Reduction gears are used in the joints of the robots. While precision and efficiency are required for industrial robot gearboxes, humanoid robots are expected to become more popular in the future. Flexibility must be considered in humanoid robots, and high back drivability shall be required. In this study, we aimed at realizing high efficiency, and high-precision reduction gears with high reduction ratios by maximizing the efficiency equation, hybridizing a 3K compound planetary reduction gearbox and traction drive, experimentally determining the efficiency, backlash, and angular velocity variation, and demonstrating the effectiveness of the proposed mechanism from a control perspective. In the experiments, we achieved a maximum forward driving efficiency of 90.90%, backward driving efficiency of 90.58%, and a minimum backlash of 1.18 arcmin.
Sarcoma is an uncommon histopathological presentation of sinonasal tumors, comprising ~15% of all cases; liposarcoma is particularly uncommon. An analysis of the available medical literature revealed no prior reports of dedifferentiated liposarcoma (DDLPS) of the sinonasal cavity. This case report presents a rare case of DDLPS of the sinonasal cavity. A 40-year old six-week pregnant female was admitted with a left nasal obstruction. Endoscopic evaluation of the left nasal cavity revealed a polypoid lesion. A computed tomography scan indicated a mass invading the left nasal cavity, maxillary sinus and anterior ethmoid sinus with focal destruction of the surrounding bone. A biopsy of the tumor was performed and hematoxylin and eosin staining of the tissue sections revealed proliferation of atypical and pleomorphic spindle cells with enlarged or elongated hyperchromatic nuclei and occasional vacuolated cytoplasm arranged in short interlacing fascicles or storiform structures, accompanied by tumor necrosis. These findings were consistent with undifferentiated pleomorphic sarcoma. Immunohistochemically, the tumor cells were positive for cyclin dependent kinase 4, mouse double minute 2 homolog (MDM2) and adipophilin. Fluorescence in situ hybridization (FISH) analysis revealed amplification of the MDM2 gene. Recently, undifferentiated pleomorphic sarcoma without areas of well-differentiated liposarcoma but with MDM2 amplification is regarded as conventional DDLPS. In the present case, the tumor was diagnosed as a DDLPS due to the results of histopathological, immunohistochemical and FISH analysis.
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