Impact-Friendly Object Catching at Non-Zero Velocity Based on Combined Optimization and Learning

This paper proposes a combined optimization and learning method for impact-friendly, non-prehensile catching of objects at non-zero velocity. Through a constrained Quadratic Programming problem, the method generates optimal trajectories up to the contact point between the robot and the object to minimize their relative velocity and reduce the impact forces. Next, the generated trajectories are updated by Kernelized Movement Primitives, which are based on human catching demonstrations to ensure a smooth transition around the catching point. In addition, the learned human variable stiffness (HVS) is sent to the robot's Cartesian impedance controller to absorb the post-impact forces and stabilize the catching position. Three experiments are conducted to compare our method with and without HVS against a fixed-position impedance controller (FP-IC). The results showed that the proposed methods outperform the FP-IC while adding HVS yields better results for absorbing the post-impact forces.Comment: 8 pages, 9 figures, accepted by 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023

Endometriosis shows no impact on the euploid blastocyst rate per cohort of inseminated metaphase-II oocytes: A case-control study

Objective: To evaluate the true impact of endometriosis on oocytes' competence defined as blastulation, euploidy and implantation rates. Design: Retrospective multicenter case-control study involving infertile couples undergoing ICSI with qPCR and trophectoderm biopsy-based PGT-A. Patients affected from endometriosis (n = 210) were diagnosed through transvaginal sonography or surgical history with histological confirmation. Each case was matched to two controls (n = 420) according to IVF clinic, maternal age at retrieval (38.6 ± 2.7 yr), number of previous failed IVF treatments (0.5 ± 0.8) and number of metaphase-II oocytes retrieved (6.1 ± 3.7 per patient). The primary outcome was the mean euploid blastocyst rate per cohort of inseminated metaphase-II oocytes. Other embryological, clinical, obstetric and neonatal outcomes were also evaluated. Results: The mean euploid blastocyst rate per cohort of inseminated metaphase-II oocytes was identical in the two groups (18 %±22 %) independently of maternal age. No difference was shown for all embryological outcomes investigated. The live birth rates per vitrified-warmed single euploid blastocyst transfer were also similar (67/158, 42 % in patients affected from endometriosis versus 132/327, 40 % in matched-controls). No difference was reported in the gestational and neonatal outcomes. The cumulative live birth delivery rates among completed cycles were also identical (61/201, 30 % versus 117/391, 30 % in endometriosis and matched-control groups, respectively) independently of maternal age. Conclusions: Endometriosis might not impair oocyte developmental and reproductive competence, although its potential impact on the number of metaphase-II oocytes retrieved cannot be ignored. This information is critical for clinicians during counseling to outline an effective strategy to treat infertile patients affected from this condition. Future prospective studies are needed to evaluate the impact of endometriosis stage on euploidy rates

SIRT in 2025

: Selective internal radiation therapy represents an endovascular treatment option for patients with primary liver malignancies, in different clinical stages. Potential applications of this treatment are in early-stage hepatocellular carcinoma, as a curative option, or in combination with systemic treatments in intermediate and advanced-stages. This review, based on existing literature and ongoing trials, will focus on the future of this treatment in patients with hepatocellular carcinoma, in combination with systemic treatments, or with the use of new devices and technological developments; it will also describe new potential future indications and structural and organizational perspectives

Asthma in patients admitted to emergency department for COVID-19: prevalence and risk of hospitalization

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