coupling of a redundant manipulator with a virtual reality environment to enhance human robot cooperation

Abstract The current trend in manufacturing is to obtain a flexible work cell in which human and robot can safely interact and collaborate. Virtual Reality (VR) represents an effective tool capable of simulating such complex systems with a high level of immersion. In order to take advantage of VR technologies to study Human-Robot Cooperation (HRC), a digital model of a redundant manipulator (KUKA LBR iiwa) has been developed starting with kinematic modeling and then coupled with the real robot. This approach allows simulating HRC in several scenarios, to reproduce the safe behavior on the real robot, as well as to train operators

Pharmacodynamic effects of atorvastatin vs. rosuvastatin in coronary artery disease patients with normal platelet reactivity while on dual antiplatelet therapy — The PEARL randomized cross-over study

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Tumor-associated and immunochemotherapy-dependent long-term alterations of the peripheral blood NK cell compartment in DLBCL patients

Natural Killer (NK) cells are a key component of tumor immunosurveillance and thus play an important role in rituximab-dependent killing of lymphoma cells via an antibody-dependent cellular cytotoxicity (ADCC) mechanism. We evaluated the phenotypic and functional assets of peripheral blood NK cell subsets in 32 newly-diagnosed diffuse large B-cell lymphoma (DLBCL) patients and in 27 healthy controls. We further monitored long-term modifications of patient NK cells for up to 12 months after rituximab-based immunochemotherapy. At diagnosis, patients showed a higher percentage of CD56dim and CD16C NK cells, and a higher frequency of GrzBC cells in CD56dim, CD56bright, and CD16C NK cell subsets than healthy controls. Conversely, DLBCL NK cell killing and interferon g (IFNg) production capability were comparable to those derived from healthy subjects. Notably, NK cells from refractory/relapsed patients exhibited a lower “natural” cytotoxicity. A marked and prolonged therapy-induced reduction of both “natural” and CD16- dependent NK cytotoxic activities was accompanied by the down-modulation of CD16 and NKG2D activating receptors, particularly in the CD56dim subset. However, reduced NK cell killing was not associated with defective lytic granule content or IFNg production capability. This study firstly describes tumor-associated and therapy-induced alterations of the systemic NK cell compartment in DLBCL patients. As these alterations may negatively impact rituximab-based therapy efficacy, our work may provide useful information for improving immunochemotherapeutic strategies

Rischi e problematiche medico-legali in epilessia

For patients with epilepsy coping with the reaction of other people can sometimes be the most difficult part of living with the disease. In many Countries social implications of epilepsy have determined the institution of legislative interventions to patient's rights. Therefore the clinician's responsibility includes helping patients in knowing their rights and the most important laws that have special relevance for people with epilepsy. This article discusses legislative aspects, referring to the Italian law, concerning epilepsy management. Many areas of the life of a person with epilepsy are considered, such as driving, employment, and recreational pursuits

A cadaver‑based biomechanical model of acetabulum reaming for surgical virtual reality training simulators

Total hip arthroplasty (THA) is a highly successful surgical procedure, but complications remain, including aseptic loosening, early dislocation and misalignment. These may partly be related to lacking training opportunities for novices or those performing THA less frequently. A standardized training setting with realistic haptic feedback for THA does not exist to date. Virtual Reality (VR) may help establish THA training scenarios under standardized settings, morphology and material properties. This work summarizes the development and acquisition of mechanical properties on hip reaming, resulting in a tissue-based material model of the acetabulum for force feedback VR hip reaming simulators. With the given forces and torques occurring during the reaming, Cubic Hermite Spline interpolation seemed the most suitable approach to represent the nonlinear forcedisplacement behavior of the acetabular tissues over Cubic Splines. Further, Cubic Hermite Splines allowed for a rapid force feedback computation below the 1 ms hallmark. The Cubic Hermite Spline material model was implemented using a three-dimensional-sphere packing model. The resulting forces were delivered via a human–machine-interaction certified KUKA iiwa robotic arm used as a force feedback device. Consequently, this novel approach presents a concept to obtain mechanical data from high-force surgical interventions as baseline data for material models and biomechanical considerations; this will allow THA surgeons to train with a variety of machining hardness levels of acetabula for haptic VR acetabulum reaming

The PLASMONX Project for advanced beam physics experiments

The Project PLASMONX is well progressing into its design phase and has entered as well its second phase of procurements for main components. The project foresees the installation at LNF of a Ti:Sa laser system (peak power > 170 TW), synchronized to the high brightness electron beam produced by the SPARC photo-injector. The advancement of the procurement of such a laser system is reported, as well as the construction plans of a new building at LNF to host a dedicated laboratory for high intensity photon beam experiments (High Intensity Laser Laboratory). Several experiments are foreseen using this complex facility, mainly in the high gradient plasma acceleration field and in the field of mono- chromatic ultra-fast X-ray pulse generation via Thomson back-scattering. Detailed numerical simulations have been carried out to study the generation of tightly focused electron bunches to collide with laser pulses in the Thomson source: results on the emitted spectra of X-rays are presented

withdrawn 2017 hrs ehra ecas aphrs solaece expert consensus statement on catheter and surgical ablation of atrial fibrillation

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HuPOSE: Human-like posture generation and biomechanical analysis for human figures

Over the years an increasing attention has been devoted to ergonomic analyses even from the early stage of the design process. Ergonomic and human factor evaluations often require building a physical mock-up in order to provide an assessment of discomfort and ease of use. This process, using traditional methods, is very time demanding, especially when the design has to be modified and revalidated. Digital mock-up instead, enables manu- facturers to design digital prototypes of a product in full details, simulating its functions and predicting interaction among its different components. In order to take advantage of digital simulation to conduct ergonomic assessments digital substitutes of human beings (also called digital humans), able to interact with the digital mock-up in simulation environment, are required. Since these digital humans are required to simulate human beings in digital environments their resulting movements must be as human-like as possible. Although these digital human simulation tools are now advanced enough to correctly predict human-product and human-process interaction, even before a physical prototype is constructed, the animation process is still very time demanding, mainly because it still relies on key frame techniques. Moreover, the accuracy of the resulting simulations are strongly related to the experience of the operator. The aim of this thesis has been to develop an algorithm capable of speeding up the animation process of digital humans. An algorithm capable of conducting biomechanical analyses has been developed as well. Chapter 1 provides a general introduction underlining the need to use digital human simulation tools from the early stage of the design process. The main applications of digital technologies in industrial world are presented as well. Chapter 2 provides an overview of the the main digital human simulation tools currently available, highlighting their advantages and disadvantages. Chapter 3 describes the mathematical theory underlying the developed HuPOSE model. Both the kinematic and the biomechanical model are presented. The main contribution is the formulation of the inverse kinematic problem in terms of a single CLIK algorithm, using an Augmented Jacobian matrix. This approach suggested also the possibility of computing the static torques at the joints of a digital human by means of kineto-static duality. The computation of the static torques allowed to conduct a biomechanical analysis, in reference to a load-lifting task, very easily. Chapter 4 discusses several possible application for the developed HuPOSE model. Simulation in virtual environment have been conducted using Matlab–Simulink in order to show the ease of motion planning for a human figure. The implemented whole-body motion control technique takes into account the position of the centre of pressure of the digital human. This technique allows to achieve quite natural movements in spite of the limited number of task related control points considered. A biomechanical analisys is presented as well, whose results are results are in good agreement with literature data. Chapter 5 contains the main results achieved, remarks and proposals for future developmen

HuPOSE : Human-like posture generation and biomechanical analysis for human figures

Over the years an increasing attention has been devoted to ergonomic analyses even from the early stage of the design process. Ergonomic and human factor evaluations often require building a physical mock-up in order to provide an assessment of discomfort and ease of use. This process, using traditional methods, is very time demanding, especially when the design has to be modified and revalidated. Digital mock-up instead, enables manu- facturers to design digital prototypes of a product in full details, simulating its functions and predicting interaction among its different components. In order to take advantage of digital simulation to conduct ergonomic assessments digital substitutes of human beings (also called digital humans), able to interact with the digital mock-up in simulation environment, are required. Since these digital humans are required to simulate human beings in digital environments their resulting movements must be as human-like as possible. Although these digital human simulation tools are now advanced enough to correctly predict human-product and human-process interaction, even before a physical prototype is constructed, the animation process is still very time demanding, mainly because it still relies on key frame techniques. Moreover, the accuracy of the resulting simulations are strongly related to the experience of the operator. The aim of this thesis has been to develop an algorithm capable of speeding up the animation process of digital humans. An algorithm capable of conducting biomechanical analyses has been developed as well. Chapter 1 provides a general introduction underlining the need to use digital human simulation tools from the early stage of the design process. The main applications of digital technologies in industrial world are presented as well. Chapter 2 provides an overview of the the main digital human simulation tools currently available, highlighting their advantages and disadvantages. Chapter 3 describes the mathematical theory underlying the developed HuPOSE model. Both the kinematic and the biomechanical model are presented. The main contribution is the formulation of the inverse kinematic problem in terms of a single CLIK algorithm, using an Augmented Jacobian matrix. This approach suggested also the possibility of computing the static torques at the joints of a digital human by means of kineto-static duality. The computation of the static torques allowed to conduct a biomechanical analysis, in reference to a load-lifting task, very easily. Chapter 4 discusses several possible application for the developed HuPOSE model. Simulation in virtual environment have been conducted using Matlab–Simulink in order to show the ease of motion planning for a human figure. The implemented whole-body motion control technique takes into account the position of the centre of pressure of the digital human. This technique allows to achieve quite natural movements in spite of the limited number of task related control points considered. A biomechanical analisys is presented as well, whose results are results are in good agreement with literature data. Chapter 5 contains the main results achieved, remarks and proposals for future developmen