Search

Distal vessel occlusions represent about 25-40% of acute ischemic stroke (AIS), either as primary occlusion or secondary occlusion complicating mechanical thrombectomy (MT) for large vessel occlusion.

This paper presents a new design of CADEL, a cable-driven elbow-assisting device, with light weighting and control improvements. The new device design is appropriate to be more portable and user-oriented solution, presenting additional facilities with respect to the original design. One of potential benefits of improved portability can be envisaged in the possibility of house and hospital usage keeping social distancing while allowing rehabilitation treatments even during a pandemic spread. Specific attention has been devoted to design main mechatronic components by developing specific kinematics models. The design process includes an implementation of specific control hardware and software. The kinematic model of the new design is formulated and features are evaluated through numerical simulations and experimental tests. An evaluation from original design highlights the proposed improvements mainly in terms of comfort, portability and user-oriented operation.

The term Sneddon's syndrome (SS) has been used since 1965 to describe a vasculopathy characterized by a combination of cerebrovascular disease with livedo racemosa. SS may be classified as antiphospholipid+ (aPL+) or antiphospholipid− (aPL−). Little is known about aPL− SS; in this review we describe the epidemiology and pathogenesis of aPL− SS, as well as the clinical and histologic features. We discuss recent findings in terms of neurologic and cardiac involvement. Moreover, differential diagnoses of conditions that may present with both livedo racemosa and stroke are discussed. Finally, we discuss real-life practical issues such as the initial investigations to be performed, long-term follow-up, and therapeutic management of aPL− SS patients.

In the last years, collaborative human-robot applications have become more and more appealing thanks to the robot’s easiness of programming and the promise of increasing precision and safety. However, by combining two resources (the cobot and the human operator) there is a problem of safety since cobot and human operator have to work in the same workspace. To ensure human safety, the distance between robot and operator must be assessed and the robot must adapt accordingly either by reducing its velocity or by modifying its trajectory. In this paper, we propose a new online method to adapt the trajectory of the robot to the human movements using a single depth camera. This algorithm eliminates the robot from the scene using a simple calibration process. Then, it interpolates the shared workspace, captured by the depth camera, using Radial Basis Functions (RBFs). The result is a continuous function that is representative of the risk of collision with obstacles on the plane. Its gradient is used as a repulsive potential in the Artificial Potential Field (APF) method to generate the path. This method eliminates the need to calculate the distance between operator and robot since it is intrinsically considered in the potentials. Results shows the validity of the method.

Collaborative robots improve the traditional production systems, both automatic and manual, by allowing the resources to share the workspace. However, the shared workspace is both the greatest advantage and limit of collaborative robots. Indeed, interference between the human operator and the cobot may result in an emergency stop, reducing the performance of the system. Hence, a collision avoidance strategy is required to avoid collision; however, this may affect the performance of the system. Therefore, it is necessary to investigate how the shared workspace affects the system performance, and the effects of the adoption of a collision avoidance strategy. To this regard, a collision avoidance strategy has been developed and it is presented in this work and an experimental validation proved the efficacy of the proposed strategy. Lastly, simulation tests were carried out to analyse the performance of the system for different sizes of the collaboration area with respect to the workspace. The results shows that, while the increase in the collaboration area reduces the performance of the system, collision avoidance strategies mitigate this effect.

Excitation energy and charge transfer processes in perylene diimide dye–CdSe quantum dot complexes have been studied by femtosecond transient absorption spectroscopy. After excitation of the quantum dots high above the band edge, the electronically excited perylene diimide forms on a timescale similar to the ultrafast quantum dot intraband relaxation. An extraordinarily fast energy transfer time of <300 fs is determined, indicating that the transfer from the hot excitonic state competes with quantum dot intraband relaxation. A much slower kinetic component is attributed to the energy transfer from the quantum dot’s lowest excitonic state to perylene diimide. At high dye–quantum dot ratios, the electronically excited dye generated in the energy transfer reaction is reduced by an electron transfer from the quantum dot ground state. This study demonstrates the potential of the investigated organic–inorganic hybrid for the design of tailor-made energy transfer systems, which can be applied in the emerging field of hot exciton utilization.

Under-actuated robots are very interesting in terms of cost and weight since they can result in a state-controllable system with a number of actuators lower than the number of joints. In this paper, a comparison between an under-actuated planar 3 degrees of freedom (DOF) robot and a comparable fully-actuated 2 degrees of freedom robot is presented, mainly focusing on the performances in terms of trajectories, actuator torques, and vibrations. The under-actuated system is composed of 2 active rotational joints followed by a passive rotational joint equipped with a torsional spring. The fully-actuated robot is inertial equivalent to the under-actuated manipulator: the last link is equal to the sum of the last two links of the under-actuated system. Due to the conditions on the inertia distribution and spring placement, in a simple point-to-point movement the last passive joint starts and ends in a zero-value configuration, so the 3 DOF robot is equivalent, in terms of initial and final configuration, to the 2 DOF fully-actuated robot, thus they can be compared. Results show how while the fully actuated robot is better in terms of reliable trajectory and actuator torques, the under-actuated robot wins in flexibility and vibration behavior.

Introduction and Objectives. Analysis of cancer biomarkers is an important tool in developing targeted-therapy and in modulating chemoresistance. Here, we analyze the relevance of CD90, a marker of cancer stem cells (CSC) in hepatocellular carcinoma (HCC) and its correlation with autophagy. Materials and Methods. For in vivostudy, 86 specimens were collected from 43 patients undergoing liver resections. In each patient, HCC nodule (HCC) and surrounding non-tumor (SNT) were collected. For in vitrostudy, HCC cells JHH6 subpopulations expressing CD90+ and CD90- were isolated using magnetic-sorter and confirmed by flow-cytometry. Upon doxorubicin treatment, autophagy turn-over was analyzed by RTqPCR for mRNA expression, Western blot for protein expression, and autophagosome staining for autophagy-flux. Cytotoxicity test was performed by MTT assay. Gene and protein analysis were performed in clinical samples together with immunohistostaining. Results. CD90 mRNA expression was higher in HCC than in SNT for 8-fold (p < 0.001). LC3-II protein was up-regulated in the HCC in comparison with the SNT (p < 0.05). In vitromodel showed that CD90+ and CD90- cells had diverse expressions of autophagy-related genes. Upon doxorubicin treatment, autophagy was activated in both cells by increasing LC3-II protein expression, autophagic vacuoles, and dysregulation of autophagy-related mRNAs. A differential autophagic capacity was noticed between two subpopulations and it was correlated with cellular toxicity assay. Conclusions. We demonstrated the relevance of differential autophagy capacity of CD90+ cells in HCC. Autophagy was involved in cancer-defense mechanism against doxorubicin. Cancer promoting function of autophagy in CD90+ cells was also related to cancer environment.