A Comparison of Assistive Methods for Suturing in MIRS

In Minimally Invasive Robotic Surgery (MIRS) a robot is interposed between the surgeon and the surgical site to increase the precision, dexterity, and to reduce surgeon's effort and cognitive load with respect to the standard laparoscopic interventions. However, the modern robotic systems for MIRS are still based on the traditional telemanipulation paradigm, e.g. the robot behaviour is fully under surgeon's control, and no autonomy or assistance is implemented. In this work, supervised and shared controllers have been developed in a vision-free, human-in-the-Ioop, control framework to help surgeon during a surgical suturing procedure. Experiments conducted on the da Vinci Research Kit robot proves the effectiveness of the method indicating also the guidelines for improving results

A Reconfigurable Gripper for Robotic Autonomous Depalletizing in Supermarket Logistics

Automatic depalletizing is becoming a practice widely applied in warehouses to automatize and speed-up logistics. On the other hand, the necessity to adapt the preexisting logistic lines to a custom automatic system can be a limit for the application of robotic solutions into smaller facilities like supermarkets. In this work, we tackle this issue by proposing a flexible and adaptive gripper for robotic depalletizing. The gripper is designed to be assembled on the end-tip of an industrial robotic arm. A novel patent-pending mechanism allows grasping boxes and products from both the upper and the lateral side enabling the depalletizing of boxes with complex shape. Moreover, the gripper is reconfigurable with five actuated degrees of freedom, that are automatically controlled using the embedded sensors to adapt grasping to different shapes and weights

RGB-D Recognition and Localization of Cases for Robotic Depalletizing in Supermarkets

Integrating a robotic system into the depalletizing process of a supermarket demands a high level of autonomy, based on strong perceptive capabilities. This letter presents a system for detection, recognition, and localization of heterogeneous cases in a depalletizing robotic cell, using a single RGB-D camera. Such a system integrates apriori information on the content of the pallet with data from the RGB-D camera, exploiting a sequence of 2D and 3D model-based computer-vision algorithms. The effectiveness of the proposed methodology is assessed in an experiment where multiple cases and pallet configurations are considered. Finally, a complete depalletizing process is shown

Combining roller crimpers and flaming for the termination of cover crops in herbicide-free no-till cropping systems

The termination of cover crops in conventional no-till systems is mostly conducted mechanically in combination with herbicides. Combining flaming and roller crimpers could be a viable solution to avoid using herbicides for cover crop termination in farming systems where herbicides are banned, or at least to reduce their use in an integrated management approach. This research tested the effects of flaming used in combination with three different types of roller crimpers to terminate a fall-sown cover crop mixture of winter pea and barley. The cover crop termination rate was visually assessed in terms of percentage of green cover provided by cover crop plants at different intervals from the termination date, and estimated using a log-logistic non-linear regression model with four parameters. Machine performance data are also reported. The results show that, irrespective of the roller type, flaming significantly boosted the effect of the roller crimpers. In fact, an economic threshold for cover crop suppression of 85% was reached only when the rollers were used in combination with flaming. Nevertheless, none of the methods were able to reach the 100% of cover crop suppression. In some case, the combined use of flaming and roller crimpers allowed reaching the 90% of cover crop devitalisation, which happened six weeks after the termination date. More importantly, the use of flaming in combination with rollers shortened the time needed to achieve the estimated levels of devitalisation, compared with the rollers used alone. We conclude that flaming is an effective tool to increase the effectiveness of roller crimpers. Nevertheless, further research is needed to identify solutions to overcome the barrier of the high operational costs of flaming, which is constraining its wider adoption by farmers. Future studies could focus, for instance, on the development of a new prototype of combined machine for crimping and flaming the cover crops simultaneously, which could potentially reduce the operational costs

Development of a flaming machine for the disinfection of poultry grow-out facilities

Chemical treatments are commonly adopted for poultry house sanitation. In fact, ordinary floor disinfection is needed to deplete the pathogenic population (i.e. various species of bacteria and fungi) and reduce the risk of meat contamination. The increasing focus on the health of consumers and operators, as well as on food quality, has led farmers to consider alternative environmentally friendly methods. Research was carried out to set up a new machine for floor disinfection of poultry houses by open flame. The trials were run in controlled conditions in the laboratory of the University of Pisa, Italy, and on a private farm. The first experiment consisted of a series of test bench trials carried out to evaluate the efficacy and the adjustment of liquefied petroleum gas (LPG)-fed open flame burners on pre-inoculated steel plates. In the second experiment, the operative parameters of a custom-built 1.5 m wide mounted flaming machine were determined and the biological effects of the treatment were compared to ordinary chemical treatments. The results obtained were very promising. Test bench trials showed a 4-log reduction in E. coli, and microbial determinations carried out on-farm did not show any difference between thermal and chemical treatment. In addition, the cost estimation showed that thermal disinfection is approximately 4-fold cheaper than chemical sanitation methods. The effective working capacity of the machine was approximately 1700 m2 h–1, and the LPG consumption was approximately 16 kg per 1000 m2. Flame disinfection of poultry grow-out facilities could represent a valid alternative to chemical disinfection

Assessment of a Chain Mower Performance for Weed Control under Tree Rows in an Alley Cropping Farming System

In the area under tree rows of alley cropping systems, coarse plant material as well as pruning material or stones may be present, so the use of a mower equipped with chains as cutting a tool could be advantageous. A mower designed for under-row weed control in orchards, equipped with an automatic tree-skipping mechanism, was modified by replacing blades with chains with the aim of evaluating its performance in an alley cropping system. A first trial was carried out in an open field to preliminarily compare the chain mower with the version equipped with blades in relation to different settings of working speed (1.6 and 2.4 km center dot h(-1)) and rotation speed of the cutting tool (1830 and 2500 rpm). Weed biomass reduction, weed cover reduction, weed height reduction, weed biomass regrowth, and clipping size were assessed. In a second trial, the performance of the mowers with different setting configurations was assessed in an alley cropping system under a more critical environmental condition for mowing, i.e., the presence of dew. Weed biomass reduction, weed cover reduction, weed height reduction, and the mowers' field capacity with different working speed settings were assessed. No major differences emerged between the mowers and the chain mower performance was comparable to that of the standard blade mower. The setting with the high working speed and high rotation speed of the cutting tool turns out to be the best compromise, obtaining a weed biomass reduction of 59.6%, a weed cover reduction of 40.9%, and a higher field capacity compared to the setting with the low working speed, with an increase of 47.9%

Predictors of carotid occlusion intolerance?during proximal protected?carotid artery?stenting.

OBJECTIVES: The aim of this study was to identify predictors of occlusion intolerance (OI) developing during proximal protected carotid artery stenting (CAS). BACKGROUND: The use of proximal embolic protection devices, such as endovascular occlusion, during CAS has been demonstrated to be particularly safe and effective. However, endovascular occlusion can expose the ipsilateral hemisphere to hypoperfusion and produce transient neurological symptoms (OI). METHODS: From March 2010 to March 2012, 605 consecutive patients underwent proximal protected CAS at our institution. To identify independent predictors of OI, a multivariate logistic regression model was developed that included all patients' clinical/angiographic and procedural characteristics. RESULTS: OI developed in a total of 184 patients (30.4%). Compared with patients in whom OI did not develop, those who experienced OI had lower occlusion pressure (OP) (42.3 ± 12.7 mm Hg vs. 61.9 ± 15.4 mm Hg, p < 0.001). Receiver-operating characteristic curve analysis demonstrated that OP was the most consistent predictor of OI with a C-statistic of 0.85 (95% confidence interval [CI]: 0.82 to 0.88) with best cutoff being ≤40 mm Hg (sensitivity, 68.5%; specificity, 93.3%). By logistic regression analysis, the most powerful independent predictor of OI developing was an OP ≤40 mm Hg (odds ratio: 33.2, 95% CI: 19.1 to 57.7) and the most powerful clinical predictor of such OP was the presence of contralateral internal carotid artery occlusion (odds ratio: 3.1, 95% CI: 1.5 to 6.2). CONCLUSIONS: OI may occur in as many as one-third of the patients undergoing proximal protected CAS. This event is more common in those patients with an OP ≤40 mm Hg. Patients presenting with concomitant occlusion of the contralateral internal carotid artery more frequently have an OP ≤40 mm Hg

Hot foam and nitrogen application to promote spring transition of “Diamond” zoysiagrass (Zoysia matrella (L.) Merr.) overseeded with perennial ryegrass (Lolium perenne L.).

In transition areas, cool season turfgrasses are overseeded in autumn to maintain the high quality of dormant warm season turfgrasses, while in spring several agronomic methods (scalping, coring, topdressing, verticutting, irrigation, and targeted fertilization) or chemical desiccation are adopted to remove the cool season turfgrasses from the stand. To reduce chemical applications, several methods of “thermal weeding” have been experimented with, but little is known about these methods in zoysiagrass (Zoysia spp. Willd) spring transition. A study was conducted at the University of Pisa, Italy, on Manila grass (Zoysia matrella (L.) Merr., cv “Diamond”) (Zm) overseeded with perennial ryegrass (Lolium perenne L.) (Lp) with the aim of comparing different methods of cool season grass suppression (scalping and hot foam) and different application rates of nitrogen. To assess treatment effect, green cover, turf quality, turf color, shoot density, and some vegetation indices (GLI, DGCI and NDVI) were determined. An average green cover of at least 90% was obtained on all plots seven weeks after the treatments. While scalping had minor effects on turf appearance and on polystand composition, hot foam had a stronger effect on turf color, green cover, and turf quality in the weeks following application. Once it had recovered from the hot foam treatments, the turf had a greater number of Zm shoots and a relevant reduction of Lp shoots. The hot foam was very effective in suppressing Lp while maintaining Zm recovery capacity. quality of dormant warm season turfgrasses, while in spring several agronomic methods (scalping, coring, topdressing, verticutting, irrigation, and targeted fertilization) or chemical desiccation are adopted to remove the cool season turfgrasses from the stand. To reduce chemical applications, several methods of “thermal weeding” have been experimented with, but little is known about these methods in zoysiagrass (Zoysia spp. Willd) spring transition. A study was conducted at the University of Pisa, Italy, on Manila grass (Zoysia matrella (L.) Merr., cv “Diamond”) (Zm) overseeded with perennial ryegrass (Lolium perenne L.) (Lp) with the aim of comparing different methods of cool season grass suppression (scalping and hot foam) and different application rates of nitrogen. To assess treatment effect, green cover, turf quality, turf color, shoot density, and some vegetation indices (GLI, DGCI and NDVI) were determined. An average green cover of at least 90% was obtained on all plots seven weeks after the treatments. While scalping had minor effects on turf appearance and on polystand composition, hot foam had a stronger effect on turf color, green cover, and turf quality in the weeks following application. Once it had recovered from the hot foam treatments, the turf had a greater number of Zm shoots and a relevant reduction of Lp shoots. The hot foam was very effective in suppressing Lp while maintaining Zm recovery capacity

Extreme Energy Cosmic Rays (EECR) Observation Capabilities of an "Airwatch from Space'' Mission

The longitudinal development and other characteristics of the EECR induced atmospheric showers can be studied from space by detecting the fluorescence light induced in the atmospheric nitrogen. According to the Airwatch concept a single fast detector can be used for measuring both intensity and time development of the streak of fluorescence light produced by the atmospheric shower induced by an EECR. In the present communication the detection capabilities for the EECR observation from space are discussed.Comment: 3 pages (LaTeX). To appear in the Proceedings of TAUP'9

Autonomous mowing and turf-type bermudagrass as innovations for an environment-friendly floor management of a vineyard in coastal tuscany

The establishment of permanent cover crops is becoming a common practice in vineyard floor management. Turfgrass science may provide species and techniques with a high potential for improving the sustainability of vineyard floor management. Based on this assumption, an experiment was carried out during 2018 and 2019 at the Donna Olimpia Vineyard, Bolgheri, Italy. The trial aimed at comparing an innovative floor management system based on a turf-type cultivar of bermudagrass mown with an autonomous mower with a conventional floor management system. Ground cover percentage, energy consumption, CO2 emissions, grapevine water status, leaf nitrogen content, fruit yield and must composition have been assessed in order to perform the comparison. The innovative vineyard floor management produced an almost complete ground cover (98%) at the end of the second growing season, with the resident species reduced to a small percentage (4%). Resident species growing under-trellis were efficiently controlled without herbicide applications. A lower primary energy consumption and a reduction in CO2 emissions were observed for the innovative management system compared to the conventional management system. Grapevine water status, leaf chlorophyll content, soil–plant analyses development (SPAD), fruit yields and must composition were similar between the different soil management systems. Based on results obtained in this trial, turf-type bermudagrass and innovative mowing machines may contribute to enhance the sustainability of vineyard floor management