Achievable tolerances in robotic feature machining operations using a low-cost hexapod

Portable robotic machine tools potentially allow feature machining processes to be brought to large parts in various industries, creating an opportunity for capital expenditure and operating cost reduction. However, robots lack the machining capability of conventional equipment, which ultimately results in dimensional errors in parts. This work showcases a low-cost hexapod-based robotic machine tool and presents experimental research conducted to investigate how the widely researched robotic machining challenges, e.g. structural dynamics and kinematics, translate to achievable tolerance ranges in real-world production to highlight currently feasible applications and provide a context for considering technology improvements. Machining trials assess the total dimensional errors in the final part over multiple geometries. A key finding is error variation which is in the sub-millimetre range, although, in some cases, upper tolerance limits < 100 μm are achieved. Practical challenges are also noted. Most significantly, it is demonstrated that dimensional machining error is mainly systematic in nature and therefore that the total error can be dramatically reduced with in situ measurement and compensation. Potential is therefore found to achieve a flexible, high-performance robotic machining capability despite complex and diverse underlying scientific challenges. Overall, the work presented highlights achievable tolerances in low-cost robotic machining and opportunities for improvement, also providing a practical benchmark useful for process selection

Sympathomimetic inefficiency in restoring contractility in the acute or chronic beta-blocker-treated ischaemic heart: comparison with a new agent.

Background: Adequate pharmacologic cardiac support in acute myocardial infarction (MI), as well as in chronic MI patients under β-blocker therapy, is problematic due to the impaired cardiac response to β-adrenergic agonists. New therapeutic approaches could resolve this problem. Istaroxime (ISTA) is a new Na+,K+-ATPase inhibitor and SERCA2 agonist. Aims: To evaluate: 1) the effects of dobutamine (DOB) on left ventricular function in early (48–72 h) and late (14 days) phases of a post-MI canine model, compared to ISTA, and 2) the efficacy of DOB in chronic left ventricular dysfunction (6 months post-MI) in dogs pre-treated or not with a β-blocker, compared with ISTA and milrinone (MIL). Results: When compared to the effects in healthy animals, DOB increased contractility only slightly in the first 48–72 h post-MI, whereas its efficacy recovered partially by day 14 and fully by 6 months after MI. ISTA had a greater effect on contractility than DOB and improved relaxation, while DOB did not. Moreover, ß-adrenergic blockade inhibited the inotropic action of DOB, without altering the effect of ISTA. Surprisingly, ß-adrenergic blockade blunted the effects of MIL. Conclusion: ISTA may represent a novel strategy for enhancing left ventricular performance even in the context of acute MI and/or concomitant β-adrenergic blockade

Can we identify response markers to antihypertensive drugs? First results from the Ideal Trial.

International audienceCurrent antihypertensive strategies do not take into account that individual characteristics may influence the magnitude of blood pressure (BP) reduction. Guidelines promote trial-and-error approaches with many different drugs. We conducted the Identification of the Determinants of the Efficacy of Arterial blood pressure Lowering drugs (IDEAL) Trial to identify factors associated with BP responses to perindopril and indapamide. IDEAL was a cross-over, double-blind, placebo-controlled trial, involving four 4-week periods: indapamide, perindopril and two placebo. Eligible patients were untreated, hypertensive and aged 25-70 years. The main outcome was systolic BP (SBP) response to drugs. The 112 participants with good compliance had a mean age of 52. One in every three participants was a woman. In middle-aged women, the SBP reduction from drugs was -11.5 mm Hg (indapamide) and -8.3 mm Hg (perindopril). In men, the response was significantly smaller: -4.8 mm Hg (indapamide) and -4.3 (perindopril) (P for sex differences 0.001 and 0.015, respectively). SBP response to perindopril decreased by 2 mm Hg every 10 years of age in both sexes (P=0.01). The response to indapamide increased by 3 mm Hg every 10 years of age gradient in women (P=0.02). Age and sex were important determinants of BP response for antihypertensive drugs in the IDEAL population. This should be taken into account when choosing drugs a priori