132,399 research outputs found
REMODEL. WP4. Vision Based Perception. T4-4-2. Functional component detection. Sister Experimental Dataset. v0
No full textThis dataset contains experimental data related to object 3D shape reconstruction from multiple viewpoints, produced in the framework of REMODEL project. Self-aware robots rely on depth sensing to interact with the surrounding environment, e.g. to pursue object grasping. Yet, dealing with tiny items, often occurring in industrial robotics scenarios, may represent a challenge due to lack of sensors yielding sufficiently accurate depth measurements. Existing active sensors fail at measuring details of small objects (<; 1cm) because of limitations in the working range, e.g. usually beyond 50 cm away, while off-the-shelf stereo cameras are not suited to close-range acquisitions due to the need for extremely short baselines. Therefore, we propose a framework designed for accurate depth sensing and particularly amenable to reconstruction of miniature objects. By leveraging on a single camera mounted in eye-on-hand configuration and the high repeatability of a robot, we acquire multiple images and process them through a stereo algorithm revised to fully exploit multiple vantage points. This dataset addresses performance evaluation in industrial applications using Single camera Stereo Robot (SiSteR), which delivers high accuracy even when dealing with miniature objects.
The data are presented in the publication: D. De Gregorio, M. Poggi, P. Z. Ramirez, G. Palli, S. Mattoccia and L. Di Stefano, "Beyond the Baseline: 3D Reconstruction of Tiny Objects With Single Camera Stereo Robot," in IEEE Access, vol. 9, pp. 119755-119765, 2021, doi: 10.1109/ACCESS.2021.3108626
Towards a Twisted String Actuated Haptic Device: Experimental Testing of a 2-D Virtual Environment and Teleoperation Interface
No full textIn the article, a first stage implementation of a haptic device towards a complete 3-D workspace twisted-string actuated haptic interface is discussed. In the present work, a 2-D setup is presented, with the aim of preliminarly testing the behaviour of this novel haptic system, especially with respect to the adopted cable-based actuation solution. In particular, the component descriptions, kinematics of the planar device and the controller for teleoperation purposes are illustrated. Results regarding the behaviour of the system in rendering a virtual environment and in a robot teleoperation scenario with haptic force feedback are reported. The experimental outcomes show that the designed and implemented system is suitable for teleoperation with haptic interfaces, providing positive perspectives for the realization of the fully functional 3-D haptic interface in the future work
A reduced questionnaire to investigate the Mediterranean diet in epidemiologic studies
No full textWe evaluated the performance of two reduced dietary questionnaires (RDQ). They were derived from a more complex questionnaire used to investigate the relation between diet and gastric cancer in a case-control study recently concluded in Italy. The full dietary questionnaire (FDQ) used in that study included 181 questions on the frequency/portion size of consumption of 146 different foods and drinks. Two different RDQs were defined, including subgroups of the original food items able to reproduce at least 90% (RDQ90) or 75% (RDQ75), respectively, of the total variability captured by the FDQ on the nutrient intake of controls. Each RDQ provided estimates of nutrients highly correlated with the estimates produced by the FDQ. For different quintiles of nutrient intake, we compared the estimated relative risk obtained by means of the RDQs and the FDQ. For various nutrients, the differences in relative risks were relatively minor, below 20%, but were larger for protein and beta-carotene. These analyses indicate that a RDQ is able to quantify adequately various aspects of the Italian diet for the purpose of epidemiologic inference
Combining individual and aggregated data to investigate the role of socioeconomic disparities on cancer burden in Italy
No full textQuantifying socioeconomic disparities and understanding the roots of inequalities are growing topics in cancer research. However, socioeconomic differences are challenging to investigate mainly due to the lack of accurate data at individual-level, while aggregate indicators are only partially informative. We implemented a multiple imputation algorithm within a statistical matching framework that combines diverse sources of data to estimate individual-level associations between income and risk of breast and lung cancer, adjusting for potential confounding factors in Italy. The framework is computationally flexible and can be adapted to similar contexts
Reduced dietary questionnaires in case-control studies: some methodological aspects
No full textIn epidemiological studies on dietary habits (case-control or cohort studies), usually the goal is not to quantify the absolute nutrients intake for each individual, but to rank the subjects according to the level of consumption of the nutrients. For this reason, dietary questionnaires with a limited number of questions, but neverthless able to reproduce the inter-individual variability of intake for some specific nutrients, should be developed. The goal is to define short questionnaires providing estimates of consumprion highly correlated to the true intake. We present a procedure developted to obtain a reduced dietary questionnaire (RDQ) from a more complex questionnaire already used for investigating the Italian diet
Robotic Manipulation of Deformable Linear Objects via Multiview Model-Based Visual Tracking
No full textThe manipulation of deformable linear objects (DLOs)-such as electrical cables, wires, and hoses-is common in various industrial processes. Currently, this task is typically performed by human operators, making it labor-intensive, inefficient, and prone to errors. Consequently, developing robotic solutions for DLOs manipulation is crucial for improving both industrial efficiency and quality. This article addresses the challenge of tracking the state of DLOs during robotic manipulation, a key requirement for achieving accurate and reliable control. To this end, we propose a novel model-based multiview visual tracking algorithm. The algorithm integrates a predictive model of DLO behavior based on the Cosserat rod formulation and employs an NN-based approximation to enable efficient evaluation of DLO shapes. By guiding visual perception with the predictive model, the algorithm effectively manages occlusions and estimates the 3-D shape of the manipulated DLO in cluttered environments. This is accomplished by triangulating simple 2-D images, enabling seamless integration into existing robotic systems without the need for costly and often unreliable 3-D sensors. The proposed method is evaluated in both simulated and real-world scenarios, demonstrating its effectiveness in reliably tracking thin DLOs in 3-D environments
Dietary patterns, nutrient intake and gastric cancer in a high-risk area of Italy
No full textTo better understand the role of overall dietary patterns and major energy-providing components in gastric cancer etiology
A serologic survey of Helicobacter pylori infection in 3281 Italian patients endoscoped for upper gastrointestinal symptoms
No full textAim: To assess the seroprevalence of Helicobacter pylori infection in a large series of patients with upper gastrointestinal symptoms referred for their first upper gastrointestinal endoscopy, and to evaluate any association with disease. Methods: A large survey of 3281 dyspeptic patients undergoing their first endoscopic examination was undertaken, involving 93 centres in Italy. A blood sample was taken from each participant, for measuring IgG antibodies against H. pylori using a commercially available kit, and two biopsies of the antral gastric mucosa were obtained for evaluating a Giemsa-stained specimen. Results: Endoscopic macroscopic diagnoses included normal mucosa (25.3%), gastroduodenitis (51.6%), gastric and duodenal ulcers (3.7 and 14.9%, respectively) and other conditions, including gastric cancer (0.8%). Overall, the seroprevalence result was 71.3% with a strong positive association with increasing age and male sex and a negative one with educational level. According to endoscopic diagnoses, the association with H. pylori seropositivity was highest for duodenal and gastric ulcer (multivariate odds ratio: 6.1 and 2.2) and lowest for carcinoma. The comparison between the results of serology and the single Giemsa-stained specimen showed good reliability of H. pylori IgG, particularly in a subgroup (n = 2056) for which the interpretation was performed by a single dedicated pathologist: sensitivity and specificity were 92 and 78%, respectively. Conclusion: Commercial IgG serology is a reliable tool for the assessment of H. pylori infection in large-scale multicentre surveys. A very high seroprevalence among dyspeptic patients was confirmed, particularly in the presence of peptic disease. Factors associated with the infection were very similar to those usually reported in the general population, but male patients showed a significantly higher prevalence
Age, Helicobacter pylori and/or CagA antibodies as a pre-endoscopic screening policy
No full textUpper gastrointestinal endoscopy has become the investigation of choice for dyspeptic patients, and this means prolonged waiting lists and large health care costs. For these reasons, over the past few years several pre-endoscopic screenings policies have been proposed in an attempt to reduce the number of patients referred to endoscopy, without missing important disease
Nab-paclitaxel after docetaxel hypersensitivity reaction: case report and literature review
No full textTaxanes, including paclitaxel and docetaxel, are one of the most active cytotoxic agents in breast cancer treatment including Her-2 positive subtype characterized by aggressive clinical and pathological features since the early stage. However, their use is sometimes limited by the occurrence of hypersensivity reactions (HSRs) characterized by erythematous rashes, bronchospasm, respiratory distress, hypotension, and pulmonary edema. Cross-reactions between paclitaxel and docetaxel are described in literature with a rate ranging from 49% to 90%. Abraxane (nab-paclitaxel), an albumin-bound form of paclitaxel, has a different toxicity profile from solvent-based paclitaxel and a lower rate of HSRs. Interestingly, several authors have recently reported cases of patients who developed HSRs to taxanes, principally paclitaxel, and were then safety treated with Abraxane, suggesting the absence of cross-reactivity between these drugs. Based on these considerations, we report our clinical experience and perform a literature review on this topic with the aim to investigate the cross-reactivity between nab-paclitaxel and other taxanes, in particular with docetaxel
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