A Platform-independent Programming Environment for Robot Control

The development of robot control programs is a complex task. Many robots are different in their electrical and mechanical structure which is also reflected in the software. Specific robot software environments support the program development, but are mainly text-based and usually applied by experts in the field with profound knowledge of the target robot. This paper presents a graphical programming environment which aims to ease the development of robot control programs. In contrast to existing graphical robot programming environments, our approach focuses on the composition of parallel action sequences. The developed environment allows to schedule independent robot actions on parallel execution lines and provides mechanism to avoid side-effects of parallel actions. The developed environment is platform-independent and based on the model-driven paradigm. The feasibility of our approach is shown by the application of the sequencer to a simulated service robot and a robot for educational purpose

Platelet Transfusion Induces Alloimmunization to D and Non-D Rhesus Antigens.

Background Platelet concentrates (PC) contain residual contaminating red blood cells (RBC), being higher in pooled buffy coat PC (BC-PC) than in apheresis units (AP-PC). Data about PC-induced alloimmunization against non-D Rhesus (Rh) antigens are limited. Methods For all newly detected RhD and non-D alloantibodies between August 2015 and September /2017 we prospectively evaluated if they were triggered through PC by analyzing for incompatible RBC and/or PC transfusions. Results We found 5,799 positive results in 89,190 antibody screening tests. We identified 13 newly detectable Rh antibodies through incompatible PCs in 11 patients: 6× anti-D, 4× anti-E, 2× anti-c, 1× anti-f. They received a total of 156 PC (83 BC-PC; 73 AP-PC): 5 patients received incompatible BC-PC only, 1 patient received incompatible AP-PC only, 5 patients received incompatible BC-PC and AP-PC. Quality control showed a mean (range) of 0.304 (0.152-1.662) and 0.014 (0.003-0.080) × 10 RBC/l for BC-PC and AP-PC, respectively. Ten of the 11 patients received RBC transfusions, all of them being antigen-negative for the alloantibodies identified. Conclusions PC transfusions may not only induce RhD alloimmunization, but also immunization against further Rh antigens such as c, E, and f. The risk seems higher for BC-PC than for AP-PC. The results may have impact on future recommendations of PC transfusion with respect to Rh compatibility and upper limits of RBC contamination