Design and Development of a Slender Dual-Structure Continuum Robot for In-Situ Aeroengine Repair

© 2018 IEEE. In-situ aeroengine maintenance works (e.g. inspection, repair) are highly beneficial as it can significantly reduce currently accepted maintenance cycle which is extensive and costly due to the need to remove engines from the wing of an aircraft. However, feeding in/out via inspection ports and performing a multi-axis movement of an end-effector in a very constrained environment such as aeroengine combustion chamber is a fairly challenging task. This paper presents the design and development of a highly slender (i.e., low diameter-to-length ratio) dual-structure continuum robot with 16 degrees of freedom (DoFs) to provide the feeding motion needed to navigate into confined environments and then perform a required configuration shape for further repair operation. This continuum robot is a compact system and presents a set of innovative mechatronic solutions such as: (i) two-stage tendon-driven structure with bevelled disk design to perform required configuration shape and to provide selective stiffness for the ability of taking high payloads; (ii) various compliant joints to enable different flexibility requirement in each stage; (iii) three commanding cables for each 2- DoF section to minimise the number of actuators with a precise actuation. To be able to achieve the desired configuration shape, a kinematic model has been established and the configuration-cable kinematics has been implemented. Finally, the continuum robot has been built and tested for performing the predefined configuration shape

Design and development of a slender dual-structure continuum robot for in-situ aeroengine repair

In-situ aeroengine maintenance works (e.g. inspection, repair) are highly beneficial as it can significantly reduce currently accepted maintenance cycle which is extensive and costly due to the need to remove engines from the wing of an aircraft. However, feeding in/out via inspection ports and performing a multi-axis movement of an end-effector in a very constrained environment such as aeroengine combustion chamber is a fairly challenging task. This paper presents the design and development of a highly slender (i.e., low diameterto-length ratio) dual-structure continuum robot with 16 degrees of freedom (DoFs) to provide the feeding motion needed to navigate into confined environments and then perform a required configuration shape for further repair operation. This continuum robot is a compact system and presents a set of innovative mechatronic solutions such as: (i) two-stage tendondriven structure with bevelled disk design to perform required configuration shape and to provide selective stiffness for the ability of taking high payloads; (ii) various compliant joints to enable different flexibility requirement in each stage; (iii) three commanding cables for each 2-DoF section to minimise the number of actuators with a precise actuation. To be able to achieve the desired configuration shape, a kinematic model has been established and the configuration-cable kinematics has been implemented. Finally, the continuum robot has been built and tested for performing the predefined configuration shape

Design and development of a slender dual-structure continuum robot for in-situ aeroengine repair

In-situ aeroengine maintenance works (e.g. inspection, repair) are highly beneficial as it can significantly reduce currently accepted maintenance cycle which is extensive and costly due to the need to remove engines from the wing of an aircraft. However, feeding in/out via inspection ports and performing a multi-axis movement of an end-effector in a very constrained environment such as aeroengine combustion chamber is a fairly challenging task. This paper presents the design and development of a highly slender (i.e., low diameterto-length ratio) dual-structure continuum robot with 16 degrees of freedom (DoFs) to provide the feeding motion needed to navigate into confined environments and then perform a required configuration shape for further repair operation. This continuum robot is a compact system and presents a set of innovative mechatronic solutions such as: (i) two-stage tendondriven structure with bevelled disk design to perform required configuration shape and to provide selective stiffness for the ability of taking high payloads; (ii) various compliant joints to enable different flexibility requirement in each stage; (iii) three commanding cables for each 2-DoF section to minimise the number of actuators with a precise actuation. To be able to achieve the desired configuration shape, a kinematic model has been established and the configuration-cable kinematics has been implemented. Finally, the continuum robot has been built and tested for performing the predefined configuration shape

[I] The Past, Present, and Future of the Antarctic Automatic Weather Station Network

The Tenth Symposium on Polar Science/Special session: [S] Future plan of Antarctic research: Towards phase X of the Japanese Antarctic Research Project (2022-2028) and beyond, Tue. 3 Dec. / 2F Auditorium, National Institute of Polar Researc

Trends in surgical aortic valve replacement in pre- and post-transcatheter aortic valve replacement eras at a structural heart center

BackgroundThe advent of transcatheter aortic valve replacement (TAVR) has directly impacted the lifelong management of patients with aortic valve disease. The U.S. Food and Drug Administration has approved TAVR for all surgical risk: prohibitive (2011), high (2012), intermediate (2016), and low (2019). Since then, TAVR volumes are increasing and surgical aortic valve replacements (SAVR) are decreasing. This study sought to evaluate trends in isolated SAVR in the pre- and post-TAVR eras.MethodsFrom January 2000 to June 2020, 3,861 isolated SAVRs were performed at a single academic quaternary care institution which participated in the early trials of TAVR beginning in 2007. A formal structural heart center was established in 2012 when TAVR became commercially available. Patients were divided into the pre-TAVR era (2000–2011, n = 2,426) and post-TAVR era (2012–2020, n = 1,435). Data from the institutional Society of Thoracic Surgeons National Database was analyzed.ResultsThe median age was 66 years, similar between groups. The post-TAVR group had a statistically higher rate of diabetes, hypertension, dyslipidemia, heart failure, more reoperative SAVR, and lower STS Predicted Risk of Mortality (PROM) (2.0% vs. 2.5%, p < 0.0001). There were more urgent/emergent/salvage SAVRs (38% vs. 24%) and fewer elective SAVRs (63% vs. 76%), (p < 0.0001) in the post-TAVR group. More bioprosthetic valves were implanted in the post-TAVR group (85% vs. 74%, p < 0.0001). Larger aortic valves were implanted (25 vs. 23 mm, p < 0.0001) and more annular enlargements were performed (5.9% vs. 1.6%, p < 0.0001) in the post-TAVR era. Postoperatively, the post-TAVR group had less blood product transfusion (49% vs. 58%, p < 0.0001), renal failure (1.4% vs. 4.3%, p < 0.0001), pneumonia (2.3% vs. 3.8%, p = 0.01), shorter lengths of stay, and lower in-hospital mortality (1.5% vs. 3.3%, p = 0.0007).ConclusionThe approval of TAVR changed the landscape of aortic valve disease management. At a quaternary academic cardiac surgery center with a well-established structural heart program, patients undergoing isolated SAVR in the post-TAVR era had lower STS PROM, more implantation of bioprosthetic valves, utilization of larger valves, annular enlargement, and lower in-hospital mortality. Isolated SAVR continues to be performed in the TAVR era with excellent outcomes. SAVR remains an essential tool in the lifetime management of aortic valve disease

Rice grain cadmium concentrations in the global supply-chain

One of cadmium’s major exposure routes to humans is through rice consumption. The concentrations of cadmium in the global polished (white), market rice supply-chain were assessed in 2270 samples, purchased from retailers across 32 countries, encompassing 6 continents. It was found on a global basis that East Africa had the lowest cadmium with a median for both Malawi and Tanzania at 4.9 μg/kg, an order of magnitude lower than the highest country, China with a median at 69.3 μg/kg. The Americas were typically low in cadmium, but the Indian sub-continent was universally elevated. In particular certain regions of Bangladesh had high cadmium, that when combined with the high daily consumption rate of rice of that country, leads to high cadmium exposures. Concentrations of cadmium were compared to the European Standard for polished rice of 200 μg/kg and 5% of the global supply-chain exceeded this threshold. For the stricter standard of 40 μg/kg for processed infant foods, for which rice can comprise up to 100% by composition (such as rice porridges, puffed rice cereal and cakes), 25% of rice would not be suitable for making pure rice baby foods. Given that rice is also elevated in inorganic arsenic, the only region of the world where both inorganic arsenic and cadmium were low in grain was East Africa