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Experimental Validation of Light Cable-Driven Elbow-Assisting Device L-CADEL Design

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Journal of Bionic Engineering 2022年第2期19卷 416-428页

作者： Med Amine Laribi Marco Ceccarelli Juan Sandoval matteo Bottin Giulio Rosati Department GMSC Pprime InstituteCNRS-University of Poitiers-ENSMAUPR 334686073 PoitiersFrance Department of Industrial Engineering University of Rome Tor Vergata00133 RomeItaly Department of Industrial Engineering University of Padova35122 PaduaItaly

This paper presents a new design of CADEL,a cable-driven elbow-assisting device,with light weighting and control *** new device design is appropriate to be more portable and user-oriented solution,presenting additional facilities with respect to the original *** 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 *** attention has been devoted to design main mechatronic components by developing specific kinematics *** design process includes an implementation of specific control hardware and *** kinematic model of the new design is formulated and features are evaluated through numerical simulations and experimental *** evaluation from original design highlights the proposed improvements mainly in terms of comfort,portability and user-oriented operation.

关键词： Rehabilitation robotics Medical devices Design Simulations Cable-driven parallel robot Control

A numerical method for the simulation of freight train emergency braking operations based on the UIC braked weight percentage

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Railway Engineering Science 2023年第2期31卷 162-171页

作者： N.Bosso matteo Magelli N.Zampieri Department of Mechanical and Aerospace Engineering Politecnico di TorinoC.so Duca degli Abruzzi 2410129 TurinItaly

The present paper shows the development of a strategy for the calculation of the air brake forces of European freight trains. The model is built to upgrade the existing Politecnico di Torino longitudinal train dynamics(LTD) code LTDPoliTo, which was originally unable to account for air brake forces. The proposed model uses an empirical exponential function to calculate the air brake forces during the simulation, while the maximum normal force on the brake friction elements is calculated according to the indication of the vehicle braked weight ***, the model does not require to simulate in detail the fluid dynamics in the brake pipe nor to precisely know the main parameters of the braking system mounted on each vehicle. The model parameters are tuned to minimize the difference between the braking distance computed by the LTDPoliTo code and the value prescribed by the UIC544-1 leaflet in emergency braking operations. Simulations are run for different configurations of freight train compositions including a variable number of Shimmns wagons trailed by an E402B locomotive at the head of the train, as suggested in a reference literature paper. The results of the proposed method are in good agreement with the target braking distances calculated according to the international rules.

关键词： Railway brake modelling Emergency braking UIC braking system Braked weight Longitudinal train dynamics

A novel approach for manufacturing of layered,ultra-refractory composites using pliable,short fibre-reinforced ceramic sheets

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Journal of Advanced Ceramics 2023年第1期12卷 155-168页

作者： matteo MOR Antonio VINCI Simone FAILLA Pietro GALIZIA Luca ZOLI Diletta SCITI ISSMC-CNR Institute of ScienceTechnology and Sustainability for CeramicsVia Granarolo 6448018 Faenza(RA)Italy

A new additive technique for manufacturing of short fibre-reinforced ultra-refractory ceramics is *** technique allows the fabrication of solvent-free,thin(~100µm),flexible,and easy-to-handle sheets suitable for fabricating homogeneous or layered structures.A large range of compositions,in terms of matrix and fibre volumetric contents,from 0%to 100%is *** amount of short carbon fibres incorporated in the sheets ranged from 20 to 50 vol%,whereas the fibre length ranged from 3 to 5 *** matrix composition investigated with this technique consisted of ZrB_(2)/SiC/Y_(2)O_(3).By increasing the fibre amount from 35 to 50 vol%,an improvement of mechanical properties was ***-point flexural strength(σ)ranged from 107 to 140 MPa,depending on the amount of carbon fibres(Cf).The same holds true for the work of fracture,ranging from 108 to 253 J/m^(2).Functionally graded composites were fabricated by overlapping sheets with a fibre gradient(0%-50%).

关键词： ultra-high-temperature ceramics(UHTCs) ceramic matrix composites(CMCs) short carbon fibres mechanical properties

Optimized Runge-Kutta Methods with Automatic Step Size Control for Compressible Computational Fluid Dynamics

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Communications on Applied Mathematics and Computation 2022年第4期4卷 1191-1228页

作者： Hendrik Ranocha Lisandro Dalcin matteo Parsani David I.Ketcheson Applied Mathematics Münster University of MünsterMunsterGermany Computer Electrical and Mathematical Science and Engineering Division(CEMSE) Extreme Computing Research Center(ECRC)King Abdullah University of Science and Technology(KAUST)Thuwal 23955-6900Saudi Arabia Computer Electrical and Mathematical Science and Engineering Division(CEMSE) King Abdullah University of Science and Technology(KAUST)Thuwal 23955-6900Saudi Arabia

We develop error-control based time integration algorithms for compressible fluid dynam-ics(CFD)applications and show that they are efficient and robust in both the accuracy-limited and stability-limited *** on discontinuous spectral element semidis-cretizations,we design new controllers for existing methods and for some new embedded Runge-Kutta *** demonstrate the importance of choosing adequate controller parameters and provide a means to obtain these in *** compare a wide range of error-control-based methods,along with the common approach in which step size con-trol is based on the Courant-Friedrichs-Lewy(CFL)*** optimized methods give improved performance and naturally adopt a step size close to the maximum stable CFL number at loose tolerances,while additionally providing control of the temporal error at tighter *** numerical examples include challenging industrial CFD applications.

关键词： Explicit Runge-Kutta methods Step size control Compressible Euler equations Compressible Navier-Stokes equations hp-adaptive spatial discretizations

Sensor fusion-based approach for the field robot localization on Rovitis 4.0 vineyard robot

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International Journal of Agricultural and Biological Engineering 2022年第6期15卷 91-95页

作者： Jurij Rakun matteo Pantano Peter Lepej Miran Lakota Faculty of Agriculture and Life Sciences University of MariborPivola 102311 HočeSlovenia Az.Agricola Giorgio Pantano Via stradelle 40CandianaItaly VISTION d.o.o. Kolodvorska ulica 24Slovenska BistricaSlovenia

This study proposed an approach for robot localization using data from multiple low-cost sensors with two goals in mind,to produce accurate localization data and to keep the computation as simple as *** approach used data from wheel odometry,inertial-motion data from the Inertial Motion Unit(IMU),and a location fix from a Real-Time Kinematics Global Positioning System(RTK GPS).Each of the sensors is prone to errors in some situations,resulting in inaccurate *** odometry is affected by errors caused by slipping when turning the robot or putting it on slippery *** IMU produces drifts due to vibrations,and RTK GPS does not return to an accurate fix in(semi-)occluded *** of these sensors is accurate enough to produce a precise reading for a sound localization of the robot in an outdoor *** solve this challenge,sensor fusion was implemented on the robot to prevent possible localization *** worked by selecting the most accurate readings in a given moment to produce a precise pose *** evaluate the approach,two different tests were performed,one with robot localization from the robot operating system(ROS)repository and the other with the presented Field Robot *** first did not perform well,while the second did and was evaluated by comparing the location and orientation estimate with ground truth,captured by a hovering drone above the testing ground,which revealed an average error of 0.005 m±0.220 m in estimating the position,and 0.6°±3.5°when estimating *** tests proved that the developed field robot localization is accurate and robust enough to be used on a ROVITIS 4.0 vineyard robot.

关键词： localization odometry IMU RTK GPS vineyard robot sensors fusion ROS precision farming

Transperineal laser ablation of the prostate as a treatment for benign prostatic hyperplasia and prostate cancer: The results of a Delphi consensus project

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Asian Journal of Urology 2024年第2期11卷 271-279页

作者： Andrea Cocci Marta Pezzoli Fernando Bianco Franco Blefari Pierluigi Bove Francois Cornud Gaetano De Rienzo Paolo Destefanis Danilo Di Trapani Alessandro Giacobbe Luca Giovanessi Antonino Laganà Giovanni Lughezzani Guglielmo Manenti Gianluca Muto Gianluigi Patelli Novello Pinzi Stefano Regusci Giorgio I.Russo Juan I.M.Salamanca matteo Salvi Luigi Silvestri Fabrizio Verweij Eric Walser Riccardo GBertolo Valerio Iacovelli Alessandro Bertaccini Debora Marchiori Hugo Davila Pasquale Ditonno Paolo Gontero Gennaro Iapicca Theo M De Reijke Vito Ricapito Pierluca Pellegrini Andrea Minervini Sergio Serni Francesco Sessa Department of Urology Careggi HospitalUniversity of FlorenceFlorenceItaly Urology Section University of FlorenceFlorenceItaly Urological Research Network MiamiFLUSA Urology Section Prato HospitalPratoItaly Torvergata Oncoscience Research Centre of Excellence TORDepartment of Experimental MedicineUniversity of Rome Tor VergataRomeItaly Department of Urology San Carlo di Nancy HospitalRomeItaly Department of Radiology Hôpital CochinParis Descartes UniversityParisFrance Urology and Andrology Unit II Department of Emergency and Organ TransplantationUniversity of BariBariItaly Unit of Urology Cittàdella Salute e della Scienza HospitalUniversity of TurinTurinItaly Urology Unit Buccheri La Ferla Fatebenefratelli HospitalPalermoItaly Department of Urology Humanitas Gradenigo HospitalTurinItaly Urology Unit Surgical DepartmentFondazione Poliambulanza Istituto OspedalieroBresciaItaly Departement of Urology “S.Giovanni Evangelista”HospitalTivoliItaly Humanitas Clinical and Research CentereIRCCS Department of UrologyRozzanoItaly Department of Biomedical Sciences Humanitas UniversityPieve EmanueleItaly Department of Biomedicine and Prevention University of Rome“Tor Vergata”RomeItaly Department of Diagnostic Imaging and Interventional Radiology University of Rome“Tor Vergata”RomeItaly Department of Interventional Radiology Pesenti-Fenaroli Hospital-ASST Bergamo EstAlzano LombardoItaly Department of Urology University of SienaSienaItaly Swiss International Prostate Center GenevaSwitzerland Clinique Générale Beaulieu GenevaSwitzerland Department of Urology University of CataniaItaly Department of Urology Puerta de Hierro-Majadahonda University HospitalMadridSpain Lyx Institute of Urology Universidad Francisco de VitoriaMadridSpain Department of Medico-Surgical Sciences and Biotechnologies Sapienza University of RomeFaculty of Pharmacy and MedicineUrology Unit ICOTLatinaItaly Department of Urology European Institute of Oncology(IEO)IRCCSMilanItaly Department of Radiology D

Objective: To evaluate transperineal laser ablation (TPLA) with Echolaser® (Echolaser® TPLA, Elesta S.p.A., Calenzano, Italy) as a treatment for benign prostatic hyperplasia (BPH) and prostate cancer (PCa) using the Delphi consensus ***: Italian and international experts on BPH and PCa participated in a collaborative consensus project. During two rounds, they expressed their opinions on Echolaser® TPLA for the treatment of BPH and PCa answering online questionnaires on indications, methodology, and potential complications of this technology. Level of agreement or disagreement to reach consensus was set at 75%. If the consensus was not achieved, questions were modified after each round. A final round was performed during an online meeting, in which results were discussed and ***: Thirty-two out of forty invited experts participated and consensus was reached on all topics. Agreement was achieved on recommending Echolaser® TPLA as a treatment of BPH in patients with ample range of prostate volume, from 80 mL (80%), comorbidities (100%), antiplatelet or anticoagulant treatment (96%), indwelling catheter (77%), and strong will of preserving ejaculatory function (100%). Majority of respondents agreed that Echolaser® TPLA is a potential option for the treatment of localized PCa (78%) and recommended it for low-risk PCa (90%). During the final round, experts concluded that it can be used for intermediate-risk PCa and it should be proposed as an effective alternative to radical prostatectomy for patients with strong will of avoiding urinary incontinence and sexual dysfunction. Almost all participants agreed that the transperineal approach of this organ-sparing technique is safer than transrectal and transurethral approaches typical of other techniques (97% of agreement among experts). Pre-procedural assessment, technical aspects, post-procedural catheterization, pharmacological therapy, and expected outcomes were discussed, leading t

关键词： Transperineal laser ablation Prostatecancer Benignprostatic hyperplasia Delphi consensus

Materials for the study of the locus operandi in the search for missing persons in Italy

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Forensic Sciences Research 2022年第3期7卷 371-377页

作者： Pier matteo Barone Rosa Maria Di Maggio Silvia Mesturini Archaeology and Classics Program American University of RomeRomeItaly Geoscienze Forensi ItaliaVR-Forensic Geoscience RomeItaly Comitato Scientifico Ricerca Scomparsi RomeItaly Studio Legale e Criminologico Mesturini LivornoItaly

Geographic profiling,or locus operandi,is a scientific approach that has been applied to forensic investigations for several ***,it has never been applied to a phenomenon as complex as the search for missing *** article presents three Italian case studies in which geographic profiling was used to narrow the areas to search for missing *** geographical data were mapped and processed on a geographic information system platform using computational geometry ***,these disappearances occurred during the Italian lockdown period,imposed to address the COVID-19 outbreak,which made the searches slower and more complex than usual.

关键词： Forensic sciences geographic profiling locus operandi geographic information systems missing persons

Spin-polarized electron beam generation in the colliding-pulse injection scheme

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Matter and Radiation at Extremes 2023年第6期8卷 49-62页

作者： Zheng Gong Michael J.Quin Simon Bohlen Christoph HKeitel Kristjan Põder matteo Tamburini Max-Planck-Institut für Kernphysik Saupfercheckweg 169117 HeidelbergGermany Deutsches Elektronen-Synchrotron DESY Notkestr.8522607 HamburgGermany

Employing colliding-pulse injection has been shown to enable the generation of high-quality electron beams from laser-plasma ***,by using test particle simulations,Hamiltonian analysis,and multidimensional particle-in-cell simulations,we lay the theoretical framework for spin-polarized electron beam generation in the colliding-pulse injection ***,we show that this scheme enables the production of quasi-monoenergetic electron beams in excess of 80%polarization and tens of pC charge with commercial 10-TW-class laser systems.

关键词： polarized scheme enable

Geotechnical particle finite element method for modeling of soilstructure interaction under large deformation conditions

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Journal of Rock Mechanics and Geotechnical Engineering 2022年第3期14卷 967-983页

作者： Josep Maria Carbonell Lluís Monforte matteo O.Ciantia Marcos Arroyo Antonio Gens MECAMAT Group Department of EngineeringFaculty of Science and TechnologyUniversitat de Vic-Universitat Central de Catalunya(UVic-UCC)VicSpain Centre Internacional de Mètodes Numèrics a l'Enginyeria(CIMNE) BarcelonaSpain School of Science and Engineering University of DundeeDundeeUK Universitat Politècnica de Cataluna-BarcelonaTech BarcelonaSpain

The possibilities of the particle finite element method(PFEM)for modeling geotechnical problems are increasingly *** is a numerical approach to solve large displacement and large strain continuum problems that are beyond the capabilities of classical finite element method(FEM).In PFEM,the computational domain is reconfigured for optimal solution by frequent remeshing and boundary *** inherits many concepts,such as a Lagrangian description of continuum,from classic geomechanical *** familiarity with more popular numerical methods facilitates learning and *** work focuses on G-PFEM,a code specifically developed for the use of PFEM in geotechnical *** article has two *** first is to give the reader an overview of the capabilities and main features of the current version of the G-PFEM and the second is to illustrate some of the newer developments of the code.G-PFEM can solve coupled hydro-mechanical static and dynamic problems involving the interaction of solid and/or deformable *** constitutive models for geomaterials are available,including features,such as structure and destructuration,which result in brittle *** solutions are robust,solidly underpinned by numerical technology including mixedfield formulations,robust and mesh-independent integration of elastoplastic constitutive models and a rigorous and flexible treatment of contact *** novel features presented in this work include the contact domain technique,a natural way to capture contact interactions and impose contact constraints between different continuum bodies,as well as a new simplified formulation for dynamic impact *** code performance is showcased by the simulation of several soil-structure interaction problems selected to highlight the novel code features:a rigid footing insertion in soft rock,pipeline insertion and subsequent lateral displacement on over-consolidated clay,screw-pile pull-out and the dyn

关键词： Particle finite element method(PFEM) Structured soils Nonlocal elastoplasticity Contact domain method Soil penetration problems