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The divertor remote handling (RH) of the upcoming Italian tokamak Divertor Tokamak Test (DTT) is designed to be carried out by two tele-operated robots: the cassette multifunctional mover (CMM) and the cassette toroidal mover (CTM). The CMM is designed to place/remove the divertor cassettes which are near the RH ports into/from the vessel; the CTM is, instead, designed to move the cassettes which are distant from an RH port inside the vessel toroidally. To date, CMM is under a more advanced development stage of design with respect to CTM. This article describes and illustrates in detail the virtual kinematic simulations of the CMM operative procedures. With regard to the CTM, only preliminary simulations are presented. These activities are part of the integration and verification stages of the CMM design process, carried out in a Systems Engineering approach and following the workflow prescribed by the V-model and its requirements, functions, logical, and physical architecture (RFLP) paradigm. Therefore, after an introduction to the CMM requirements, functions, and conceptual design, which have already been developed, the article focuses on the description of its virtual kinematic simulations and the analysis of their results, with the aim of verifying the feasibility of the handling procedures and the correct integration of the CMM in the surrounding environment, considering all the in-vessel geometric constraints. The simulations have been carried out following a forward-kinematics approach. Therefore, each simulation has been divided into a series of consecutive activities, assigning each of them a set of values for the five CMM joints able to reach the required final position of the end-effector. The software DELMIA, part of the Dassault Systèmes V5 platform which also includes the software for CAD modeling CATIA V5, has been used to perform the simulations. As for the CTM operation, since its concept design has not been completed yet, preliminary virtual kinematic simulations have been performed with a different goal: to evaluate alternative possible operative strategies, which can impact the device design.

We study the Dirichlet problem for a second order linear elliptic partial differential equation with discontinuous coefficients in unbounded domains. We establish an existence and uniqueness result.

Dysphagia is a common functional outcome following treatment of laryngeal cancer. Despite curative advances in both nonsurgical and surgical approaches, preserving and optimizing swallowing function is critical. Understanding the nature and severity of dysphagia depending on initial tumor staging and treatment modality and intensity is crucial. This chapter explores current evidence on the acute and chronic impacts of treatments for laryngeal cancer on swallow function, as well as the medical and nonmedical management of dysphagia in this population.

AbstractIn the present work we introduce a new model to evaluate digital assets, like the tokens into the context of Blockchain. The goal is to design a Decision Support System useful to define a baseline of price to make more objective the negotiation between Parties (like project founder and Exchange, buyer and seller, and so on). To obtain a more effective result, the model, named Token Evaluation System (TES), implements a new mathematical formulation of events’ occurrence, which extends and includes the classical probability, by giving a more suitable tool for describing events which happen more frequently than their probability. In addition, the model, takes care of the consensus, the sentiment of the communities, and the opinions of experts in order to suitable estimate the value of digital tokens. As we will show, this theory encourage the authors to model more and more assets, to optimize and generalize this model, which is the first attempt for pricing digital tokens into the context of Blockchain and digital asset market.

Tactile sensors are essential components for the implementation of complex manipulation tasks using robot grippers, allowing to directly control the grasping force according to the object properties. Virtual Reality represents an effective tool capable of visualizing complex systems in full details and with a high level of interactivity. After the implementation of cost-effective tactile arrays on a 3-finger Robotiq®gripper using an ARDUINO controller, it is presented an innovative VR interface capable of visualizing the pressure values at the fingertips in a 3D environment, providing an effective tool aimed at supporting the programming and the visualization of the gripper VR.