Calibration of Parallel Kinematic Machines: theory and applications

Introduction As already stated in the chapter addressing the calibration of serial manipulators, kinematic calibration is a procedure for the identification and the consequent compensation of the geometrical pose errors of a robot. This chapter extends the discussion to Parallel Manipulators (also called PKM Parallel Kinematic Machines). As described in the following (Section 2) this extension is not obvious but requires special care. Although for serial manipulators some procedures for the calibration based on automatic generation of a MCPC (Minimum Complete Parametrically Continuos) model exist, for PKMs only methodologies for individual manipulators have been proposed but a general strategy has not been presented since now. A few examples of the numerous approaches for the calibration of individual PKMs are proposed in (Parenti-Castelli & Di Gregorio, 1995), (Jokiel et al., 2000) for direct calibration and (Neugebauer et al., 1999), (Smollett, 1996) for indirect or self calibration techniques. This paper makes one significant step integrating available results with new ones and reordering them in simple rules that can be automatically applied to any PKM with general kinematic chains. In all the cases a MCPC kinematic model for geometrical calibration is automatically obtained. In Section 2 the main features of PKMs calibration is pointed out and the total number of the necessary parameters is determined; this is an original contribution. In Sections 3 and 4 two novel approaches for the generation of a MCPC model are described. Sections 5 and 6 are dedicated to the analysis of the singular cases and to the procedure for the elimination of the redundant parameters respectively; actual cases are discussed. Section 7 presents several examples of application of the two proposed procedures to many existing PKMs. Section 8 eventually draws the conclusions

Photoluminescence, photoabsorption and photoemission studies of hydrazone thin film used as hole transporting material in OLEDs

A fotoluminescência de filmes finos de 1-(3-metilfenil)-1,2,3,4-tetrahidroquinolina-6-carboxialdeído-1,1’-difenilhidrazona foi monitorada em função da irradiação com luz UV. A intensidade da emissão decresce exponencialmente com o tempo de exposição, sugerindo degradação das amostras. Com o objetivo de investigar os mecanismos de degradação e determinar a estrutura eletrônica desse material orgânico usado com sucesso como camada transportadora de buracos na fabricação de diodos orgânicos emissores de luz (OLEDs), foram empregadas as técnicas de fotoabsorção e de fotoemissão nas bordas 1s do carbono e do nitrogênio bem como na banda de valência. A influência da luz solar foi simulada usando radiação síncrotron não-monocromática. Após exposição, todos os espectros apresentam um decréscimo nos sinais de fotoabsorção e de fotoemissão, que é menos acentuado na borda do carbono, apresentando, entretanto, um decréscimo drástico na borda do nitrogênio e na região de valência. O estudo sugere que a perda de nitrogênio é a principal causa para a quebra do sistema π, levando, dessa forma, à falha do dispositivo fabricado com esse composto.Photoluminescence (PL) emission of 1-(3-methylphenyl)-1,2,3,4-tetrahydroquinoline-6-carboxyaldehyde-1,1’-diphenylhydrazone (MTCD) thin films was monitored as a function of UV irradiation, and it was found to decrease exponentially with the exposure time. In order to gain insight into the degradation mechanisms and evaluate the electronic structure of this organic material used with good results as hole transporting layer (HTL) in the fabrication of organic light emitting diodes (OLEDs), synchrotron radiation-based photoabsorption and photoemission techniques at the carbon and nitrogen 1s edges as well as at the valence band were employed. The influence of sunlight was simulated using non-monochromatized synchrotron radiation. After exposure all the spectra show a decrease of the photoabsorption and photoemission signals, however, while it is less accentuated at the carbon edge, at the nitrogen edge and at the valence region it decreases drastically. The loss of nitrogen is suggested to be the main step in the disruption of the π system, leading to the failure of the devices fabricated with this compound as hole transporting layer

Low drug levels and thrombotic complications in high-risk atrial fibrillation patients treated with direct oral anticoagulants

Essentials Direct oral anticoagulants (DOACs) do not require laboratory monitoring currently. DOAC specific measurements were performed at trough in patients with atrial fibrillation. Patients who developed thromboembolic events showed lower DOAC plasma levels. This study supports the concept of measuring DOAC levels at steady state. Summary: Background Direct oral anticoagulants (DOACs) are administered at fixed doses without the need for dose adjustment according to laboratory testing. High interindividual variability in drug blood levels has been shown with all DOACs. To evaluate a possible relationship between DOAC C-trough anticoagulant levels and thromboembolic events, 565 consecutive naive patients with atrial fibrillation (AF) were enrolled in this study performed within the START Laboratory Registry. Methods DOAC-specific measurements (diluted thrombin time or anti-activated factor II calibrated for dabigatran; anti-activated FX calibrated for rivaroxaban or apixaban) at C-trough were performed locally at steady state within 15–25 days after the start of treatment. For each DOAC, the interval of C-trough levels, from the limit of quantification to the highest value, was subdivided into four equal classes, and results were attributed to these classes; the median values of results were also calculated. Thromboembolic complications occurring during 1 year of follow-up were recorded. Results Thromboembolic events (1.8%) occurred in 10 patients who had baseline C-trough levels in the lowest class of drug levels. The incidence of thromboembolic events among patients with DOAC C-trough levels in the lowest level class was 2.4%, and that in the remaining groups was 0%. The patients with thrombotic complications also had a higher mean CHA2DS2-VASc score than that of the total patient population: 5.3 (95% confidence interval [CI] 4.3–6.3 versus 3.0 (95% CI 2.9–3.1). Conclusion In this study cohort, thrombotic complications occurred only in DOAC-treated AF patients who had very low C-trough levels, with a relatively high CHA2DS2-VASc score. Larger studies are warranted to confirm these preliminary observations. © 2018 The Authors. Journal of Thrombosis and Haemostasis published by Wiley Periodicals, Inc. on behalf of International Society on Thrombosis and Haemostasis

Tumores odontogénicos a células fantasmas. Conceptos actuales y aporte de 10 nuevos casos

Registros de casosSe presentan 10 nuevos casos de neoplasias odontogénicas a células fantasmas del archivo de la Cátedra de Anatomía Patológica de la Facultad de Odontología de la UDELAR de Montevideo, Uruguay. Estos tumores constituyeron el 0,08 porciento del total de biopsias del Servicio y el 2,9 porciento de todas las neoplasias odontogénicas registradas. Nueve fueron tumores odontogénicos quísticos calcificantes y uno fue tumor dentinogénico a células fantasmas. Ocho casos fueron centrales y dos periféricos (uno, quístico y el otro, sólido). Se registraron las características clínicas, radiográficas e histopatológicas y se compararon con otros trabajos de la literatura internacional.(AU

Comparison of five specific assays for determination of dabigatran plasma concentrations in patients enrolled in the START-Laboratory Register

Introduction: Several specific assays are commercially available to determine dabigatran anticoagulant activity. Aims of this multicenter and multiplatform study were to compare five methods for dabigatran measurement and investigate their performances in the low concentration range. Methods: Dabigatran levels were analyzed in 295 plasma samples from patients enrolled in the START-Laboratory Register by the following methods using dedicated calibrators and controls: STA-ECA II (Diagnostica Stago), standard and low range Hemoclot Thrombin Inhibitors (Hyphen BioMed), Direct Thrombin Inhibitor Assay (Instrumentation Laboratory), Direct Thrombin Inhibitor Assay (Siemens), Technoclot DTI (Technoclone). Results: Methods showed variable agreement with the Hemoclot Thrombin Inhibitors assay used as reference test, with modest under- or overestimations (Bland-Altman bias from −17.3 to 4.0 ng/mL). Limits of detection and quantification varied depending on the assay (4-52 and 7-82 ng/mL, respectively). Between-run precision and accuracy were good for all methods for both quality control levels. Assay's repeatability assessed at very low dabigatran concentrations (from 10 to 60 ng/mL) was also acceptable, variability generally increased at lower drug levels. Conclusion: The five dabigatran-specific assays evaluated in this study provided reliable assessment of dabigatran plasma levels, although showing different performances. © 2018 The Authors. International Journal of Laboratory Hematology Published by John Wiley & Sons Lt

Numerical experiments on the atmospheric response to cold equatorial Pacific conditions ("La Nina") during northern summer

The effect of cold conditions in the central and eastern Equatorial Pacific during Northern Summer is examined in a series of numerical experiments with the low resolution (T21) atmospheric general circulation model ECHAM2. Anomalous sea surface temperatures (SST) as observed in June 1988 were prescribed and the effect on the global circulation is examined. In the model atmosphere, the anomalous cold water in the Equatorial Pacific excites a strong and stable response over the tropical Central and East Pacific. From here stationary Rossby waves radiate into both hemispheres. The Northern Hemisphere wave train is weak and affects only the Northeast Pacific area; the Southern Hemisphere wave train arches from the Central Pacific over the southern tip of South America to the South Atlantic. This response is not only present in the basic anomaly experiment with the T21 GCM but also in experiments with SST anomalies confined to the tropics and with an envelope- forrnulation of the SST anomalies, in experiments with a linear model, and in high resolution (T42) model experiments. The model output is also compared to the actually observed atmospheric state in June 1988. The model simulations do not reproduce the global circulation anomalies which were observed in June 1988. The model experiments are inconclusive with respect to the question of whether the North American drought observed in summer 1988 was related to the anomalous SST conditions in the Subtropical and Tropical Pacific. An explanatory analysis with a linear model reacting to prescribed heating anomalies as well as with the high-resolution GCM indicates that the model overreacted to the equatorial SST anomalies but almost ignored the contemporaneous subtropical SST anomalies on the Southern Hemisphere

D-dimer testing, with gender-specific cutoff levels, is of value to assess the individual risk of venous thromboembolic recurrence in non-elderly patients of both genders: a post hoc analysis of the DULCIS study

Male patients, especially the young, are at a higher risk of recurrent venous thromboembolism (RVTE) than females. Recent scientific reports show the use of D-dimer does not help predict RVTE risk in males. In the present report, we reviewed the data obtained in the DULCIS study (main report published in Blood 2014), focusing on D-dimer results recorded in non-elderly patients of both genders included in the study, and their relationship with RVTE events occurring during follow-up. Using specifically designed cutoff values for positive/negative interpretation, serial D-dimer measurements (performed during warfarin treatment and up to 3 months after discontinuation of anticoagulation) in 475 patients (males 57.3%) aged 64 65 years were obtained. D-dimer resulted positive in 46.3% and 30.5% of males and females, respectively (p = 0.001). Following management procedure, anticoagulation was stopped in 53.7% of males and 69.5% of females, who had persistently negative D-dimer results. The rate of subsequent recurrent events was 1.7% (95% CI 0.5\u20134.5%) and 0.4% (95% CI 0\u20132.5%) patient-years in males and females, respectively, with upper limits of confidence intervals always below the level of risk considered acceptable by international scientific societies for stopping anticoagulation (< 5%). In conclusion, using sensitive quantitative assays with specifically designed cutoff values and serial measurements during and after discontinuation of anticoagulation, D-dimer testing is useful to predict the risk of RVTE and is of help in deciding the duration of anticoagulation in both male and female adult patients aged up to 65 years

Wnt5a Drives an Invasive Phenotype in Human Glioblastoma Stem-like Cells

Brain invasion by glioblastoma determines prognosis, recurrence, and lethality in patients, but no master factor coordinating the invasive properties of glioblastoma has been identified. Here we report evidence favoring such a role for the noncanonical WNT family member Wnt5a. We found the most invasive gliomas to be characterized by Wnt5a overexpression, which correlated with poor prognosis and also discriminated infiltrating mesenchymal glioblastoma from poorly motile proneural and classical glioblastoma. Indeed, Wnt5a overexpression associated with tumor-promoting stem-like characteristics (TPC) in defining the character of highly infiltrating mesenchymal glioblastoma cells (Wnt5aHigh). Inhibiting Wnt5a in mesenchymal glioblastoma TPC suppressed their infiltrating capability. Conversely, enforcing high levels of Wnt5a activated an infiltrative, mesenchymal-like program in classical glioblastoma TPC and Wnt5aLow mesenchymal TPC. In intracranial mouse xenograft models of glioblastoma, inhibiting Wnt5a activity blocked brain invasion and increased host survival. Overall, our results highlight Wnt5a as a master regulator of brain invasion, specifically TPC, and they provide a therapeutic rationale to target it in patients with glioblastoma