Human-robot collaboration for surface treatment tasks

[EN] This paper presents a human-robot closely collaborative solution to cooperatively perform surface treatment tasks such as polishing, grinding, finishing, deburring, etc. The proposed scheme is based on task priority and non-conventional sliding mode control. Furthermore, the proposal includes two force sensors attached to the manipulator end-effector and tool: one sensor is used to properly accomplish the surface treatment task, while the second one is used by the operator to guide the robot tool. The applicability and feasibility of the proposed collaborative solution for robotic surface treatment are substantiated by experimental results using a redundant 7R manipulator: the Sawyer collaborative robot.This work was supported in part by the Spanish Government under the project DPI-201787656-C2-1-R and the Generalitat Valenciana under Grant VALi+d.Gracia Calandin, LI.; Solanes Galbis, JE.; Muñoz-Benavent, P.; Valls Miro, J.; Perez-Vidal, C.; Tornero Montserrat, J. (2019). Human-robot collaboration for surface treatment tasks. Interaction Studies. 20(1):148-184. https://doi.org/10.1075/is.18010.graS148184201Angel-Fernandez, J. M., & Bonarini, A. (2016). Robots Showing Emotions. Interaction Studies / Social Behaviour and Communication in Biological and Artificial Systems, 17(3), 408-437. doi:10.1075/is.17.3.06angArnal, L., Solanes, J. E., Molina, J., & Tornero, J. (2017). Detecting dings and dents on specular car body surfaces based on optical flow. Journal of Manufacturing Systems, 45, 306-321. doi:10.1016/j.jmsy.2017.07.006Chiaverini, S., Oriolo, G., & Walker, I. D. (2008). Kinematically Redundant Manipulators. Springer Handbook of Robotics, 245-268. doi:10.1007/978-3-540-30301-5_12Dimeas, F., & Aspragathos, N. (2016). Online Stability in Human-Robot Cooperation with Admittance Control. IEEE Transactions on Haptics, 9(2), 267-278. doi:10.1109/toh.2016.2518670Edwards, C., & Spurgeon, S. (1998). Sliding Mode Control. doi:10.1201/9781498701822Engeberg, E. 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Do relative positions and proxemics affect the engagement in a Human-Robot collaborative scenario? Interaction Studies / Social Behaviour and Communication in Biological and Artificial Systems, 17(3), 321-347. doi:10.1075/is.17.3.01papRoswell, A., Xi, F. (Jeff), & Liu, G. (2006). Modelling and analysis of contact stress for automated polishing. International Journal of Machine Tools and Manufacture, 46(3-4), 424-435. doi:10.1016/j.ijmachtools.2005.05.006Sakaino, S., & Ohnishi, K. (2006). Sliding Mode Control Based on Position Control for Contact Motion Applied to Hopping Robot. 2006 IEEE International Conference on Industrial Technology. doi:10.1109/icit.2006.372347Shi, Y., Zheng, D., Hu, L., Wang, Y., & Wang, L. (2011). NC polishing of aspheric surfaces under control of constant pressure using a magnetorheological torque servo. The International Journal of Advanced Manufacturing Technology, 58(9-12), 1061-1073. doi:10.1007/s00170-011-3445-9Siciliano, B., Sciavicco, L., Villani, L., & Oriolo, G. (2009). Robotics. Advanced Textbooks in Control and Signal Processing. doi:10.1007/978-1-84628-642-1Tian, F., Li, Z., Lv, C., & Liu, G. (2016). Polishing pressure investigations of robot automatic polishing on curved surfaces. The International Journal of Advanced Manufacturing Technology, 87(1-4), 639-646. doi:10.1007/s00170-016-8527-2Tornero, J., Armesto, L., Mora, M. C., Monteś, N., Herráez, Á., & Asensio, J. (2012). Detección de Defectos en Carrocerías de Vehículos Basado en Visión Artificial: Diseño e Implantación. Revista Iberoamericana de Automática e Informática Industrial RIAI, 9(1), 93-104. doi:10.1016/j.riai.2011.11.010Utkin, V., Guldner, J., & Shi, J. (2017). Sliding Mode Control in Electro-Mechanical Systems. doi:10.1201/9781420065619Vlachos, E., Jochum, E., & Demers, L.-P. (2016). 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Composition of Constraint, Hypothesis and Error Models to improve interaction in Human-Machine Interfaces

We use Weighted Finite-State Transducers (WFSTs) to represent the different sources of information available: the initial hypotheses, the possible errors, the constraints imposed by the task (interaction language) and the user input. The fusion of these models to find the most probable output string can be performed efficiently by using carefully selected transducer operations. The proposed system initially suggests an output based on the set of hypotheses, possible errors and Constraint Models. Then, if human intervention is needed, a multimodal approach, where the user input is combined with the aforementioned models, is applied to produce, with a minimum user effort, the desired output. This approach offers the practical advantages of a de-coupled model (e.g. input-system + parameterized rules + post-processor), keeping at the same time the error-recovery power of an integrated approach, where all the steps of the process are performed in the same formal machine (as in a typical HMM in speech recognition) to avoid that an error at a given step remains unrecoverable in the subsequent steps. After a presentation of the theoretical basis of the proposed multi-source information system, its application to two real world problems, as an example of the possibilities of this architecture, is addressed. The experimental results obtained demonstrate that a significant user effort can be saved when using the proposed procedure. A simple demonstration, to better understand and evaluate the proposed system, is available on the web https://demos.iti.upv.es/hi/. (C) 2015 Elsevier B.V. All rights reserved.Navarro Cerdan, JR.; Llobet Azpitarte, R.; Arlandis, J.; Perez-Cortes, J. (2016). Composition of Constraint, Hypothesis and Error Models to improve interaction in Human-Machine Interfaces. Information Fusion. 29:1-13. doi:10.1016/j.inffus.2015.09.001S1132

Analytical applications of single particle inductively coupled plasma mass spectrometry: a comprehensive and critical review

Single particle inductively coupled plasma mass spectrometry (SP-ICP-MS) refers to the use of ICP-MS as a particle counting technique. When ICP-MS measurements are performed at very high data acquisition frequencies, information about (nano)particles containing specific elements and their dissolved forms can be obtained (element mass per particle, size and number and mass concentrations). As a result of its outstanding performance, SP-ICP-MS has become a relevant technique for the analysis of complex samples containing inorganic nanoparticles. This review discusses the maturity level achieved by the technique through the methods developed for the detection, characterisation and quantification of engineered and natural (nano)particles. The application of these methods in different analytical scenarios is comprehensively reviewed and critically discussed, with special attention to their current technical and metrological limitations. The emergent applications of SP-ICP-MS in the field of nanoparticle-tagged immunoassay and hybridization methods are also reviewed

Challenges in genetic counseling in hereditary cancer syndromes in a Mexican oncologic center

Background: In Mexico, hereditary cancer is underdiagnosed, medical geneticists give genetic counseling, but the access is limited due to the socio-economic characteristics of the population. The CUCC (Centro Universitario Contra el Cáncer) Early Cancer Detection Clinic (CECIL) created a model in which patients without cancer are enrolled in a prevention cancer screening program. Methods: From 2016 to 2021, 3014 patients were enrolled in the prevention program. Patients were evaluated with a hereditary cancer risk survey before a consultation. Those with at least one familial hereditary risk positive answer were assessed in a consultation. We also included patients with cancer diagnoses referred by oncologists of the CUCC. Those who fulfill hereditary cancer criteria were referred for genetic testing. Results: A total of 1119 subjects were evaluated. Of these, 248 (21%) were candidates for genetic testing, only 149 (60%) could be analyzed, 52 probands (59%) and 32 relatives (51%) had at least one variant. Among the probands: 33 had HBOC (Hereditary Breast and Ovarian Cancer syndrome), 7 had Lynch, 1 LFS (Li-Fraumeni syndrome), 1 LFLS (Li-Fraumeni like syndrome), 1 FAP (Familial Adenomatous Polyposis), and 9 had benign variants. In the relative\u27s group: 17 had Lynch, 10 HBOC, 1 LFS, and 4 FAP. To date, 3 patients under surveillance had an in situlesions (1 endometrial and two colon), and 3 more had a premalignant colon lesion, one in the not tested group. To achieve the genetic test cost for the probands, 50% had partial sponsors, 31% paid for their tests, research projects were supported by 13%, and 4.5% were donations. Among relatives, 94.4% paid for the tests, and 5.5% were supported by research. All relatives were tested using an in-house low-cost test. Conclusion: The model\u27s success made awareness of these diseases, leading last year to the formation of a state detection program, including all public and private health institutions attending to patients with cancer, these patients are referred to CECIL. We found an effective way to find support low-cost genetic testing via foundations

Development of a thermosensitive hydrogel based on Polaxamer 407 and gellan gum with inclusion complexes (Sulfobutylated-β-cyclodextrin-Farnesol) as a local drug delivery system

This work proposes the development of a thermosensitive local drug release system based on Polaxamer 407, also known as Pluronic® F-127 (PF-127), Gellan Gum (GG) and the inclusion complex Sulfobutylated-β-cyclodextrin (CD) with Farnesol (FOH). Rheological properties of the hydrogels and their degradation were studied. According to the rheological results, a solution of 20% w/v of PF-127 forms a strong gel with a gelling temperature of about 25 °C (storage modulus of 15,000 Pa). The addition of the GG increased the storage modulus (optimal concentration of 0.5 % w/v) twofold without modifying the gelling temperature. Moreover, including 0.5% w/v of GG also increased 6 times the degradation time of the hydrogel. Regarding the inclusion complex, the addition of free CD decreased the viscosity and the gel strength since polymer chains were included in CD cavity without affecting the gelling temperature. Contrarily, the inclusion complex CD-FOH did not significantly modify any property of the formulation because the FOH was hosted in the CD. Furthermore, a mathematical model was developed to adjust the degradation time. This model highlights that the addition of the GG decreases the number of released chains from the polymeric network (which coincides with an increase in the storage modulus) and that the free CD reduces the degradation rate, protecting the polymeric chains. Finally, FOH release was quantified with a specific device, that was designed and printed for this type of system, observing a sustainable drug release (similar to FOH aqueous solubility, 8 μM) dependent on polymer degradation

Disparate miRNA expression in serum and plasma of patients with acute myocardial infarction: a systematic and paired comparative analysis

Despite the promising value of miRNAs in the diagnostic and prognostic of cardiovascular disease (CVD), recent meta-analyses did not support their potential. Methodological variances in studies may interfere with miRNA profle and afect their results. This study determines if the blood starting material is a source of variance in miRNA profle by performing a paired comparison in plasma and serum of the expression of primary miRNAs associated with CVD. Circulating miRNA yield was similar in both plasma and serum, although a signifcant increase was observed in patients with Non-ST-elevation myocardial infarction (NSTEMI) compared to control volunteers. When normalized by the expression of miR-484, diferent patterns of miRNA expression between serum and plasma. Although NSTEMI modifed the expression of miR-1 and miR-208 in both serum and plasma, plasma displayed a higher variance than serum (Levene's test p<0.01). For miR-133a and miR-26a, diferences were only detected in serum (p=0.0240), and conversely, miR-499a showed diferences only in plasma of NSTEMI (p=0.001). Interestingly, miR-21 showed an opposite pattern of expression, being increased in serum (2−ΔΔCt : 5.7, p=0.0221) and decreased in plasma (2−ΔΔCt : 0.5, p=0.0107). Plasma and serum exhibit diferent patterns of circulating miRNA expression in NSTEMI and suggest that results from studies with diferent starting material could not be comparable

SEOM clinical guideline for treatment of kidney cancer (2017)

The goal of this article is to provide recommendations about the management of kidney cancer. Based on pathologic and molecular features, several kidney cancer variants were described. Nephron-sparing techniques are the gold standard of localized disease. After a randomized trial, sunitinib could be considered in adjuvant treatment in high-risk patients. Patients with advanced disease constitute a heterogeneous population. Prognostic classification should be considered. Both sunitinib and pazopanib are the standard options for first-line systemic therapy in advanced renal cell carcinoma. Based on the results of two randomized trials, both nivolumab and cabozantinib should be considered the standard for second and further lines of therapy. Response evaluation for present therapies is a challenge

Robust Hybrid Position-Force Control for Robotic Surface Polishing

[EN] This work presents a hybrid position-force control of robots for surface polishing using task priority. The robot force control is designed using sliding mode ideas in order to benefit from its inherent robustness and low computational cost. In order to avoid the chattering drawback typically present in sliding mode control, several chattering-free controllers are evaluated and tested. A distinctive feature of the method is that the sliding mode force task is defined using not only equality constraints but also inequality constraints, which are satisfied using conventional and nonconventional sliding mode control, respectively. Moreover, a lower priority tracking controller is defined to follow the desired reference trajectory on the surface being polished. The applicability and the effectiveness of the proposed approach considering the mentioned chattering-free controllers are substantiated by experimental results using a redundant 7R manipulator.Spanish Government, Agencia Estatal de Investigacion (DPI2017-87656-C2-1-R). Generalitat Valenciana, Conselleria d'Educacion, Investigacion, Cultura i Esport (VALi+d APOSTD/2016/044).Solanes Galbis, JE.; Gracia Calandin, LI.; Muñoz-Benavent, P.; Valls Miro, J.; Perez-Vidal, C.; Tornero Montserrat, J. (2019). Robust Hybrid Position-Force Control for Robotic Surface Polishing. Journal of Manufacturing Science and Engineering. 141(1):1-14. https://doi.org/10.1115/1.4041836S114141

Monte Carlo flattening filter design to high energy intraoperative electron beam homogenization

[EN] Intraoperative radiotherapy using mobile linear accelerators is used for a wide variety of malignancies. However, when large fields are used in combination with high energies, a deterioration of the flatness dose profile is measured with respect to smaller fields and lower energies. Indeed, for the LIAC HWL of Sordina, this deterioration is observed for the 12 MeV beam combined with 10 cm (or larger) diameter applicator. Aimed to solve this problem, a flattening filter has been designed and validated evaluating the feasibility of its usage at the upper part of the applicator. The design of the filter was based on Monte Carlo simulations because of its accuracy in modeling components of clinical devices, among other purposes. The LIAC 10 cm diameter applicator was modeled and simulated independently by two different research groups using two different MC codes, reproducing the heterogeneity of the 12 MeV energy beam. Then, an iterative process of filter design was carried out. Finally, the MC designed conical filter with the optimal size and height to obtain the desired flattened beam was built in-house using a 3D printer. During the experimental validation of the applicator-filter, percentage depth dose, beam profiles, absolute and peripheral dose measurements were performed to demonstrate the effectiveness of the filter addition in the applicator. These measurements conclude that the beam has been flattened, from 5.9% with the standard configuration to 1.6% for the configuration with the filter, without significant increase of the peripheral dose. Consequently, the new filter-applicator LIAC configuration can be used also in a conventional surgery room. A reduction of 16% of the output dose and a reduction of 1.1 mm in the D50 of the percentage depth dose was measured with respect to the original configuration. This work is a proof-of-concept that demonstrates that it is possible to add a filter able to flatten the beam delivered by the Sordina LIAC HWL. Future studies will focus on more refined technical solutions fully compatible with the integrity of the applicator, including its sterilization, to be safely introduced in the clinical practice.The authors declare the following financial interests/personal relationships which may be considered as potential competing interests: Giuseppe Felici reports a relationship with S.I.T. Sordina IORT Technologies S.p.A. that includes: employment. We thank the professionals and facilities at the 3D printing and metrology department in the Mechanics Unit at IFIC. JV thanks I. Diaz for measuring the PLA density. We thank S.I.T. SORDINA IORT Tech-nologies SpA for providing the applicator used for testing the filter during the measurements. JV, FB, and JP would like to acknowledge the Spanish "Ministerio de Ciencia e Innovacion" (MCIN) grant PID2021-125096NB-I00 funded by MCIN/AEI/10.13039 and the "Generalitat Valenciana" (GVA) grant PROMETEO/2021/064.Oliver-Gil, S.; Vijande, J.; Tejedor-Aguilar, N.; Miró Herrero, R.; Rovira-Escutia, JJ.; Ballester, F.; Juste-Vidal, B.... (2023). Monte Carlo flattening filter design to high energy intraoperative electron beam homogenization. Radiation Physics and Chemistry. 212. https://doi.org/10.1016/j.radphyschem.2023.11110221

Clinical characteristics and evaluation of LDL-cholesterol treatment of the Spanish Familial Hypercholesterolemia Longitudinal Cohort Study (SAFEHEART)

<p>Abstract</p> <p>Aim</p> <p>Familial hypercholesterolemia (FH) patients are at high risk for premature coronary heart disease (CHD). Despite the use of statins, most patients do not achieve an optimal LDL-cholesterol goal. The aims of this study are to describe baseline characteristics and to evaluate Lipid Lowering Therapy (LLT) in FH patients recruited in SAFEHEART.</p> <p>Methods and Results</p> <p>A cross-sectional analysis of cases recruited in the Spanish FH cohort at inclusion was performed. Demographic, lifestyle, medical and therapeutic data were collected by specific surveys. Blood samples for lipid profile and DNA were obtained. Genetic test for FH was performed through DNA-microarray. Data from 1852 subjects (47.5% males) over 19 years old were analyzed: 1262 (68.1%, mean age 45.6 years) had genetic diagnosis of FH and 590 (31.9%, mean age 41.3 years) were non-FH. Cardiovascular disease was present in 14% of FH and in 3.2% of non-FH subjects (P < 0.001), and was significantly higher in patients carrying a null mutation compared with those carrying a defective mutation (14.87% vs. 10.6%, respectively, P < 0.05). Prevalence of current smokers was 28.4% in FH subjects. Most FH cases were receiving LLT (84%). Although 51.5% were receiving treatment expected to reduce LDL-c levels at least 50%, only 13.6% were on maximum statin dose combined with ezetimibe. Mean LDL-c level in treated FH cases was 186.5 mg/dl (SD: 65.6) and only 3.4% of patients reached and LDL-c under 100 mg/dl. The best predictor for LDL-c goal attainment was the use of combined therapy with statin and ezetimibe.</p> <p>Conclusion</p> <p>Although most of this high risk population is receiving LLT, prevalence of cardiovascular disease and LDL-c levels are still high and far from the optimum LDL-c therapeutic goal. However, LDL-c levels could be reduced by using more intensive LLT such as combined therapy with maximum statin dose and ezetimibe.</p