Design Issues and Application of Cable-Based Parallel Manipulators for Rehabilitation Therapy

In this study, cable-based manipulators are proposed for application in rehabilitation therapies. Cable-based manipulators show good features that are very useful when the system has to interact with humans. In particular, they can be used to aid motion or as monitoring/training systems in rehabilitation therapies. Modelling and simulation of both active and passive cable-based parallel manipulators are presented for an application to help older people, patients or disabled people in the sit-to-stand transfer and as a monitoring/training system. Experimental results are presented by using built prototypes

Design and Development of an Inspection Robotic System for Indoor Applications

The inspection and monitoring of industrial sites, structures, and infrastructure are important issues for their sustainability and further maintenance. Although these tasks are repetitive and time consuming, and some of these environments may be characterized by dust, humidity, or absence of natural light, classical approach relies on large human activities. Automatic or robotic solutions can be considered useful tools for inspection because they can be effective in exploring dangerous or inaccessible sites, at relatively low-cost and reducing the time required for the relief. The development of a paradigmatic system called Inspection Robotic System (IRS) is the main objective of this paper to demonstrate the feasibility of mechatronic solutions for inspection of industrial sites. The development of such systems will be exploited in the form of a tool kit to be flexible and installed on a mobile system, in order to be used for inspection and monitoring, possibly introducing high efficiency, quality and repetitiveness in the related sector. The interoperability of sensors with wireless communication may form a smart sensors tool kit and a smart sensor network with powerful functions to be effectively used for inspection purposes. Moreover, it may constitute a solution for a broad range of scenarios spacing from industrial sites, brownfields, historical sites or sites dangerous or difficult to access by operators. First experimental tests are reported to show the engineering feasibility of the system and interoperability of the mobile hybrid robot equipped with sensors that allow real-time multiple acquisition and storage

Hybrid Inspection Robot for Indoor and Outdoor Surveys

In this paper, simulation and experimental tests are reported for a hybrid robot being used for indoor and outdoor inspections. Automatic or tele-operated surveys can be performed by mobile robots, which represent the most efficient solution in terms of power consumption, control, robustness, and overall costs. In the context of structures and infrastructure inspection, robots must be able to move on horizontal or sloped surfaces and overpass obstacles. In this paper, the mechatronic design, simulations, and experimental activity are proposed for a hybrid robot being used for indoor and outdoor inspections, when the environmental conditions do not allow autonomous navigation. In particular, the hybrid robot is equipped with external and internal sensors to acquire information on the main structural elements, avoiding the need for experienced personnel being directly inside the inspection site, taking information from the environment and aiding the pilot to understand the best maneuvers/decisions to take. Given the current state of research and shortcomings worldwide, this paper discusses inspection robots taking into account the main issues in their use, functionality and standard systems, and how internal sensors can be set in order to improve inspection robots’ performances. On this basis, an illustrative study case is proposed

Direct dynamics of 2D cable-driven parallel robots including cables mass effect and its influence in the control performance

Cable-driven parallel robots are a type of parallel manipulators where rigid links are replaced by actuated cables. Although in many cases dynamic models that neglect the cables mass and elasticity are employed to simulate the robot behavior and test the control approach to be used, there are several situations in which their effect cannot be disregarded, especially when large span cables are used, and the cable mass density generates important cable sagging. This work proposes a dynamic model for planar cable-driven parallel robots with 3 degrees-of-freedom considering cables mass and elasticity. Furthermore, the effect of using control approaches based on massless inelastic cables dynamic models on robots with non-negligible cable mass and elasticity is finally assessed

Prognostic significance of serine-phosphorylated STAT3 expression in pT1-T2 oral tongue carcinoma

Objectives. Phosphorylated (activated) STAT3 (pSTAT3) is a regulator of numerous genes that play an essential part in the onset, development and progression of cancer; it is involved in cell proliferation and preventing apoptosis, and in invasion, angiogenesis, and the evasion of immune surveillance. This study aimed mainly to investigate the potential prognostic role of pSTAT3 expression in oral tongue squamous cell carcinoma (SCC). Methods. Phospho-ser727 STAT3 immunolabeling was correlated with prognostic parameters in 34 consecutive cases of pT1\u2013T2 tongue SCCs undergoing primary surgery. Computer-based image analysis was used for the immunohistochemical reactions analysis. Results. Statistical analysis showed a difference in disease-free survival (DFS) when patients were stratified by pN status (P=0.031). Most tumors had variable degrees (mean\ub1SD, 80.7%\ub123.8%) of intense nuclear immunoreaction to pSTAT3. Our findings rule out any significant association of serine-phosphorylated nuclear STAT3 expression with tumor stage, grade, lymph node metastasis, recurrence rate, or DFS. Conclusion. In spite of these results, it is worth further investigating the role of pSTAT3 (serine-and tyrosine-pSTAT3) in oral tongue SCC in larger series because preclinical models are increasingly showing that several anticancer strategies would benefit from STAT3 phosphorylation inhibition

A model of discriminant analysis on the basis of descriptor variables for the ampelography of Vitis sp.

Use of descriptor variables in ampelography is recommended to simplify recording of data and to enable useful comparisons. Parametric assumptions are, however, poorly satisfied especially with regard to statistical interference. In the paper some statistical procedures to improve the discriminant ability of descriptor variables are considered. The use of variances and covariances of variety by year interactions is suggested for the error matrix within a multiple discriminant analysis procedure. The adequacy of this model is verified in a 3-year experiment with Italian wine varieties. The discriminant power, as evaluated on the basis of the estimated distances among varieties, is satisfactory

Design of polymer-based antimicrobial hydrogels through physico-chemical transition

The antimicrobial activity represents a cornerstone in the development of biomaterials: it is a leading request in many areas, including biology, medicine, environment and industry. Over the years, different polymeric scaffolds are proposed as solutions, based on the encapsulation of metal ions/particles, antibacterial agents or antibiotics. However, the compliance with the biocompatibility criteria and the concentration of the active principles to avoid under- and over-dosing are being debated. In this work, we propose the synthesis of a versatile hydrogel using branched polyacrylic acid (carbomer 974P) and aliphatic polyetherdiamine (elastamine\uae) through physico-chemical transition, able to show its ability to counteract the bacterial growth and infections thanks to the polymers used, that are not subjected to further chemical modifications. In particular, the antimicrobial activity is clearly demonstrated against Staphyloccoccus aureus and Candida albicans, two well-known opportunistic pathogens. Moreover, we discuss the hydrogel use as drug carrier to design a unique device able to combine the antibacterial/antimicrobial properties to the controlled drug delivery, as a promising tool for a wide range of biomedical applications

Proteobacteria Overgrowth and Butyrate-Producing Taxa Depletion in the Gut Microbiota of Glycogen Storage Disease Type 1 Patients

A life-long dietary intervention can affect the substrates' availability for gut fermentation in metabolic diseases such as the glycogen-storage diseases (GSD). Besides drug consumption, the main treatment of types GSD-Ia and Ib to prevent metabolic complications is a specific diet with definite nutrient intakes. In order to evaluate how deeply this dietary treatment affects gut bacteria, we compared the gut microbiota of nine GSD-I subjects and 12 healthy controls (HC) through 16S rRNA gene sequencing; we assessed their dietary intake and nutrients, their microbial short chain fatty acids (SCFAs) via gas chromatography and their hematic values. Both alpha-diversity and phylogenetic analysis revealed a significant biodiversity reduction in the GSD group compared to the HC group, and highlighted profound differences of their gut microbiota. GSD subjects were characterized by an increase in the relative abundance of Enterobacteriaceae and Veillonellaceae families, while the beneficial genera Faecalibacterium and Oscillospira were significantly reduced. SCFA quantification revealed a significant increase of fecal acetate and propionate in GSD subjects, but with a beneficial role probably reduced due to unbalanced bacterial interactions; nutritional values correlated to bacterial genera were significantly different between experimental groups, with nearly opposite cohort trends

Workspace and Singularity analysis of a Delta like family robot

Workspace and joint space analysis are essential steps in describing the task and designing the control loop of the robot, respectively. This paper presents the descriptive analysis of a family of delta-like parallel robots by using algebraic tools to induce an estimation about the complexity in representing the singularities in the workspace and the joint space. A Gr{\"o}bner based elimination is used to compute the singularities of the manipulator and a Cylindrical Algebraic Decomposition algorithm is used to study the workspace and the joint space. From these algebraic objects, we propose some certified three dimensional plotting describing the the shape of workspace and of the joint space which will help the engineers or researchers to decide the most suited configuration of the manipulator they should use for a given task. Also, the different parameters associated with the complexity of the serial and parallel singularities are tabulated, which further enhance the selection of the different configuration of the manipulator by comparing the complexity of the singularity equations.Comment: 4th IFTOMM International Symposium on Robotics and Mechatronics, Jun 2015, Poitiers, France. 201