Studio e modellazione della biomeccanica della propulsione nell'Octopus vulgaris e realizzazione di un prototipo robotico che ne sfrutta il principio di funzionamento

Il presente lavoro di tesi è mirato alla realizzazione di un robot fedelmente ispirato alle caratteristiche funzionali e strutturali dei cefalopodi, in particolare dell’Octopus vulgaris; il robot ottenuto è infatti in grado di muoversi in ambiente acquatico sfruttando le strategie di tale specie animale. Inoltre, sempre secondo l’analogia con i cefalopodi, il robot realizzato è completamente soft, fatta eccezione per il meccanismo attuativo. A seguito di un’analisi accurata delle caratteristiche fluidodinamiche della propulsione a getto pulsato nel contesto biologico ed in quello dei robot sottomarini attualmente esistenti, sono stati realizzati sia un modello della biomeccanica della propulsione di un cefalopode, sia dell’equivalente meccanismo attuativo da implementare nel robot. In funzione dei risultati ottenuti sono state selezionate le scelte attuative e di design più funzionali per sviluppare il robot secondo i principi biomimetici e si è giunti infine alla produzione di un manufatto le cui performances sono state testate tramite esperimenti in acqua. Il lavoro dà dunque risalto a due temi salienti della robotica attuale, la soft robotics e la bioispirazione, dando luogo ad un prototipo che si pone come primo esempio di robot soft sottomarino con propulsione bioispirata

High incidence of severe cyclosporine neurotoxicity in children affected by haemoglobinopaties undergoing myeloablative haematopoietic stem cell transplantation: early diagnosis and prompt intervention ameliorates neurological outcome

<p>Abstract</p> <p>Background</p> <p>Neurotoxicity is a recognized complication of cyclosporine A (CSA) treatment. The incidence of severe CSA-related neurological complications following hematopoietic stem cell transplantation (HSCT) is 4-11%.</p> <p>Methods</p> <p>We describe 6 cases of CSA related neurotoxicity out of 67 matched related HSCT performed in paediatric Middle East patients affected by haemoglobinopaties (5 beta thalassemia major, 1 sickle cell disease-SCD). Conditioning regimen consisted of iv busulphan, cyclophosphamide and graft-versus-host-disease (GvHD) prophylaxis with CSA, methylprednisolone, methotrexate and ATG.</p> <p>Results</p> <p>All 6 patients presented prodromes such as arterial hypertension, headache, visual disturbances and vomiting, one to two days before overt CSA neurotoxicity. CSA neurotoxicity consisted of generalized seizures, signs of endocranial hypertension and visual disturbances at a median day of onset of 11 days after HSCT (range +1 to +40). Brain magnetic resonance imaging (MRI) performed in all subjects showed reversible leukoencephalopathy predominantly in the posterior regions of the brain (PRES) in 5/6 patients. EEG performed in 5/6 patients was always abnormal. Neurotoxicity was not explainable by high CSA blood levels, as all patients had CSA in the therapeutic range with a median of 178 ng/ml (range 69-250). CSA was promptly stopped and switched to tacrolimus with disappearance of clinical and radiological findings. All patients are symptoms-free at a median follow up of 882 days (range 60-1065).</p> <p>Conclusions</p> <p>Our experience suggests that paediatric patients with haemoglobinopaties have a high incidence of CSA related neurological events with no correlation between serum CSA levels and neurotoxicity. Prognosis is good following CSA removal. Specific prodromes such as arterial hypertension, headache or visual disturbances occurring in the early post-transplant period should be carefully evaluated with electrophysiological and MRI-based imaging in order to intervene promptly and avoid irreversible sequels.</p

An elastic pulsed-jet thruster for soft unmanned underwater vehicles

This paper reports on the development of a new kind of unmanned underwater vehicle which draws inspiration from cephalopods both in terms of morphology and swimming routine. The robot developed here is the first in its kind, being a soft aquatic robot which travels in water by pulsed-jet propulsion. The general design principles of this innovative kind of underwater robot are illustrated and a first prototype is built and tested. The experiments demonstrate an inverse correlation between the frequency of pulsation and the speed of the robot. A mathematical model which associates the kinematics of the pulsating routine to the dynamics of the swimming is devised and compared with the experiments in order to better investigate the interplay of the various design parameters

Sensorized toys for measuring manipulation capabilities of infants at home

Preterm infants, i.e. babies born after a gestation period shorter than 37 weeks, spend less time exploring objects. The quantitative measurement of grasping actions and forces in infants can give insights on their typical or atypical motor development. The aim of this work was to test a new tool, a kit of sensorized toys, to longitudinally measure, monitor and promote preterm infants manipulation capabilities with a purposive training in an ecological environment. This study presents preliminary analysis of grasping activity. Three preterm infants performed 4 weeks of daily training at home. Sensorized toys with embedded pressure sensors were used as part of the training to allow quantitative analysis of grasping (pressure and acceleration applied to toys while playing). Each toy was placed on the midline, while the infant was in supine position. Preliminary data show differences in the grasping parameters in relation to infants age and the performed daily training. Ongoing clinical trial will allow a full validation of this new tool for promoting object exploration in preterm infants

An active simulator for neonatal intubation: Design, development and assessment

This study describes the technical realization and the pre-clinical validation of a instrumented neonatal intubation skill trainer able to provide objective feedback for the improvement of clinical competences required for such a delicate procedure. The Laerdal® Neonatal Intubation Trainer was modified by applying pressure sensors on areas that are mainly subject to stress and potential injuries. Punctual Force Sensing Resistors (FSRs) were characterized and fixed on the external side of the airway structure on the dental arches and epiglottis. A custom silicone tongue was designed and developed to integrate a matrix textile sensor for mapping the pressure applied on its whole surface. The assessment of the developed tool was performed by nine clinical experts who were asked to practice three intubation procedures apiece. Median and maximum forces, over threshold events (i.e. 2 N for gingival arch sensors and 7 N for epiglottis and tongue sensors respectively) and execution time were measured for each trainee. Data analysis from training sessions revealed that the epiglottis is the point mainly stressed during an intubation procedure (maximum value: 16.69 N, median value: 3.11 N), while the analysis carried out on the pressure distribution on the instrumented tongue provided information on both force values and distribution, according to clinicians’ performance. The debriefing phase was used to enhance the clinicians’ awareness of applied force and gestures performed, confirming that the present study is an adequate starting point for achieving and optimizing neonatal intubation skills for both residents and expert clinicians

Pressure mapping with textile sensors for compression therapy monitoring

Compression therapy is the cornerstone of treatment in the case of venous leg ulcers. The therapy outcome is strictly dependent on the pressure distribution produced by bandages along the lower limb length. To date, pressure monitoring has been carried out using sensors that present considerable drawbacks, such as single point instead of distributed sensing, no shape conformability, bulkiness and constraints on patient’s movements. In this work, matrix textile sensing technologies were explored in terms of their ability to measure the sub-bandage pressure with a suitable temporal and spatial resolution. A multilayered textile matrix based on a piezoresistive sensing principle was developed, calibrated and tested with human subjects, with the aim of assessing real-time distributed pressure sensing at the skin/bandage interface. Experimental tests were carried out on three healthy volunteers, using two different bandage types, from among those most commonly used. Such tests allowed the trends of pressure distribution to be evaluated over time, both at rest and during daily life activities. Results revealed that the proposed device enables the dynamic assessment of compression mapping, with a suitable spatial and temporal resolution (20 mm and 10 Hz, respectively). In addition, the sensor is flexible and conformable, thus well accepted by the patient. Overall, this study demonstrates the adequacy of the proposed piezoresistive textile sensor for the real-time monitoring of bandage-based therapeutic treatments