Design and Simulation of a Cable-Driven Vertebra-Based Humanoid Torso

Artificial torso is a fundamental part of humanoid robots with special features for mimicking human performance. In this paper, a novel torso design is presented with cable-driven vertebra-based solution, as inspired by human anatomy. Whereas the anatomy of the human torso and their joints are indeed very complex, a formulation for basic functioning of the humanoid torso has been developed. The structure is introduced by describing its main characteristics and performance starting from its kinematics up to design constrains. The design is presented with numerical results of dynamic simulation and FEM analysis with the aim of testing the feasibility of the proposed solution and characterizing its operation performance.

An optimum design procedure for both serial and parallel manipulators

Serial and parallel manipulators can be used in different manipulative tasks when their peculiarities in kinematic and dynamic behaviours are properly considered from the design stage. The basic performance in workspace, mobility constraints, and stiffness makes them alternative solutions and not competitive manipulator chains. Thus, it is convenient to deduce a common design procedure that considers common design criteria, but specific numerical evaluations. In this paper, a multi-objective optimization problem has been proposed to formulate a unique design procedure that takes into account the contradicting design optimality criteria in terms of suitable general algorithms for workspace volumes, Jacobian matrices, and compliant displacements. Numerical examples are reported to show not just the feasibility but also the numerical efficiency of the proposed formulations.

The Effects of Design Parameters on the Workspace of a Turin Parallel Robot

In this paper an investigation is carried out to determine topologi cal and design characteristics of the workspace of a Turin parallel robot named TuPaMan. We propose a procedure for the dimensional design of the device components. We mainly emphasize the motion capability of parallel robots, whose mechanical design may be scaled with respect to existing prototypes, by means of a characterization of the TuPaMan workspace. Additionally, orientation capability of the robot is evaluated through determining the workspace for a given orientation of the movable plate. The numerical results of the effects of the design parameters and the robot's workspace constraints are provided as three-dimensional plots and cross-sections of the most interesting workspaces. Finally, a parametric analysis is carried out as a function of the device size, using the overall dimensions and the area of the middle cross-section of the workspace as synthetic performance indices.

On the Workspace of General 4R Manipulators

The workspace of a general 4R manipulator is analyzed by examining its cross-section evaluation to investigate its main characteristics and how they are affected by link parameters. An algebraic formulation is deduced for a workspace boundary of a general 4R manipulator from the geometry of an enve lope generation. This algebraic formulation is also useful for direct computation of the workspace volume and for detection of holes and voids. In addition, both analysis and synthesis cri teria are deduced from this algebraic formulation, taking into account the geometric nature of the 4R manipulator workspace as a volume of revolution. Several numerical examples show general geometries of 4R manipulator workspaces.

PO-03 - Khorana score and histotype predict the incidence of early venous thromboembolism (VTE) in Non Hodgkin Lymphoma (NHL). A pooled data analysis of twelve clinical trials of Fondazione Italiana Linfomi (FIL)

BACKGROUND

Recent studies show that the risk of VTE in NHL pts is similar to that observed in high risk solid tumors (i.e. pancreatic, ovarian cancer). VTE in NHL occurs in most cases within three months from diagnosis and can have substantial impact on treatment delivery and outcome as well as on quality of life. However few data are available on potential predictors.

AIMS

To better clarify the epidemiology of early (within six months from treatment start) VTE in NHL we conducted a pooled data analysis of 12 clinical trials from FIL. Our analysis included basic demographic features, lymphoma-related characteristics as well the Khorana score (based on histology, BMI, platelets WBC and HB counts) which is extensively used in solid tumors to predict VTE risk.

PATIENTS AND METHODS

From Jan. 2010 to Dec. 2014, all pts with B-cell NHL enrolled in prospective clinical trials from FIL for frontline treatment were included. For 9 studies study period included the entire trial population was included. The analyses were conducted based on CRFs as well as pharmacovigilance reports. VTE definition and grading was stated according to standard criteria of toxicity (CTCAE V4.0). Cumulative incidence of VTE from the study enrollment was estimated using the method described by Gooley et al. accounting for death from any causes as a competing risk. The Fine & Gray survival model was used to identify predictors of VTE among NHL pts. Factors predicting the grade of VTE were investigated using an ordinal logistic regression model. This pooled data analysis was approved by local IRB.

RESULTS

Overall, 1,717 patients belonging to 12 studies were evaluated. Eight were phase I/II or II (25% of pts) and 4 phase III (75% of pts). M/F ratio was 1.41, Median age was 57, (IQ range (IQR) 49-66). Histologies were: DLCL-B 34%, FL 41%, MCL 18%, other 6%. Median BMI was 25 (IQR 22-28). Median Hb, WBC and platelets counts were 13g/dl) (IQR 11.5-14.2), 7.1*10^(9)/l (IQR 5.6-10.3), 224*10^(9)/l (IQR 169-298), respectively. 1189 pts were evaluable Khorana score: 58% low risk, 30% intermediate risk, 12% were high risk. Human erythropoetin support was given to 9% of patients. All pts received Rituximab. Planned therapeutic programs included ASCT in 27% of pts, conventional chemotherapy in 67% a conventional chemotherapy plus lenalidomide in 6%. Overall 59 any grade VTE episodes occurred in 51 pts (2.9%), including 21 grade III-IV VTE (18 pts). None was fatal. Median time from study enrolment to VTE was 63 days (IQR: 35-110). Considering death as a competitive event the 6 months cumulative incidence of VTE was 2,2% in low risk Khorana score, 4.5% (95%IC: 2.3-6.7) in intermediate and 6.6% (95%IC: 2.4-10.8) in high risk (p=0.012) (figure 1). Khorana score was predictive also for grade III-IV events as they were 0,7% (95% CI:0.1-1.4) in low risk and 2.0% (95% CI:0.8-3.3) in intermediate-high risk (p=0.048). The results were similar also after excluding lenalidomide containing studies. The Fine and Gray multivariate analyses, adjusted for age and stage, showed that Khorana score (intermediate risk adjHR=1.96; 95%IC: 0.84-4.56 and high risk adjHR=3.81; 95%IC: 1.51-9.58) and DLCL-B histotype (adjHR=2.58; 95% CI: 1.01-6.55) were independently associated to an increased risk of VTE. Moreover an ordinal logistical regression model indicated that the increase of one point in the Khorana score resulted in an increased risk of VTE (OR=1.85; 95% CI: 1.23-2.79).

CONCLUSIONS

Our results suggest that DLCL-B histotype and Khorana score are predictors of VTE in NHL. The latter might become a simple and effective tool to assess the risk of VTE in NHL. Prospective validation including also patients not eligible for clinical trials is needed.

A Robotic Solution for the Restoration of Fresco Paintings

In this paper, a service robot solution is presented for the analysis, surveying and restoration of fresco paintings. The proposed design approach integrates robot design and restoration operation. It aims to merge them into a feasible solution that can be both practical and feasible for restorers. The simulation results are reported to show a successful design solution, which has been conceived with the constraints of a low-cost user-oriented design and the consideration of cultural heritage.

Conceptual Kinematic Design and Performance Evaluation of a Chameleon-Like Service Robot for Space Stations

In this paper a conceptual kinematic design of a chameleon-like robot with proper mobility capacity is presented for service applications in space stations as result of design considerations with biomimetic inspiration by looking at chameleons. Requirements and characteristics are discussed with the aim to identify design problems and operation features. A study of feasibility is described through performance evaluation by using simulations for a basic operation characterization.

Spiramycin/cotrimoxazole versus pyrimethamine/sulfonamide and spiramycin alone for the treatment of toxoplasmosis in pregnancy

OBJECTIVE

To compare the effectiviness of spiramycin/cotrimoxazole (Sp/C) versus pyrimethamine/sulfonamide (Pyr/Sul) and spiramycin alone (Spy) on mother-to-child transmission of toxoplasmosis infection in pregnancy.

STUDY DESIGN

Retrospective study of pregnant women evaluated for suspected toxoplasmosis between 1992 and 2011.

RESULT

A total of 120 mothers and their 123 newborns were included. Prenatal treatment consisted of spiramycin in 43 mothers (35%), spiramycin/cotrimoxazole in 70 (56.9%) and pyrimethamine/sulfonamide in 10 (8.1%). A trend toward reduction in toxoplasmosis transmission was found when Sp/C was compared with Pyr/Sul and particularly with Spy alone (P=0.014). In particular, Spy increased the risk of congenital infection when compared with Sp/C (odds ratio (OR) 4.368; 95% CI: 1.253 to 15.219), but there was no significant reduction when Sp/C was compared with Pyr/Sul (OR 1.83; 95% CI: 0.184 to 18.274).

CONCLUSION

The treatment based on Sp/C has significant efficacy in reducing maternal-fetal transmission of Toxoplasma gondii when compared with Pyr/Sul and particularly to Spy. Randomized controlled trials would be required.

Experimental tests on operation performance of a LARM leg mechanism with 3-DOF parallel architecture

Abstract. In this paper, a prototype of a LARM leg mechanism is proposed by using a tripod manipulator and its operation performance is investigated through lab experimental tests. In particular, an experimental layout is presented for investigating operational performance. A prescribed motion with an isosceles trapezoid trajectory is used for characterizing the system behavior. Experiment results are analyzed for the purpose of operation evaluation and architecture design characterization of the tripod manipulator and its proposed prototype.

Design and Operation Analysis of a New Biped Mechanism

This paper presents a new biped mechanism, which has been designed with main features for low-cost and easy-operation. The biped mechanism is supposed to have the same basic motion capabilities as conventional multi-actuator biped robots, such as straight walking, changing direction, overcoming obstacle, descending and ascending stairs. Furthermore, with two wheels installed on the shank, the biped mechanism has two basic walking modes, which are legged mode and wheeled mode. Walking with proper mode for different environments makes the biped mechanism possess the advantages of both legged and wheeled robots.