Incipient Slip-Based Rotation Measurement via Visuotactile Sensing During In-Hand Object Pivoting

In typical in-hand manipulation tasks represented by object pivoting, the real-time perception of rotational slippage has been proven beneficial for improving the dexterity and stability of robotic hands. An effective strategy is to obtain the contact properties for measuring rotation angle through visuotactile sensing. However, existing methods for rotation estimation did not consider the impact of the incipient slip during the pivoting process, which introduces measurement errors and makes it hard to determine the boundary between stable contact and macro slip. This paper describes a generalized 2-d contact model under pivoting, and proposes a rotation measurement method based on the line-features in the stick region. The proposed method was applied to the Tac3D vision-based tactile sensors using continuous marker patterns. Experiments show that the rotation measurement system could achieve an average static measurement error of 0.17 degree and an average dynamic measurement error of 1.34 degree. Besides, the proposed method requires no training data and can achieve real-time sensing during the in-hand object pivoting.Comment: 7 pages, 9 figures, submitted to ICRA 202

Thermal Error Modeling of the CNC Machine Tool Based on Data Fusion Method of Kalman Filter

This paper presents a modeling methodology for the thermal error of machine tool. The temperatures predicted by modified lumped-mass method and the temperatures measured by sensors are fused by the data fusion method of Kalman filter. The fused temperatures, instead of the measured temperatures used in traditional methods, are applied to predict the thermal error. The genetic algorithm is implemented to optimize the parameters in modified lumped-mass method and the covariances in Kalman filter. The simulations indicate that the proposed method performs much better compared with the traditional method of MRA, in terms of prediction accuracy and robustness under a variety of operating conditions. A compensation system is developed based on the controlling system of Siemens 840D. Validated by the compensation experiment, the thermal error after compensation has been reduced dramatically

3-Chloro-6-{4-[3-(4-chloro­phen­oxy)prop­yl]piperazin-1-yl}pyridazine

In the title compound, C17H20Cl2N4O, the piperazine ring adopts a chair conformation and the dihedral angle between the pyridazine ring and the benzene ring is 36.3 (1)°. In the crystal, weak C—H⋯O and C—H⋯(N,N) inter­actions help to establish the packing, which also features short inter­molecular Cl⋯Cl contacts [3.331 (2) Å]

Longitudinal Gut Bacterial Colonization and Its Influencing Factors of Low Birth Weight Infants During the First 3 Months of Life

Establishment of low birth weight (LBW) infant gut microbiota may have lifelong implications for the health of individuals. However, no longitudinal cohort studies have been conducted to characterize the gut microbial profiles of LBW infants and their influencing factors. Our objective was to understand how the gut bacterial community structure of LBW and normal birth weight (NBW) infants varies across the first 3 months of life and assess the influencing factors. In this observational cohort study, gut bacterial composition was identified with sequencing of the 16S rRNA gene in fecal samples of 69 LBW infants and 65 NBW controls at 0 day, 3 days, 2 weeks, 6 weeks, and 3 months (defined as stages 1–5) after birth. Alpha-diversity of both groups displayed a decreasing trend followed by slight variations. There were significant differences on the Shannon index of the two groups at stages 1 to 3 (P = 0.041, P = 0.032, and P = 0.014, respectively). The microbiota community structure of LBW infants were significantly different from NBW infants throughout the 3 months (all P < 0.05) but not at stage 2 (P = 0.054). There was a significant increase in abundance in Firmicutes while a decrease in Proteobacteria, and at genus level the abundance of Enterococcus, Klebsiella, and Streptococcus increased while it decreased for Haemophilus in LBW group. Birth weight was the main factor explaining the observed variation at all stages, except at stage 2. Delivery mode (4.78%) and antibiotic usage (3.50%) contributed to explain the observed variation at stage 3, and pregestational BMI (4.61%) partially explained the observed variation at stage 4. In conclusion, gut microbial communities differed in NBW and LBW infants from birth to 3 months of life, and were affected by birth weight, delivery mode, antibiotic treatment, and pregestational BMI

The Changing Landscape for Stroke\ua0Prevention in AF: Findings From the GLORIA-AF Registry Phase 2

Background GLORIA-AF (Global Registry on Long-Term Oral Antithrombotic Treatment in Patients with Atrial Fibrillation) is a prospective, global registry program describing antithrombotic treatment patterns in patients with newly diagnosed nonvalvular atrial fibrillation at risk of stroke. Phase 2 began when dabigatran, the first non\u2013vitamin K antagonist oral anticoagulant (NOAC), became available. Objectives This study sought to describe phase 2 baseline data and compare these with the pre-NOAC era collected during phase 1. Methods During phase 2, 15,641 consenting patients were enrolled (November 2011 to December 2014); 15,092 were eligible. This pre-specified cross-sectional analysis describes eligible patients\u2019 baseline characteristics. Atrial fibrillation disease characteristics, medical outcomes, and concomitant diseases and medications were collected. Data were analyzed using descriptive statistics. Results Of the total patients, 45.5% were female; median age was 71 (interquartile range: 64, 78) years. Patients were from Europe (47.1%), North America (22.5%), Asia (20.3%), Latin America (6.0%), and the Middle East/Africa (4.0%). Most had high stroke risk (CHA2DS2-VASc [Congestive heart failure, Hypertension, Age  6575 years, Diabetes mellitus, previous Stroke, Vascular disease, Age 65 to 74 years, Sex category] score  652; 86.1%); 13.9% had moderate risk (CHA2DS2-VASc = 1). Overall, 79.9% received oral anticoagulants, of whom 47.6% received NOAC and 32.3% vitamin K antagonists (VKA); 12.1% received antiplatelet agents; 7.8% received no antithrombotic treatment. For comparison, the proportion of phase 1 patients (of N = 1,063 all eligible) prescribed VKA was 32.8%, acetylsalicylic acid 41.7%, and no therapy 20.2%. In Europe in phase 2, treatment with NOAC was more common than VKA (52.3% and 37.8%, respectively); 6.0% of patients received antiplatelet treatment; and 3.8% received no antithrombotic treatment. In North America, 52.1%, 26.2%, and 14.0% of patients received NOAC, VKA, and antiplatelet drugs, respectively; 7.5% received no antithrombotic treatment. NOAC use was less common in Asia (27.7%), where 27.5% of patients received VKA, 25.0% antiplatelet drugs, and 19.8% no antithrombotic treatment. Conclusions The baseline data from GLORIA-AF phase 2 demonstrate that in newly diagnosed nonvalvular atrial fibrillation patients, NOAC have been highly adopted into practice, becoming more frequently prescribed than VKA in Europe and North America. Worldwide, however, a large proportion of patients remain undertreated, particularly in Asia and North America. (Global Registry on Long-Term Oral Antithrombotic Treatment in Patients With Atrial Fibrillation [GLORIA-AF]; NCT01468701

Algebraic expression and characteristics of static wrench-closure workspace boundary for planar cable-driven parallel robots

This article proposes a deduction method of algebraic expression of static wrench-closure workspace boundary for planar 3-degree-of-freedom cable-driven parallel robots based on the antipodal theorem. Different from interval method and discretization approach, a more precise algebraic expression of workspace boundary can be obtained without undetermined region or costly computation burden to make the design process and optimization easy and feasible. In order to illustrate and study the conic characteristics of workspace boundary, a case study is conducted on a four-cable-driven 3-degree-of-freedom parallel robot. Simulation results show that the type of conic of boundary depends on the determinant of the specific deduced matrix and corresponds to which cable is collinear with the intersection line. In addition, the results also demonstrate that the boundary of workspace consists of the same type of two conics (i.e. ellipse, parabola, and hyperbola), and the region surrounded by these two quadratic curves is the smallest when the type of the border equation is parabola

A Temperature Sensor Clustering Method for Thermal Error Modeling of Heavy Milling Machine Tools

A clustering method is an effective way to select the proper temperature sensor location for thermal error modeling of machine tools. In this paper, a new temperature sensor clustering method is proposed. By analyzing the characteristics of the temperature of the sensors in a heavy floor-type milling machine tool, an indicator involving both the Euclidean distance and the correlation coefficient was proposed to reflect the differences between temperature sensors, and the indicator was expressed by a distance matrix to be used for hierarchical clustering. Then, the weight coefficient in the distance matrix and the number of the clusters (groups) were optimized by a genetic algorithm (GA), and the fitness function of the GA was also rebuilt by establishing the thermal error model at one rotation speed, then deriving its accuracy at two different rotation speeds with a temperature disturbance. Thus, the parameters for clustering, as well as the final selection of the temperature sensors, were derived. Finally, the method proposed in this paper was verified on a machine tool. According to the selected temperature sensors, a thermal error model of the machine tool was established and used to predict the thermal error. The results indicate that the selected temperature sensors can accurately predict thermal error at different rotation speeds, and the proposed temperature sensor clustering method for sensor selection is expected to be used for the thermal error modeling for other machine tools

Geometric Error Modeling of Machine Tools Based on Screw Theory

AbstractIn order to build an linear, high computational efficiency geometric error model for machine tools, a new error modeling method based on screw theory is presented. Geometrical error sources are expressed as error twists, and the integrated model is calculated as the sum of error twists. The method is demonstrated on a 2-DOF mechanism and a simulation error modeling procedure at 1000 random points for a 5-axis machine tool is conducted. The simulation results show that the computational efficiency increase by 5 times. The feasibility of the proposed method is also verified and the physical influences of the error sources are also analyzed. This modeling method has high computational efficiency and clear physical meanings. It is useful to guide the design of new machine tools

Design and analysis of a 2-degree-of-freedom flexure-based micro-motion stage

This article presents the mechanical design, dimensional optimization, finite element analysis, and experimentation of a 2-degree-of-freedom flexure-based micro-motion stage. The stage is composed of four parallel limbs with symmetrical configuration, and each limb is composed of two serially connected prismatic joints. The divided parts of flexure hinge thickness constituting the two prismatic joints are selected as two. Based on analytical models established in stiffness and dynamic analysis, the dimensional optimization is carried out to maximize the first resonance frequency. Finite element analysis is then adapted to verify the stiffness, workspace, and dynamic behavior. Finally, a prototype of the stage is manufactured and an experimental platform is set up. The experimental results show that the stage has a workspace range of 19.53 µm × 19.07 µm with a frequency of 1987 Hz, and the cross-coupling ratio between two axes is less than 1%. For high-frequency cooperative tracking experiments, a proportional–integral controller is implemented to compensate for the tracking errors. Finally, good tracking performance at high frequency is obtained, which validates the effectiveness of the micro-motion stage

A Comparison Study on the Orientation Capability and Parasitic Motions of Two Novel Articulated Tool Heads with Parallel Kinematics

This paper proposes two novel articulated tool heads based on three degree-of-freedom (DoF) parallel kinematic mechanisms (PKMs). They can realize one translation and the A/B-axis (rotations about the x - and y -axes) linkage movements. Both of the proposed tool heads can be used as modular machining units in five-axis machine centers. Based on the proposed configurations, the performance comparison on orientation capability and parasitic motions is carried out to provide theoretical foundation for the design of a five-axis hybrid machine. In this process, the motion/force transmissibility is taken into consideration and the orientation capability is investigated by using local transmission index (LTI) as the evaluation criterion. To get better orientation performance of the selected configuration, kinematic optimization is carried out and a geometric deviation parameter is brought into the already established configuration. Consequently, the orientation capability of more than fifty degrees is achieved. The proposition of the tool heads and the corresponding comparison and optimization are very helpful for the development of the new hybrid machine tool