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This article proposes a systematic approach for validating the trajectories generated by a motion planning method in presence of obstacles for parallel manipulators having less than 6 degrees of freedom (d.o.f.s). The planning algorithm is based on combining a quick random search algorithm together with an optimization method, which aims to obtain feasible and reliable trajectories. The validation approach uses a probabilistic method, which includes Kalman filtering of experimental data. Experimental tests have been carried out by operating a Cassino Parallel Manipulator (CaPaMan) prototype at LARM in Cassino. Results are reported and discussed to show the effectiveness of the proposed approach to generate and validate suitable collision-free trajectories for parallel manipulators. [ABSTRACT FROM PUBLISHER]

Abstract: Background: Ischemia-reperfusion injury (IRI) is among the main challenges in kidney transplantation. It causes delayed graft function and graft loss in long-term follow-up studies. Anti-T lymphocyte globulin (ATG), a common induction immunosuppressive, has been used in kidney transplantation to prevent rejection. Fractalkine (FKN) is among the main chemokines involved in IRI. This study was designed to identify the relationship between ATG and FKN after warm ischemia in rat kidneys. Methods: Rats were divided into three groups: Control, IRI+normal saline(NS) and IRI+ATG. After IRI was initiated, rats received a dose of ATG or NS during surgery as well as two more doses at 24 and 48 hours after surgery. All rats were humanely killed at 72 hours. Results: The concentration of FKN as well as dendritic cells (DC) and macrophages were lower in both peripheral blood and the injured kidney among ATG-treated versus control rats. Additionally cell necrosis, cytoplasmic vacuolization, cast formation, and tubular dilatation were improved among ATG-treated rats. Serum creatinine levels were lower in rats that received ATG. Conclusion: ATG depleted the concentration of FKN, which inhibits migrations of DCs and macrophages into the kidney, and reduces IRI-related pathology. [Copyright &y& Elsevier]