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91.
RESCUER: Development of a Modular Chemical,Biological, Radiological,and Nuclear Robot for Intervention,Sampling, and Situation Awareness*
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This paper describes the development of a robot prototype for intervention, sampling, and situation awareness in CBRN (chemical, biological, radiological, and nuclear) missions. It outlines the mission requirements, design specifications, the solutions that were developed and integrated, and the final tests done. The solution addresses one of the most important mission requirements in CBRN scenarios: the capability to decontaminate the robot once it has been used in real missions. As microdoses of CBRN contaminants are sufficient to cause significant damage to human beings, prevention of robot contamination is always of top priority. If there is a potential danger of real contamination, it can only be removed by effective decontamination. The way to deal with this problem imposes significant design conditions; the proposed design allows an easy and fast decontamination of the robot. The work presents a new way to approach this kind of robot, based on modular component architecture over a robot operating system that permits the attachment and detachment of robot components via unique electromechanical interfaces. The resulting modular robot introduces an innovative kinematic solution that can be dynamically configured for the different mission requirements. 相似文献
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Gianluigi De Falco Mario Commodo Carmela Bonavolontà Giovanni Piero Pepe Patrizia Minutolo Andrea D’Anna 《Combustion and Flame》2014
Optical and electrical properties of carbonaceous particles produced in laboratory scale, premixed ethylene/air flames are obtained. Light absorption and Raman spectroscopy show that the change in particle nanostructure follows a graphitization trajectory as the flame richness increases. The optical band gap decreases and the size of the aromatic network in the particle increases, while the interlayer spacing between parallel layers decreases. The electrical conductivity of the materials increases by increasing flame richness in agreement to the graphitization trajectory. A non-ohmic behavior has been found and explained in terms of electron tunneling in a percolative network. Our results show that the electrical properties of flame formed carbon nanoparticles are strongly dependent on their nanostructure, and hence they have to be used carefully for the determination of particle concentration with conductometric sensors. Moreover, the dependence of the electrical properties of combustion formed particles might be useful for the development of cheap sensors for the selective detection of different classes of combustion aerosols. 相似文献
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Alessandro Mantovani Paolo Gisondi Amedeo Lonardo Giovanni Targher 《International journal of molecular sciences》2016,17(2)
Over the past 10 years, it has become increasingly evident that nonalcoholic fatty liver disease (NAFLD) is a multisystem disease that affects multiple extra-hepatic organ systems and interacts with the regulation of several metabolic and immunological pathways. In this review we discuss the rapidly expanding body of clinical and epidemiological evidence supporting a strong association between NAFLD and chronic plaque psoriasis. We also briefly discuss the possible biological mechanisms underlying this association, and discuss treatment options for psoriasis that may influence NAFLD development and progression. Recent observational studies have shown that the prevalence of NAFLD (as diagnosed either by imaging or by histology) is remarkably higher in psoriatic patients (occurring in up to 50% of these patients) than in matched control subjects. Notably, psoriasis is associated with NAFLD even after adjusting for metabolic syndrome traits and other potential confounding factors. Some studies have also suggested that psoriatic patients are more likely to have the more advanced forms of NAFLD than non-psoriatic controls, and that psoriatic patients with NAFLD have more severe psoriasis than those without NAFLD. In conclusion, the published evidence argues for more careful evaluation and surveillance of NAFLD among patients with psoriasis. 相似文献
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Antonio Ieni Valeria Barresi Rosario Caltabiano Alessia Caleo Luca Reggiani Bonetti Salvatore Lanzafame Pio Zeppa Rosario Alberto Caruso Giovanni Tuccari 《International journal of molecular sciences》2014,15(12):22331-22341
Background: The assessment of human epidermal growth factor receptor 2 (HER2) gene amplification is essential in order to identify those patients affected by advanced gastric cancer who may benefit from Trastuzumab targeted therapy. Materials and Methods: With the aim to investigate the concordance rate in HER2 status between primary gastric carcinoma (GC) and synchronous lymphnode metastases, we investigated HER2 status in a cohort of 108 surgical formalin-fixed paraffin-embedded specimens of GC and matched synchronous metastatic lymph nodes collected from three different units of Anatomic Pathology in southern of Italy. Fleiss-Cohen weighted k statistics were used to assess the concordance rate of HER2 status. Results: HER2 amplification was observed in 17% of primary GCs and the overall concordance rate with corresponding nodal metastases was 90.74%. Changes in HER2 status between primary GC and matched synchronous metastases were evidenced in 10 (9.26%) cases. Of these, 6 cases were HER2 amplified in the primary GC and not amplified in the metastases, while 4 were HER2 not amplified in the primary tumour and amplified in the lymph node metastases. Conclusions: Although at present the simultaneous determination of HER2 in advanced gastric cancer and corresponding metastatic lymph nodes is not mandatory, the possibility that the synchronous metastases of GC have a different HER2 status from that of the primary tumour is of remarkable significance; Indeed this may have influence on the therapeutic management and prognosis of the patients. 相似文献
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Giovanni Pulci Jacopo Tirillò Francesco Marra Fabrizio Sarasini Alessandra Bellucci Teodoro Valente Cecilia Bartuli 《Metallurgical and Materials Transactions A》2014,45(3):1401-1408
Thermal sprayed MCrAlY coatings are widely used as a bond coat in thermal barrier systems to protect the substrate from corrosion and high temperature oxidation and to improve the compatibility between the ceramic top coat and metallic substrate. In this paper, the high temperature oxidation resistance of MCrAlY coatings with modified compositions was evaluated; in particular, the effect of the addition of reactive and refractory elements (Ta, Re, Si, and Hf) was investigated. MCrAlY coatings were obtained by high velocity oxygen fuel spray and vacuum plasma spray techniques; samples were exposed to air at 1423 K (1150 °C) and the oxidation kinetics were evaluated by measuring the thickness of the thermally grown oxide (TGO) scale at several exposure times. Experimental data confirmed that the oxidation resistance of MCrAlY coatings is strictly related to the amount of the reactive and refractory elements in the starting powders and that a thorough understanding of the microstructural modifications taking place during oxidation is essential for controlling TGO growth and thermal barriers’ durability. 相似文献
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