Calibration of parallel kinematics machine-tools using small displacement torsors

The accuracy of a machine-tool depends on manufacturing and assembly errors, backlash in the structure and the links, thermal variations, vibrations, and others. The method presented in this paper deals with manufacturing and assembly errors but it can be adapted to other sources of errors. This method uses the concept of Small Displacement Torsors (SDT) to the calibration of parallel kinematics machine-tools. The following hypothesis is made: the defaults of the structure can be modelled by a combination of small displacements of the surfaces in contact. The method consists first of all in modelling each link by a SDT expressed in the local frame of the link (n parameters characterize the defaults of the structure). Then each torsor is written in the frame of the structure where measurements are done. The value of the components of the torsors depends on the pose (position and orientation) of the tool. The relations between the torsors and the tool pose are calculated (N equations connect the parameters to the pose of the tool). Then the pose error is measured in m correctly selected points, so that the n parameters can be identified solving the equation : E=M.D, where E is the vector containing the measured pose errors ; M is the invertible matrix formed with the relations between the torsors and the tool pose ; D is the vector containing the parameters of the torsors. After the identification of vector D, the hypothesis of small displacement must be verified. Finally the pose error of the tool can be calculated in all the working volume. This paper presents the general method based on the Small Displacement Torsors. The links used in machine-tools is modelled by SDT. Then this method is applied to the calibration of the Hita-STT machine-tool, an industrial prototype. The objective is to reach an absolute accuracy of less than 10 microns with a relative accuracy of 5 microns, considering manufacturing and assembly errors in the first calibration phase

Patient satisfaction and side effects in primary care: An observational study comparing homeopathy and conventional medicine

<p>Abstract</p> <p>Background</p> <p>This study is part of a nationwide evaluation of complementary medicine in Switzerland (Programme Evaluation of Complementary Medicine PEK) and was funded by the Swiss Federal Office of Public Health. The main objective of this study is to investigate patient satisfaction and perception of side effects in homeopathy compared with conventional care in a primary care setting.</p> <p>Methods</p> <p>We examined data from two cross-sectional studies conducted in 2002–2003. The first study was a physician questionnaire assessing structural characteristics of practices. The second study was conducted on four given days during a 12-month period in 2002/2003 using a physician and patient questionnaire at consultation and a patient questionnaire mailed to the patient one month later (including Europep questionnaire).</p> <p>The participating physicians were all trained and licensed in conventional medicine. An additional qualification was required for medical doctors providing homeopathy (membership in the Swiss association of homeopathic physicians SVHA).</p> <p>Results</p> <p>A total of 6778 adult patients received the questionnaire and 3126 responded (46.1%). Statistically significant differences were found with respect to health status (higher percentage of chronic and severe conditions in the homeopathic group), perception of side effects (higher percentage of reported side effects in the conventional group) and patient satisfaction (higher percentage of satisfied patients in the homeopathic group).</p> <p>Conclusion</p> <p>Overall patient satisfaction was significantly higher in homeopathic than in conventional care. Homeopathic treatments were perceived as a low-risk therapy with two to three times fewer side effects than conventional care</p

Network analysis of the Viking Age in Ireland as portrayed in Cogadh Gaedhel re Gallaibh

Cogadh Gaedhel re Gallaibh (‘The War of the Gaedhil with the Gaill’) is a medieval Irish text, telling how an army under the leadership of Brian Boru challenged Viking invaders and their allies in Ireland, culminating with the Battle of Clontarf in 1014. Brian’s victory is widely remembered for breaking Viking power in Ireland, although much modern scholarship disputes traditional perceptions. Instead of an international conflict between Irish and Viking, interpretations based on revisionist scholarship consider it a domestic feud or civil war. Counterrevisionists challenge this view and a long-standing and lively debate continues. Here, we introduce quantitative measures to the discussions.We present statistical analyses of network data embedded in the text to position its sets of interactions on a spectrum from the domestic to the international. This delivers a picture that lies between antipodal traditional and revisionist extremes; hostilities recorded in the text are mostly between Irish and Viking—but internal conflict forms a significant proportion of the negative interactions too

Changes in calcium dynamics following the reversal of the sodium-calcium exchanger have a key role in AMPA receptor-mediated neurodegeneration via calpain activation in hippocampal neurons

Proteolytic cleavage of the Na(+)/Ca(2+) exchanger (NCX) by calpains impairs calcium homeostasis, leading to a delayed calcium overload and excitotoxic cell death. However, it is not known whether reversal of the exchanger contributes to activate calpains and trigger neuronal death. We investigated the role of the reversal of the NCX in Ca(2+) dynamics, calpain activation and cell viability, in alpha-amino-3-hydroxy-5-methylisoxazole-4-propionate (AMPA) receptor-stimulated hippocampal neurons. Selective overactivation of AMPA receptors caused the reversal of the NCX, which accounted for approximately 30% of the rise in intracellular free calcium concentration ([Ca(2+)](i)). The NCX reverse-mode inhibitor, 2-[2-[4-(4-nitrobenzyloxy)phenyl]ethyl]isothiourea (KB-R7943), partially inhibited the initial increase in [Ca(2+)](i), and prevented a delayed increase in [Ca(2+)](i). In parallel, overactivation of AMPA receptors strongly activated calpains and led to the proteolysis of NCX3. KB-R7943 prevented calpain activation, cleavage of NCX3 and was neuroprotective. Silencing of NCX3 reduced Ca(2+) uptake, calpain activation and was neuroprotective. Our data show for the first time that NCX reversal is an early event following AMPA receptor stimulation and is linked to the activation of calpains. Since calpain activation subsequently inactivates NCX, causing a secondary Ca(2+) entry, NCX may be viewed as a new suicide substrate operating in a Ca(2+)-dependent loop that triggers cell death and as a target for neuroprotectio

Calibration of the 5-dof parallel kinematics HITA-STT

The parallel kinematics machine tool HITA-STT (Stiffness Tracking Technology) developed by Willemin–Machines S.A. and EPFL is now able to machine. This machine can reach accelerations of 5g. It is characterized by a tilt of ± 60° around the B-axis. This characteristics combined with the disposition of the kinematics allows to machine five faces of a cube without changing its position in the rotary table, what means in one set-up. The machine is patented. The first machining tests showed the necessity to develop a good calibration method in order to reach similar precision as the most precise machine tools, without high manufacturing costs. The particularity of this machine is its parallel mechanism. That means that a movement in a single direction needs a combination of all the actuators’ displacements. The calibration of this structure is then not obvious due to the combination of the actuators’ movements. The goal of this paper is to present a new method to calibrate the 5-dof parallel kinematics and the HITA-STT machine tool in particular. This calibration method could be named “Method of calibration by decomposition in a sum of elementary defects” (DSED). It is based on the observation that the error of position and orientation of the spindle, generated by several defects, is equal to the sum of the errors generated by only one defect at the same time. This calibration method will be integrated to the existing controller so that the calibration process will be totally automatic and will require shortest time to calibrate the machine automatically in manufacturing conditions

Developments in targeted therapy in melanoma

Melanomas are disease entities driven in part by the mitogen activated protein kinase (MAPK) pathway. The TCGA network recently defined four genetic subtypes based on the most prevalent significantly mutated genes, including mutant BRAF, mutant RAS (N/H/K), mutant NF1, and Triple wild-type melanoma (harboring none of the aforementioned mutations, but instead includes KIT, GNA and GNAQ mutations). The successful development of kinase inhibitors marked a milestone in the treatment of metastatic melanoma. Combination treatment with a BRAF- and MEK-inhibitor is the current standard of care for inoperable stage IIIC/IV BRAF-mutated melanoma. Recent data demonstrate excellent long-term outcome, especially in patients with normal baseline LDH levels, and confirm that there is a subset of BRAF inhibitor-naive patients who experience durable responses without progression on combination treatment. In the future, adding a third compound based on individual genetic alterations might further improve the outcome of targeted therapy