Cascade Control of Antagonistic VSA-An Engineering Control Approach to a Bioinspired Robot Actuator.

A cascade control structure for the simultaneous position and stiffness control of antagonistic tendon-driven variable stiffness actuators (VSAs) implemented in a laboratory setup is presented in the paper. Cascade control has the ability to accelerate, additionally stabilize, and reduce oscillations, which are all extremely important in systems such as a tendon-driven compliant actuators with elastic transmission. Inner-loop controllers are closed in terms of motor positions, and outer-loop controllers in terms of actuator position and estimated stiffness.

Treatment outcome in patients with breast conserving surgery after neoadjuvant therapy for breast carcinoma - a single institution experience.

Purpose: The aim of this study was to analyze outcomes of breast conserving surgery (BCS) after neoadjuvant treatment (NAT) in comparison to radical mastectomy (RM) after NAT in terms of disease-free survival (DFS), overall survival (OS) and patients' satisfaction with the esthetic outcomes of surgery.

Methods: This prospective study was conducted at the National Cancer Research Center of Serbia, Belgrade, from January 1st 2011 to December 31st 2015, on breast carcinoma patients receiving NAT. Treatment outcome was assessed by MDAPI (MD Anderson Prognostic Index).