On the Suspension Design of Paquitop, a Novel Service Robot for Home Assistance Applications

The general and constant ageing of the world population that has been observed in the last decade has led robotics researchers community to focus its aims to answer the ever-growing demand for health care, housing, care-giving, and social security. Among others, the researchers at Politecnico di Torino are developing a novel platform to enhance the performance offered by present-day issues, and to assess many others which were not even taken into consideration before they have been highlighted by the pandemic emergency currently in progress. This situation, in fact, made dramatically clear how important it is to have reliable non-human operators whom one can trust when the life of elderly or weak patients is endangered by the simple presence of other people. The platform, named Paquitop, features an innovative architecture conceived for omni-directional planar motion. The machine is designed for domestic, unstructured, and variously populated environments. Therefore, the mobile robot should be able to avoid or pass over small obstacles, passing through the capability to achieve specific person tracking tasks, and arriving to the need of operating with an high dynamic performance. Given its purpose, this work addresses the design of the suspension system which enables the platform to ensure a steady floor contact and adequate stability in every using condition. Different configurations of such system are then presented and compared through use-case simulations

Rehabilitation Machine for Bariatric Individuals

Obesity is known to be growing worldwide. The World Health Organization (WHO) reports that obesity has tripled since 1975. In 2016, 39% of adults over 18 years old were overweight, and 13% were obese. Obesity is mostly preventable by adopting lifestyle improvements, enhancing diet quality, and doing physical exercise. The workload of the physical exercises should be proportionate to the patient’s capabilities. However, it must be considered that obese people are not used to training; they may not endure physical exertion and, even more critically, they could have some psychological impediments to the workouts. Physical exercises and equipment must, therefore, guarantee comfort and prevent situations in which the bariatric individual may feel inadequate. For these reasons, this study aims to design an innovative system to approach simple physical activities, like leg and arm exercises, to bariatric users to enable them to recover mobility and muscle tone gradually. The leading feature of this architecture is the design of hidden exercise mechanisms to overcome the psychological barriers of the users toward these kinds of machines. This paper proposes the initial design of the main sub-systems composing the rehabilitation machine, namely the leg curl and leg extension mechanism and its control architecture, the upper body exercises system, and a series of regulation mechanisms required to accommodate a wide range of users. The proposed functional design will then lead to the development of a prototype to validate the machine

An Estimator for the Kinematic Behaviour of a Mobile Robot Subject to Large Lateral Slip

In this paper, the effects of wheel slip compensation in trajectory planning for mobile tractor-trailer robot applications are investigated. Firstly, a kinematic model of the proposed robot architecture is marked out, then an experimental campaign is done to identify if it is possible to kinematically compensate trajectories that otherwise would be subject to large lateral slip. Due to the close connection to the experimental data, the results shown are valid only for Epi.q, the prototype that is the main object of this manuscript. Nonetheless, the base concept can be usefully applied to any mobile robot subject to large lateral slip

La robotica sposa la sostenibilità: due esempi dal Politecnico di Torino

Il robot per l’agricoltura di precisione e la sedia a rotelle robotizzata: due esempi dal Politecnico di Torino di robotica di servizio e sostenibilità. Dagli obiettivi ONU alla progettazione, focus sulle diverse tipologie di robot e i rispettivi tassi di crescita. Da bilanciare sui bisogni di esseri umani e ambient

Paraoxonase Activity and Genotype Predispose to Successful Aging

The paraoxonase 1 codon 192 R allele has been previously reported to have a role in successful aging. The relationship between PON1 genotypes, enzymatic activity, and mass concentration was evaluated in a group of 229 participants from 22 to 104 years of age, focusing our attention on nonagenarian/centenarian participants. We found a genetic control for paraoxonase activity that is maintained throughout life, also in the nonagenarians/centenarians. This activity decreases significantly during aging and shows different mean values among R and M carriers, where R+ and M− carriers have the significant highest paraoxonase activity. Results from the multinomial regression logistic model show that paraoxonase activity as well as R+ and M− carriers contribute significantly to the explanation of the longevity phenotype. In conclusion, we show that genetic variability at the PON1 locus is related to paraoxonase activity throughout life, and suggest that both parameters affect survival at extreme advanced ag

Postoperative Delirium after elective and emergency surgery: analysis and checking of risk factors. A study protocol

BACKGROUND: Delirum is common in hospitalized elderly patients and may be associated with increased morbidity, length of stay and patient care costs. Delirium (acute confusional state) is defined as an acute disorder of attention and cognition. In elderly patients, delirium is often an early indicator of patho-physiological disturbances. Despite landmark studies dating back to the 1940s, the pathogenesis of Delirium remains poorly understood. Early investigators noted that Delirium was characterized by global cortical dysfunction that was associated predominantly with specific electroencephalographic changes. It's important to understand the risk factors and incidence of Delirium. Some of the risk factors are already identified in literature and can be summarized in the word "VINDICATE" which stands for: Vascular, Infections, Nutrition, Drugs, Injury, Cardiac, Autoimmune, Tumors, Endocrine. Aims of this study are: to re-evaluate the above mentioned clinical risk factors, adding some others selected from literature, and to test, as risk factors, a pattern of some genes associated to cognitive dysfunction and inflammation possibly related to postoperative Delirium. DESIGN: All patients admitted to our Emergency Unit who are meet our inclusion/exclusion criteria will be recruited. The arising of postoperative Delirium will select incidentally two groups (Delirium/non Delirium) and the forward analysis of correlate risk factors will be performed. As in a typical observational case/control study we will consider all the exposure factors to which our population are submitted towards the outcome (presence of Delirium). Our exposures are the following: ASA, Pain (SVS; VAS), Blood gas analysis (pH; Hb; pO2; pCO2), Residence pharmacological therapy (BDZ; hypnotics; narcotic drugs; alcohol; nitrous derivates), Body temperature, Arterial pressure, Heart frequency, Breath frequency, Na, K, Creatinin, Glicemia, Albumin, Hct, White blood cells, Glasgow Coma Scale (GCS), Cognitive state (SPMSQ), Functional state (ADL and IADL), Psychological Distress (HADS), Cumulative Illness Rating Scale (CIRS), Hypotension (classified in: light; moderate and severe and duration), Blood loss (classified in: < 2 lt and > 2 lt), Blood transfusions (< 2 lt and > 2 lt), Quantity of red cells and plasma transfusions, Visual VAS / SVS (timing: I-II-III post-operative day), Red cells and Plasma transfusions, Blood count evaluation and Saturation (O(2)%), Postoperative analgesia (Emilia-Romagna protocol), Presence of malignant tumoral disease, APACHE Score II. Moreover the presence of some relevant genetic polymorphisms will be studied in different genes such as IL-6, IL-10, TNF-alpha, and IL-1 cluster

Homologous recombination DNA repair defects in PALB2-associated breast cancers.

Mono-allelic germline pathogenic variants in the Partner And Localizer of BRCA2 (PALB2) gene predispose to a high-risk of breast cancer development, consistent with the role of PALB2 in homologous recombination (HR) DNA repair. Here, we sought to define the repertoire of somatic genetic alterations in PALB2-associated breast cancers (BCs), and whether PALB2-associated BCs display bi-allelic inactivation of PALB2 and/or genomic features of HR-deficiency (HRD). Twenty-four breast cancer patients with pathogenic PALB2 germline mutations were analyzed by whole-exome sequencing (WES, n = 16) or targeted capture massively parallel sequencing (410 cancer genes, n = 8). Somatic genetic alterations, loss of heterozygosity (LOH) of the PALB2 wild-type allele, large-scale state transitions (LSTs) and mutational signatures were defined. PALB2-associated BCs were found to be heterogeneous at the genetic level, with PIK3CA (29%), PALB2 (21%), TP53 (21%), and NOTCH3 (17%) being the genes most frequently affected by somatic mutations. Bi-allelic PALB2 inactivation was found in 16 of the 24 cases (67%), either through LOH (n = 11) or second somatic mutations (n = 5) of the wild-type allele. High LST scores were found in all 12 PALB2-associated BCs with bi-allelic PALB2 inactivation sequenced by WES, of which eight displayed the HRD-related mutational signature 3. In addition, bi-allelic inactivation of PALB2 was significantly associated with high LST scores. Our findings suggest that the identification of bi-allelic PALB2 inactivation in PALB2-associated BCs is required for the personalization of HR-directed therapies, such as platinum salts and/or PARP inhibitors, as the vast majority of PALB2-associated BCs without PALB2 bi-allelic inactivation lack genomic features of HRD.ER

Haplotype analysis of TP53 polymorphisms, Arg72Pro and Ins16, in BRCA1 and BRCA2 mutation carriers of French Canadian descent

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