目的 探讨CD25单抗在无血缘关系造血干细胞移植（UHSCT）中对干细胞植入和移植物抗宿主病（GVHD）的作用。方法 27例UHCST中，移植后1、4d给予CD25单抗1mg/kg。结果 27例中，除1例早期死亡外，26例患者造血全部重建。17例发生急性GVHD，其中Ⅱ度以上急性GVHD6例（23％）。复发3例，严重感染3例。26例可评价患者中，19例无病生存（73％）。结论 CD25单抗在UHSCT中对保证干细胞植入和预防GVHD有肯定的作用，白血病复发并不增加。此研究为UHCST和HLA不合的造血干细胞移植提供一个可选择的途径。

In this chapter, we first present a summary of findings from two previous studies on the limitations of using flat displays with embodied conversational agents (ECAs) in the contexts of face-to-face human-agent interaction. We then motivate the need for a three dimensional display of faces to guarantee accurate delivery of gaze and directional movements and present Furhat, a novel, simple, highly effective, and human-like back-projected robot head that utilizes computer animation to deliver facial movements, and is equipped with a pan-tilt neck. After presenting a detailed summary on why and how Furhat was built, we discuss the advantages of using optically projected animated agents for interaction. We discuss using such agents in terms of situatedness, environment, context awareness, and social, human-like face-to-face interaction with robots where subtle nonverbal and social facial signals can be communicated. At the end of the chapter, we present a recent application of Furhat as a multimodal multiparty interaction system that was presented at the London Science Museum as part of a robot festival,. We conclude the paper by discussing future developments, applications and opportunities of this technology.

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Furhat: a back-projected human-like robot head for multiparty human-machine interaction

Monitoring the tool wear, surface roughness and chip formation occurrences using multiple sensors in turning

This paper concerns the analysis of the dynamic forces and torques acting on the magnets in a Halbach permanent magnet array of a magnetically levitated moving-magnet planar actuator. A new analysis tool is presented which predicts the dynamic force and torque distribution on the magnet array. This design tool uses lookup table data, which are generated by numerically solving the Lorentz force and torque integral, to describe the force and torque between each magnet and coil in the topology. It offers a fast and accurate solution for the analysis of magnetically levitated planar actuators. The results for two different commutation methods are presented.

Analysis Method of the Dynamic Force and Torque Distribution in the Magnet Array of a Commutated Magnetically Levitated Planar Actuator

Optimal design of a planar parallel 3-DOF nanopositioner with multi-objective

In this paper a design is presented for a precision MEMS-based six degrees-of-freedom (DOFs) manipulator. The purpose of the manipulator is to position a small sample (10 μm × 20 μm × 0.2 μm) in a transmission electron microscope. A parallel kinematic mechanism with slanted leaf-springs is used to convert the motion of six in-plane electrostatic comb-drives into six DOFs at the end-effector. The manipulator design is based on the principles of exact constraint design, resulting in a high actuation compliance (flexibility) combined with a relatively high suspension stiffness. However, due to fabrication limitations overconstrained design has been applied to increase the stiffness in the out-of-plane direction. The result is a relatively large manipulator stroke of 20 μm in all directions combined with a high first vibration mode frequency of 3.8 kHz in relation to the used area of 4.9 mm × 5.2 mm. The motion of the manipulator is guided by elastic elements to avoid backlash, friction, hysteresis and wear, resulting in nanometer resolution position control. The fabrication of the slanted leaf-springs is based on the deposition of silicon nitride (SixNy) on a silicon pyramid, which in turn is obtained by selective crystal plane etching by potassium hydroxide (KOH). The design has been analyzed and optimized with a multibody program using flexible beam theory. A previously developed flexible beam element has been used for modeling the typical relatively large deflections and the resulting position-dependent behavior of compliant mechanisms in MEMS. The multibody modeling has been verified by FEM modeling. Presently only parts of the manipulator have been fabricated. Therefore, a scaled-up version of the manipulator has been fabricated to obtain experimental data and to verify the design and modeling.

Design and modeling of a six DOFs MEMS-based precision manipulator

Sensor fusion for active vibration isolation in precision equipment

-This paper presents the design, modeling, and fabrication of a planar three-degrees-of-freedom parallel kinematic manipulator, fabricated with a simple two-mask process in conventional highly doped single-crystalline silicon (SCS) wafers (100). The manipulator's purpose is to provide accurate and stable positioning of a small sample (10 × 20 × 0.2 μm3), e.g., within a transmission electron microscope. The manipulator design is based on the principles of exact constraint design, resulting in a high actuation-compliance combined with a relatively high suspension stiffness. A modal analysis shows that the fourth vibration mode frequency is at least a factor 11 higher than the first three actuation-related mode frequencies. The comb-drive actuators are modeled in combination with the shuttle suspensions gaining insight into the side and rotational pull-in stability conditions. The two-mask fabrication process enables high-aspect-ratio structures, combined with electrical trench insulation. Trench insulation allows structures in conventional wafers to be mechanically connected while being electrically insulated from each other. Device characterization shows high linearity of displacement wrt voltage squared over ±10 μm stroke in the xand y-directions and ±2° rotation at a maximum of 50 V driving voltage. Out-of-plane displacement crosstalk due to in-plane actuation in resonance is measured to be less than 20 pm. The hysteresis in SCS, measured using white light interferometry, is shown to be extremely small.

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Design and Fabrication of a Planar Three-DOFs MEMS-Based Manipulator

This work presents a MEMS displacement sensor based on the conductive heat transfer of a resistively heated silicon structure towards an actuated stage parallel to the structure. This differential sensor can be easily incorporated into a silicon-on-insulator-based process, and fabricated within the same mask as electrostatic actuators and flexure-based stages. We discuss a lumped capacitance model to optimize the sensor sensitivity as a function of the doping concentration, the operating temperature, the heater length and width. We demonstrate various sensor designs. The typical sensor resolution is 2 nm within a bandwidth of 25 Hz at a full scale range of 110 μm.

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A single-mask thermal displacement sensor in MEMS

The range of motion and output force of the often used electrostatic comb-drive with folded flexure straight guidance, as shown in Figure 1, is limited by sideways instability due to poor sideways stiffness of the folded flexure at relatively large deflections [1].

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Herman Soemers

Papers

Design and modeling of a six DOFs MEMS-based precision manipulator

Sensor fusion for active vibration isolation in precision equipment

Design and Fabrication of a Planar Three-DOFs MEMS-Based Manipulator

A single-mask thermal displacement sensor in MEMS

Long-range Elastic Guidance Mechanisms for Electrostatic Comb-drive Actuators