Robot auxiliar de limpieza de suelos doméstico

Desarrollo de un sistema robótico auxiliar de limpieza autónomo en movimiento, conectado a una red wireless, dotado de un sistema de protección contra la perdida de conexión.

Joustavan robotisoidun särmäyssolun käyttöönotto levytuotetahtaalla

Diplomityön ensimmäisenä tavoitteena on selvittää robotisoidun särmäyssolun tehokkaimmat käyttöalueet särmättävien kappaleiden muotojen ja laitteiston teknisten edellytysten perusteella. Toisena tavoitteena on tuoda esille robotisoidun särmäyssolun käyttöönottoon liittyviä ongelmia ja antaa käytännön ohjeita niiden ratkaisemiseksi. Tuloksia sovelletaan jatkossa kohdeyrityksen markkinoiman särmäyssolun tuotekehitykseen. Särmäyksen automatisoinnin pääpiirteitä tarkastellaan tutkimalla markkinoilla olevien robottisolujen toimintaperiaatteita ja ohjelmointitapoja. Työssä on myös esitetty kohdeyrityksen omat tavoitteet ja lähtökohdat särmäysmenetelmien kehittämiseen, joista tärkeimmät ovat integroitavuus joustavaan valmistusjärjestelmään ja solun kehittäminen myyntiartikkeliksi. Työssä esitellään robotisoidun särmäyssolun toimintaa kuvaamalla työkierron toiminnot pääpiirteissään. Samassa yhteydessä esitellään myös solun konekanta sekä koneiden välillä tapahtuva tiedon siirto. Erityisenä mielenkiinnon kohteena ovat olleet joustavan valmistusjärjestelmän soluohjaimen toiminnot ja särmäyssolun toimivuus FMS:n osana. Analyyttisessä osuudessa tutkitaan kappaleiden särmättävyyttä robotisoidussa tuotantoratkaisussa. Lähtökohdaksi on otettu särmäyspuristimen, robotin, lisälaitteiden ja kappaleen muotojen asettamat rajoitukset sekä toisaalta robotisoinnin tuomat uudet mahdollisuudet. Tulosten perusteella robotisointi soveltuu parhaiten painaville tai monimutkaisille kappaleille, joiden manuaalisärmäys vie paljon aikaa. Taloudellisia käyttöalueita kartoitettiin tutkimalla eräkokoon, ohjelmointiajan, kappaleajan ja särmien määrän vaikutusta valmistuskustannuksiin. Robotisoinnin on todettu kannattavan yrityksissä, joissa sarjat ovat usein toistuvia ja eräkoot yli 150 kappaleen suuruisia. Kappaleen muoto ja särmien määrä vaikuttaa monin tavoin kappaleaikaan ja siten myös valmistuskustannuksiin. Robotisoinnin kannattavuutta on näissä tapauksissa arvioitava aina tapauskohtaisesti työkierron vaatimien toimintojen perusteella.

Eosinophilic fasciitis: Typical abnormalities, variants and differential diagnosis of fasciae abnormalities using MR imaging.

Eosinophilic fasciitis is a rare condition. It is generally limited to the distal parts of the arms and legs. MRI is the ideal imaging modality for diagnosing and monitoring this condition. MRI findings typically evidence only fascial involvement but on a less regular basis signal abnormalities may be observed in neighboring muscle tissue and hypodermic fat. Differential diagnosis of eosinophilic fasciitis by MRI requires the exclusion of several other superficial and deep soft tissue disorders.

Diffusion-weighted MR imaging in musculoskeletal diseases: Current concepts.

MR imaging is currently regarded as a pivotal technique for the assessment of a variety of musculoskeletal conditions. Diffusion-weighted MR imaging (DWI) is a relatively recent sequence that provides information on the degree of cellularity of lesions. Apparent diffusion coefficient (ADC) value provides information on the movement of water molecules outside the cells. The literature contains many studies that have evaluated the role of DWI in musculoskeletal diseases. However, to date they yielded conflicting results on the use and the diagnostic capabilities of DWI in the area of musculoskeletal diseases. However, many of them have showed that DWI is a useful technique for the evaluation of the extent of the disease in a subset of musculoskeletal cancers. In terms of tissue characterization, DWI may be an adjunct to the more conventional MR imaging techniques but should be interpreted along with the signal of the lesion as observed on conventional sequences, especially in musculoskeletal cancers. Regarding the monitoring of response to therapy in cancer or inflammatory disease, the use of ADC value may represent a more reliable additional tool but must be compared to the initial ADC value of the lesions along with the knowledge of the actual therapy.

Simulation Supported Robot Programming using XML

The main objective of this master's thesis is to study robot programming using simulation software, and also how to embed the simulation software into company's own robot controlling software. The further goal is to study a new communication interface to the assembly line's components -more precisely how to connect the robot cell into this new communication system. Conveyor lines are already available where the conveyors use the new communication standard. The robot cell is not yet capable of communicating with to other devices using the new communication protocols. The main problem among robot manufacturers is that they all have their own communication systems and programming languages. There has not been any common programming language to program all the different robot manufacturers robots, until the RRS (Realistic Robot Simulation) standards were developed. The RRS - II makes it possible to create the robot programs in the simulation software and it gives a common user interface for different robot manufacturers robots. This thesis will present the RRS - II standard and the robot manufacturers situation for the RRS - II support. Thesis presents how the simulation software can be embedded into company's own robot controlling software and also how the robot cell can be connected to the CAMX (Computer Aided Manufacturing using XML) communication system.

Addition of MR imaging features and genetic biomarkers strengthens glioblastoma survival prediction in TCGA patients.

PURPOSE: The purpose of our study was to assess whether a model combining clinical factors, MR imaging features, and genomics would better predict overall survival of patients with glioblastoma (GBM) than either individual data type. METHODS: The study was conducted leveraging The Cancer Genome Atlas (TCGA) effort supported by the National Institutes of Health. Six neuroradiologists reviewed MRI images from The Cancer Imaging Archive (http://cancerimagingarchive.net) of 102 GBM patients using the VASARI scoring system. The patients' clinical and genetic data were obtained from the TCGA website (http://www.cancergenome.nih.gov/). Patient outcome was measured in terms of overall survival time. The association between different categories of biomarkers and survival was evaluated using Cox analysis. RESULTS: The features that were significantly associated with survival were: (1) clinical factors: chemotherapy; (2) imaging: proportion of tumor contrast enhancement on MRI; and (3) genomics: HRAS copy number variation. The combination of these three biomarkers resulted in an incremental increase in the strength of prediction of survival, with the model that included clinical, imaging, and genetic variables having the highest predictive accuracy (area under the curve 0.679±0.068, Akaike's information criterion 566.7, P<0.001). CONCLUSION: A combination of clinical factors, imaging features, and HRAS copy number variation best predicts survival of patients with GBM.

2015 Update on Acute Adverse Reactions to Gadolinium based Contrast Agents in Cardiovascular MR. Large Multi-National and Multi-Ethnical Population Experience With 37788 Patients From the EuroCMR Registry.

OBJECTIVES: Specifically we aim to demonstrate that the results of our earlier safety data hold true in this much larger multi-national and multi-ethnical population. BACKGROUND: We sought to re-evaluate the frequency, manifestations, and severity of acute adverse reactions associated with administration of several gadolinium- based contrast agents during routine CMR on a European level. METHODS: Multi-centre, multi-national, and multi-ethnical registry with consecutive enrolment of patients in 57 European centres. RESULTS: During the current observation 37,788 doses of Gadolinium based contrast agent were administered to 37,788 patients. The mean dose was 24.7 ml (range 5-80 ml), which is equivalent to 0.123 mmol/kg (range 0.01 - 0.3 mmol/kg). Forty-five acute adverse reactions due to contrast administration occurred (0.12%). Most reactions were classified as mild (43 of 45) according to the American College of Radiology definition. The most frequent complaints following contrast administration were rashes and hives (15 of 45), followed by nausea (10 of 45) and flushes (10 of 45). The event rate ranged from 0.05% (linear non-ionic agent gadodiamide) to 0.42% (linear ionic agent gadobenate dimeglumine). Interestingly, we also found different event rates between the three main indications for CMR ranging from 0.05% (risk stratification in suspected CAD) to 0.22% (viability in known CAD). CONCLUSIONS: The current data indicate that the results of the earlier safety data hold true in this much larger multi-national and multi-ethnical population. Thus, the "off-label" use of Gadolinium based contrast in cardiovascular MR should be regarded as safe concerning the frequency, manifestation and severity of acute events.

Generació d’un entorn virtual de treball per un robot Stäubli TX60

L’objectiu del treball és emular virtualment l’entorn de treball del robot Stäubli Tx60 quehi ha al laboratori de robòtica de la UdG (dins les possibilitats que ofereix el software adquirit).Aquest laboratori intenta reproduir un entorn industrial de treball en el qual es realitzal’assemblatge d’un conjunt de manera cent per cent automatitzada.En una primera fase, s’ha dissenyat en tres dimensions tot l’entorn de treball que hi hadisponible al laboratori a través del software CAD SolidWorks. Cada un dels conjuntsque conformen l’estació de treball s’ha dissenyat de manera independent.Posteriorment s’introdueixen tots els elements dissenyats dins el software StäubliRobotics Suite 2013. Amb tot l’anterior, cal remarcar que l’objectiu principal del treball consta de duesetapes. Inicialment es dissenya el model 3D de l’entorn de treball a través del software SolidWorks i s’introdueix dins el software Stäubli Robotics Suite 2013. Enuna segona etapa, es realitza un manual d’ús del nou software de robòtica

Overture de l'opera Le Roi Theodore par mr Paesiello

Simananniemen käsikirjoituskokoelma.

Diseño del controlador ”fuzzy” de un robot autónomo, a través de algoritmos genéticos

Creació d’un sistema format per un algoritme genètic que permeti dissenyar de forma automática, les dades dels valors lingüístics d’un controlador fuzzy, per a un robot amb tracció diferencial. Les dades que s’han d’obtenir han de donar-li al robot, la capacitat d’arribar a un destí, evitant els obstacles que vagi trobant al llarg del camí