Effect Of Rear Leg Morphology On Energetics Of A Quadrupedal Robot

Many biomimetic legged robots exist, but their leg designs appear to be arbitrarily chosen. Here, we examine the performance difference between a canine-inspired rear leg in its normal configuration versus the same leg in a transverse-mirrored configuration. A quadrupedal robot was built to test this hypothesis; the robot was successfully able to walk in with both rear-leg configurations. Successful telemetry of energy and localization data was also demonstrated. Both experimental and simulation results confirm that the transverse-mirrored configuration is faster and more efficient. In experiment the robot achieved speeds of up to 0.4 m/s versus 0.33 m/s, and specific resistances of 3.9 versus 5.1 in transverse and normal experiments, respectively. It is suggested here that the transverse-mirrored configuration, which engages the knee spring more than the normal configuration, be used in designs which require higher speeds and greater efficiencies.

Effect Of Rear Leg Morphology On Energetics Of A Quadrupedal Robot

Many biomimetic legged robots exist, but their leg designs appear to be arbitrarily chosen. Here, we examine the performance difference between a canine-inspired rear leg in its normal configuration versus the same leg in a transverse-mirrored configuration. A quadrupedal robot was built to test this hypothesis; the robot was successfully able to walk in with both rear-leg configurations. Successful telemetry of energy and localization data was also demonstrated. Both experimental and simulation results confirm that the transverse-mirrored configuration is faster and more efficient. In experiment the robot achieved speeds of up to 0.4 m/s versus 0.33 m/s, and specific resistances of 3.9 versus 5.1 in transverse and normal experiments, respectively. It is suggested here that the transverse-mirrored configuration, which engages the knee spring more than the normal configuration, be used in designs which require higher speeds and greater efficiencies.

COVID-19 surge capacity solutions: our experience of converting a concert hall into a temporary hospital for mild and moderate COVID-19 patients.

The Coronavirus Disease 2019 (COVID-19) pandemic has stressed the health-care system in Italy as well as around the world, with hospitals implementing their surge capacity to increase the number of available beds for patients positive to the virus. At the end of March, the Piemonte (Northern Italy) Government decided to build a temporary rapid-assembly emergency hospital for the treatment of mild and moderate COVID-19 patients, converting an existing concert hall in the city of Turin. The decision was prompted not only by the urgent need of hospital beds, but also by a forward-looking approach for the months immediately after the emergency, when it will be essential for conventional hospitals to return to a normal configuration. This paper documents the temporary hospital project, describing the site, the layout and the equipment, the idea behind structural choices and the staff involved. The aim of the work is to share the experience and to provide some practical recommendations to other professionals who are fighting the COVID-19 pandemic worldwide.

Idiopathic Scrotal Calcinosis: A Case Report and Review of Postoperative Outcomes

Idiopathic scrotal calcinosis is a rare condition, characterized by the idiopathic deposition of calcium in the scrotal dermis leading to the formation of a single nodule or multiple nodules of different sizes. Surgical excision of the nodules reduces symptoms and improves cosmesis. We present a case of idiopathic scrotal calcinosis that had an en bloc excision of scrotal skin nodules and primary closure of the scrotal skin. Handling each hemiscrotum as a separate entity and preserving the median raphe with its uninvolved skin improved the cosmesis. Reported outcomes of surgery were satisfactory with no postoperative complications. At 30 months of follow-up, the residual scrotal skin had regained its laxity and the scrotum its normal configuration. There is the risk of recurrence of the calcific nodules post excision, but these may be smaller in size and with regained scrotal configuration that could be amenable to excision with further preservation of the native scrotal skin.

The role of strut chordae in mitral valve competence during annular dilation

Strut chordae, on their own, are not typically thought to aid mitral valve competence. The aim of this study is to assess whether strut chordae aid mitral valve competence during acute annular dilation. Twelve porcine hearts were dissected and tested using an in vitro simulator, with the mitral annulus tested in either a ‘normal’ or a dilated configuration. The normal configuration included a diameter of 30 mm, a posterior leaflet ‘radius’ of 15 mm and a commissural corner ‘radius’ of 7.5 mm; the dilated annular template instead used dimensions of 50 mm, 25 mm and 12.5 mm, respectively. Each mitral valve underwent ten repeat tests with a target systolic pressure of 100 mmHg. No significant difference in the pressure was detected between the dilated and regular annuli for the mitral valves tested (95 ± 3 mmHg cf. 95 ± 2 mmHg). However, the volume of regurgitation for a dilated annulus was 28 ml greater than for a valve with a normal annulus. Following severing of strut chordae, there was a significant reduction in the systolic pressure withstood before regurgitation by mitral valves with dilated annuli (60 ± 29 mmHg cf. 95 ± 2 mmHg for normal annular dimensions; p < 0.05). In conclusion, strut chordae tendineae may play a role in aiding mitral valve competence during pathophysiology.

ANÁLISIS DE LOS FONDOS DE PENSIONES EN CHILE: PERIODO 2011-2018

The objectives of this study are: 1) Carry out a comparative study of the performance of the different pension funds of each of the AFPs; 2) Carry out a comparative study of the historical performance of the different pension funds of each of the AFPs and compare them, in addition, with results of previous studies carried out by other authors. The scope of this paper is defined as a descriptive-correlational investigation, because it is intended to identify the results of the management of investment portfolios, without manipulating the variables of the problem, these are iden- tified and described as they occur in their context financial, to then analyze them from a temporal and quantitative comparative perspective, based on the Principle of Investor Rationality of Harry Markowitz and applying the Sharpe, Treynor, Jensen and Omega ratio as performance models. An important result observed is that, for this period of 8 years, all AFPs and funds present positive monthly average returns, even though the years 2011 and 2018 show losses, especially funds A, B and C. For their part, the benchmark of Market (IPSA) shows a negative performance. The financial performance ratios are all positive, which indicates that the performance / risk ratio is satisfied. The different returns between AFP and IPSA are explained because pension funds have a high percentage of invest- ments abroad and include fixed income instruments. A more relevant comparison would be to reference the actual results with those of an equivalent fictitious portfolio, but to date, there are no studies that allow defining the parame- ters necessary to form said portfolio. Non-traditional ratios, such as Omega, are coincident when the distributions of the results have a normal configuration. In addition, the conclusion is shared with previous studies, that the AFPs tend to keep portfolios similar to each other, trying not to fall below the profitability of the system.

The Possibilities of Multislice computed Tomography in nasal Anthropometry

Background. Nasal anthropometry is an important aspect of maxillofacial and plastic surgery especially in the preoperative stage of rhinoplasty. Multislice computed tomography (MSCT) permits to assess quantitative the variant nasal anatomy using measuring.Aims: to determine the possibilities of MSCT-anthropometry in nasal configuration grade.Materials and methods. We performed a proand retrospective analysis of MSCT data of maxillofacial region of 50 patients (aged 35 ± 10.7 years old) with changes of nasal height and width and 35 women (32.9 ± 8.4 years old) with normal nasal configuration. The variant anatomy consists in long nose (n = 16), short nose (n = 17), wide nose (n = 17). The nasal height was measured from the nasal root (nasion) to the nasal base (subnasion), the nasal width is the distance between the most lateral aspects of the alae nasi. Besides, the nasal index was calculated. The descriptive statistics of obtained data were presented by mean and standard deviation (SD), also the multiple regression analysis was used. Values of p = 0.005 were considered statistically significant.Results. The results showed that the average nasal height in patients with normal configuration is 51.9 ± 2.63 mm, with short nose – 45.2 ± 1.36 mm, with long nose – 60.3 ± 1.28 mm. The mean nasal widths are 34.9 ± 1.88 mm in normal configuration, 38.8±3.57 in wide nose. The nasal indexes were calculated, their features were detected. These obtained results correlate with anthropometric data of different studies.Conclusions. MSCT-anthropometry is an objective imaging method of variant nasal anatomy that could provide improving quality of diagnostics of patients seeking rhinoplasty and choose a surgical approach.

Intertwined quantum phase transitions in the Zr chain

We introduce the notion of intertwined quantum phase transitions (IQPTs), for which a crossing of two configurations coexists with a pronounced shape-evolution of each configuration. A detailed analysis in the framework of the interacting boson model with configuration mixing, provides evidence for this scenario inthe Zr isotopes. The latter exhibit a normal configuration which remains spherical along the chain, but exchanges roles with an intruder configuration, which undergoes first a spherical to prolate-deformed [U(5)→SU(3)] QPT and then a crossover to γ-unstable [SU(3)→SO(6)].

ANATOMICAL VARIANTS OF PYRIFORM APERTURES AND NASAL BONES IN PATIENTS WITH NORMAL CONFIGURATION AND DIFFERENT AESTHETIC DEFORMITIES OF EXTERNAL NOSE USING MULTISLICE COMPUTED TOMOGRAPHY

Objective. To identify the anatomical variants of nasal bones and pyriform apertures in view of normal configuration of external nose and different types of aesthetic nasal deformities, to estimate its possible relations.Material and methods. We performed a retrospective analysis of multi-slice computed tomography (MSCT) data of 2737 patients with the image processing (multiplanar and 3D-volume rendering). The sample comprised 121 patients with aesthetic nasal deformities (rhinokyphosis – nasal hump, long nose, combined deformity like a hidden hump, short nose, wide nose) and 37 individuals with normal European nasal configuration.Results. The most frequent variants of pyriform apertures are drop, heart and pear types. The most common variants of nasal bones in all groups were II, V, VI types according to Lang and Baumeister. Every kind of deformities was described with their characteristic features of pyriform apertures and nasal bones.Conclusion. Statistically proved correlation between the facts of deformities and variants of pyriform apertures and nasal bones was obtained. The preoperative study of variable anatomy must be always performed for improving functional and aesthetic results of rhinoplasty.