This article deals with the mechanical interpretation of the in-situ diagonal compression test on masonry panels, through a non-linear numerical modeling, and proposes a methodology for the evaluation of the tensile strength and the shear modulus of masonry. The results of a wide experimental campaign on 24 masonry panels in the region of Tuscany (Italy) are presented; the obtained material parameters are classified according to the masonry typology. A critical review of the frequently used methodologies for the interpretation of the diagonal compression test, regulated by ASTM and RILEM (ASTM E 519-02, 2002; RILEM TC-76 LUM, 1994), has been made, showing the inaccuracy and incompleteness of both. The aims of this research are to simulate the behavior of different masonry typologies and to give a numerical interpretation of the tests, in order to determine the tensile strength of the panel. This parameter is very important for the seismic safety check of masonry panels in existing buildings, according to many seismic codes.
The development of a remotely operated, Co-Robotic Positioning Device (CRPD) for instrumental backing and optimal base position to robotic arms in tele-surgery is discussed. To optimise the setting of robotic operating rooms (ROR) by reducing the structures' size around the patient and by selecting task-driven layouts, the design of a hanging servocarrier coming from the ceiling is chosen, rather than a device located on the floor. The present study prospects a split-duty approach, distinguishing the Co-Robotic Positioning Device, CRPD, from the front-end effectors, each subsystem hierarchically controlled by remote location, in keeping with optimal protocols. The attention is focused on the slave-carrier, to establish an optimal design of the CRPD, based on the characteristics of robotic effectors and the surgical task. The CRPD is conceived to support (up to four) robotic effectors, each one equipped with proper tools (endoscope, scalpels, scissors, suture needles, etc.). The CRPD, actually, by optimally positioning the robotic arms, avoids the need of manual deployment, in current setups often necessary to avoid singularities or collisions. The Automatic Changing Device for Surgical Tools, ACD-ST, is another significant device of the conceived slave-carrier. It allows the tele-operating surgeon to change the tools (scalpels, scissors, etc.) by a direct command from his console. Example applications aim at ticklish endoscopic/tomic operations that require high accuracy with low involved forces such as cardio-thoracic-surgery, abdominal surgery, spine-surgery, microsurgery (neurosurgery, handsurgery, ophthalmic-surgery, ear-nose-throat surgery), say, the typical domains of MIRS, where robotic surgery is quickly expanding.
Mini-invasive surgery deserves increasing attention to lower the post-operative stay in hospital and lessen falls-off complications. This leads to the trends in robots, as innovative integrated computer-aided implements. Out of front-end haptic effectors, the background support is turning to inclusive on-duty functions, e.g., surgical planners, operation assistants, etc., making possible the rethinking of protocols to progressively embed the innovations offered by the micro- and nano-technologies. The chapter brings in surgical robotics, with focus on technology and design issues of the remote-mode operation assistants. The investigation leads to define the technical characteristics of a CRHA, Co-Robotic Handling Appliance, to be purposely developed, to support the duty-split approach surgical planner. The expected features are outlined, including analysis of operation potential of special-purpose contrivances (i.e., automatic changing device of the surgical tools) and of scope-driven enhancers (i.e., exploration of the intervention theatre, IT).
Mini-invasive surgery deserves increasing attention to lower the post-operative stay in hospital and lessen falls-off complications. This leads to the trends in robots, as innovative integrated computer-aided implements. Out of front-end haptic effectors, the background support is turning to inclusive on-duty functions, e.g., surgical planners, operation assistants, etc., making possible the rethinking of protocols to progressively embed the innovations offered by the micro- and nano-technologies. The chapter brings in surgical robotics, with focus on technology and design issues of the remote-mode operation assistants. The investigation leads to define the technical characteristics of a CRHA, Co-Robotic Handling Appliance, to be purposely developed, to support the duty-split approach surgical planner. The expected features are outlined, including analysis of operation potential of special-purpose contrivances (i.e., automatic changing device of the surgical tools) and of scope-driven enhancers (i.e., exploration of the intervention theatre, IT).
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