Skinning a Robot: Design Methodologies for Large-Scale Robot Skin

Providing a robot with large-scale tactile sensing capabilities requires the use of design tools bridging the gap between user requirements and technical solutions. Given a set of functional requirements (e.g., minimum spatial sensitivity or minimum detectable force), two prerequisites must be considered: (i) the capability of the chosen tactile technology to satisfy these requirements from a technical standpoint; (ii) the ability of the customisation process to find a trade-off among different design parameters, such as (in case of robot skins based on the capacitive principle) dielectric thickness, diameter of sensing points, or weight. The contribution of this paper is two-fold: (i) the description of the possibilities offered by a design toolbox for large-scale robot skin based on Finite Element Analysis and optimisation principles, which provides a designer with insights and alternative choices to obtain a given tactile performance according to the scenario at hand; (ii) a discussion about the intrinsic limitations in simulating robot skin

Optimizing the ratios of standardized ileal digestible (SID) methionine plus SID cystine and SID threonine to SID lysine in low-protein diets for working boars

This study aimed to optimize the ratios of standardized ileal digestible (SID) methionine (Met) plus cystine (Cys), and threonine (Thr) to SID lysine (Lys) in low-protein diets for working boars. Forty-eight working Duroc boars were randomly allocated to one of 12 dietary treatments in a 3x4 factorial experimental design in which factor 1 was the ratios of SID Met plus Cys to SID Lys (50, 60, 70%), factor 2 was the ratios of SID Thr to SID Lys (40, 50, 60, 70%). Semen was collected at a 4 days interval for 6 weeks for 10 ejaculates. Semen volume (V), percentage of sperm with progressive motility (A), sperm concentration (C), and the total number of motile sperm per ejaculate (VAC) were measured. The results of the study revealed that the ratios of SID Met plus Cys to SID Lys in the diets affected the C and VAC. Values of C and VAC were highest at the ratios of SID Met plus Cys to SID Lys of 70% and lowest at 50% (P<0.05). Similarly, the ratios of SID Thr to SID Lys affected the C and VAC. Further, the values of C and VAC were highest at the ratio of SID Thr to SID Lys of 60% and lowest at 40% (P<0.05). There was no interaction effect between the two factors. In conclusion, the ratios of SID Met plus Cys to SID Lys of 70% and SID Thr to SID Lys of 60% in a 13.5% CP diet are optimal for working boars

Acidifiers as Alternatives for Antibiotics Reduction and Gut Health Improvement for Poultry and Swine

Using antibiotics of low doses as feed additives could support to improve poultry and swine performances. However, these applications have caused resistance of bacteria and antibiotic residues in foods of animal origins. Therefore, efforts were focused on solutions to replace antibiotics as growth promoters (AGPs). There are many alternatives for AGPs, in which organic acids are one of the important alternatives. The aim of this chapter is to review publications on these acids and their other forms namely as acidifiers using as feed additives including their names and forms, mode of actions, spectrum against bacteria, combinations among them, and latest updates on their effects on swine and poultry production. The scientific findings show that acidifiers can inhibit pathogenic bacteria growth, improve nutrient digestibility, enhance immunity and overall gut health, consequently increase performances of poultry and swine. Several acids and their salts in both liquid and solid forms have been studied and applied as poultry and swine feed additives; however, the efficacy levels and the mode of actions are dependent on the single acidifiers, their salts, and combinations among them. The uses of acidifiers in their salts and derivative forms and mixtures of different acidifiers seem to be more favorable

A Multi-Center Randomized Trial to Assess the Efficacy of Gatifloxacin versus Ciprofloxacin for the Treatment of Shigellosis in Vietnamese Children

The bacterial genus Shigella is the most common cause of dysentery (diarrhea containing blood and/or mucus) and the disease is common in developing countries with limitations in sanitation. Children are most at risk of infection and frequently require hospitalization and antimicrobial therapy. The WHO currently recommends the fluoroquinolone, ciprofloxacin, for the treatment of childhood Shigella infections. In recent years there has been a sharp increase in the number of organisms that exhibit resistance to nalidixic acid (an antimicrobial related to ciprofloxacin), corresponding with reduced susceptibility to ciprofloxacin. We hypothesized that infections with Shigella strains that demonstrate resistance to nalidixic acid may prevent effective treatment with ciprofloxacin. We performed a randomized controlled trial to compare 3 day ciprofloxacin therapy with 3 days of gatifloxacin, a newer generation fluoroquinolone with greater activity than ciprofloxacin. We measured treatment failure and time to the cessation of individual disease symptoms in 249 children with dysentery treated with gatifloxacin and 245 treated with ciprofloxacin. We could identify no significant differences in treatment failure between the two groups or in time to the cessation of individual symptoms. We conclude that, in Vietnam, ciprofloxacin and gatifloxacin are similarly effective for the treatment of acute dysentery

Safety and efficacy of fluoxetine on functional outcome after acute stroke (AFFINITY): a randomised, double-blind, placebo-controlled trial

Background Trials of fluoxetine for recovery after stroke report conflicting results. The Assessment oF FluoxetINe In sTroke recoverY (AFFINITY) trial aimed to show if daily oral fluoxetine for 6 months after stroke improves functional outcome in an ethnically diverse population. Methods AFFINITY was a randomised, parallel-group, double-blind, placebo-controlled trial done in 43 hospital stroke units in Australia (n=29), New Zealand (four), and Vietnam (ten). Eligible patients were adults (aged ≥18 years) with a clinical diagnosis of acute stroke in the previous 2–15 days, brain imaging consistent with ischaemic or haemorrhagic stroke, and a persisting neurological deficit that produced a modified Rankin Scale (mRS) score of 1 or more. Patients were randomly assigned 1:1 via a web-based system using a minimisation algorithm to once daily, oral fluoxetine 20 mg capsules or matching placebo for 6 months. Patients, carers, investigators, and outcome assessors were masked to the treatment allocation. The primary outcome was functional status, measured by the mRS, at 6 months. The primary analysis was an ordinal logistic regression of the mRS at 6 months, adjusted for minimisation variables. Primary and safety analyses were done according to the patient's treatment allocation. The trial is registered with the Australian New Zealand Clinical Trials Registry, ACTRN12611000774921. Findings Between Jan 11, 2013, and June 30, 2019, 1280 patients were recruited in Australia (n=532), New Zealand (n=42), and Vietnam (n=706), of whom 642 were randomly assigned to fluoxetine and 638 were randomly assigned to placebo. Mean duration of trial treatment was 167 days (SD 48·1). At 6 months, mRS data were available in 624 (97%) patients in the fluoxetine group and 632 (99%) in the placebo group. The distribution of mRS categories was similar in the fluoxetine and placebo groups (adjusted common odds ratio 0·94, 95% CI 0·76–1·15; p=0·53). Compared with patients in the placebo group, patients in the fluoxetine group had more falls (20 [3%] vs seven [1%]; p=0·018), bone fractures (19 [3%] vs six [1%]; p=0·014), and epileptic seizures (ten [2%] vs two [<1%]; p=0·038) at 6 months. Interpretation Oral fluoxetine 20 mg daily for 6 months after acute stroke did not improve functional outcome and increased the risk of falls, bone fractures, and epileptic seizures. These results do not support the use of fluoxetine to improve functional outcome after stroke

Application of a Biphasic Actuator in the Design of the CloPema Robot Gripper

The paper (a first version of this work was presented in Aug. 2014 at ASME-DETC in Buffalo, NY) describes a novel robot gripper for garment handling. The device has been designed, developed, prototyped, and tested within the CloPeMa European Project creating a robot system for automated manipulation of clothing and other textile items. The gripper has two degrees of freedom (dof) and includes both rigid and flexible elements. A variable-stiffness actuator has been implemented to add controlled compliance in the gripper's operation allowing the combining of various grasping and manipulation tasks. First, we analyze the specific application-determined task requirements, focusing on the need for adaptive flexibility and the role of compliant elements in the design. The chosen solution is a simple planar mechanism, equipped with one standard and one variablestiffness actuator. The mechanical design of the gripper, including the hydraulic system used in the biphasic actuator, is outlined, and the control architecture, using sensor feedback, is described

Development and analysis of a new specialized gripper mechanism for garment handling

This paper reports ongoing work on the design of a new gripper for garments handling. The development of this device is part of the CloPeMa European Project creating a robot system for automated manipulation of clothing and other textile items. First, we analyze the specificity of the application determining the requirements for the design and functioning of the grasping system. Textiles do not have a stable shape and cannot be manipulated on the basis of a priori geometric knowledge. The necessary exploration of the material and the environment is performed with the help of tactile sensors embedded in the fingertips of the gripper, complementing the vision system of the robotic work cell. The chosen design solution is a simple mechanism able to perform adequately the grasping task and to permit exploratory finger motions. The kinematics and statics of the mechanism are outlined briefly and, in accord with initial experiments, used to validate the design

Effect of a Combination of Lysolecithin, Synthetic Emulsifier and Monoglycerides on the Apparent Ileal Digestibility, Metabolizable Energy and Growth Performance of Growing Pigs

Two studies were conducted to determine the impact of an absorption enhancer containing a combination of lysophospholipids, monoglycerides and synthetic emulsifiers (LEX) on apparent ileal digestibility, metabolizable energy (ME), and growth performance of growing pigs. In the digestibility study, 12 male crossbred [Duroc x (Large White x Landrace)] pigs with an initial body weight (BW) of 30 kg were randomly allocated to two dietary treatments: (1) a positive control (PC) receiving standard diets formulated to 3100 kcal ME/kg, and (2) a negative control formulated with −100 kcal ME/kg and −2.5% AA content vs. PC and supplemented with LEX at 500 g/t. Apparent ileal digestibility of essential AA was significantly increased for lysine, methionine, threonine, histidine, isoleucine and phenylalanine in the LEX treatment (p p 50 kg body weight. Across the study, NC + 500 significantly increased ADG vs. PC and NC, and significantly reduced FCR compared to all other treatments. FCR of negative control diets improved by 9 and 15 points with the supplementation of 250 g/t and 500 g/t of LEX, respectively (p < 0.05). FCR in the NC + 250 diet was statistically similar vs. PC, which was significantly reduced compared to the NC. Taken together, these studies demonstrate that the addition of an absorption enhancer containing a combination of lysophospholipids, monoglycerides and synthetic emulsifiers can improve growth performance in growing pigs, driven by increased nutrient digestibility and retention