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3 results on '"Oxana Fomina"'

1. Inverse and Forward Kinematics and CAD-Based Simulation of a 5-DOF Delta-Type Parallel Robot with Actuation Redundancy

Author

Pavel Laryushkin, Anton Antonov, Alexey Fomin, and Oxana Fomina

Subjects
redundantly actuated parallel robot, Delta-type robot, 5-DOF manipulation, 3T2R motion pattern, inverse kinematics, forward kinematics, Mechanical engineering and machinery, TJ1-1570
Abstract

This article introduces a novel modification of a Delta-type parallel robot. The robot has five degrees of freedom and provides its end-effector with a 3T2R motion pattern (three translational and two rotational degrees of freedom). The fifth degree of freedom (rotation) is kinematically decoupled from the other four motions, and it is controlled by two drives. Thus, the proposed robot has a redundant actuation. In this article, we present an algorithm to solve the inverse kinematics of this robot and apply it to a path modeling example of a spiral-like trajectory. Numerical simulations illustrate the algorithm and show how the actuated coordinates change along the considered trajectory. Forward kinematics follows next, and an approach is introduced to determine all end-effector configurations for the specified displacements in the actuated joints. A numerical example presents four assembly modes of the robot corresponding to four real solutions of the forward kinematic problem. Finally, this article demonstrates a computer-aided design and analysis of the proposed robot: we describe a procedure for analyzing inverse kinematics and calculating actuation torques. This study forms the basis for the future manufacturing and experimental analysis of a robot prototype.

Published
2024
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2. Design, Kinematics and Workspace Analysis of a Novel 4-DOF Kinematically Redundant Planar Parallel Grasping Manipulator

Author

Daniil Petelin, Alexey Fomin, Pavel Laryushkin, Oxana Fomina, Giuseppe Carbone, and Marco Ceccarelli

Subjects
4-DOF parallel manipulator, kinematically redundant manipulator, degree of freedom, grasping, mechanism design, inverse and forward kinematics, Mechanical engineering and machinery, TJ1-1570
Abstract

This article presents a model of a novel 4-DOF kinematically redundant planar parallel grasping manipulator. As distinct from the traditional 4-DOF manipulator, the proposed design includes an extensible platform, which provides kinematic redundancy. This constructive feature is used for grasping. The article discusses the inverse and forward kinematics of the proposed manipulator. The inverse kinematics algorithm provides the analytical relations between the platform coordinates and the driven (controlled) coordinates. The forward kinematics algorithm allows defining different assembly modes of the manipulator. Both algorithms are demonstrated using numerical examples. The article discusses different designs of the manipulator in which its links are placed in one, two, or three layers. Based on these designs, we performed their workspace analyses.

Published
2023
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3. FRI0149 DISEASE ACTIVITY IN ESCALATION OR DE-ESCALATION OF DOSAGE OF TOFACITINIB IN RHEUMATOID ARTHRITIS PATIENTS – THE FIRST RESULTS OF RUSSIAN NATIONAL REGISTER OF PATIENTS WITH RHEUMATOID ARTHRITIS TREATED WITH TOFACITINIB

Author

Inna Gaydukova, A Misiyuk, V. Mazurov, E. Zhilyaev, A. R. Babaeva, Valentina Sorotskaya, Oxana Fomina, E. Vasilenko, Vyacheslav Poncratov, N. Lapkina, A Pavlova, Galina Lukina, and Evgeny Nasonov

Subjects
medicine.medical_specialty, Tofacitinib, Dose, business.industry, medicine.disease, Disease activity, Rheumatoid arthritis, Internal medicine, Prednisolone, medicine, Statistical analysis, Methotrexate, business, De-escalation, medicine.drug
Abstract

Background: In previous studies tofacitinib (TF) had demonstrated efficacy of two dosages (10 and 20 mg/day) in patients with rheumatoid arthritis (RA). However, the expected results of switching of TF’ dosages are unknown. Objectives: The aim of the study was to evaluate the results of switching of TF’s dosages in RA patients. Methods: Were analyzed the data from Russian national register of patients with RA treated with TF (tofacitinib). 415 patients were involved in the register (aug 2018). In statistical analysis were included data from 41 patients with RA (EULAR 2010), who switched dosage of TF at visit 3 and had complete clinical and laboratory data from 5 consecutive visits with an interval of 3 months between the visits. Demographical (age, sex) data, disease activity data DAS28 (Disease activity score), C-reactive protein level were collected, table 1. Changes in disease activity were calculated to patients with switching of the tofa’s dosage (the visit before and after the switching). Results: 1.28 (68%) of patients were treated with NSAIDs, 24 (50%) with 5-10 mg of prednisolone, 34 (82.9) – with methotrexate (10-25 mg/week), biologics – 5 (4.2%). From 41 persons with RA 32 patients, who never achieved low disease activity (DAS28 After escalation of TF dosage DAS28 decreased from 5.42±1.22 to 4.22±1.22 (p De-escalation of the dosage from 20 to 10 mg/day was not associated with significant changes of DAS28 (1.99 ± 1.25 increased to 2.1 ±0.96 respectively, p=0.82). Conclusion: Escalation of dosage of TF in RA lead to improvement of the disease activity in non-complete responders, who achieved DAS 28 3.2-5.1, but not in patients with absence of any response (DAS28 before escalation 5.3-6.9). De-escalation of TF’ dosage in patients with DAS28 References: [1] Fleischmann R, et al. Lancet. 2017 Jul 29;390(10093):457-468. doi: 10.1016/S0140-6736(17)31618-5. Acknowledgement: Pfizer is sponsor of register Technical support ASTON group Disclosure of Interests: Inna Gaydukova Grant/research support from: JSC BIOCAD, Speakers bureau: paiment from Pfizer, Novartis, Abbvie, Biocad, Selgene, MSD, Sanofy does not exceed 10 000 euros, V Mazurov Grant/research support from: JSC BIOCAD, Elizaveta Vasilenko: None declared, Evgeniy Zhilyaev: None declared, Vyacheslav Poncratov: None declared, Valentina Sorotskaya: None declared, Galina Lukina: None declared, Oxana Fomina: None declared, Aida Babaeva: None declared, N Lapkina: None declared, Anna Misiyuk: None declared, A Pavlova: None declared, Evgeny Nasonov: None declared

Published
2019
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