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

Rullakuljettimen mallinnuksen automatisointi

Tämä diplomityö käsittelee erään rullakuljettia valmistavan yrityksen suunniteluprosessin tehostamista suunnitteluautomaatilla. Diplomityön tavoitteena oli parametrisoida asiakkaan 3D-tuotemalli ja luoda erillinen käyttöliittymä, jolla mallia voidaan määrätyissä rajoissa varioida. Diplomityön tuloksena syntyi toimiva Microsoft Excelilla toteutettu suunnitteluautomaatti, jolla voitiin varioida SolidWorksilla luotua tuotemallia. Suunnitteluautomaatti päivitti mallin lisäksi myös tuotteen valmistuspiirustukset ja komponenttien valmistukseen käytettävät työstökoneiden ohjaustiedostot. Automaatin käyttö lyhensi tuotteen variointiin kuluvaa aikaa alkuperäisestä yhdestä työviikosta kahteen tuntiin, poisti suunnitteluvirheet lähes kokonaan ja vähensi yrityksen rutiinisuunnitteluun käyttämää työaikaa.

Cost-minimization analysis of three decision strategies for cardiac revascularization : results of the "suspected CAD"cohort of the european cardiovascular magnetic resonance registry.

BACKGROUND: Coronary artery disease (CAD) continues to be one of the top public health burden. Perfusion cardiovascular magnetic resonance (CMR) is generally accepted to detect CAD, while data on its cost effectiveness are scarce. Therefore, the goal of the study was to compare the costs of a CMR-guided strategy vs two invasive strategies in a large CMR registry. METHODS: In 3'647 patients with suspected CAD of the EuroCMR-registry (59 centers/18 countries) costs were calculated for diagnostic examinations (CMR, X-ray coronary angiography (CXA) with/without FFR), revascularizations, and complications during a 1-year follow-up. Patients with ischemia-positive CMR underwent an invasive CXA and revascularization at the discretion of the treating physician (=CMR + CXA-strategy). In the hypothetical invasive arm, costs were calculated for an initial CXA and a FFR in vessels with ≥50 % stenoses (=CXA + FFR-strategy) and the same proportion of revascularizations and complications were applied as in the CMR + CXA-strategy. In the CXA-only strategy, costs included those for CXA and for revascularizations of all ≥50 % stenoses. To calculate the proportion of patients with ≥50 % stenoses, the stenosis-FFR relationship from the literature was used. Costs of the three strategies were determined based on a third payer perspective in 4 healthcare systems. RESULTS: Revascularizations were performed in 6.2 %, 4.5 %, and 12.9 % of all patients, patients with atypical chest pain (n = 1'786), and typical angina (n = 582), respectively; whereas complications (=all-cause death and non-fatal infarction) occurred in 1.3 %, 1.1 %, and 1.5 %, respectively. The CMR + CXA-strategy reduced costs by 14 %, 34 %, 27 %, and 24 % in the German, UK, Swiss, and US context, respectively, when compared to the CXA + FFR-strategy; and by 59 %, 52 %, 61 % and 71 %, respectively, versus the CXA-only strategy. In patients with typical angina, cost savings by CMR + CXA vs CXA + FFR were minimal in the German (2.3 %), intermediate in the US and Swiss (11.6 % and 12.8 %, respectively), and remained substantial in the UK (18.9 %) systems. Sensitivity analyses proved the robustness of results. CONCLUSIONS: A CMR + CXA-strategy for patients with suspected CAD provides substantial cost reduction compared to a hypothetical CXA + FFR-strategy in patients with low to intermediate disease prevalence. However, in the subgroup of patients with typical angina, cost savings were only minimal to moderate.

Radioterapia externa conformada 3D para o carcinoma de próstata: experiência do Instituto do Radium de Campinas com 285 pacientes

OBJETIVO: Reportar resultados de tratamentos do câncer de próstata com radioterapia conformada 3D realizados em uma única instituição. MATERIAIS E MÉTODOS: De julho de 1997 a janeiro de 2002, 285 pacientes consecutivos com câncer de próstata foram submetidos a radioterapia conformada 3D com dose mediana de 7.920 cGy na próstata e analisados retrospectivamente. A distribuição segundo o grupo de risco foi a seguinte: baixo risco - 95 (33,7%); risco intermediário - 66 (23,4%); alto risco - 121 (42,9%) pacientes. RESULTADOS: Em seguimento mediano de 53,6 meses (3,6-95,3 meses), sobrevidas atuariais global, causa específica, livre de metástases a distância e livre de recidiva bioquímica em cinco anos foram de 85,1%, 97,0%, 94,2% e 75,8%, respectivamente. Sobrevidas atuariais livre de toxicidade retal e urinária tardias em cinco anos foram de 96,4% e 91,1%, respectivamente. Ressecção transuretral pré-radioterapia conformada 3D e doses > 70 Gy em 30% do volume da bexiga implicaram maior toxicidade urinária tardia grau 2-3 em cinco anos (p = 0,0002 e p = 0,0264, respectivamente). CONCLUSÃO: A primeira experiência relatada de radioterapia conformada 3D no Brasil permitiu altas doses de radiação, com toxicidades retal e urinária aceitáveis. A existência de ressecção transuretral de próstata pré-radioterapia conformada 3D pode sinalizar maior risco de toxicidade urinária tardia grau 2-3 após irradiação. Restrição da dose < 70 Gy em 30% do volume da bexiga à tomografia de planejamento pode reduzir complicações urinárias tardias.

Resultados preliminares en la caracterización geométrica 3D de un litosoma arenoso de progradación deltaica mediante Georadar (GPR) (Fm. Arenisca de Roda, Eoceno, Cuenca de Graus-Tremp).

A set of GPR profiles have been recorded in order to determine the 3D geometry of a prograding delta-front sandbody (Roda sandstone formation, Eocene, Graus-Tremp basin). Common Mid Points (CMP) also have been recorded to obtain the velocity of the electromagnetic wave in ground. In order to build the topsurface of a 3D prism a set of topographic points have been acquired. Most of the GPR profiles are oriented parallel to the progradation direction (NNE-SSW) and show the expected geometries. The 3D prism has been built from the individual profiles, which shows the three dimensional geometry of the sandy lithosome.

An Advocacy for the Use of 3D Stem Cell Culture Systems for the Development of Regenerative Medicine: An Emphasis on Photoreceptor Generation

The availability of stem cells is of great promise to study early developmental stages and to generate adequate cells for cell transfer therapies. Although many researchers using stem cells were successful in dissecting intrinsic and extrinsic mechanisms and in generating specific cell phenotypes, few of the stem cells or the differentiated cells show the capacity to repair a tissue. Advances in cell and stem cell cultivation during the last years made tremendous progress in the generation of bona fide differentiated cells able to integrate into a tissue after transplantation, opening new perspectives for developmental biology studies and for regenerative medicine. In this review, we focus on the main works attempting to create in vitro conditions mimicking the natural environment of CNS structures such as the neural tube and its development in different brain region areas including the optic cup. The use of protocols growing cells in 3D organoids is a key strategy to produce cells resembling endogenous ones. An emphasis on the generation of retina tissue and photoreceptor cells is provided to highlight the promising developments in this field. Other examples are presented and discussed, such as the formation of cortical tissue, the epithelial gut or the kidney organoids. The generation of differentiated tissues and well-defined cell phenotypes from embryonic stem (ES) cells or induced pluripotent cells (iPSCs) opens several new strategies in the field of biology and regenerative medicine. A 3D organ/tissue development in vitro derived from human cells brings a unique tool to study human cell biology and pathophysiology of an organ or a specific cell population. The perspective of tissue repair is discussed as well as the necessity of cell banking to accelerate the progress of this promising field.

CAD e mamografia: por que usar esta ferramenta?

A mamografia representa o melhor método de detecção precoce do câncer de mama, porém cerca de 10% a 30% das lesões mamárias são perdidas no rastreamento, devido a limitações próprias dos observadores humanos. A detecção auxiliada por computador (computer-aided detection - CAD) é uma tecnologia relativamente nova que tem sido implementada em alguns serviços de mamografia, com o intuito de prover uma dupla leitura. Estudos clínicos têm demonstrado que o CAD aumenta a sensibilidade de detecção do câncer da mama, por radiologistas, em até 21%. Um sistema CAD é útil em situações em que exista alta variabilidade interobservador, falta de observadores treinados, ou na impossibilidade de se realizar a dupla leitura com dois ou mais radiologistas. O objetivo desta revisão está baseado na necessidade de atualizar a comunidade médica acerca desta ferramenta, como um método auxiliar, quantitativo, não operador-dependente, e que visa a melhorar a qualidade do diagnóstico do câncer de mama.

Capçal extrusor per a un sistema de tecnologia additiva

El departament de GREP de la UdG disposa d’un sistema de tecnologia additiva, laFab@home model 1, una impressora 3D o també anomenada de prototipat ràpid. Ésuna màquina de dimensions reduïdes, versàtil i de cost reduït, que a partir d’un modelgenerat a CAD, es capaç de fabricar objectes sòlids tridimensionals mitjançant lasuperposició de capes horitzontals.Les impressores 3D neixen de la necessitat de realitzar, en un temps relativament curt,proves de geometries complexes, que executades en un procés de manofacturaciónormal pot ser llarg i d’elevat cost.Gran part de les màquines de característiques similars a la Fab@home, tenen modelspreparats fabricar / extrudir peces a partir de silicones, aliments o polímers. Ara bé, laconformació per extrusió de plàstic és a partir de polímer verge en forma de fil.El present projecte té l’objectiu de dissenyar un sistema de conformació que permetimanufacturar polímer en forma de gra i s’adapti al funcionament de la Fab@home, amb l’argot corresponent, es tracta d’adaptar la Fab@home al fused depositionmodeling (FDM)

Més de tres segles d"història: les exploracions florístiques al Cadí-Moixeró i muntanyes veïnes.

El 2003 es va publicar el catàleg de plantes vasculars del Parc del Cadí-Moixeró i les serres veïnes; poc després un de nosaltres en va presentar una síntesi en el número 3 d"aquesta revista. Al·ludíem aleshores a l"important bagatge tant d"exploracions científiques com de dades sobre la flora del territori existents en el moment de redactar el catàleg; de fet, gairebé tots els botànics catalans, i molts de francesos i d"espanyols, hi han passat en algun moment i han contribuït al coneixement de la seva flora.

Diagnostic performance of 3D TSE MRI versus 2D TSE MRI of the knee at 1.5 T, with prompt arthroscopic correlation, in the detection of meniscal and cruciate ligament tears

Abstract Objective: To compare the diagnostic performance of the three-dimensional turbo spin-echo (3D TSE) magnetic resonance imaging (MRI) technique with the performance of the standard two-dimensional turbo spin-echo (2D TSE) protocol at 1.5 T, in the detection of meniscal and ligament tears. Materials and Methods: Thirty-eight patients were imaged twice, first with a standard multiplanar 2D TSE MR technique, and then with a 3D TSE technique, both in the same 1.5 T MRI scanner. The patients underwent knee arthroscopy within the first three days after the MRI. Using arthroscopy as the reference standard, we determined the diagnostic performance and agreement. Results: For detecting anterior cruciate ligament tears, the 3D TSE and routine 2D TSE techniques showed similar values for sensitivity (93% and 93%, respectively) and specificity (80% and 85%, respectively). For detecting medial meniscal tears, the two techniques also had similar sensitivity (85% and 83%, respectively) and specificity (68% and 71%, respectively). In addition, for detecting lateral meniscal tears, the two techniques had similar sensitivity (58% and 54%, respectively) and specificity (82% and 92%, respectively). There was a substantial to almost perfect intraobserver and interobserver agreement when comparing the readings for both techniques. Conclusion: The 3D TSE technique has a diagnostic performance similar to that of the routine 2D TSE protocol for detecting meniscal and anterior cruciate ligament tears at 1.5 T, with the advantage of faster acquisition.

Visual SLAM for 3D large-scale seabed acquisition employing underwater vehicles

This paper presents a novel technique to align partial 3D reconstructions of the seabed acquired by a stereo camera mounted on an autonomous underwater vehicle. Vehicle localization and seabed mapping is performed simultaneously by means of an Extended Kalman Filter. Passive landmarks are detected on the images and characterized considering 2D and 3D features. Landmarks are re-observed while the robot is navigating and data association becomes easier but robust. Once the survey is completed, vehicle trajectory is smoothed by a Rauch-Tung-Striebel filter obtaining an even better alignment of the 3D views and yet a large-scale acquisition of the seabed