Motion control design of a PMSM and FPGA implementation for the Beam Wire Scanner at CERN

This thesis work describes the modelling, simulation, implementation and testing of a motion controller for a Permanent Magnet Synchronous Motor, used as an actuator for the Beam Wire Scanner at CERN. The dissertation, after a brief introduction to the subject, focuses on the design of the control system starting for the basics of motion control and the mathematical equations describing the various parts of the system. The architecture of the controller is explained as well as the design choices and their reasons. It consists in a three-level cascade feedback loop, regulated through three variable structure, saturated PID controllers with anti-windup architecture. Also, three feedforward actions are included, as well as a static decoupler and a steady-state Kalman filter. In the last chapters, the implementation of the control system on an ALTERA FPGA board is described and its performances are verified through a serie of experiments

Hand-worn Haptic Interface for Drone Teleoperation

Drone teleoperation is usually accomplished using remote radio controllers, devices that can be hard to master for inexperienced users. Moreover, the limited amount of information fed back to the user about the robot's state, often limited to vision, can represent a bottleneck for operation in several conditions. In this work, we present a wearable interface for drone teleoperation and its evaluation through a user study. The two main features of the proposed system are a data glove to allow the user to control the drone trajectory by hand motion and a haptic system used to augment their awareness of the environment surrounding the robot. This interface can be employed for the operation of robotic systems in line of sight (LoS) by inexperienced operators and allows them to safely perform tasks common in inspection and search-and-rescue missions such as approaching walls and crossing narrow passages with limited visibility conditions. In addition to the design and implementation of the wearable interface, we performed a systematic study to assess the effectiveness of the system through three user studies (n = 36) to evaluate the users' learning path and their ability to perform tasks with limited visibility. We validated our ideas in both a simulated and a real-world environment. Our results demonstrate that the proposed system can improve teleoperation performance in different cases compared to standard remote controllers, making it a viable alternative to standard Human-Robot Interfaces.Comment: Accepted at the IEEE International Conference on Robotics and Automation (ICRA) 202

Do more with less? Lobectomy vs. segmentectomy for patients with congenital pulmonary malformations

Background: Congenital Pulmonary Malformations (CPMs) are rare benign lesions potentially causing infective complications and/or malignant transformation, requiring surgery even when asymptomatic. CPMs are rare in adulthood but potentially detected at any age. There is not a consensus on the correct extent of resection in both adults and paediatrics. This retrospective multicentric study aims to identify the appropriate surgical resection to prevent the recurrence of the related respiratory symptoms. Methods: Between 2010 and 2020, a total of 96 patients (adults and pediatrics) underwent surgery for CPMs in 4 centers. A 2:1 propensity score matching (considering sex and lesion side) was performed, identifying 2 groups: 50 patients underwent lobectomy (group A) and 25 sub-lobar resections (group B). Clinical and histopathological characteristics, early and late complications, and symptom recurrence were retrospectively analyzed and compared between the two groups by univariate and multivariate analysis. Results: Patients who underwent lobectomy had a statistically significant lower rate of recurrence (4% vs. 24% of group B, p = 0.014) and a lower rate of intraoperative complications (p = 0.014). Logistic regression identified sub-lobar resection (p = 0.040), intra- and post-operative complications (p = 0.105 and 0.022),and associated developed neoplasm (p = 0.062) as possible risk factors for symptom recurrence after surgery. Conclusions: Pulmonary lobectomy seems to be the most effective surgical treatment for CPMs, guaranteeing the stable remission of symptoms and a lower rate of intra- and postoperative complications. To our knowledge, this is one of the largest studies comparing lobectomy and sub-lobar resections in patients affected by CPMs, considering the low incidence worldwide

"All-in-one mesh" hernioplasty: A new procedure for primary inguinal hernia open repair.

Summary: Background: We propose a new open mesh hernia repair procedure for the treatment of inguinal hernias in adults aiming to improve patients' comfort and to reduce the incidence of chronic neuralgia. Methods: From September 2012 to August 2015, 250 consecutive patients were treated with "all in-one" mesh hernioplasty procedure in our Institution. According to the devised technique, a new smaller prosthesis was placed on the floor of the inguinal canal in order to strengthen all areas of weakness from which hernias may originate. The mesh was enveloped by a fibro-cremasteric sheath avoiding contact with neural structures. Follow-up was carried out at 3, 6, 12, 18 and 24 months for evaluation of postoperative pain using Visual Analogue Scale score, need of medication, patients' comfort and short or long-term complications. Results: All patients were discharged within 24 h from surgery. Slight pain was reported by the majority of patients and 47.6% of them did not require pain medication at home. After the 1st postoperative week 96.8% reported no pain and no other symptoms. No relevant limitation of normal activities was reported. There has been no postoperative neuralgia. One recurrence was observed. Conclusions: This new hernioplasty technique respects the anatomy of the inguinal canal, uses a smaller mesh, and seems to avoid neuralgia with maximum comfort for the patients. Keywords: Inguinal hernioplasty, Tension free hernia repair, Hernioplasty technique, Mesh for groin hernia, Neuralgia post-hernioplast

Trotabresib (CC-90010) in combination with adjuvant temozolomide or concomitant temozolomide plus radiotherapy in patients with newly diagnosed glioblastoma

Standard-of-care treatment for newly diagnosed glioblastoma (ndGBM), consisting of surgery followed by radiotherapy (RT) and temozolomide (TMZ), has improved outcomes compared with RT alone; however, prognosis remains poor. Trotabresib, a novel bromodomain and extraterminal inhibitor, has demonstrated antitumor activity in patients with high-grade gliomas. In this phase Ib, dose-escalation study (NCT04324840), we investigated trotabresib 15, 30, and 45 mg combined with TMZ in the adjuvant setting and trotabresib 15 and 30 mg combined with TMZ+RT in the concomitant setting in patients with ndGBM. Primary endpoints were to determine safety, tolerability, maximum tolerated dose, and/or recommended phase II dose (RP2D) of trotabresib. Secondary endpoints were assessment of preliminary efficacy and pharmacokinetics. Pharmacodynamics were investigated as an exploratory endpoint. The adjuvant and concomitant cohorts enrolled 18 and 14 patients, respectively. Trotabresib in combination with TMZ or TMZ+RT was well tolerated; most treatment-related adverse events were mild or moderate. Trotabresib pharmacokinetics and pharmacodynamics in both settings were consistent with previous data for trotabresib monotherapy. The RP2D of trotabresib was selected as 30 mg 4 days on/24 days off in both settings. At last follow-up, 5 (28%) and 6 (43%) patients remain on treatment in the adjuvant and concomitant settings, respectively, with 1 patient in the adjuvant cohort achieving complete response. Trotabresib combined with TMZ in the adjuvant setting and with TMZ+RT in the concomitant setting was safe and well tolerated in patients with ndGBM, with encouraging treatment durations. Trotabresib 30 mg was established as the RP2D in both setting

Personalized Body-Machine Interfaces for Advanced Human-Robot Interaction

Robotic systems are becoming more and more pervasive in modern industrial, scientific and personal activities through recent years and will play a fundamental role in the future society. Despite their increasing level of automation, teleoperation is still needed in many robotic applications. Human-Robot Interfaces (HRIs) are a central element in the diffusion of robots and are a crucial component to make them available to the use of most people. However, standard interfaces such as remote controllers still need time and extensive training to be proficiently mastered by users. Body-Machine Interfaces (BoMIs) represent a promising alternative to such devices as they leverage the innate ability of humans to finely control their movements. This thesis aims to provide new insights about humans' natural motor behaviors when interfacing with robots and to propose novel approaches for the implementation of HRIs based on body motion. The core contribution of this work is the design, realization and qualification of machine learning-based methods to translate the motion of a person into control inputs for a robot. The methods described here allowed naive users to effectively control real and simulated robots based on the processing of their body movements with a faster learning rate compared to classic interfaces. We extended our core algorithm to leverage knowledge about the natural organization of human motion resulting a more general method that was successfully applied for the control of a set of morphologically different machines. Through the implementation of an online adaptive functionality, we enabled users to modify their motor behaviour during teleoperation resulting in a lower perceived physical and cognitive workload and augmented performance. Human factors such as the sense of presence in virtual or distant environments, or the motor characteristics of distinct body areas are a key factor for advanced telerobotic applications. We studied the impact of the use of Virtual Reality for the control of non-anthropomorphic machines, and the effects of designing BoMIs based on different limbs opening to new knowledge about the effects of such factors in human-robot interaction. The design of a wearable haptic interface for drone operation showed the potential of augmenting their senses to perceive a distal environment through the sense of touch. Thanks to this novel design, nonexpert users were enabled to navigate drones through narrow passages with limited visibility, a task almost impossible to perform with standard interfaces. We believe that this thesis contributes to pave the way towards a deeper understanding of humans in human-robot interaction, as well as providing a new set of tools for the design of simple, intuitive interfaces with the goal of democratizing robotic teleoperation for the masses

Personalized Telerobotics by Fast Machine Learning of Body-Machine Interfaces

Human-Robot Interfaces (HRIs) can be hard to master for inexperienced users, making the teleoperation of mobile robots a difficult task. The development of Body-Machine Interfaces (BoMIs) represents a promising approach to making a user more proficient, by exploiting the natural control they can exert on their own body motion. Since human motion presents individual traits due to several factors, including physical condition, age, and experience, generic BoMIs still require a significant learning time and effort to reach adequate ability in teleoperation. In this work, we present a novel approach which provides a Body-Machine Interface tailored on the specific user. Our method autonomously learns from the user their preferred strategy to control the robot, and provide a personalized body-machine mapping. We show that the proposed method can significantly reduce the duration of the training phase in teleoperation, thus allowing faster skill acquisition. We validated our approach by performing both simulation and real-world experiments with human subjects. The first involved the teleoperation of a fixed-wing simulated drone, while the second consisted in controlling a real quadrotor. We used our framework to extrapolate common and peculiar features of movements among individuals. Observing reoccurring strategies, we provide insights on how humans would naturally interface with a distal machine

The Bundle-Barrier PIT Wire Developed for the HiLumi LHC Project

Abstract: For the HiLumi Large Hadron Collider Project, CERN is developing dipole and quadrupole magnets based on state-of-the-art high-Jc Nb$_{3}$Sn wires that are expected to operate at 1.9 K and at fields larger than 11 T. Two different types of Nb$_{3}$Sn wires are considered for the project: the powder in tube (PIT) and the restacked rod process conductors manufactured, respectively, by Bruker-EAS and Oxford superconducting technology. During the last 18 months, CERN and Bruker-EAS have being collaborating to develop a new variant of the PIT conductor in order to further improve its electromechanical properties. This collaboration led to the introduction of an additional Nb barrier around the whole bundle of filaments that allowed drastically reducing the effect of mechanical deformation and of the heat treatment cycle on the residual resistivity ratio (RRR) of the stabilizing wire copper. Furthermore, the new wire has already a slightly larger engineering critical current density with respect to the previous generation of PIT wire and it has the potential to further improve. In this paper, the bundle-barrier PIT wire is presented together with the critical current, magnetization, and RRR measurements carried out at CERN to: characterize its electro-mechanical properties; quantify the effect of the filament size on the critical current performance and; study the effect of the heat treatment cycle