First analysis and experiments in aerial manipulation using fully actuated redundant robot arm

Abstract-In this paper we describe a system for aerial manipulation composed of a helicopter platform and a fully actuated seven Degree of Freedom (DoF) redundant industrial robotic arm. We present the first analysis of such kind of systems and show that the dynamic coupling between helicopter and arm can generate diverging oscillations with very slow frequency which we called phase circles. Based on the presented analysis, we propose a control approach for the whole system. The partial decoupling between helicopter and arm -which eliminates the phase circles -is achieved by means of special movement of robotic arm utilizing its redundant DoF. For the underlying arm control a specially designed impedance controller was proposed. In different flight experiments we showcase that the proposed kind of system type might be used in the future for practically relevant tasks. In an integrated experiment we demonstrate a basic manipulation task -impedance based grasping of an object from the environment underlaying a visual object tracking control loop

Large scale multifactorial likelihood quantitative analysis of BRCA1 and BRCA2 variants: An ENIGMA resource to support clinical variant classification

The multifactorial likelihood analysis method has demonstrated utility for quantitative assessment of variant pathogenicity for multiple cancer syndrome genes. Independent data types currently incorporated in the model for assessing BRCA1 and BRCA2 variants include clinically calibrated prior probability of pathogenicity based on variant location and bioinformatic prediction of variant effect, co-segregation, family cancer history profile, co-occurrence with a pathogenic variant in the same gene, breast tumor pathology, and case-control information. Research and clinical data for multifactorial likelihood analysis were collated for 1,395 BRCA1/2 predominantly intronic and missense variants, enabling classification based on posterior probability of pathogenicity for 734 variants: 447 variants were classified as (likely) benign, and 94 as (likely) pathogenic; and 248 classifications were new or considerably altered relative to ClinVar submissions. Classifications were compared with information not yet included in the likelihood model, and evidence strengths aligned to those recommended for ACMG/AMP classification codes. Altered mRNA splicing or function relative to known nonpathogenic variant controls were moderately to strongly predictive of variant pathogenicity. Variant absence in population datasets provided supporting evidence for variant pathogenicity. These findings have direct relevance for BRCA1 and BRCA2 variant evaluation, and justify the need for gene-specific calibration of evidence types used for variant classification

Impact of primary kidney disease on the effects of empagliflozin in patients with chronic kidney disease: secondary analyses of the EMPA-KIDNEY trial

Background: The EMPA KIDNEY trial showed that empagliflozin reduced the risk of the primary composite outcome of kidney disease progression or cardiovascular death in patients with chronic kidney disease mainly through slowing progression. We aimed to assess how effects of empagliflozin might differ by primary kidney disease across its broad population. Methods: EMPA-KIDNEY, a randomised, controlled, phase 3 trial, was conducted at 241 centres in eight countries (Canada, China, Germany, Italy, Japan, Malaysia, the UK, and the USA). Patients were eligible if their estimated glomerular filtration rate (eGFR) was 20 to less than 45 mL/min per 1·73 m2, or 45 to less than 90 mL/min per 1·73 m2 with a urinary albumin-to-creatinine ratio (uACR) of 200 mg/g or higher at screening. They were randomly assigned (1:1) to 10 mg oral empagliflozin once daily or matching placebo. Effects on kidney disease progression (defined as a sustained ≥40% eGFR decline from randomisation, end-stage kidney disease, a sustained eGFR below 10 mL/min per 1·73 m2, or death from kidney failure) were assessed using prespecified Cox models, and eGFR slope analyses used shared parameter models. Subgroup comparisons were performed by including relevant interaction terms in models. EMPA-KIDNEY is registered with ClinicalTrials.gov, NCT03594110. Findings: Between May 15, 2019, and April 16, 2021, 6609 participants were randomly assigned and followed up for a median of 2·0 years (IQR 1·5–2·4). Prespecified subgroupings by primary kidney disease included 2057 (31·1%) participants with diabetic kidney disease, 1669 (25·3%) with glomerular disease, 1445 (21·9%) with hypertensive or renovascular disease, and 1438 (21·8%) with other or unknown causes. Kidney disease progression occurred in 384 (11·6%) of 3304 patients in the empagliflozin group and 504 (15·2%) of 3305 patients in the placebo group (hazard ratio 0·71 [95% CI 0·62–0·81]), with no evidence that the relative effect size varied significantly by primary kidney disease (pheterogeneity=0·62). The between-group difference in chronic eGFR slopes (ie, from 2 months to final follow-up) was 1·37 mL/min per 1·73 m2 per year (95% CI 1·16–1·59), representing a 50% (42–58) reduction in the rate of chronic eGFR decline. This relative effect of empagliflozin on chronic eGFR slope was similar in analyses by different primary kidney diseases, including in explorations by type of glomerular disease and diabetes (p values for heterogeneity all >0·1). Interpretation: In a broad range of patients with chronic kidney disease at risk of progression, including a wide range of non-diabetic causes of chronic kidney disease, empagliflozin reduced risk of kidney disease progression. Relative effect sizes were broadly similar irrespective of the cause of primary kidney disease, suggesting that SGLT2 inhibitors should be part of a standard of care to minimise risk of kidney failure in chronic kidney disease. Funding: Boehringer Ingelheim, Eli Lilly, and UK Medical Research Council

Large scale multifactorial likelihood quantitative analysis of BRCA1 and BRCA2 variants: An ENIGMA resource to support clinical variant classification

Abstract The multifactorial likelihood analysis method has demonstrated utility for quantitative assessment of variant pathogenicity for multiple cancer syndrome genes. Independent data types currently incorporated in the model for assessing BRCA1 and BRCA2 variants include clinically calibrated prior probability of pathogenicity based on variant location and bioinformatic prediction of variant effect, co-segregation, family cancer history profile, co-occurrence with a pathogenic variant in the same gene, breast tumor pathology, and case-control information. Research and clinical data for multifactorial likelihood analysis were collated for 1395 BRCA1/2 predominantly intronic and missense variants, enabling classification based on posterior probability of pathogenicity for 734 variants: 447 variants were classified as (likely) benign, and 94 as (likely) pathogenic; 248 classifications were new or considerably altered relative to ClinVar submissions. Classifications were compared to information not yet included in the likelihood model, and evidence strengths aligned to those recommended for ACMG/AMP classification codes. Altered mRNA splicing or function relative to known non-pathogenic variant controls were moderately to strongly predictive of variant pathogenicity. Variant absence in population datasets provided supporting evidence for variant pathogenicity. These findings have direct relevance for BRCA1 and BRCA2 variant evaluation, and justify the need for gene-specific calibration of evidence types used for variant classification. This article is protected by copyright. All rights reserved.Peer reviewe

Exploiting Elastic Energy Storage for Cyclic Manipulation: Modeling, Stability, and Observations for Dribbling

For creating robots that are capable of human like performance in terms of speed, energetic properties, and robustness, intrinsic compliance is a promising design element. In this paper we investigate the effects of elastic energy storage and release for ball dribbling in terms of cycle stability.We base the analysis on error evolution, peak power performance during hand contact, and robustness with respect to varying hand stiffness. As the ball can only be controlled during contact, an intrinsically elastic hand extends the contact time and improves the energetic characteristics of the process. As a human is able to dribble blindly, we decided to focus on the case of contact force sensing only, i.e. no vision is used in our approach

Basketballspielen mit antropomorphen Robotern

Ein vielversprechender Ansatz im Roboterdesign der es voraussichtlich erlaubt in Bereichen wie Geschwindigkeit, energetischen Eigenschaften und Robustheit ähnliche gute Leistungen wie ein Mensch erbringen zu können, ist intrinsische Nachgiebigkeiten im Gelenkdesign zu verwenden. Diese Eigenschaft wird in der vorliegenden Arbeit mit Bezug auf Roboter Basketball untersucht. Da der Ball dabei nur während der kurzen Kontaktphase beeinflusst werden kann, wird eine elastische Hand zur Verlängerung der Kontaktzeit verwendet. Diese Elastizität bietet ausserdem den Vorteil, dass potentielle Energie während des Kontaktes zwischengespeichert werden kann. Dafür werden in dieser Arbeit Analysen der Stabilität und der Regelung dieses Prozesses, sowie eine experimentelle Validierung mit einem DLR Leichtbauroboter mit sieben Freiheitsgsraden präsentiert. Diese Arbeit dient insbesondere auch als Voruntersichung für das neue, am Deutschen Zentrum für Luft- und Raumfahrt gebaute Hand-Arm System, das vollständig mit variabler Steifigkeitsaktuierung ausgerüstet ist. Da ein Mensch in der Lage ist blind zu prellen, haben wir uns dafür entschieden einen Ballbeobachter, der nur die gemessenen Kontaktkräfte des Handkontakts nutzt, zu benutzen, so dass keine bildverabeitenden Methoden von Nöten sind

Exploiting potential energy storage for cyclic manipulation: An analysis for elastic dribbling with an anthropomorphic robot

For creating robots that are capable of human like performance in terms of speed, energetic properties, and robustness, intrinsic compliance is a promising design element for achieving this. In this paper we investigate the effects of elastic energy storage and release for ball dribbling in terms of cycle stability based on the analysis of error evolution, peak power performance during hand contact, and robustness with respect to varying finger stiffness. As the ball can only be controlled during contact, an intrinsically elastic finger extends the contact time and the energetic characteristics of the process. As a human is able to dribble blindly, we decided to develop the foundation for the case of contact force sensing only, i.e. no vision is used for our approach