Ricerc@Sapienza

This paper presents a unified approach to detection and isolation of both actuator faults and unexpected collisions for a two-link robot with a flexible forearm. The proposed approach is sensorless, i.e., no dedicated exteroceptive sensors are considered, and is based on the design of residuals to be used as monitoring filters. The method has been tested by extensive simulations on the Flexarm robot used as case study. The reported results show the efficacy in detecting and isolating faults in the actuators or collisions on the robot links.

Study Objective: To compare the effectiveness and safety of different techniques of hysteroscopic polypectomy. Design: Multicenter, prospective observational trial (Canadian Task Force classification II-2). Setting: Nineteen Italian gynecologic departments (university-affiliated or public hospitals). Patients: Consecutive patients suffering from endometrial polyps (EPs). Interventions: Hysteroscopic polypectomy, as performed through different techniques. Measurements and Main Results: Included in the study were 1404 patients (with 1825 EPs).

In 2009, the four laboratories of the Fondazione Italiana Linfomi (FIL) minimal residual disease (MRD) Network started a collaborative effort to harmonize and standardize their methodologies at the national level, performing quality control (QC) rounds for follicular lymphoma (FL) and mantle cell lymphoma (MCL) MRD assessment.