Model-based Manipulation of Deformable Linear Objects by Multivariate Dynamic Splines

In this paper, the modelling and the simulation of a Deformable Linear Object (DLO) manipulation are reported. The main motivation of this study is to define a strategy to enable a robotic manipulator to predict in real time the shape a DLO will achieve during the execution of a manipulation action. To accomplish this target in a reasonable time, according to the possibility of adopting this solution in an industrial manufacturing system, an approximate but physically consistent model of the DLO is adopted considering the predominant plasticity of the object to be manipulated, as in the case of electric cable manipulation. The DLO manipulation model is based on multivariate dynamic splines solved iteratively in real-time to interpolate the DLO shape during the manipulation sequence. The systems assumes to be able to detect the initial configuration of the DLO at each iteration of the algorithm by means of a proper vision system. Preliminary simulation results are presented to show the effectiveness of the method

The impact of 5-hydroxytryptamine-receptor antagonists on chemotherapy treatment adherence, treatment delay, and nausea and vomiting.

PurposeTo determine the incidence of chemotherapy-induced nausea/vomiting (CINV) and chemotherapy treatment delay and adherence among patients receiving palonosetron versus other 5-hydroxytryptamine receptor antagonist (5-HT3 RA) antiemetics.Materials and methodsThis retrospective claims analysis included adults with primary malignancies who initiated treatment consisting of single-day intravenous highly emetogenic chemotherapy (HEC) or moderately EC (MEC) regimens. Treatment delay was defined as a gap in treatment at least twice the National Comprehensive Cancer Network-specified cycle length, specific to each chemotherapy regimen. Treatment adherence was determined by the percentage of patients who received the regimen-specific recommended number of chemotherapy cycles within the recommended time frame.ResultsWe identified 1,832 palonosetron and 2,387 other 5-HT3 RA ("other") patients who initiated HEC therapy, and 1,350 palonosetron users and 1,379 patients on other antiemetics who initiated MEC therapy. Fewer patients receiving palonosetron experienced CINV versus other (HEC, 27.5% versus 32.2%, P=0.0011; MEC, 36.1% versus 41.7%, P=0.0026), and fewer treatment delays occurred among patients receiving palonosetron versus other (HEC, 3.2% versus 6.0%, P<0.0001; MEC, 17.0% versus 26.8%, P<0.0001). Compared with the other cohort, patients receiving palonosetron were significantly more adherent to the index chemotherapy regimen with respect to the recommended time frame (HEC, 74.7% versus 69.7%, P=0.0004; MEC, 43.1% versus 37.3%, P=0.0019) and dosage (HEC, 27.3% versus 25.8%, P=0.0004; MEC, 15.0% versus 12.6%, P=0.0019).ConclusionPalonosetron more effectively reduced occurrence of CINV in patients receiving HEC or MEC compared with other agents in this real-world setting. Additionally, patients receiving palonosetron had better adherence and fewer treatment delays than patients receiving other 5-HT3 RAs

Hemolymph Proteins: Origin And Developmental Changes In The Last Larval Instar Of Calpodes Ethlius (lepidoptera: Hesperiidae)

Sheets of dorsal abdominal integument, ligated tubes of midgut, sheets of fat body and suspended hemocytes from mid fifth instar larvae of Calpodes ethlius (Lepidoptera: Hesperiidae) were incubated in artificial hemolymph in the presence of ({dollar}\sp{lcub}35{rcub}{dollar}S) methionine to investigate protein synthesis and secretion. Epidermis secretes at least 13 polypeptides basally and 15 apically. Four basally secreted polypeptides were identified in the hemolymph labelled in vivo. Midgut secretes at least eight polypeptides basally and seven apically. Two basally secreted polypeptides were similar to those in the hemolymph. Fat body releases more than 14 polypeptides into the incubation medium and 12 of which are found in the hemolymph. Hemocytes secrete 11 polypeptides and seven of which could be identified in the hemolymph.;Antibodies made against hemolymph proteins recognized five epidermal, eight midgut, ten fat body and six hemocyte secretory polypeptides indicating that these four tissues contribute at least 29 polypeptides to the hemolymph protein pool. Arylphorin (Ar) is the major hemolymph protein secreted by all four tissues. Arylphorin synthesized and secreted in vitro by all four tissues has been identified through its precipitation with antibodies made against hemolymph Ar.;Fifth stage Calpodes larvae have three major hemolymph proteins SP1 (720 K), SP2 (580 K) and Ar (470 K). The 470 K protein is identified as Ar because it is rich in aromatic amino acids. Electron microscopy of negatively stained preparations show that each polymer has a different geometrical arrangement of subunits. SP1 is a cube made from eight subunits. SP2 is a hexamer in the form of a pentahedral prism. Ar is probably an octahedron made from six subunits.;Forty six hemolymph polypeptides are stage specific in addition to ten polypeptides that are present throughout the fourth, fifth stage larval and pupal hemolymph. Each growth phase is characterized by the presence of many minor polypeptides that are either absent at all other times or present during only one other phase. Some of the most abundant polypeptides also change with development. Ar is present from early in the stadium and continues into the pupa. SP1 is synthesized from 66 hr and SP2 appears two days later. Both storage proteins start to disappear at the beginning of pupation and are absent in the pupa

Knowledge Retrieval

Robots are man made machines which are used to accomplish the tasks. Robots are mainly used to do complex tasks and work in hazardous environment where humans are difficult to work. They are not only designed to use in hazardous environment but also in the environment where humans are performing the same task repeatedly. These are also used for cooking purpose some tasks can be completed with the interaction of both the human and robot one of such things is cooking where human should help robot in making dishes. This paper mainly focusses on Functional Object Oriented Network which is structured knowledge representation using the input output and motion nodes. Task tress are generated using the task tree FOON is produced and collections of all FOONS forms the universal FOON. Different algorithms to traverse the tree in order to get the best output are also discussed in this paper. The desired node or goal node can be achieved from the start node using the different search algorithms and comparison between them is discussed.Comment: 5 pages, 5 figure

Robot Learning-Based Pipeline for Autonomous Reshaping of a Deformable Linear Object in Cluttered Backgrounds

open2noThis work was supported in part by the European Union’s Horizon 2020 Research and Innovation Program as part of RIA Project Robotic tEchnologies for the Manipulation of cOmplex DeformablE Linear objects (REMODEL) under Grant 870133.In this work, the robotic manipulation of a highly Deformable Linear Object (DLO) is addressed by means of a sequence of pick-and-drop primitives driven by visual data. A decision making process learns the optimal grasping location exploiting deep Q-learning and finds the best releasing point from a path representation of the DLO shape. The system effectively combines a state-of-the-art algorithm for semantic segmentation specifically designed for DLOs with deep reinforcement learning. Experimental results show that our system is capable to manipulate a DLO into a variety of different shapes in few steps. The intermediate steps of deformation that lead the object from its initial configuration to the target one are also provided and analyzed.openZanella R.; Palli G.Zanella R.; Palli G

Pointcloud-based Identification of Optimal Grasping Poses for Cloth-like Deformable Objects

In this paper, the problem of identifying optimal grasping poses for cloth-like deformable objects is addressed by means of a four-steps algorithm performing the processing of the data coming from a 3D camera. The first step segments the source pointcloud, while the second step implements a wrinkledness measure able to robustly detect graspable regions of a cloth. In the third step the identification of each individual wrinkle is accomplished by fitting a piecewise curve. Finally, in the fourth step, a target grasping pose for each detected wrinkle is estimated. Compared to deep learning approaches where the availability of a good quality dataset or trained model is necessary, our general algorithm can find employment in very different scenarios with minor parameters tweaking. Results showing the application of our method to the clothes bin picking task are presented

Validating DLO models from shape observation

In this paper, the problem of fitting the model of deformable linear objects from the observation of the shape under the effect of known external forces like gravity is taken into account. The model of the deformable linear object is based on dynamic splines, allowing to obtain a reliable prediction of the object behavior while preserving a suitable efficiency and simplicity of the model. The object shape is measured by means of a calibrated vision system, and a fitting between the observed shape and the theoretical model is defined for validation. Experiments are executed in different conditions, showing the reliability of the proposed spline-based model