scholarly journals An Approach for Direct Offline Programming of High Precision Assembly Tasks on 3D Scans Using Tactile Control and Automatic Program Adaption

Author(s):  
Maximilian Metzner ◽  
Dominik Reisinger ◽  
Jan-Niklas Ortmann ◽  
Lukas Grünhöfer ◽  
Andreas Handwerker ◽  
...  

AbstractThis contribution defines a methodology for the direct offline programming of robotic high-precision assembly tasks without the need for real-world teach-in, even for less-accurate lightweight robots. Using 3D scanning technologies, the relevant geometrical relations of the offline programming environment are adjusted to the real application. To bridge remaining accuracy gaps, tactile insertion algorithms are provided. As repetitive inaccuracy compensation through tactile search is considered wasteful, a method to automatically adapt the robot program to continuously increase precision over time, taking into account multiple influence sets is derived. The presented methodology is validated on a real-world use case from electronics production.

2021 ◽  
Vol 10 (9) ◽  
pp. 1890
Author(s):  
Gabriele Pesarini ◽  
Gabriele Venturi ◽  
Domenico Tavella ◽  
Leonardo Gottin ◽  
Mattia Lunardi ◽  
...  

Background: The aim of this research is to describe the performance over time of transcatheter aortic valve implantations (TAVIs) in a high-volume center with a contemporary, real-world population. Methods: Patients referred for TAVIs at the University Hospital of Verona were prospectively enrolled. By cumulative sum failures analysis (CUSUM), procedural-control curves for standardized combined endpoints—as defined by the Valve Academic Research Consortium-2 (VARC-2)—were calculated and analyzed over time. Acceptable and unacceptable limits were derived from recent studies on TAVI in intermediate and low-risk patients to fit the higher required standards for current indications. Results: A total of 910 patients were included. Baseline risk scores significantly reduced over time. Complete procedural control was obtained after approximately 125 and 190 cases for device success and early safety standardized combined endpoints, respectively. High risk patients (STS ≥ 8) had poorer outcomes, especially in terms of VARC-2 clinical efficacy, and required a higher case load to maintain in-control and proficient procedures. Clinically relevant single endpoints were all influenced by operator’s experience as well. Conclusions: Quality-control analysis for contemporary TAVI interventions based on standardized endpoints suggests the need for relevant operator’s experience to achieve and maintain optimal clinical results, especially in higher-risk subjects.


2021 ◽  
Vol 80 (Suppl 1) ◽  
pp. 547.1-547
Author(s):  
C. Deakin ◽  
G. Littlejohn ◽  
H. Griffiths ◽  
T. Smith ◽  
C. Osullivan ◽  
...  

Background:The availability of biosimilars as non-proprietary versions of established biologic disease-modifying anti-rheumatic drugs (bDMARDs) is enabling greater access for patients with rheumatic diseases to effective medications at a lower cost. Since April 2017 both the originator and a biosimilar for etanercept (trade names Enbrel and Brenzys, respectively) have been available for use in Australia.Objectives:[1]To model effectiveness of etanercept originator or biosimilar in reducing Disease Activity Score 28-joint count C reactive protein (DAS28CRP) in patients with rheumatoid arthritis (RA), psoriatic arthritis (PsA) or ankylosing spondylitis (AS) treated with either drug as first-line bDMARD[2]To describe persistence on etanercept originator or biosimilar as first-line bDMARD in patients with RA, PsA or ASMethods:Clinical data were obtained from the Optimising Patient outcomes in Australian rheumatoLogy (OPAL) dataset, derived from electronic medical records. Eligible patients with RA, PsA or AS who initiated etanercept originator (n=856) or biosimilar (n=477) as first-line bDMARD between 1 April 2017 and 31 December 2020 were identified. Propensity score matching was performed to select patients on originator (n=230) or biosimilar (n=136) with similar characteristics in terms of diagnosis, disease duration, joint count, age, sex and concomitant medications. Data on clinical outcomes were recorded at 3 months after baseline, and then at 6-monthly intervals. Outcomes data that were missing at a recorded visit were imputed.Effectiveness of the originator, relative to the biosimilar, for reducing DAS28CRP over time was modelled in the matched population using linear mixed models with both random intercepts and slopes to allow for individual heterogeneity, and weighting of individuals by inverse probability of treatment weights to ensure comparability between treatment groups. Time was modelled as a combination of linear, quadratic and cubic continuous variables.Persistence on the originator or biosimilar was analysed using survival analysis (log-rank test).Results:Reduction in DAS28CRP was associated with both time and etanercept originator treatment (Table 1). The conditional R-squared for the model was 0.31. The average predicted DAS28CRP at baseline, 3 months, 6 months, 9 months and 12 months were 4.0 and 4.4, 3.1 and 3.4, 2.6 and 2.8, 2.3 and 2.6, and 2.2 and 2.4 for the originator and biosimilar, respectively, indicating a clinically meaningful effect of time for patients on either drug and an additional modest improvement for patients on the originator.Median time to 50% of patients stopping treatment was 25.5 months for the originator and 24.1 months for the biosimilar (p=0.53). An adverse event was the reason for discontinuing treatment in 33 patients (14.5%) on the originator and 18 patients (12.9%) on the biosimilar.Conclusion:Analysis using a large national real-world dataset showed treatment with either the etanercept originator or the biosimilar was associated with a reduction in DAS28CRP over time, with the originator being associated with a further modest reduction in DAS28CRP that was not clinically significant. Persistence on treatment was not different between the two drugs.Table 1.Respondent characteristics.Fixed EffectEstimate95% Confidence Intervalp-valueTime (linear)0.900.89, 0.911.5e-63Time (quadratic)1.011.00, 1.011.3e-33Time (cubic)1.001.00, 1.007.1e-23Originator0.910.86, 0.960.0013Acknowledgements:The authors acknowledge the members of OPAL Rheumatology Ltd and their patients for providing clinical data for this study, and Software4Specialists Pty Ltd for providing the Audit4 platform.Supported in part by a research grant from Investigator-Initiated Studies Program of Merck & Co Inc, Kenilworth, NJ, USA. The opinions expressed in this paper are those of the authors and do not necessarily represent those of Merck & Co Inc, Kenilworth, NJ, USA.Disclosure of Interests:Claire Deakin: None declared, Geoff Littlejohn Consultant of: Over the last 5 years Geoffrey Littlejohn has received educational grants and consulting fees from AbbVie, Bristol Myers Squibb, Eli Lilly, Gilead, Novartis, Pfizer, Janssen, Sandoz, Sanofi and Seqirus., Hedley Griffiths Consultant of: AbbVie, Gilead, Novartis and Lilly., Tegan Smith: None declared, Catherine OSullivan: None declared, Paul Bird Speakers bureau: Eli Lilly, abbvie, pfizer, BMS, UCB, Gilead, Novartis


2021 ◽  
Vol 6 (1) ◽  
Author(s):  
Sergei P. Sidorov ◽  
Sergei V. Mironov ◽  
Alexey A. Grigoriev

AbstractMany empirical studies have shown that in social, citation, collaboration, and other types of networks in real world, the degree of almost every node is less than the average degree of its neighbors. This imbalance is well known in sociology as the friendship paradox and states that your friends are more popular than you on average. If we introduce a value equal to the ratio of the average degree of the neighbors for a certain node to the degree of this node (which is called the ‘friendship index’, FI), then the FI value of more than 1 for most nodes indicates the presence of the friendship paradox in the network. In this paper, we study the behavior of the FI over time for networks generated by growth network models. We will focus our analysis on two models based on the use of the preferential attachment mechanism: the Barabási–Albert model and the triadic closure model. Using the mean-field approach, we obtain differential equations describing the dynamics of changes in the FI over time, and accordingly, after obtaining their solutions, we find the expected values of this index over iterations. The results show that the values of FI are decreasing over time for all nodes in both models. However, for networks constructed in accordance with the triadic closure model, this decrease occurs at a much slower rate than for the Barabási–Albert graphs. In addition, we analyze several real-world networks and show that their FI distributions follow a power law. We show that both the Barabási–Albert and the triadic closure networks exhibit the same behavior. However, for networks based on the triadic closure model, the distributions of FI are more heavy-tailed and, in this sense, are closer to the distributions for real networks.


2016 ◽  
Vol 3 (7) ◽  
pp. 160131 ◽  
Author(s):  
Daniel Smith ◽  
Mark Dyble ◽  
James Thompson ◽  
Katie Major ◽  
Abigail E. Page ◽  
...  

Humans regularly cooperate with non-kin, which has been theorized to require reciprocity between repeatedly interacting and trusting individuals. However, the role of repeated interactions has not previously been demonstrated in explaining real-world patterns of hunter–gatherer cooperation. Here we explore cooperation among the Agta, a population of Filipino hunter–gatherers, using data from both actual resource transfers and two experimental games across multiple camps. Patterns of cooperation vary greatly between camps and depend on socio-ecological context. Stable camps (with fewer changes in membership over time) were associated with greater reciprocal sharing, indicating that an increased likelihood of future interactions facilitates reciprocity. This is the first study reporting an association between reciprocal cooperation and hunter–gatherer band stability. Under conditions of low camp stability individuals still acquire resources from others, but do so via demand sharing (taking from others), rather than based on reciprocal considerations. Hunter–gatherer cooperation may either be characterized as reciprocity or demand sharing depending on socio-ecological conditions.


2016 ◽  
Vol 2016 (1) ◽  
pp. 4-19 ◽  
Author(s):  
Andreas Kurtz ◽  
Hugo Gascon ◽  
Tobias Becker ◽  
Konrad Rieck ◽  
Felix Freiling

Abstract Recently, Apple removed access to various device hardware identifiers that were frequently misused by iOS third-party apps to track users. We are, therefore, now studying the extent to which users of smartphones can still be uniquely identified simply through their personalized device configurations. Using Apple’s iOS as an example, we show how a device fingerprint can be computed using 29 different configuration features. These features can be queried from arbitrary thirdparty apps via the official SDK. Experimental evaluations based on almost 13,000 fingerprints from approximately 8,000 different real-world devices show that (1) all fingerprints are unique and distinguishable; and (2) utilizing a supervised learning approach allows returning users or their devices to be recognized with a total accuracy of 97% over time


2021 ◽  
Vol 39 (28_suppl) ◽  
pp. 253-253
Author(s):  
Maureen Canavan ◽  
Xiaoliang Wang ◽  
Mustafa Ascha ◽  
Rebecca A. Miksad ◽  
Timothy N Showalter ◽  
...  

253 Background: Among patients with cancer, receipt of systemic oncolytic therapy near the end-of-life (EOL) does not improve outcomes and worsens patient and caregiver experience. Accordingly, the ASCO/NQF measure, Proportion Receiving Chemotherapy in the Last 14 Days of Life, was published in 2012. Over the last decade there has been exponential growth in high cost targeted and immune therapies which may be perceived as less toxic than traditional chemotherapy. In this study, we identified rates and types of EOL systemic therapy in today’s real-world practice; these can serve as benchmarks for cancer care organizations to drive improvement efforts. Methods: Using data from the nationwide Flatiron Health electronic health record (EHR)-derived de-identified database we included patients who died during 2015 through 2019, were diagnosed after 2011, and who had documented cancer treatment. We identified the use of aggressive EOL systemic treatment (including, chemotherapy, immunotherapy, and combinations thereof) at both 30 days and 14 days prior to death. We estimated standardized EOL rates using mixed-level logistic regression models adjusting for patient and practice-level factors. Year-specific adjusted rates were estimated in annualized stratified analysis. Results: We included 57,127 patients, 38% of whom had documentation of having received any type of systemic cancer treatment within 30 days of death (SD: 5%; range: 25% - 56%), and 17% within 14 days of death (SD: 3%; range: 10% - 30%). Chemotherapy alone was the most common EOL treatment received (18% at 30 days, 8% at 14 days), followed by immunotherapy (± other treatment) (11% at 30 days, 4% at 14 days). Overall rates of EOL treatment did not change over the study period: treatment within 30 days (39% in 2015 to 37% in 2019) and within 14 days (17% in 2015 to 17% in 2019) of death. However, the rates of chemotherapy alone within 30 days of death decreased from 24% to 14%, and within 14 days, from 10% to 6% during the study period. In comparison, rates for immunotherapy with chemotherapy (0%-6% for 30 days, 0% -2% for 14 days), and immunotherapy alone or with other treatment types (4%-13% for 30 days, 1%-4% for 14 days) increased over time for both 30 and 14 days. Conclusions: End of life systemic cancer treatment rates have not substantively changed over time despite national efforts and expert guidance. While rates of traditional chemotherapy have decreased, rates of costly immunotherapy and targeted therapy have increased, which has been associated with higher total cost of care and overall healthcare utilization. Future work should examine the drivers of end-of-life care in the era of immune-oncology.


2020 ◽  
Vol 1 ◽  
pp. 1697-1706
Author(s):  
Y. Eriksson ◽  
M. Sjölinder ◽  
A. Wallberg ◽  
J. Söderberg

AbstractA testbed was developed aiming to contribute to further knowledge on what is required from a VR application in order to be useful for planning of assembly tasks. In a pilot study the testbed was tested on students. The focus of the study was to explore the users’ behaviour, and to gain a better understanding of their experience using VR. The students experienced a gap between the real world and VR, which confirms theories that VR is not a copy or twin of an object or environment.


2019 ◽  
Vol 1 ◽  
pp. 1-2
Author(s):  
Shinpei Ito ◽  
Akinori Takahashi ◽  
Ruochen Si ◽  
Masatoshi Arikawa

<p><strong>Abstract.</strong> AR (Augmented Reality) could be realized as a basic and high-level function on latest smartphones with a reasonable price. AR enables users to experience consistent three-dimensional (3D) spaces co-existing with 3D real and virtual objects with sensing real 3D environments and reconstructing them in the virtual world through a camera. The accuracy of sensing real 3D environments using an AR function, that is, visual-inertial odometer, of a smartphone is extremely higher than one of a GPS receiver on it, and can be less than one centimeter. However, current common AR applications generally focus on “small” real 3D spaces, not large real 3D spaces. In other words, most of the current AR applications are not designed for uses based on a geographic coordinate system.</p><p>We proposed a global extension of the visual-inertial odometer with an image recognition function of geo-referenced image markers installed in real 3D spaces. Examples of geo-referenced image markers can be generated from analog guide boards existing in the real world. We tested this framework of a global extension of the visual-inertial odometer embedded in a smartphone on the first floor in the central library of Akita University. The geo-referenced image markers such as floor map boards and book categories sign boards were registered in a database of 3D geo-referenced real-world scene images. Our prototype system developed on a smartphone, that is, iPhone XS, Apple Inc., could first recognized a floor map board (Fig. 1), and could determine the 3D precise distance and direction of the smartphone from the central position of the floor map board in a local 3D coordinate space with the origin point as the central positon of the board. Then, the system could convert the relative precise position and the relative direction of the smartphone’s camera in a local coordinate space into a global precise location and orientation of it. A subject was walking the first floor in the building of the library with a world tracking function of the smartphone. The experimental result shows that the error of tracking a real 3D space of a global coordinate system was accumulated, but not bad. The accumulated error was only about 30 centimeters after the subject’s walking about 30 meters (Fig. 2). We are now planning to improve our prototype system in the accuracy of indoor navigation with calibrating the location and orientation of a smartphone based sequential recognitions of multiple referenced scene image markers which have already existed for a general user services of the library before developing this proposed new services. As the conclusion, the experiment’s result of testing our prototype system was impressive, we are now preparing a more practical high-precision LBS which enables a user to be navigated to the exact location of a book of a user’s interest in a bookshelf on a floor with AR and floor map interfaces.</p>


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