An electrooptical proximity sensor capable of measuring the distance and two-dimensional orientation of an object's surface is presented. The robustness of the sensor, targeted for utilization in robotic active sensing, is achieved via the development of a novel amplitude-modulated-based electrooptical transducer, an electronic-interface circuit that provides very good noise immunity and a wide dynamic operating range, and an effective multiregion calibration process that significantly improves pose-estimations at near proximities. An experimental setup was designed and implemented for the development and verification of the proposed proximity sensor in a simulated robotic environment. Experimental results using a variety of calibrated surfaces and materials are presented and discussed. It is shown that average accuracies of 0.01 mm and 0.03 can be achieved. The robustness of the proximity sensor is also verified for potential use in grasping objects with a priori noncalibrated surfaces.
A new and practical opto-electronic sensor interface is presented. It consists of a transmitter and a receiver for sensors measuring optical attenuation. Emphasis is given to commonlyneglected background-noise-interference and dynamic-rangelimitation problems. The design of the electronic circuitry allows sensors to operate in manufacturing environments. A modulated laser-diode, together with optical and electrical filtering, reduces the optical noise to less than a measurable level, even in extremely bright "light-infested" surroundings. In addition, a novel approach is introduced which substantially increases the sensor's dynamic range. The power of the light-source is monitored in a dynamic intensity-control loop designed to perform "floating-point" measurements according to the attenuation in the optical path. The sensor acquires the combined dynamic ranges of the detector and light-source circuits.
RESUMOLimiares de custo-efetividade (CE) têm sido foco de discussão em relação à necessidade de um limiar fixo para a realidade brasileira, em particular do Sistema Único de Saúde (SUS). Frequentemente é referido o uso desse tipo de limiares em outros países, porém, estes variam significativamente e muitos são implícitos. Os limiares de CE se baseiam em resultados incrementais (ICERs), incluindo frequentemente medidas de anos de vida ajustados pela qualidade (QALY) e, assim, estão estritamente atrelados às limitações destes. Têm sido propostas alternativas ao uso desses limiares de CE, entre estes o limiar de eficiência, método utilizado pelo governo alemão para determinar valores máximos de reembolso de novas tecnologias inseridas em seu sistema de saúde. Para cada área terapêutica é traçado um gráfico de benefício vs. custo incremental das tecnologias já incorporadas. As opções com maior CE são conectadas formando o limiar de eficiência, permitindo a avaliação de novas intervenções. Este artigo revisa as características, limitações e alternativas aos limiares de CE e propõe uma temática que vá além da atual discussão sobre a adequação ou não do estabelecimento de um limiar fixo para o Brasil. ABSTRACTCost-effectiveness (CE) thresholds have been under discussion regarding the need of a fixed threshold for the Brazilian reality, particularly for the public healthcare system. Often, the use of this type of threshold in other countries is mentioned, however, this varies significantly between countries and many are implicit. CE thresholds are based upon incremental CE results (ICER) and frequently include measures for quality adjusted life years (QALY), related to several limitations. Alternatives to CE thresholds have been proposed, such as the efficiency frontier, a method used by the German government to determine maximum reimbursement values for new technologies that are incorporated in its health system. For each therapeutic area, a graph is built with incremental benefit vs. costs of the technologies already incorporated. The options with higher cost-effectiveness are connected giving the efficiency frontier that are used for the assessment of new interventions. This article revises characteristics, limitations and alternatives of CE thresholds and proposes a discussion theme that goes beyond the suitability of setting a fixed threshold for Brazil.Recebido em: 09/08/2017. Aprovado para publicação em: 30/08/2017 1. Evidências-Kantar Health.
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