Trajectory Optimization in Terms of Energy and Performance of an Industrial Robot in the Manufacturing Industry.

Currently, the high demand for new products in the automotive sector requires large investments in factories. The automotive industry is characterized by high automatization, largely achieved by manipulator robots capable of multitasking. This work presents a method for the optimization of trajectories in robots with six degrees of freedom and a spherical wrist. The optimization of trajectories is based on the maximization of manipulability and the minimization of electrical energy. For this purpose, it is necessary to take into account the kinematics and dynamics of the manipulator in order to integrate an algorithm for calculation. The algorithm is based on the Kalman method. This algorithm was implemented in a simulation of the trajectories of a serial industrial robot, in which the robot has a sealer gun located on its sixth axis and the quality of the sealer application depends directly on the orientation of the gun. During the optimization of the trajectory, the application of the sealer must be guaranteed. This method was also applied to three different trajectories in the automotive sector. The obtained results for manipulability and electrical energy consumption prove the efficiency of the algorithm. Therefore, this method searches for the optimal solution within the limits of the manipulator and maintains the orientation of the final effector. This can be used for a known trajectory.

Nonketotic hyperglycinemia: Functional assessment of missense variants in GLDC to understand phenotypes of the disease.

The rapid analysis of genomic data is providing effective mutational confirmation in patients with clinical and biochemical hallmarks of a specific disease. This is the case for nonketotic hyperglycinemia (NKH), a Mendelian disorder causing seizures in neonates and early-infants, primarily due to mutations in the GLDC gene. However, understanding the impact of missense variants identified in this gene is a major challenge for the application of genomics into clinical practice. Herein, a comprehensive functional and structural analysis of 19 GLDC missense variants identified in a cohort of 26 NKH patients was performed. Mutant cDNA constructs were expressed in COS7 cells followed by enzymatic assays and Western blot analysis of the GCS P-protein to assess the residual activity and mutant protein stability. Structural analysis, based on molecular modeling of the 3D structure of GCS P-protein, was also performed. We identify hypomorphic variants that produce attenuated phenotypes with improved prognosis of the disease. Structural analysis allows us to interpret the effects of mutations on protein stability and catalytic activity, providing molecular evidence for clinical outcome and disease severity. Moreover, we identify an important number of mutants whose loss-of-functionality is associated with instability and, thus, are potential targets for rescue using folding therapeutic approaches.

Integration of Error Compensation of Coordinate Measuring Machines into Feature Measurement: Part I-Model Development.

The development of an error compensation model for coordinate measuring machines (CMMs) and its integration into feature measurement is presented. CMMs are widespread and dependable instruments in industry and laboratories for dimensional measurement. From the tip probe sensor to the machine display, there is a complex transformation of probed point coordinates through the geometrical feature model that makes the assessment of accuracy and uncertainty measurement results difficult. Therefore, error compensation is not standardized, conversely to other simpler instruments. Detailed coordinate error compensation models are generally based on CMM as a rigid-body and it requires a detailed mapping of the CMM's behavior. In this paper a new model type of error compensation is proposed. It evaluates the error from the vectorial composition of length error by axis and its integration into the geometrical measurement model. The non-explained variability by the model is incorporated into the uncertainty budget. Model parameters are analyzed and linked to the geometrical errors and uncertainty of CMM response. Next, the outstanding measurement models of flatness, angle, and roundness are developed. The proposed models are useful for measurement improvement with easy integration into CMM signal processing, in particular in industrial environments where built-in solutions are sought. A battery of implementation tests are presented in Part II, where the experimental endorsement of the model is included.

Integration of Error Compensation of Coordinate Measuring Machines into Feature Measurement: Part II-Experimental Implementation.

Coordinate measuring machines (CMM) are main instruments of measurement in laboratories and in industrial quality control. A compensation error model has been formulated (Part I). It integrates error and uncertainty in the feature measurement model. Experimental implementation for the verification of this model is carried out based on the direct testing on a moving bridge CMM. The regression results by axis are quantified and compared to CMM indication with respect to the assigned values of the measurand. Next, testing of selected measurements of length, flatness, dihedral angle, and roundness features are accomplished. The measurement of calibrated gauge blocks for length or angle, flatness verification of the CMM granite table and roundness of a precision glass hemisphere are presented under a setup of repeatability conditions. The results are analysed and compared with alternative methods of estimation. The overall performance of the model is endorsed through experimental verification, as well as the practical use and the model capability to contribute in the improvement of current standard CMM measuring capabilities.

EMG Characterization and Processing in Production Engineering.

Electromyography (EMG) signals are biomedical signals that measure electrical currents generated during muscle contraction. These signals are strongly influenced by physiological and anatomical characteristics of the muscles and represent the neuromuscular activities of the human body. The evolution of EMG analysis and acquisition techniques makes this technology more reliable for production engineering applications, overcoming some of its inherent issues. Taking as an example, the fatigue monitoring of workers as well as enriched human-machine interaction (HMI) systems used in collaborative tasks are now possible with this technology. The main objective of this research is to evaluate the current implementation of EMG technology within production engineering, its weaknesses, opportunities, and synergies with other technologies, with the aim of developing more natural and efficient HMI systems that could improve the safety and productivity within production environments.

Study of Drilling Process by Cooling Compressed Air in Reinforced Polyether-Ether-Ketone.

This study is focused on the application of a cooling compressed air system in drilling processes; this environmentally friendly technique allows removing material at very low temperatures, approximately up to -22 °C in the cutting area. The main goals are to find the most improve cutting conditions with less energy consumption, for the drilling of reinforced polyether-ether-ketone with glass fiber at 30% (PEEK-GF30) with cooling compressed air by a Ranque-Hilsch vortex tube, and to find a balance between environmental conditions and adequate process performance. Drilling tests were carried out on plates of PEEK-GF30 to analyze the influence of cutting parameters and environmental temperature (-22, 0 and 22 °C) on variables such as thrust forces, energy and material removed rate by the use of statistical methods; analysis of variance, analysis of means, response surface, and desirability function were employed to identify the optimum region that provides the most improved values of the aforementioned variables. Drill bit diameter was also analyzed to determine the quality of drilled holes. During the drilling processes, force signals were detected by a piezoelectric dynamometer connected to multichannel amplifier and a pyrometer was used to control the temperature. The diameters of the drilled holes were measured by a coordinate measuring machine. Cooling compressed air can be considered an adequate technique to improve the results from an environmental and efficient perspective; in particular, the maximum desirability function was found at a spindle speed of 7000 rpm, a feedrate of 1 mm/rev and a temperature close to -22 °C.

Urinary sulphatoxymelatonin as a biomarker of serotonin status in biogenic amine-deficient patients.

Melatonin is synthesized from serotonin and it is excreted as sulphatoxymelatonin in urine. We aim to evaluate urinary sulphatoxymelatonin as a biomarker of brain serotonin status in a cohort of patients with mutations in genes related to serotonin biosynthesis. We analized urinary sulphatoxymelatonin from 65 healthy subjects and from 28 patients with genetic defects. A total of 18 patients were studied: 14 with autosomal dominant and recessive guanosine triphosphate cyclohydrolase-I deficiency; 3 with sepiapterin reductase deficiency; and 1 with aromatic L-amino acid decarboxylase deficiency. Further 11 patients were studied after receiving serotoninergic treatment (serotonin precursors, monoamine oxidase inhibitors, selective serotonin re-uptake inhibitors): 5 with aromatic L-amino acid decarboxylase deficiency; 1 with sepiapterin reductase deficiency; 3 with dihydropteridine reductase deficiency; and 2 with 6-pyruvoyltetrahydropterin synthase deficiency. Among the patients without therapy, 6 presented low urinary sulphatoxymelatonin values, while most of the patients with guanosine triphosphate cyclohydrolase-I deficiency showed normal values. 5 of 11 patients under treatment presented low urine sulphatoxymelatonin values. Thus, decreased excretion of sulphatoxymelatonin is frequently observed in cases with severe genetic disorders affecting serotonin biosynthesis. In conclusion, sulphatoxymelatonin can be a good biomarker to estimate serotonin status in the brain, especially for treatment monitoring purposes.

A Sustainable Evaluation of Drilling Parameters for PEEK-GF30.

This paper presents a study of hole quality and energy consumption in the process of drilling a thermoplastic polymeric material, polyether-ether-ketone, reinforced with 30% glass fibers (PEEK-GF30). PEEK-GF30's capacity to be machined has focused on turning operations. Studies of drilling involving thermoplastic polymeric materials have considered materials with other types of matrices, or reinforcement. In this study, quantities such as maximum and mean surface roughness, delamination, maximum thrust force, maximum momentum, and energy required during the process were determined for three types of drill bits, and the most influential factors for each variable were identified using an ANOVA multifactor analysis. The highest quality and lowest energy consumption were achieved for a drill bit rotation speed of 7000 rpm and a feed rate of 400 mm/min with a tungsten carbide (WC) drill bit coated with titanium aluminum nitride (TiAlN). Although a WC drill bit with a diamond point reduces delamination, the roughness increases, thus, the choice of the drill bit type depends on the roughness allowed. A WC drill bit coated with TiAlN produces a good surface finish that can eliminate subsequent operations and requires less energy; thus, this type of drill bit is the most attractive of the types evaluated.

Novel ergonomic postural assessment method (NERPA) using product-process computer aided engineering for ergonomic workplace design.

BACKGROUND: Musculoskeletal disorders (MSDs) that result from poor ergonomic design are one of the occupational disorders of greatest concern in the industrial sector. A key advantage in the primary design phase is to focus on a method of assessment that detects and evaluates the potential risks experienced by the operative when faced with these types of physical injuries. The method of assessment will improve the process design identifying potential ergonomic improvements from various design alternatives or activities undertaken as part of the cycle of continuous improvement throughout the differing phases of the product life cycle. METHODOLOGY/PRINCIPAL FINDINGS: This paper presents a novel postural assessment method (NERPA) fit for product-process design, which was developed with the help of a digital human model together with a 3D CAD tool, which is widely used in the aeronautic and automotive industries. The power of 3D visualization and the possibility of studying the actual assembly sequence in a virtual environment can allow the functional performance of the parts to be addressed. Such tools can also provide us with an ergonomic workstation design, together with a competitive advantage in the assembly process. CONCLUSIONS: The method developed was used in the design of six production lines, studying 240 manual assembly operations and improving 21 of them. This study demonstrated the proposed method's usefulness and found statistically significant differences in the evaluations of the proposed method and the widely used Rapid Upper Limb Assessment (RULA) method.

Intervención psicoterapéutica grupal intensiva realizada en un entorno natural para el tratamiento del burnout en un equipo de enfermería oncológica / No disponible

Este estudio piloto tiene como objetivo valorar la influencia que tiene la intervención psicoterapéutica grupal sobre el estrés y el burnout en un equipo de enfermería oncológica. La intervención psicológica consistió en la aplicación de un paquete para la inoculación al estrés, utilizando principalmente técnicas cognitivo-conductuales, llevándose a cabo de forma intensiva, a través de la convivencia del grupo durante tres días en un alojamiento situado en un entorno natural de montaña. Utilizamos un diseño cuasi-experimental de dos grupos (experimental y control) con medidas pre y post-tratamiento. El grupo experimental estaba compuesto por los nueve miembros del equipo de enfermería que recibió el tratamiento psicológico y el grupo control estuvo compuesto por once profesionales de otros equipos de enfermería oncológica. Las variables dependientes consideradas fueron, de un lado, ansiedad y depresión (evaluadas con la Escala Hospitalaria de Ansiedad y Depresión) y, de otro lado, cansancio emocional, despersonalización y realización personal (evaluadas con el Maslach Burnout Inventory). Los resultados muestran que transcurrido un mes de la intervención psicoterapéutica grupal, en el grupo de tratamiento se había producido una mejoría significativa de la ansiedad (Z=-2,44; p=0,015; d=0,71) y de la realización personal (Z=-2,54; p=0,011; d=-1,29), igualmente se produjo en este período un gran efecto positivo sobre el cansancio emocional (Z=-2,08; p=0,037; d=0,94). En el pre-tratamiento el grupo experimental manifestaba mayores signos de desgaste profesional que el grupo control, principalmente en lo referido a la falta de realización personal (U=14; p= 0,006; d=-1,61), de hecho había demandado la intervención psicológica. Tras la experiencia terapéutica se produjo una equiparación en los valores de las variables dependientes consideradas entre los grupos, respecto a la situación pre-tratamiento. Al año de la intervención, en el grupo tratado sigue habiendo un efecto positivo importante sobre la realización personal (Z=-2,24; p=0,025; d=-1,15) y sobre la despersonalización (Z=-2,23; p=0,026; d=0,52). Concluimos que el tratamiento cognitivo-conductual grupal, intensivo realizado en un medio natural, ajeno al hospital, puede tener notables ventajas para el tratamiento del desgaste profesional en personal de enfermería oncológica. (AU)

This pilot study aims to test the influence of a group psychotherapeutic intervention on stress and burnout in an oncology nursing team. The psychological intervention consisted of implementing a package for stress inoculation, mainly using cognitive-behavioral techniques. The intervention is carried out intensively, through the coexistence of the group for three days in an accommodation located in a natural mountain environment. We used a quasi-experimental design of two groups (experimental and control) with pre and post-treatment measures. The experimental group was composed of nine members of the nursing team that received the psychological treatment and the control group was composed of eleven professionals from other teams of oncology nursing. The dependent variables considered were, on one hand anxiety and depression (evaluated by the Hospital Anxiety and Depression Scale) and, on the other hand, emotional exhaustion, depersonalization, and personal fulfilment (evaluated by the Maslach Burnout Inventory). The experimental group improved significantly in anxiety (Z = -2.44, P = 0.015, d = 0.71), personal fulfilment (Z =-2.54, P= 0.011, d=-1.29) and emotional exhaustion (Z=-2.08; p=0.037; d=0.94) one month post -treatment. In the pre-treatment, The experimental group showed burnout levels higher than the control group, particularly with regard to the lack of personal personal fulfilment (U=14, P = 0.006, d = -1.61), mainly regarding the lack of personal fulfillment (U=14; p=0.006; d=-1.61). in fact the experimental group had requested psychological intervention. In fact, the experimental group had requested psychological intervention. fter the therapeutic experience, the values of the dependent variables were equal in both groups. One year after the intervention, the treated group is still having a significant positive effect on the personal fulfilment (Z=-2.24; p=0.025; d=-1.15) and on the depersonalization (Z=-2.23; p=0.026; d=0.52). We conclude that an intensive program of group cognitive behavioral therapy in a natural setting outside the hospital can be an effective strategy of burnout treatment in oncology nurses. (AU)