A Resilient and Effective Task Scheduling Approach for Industrial Human-Robot Collaboration

Effective task scheduling in human-robot collaboration (HRC) scenarios is one of the great challenges of collaborative robotics. The shared workspace inside an industrial setting brings a lot of uncertainties that cannot be foreseen. A prior offline task scheduling strategy is ineffective in dealing with these uncertainties. In this paper, a novel online framework to achieve a resilient and reliable task schedule is presented. The framework can deal with deviations that occur during operation, different operator skills, error by the human or robot, and substitution of actors, while maintaining an efficient schedule by promoting parallel human-robot work. First, the collaborative job and the possible deviations are represented by AND/OR graphs. Subsequently, the proposed architecture chooses the most suitable path to improve the collaboration. If some failures occur, the AND/OR graph is adapted locally, allowing the collaboration to be completed. The framework is validated in an industrial assembly scenario with a Franka Emika Panda collaborative robot

A Thermo-mechanical cohesive zone model

In this paper, a cohesive zone formulation that is suitable for the thermo-mechanical analysis of heterogeneous solids and structural systems with contacting/interacting components, is presented. Well established traction-opening relations are adopted and combined with micromechanically motivated heat flux-opening relations reflecting the evolving heat transfer through the interfaces. The finite element approach for a coupled analysis within an operator-split solution framework is presented and demonstrated with an example problem

Lymphoid Microenvironments in the Thymus and Lymph Node

The three-dimensional architecture of the thymus and mesenteric lymph node reveals several different stromal cell types important in the development and function of T cells. In the thymic cortex, T cells proliferate and differentiate in a meshwork of epithelial-reticular cells. They then migrate towards the medulla where they may interact with interdigitating cells. T cells migrate from the thymus through perivascular spaces, surrounding large vessels at the cortico-medullary boundary. In this area also large thymic cystic cavities are found, their function remains at present unclear. Mature selected T cells leave the thymus most probably by the venous bloodstream, to enter peripheral lymph nodes. Upon entering the lymph node they cross the wall of high endothelial venules. On the other hand, lymph enters the node by afferent lymphatics draining into various types of sinuses. Here, macrophages are strategically located to phagocytose and process antigen. These cells then expose antigen to T cells and B cells within the lymph node parenchyma, thus creating a microenvironment for the onset of an immune response. The various microenvironments important in T cell development and T cell function are shown in this paper using scanning electron microscopy as a dissecting tool. We discuss our morphological findings in the light of recent data on the physiology of T cell differentiation and function

Inhibition of proliferation and differentiation during early T cell development by anti-transferrin receptor antibody

Proliferating cells require iron and, therefore, express the transferrin receptor (CD71) that mediates cellular iron uptake. Cycling thymocytes, which have the CD4−8−3−, CD4−8+3−, or CD4+8+3− phenotypes, also express CD71. The importance of CD71-mediated iron uptake for proliferation and maturation of thymocytes was studied using fetal thymus organ cultures at day 14 of gestation and treating them for 7 days with a CD71 monoclonal antibody (mAb). The intracellular iron deficiency caused by this treatment, inhibits both proliferation and maturation of the thymocytes. Cell recovery was reduced by 60%, but cells still expanded tenfold during the culture. Remarkably, the final maturation of αβ T cells was completely blocked as no thymocytes with low or high CD3/αβTcR expression developed. Moreover, only few cells reached the CD4+8+3− stage of T cell development. CD4−8−3− thymocytes, however, as well as its CD44−25+ subset developed in normal numbers, suggesting that CD44−25+ CD4−8−3− cells, or their immediate progeny, were most vulnerable to CD71 mAb treatment. The development of γδ T cells, which also express CD71, was not affected in these cultures. This suggests that γδ T cells are either less iron-dependent or possess alternative iron-uptake mechanisms. Thus, our observation

Flexibele arbeidsrelaties in het onderwijs: preadvies

Hervorming Sociale Regelgevin

Recurrent diabetic foot ulcers: results of a maximal multidisciplinary approach including reconstructive foot/ankle surgery

The diabetic foot ulcer (DFU) and Charcot Neuroarthropathy (CN) are serious complications of diabetes mellitus in which wound closure is complex to achieve. Treating recurrent DFU in patients with a combination of infection, ischemia, and deformities is extremely challenging and this group of patients has a very poor outcome. This case series describes the outcomes of patients with a recurrent DFU and CN, with a mean SINBAD score of 4 and of which 40% had a TCS of D3, using a multidisciplinary protocol that includes reconstructive foot and ankle surgery. In 24/35 (69%) of patients, wound closure was achieved after a mean of 75 days postoperatively. The mean ulcer-free period was 358 days. The mean number of interventions was 6.7 (range 3-9). Post treatment 27/35 (77%) of patients was mobile, without additional amputation or ulcer recurrence. This study shows that wound closure and a long ulcer-free period can be achieved in patients with a DFU and CN and its multifactorial underlying diseases when treated in a multidisciplinary team, including reconstructive foot and ankle surgery.Vascular Surger