Displacement Analysis of Under-Constrained Cable-Driven Parallel Robots

This dissertation studies the geometric static problem of under-constrained cable-driven parallel robots (CDPRs) supported by n cables, with n ≤ 6. The task consists of determining the overall robot configuration when a set of n variables is assigned. When variables relating to the platform posture are assigned, an inverse geometric static problem (IGP) must be solved; whereas, when cable lengths are given, a direct geometric static problem (DGP) must be considered. Both problems are challenging, as the robot continues to preserve some degrees of freedom even after n variables are assigned, with the final configuration determined by the applied forces. Hence, kinematics and statics are coupled and must be resolved simultaneously. In this dissertation, a general methodology is presented for modelling the aforementioned scenario with a set of algebraic equations. An elimination procedure is provided, aimed at solving the governing equations analytically and obtaining a least-degree univariate polynomial in the corresponding ideal for any value of n. Although an analytical procedure based on elimination is important from a mathematical point of view, providing an upper bound on the number of solutions in the complex field, it is not practical to compute these solutions as it would be very time-consuming. Thus, for the efficient computation of the solution set, a numerical procedure based on homotopy continuation is implemented. A continuation algorithm is also applied to find a set of robot parameters with the maximum number of real assembly modes for a given DGP. Finally, the end-effector pose depends on the applied load and may change due to external disturbances. An investigation into equilibrium stability is therefore performed.

A Law and Economics Analysis of Lobbying Regulation Towards an optimal structure through the Cost Indicator Index

This research primarily represents a contribution to the lobbying regulation research arena. It introduces an index which for the first time attempts to measure the direct compliance costs of lobbying regulation. The Cost Indicator Index (CII) offers a brand new platform for qualitative and quantitative assessment of adopted lobbying laws and proposals of those laws, both in the comparative and the sui generis dimension. The CII is not just the only new tool introduced in the last decade, but it is the only tool available for comparative assessments of the costs of lobbying regulations. Beside the qualitative contribution, the research introduces an additional theoretical framework for complementary qualitative analysis of the lobbying laws. The Ninefold theory allows a more structured assessment and classification of lobbying regulations, both by indication of benefits and costs. Lastly, this research introduces the Cost-Benefit Labels (CBL). These labels might improve an ex-ante lobbying regulation impact assessment procedure, primarily in the sui generis perspective. In its final part, the research focuses on four South East European countries (Slovenia, Serbia, Montenegro and Macedonia), and for the first time brings them into the discussion and calculates their CPI and CII scores. The special focus of the application was on Serbia, whose proposal on the Law on Lobbying has been extensively analysed in qualitative and quantitative terms, taking into consideration specific political and economic circumstances of the country. Although the obtained results are of an indicative nature, the CII will probably find its place within the academic and policymaking arena, and will hopefully contribute to a better understanding of lobbying regulations worldwide.

A Law and Economics Analysis of Trade Secrets: Optimal Scope of Law, Misappropriation and Alternative Damages Regimes

This thesis is primarily based on three core chapters, focused on the fundamental issues of trade secrets law. The goal of this thesis is to come up with policy recommendations to improve legal structure governing trade secrets. The focal points of this research are the following. What is the optimal scope of trade secrets law? How does it depend on the market characteristics such as degree of product differentiation between competing products? What factors need to be considered to balance the contradicting objectives of promoting innovation and knowledge diffusion? The second strand of this research focuses on the desirability of lost profits or unjust enrichment damage regimes in case of misappropriation of a trade secret. A comparison between these regimes is made and simple policy implications are extracted from the analysis. The last part of this research is an empirical analysis of a possible relationship between trade secrets sharing and misappropriation instances faced by firms.

Leben mit Phenprocoumon — optimal versorgt? : Untersuchung der Qualität und Effektivität der Phenprocoumon-Therapie im ambulanten Sektor

In Deutschland wird zur oralen Vitamin-K-Antagonistentherapie überwiegend der Wirkstoff Phenprocoumon (PPC) eingesetzt und die meisten Patienten werden durch ihren Hausarzt betreut. In einer deskriptiven, nicht-interventionellen Studie wurde die Ist-Situation der Versorgung von PPC-Patienten im ambulanten Sektor untersucht. Ziel war es, die Qualität und Effektivität der bisherigen Standardtherapie zu evaluieren. In Anbetracht der Einführung der neuen oralen Antikoagulantien (NOAC) ist die Untersuchung der PPC-Therapie von besonderem Interesse. Dem „Throughput-Modell“ folgend sollten „Input“- und „Outcome“-Parameter analysiert werden. rnIn einer klinischen Studie wurden 50 ambulant behandelte Patienten mit PPC-Therapie jeweils über einen Zeitraum von 3 Jahren retrospektiv beobachtet. In 5 niedergelassenen Arztpraxen in Rheinland-Pfalz wurden dazu 10 Patienten pro Praxis rekrutiert. Anhand der Patientenakte wurde eine Dokumentenanalyse durchgeführt. Die Selbstmedikation wurde mit einem eigens erstellten Fragebogen erfasst. rnIm Studienkollektiv wurden im Median 3 Comorbiditäten ermittelt. Die mediane Wochendosis betrug 4,0 Tabletten à 3 mg PPC. Die Patienten wurden im Median mit weiteren 15 verschiedenen Wirkstoffen therapiert, einer davon wurde in Selbstmedikation eingenommen. Im gesamten Beobachtungszeitraum fanden pro Patient im Median 57 Arztbesuche statt, die durch die Phenprocoumon-Therapie bedingt waren. INR (International normalized ratio)-Messungen (Median 47) waren der häufigste Grund für die Arztbesuche, so dass ein 3-Wochen-Rhythmus vom Gesamtkollektiv zu 97% erreicht wurde. Die „stabile“ INR-Einstellung wurde im Median nach 94 Tagen erreicht. Die prozentuale Rate (INR (%)) für die Einhaltung des INR-Zielbereiches (ZSB) erreichte internationale Benchmark-Werte, was auf eine gute Versorgungsqualität hindeutete. Die genauere Analyse ergab jedoch große interindividuelle Schwankungen. Während der „stabilen“ INR-Einstellung wurden bessere Ergebnisse als im Gesamtbeobachtungszeitraum erzielt. Drei Patienten (6%) erreichten die „stabile“ INR-Einstellung innerhalb von 3 Jahren nie. Die Auswertung für den erweiterten ZSB (ZSB ± 0,2) ergab bessere INR (%)-Ergebnisse als für den ZSB. Die Zeit im INR-ZSB (TTR (%)) erreichte mit 75% höhere Werte als INR (%) im ZSB mit 70%. Tendenziell war das Patientenkollektiv eher unter- als übertherapiert (Median „Under-INR“ 18% bzw. „Over-INR“ 8%). Erkrankungen und Impfungen stellten die wichtigsten der zahlreichen Einflussfaktoren für INR-Shifts hin zu Werten außerhalb des ZSB dar. Patienten, die Comedikation mit hohem Interaktionspotential einnahmen, erreichten in den INR-Qualitätsindikatoren schlechtere Ergebnisse als Patienten ohne potentiell interagierende Comedikation (Mann-Whitney-U-Test; p-Wert=0,003 für TTR (%), p=0,008 für INR (%)). In Zeitintervallen der „stabilen“ INR-Einstellung war der Unterschied nur für TTR (%) auffällig (Mann-Whitney-U-Test; p=0,015). Für den erweiterten ZSB waren die Unterschiede bezüglich beider INR-Qualitätsindikatoren nicht auffällig. Insgesamt wurden 41 unerwünschte Ereignisse (UAW) beobachtet, davon 24 (59%) in der Phase der „stabilen“ INR-Einstellung (21 leichte Blutungen, 1 schwere Blutung, 2 thromboembolische Ereignisse (TE)). Je 4 leichte Blutungen (19%) wurden in einen möglichen bzw. sicheren kausalen Zusammenhang mit der VKA-Therapie gebracht, wenn ein Zeitintervall von 3 Tagen zwischen der INR-Messung und Auftreten der UAW geprüft wurde. Ein TE wurde als sicher kausal gewertet. Von insgesamt 5 Krankenhausaufenthalten waren 3 bzw. 2 durch Blutungen bzw. TE veranlasst. Des Weiteren wurde im 3-Tage-Zeitintervall für 4 INR-Shifts hin zu Werten außerhalb des ZSB eine Interaktion mit verordneter CM als in sicherem oder möglichem kausalen Zusammenhang bewertet. Bei 49% der beobachteten Grippeimpfungen wurde ein INR-Shift festgestellt, der in ca. 60% der Fälle zu einem subtherapeutischen INR-Wert führte. Insgesamt war das klinische Ergebnis nicht optimal. rnDas „Outcome“ in Form der gesundheitsbezogenen Lebensqualität (LQ) wurde retrospektiv-prospektiv mittels SF-36-Fragebogen ermittelt. Die Patienten zeigten gegenüber der Normalbevölkerung einen Verlust an LQ auf körperlicher Ebene bzw. einen Gewinn auf psychischer Ebene. Das humanistische Ergebnis erfüllte bzw. übertraf damit die Erwartungen. rnInsgesamt wiesen die Ergebnisse darauf hin, dass Qualität und Effektivität der Antikoagulationstherapie mit PPC im ambulanten Sektor weiterer Optimierung bedürfen. Mit intensivierten Betreuungsmodellen lässt sich ein besseres Outcome erzielen. rn

Kinematics and statics of cable-driven parallel robots by interval-analysis-based methods

In the past two decades the work of a growing portion of researchers in robotics focused on a particular group of machines, belonging to the family of parallel manipulators: the cable robots. Although these robots share several theoretical elements with the better known parallel robots, they still present completely (or partly) unsolved issues. In particular, the study of their kinematic, already a difficult subject for conventional parallel manipulators, is further complicated by the non-linear nature of cables, which can exert only efforts of pure traction. The work presented in this thesis therefore focuses on the study of the kinematics of these robots and on the development of numerical techniques able to address some of the problems related to it. Most of the work is focused on the development of an interval-analysis based procedure for the solution of the direct geometric problem of a generic cable manipulator. This technique, as well as allowing for a rapid solution of the problem, also guarantees the results obtained against rounding and elimination errors and can take into account any uncertainties in the model of the problem. The developed code has been tested with the help of a small manipulator whose realization is described in this dissertation together with the auxiliary work done during its design and simulation phases.

Management control systems : subcomponents, optimal design and the role of time as a contingency

Management Control System (MCS) research is undergoing turbulent times. For a long time related to cybernetic instruments of management accounting only, MCS are increasingly seen as complex systems comprising not only formal accounting-driven instruments, but also informal mechanisms of control based on organizational culture. But not only have the means of MCS changed; researchers increasingly ap-ply MCS to organizational goals other than strategy implementation.rnrnTaking the question of "How do I design a well-performing MCS?" as a starting point, this dissertation aims at providing a comprehensive and integrated overview of the "current-state" of MCS research. Opting for a definition of MCS, broad in terms of means (all formal as well as informal MCS instruments), but focused in terms of objectives (behavioral control only), the dissertation contributes to MCS theory by, a) developing an integrated (contingency) model of MCS, describing its contingencies, as well as its subcomponents, b) refining the equifinality model of Gresov/Drazin (1997), c) synthesizing research findings from contingency and configuration research concerning MCS, taking into account case studies on research topics such as ambi-dexterity, equifinality and time as a contingency.

Virtual sensing technology applied to a swarm of autonomous robots.

This thesis proposes a novel technology in the field of swarm robotics that allows a swarm of robots to sense a virtual environment through virtual sensors. Virtual sensing is a desirable and helpful technology in swarm robotics research activity, because it allows the researchers to efficiently and quickly perform experiments otherwise more expensive and time consuming, or even impossible. In particular, we envision two useful applications for virtual sensing technology. On the one hand, it is possible to prototype and foresee the effects of a new sensor on a robot swarm, before producing it. On the other hand, thanks to this technology it is possible to study the behaviour of robots operating in environments that are not easily reproducible inside a lab for safety reasons or just because physically infeasible. The use of virtual sensing technology for sensor prototyping aims to foresee the behaviour of the swarm enhanced with new or more powerful sensors, without producing the hardware. Sensor prototyping can be used to tune a new sensor or perform performance comparison tests between alternative types of sensors. This kind of prototyping experiments can be performed through the presented tool, that allows to rapidly develop and test software virtual sensors of different typologies and quality, emulating the behaviour of several hardware real sensors. By investigating on which sensors is better to invest, a researcher can minimize the sensors’ production cost while achieving a given swarm performance. Through augmented reality, it is possible to test the performance of the swarm in a desired virtual environment that cannot be set into the lab for physical, logistic or economical reasons. The virtual environment is sensed by the robots through properly designed virtual sensors. Virtual sensing technology allows a researcher to quickly carry out real robots experiment in challenging scenarios without all the required hardware and environment.

Optimal sites for orthodontic mini-implant placement assessed by cone beam computed tomography

OBJECTIVES: To determine (1) the optimal sites for mini-implant placement in the maxilla and the mandible based on dimensional mapping of the interradicular spaces and cortical bone thickness and (2) The effect of age and sex on the studied anatomic measurements. MATERIAL AND METHODS: The cone beam computed tomography images of 100 patients (46 males, 54 females) divided into two age groups (13-18 years), and (19-27 years) were used. The following interradicular measurements were performed: (1) Buccolingual bone thickness; (2) Mesiodistal spaces both buccally and palatally/lingually; and (3) Buccal and palatal/lingual cortical thicknesses. RESULTS: In the maxilla, the highest buccolingual thickness existed between first and second molars; the highest mesiodistal buccal/palatal distances were between the second premolar and the first molar. The highest buccal cortical thickness was between the first and second premolars. The highest palatal cortical thickness was between central and lateral incisors. In the mandible, the highest buccolingual and buccal cortical thicknesses were between the first and second molars. The highest mesiodistal buccal distance was between the second premolar and the first molar. The highest mesiodistal lingual distance was between the first and second premolars. The highest lingual cortical thickness was between the canine and the first premolar. The males and the older age group had significantly higher buccolingual, buccal, and palatal cortical thicknesses at specific sites and levels in the maxilla and the mandible. CONCLUSIONS: A clinical guideline for optimal sites for mini-implant placement is suggested. Sex and age affected the anatomic measurements in certain areas in the maxilla and the mandible.

Toward optimal display of physiologic status in critical care: I. Recreating bedside displays from archived physiologic data

BACKGROUND: Physiologic data display is essential to decision making in critical care. Current displays echo first-generation hemodynamic monitors dating to the 1970s and have not kept pace with new insights into physiology or the needs of clinicians who must make progressively more complex decisions about their patients. The effectiveness of any redesign must be tested before deployment. Tools that compare current displays with novel presentations of processed physiologic data are required. Regenerating conventional physiologic displays from archived physiologic data is an essential first step. OBJECTIVES: The purposes of the study were to (1) describe the SSSI (single sensor single indicator) paradigm that is currently used for physiologic signal displays, (2) identify and discuss possible extensions and enhancements of the SSSI paradigm, and (3) develop a general approach and a software prototype to construct such "extended SSSI displays" from raw data. RESULTS: We present Multi Wave Animator (MWA) framework-a set of open source MATLAB (MathWorks, Inc., Natick, MA, USA) scripts aimed to create dynamic visualizations (eg, video files in AVI format) of patient vital signs recorded from bedside (intensive care unit or operating room) monitors. Multi Wave Animator creates animations in which vital signs are displayed to mimic their appearance on current bedside monitors. The source code of MWA is freely available online together with a detailed tutorial and sample data sets.

Toward optimal early management after whiplash injury to lessen the rate of transition to chronicity: discussion paper 5

Expert debate and synthesis of research to inform future management approaches for acute whiplash disorders.