5 research outputs found
Sensing and Control within a Robotic End Effector
No full textThis research programme investigates aspects of end effector design and control, to carry out grasping operations in a range of unstructured environments. A conceptual three fingered end effector design has been developed. The articulated finger is operated by a novel mechanism which provides all the finger motions. Detailed force and kinematic analyses have been carried out which establish mechanical integrity of the system and help size the various finger components. A vectorial method of link representation has been used to derive finger kinematics. This representation has been used for position control in the controller. A numerical technique based on the Newton-Raphson method has been derived to undertake the finger's inverse kinematics in realtime. To validate the theoretical operation of the finger drive, a mechanism has been built with the necessary electronic interface, and programmed for position control.A photoelasticity based sensor has been developed which is capable of detecting applied force as well as slip and is largely immune to external disturbances. The sensor has a small size allowing it to be easily incorporated into a robotic finger. Mechanics of slip has been investigated to develop a theoretical model of the slip sensor. This allows modelling of various material and geometrical parameters involved in its design.In order to control the end effector, grasping strategies have been planned and a controller structure defined. The top level of the controller uses the kinematic relation to move the finger to a goal position. When fingers make contact with an object, the controller switches over to an inner fuzzy logic algorithm. The rule base of the fuzzy logic ensures that a stable grasp has been acquired with minimum fingertip force. The implementation of the fuzzy logic has been validated on an experimental test-rig. It has been found that the controller applies different minimum fingertip force to objects of different mass and it responds very quickly to the external disturbances by applying extra force to the object. The fingertip force comes back to its previous level as soon as the disturbance vanishes. The important feature exhibited by the controller is that it forms optimal grasp of objects without knowing their mass and frictional properties. This offers a very useful capability to an end effector controller operating in unstructured environments.A complete model of the end effector has been developed which ensures equilibrium and stability of the grasped object taking dynamic conditions of grasp into account. The model estimates unbalances in position, force and moment of the grasped object and tries to minimise these unbalances. The simulated results have shown that for every grasp situation, the algorithm is capable of minimising the unbalances and the operation of the algorithm is fast enough for real-time applications
Protocol for the Redefining Maternal Anemia in Pregnancy and Postpartum (ReMAPP) study: A multisite, international, population-based cohort study to establish global hemoglobin thresholds for maternal anemia
No full textBACKGROUND: Anemia affects one in three pregnant women worldwide, with the greatest burden in South Asia and sub-Saharan Africa. During pregnancy, anemia has been linked to an increased risk of adverse maternal and neonatal health outcomes. Despite widespread recognition that anemia can complicate pregnancy, critical gaps persist in our understanding of the specific causes of maternal anemia and the cutoffs used to diagnose anemia in each trimester and in the postpartum period. METHODS AND ANALYSIS: The Redefining Maternal Anemia in Pregnancy and Postpartum (ReMAPP) study is a multisite, prospective, cohort study nested within the Pregnancy Risk, Infant Surveillance, and Measurement Alliance (PRISMA) Maternal and Newborn Health study. Research sites are located in Kenya, Ghana, Zambia, India, and Pakistan. Participants are up to 12,000 pregnant women who provide serial venous blood samples for hemoglobin assessment at five time points: at \u3c20 weeks, 20 weeks, 28 weeks, and 36 weeks gestation and at six weeks postpartum. We will use two analytical approaches to estimate hemoglobin thresholds for defining anemia: (1) clinical decision limits for cutoffs in each trimester and at six weeks postpartum based on associations of hemoglobin levels with adverse maternal, fetal, and neonatal health outcomes and (2) reference limits for gestational-week-specific cutoffs and at six weeks postpartum for mild, moderate, and severe anemia based on tail statistical percentiles of hemoglobin values in a reference (i.e., clinically healthy) subpopulation. We will also conduct biomarker-intensive testing among a sub-sample of participants in each trimester to explore underlying contributing factors of maternal anemia. ETHICS AND DISSEMINATION: The study received local and national ethical approvals from all participating institutions. Findings from multisite analyses will be published among open-access, peer-reviewed journals and disseminated with local, national, and international partners. STRENGTHS AND LIMITATIONS: Novel study design to allow multiple analytical approaches (clinical decision limits and reference limits) in the same population to establish hemoglobin thresholds.Use of gold standard methods and external quality assurance programs to ensure harmonized hemoglobin measurement across sites.Inclusion of biomarker-intensive study arm to examine the etiology of anemia among pregnant women.All data is contributed by populations historically underrepresented in research in low- and middle-income countries. TRIALS REGISTRATION: ClinicalTrials.gov (PRISMA-MNH 2022; NCT05904145)
Protocol for the Redefining Maternal Anemia in Pregnancy and Postpartum (ReMAPP) study: A multisite, international, population-based cohort study to establish global hemoglobin thresholds for maternal anemia
No full textBACKGROUND: Anemia affects one in three pregnant women worldwide, with the greatest burden in South Asia and sub-Saharan Africa. During pregnancy, anemia has been linked to an increased risk of adverse maternal and neonatal health outcomes. Despite widespread recognition that anemia can complicate pregnancy, critical gaps persist in our understanding of the specific causes of maternal anemia and the cutoffs used to diagnose anemia in each trimester and in the postpartum period. METHODS AND ANALYSIS: The Redefining Maternal Anemia in Pregnancy and Postpartum (ReMAPP) study is a multisite, prospective, cohort study nested within the Pregnancy Risk, Infant Surveillance, and Measurement Alliance (PRISMA) Maternal and Newborn Health study. Research sites are located in Kenya, Ghana, Zambia, India, and Pakistan. Participants are up to 12,000 pregnant women who provide serial venous blood samples for hemoglobin assessment at five time points: at <20 weeks, 20 weeks, 28 weeks, and 36 weeks gestation and at six weeks postpartum. We will use two analytical approaches to estimate hemoglobin thresholds for defining anemia: (1) clinical decision limits for cutoffs in each trimester and at six weeks postpartum based on associations of hemoglobin levels with adverse maternal, fetal, and neonatal health outcomes and (2) reference limits for gestational-week-specific cutoffs and at six weeks postpartum for mild, moderate, and severe anemia based on tail statistical percentiles of hemoglobin values in a reference (i.e., clinically healthy) subpopulation. We will also conduct biomarker-intensive testing among a sub-sample of participants in each trimester to explore underlying contributing factors of maternal anemia. ETHICS AND DISSEMINATION: The study received local and national ethical approvals from all participating institutions. Findings from multisite analyses will be published among open-access, peer-reviewed journals and disseminated with local, national, and international partners. STRENGTHS AND LIMITATIONS: Novel study design to allow multiple analytical approaches (clinical decision limits and reference limits) in the same population to establish hemoglobin thresholds.Use of gold standard methods and external quality assurance programs to ensure harmonized hemoglobin measurement across sites.Inclusion of biomarker-intensive study arm to examine the etiology of anemia among pregnant women.All data is contributed by populations historically underrepresented in research in low- and middle-income countries. TRIALS REGISTRATION: ClinicalTrials.gov (PRISMA-MNH 2022; NCT05904145)
Redefining Maternal Anemia in Pregnancy and Postpartum (ReMAPP)
No full textRedefining Maternal Anemia in Pregnancy and Postpartum (ReMAPP) is a multisite, prospective, open cohort study nested within the ongoing PRISMA Maternal and Newborn Health study
Protocol for the Redefining Maternal Anemia in Pregnancy and Postpartum (ReMAPP) study: A multisite, international, population-based cohort study to establish global hemoglobin thresholds for maternal anemia
No full textBackground. Anemia affects one in three pregnant women worldwide, with the greatest burden in South Asia and sub-Saharan Africa. During pregnancy, anemia has been linked to an increased risk of adverse maternal and neonatal health outcomes. Despite widespread recognition that anemia can complicate pregnancy, critical gaps persist in our understanding of the specific causes of maternal anemia and the cutoffs used to diagnose anemia in each trimester and in the postpartum period. Methods and analysis. The Redefining Maternal Anemia in Pregnancy and Postpartum (ReMAPP) study is a multisite, prospective, cohort study nested within the Pregnancy Risk, Infant Surveillance, and Measurement Alliance (PRISMA) Maternal and Newborn Health study. Research sites are located in Kenya, Ghana, Zambia, India, and Pakistan. Participants are up to 12,000 pregnant women who provide serial venous blood samples for hemoglobin assessment at five time points: at <20 weeks, 20 weeks, 28 weeks, and 36 weeks gestation and at six weeks postpartum. We will use two analytical approaches to estimate hemoglobin thresholds for defining anemia: (1) clinical decision limits for cutoffs in each trimester and at six weeks postpartum based on associations of hemoglobin levels with adverse maternal, fetal, and neonatal health outcomes and (2) reference limits for gestational-week-specific cutoffs and at six weeks postpartum for mild, moderate, and severe anemia based on tail statistical percentiles of hemoglobin values in a reference (i.e., clinically healthy) subpopulation. We will also conduct biomarker-intensive testing among a sub-sample of participants in each trimester to explore underlying contributing factors of maternal anemia. Ethics and dissemination. The study received local and national ethical approvals from all participating institutions. Findings from multisite analyses will be published among open-access, peer-reviewed journals and disseminated with local, national, and international partners. Strengths and limitations.• Novel study design to allow multiple analytical approaches (clinical decision limits and reference limits) in the same population to establish hemoglobin thresholds. • Use of gold standard methods and external quality assurance programs to ensure harmonized hemoglobin measurement across sites. • Inclusion of biomarker-intensive study arm to examine the etiology of anemia among pregnant women. • All data is contributed by populations historically underrepresented in research in low- and middle-income countries.</p
