Controllo robusto per attuatori a cedevolezza variabile per applicazioni robotiche

In questo lavoro sono stati proposti algoritmi di controllo per un meccanismo di attuazione a cedevolezza variabile, noto come VSA_II e sviluppato presso l'Università di Pisa. In particolare, sono stati sviluppati un schema controllo PD, PD con compensazione di gravità e un controllo basato su linearizzazione in retroazione. Mediante quest'ultimo, il meccanismo è in grado di inseguire traiettorie desiderate con elevata precisione e prontezza. Lo schema permette inoltre di specificare "on the fly" e in modo indipendente un profilo di rigidità desiderato. Il controllore è stato realizzato in linguaggio di programmazione LabVIEW per una piattaforma CompactRIO 9074

Necrotizing pneumonia and sepsis due to Clostridium perfringens: a case report

Clostridia are uncommon causes of pleuropulmonary infection. Clostridial species infecting the pleuropulmonary structures characteristically cause a necrotizing pneumonia with involvement of the pleura. Most cases have iatrogenic causes usually due to invasive procedures into the pleural cavity, such as thoracentesis or thoracotomy, or penetrating chest injuries. Rarely clostridia pleuropulmonary infections are not related to these factors. The clinical course of pleuropulmonary clostridial infections can be very variable, but they may be rapid and fatal. We report a rare case of necrotizing pneumonia and sepsis due to Clostridium perfringens not related to iatrogenic causes or injuries in an 82 years old woman

Inhibiting the β-Lactamase of Mycobacterium tuberculosis (Mtb) with Novel Boronic Acid Transition-State Inhibitors (BATSIs)

BlaC, the single chromosomally-encoded β-lactamase of Mycobacterium tuberculosis, has been identified as a promising target for novel therapies that rely upon β-lactamase inhibition. Boronic acid transition state inhibitors (BATSIs) are a class of β-lactamase inhibitors which permit rational inhibitor design by combinations of various R1 and R2 side chains. To explore the structural determinants of effective inhibition, we screened a panel of 25 BATSIs synthesized to explore key structure-function relationships. We identified a cefoperazone analogue, EC19, which displayed slow, tight-binding inhibition against BlaC. To further characterize the molecular basis of inhibition, we solved the three-dimensional structure of the EC19-BlaC complex and expanded our analysis to variant enzymes. The results of this structure-function analysis encourage the design of a novel class of β-lactamase inhibitors, BATSIs, to be used against Mycobacterium tuberculosis

Fototrombose mediada por indocianina verde para o tratamento de neovascularização de coróide em estrias angióides

PURPOSE: To investigate the effect of indocyanine green-mediated photothrombosis on choroidal neovascularization secondary to angioid streaks. METHODS: Six eyes of 5 patients with an average age of 70 years were diagnosed to have subfoveal choroidal neovascularization secondary to angioid streaks. Therapy was indicated if choroidal neovascularization was considered to be active, according to evidence of fluorescein leakage on angiograms, as well as presence of intra- or subretinal fluid on optical coherence tomography. Patients received photothrombosis at baseline with retreatment as necessary at 3, 6 and 9 months follow-up. Fluorescein leakage was assessed at 3, 6 and 9 months, along with foveal thickness measured by optical coherence tomography. Indocyanine green angiography was performed initially and whenever retreatment was considered. Retreatment was performed whenever there was evidence of increased leakage on fluorescein angiograms at follow-up visits. RESULTS: The mean follow-up was 13.3 months. All eyes had at least 12 months follow-up. Two eyes underwent retreatment. Three eyes had visual acuity improvement and three eyes had stabilization. All patients showed less fluorescein leakage on final angiograms and reduced foveal thickness upon optical coherence tomography measurement. CONCLUSION: Photothrombosis is a feasible procedure for choroidal neovascularization secondary to angioid streaks. Lesion analysis showed anatomical improvement in most cases in this series. Further studies are warranted to evaluate long-term results of this treatment.OBJETIVO: Investigar os efeitos da fototrombose mediada por indocianina verde sobre a neovascularização de coróide secundária a estrias angióides. MÉTODOS: Seis olhos de 5 pacientes com média de 70 anos de idade tinham o diagnóstico de neovascularização de coróide secundária a estrias angióides. O tratamento foi indicado para neovascularização de coróide ativa, avaliada pelo vazamento na angiofluoresceinografia e pela presença de fluido intra ou sub-retiniano pela tomografia de coerência óptica. Os pacientes receberam tratamento inicial com indocianina verde, e a seguir foram re-tratados conforme necessário com 3, 6 e 9 meses. Nessas ocasiões avaliava-se o vazamento e a espessura foveal. A angiografia com indocianina verde foi realizada inicialmente e sempre que o re-tratamento era considerado, nos casos em que havia aumento de vazamento pela angiofluoresceinografia nas visitas de seguimento. RESULTADOS: O tempo médio de seguimento foi de 13,3 meses. Todos os olhos atingiram um seguimento de pelo menos 12 meses. Dois olhos foram submetidos a re-tratamento. Três olhos apresentaram melhora e três olhos apresentaram estabilização da acuidade visual. Todos os pacientes apresentaram diminuição final do vazamento e da espessura foveal. CONCLUSÃO: Indocianina verde é procedimento factível para o tratamento de neovascularização de coróide secundária a estrias angióides. A análise das lesões mostrou melhora anatômica na maioria dos casos desta série. Mais estudos são necessários para avaliar os resultados a longo prazo deste tratamento.Universidade Federal de São Paulo (UNIFESP) Departamento de OftalmologiaUNIFESP Departamento de OftalmologiaUNIFESP, Depto. de OftalmologiaUNIFESP, Depto. de OftalmologiaSciEL

Robotic Monitoring of Habitats: The Natural Intelligence Approach

In this paper, we first discuss the challenges related to habitat monitoring and review possible robotic solutions. Then, we propose a framework to perform terrestrial habitat monitoring exploiting the mobility of legged robotic systems. The idea is to provide the robot with the Natural Intelligence introduced as the combination of the environment in which it moves, the intelligence embedded in the design of its body, and the algorithms composing its mind. This approach aims to solve the challenges of deploying robots in real natural environments, such as irregular and rough terrains, long-lasting operations, and unexpected collisions, with the final objective of assisting humans in assessing the habitat conservation status. Finally, we present examples of robotic monitoring of habitats in four different environments: forests, grasslands, dunes, and screes

Advanced grasping with the Pisa/IIT softHand

This chapter presents the hardware, software and overall strategy used by the team UNIPI-IIT-QB to participate to the Robotic Grasping and Manipulation Competition. It relies on the PISA/IIT SoftHand, which is underactuated soft robotic hand that can adapt to the grasped object shape and is compliant with the environment. It was used for the hand-in-hand and for the simulation tracks, where the team reached first and third places respectively

Van BRTN naar de NV VRT. Het nieuwe juridisch kader

Relatamos o caso de uma mulher de 19 anos apresentando perda auditiva neurossensorial bilateral, anormalidades mentais e perda de campo visual no olho esquerdo. A acuidade visual era 20/20 em OD e 20/25 em OE. Paciente foi sistematicamente investigada, audiometria mostrou perda auditiva neurossensorial nos dois ouvidos e ressonância magnética nuclear (RNM) cerebral mostrou múltiplas pequenas lesões na substância branca em ambos os hemisférios cerebrais e no corpo caloso. A fundoscopia mostrou disco óptico normal bilateral, e embainhamento das arteríolas na média periferia do olho direito. Edema de retina e exsudatos algodonosos foram vistos. Angiofluoresceinografia mostrou vasculopatia arterial obstrutiva periférica bilateral. A paciente foi diagnosticada com síndrome Susac e tratada com fumarato de quetiapina, flunitrazepam e prednisona resultando em estabilização do quadro. Este caso mostra que um alto índice de suspeita levando ao reconhecimento precoce e tratamento é importante para evitar o diagnóstico tardio