Ottimizzazione di un'unita di controllo per protesi mioelettrica di arto superiore e confronto prestazionale tramite programmable automation controller e motion capture

Con il passare degli anni le tecnologie nel campo delle protesi mioelettriche di arto superiore stanno compiendo sempre più passi in avanti. In questo elaborato di tesi si darà un iniziale introduzione sulla protesica di arto superiore cercando di coprire tutte le possibili tipologie di protesi, prestando particolare attenzione agli arti artificiali mioelettrici. Gli scopi di questo studio sono in prima analisi una miglioria dell'unità di controllo di una protesi comandata da segnali elettromiografici di superficie, tramite l'utilizzo del nuovo IDE della Microchip (MPLAB X). In seconda analisi, invece, si attuerà un confronto prestazionale a livello di consumo in corrente di un prototipo di protesi mioelettrica nata dalla sinergia tra l'azienda "Selex ES" e il "Centro Protesi INAIL di Vigorso di Budrio". Per questo studio ci si è serviti di stereofotogrammetrica per la determinazione delle grandezze meccaniche, mentre tramite un sistema PAC si è riusciti ad ottenere specifiche grandezze elettriche. Lo studio ha portato, a livello di Firmware, l'inserimento del giusto comando di attuazione di un servofreno comandato in corrente e l'introduzione di una particolare modalità a basso consumo che consente un risparmio energetico di circa il 60% rispetto alla vecchia modalità. Discorso diverso per i risultati del confronto prestazionale che non ha portato ai risultati sperati in fase di progetto.

Rdnet network - protocollo di comunicazione tra controller e pc tramite cavo lan

Questo documento presenta la relazione di una tesi in azienda svolta presso la ditta RCF spa a Reggio Emilia. La tesi consiste nell’apportare migliorie ad un software preesistente, che opera nel campo di dispositivi audio di diverse tipologie (es casse e mixer), i quali normalmente vengono utilizzati nel sistema d’impianto audio in un concerto. In particolare la nuova funzionalità sviluppata consiste nell’implementazione del protocollo di comunicazione tra controllore e PC mediante l’utilizzo di una connessione Ethernet.

A QoS Controller Framework Compliant with the ETSI Network Function Virtualization Specification

The 5th generation of mobile networking introduces the concept of “Network slicing”, the network will be “sliced” horizontally, each slice will be compliant with different requirements in terms of network parameters such as bandwidth, latency. This technology is built on logical instead of physical resources, relies on virtual network as main concept to retrieve a logical resource. The Network Function Virtualisation provides the concept of logical resources for a virtual network function, enabling the concept virtual network; it relies on the Software Defined Networking as main technology to realize the virtual network as resource, it also define the concept of virtual network infrastructure with all components needed to enable the network slicing requirements. SDN itself uses cloud computing technology to realize the virtual network infrastructure, NFV uses also the virtual computing resources to enable the deployment of virtual network function instead of having custom hardware and software for each network function. The key of network slicing is the differentiation of slice in terms of Quality of Services parameters, which relies on the possibility to enable QoS management in cloud computing environment. The QoS in cloud computing denotes level of performances, reliability and availability offered. QoS is fundamental for cloud users, who expect providers to deliver the advertised quality characteristics, and for cloud providers, who need to find the right tradeoff between QoS levels that has possible to offer and operational costs. While QoS properties has received constant attention before the advent of cloud computing, performance heterogeneity and resource isolation mechanisms of cloud platforms have significantly complicated QoS analysis and deploying, prediction, and assurance. This is prompting several researchers to investigate automated QoS management methods that can leverage the high programmability of hardware and software resources in the cloud.

Realizzazione di un controller su piattaforma Android per la movimentazione di manipolatori industriali

Nell'ottica di trovare modalità sempre più intuitive per movimentare manipolatori industriali l’obiettivo della tesi è quello di realizzare una mobile app su piattaforma Android in grado appunto di movimentare un generico manipolatore industriale. L'applicazione sviluppata fornisce all'utente un’interfaccia semplice e intuitiva che permette, dopo un’opportuna configurazione iniziale, di controllare il moto di un manipolatore industriale attraverso l’uso del touch screen e degli elementi grafici dell’interfaccia. Oltre a istruire un manipolatore l’applicazione offre anche delle funzionalità per il salvataggio e la gestione di determinate configurazioni che il manipolatore può assumere nello spazio. Il grande vantaggio dell’applicazione è quello di fornire un’interfaccia universale per la movimentazione di qualsiasi manipolatore. Si può affermare quindi che essa fornisce un livello di astrazione superiore. In questo progetto di tesi è stato effettuato il testing dell'applicazione sviluppata sia con il manipolatore industriale Comau Smart Six, robot antropomorfo a 6 gradi di libertà, sia con un manipolatore simulato in Unity 3D. Sono stati raccolti dei dati, in particolare dei grafici, che mettono in relazione i comandi impartiti al manipolatore e i dati ricevuti da questo, in modo da ricavarne dei parametri che misurano l'efficienza e la correttezza dell'applicazione.

Acute life-threatening extrinsic allergic alveolitis in a paint controller

Occupational diisocyanate-induced extrinsic allergic alveolitis (EAA) is a rare and probably underestimated diagnosis. Two acute occupational EAA cases have been described in this context, but neither of them concerned hexamethylene diisocyanate (HDI) exposure.

Variation in partner notification outcomes for chlamydia in UK genitourinary medicine clinics: multilevel study

Objectives To compare different ways of measuring partner notification (PN) outcomes with published audit standards, examine variability between clinics and examine factors contributing to variation in PN outcomes in genitourinary medicine (GUM) clinics in the UK. Methods Reanalysis of the 2007 BASHH national chlamydia audit. The primary outcome was the number of partners per index case tested for chlamydia, as verified by a healthcare worker or, if missing, reported by the patient. Control charts were used to examine variation between clinics considering missing values as zero or excluding missing values. Hierarchical logistic regression was used to investigate factors contributing to variation in outcomes. Results Data from 4616 individuals in 169 genitourinary medicine clinics were analysed. There was no information about the primary outcome in 41% of records. The mean number of partners tested for chlamydia ranged from 0 to 1.5 per index case per clinic. The median across all clinics was 0.47 when missing values were assumed to be zero and 0.92 per index case when missing values were excluded. Men who have sex with men were less likely than heterosexual men and patients with symptoms (4-week look-back period) were less likely than asymptomatic patients (6-month look-back) to report having one or more partners tested for chlamydia. There was no association between the primary outcome and the type of the health professional giving the PN advice. Conclusions The completeness of PN outcomes recorded in clinical notes needs to improve. Further research is needed to identify auditable measures that are associated with successful PN that prevents repeated chlamydia in index cases.

An Actor-Critic based controller for glucose regulation in type 1 diabetes

A novel adaptive approach for glucose control in individuals with type 1 diabetes under sensor-augmented pump therapy is proposed. The controller, is based on Actor-Critic (AC) learning and is inspired by the principles of reinforcement learning and optimal control theory. The main characteristics of the proposed controller are (i) simultaneous adjustment of both the insulin basal rate and the bolus dose, (ii) initialization based on clinical procedures, and (iii) real-time personalization. The effectiveness of the proposed algorithm in terms of glycemic control has been investigated in silico in adults, adolescents and children under open-loop and closed-loop approaches, using announced meals with uncertainties in the order of ±25% in the estimation of carbohydrates. The results show that glucose regulation is efficient in all three groups of patients, even with uncertainties in the level of carbohydrates in the meal. The percentages in the A+B zones of the Control Variability Grid Analysis (CVGA) were 100% for adults, and 93% for both adolescents and children. The AC based controller seems to be a promising approach for the automatic adjustment of insulin infusion in order to improve glycemic control. After optimization of the algorithm, the controller will be tested in a clinical trial.

Vibronic Spectra of Jet-Cooled 2-Aminopurine center dot H2O Clusters Studied by UV Resonant Two-Photon Ionization Spectroscopy and Quantum Chemical Calculations

For understanding the major- and minor-groove hydration patterns of DNAs and RNAs, it is important to understand the local solvation of individual nucleobases at the molecular level. We have investigated the 2-aminopurine center dot H2O. monohydrate by two-color resonant two-photon ionization and UV/UV hole-burning spectroscopies, which reveal two isomers, denoted A and B. The electronic spectral shift delta nu of the S-1 <- S-0 transition relative to bare 9H-2-aminopurine (9H-2AP) is small for isomer A (-70 cm(-1)), while that of isomer B is much larger (delta nu = 889 cm(-1)). B3LYP geometry optimizations with the TZVP basis set predict four cluster isomers, of which three are doubly H-bonded, with H2O acting as an acceptor to a N-H or -NH2 group and as a donor to either of the pyrimidine N sites. The "sugar-edge" isomer A is calculated to be the most stable form with binding energy D-e = 56.4 kJ/mol. Isomers B and C are H-bonded between the -NH2 group and pyrimidine moieties and are 2.5 and 6.9 kJ/mol less stable, respectively. Time-dependent (TD) B3LYP/TZVP calculations predict the adiabatic energies of the lowest (1)pi pi* states of A and B in excellent agreement with the observed 0(0)(0) bands; also, the relative intensities of the A and B origin bands agree well with the calculated S-0 state relative energies. This allows unequivocal identification of the isomers. The R2PI spectra of 9H-2AP and of isomer A exhibit intense low-frequency out-of-plane overtone and combination bands, which is interpreted as a coupling of the optically excited (1)pi pi* state to the lower-lying (1)n pi* dark state. In contrast, these overtone and combination bands are much weaker for isomer B, implying that the (1)pi pi* state of B is planar and decoupled from the (1)n pi* state. These observations agree with the calculations, which predict the (1)n pi* above the (1)pi pi* state for isomer B but below the (1)pi pi* for both 9H-2AP and isomer A.