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Experimental Characterization of Operation of a Waist-Trunk System with Parallel Manipulators

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Chinese Journal of Mechanical Engineering 2011年第5期24卷 713-722页

作者： CECCARELLI marco CARBONE giuseppe Laboratory of Robotics and Mechatronics (LARM) University of Cassino

An extensive research activity has been focused on the upper and lower limbs of humanoid robots. However, due to mechanical design difficulties and complex control of multi-body system, the torso of humanoid robot is somehow a neglected or simplified design part. In this paper, operation performance of a new waist-trunk system as torso for humanoid robots is presented through results of lab experimental tests. The proposed waist-trunk system is composed of two 3 DOFs （degrees of freedom） parallel manipulators, which are connected in a serial chain architecture. A prototype is built by using two prototypes of CaPaMan （Cassino Parallel Manipulator）, which are convenient stiff architectures with easy-operation characteristics. Experimental tests are carried out with the aims to imitate lateral-bending and transverse-rotation movements of human torso. Operation performances like displacements, accelerations, and actuation torque are measured for a performance evaluation and design characterization of the used manipulator solution imitating human torso. Experimental test results are illustrated and discussed to show the practical operation feasibility of the proposed architecture and the operation characteristics of the built prototype.

关键词： humanoid robots waist-trunk system parallel manipulators experimental robotics

A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

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Frontiers of Mechanical Engineering 2016年第2期11卷 144-158页

作者： Mingfeng WANG marco CECCARELLI giuseppe CARBONE School Of Mechanical and Electrical Engineering Central SouthUniversity Changsha 410083 China Laboratory of Robotics andMechatronics (LARM) DICeM University of Cassino and SouthLatium Cassino 03043 Italy Laboratory of Robotics and Mechatronics (LARM) DICeM Universityof Cassino and South Latium Cassino 03043 Italy

A feasibility study on the mechanical design and walking operation of a Cassino biped locomotor is presented in this paper. The biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with a parallel manipulator architecture. Planning of the biped walking gait is performed by coordinating the motions of the two leg mechanisms and waist. A three- dimensional model is elaborated in SolidWorks environ- ment in order to characterize a feasible mechanical design. Dynamic simulation is carried out in *** environment with the aims of characterizing and evaluat- ing the dynamic walking design. Simulation results performance of the proposed show that the proposed biped locomotor with proper input motions of linear actuators performs practical and feasible walking on fiat surfaces with limited actuation and reaction forces between its feet and the ground. A preliminary prototype of the biped locomotor is built for the purpose of evaluating the operation performance of the biped walking gait of the proposed locomotor.

关键词： feasibility study biped locomotor bipedwalking mechanical design dynamic simulation tripodleg mechanism 3-UPU parallel manipulator

Force Analysis and Curve Design for Laying Pipe in Loop Laying Head of Wire Rod Mills

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Chinese Journal of Mechanical Engineering 2019年第2期32卷 36-52页

作者： Shuangji Yao marco Ceccarelli giuseppe Carbone Bin Ma College of Material Science and Engineering Yanshan University Qinhuangdao 066004 China University of Cassino and South Latium Cassino 03043 Italy HBIS Group Co. Ltd Handan 056001 China

Laying head is a high-precision engineering device in hot-rolled high speed wire rod production line. Previously research works are focused on the laying pipe wear-resisting. Laying pipe curve design method based on wire rod kinematics and dynamics analyses are not reported before. In order to design and manufacture the laying pipe, the motion and force process of the wire rod in the laying pipe should be studied. In this paper, a novel approach is proposed to investigate the force modeling for hot-rolled wire rod in laying pipe. An idea of limited element method is used to analysis and calculates the forces between laying pipe inner surface and wire rod. The design requirements of laying pipe curve for manufacturing are discussed. The kinematics and dynamics modeling for numerical calculation are built. A laying pipe curve equation is proposed by discussing design boundary conditions. Numerical results with di erent laying pipe curves design parameters are plotted and compared. The proposed approach performs good result which can be applied for laying pipe curve design and analysis for engineering application.

关键词： Wire rod mills Laying head Laying pipe curve design Wire rod force analysis

Synthesis and characterization of lanthanum bonded agar-carbomer hydrogel:a promising tool for biomedical research

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Journal of Rare Earths 2011年第3期29卷 259-264页

作者： Filippo Rossi marco Santoro Tommaso Casalini giuseppe Perale Dipartimento di Chimica Materialied Ingegneria Chimica"G.Natta"Politecnico di MilanoVia Mancinelli7

Agar-Carbomer（branched poly（acrylic acid）） hydrogel,an injectable bio-resorbable scaffold with a controlled nanostructure specifically designed for neural cell housing,was developed together with a new protocol for building three dimensional biohybrid cell/hydrogel *** order to overcome classic structural analysis inconveniences due to the high water amount,which affects instruments results and reliability,agar-Carbomer hydrogels were synthesized by microwave-assisted block copolymerization together with La3＋ *** glycol,glycerol and buffered saline solution were used as cross-linking agents and solvent,*** properties were not affected by the presence of lanthanum,and were checked via swelling and rheological ***,the presence of La3＋ within the polymeric network was characterized by thermogravimetric analysis,environmental scanning electron microscopy and Fourier transformed infrared *** results showed that the rare earth presented uniform distribution in the hydrogel network due to the formation of chemical bonds after polymerization without being modified its luminescence emission spectrum that allowed hydrogel *** results made the obtained host-guest system a useful tool for analytical research studies concerning regenerative medical applications that could also be potentially taken up with in vivo experiments.

关键词： hydrogel acrylic acid agarose lanthanum luminescence drug delivery rare earths

Design Considerations for an Underactuated Robotic Finger Mechanism

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Chinese Journal of Mechanical Engineering 2009年第4期22卷 475-488页

作者： YAO Shuangji CECCARELLI marco ZHAN Qiang CARBONE giuseppe LU Zhen School of Automation Science and Electrical Engineering Beijing University of Aeronautics and Astronautics Beijing 100191 China Laboratory of Robotics and Mechatronics （LARM） University of Cassino Cassino （Fr）.Italy Robotics Institute Beijing University of Aeronautics and Astronautics Beijing 100191 China

A design approach is presented in this paper for underactuation in robotic finger mechanisms. The characters of underactuated finger mechanisms are introduced as based on linkage and spring systems. The feature of self-adaptive enveloping grasp by underactuated finger mechanisms is discussed with feasible in grasping unknown objects. The design problem of robotic fingers is analyzed by looking at many aspects for an optimal functionality. Design problems and requirements for underactuated mechanisms are formulated as related to human-like robotic fingers. In particular, characteristics of finger mechanisms are analyzed and optimality criteria are summarized with the aim to formulate a general design algorithm. A general multi-objective optimization design approach is applied as based on a suitable optimization problem by using suitable expressions of optimality criteria. An example is illustrated as an improvement of finger mechanism in Laboratory of Robotics and Mechatronics （LARM） Hand. Results of design outputs and grasp simulations are reported with the aim to show the practical feasibility of the proposed concepts and computations.

关键词： robotic fingers underactuated mechanisms design algorithms optimality criteria .

A new general index of home range overlap and segregation:the Lesser Kestrel in Southern Italy as a case study

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Avian Research 2021年第1期12卷 108-117页

作者： Alessandro Ferrarini giuseppe Giglio Stefania Caterina Pellegrino marco Gustin Conservation Department LIPU-BirdLife Italy(Lega Italiana Protezione Uccelli)Via Udine 3/a43122 ParmaItaly

Background:There is increasing interest in evaluating home-range overlap(or,otherwise,segregation)between bird species,and between or within bird populations,to inform spatial *** far,studies of home-range overlap typically make use of comparisons between pairs of individuals,populations or species,and return a matrix of pairwise overlaps(e.g.,percent overlaps).However,when the number of individuals,populations or species to be compared is elevated,an overlarge overlap matrix is difficult to interpret from an ecological ***:We propose here a new,conceptually simple and computationally efficient index(general overlap index;GOI)for the ready computation within GIS of home range overlap of an arbitrarily large number(i.e.,n≥2)of individuals,populations or *** the number of home ranges to be compared,GOI always returns a single score between 0 and *** a case study,we applied our index to 24,074 GPS points of 10 Lesser Kestrels(Falco naumanni)in order to estimate within-colony and between-colony overlaps in two neighboring colonies in Southern ***:Within-colony overlap was elevated for both colonies(96.41%at Cassano delle Murge,n=5 individuals;81.38%at Santeramo in Colle,n=5 individuals),while between-colony overlap was low(19.12%;n=2 colonies)and,after a randomization procedure,more spatially-segregated than expected by ***:Modern biotelemetry offers huge amounts of data describing the space use of animal *** use of intuitive and straightforward indices,like GOI,can be useful to promptly extract ecological information from such an amount of data(*** change in space use over successive years,evaluating the reliability of various home-range estimators).

关键词： Between-colony overlap Falco naumanni Home range randomization Overlap estimator Spatial segregation Within-colony overlap

Choroidal vascularity index in thyroidassociated ophthalmopathy:a crosssectional study

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Eye and Vision 2021年第4期8卷 175-182页

作者： Pasquale Loiudice marco Pellegrini Michele Marinò Barbara Mazzi Ilaria Ionni giuseppe Covello Michele Figus marco Nardi Giamberto Casini Department of Surgical Ophthalmology UnitMedicalMolecular and Critical Area PathologyUniversity of PisaVia Savi1056126 PisaItaly Ophthalmology Unit S.Orsola-Malpighi University HospitalUniversity of BolognaBolognaItaly Department of Clinical and Experimental Medicine Endocrinology Unit IUniversity Hospital of PisaPisaItaly

Background:Hemodynamic changes have been observed in patients with Graves’*** aim of our study was to evaluate choroidal vascular change using the choroidal vascularity index(CVI)in patients with thyroidassociated ophthalmopathy(TAO).Methods:In this cross-sectional observational study,40 patients affected by TAO were *** healthy individuals,matched for age and sex,served as *** enhanced-depth imaging optical coherence tomography scans were obtained from all *** were binarized using the ImageJ software and luminal area(LA)and total choroidal area(TCA)were *** was calculated as the proportion of LA to *** relation between CVI or subfoveal choroidal thickness(SFCT)and clinical activity score,exophthalmometric value,diplopia status,gender,and age was ***:CVI was significantly higher in patients with TAO(P=0.004).No significant difference was observed in SFCT(P=0.200)and TCA(P=0.153)comparing TAO patients and healthy *** was significantly higher in TAO group(P=0.045).On multiple regression analysis,CVI was associated with TCA(P=0.043).No association was found between SFCT or CVI and TCA,clinical activity score,exophthalmometric value,Inami value,diplopia status,gender or age(P>0.05).Conclusions:This is the first study that has demonstrated an increase in CVI in eyes with TAO compared with healthy controls and has assessed its association with clinical features.

关键词： Choroidal vascularity index Choroidal vasculature Enhanced depth optical coherence tomography Image binarization Luminal area Subfoveal choroidal thickness Thyroid-associate ophthalmopathy

A faraway complex bifurcation hidden behind an occluded left main in an elderly patient

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Journal of Geriatric Cardiology 2023年第5期20卷 383-385页

作者： Gianluca Rigatelli Giulio Rodino giuseppe Marchese marco Zuin Interventional Cardiology Unit Division of CardiologyMadre Teresa di Calcutta HospitalAULSS 6Ospedali Riuniti Padova SudMonseliceItaly

A82-year-old man,with a previous history of ischemic heart disease due to 3-vessel disease with left main(LM)*** years before he underwent a double coronary artery bypass graft(left internal mammary artery(LIMA)to left anterior descending coronary artery(LAD)and saphein graft to Posterior Descending coronary artery(PDA));subsequent follow-up was *** was admitted to our hospital due to an acute coronary syndrome with ST segment abnormalities in the lateral and inferior leads on baseline EKG.

关键词： admitted involvement acute

Energy analysis of a wood or pellet stove in a single-family house equipped with gas boiler and radiators

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Building Simulation 2022年第9期15卷 1577-1593页

作者： marco Marigo Fabio Zulli Sara Bordignon Laura Carnieletto giuseppe Emmi Michele De Carli Department of Industrial Engineering-Applied Physics Section University of PadovaVia Venezia 1-35131PadovaItaly

In the residential sector,biomass appliances are widely used for space heating and often combined with other *** work aims at comparing the final and primary energy consumption of different configurations,including a conventional and a ducted pellet stove and a wood log stove using air as heat transfer fluid.A dynamic analysis of the interaction between biomass stoves and conventional heating systems,such as gas boilers and radiators,is carried out within a typical single-family house in a mild climate,using TRNSYS *** addition,natural ventilation of the building is considered using CONTAM,with a focus on external infiltrations and internal air circulation due to the buoyancy *** show that the biomass device in one room promotes the airflows between adjacent thermal zones,enhancing the heat distribution through door openings,in particular when an air ducted stove is *** final energy consumption resulting from simulations with wood-burning stoves is 21%higher than pellet *** pellet stove results in similar final energy and a 30%increase in overall primary energy,while the wood stove increases the final energy by 22%and approximately 40%of overall primary energy compared to the case of a traditional gas system coupled to radiators which is considered as ***,non-renewable primary energy savings are higher than 50%with pellet stoves and 60%with wood-log stoves.

关键词： energy model pellet stove wood log stove biomass CONTAM TRNSYS