Factors affecting the mission time of an autonomous mobile robot: a theoretical and experimental investigation

I vantaggi dell’Industria 4.0 hanno stravolto il manufacturing. Ma cosa vuol dire "Industria 4.0"? Essa è la nuova frontiera del manufacturing, basata su princìpi che seguono i passi avanti dei sistemi IT e della tecnologia. Dunque, i suoi pilastri sono: integrazione, verticale e orizzontale, digitalizzazione e automazione. L’Industria 4.0 coinvolge molte aree della supply chain, dai flussi informativi alla logistica. In essa e nell’intralogistica, la priorità è sviluppare dei sistemi di material handling flessibili, automatizzati e con alta prontezza di risposta. Il modello ideale è autonomo, in cui i veicoli fanno parte di una flotta le cui decisioni sono rese decentralizzate grazie all'alta connettività e alla loro abilità di collezionare dati e scambiarli rapidamente nel cloud aziendale.Tutto ciò non sarebbe raggiungibile se ci si affidasse a un comune sistema di trasporto AGV, troppo rigido e centralizzato. La tesi si focalizza su un tipo di material handlers più flessibile e intelligente: gli Autonomous Mobile Robots. Grazie alla loro intelligenza artificiale e alla digitalizzazione degli scambi di informazioni, interagiscono con l’ambiente per evitare ostacoli e calcolare il percorso ottimale. Gli scenari dell’ambiente lavorativo determinano perdite di tempo nel tragitto dei robot e sono queste che dovremo studiare. Nella tesi, i vantaggi apportati dagli AMR, come la loro decentralizzazione delle decisioni, saranno introdotti mediante una literature review e poi l’attenzione verterà sull’analisi di ogni scenario di lavoro. Fondamentali sono state le esperienze nel Logistics 4.0 Lab di NTNU, per ricreare fisicamente alcuni scenari. Inoltre, il software AnyLogic sarà usato per riprodurre e simulare tutti gli scenari rilevanti. I risultati delle simulazioni verranno infine usati per creare un modello che associ ad ogni scenario rilevante una perdita di tempo, attraverso una funzione. Per questo saranno usati software di data analysis come Minitab e MatLab.

Robotics and neurodevelopmental disorder: design and implementation of a system of engagement metrics in human-robot interactions.

In the recent decades, robotics has become firmly embedded in areas such as education, teaching, medicine, psychology and many others. We focus here on social robotics; social robots are designed to interact with people in a natural and interpersonal way, often to achieve positive results in different applications. To interact and cooperate with humans in their daily-life activities, robots should exhibit human-like intelligence. The rapid expansion of social robotics and the existence of various kinds of robots on the market have allowed research groups to carry out multiple experiments. The experiments carried out have led to the collections of various kinds of data, which can be used or processed for psychological studies, and studies in other fields. However, there are no tools available in which data can be stored, processed and shared with other research groups. This thesis proposes the design and implementation of visual tool for organizing dataflows in Human Robot Interaction (HRI).

Design di leggi di controllo per attività di Pick and Place con Robot Delta

Il seguente elaborato, frutto dell’attività di tirocinio presso il laboratorio del DIN di Montecuccolino, si prefigge di presentare un’architettura software contenente tutte le leggi di controllo necessarie allo svolgimento di un’attività di Pick and Place con un Robot Delta. L’elaborato si articola in una prima fase di analisi del Robot, una seconda fase di calibrazione del sistema in struttura e una terza fase di sviluppo del software di controllo con successiva validazione sperimentale dei risultati ottenuti.

Operazioni di assemblaggio automatizzato tramite robot antropomorfo e visione artificiale

Obiettivo dello studio condotto è l’implementazione di cicli di operazioni per l’assemblaggio automatizzato di componenti che costituiscono un sistema di trasporto a catena presente in alcune macchine automatiche. L’automazione del processo, fino ad oggi svolto manualmente, prevede l’utilizzo di un robot e, per il controllo di quest’ultimo, di un sistema di visione artificiale. L’attività di tirocinio associata alla tesi di laurea, che ha incluso una parte sperimentale oltre alla scrittura degli algoritmi di controllo del robot, è stata svolta all’interno del laboratorio TAILOR (Technology and Automation for Industry LabORatory) presso Siropack Italia S.r.l dove è presente una cella dotata di robot antropomorfo (Mitsubishi Electric) e di sistema di visione artificiale con camere 2D (Omron). La presenza di quest’ultimo è risultata strategica in termini di possibilità di adattare il montaggio anche a diversi posizionamenti degli oggetti all’interno dello spazio di lavoro, fermo restando che gli stessi risultassero appoggiati su una superficie piana. In primo luogo, affinché fosse garantita la ripetibilità del processo, sono state testate le prestazioni del sistema di visione tramite opportuna calibrazione della camera e del sistema di illuminazione ad esso collegata, al fine di ottenere un’acquisizione delle immagini che fosse sufficientemente robusta e risoluta mediante lo sfruttamento del software di elaborazione Omron FH Vision System. Un’opportuna programmazione della traiettoria del robot in ambiente di simulazione RT Toolbox 3, software integrato nel sistema di controllo del robot Mitsubishi Electric, ha infine consentito le regolari operazioni di assemblaggio, garantendo un processo affidabile ed, allo stesso tempo, adattabile ad ambienti eventualmente non strutturati in cui esso si trova ad operare.

Applicazione ROS 2 di un robot antropomorfo in esecuzione su container VxWorks in architettura IMA

L’elaborato di tesi discute del progetto di integrazione tra ROS 2, framework open-source per lo sviluppo di applicazioni robotiche, e VxWorks, sistema operativo in tempo reale (RTOS), attraverso l’utilizzo di container OCI compliant su VxWorks. L’integrazione è stata svolta all’interno dello stack software di IMA (Industria Macchine Automatiche). Il progetto ha dunque integrato ROS 2 Humble e VxWorks 7 permettendo l’utilizzo di costrutti software di ROS 2 su dei container in esecuzione a livello User su VxWorks. Successivamente è stata creata una applicazione di pick and place con un robot antropomorfo (Universal Robots Ur5e) avvalendosi di ROS 2 Control, framework per l’introduzione e gestione di hardware e controllori, e MoveIt 2, framework per incorporare algoritmi di motion-planning, cinematica, controllo e navigazione. Una volta progettata l’applicazione, il sistema è stato integrato all’interno dell’architettura di controllo di IMA. L’architettura a container VxWorks di IMA è stata estesa per il caso ROS 2, la comunicazione tra campo e applicazione ROS 2 è passata tramite il master EtherCAT e il modulo WebServer presenti nell’architettura IMA. Una volta eseguito il container ROS 2 posizione e velocità dei servo motori sono stati inviati tramite al WebServer di IMA sfruttando la comunicazione VLAN interna. Una volta ricevuto il messaggio, il WebServer si è occupato di trasferirlo al master EtherCAT che in aggiunta si è occupato anche di ottenere le informazioni sullo stato attuale del robot. L’intero progetto è stato sviluppato in prima battuta in ambiente di simulazione per validarne l’architettura. Successivamente si è passati all’installazione in ambiente embedded grazie all’ausilio di IPC sui quali è stato testato l’effettivo funzionamento dell’integrazione all’interno dell’architettura IMA.

The Clinical Impact Of Cerebellar Grey Matter Pathology In Multiple Sclerosis.

The cerebellum is an important site for cortical demyelination in multiple sclerosis, but the functional significance of this finding is not fully understood. To evaluate the clinical and cognitive impact of cerebellar grey-matter pathology in multiple sclerosis patients. Forty-two relapsing-remitting multiple sclerosis patients and 30 controls underwent clinical assessment including the Multiple Sclerosis Functional Composite, Expanded Disability Status Scale (EDSS) and cerebellar functional system (FS) score, and cognitive evaluation, including the Paced Auditory Serial Addition Test (PASAT) and the Symbol-Digit Modalities Test (SDMT). Magnetic resonance imaging was performed with a 3T scanner and variables of interest were: brain white-matter and cortical lesion load, cerebellar intracortical and leukocortical lesion volumes, and brain cortical and cerebellar white-matter and grey-matter volumes. After multivariate analysis high burden of cerebellar intracortical lesions was the only predictor for the EDSS (p<0.001), cerebellar FS (p = 0.002), arm function (p = 0.049), and for leg function (p<0.001). Patients with high burden of cerebellar leukocortical lesions had lower PASAT scores (p = 0.013), while patients with greater volumes of cerebellar intracortical lesions had worse SDMT scores (p = 0.015). Cerebellar grey-matter pathology is widely present and contributes to clinical dysfunction in relapsing-remitting multiple sclerosis patients, independently of brain grey-matter damage.

Minimal Invasive Ostheosintesis For Treatment Of Diaphiseal Transverse Humeral Shaft Fractures.

To evaluate patients with transverse fractures of the shaft of the humerus treated with indirect reduction and internal fixation with plate and screws through minimally invasive technique. Inclusion criteria were adult patients with transverse diaphyseal fractures of the humerus closed, isolated or not occurring within 15 days of the initial trauma. Exclusion criteria were patients with compound fractures. In two patients, proximal screw loosening occurred, however, the fractures consolidated in the same mean time as the rest of the series. Consolidation with up to 5 degrees of varus occurred in five cases and extension deficit was observed in the patient with olecranon fracture treated with tension band, which was not considered as a complication. There was no recurrence of infection or iatrogenic radial nerve injury. It can be concluded that minimally invasive osteosynthesis with bridge plate can be considered a safe and effective option for the treatment of transverse fractures of the humeral shaft. Level of Evidence III, Therapeutic Study.

Comparative Cytogenetics Of Physalaemus albifrons And Physalaemus Cuvieri Species Groups (anura, leptodactylidae).

Recently, Physalaemus albifrons (Spix, 1824) was relocated from the Physalaemus cuvieri group to the same group as Physalaemus biligonigerus (Cope, 1861), Physalaemus marmoratus (Reinhardt & Lütken, 1862) and Physalaemus santafecinus Barrio, 1965. To contribute to the analysis of this proposition, we studied the karyotypes of Physalaemus albifrons, Physalaemus santafecinus and three species of the Physalaemus cuvieri group. The karyotype of Physalaemus santafecinus was found to be very similar to those of Physalaemus biligonigerus and Physalaemus marmoratus, which were previously described. A remarkable characteristic that these three species share is a conspicuous C-band that extends from the pericentromeric region almost to the telomere in the short arm of chromosome 3. This characteristic is not present in the Physalaemus albifrons karyotype and could be a synapomorphy of Physalaemus biligonigerus, Physalaemus marmoratus and Physalaemus santafecinus. The karyotype of Physalaemus santafecinus is also similar to those of Physalaemus marmoratus and Physalaemus biligonigerus owing to the presence of several terminal C-bands and the distal localization of the NOR in a small metacentric chromosome. In contrast, the Physalaemus albifrons karyotype has no terminal C-bands and its NOR is located interstitially in the long arm of submetacentric chromosome 8. The NOR-bearing chromosome of Physalaemus albifrons very closely resembles those found in Physalaemus albonotatus (Steindachner, 1864), Physalaemus cuqui Lobo, 1993 and some populations of Physalaemus cuvieri Fitzinger, 1826. Additionally, the Physalaemus albifrons karyotype has an interstitial C-band in chromosome 5 that has been exclusively observed in species of the Physalaemus cuvieri group. Therefore, we were not able to identify any chromosomal feature that supports the reallocation of Physalaemus albifrons.

A Brazilian Original Pedagogical Approach To The Teaching Of Neurology.

The two-arm Clinical Decisions/Diagnostic Workshop (CD/DW) approach to undergraduate medical education has been successfully used in Brazil. Present the CD/DW approach to the teaching of stroke, with the results of its pre-experimental application and of a comparative study with the traditional lecture-case discussion approach. Application of two questionnaires (opinion and Knowledge-Attitudes-Perceptions-KAP) to investigate the non-inferiority of the CD/DW approach. The method was well accepted by teachers and students alike, the main drawback being the necessarily long time for its completion by the students, a feature that may better cater for different educational needs. The comparative test showed the CD/DW approach to lead to slightly higher cognitive acquisition as opposed to the traditional method, clearly showing its non-inferiority status. The CD/DW approach seems to be another option for teaching neurology in undergraduate medical education, with the bonus of respecting each learner`s time.

Avoiding Pitfalls Of Intraoperative Peripheral Endovascular Surgery With The Aid Of Osirix: Expanding The Use Of Virtual Fluoroscopy.

We have shown how the analysis of the angiotomography reconstruction through OsiriX program has assisted in endovascular perioperative programming. We presented its application in situations when an unexpected existence of metallic overlapping artifact (orthopedic osteosynthesis) compromised the adequate visualization of the arterial lesion during the procedure. Through manipulation upon OsiriX software, with assistance of preview under virtual fluoroscopy, it was possible to obtain the angles that would avoid this juxtaposition. These angles were reproduced in the C-arm, allowing visualization of the occluded segment, reducing the need for repeated image acquisitions and contrast overload, allowing the continuation of the procedure.

Fracture Of Distal Humerus: Mipo Technique With Visualization Of The Radial Nerve.

To evaluate the outcomes in patients treated for humerus distal third fractures with MIPO technique and visualization of the radial nerve by an accessory approach, in those without radial palsy before surgery. The patients were treated with MIPO technique. The visualization and isolation of the radial nerve was done by an approach between the brachialis and the brachiorradialis, with an oblique incision, in the lateral side of the arm. MEPS was used to evaluate the elbow function. Seven patients were evaluated with a mean age of 29.8 years old. The average follow up was 29.85 months. The radial neuropraxis after surgery occurred in three patients. The sensorial recovery occurred after 3.16 months on average and also of the motor function, after 5.33 months on average, in all patients. We achieved fracture consolidation in all patients (M=4.22 months). The averages for flexion-extension and prono-supination were 112.85° and 145°, respectively. The MEPS average score was 86.42. There was no case of infection. This approach allowed excluding a radial nerve interposition on site of the fracture and/or under the plate, showing a high level of consolidation of the fracture and a good evolution of the range of movement of the elbow. Level of Evidence IV, Case Series.

Long-term Efficacy And Safety Of Tenofovir Disoproxil Fumarate In Hiv-1-infected Adolescents Failing Antiretroviral Therapy: The Final Results Of Study Gs-us-104-0321.

Reports of long-term tenofovir disoproxil fumarate (TDF) treatment in HIV-infected adolescents are limited. We present final results from the open-label (OL) TDF extension following the randomized, placebo (PBO)-controlled, double-blind phase of GS-US-104-0321 (Study 321). HIV-infected 12- to 17-year-olds treated with TDF 300 mg or PBO with an optimized background regimen (OBR) for 24-48 weeks subsequently received OL TDF plus OBR in a single arm study extension. HIV-1 RNA and safety, including bone mineral density (BMD), was assessed in all TDF recipients. Eighty-one subjects received TDF (median duration 96 weeks). No subject died or discontinued OL TDF for safety/tolerability. At week 144, proportions with HIV-1 RNA <50 copies/mL were 30.4% (7 of 23 subjects with baseline HIV-1 RNA >1000 c/mL initially randomized to TDF), 41.7% (5 of 12 subjects with HIV-1 RNA <1000 c/mL who switched PBO to TDF) and 0% (0 of 2 subjects failed randomized PBO plus OBR with HIV-1 RNA >1000 c/mL and switched PBO to TDF). Viral resistance to TDF occurred in 1 subject. At week 144, median decrease in estimated glomerular filtration rate was 38.1 mL/min/1.73 m (n = 25). Increases in median spine (+12.70%, n = 26) and total body less head BMD (+4.32%, n = 26) and height-age adjusted Z-scores (n = 21; +0.457 for spine, +0.152 for total body less head) were observed at week 144. Five of 81 subjects (6%) had persistent >4% BMD decreases from baseline. Some subjects had virologic responses to TDF plus OBR, and TDF resistance was rare. TDF was well tolerated and can be considered for treatment of HIV-infected adolescents.

Cheaper Faster Drug Development Validated By The Repositioning Of Drugs Against Neglected Tropical Diseases.

There is an urgent need to make drug discovery cheaper and faster. This will enable the development of treatments for diseases currently neglected for economic reasons, such as tropical and orphan diseases, and generally increase the supply of new drugs. Here, we report the Robot Scientist 'Eve' designed to make drug discovery more economical. A Robot Scientist is a laboratory automation system that uses artificial intelligence (AI) techniques to discover scientific knowledge through cycles of experimentation. Eve integrates and automates library-screening, hit-confirmation, and lead generation through cycles of quantitative structure activity relationship learning and testing. Using econometric modelling we demonstrate that the use of AI to select compounds economically outperforms standard drug screening. For further efficiency Eve uses a standardized form of assay to compute Boolean functions of compound properties. These assays can be quickly and cheaply engineered using synthetic biology, enabling more targets to be assayed for a given budget. Eve has repositioned several drugs against specific targets in parasites that cause tropical diseases. One validated discovery is that the anti-cancer compound TNP-470 is a potent inhibitor of dihydrofolate reductase from the malaria-causing parasite Plasmodium vivax.

Whey And Soy Protein Supplements Changes Body Composition In Patients With Crohn's Disease Undergoing Azathioprine And Anti-tnf-alpha Therapy.

Crohn´s disease (CD) is a chronic transmural inflammation of the gastrointestinal tract of unknown cause. Malnutrition associated with active CD has been reduced although obesity has increased. Dietary strategies such as those with high-protein have been proposed to reduce body fat. This study compares the effects of two supplements on the nutritional status of CD patients. 68 CD patients were randomized in two groups: whey protein group (WP) and soy protein group (SP). Using bioimpedance analysis, anthropometry and albumin and pre-albumin dosages the nutritional status was measured before starting the intervention and after 8 and 16 weeks. The disease activity was determined by Crohn's Disease Activity Index and serum C-reactive protein dosage and dietary intake by 24h dietary recalls. Forty-one patients concluded the study and both supplements changed body composition similarly. Triceps skin fold thickness (p< 0.001) and body fat percentage (p=0.001) decreased, whereas mid-arm muscle circumference (p=0.004), corrected arm muscle area (p=0.005) and body lean percentage (p=0.001) increased. For Crohn's disease patients undergoing anti TNF-alpha and azatioprine therapies, supplementation with whey and soy proteins changes body composition through reduction of body fat and thus contributes to control inflammation.

Efeito de 13 semanas de treinamento físico militar sobre a composição corporal e o desempenho físico dos alunos da escola preparatória de cadetes do exército

INTRODUCTION: Armies from all over the world acknowledge the importance of good physical fitness for the performance of military duties. The Military Exercise Training (MET) attempts to provide assistance to this search for better physical fitness and performance. OBJECTIVE: To verifying the effect on the body composition and physical performance of the students at ESPCEX (Military School for Preparation of Army Cadets) after 13 weeks of MET. METHODS: The sample was formed by 287 male students from the ESPCEX, whose average age was 18.33 ±1.26. Such students accomplished a boarding school routine, having defined schedules, meals and activities from which they were only released during the weekends. The MET was accomplished five days a week and it comprised both aerobic and resistance training. Measurement of body mass, height, skinfold (triceps, abdominal and suprailiac) was accomplished during pre and post training periods, and the following tests were performed: 12-minutes-run, oblique sit up, arm push up and pull up. Fat percentage, fat-free body mass and fat body mass were calculated using the anthropometric data based on the Guedes 3 skinfold protocol. RESULTS: Significant reduction in fat body mass, fat percentage and in triceptal and abdominal skinfold, as well as increase in suprailiac skinfold and fat-free body mass was observed when anthropometric and body composition data were compared, during the initial and the final periods of training. Significant improvement also occurred in all prformed physical tests, in which better performance was achieved. CONCLUSION: The acquired data suggest that performance of MET 5 days a week brought significantly improved body composition as well as physical performance