pg/mL, and specific chest X-ray signs. Randomization criteria have been established at a 1:1 ratio using a computer-generated scheme of either twice-daily bolus injection or continuous infusion for a time period ranging from 72 to 120 h. The initial dose will be 80 mg/day of intravenous furosemide and, in the case of poor response, will be doubled using an escalation algorithm. A high diuretic dose is defined as a furosemide daily amount >120 mg/day respectively. Conclusions: Continuous and high dose groups could reveal a more intensive diuresis and a greater decongestion with respect to intermittent and low dose groups; high dose and poor loop diuretic efficiency should be related to increased diuretic resistance, renal dysfunction occurrence, and greater congestion status. Poor diuretic response will be associated with less decongestion and an adverse prognosis

Wave reflection at a free interface in an anisotropic pyroelectric medium with nonclassical thermoelasticity

In this paper, the well-established two-dimensional mathematical model for linear pyroelectric materials is employed to investigate the reflection of waves at the boundary between a vacuum and an elastic, transversely isotropic, pyroelectric material. A comparative study between the solutions of (a) classical thermoelasticity, (b) Cattaneo–Lord–Shulman theory and (c) Green–Lindsay theory equations, characterised by none, one and two relaxation times, respectively, is presented. Suitable boundary conditions are considered in order to determine the reflection coefficients when incident elasto–electro–thermal waves impinge the free interface. It is established that, in the quasi-electrostatic approximation, three different classes of waves: (1) two principally elastic waves, namely a quasi-longitudinal Primary (qP) wave and a quasi-transverse Secondary (qS) wave; and (2) a mainly thermal (qT) wave. The observed electrical effects are, on the other hand, a direct consequence of mechanical and thermal phenomena due to pyroelectric coupling. The computed reflection coefficients of plane qP waves are found to depend upon the angle of incidence, the elastic, electric and thermal parameters of the medium, as well as the thermal relaxation times. The special cases of normal and grazing incidence are also derived and discussed. Finally, the reflection coefficients are computed for cadmium selenide observing the influence of (1) the anisotropy of the material, (2) the electrical potential and (3) temperature variations and (4) the thermal relaxation times on the reflection coefficients

Deformation patterns in a second-gradient lattice annular plate composed of "Spira mirabilis" fibers

In this paper, we aim to explore the mechanical potentialities of a material made of an orthogonal net of fibers arranged in logarithmic spirals. Therefore, an annular plate described with a second-gradient model is envisaged to evaluate the behavior of such material in a nonlinear elastic regime when large displacements and deformations occur. Several mechanical tests are performed numerically under the finite element method approximation obtained directly with a weak formulation based on the elastic energy that it is assumed to be predictive for this kind of network system of fibers. Plots reporting the mechanical characteristics in all the considered tests are provided to illustrate the overall mechanical behavior of the evaluated system

The Role of Congestion in Cardiorenal Syndrome Type 2: New Pathophysiological Insights into an Experimental Model of Heart Failure

BACKGROUND: In cardiorenal syndrome type 2 (CRS2), the role of systemic congestion in heart failure (HF) is still obscure. We studied a model of CRS2 [monocrotaline (MCT)-treated rats] secondary to pulmonary hypertension and right ventricular (RV) failure in order to evaluate the contribution of prevalent congestion to the development of kidney injury. METHODS: Ten animals were treated with MCT for 4 weeks until they developed HF. Eleven animals were taken as controls. Signs of hypertrophy and dilatation of the right ventricle demonstrated the occurrence of HF. Brain natriuretic peptide (BNP), serum creatinine (sCreatinine), both kidney and heart neutrophil gelatinase-associated lipocalin (NGAL), matrix metallopeptidase 9 (MMP9), serum cytokines as well as kidney and heart cell death, as assessed by TUNEL, were studied. RESULTS: Rats with HF showed higher BNP levels [chronic HF (CHF) 4.8 ± 0.5 ng/ml; controls 1.5 ± 0.2 ng/ml; p < 0.0001], marked RV hypertrophy and dilatation (RV mass/RV volume: CHF 1.46 ± 0.31, controls 2.41 ± 0.81; p < 0.01) as well as pleural and peritoneal effusions. A significant increase in proinflammatory cytokines and sCreatinine was observed (CHF 3.06 ± 1.3 pg/ml vs. controls 0.54 ± 0.23 pg/ml; p = 0.04). Serum (CHF 562.7 ± 93.34 ng/ml vs. controls 245.3 ± 58.19 ng/ml; p = 0.02) as well as renal and heart tissue NGAL levels [CHF 70,680 ± 4,337 arbitrary units (AU) vs. controls 32,120 ± 4,961 AU; p = 0.001] rose significantly, and they were found to be complexed with MMP9 in CHF rats. A higher number of kidney TUNEL-positive tubular cells was also detected (CHF 114.01 ± 45.93 vs. controls 16.36 ± 11.60 cells/mm(2); p = 0.0004). CONCLUSION: In this model of CHF with prevalent congestion, kidney injury is characterized by tubular damage and systemic inflammation. The upregulated NGAL complexed with MMP9 perpetuates the vicious circle of kidney/heart damage by enhancing the enzymatic activity of MMP9 with extracellular matrix degradation, worsening heart remodeling

Phenotypical heterogeneity linked to adipose tissue dysfunction in patients with type 2 diabetes

Adipose tissue (AT) inflammation leads to increased free fatty acid (FFA) efflux and ectopic fat deposition, but whether AT dysfunction drives selective fat accumulation in specific sites remains unknown. The aim of the present study was to investigate the correlation between AT dysfunction, hepatic/pancreatic fat fraction (HFF, PFF) and the associated metabolic phenotype in patients with Type 2 diabetes (T2D). Sixty-five consecutive T2D patients were recruited at the Diabetes Centre of Sapienza University, Rome, Italy. The study population underwent clinical examination and blood sampling for routine biochemistry and calculation of insulin secretion [homoeostasis model assessment of insulin secretion (HOMA-β%)] and insulin-resistance [homoeostasis model assessment of insulin resistance (HOMA-IR) and adipose tissue insulin resistance (ADIPO-IR)] indexes. Subcutaneous (SAT) and visceral (VAT) AT area, HFF and PFF were determined by magnetic resonance. Some 55.4% of T2D patients had non-alcoholic fatty liver disease (NAFLD); they were significantly younger and more insulin-resistant than non-NAFLD subjects. ADIPO-IR was the main determinant of HFF independently of age, sex, HOMA-IR, VAT, SAT and predicted severe NAFLD with the area under the receiver operating characteristic curve (AUROC)=0.796 (95% confidence interval: 0.65-0.94, P=0.001). PFF was independently associated with increased total adiposity but did not correlate with AT dysfunction, insulin resistance and secretion or NAFLD. The ADIPO-IR index was capable of predicting NAFLD independently of all confounders, whereas it did not seem to be related to intrapancreatic fat deposition; unlike HFF, higher PFF was not associated with relevant alterations in the metabolic profile. In conclusion, the presence and severity of AT dysfunction may drive ectopic fat accumulation towards specific targets, such as VAT and liver, therefore evaluation of AT dysfunction may contribute to the identification of different risk profiles among T2D patients