215 research outputs found
Variable Admittance Control of a Hand Exoskeleton for Virtual Reality-Based Rehabilitation Tasks
Robot-based rehabilitation is consolidated as a viable and efficient practice to speed up and improve the recovery of lost functions. Several studies highlight that patients are encouraged to undergo their therapies and feel more involved in the process when collaborating with a user-friendly robotic environment. Object manipulation is a crucial element of hand rehabilitation treatments; however, as a standalone process may result in being repetitive and unstimulating in the long run. In this view, robotic devices, like hand exoskeletons, do arise as an excellent tool to boost both therapy's outcome and patient participation, especially when paired with the advantages offered by interacting with virtual reality (VR). Indeed, virtual environments can simulate real-life manipulation tasks and real-time assign a score to the patient's performance, thus providing challenging exercises while promoting training with a reward-based system. Besides, they can be easily reconfigured to match the patient's needs by manipulating exercise intensity, e.g., Assistance-As-Needed (AAN) and the required tasks. Modern VR can also render interaction forces when paired to wearable devices to give the user some sort of proprioceptive force or tactile feedback. Motivated by these considerations, a Hand Exoskeleton System (HES) has been designed to be interfaced with a variable admittance control to achieve VR-based rehabilitation tasks. The exoskeleton assists the patient's movements according to force feedback and following a reference value calculated inside the VR. Whenever the patient grasps a virtual object, the HES provides the user with a force feedback sensation. In this paper, the virtual environment, developed within the Webots framework and rendering a HES digital-twin mapping and mimicking the actual HES motion, will be described in detail. Furthermore, the admittance control strategy, which continuously varies the control parameters to best render the force sensation and adapt to the user's motion intentions, will be investigated. The proposed approach has been tested on a single subject in the framework of a pilot study
A weak lensing analysis of the PLCK G100.2-30.4 cluster
We present a mass estimate of the Planck-discovered cluster PLCK G100.2-30.4,
derived from a weak lensing analysis of deep SUBARU griz images. We perform a
careful selection of the background galaxies using the multi-band imaging data,
and undertake the weak lensing analysis on the deep (1hr) r-band image. The
shape measurement is based on the KSB algorithm; we adopt the PSFex software to
model the Point Spread Function (PSF) across the field and correct for this in
the shape measurement. The weak lensing analysis is validated through extensive
image simulations. We compare the resulting weak lensing mass profile and total
mass estimate to those obtained from our re-analysis of XMM-Newton
observations, derived under the hypothesis of hydrostatic equilibrium. The
total integrated mass profiles are in remarkably good agreement, agreeing
within 1 across their common radial range. A mass is derived for the cluster from our weak lensing
analysis. Comparing this value to that obtained from our reanalysis of
XMM-Newton data, we obtain a bias factor of (1-b) = 0.8 0.1. This is
compatible within 1 with the value of (1-b) obtained by Planck
Collaboration XXIV from their calibration of the bias factor using
newly-available weak lensing reconstructed masses.Comment: 11 pages, 12 figures, accepted for publication on Astronomy &
Astrophysics; updates in affiliation
A newly identified galaxy group thanks to tidal streams of intragroup light
In the accretion-driven growth scenario, part of the intracluster light is
formed in the group environment. We report the serendipitous discovery of a
group of galaxies with signs of diffuse light in the foreground of the known
galaxy cluster MACS J0329-0211 at z=0.45. Our investigation began with the
detection of diffuse light streams around a pair of bright galaxies in the
southeastern region of a Suprime-Cam image of the galaxy cluster MACS
J0329-0211. Our analysis is based on the extended CLASH-VLT redshift catalog
and on new spectroscopic data obtained ad hoc with the Italian Telescopio
Nazionale Galileo. We use the density reconstruction method to analyze the
redshift distribution of the galaxies in the region around the galaxy pair. We
also use available photometric and X-ray data to better characterize the
properties of the group. Thanks to the large amount of redshift data collected
in this region, we have been able to discover the existence of a group of
galaxies, here called GrG J0330-0218, which is associated with the pair of
galaxies. These are the two brightest group galaxies (BGG1 and BGG2). We
extracted 41 group members from the redshift catalog and estimate a mean
redshift z=0.1537 and a line-of-sight velocity dispersion sigmav=370 km/s. In
the phase-space diagram, the distribution of the galaxies of GrG J0330-0218
follows the characteristic trumpet-shaped pattern, which is related to the
escape velocity of galaxy clusters, suggesting that the group is a virialized
structure. Under this assumption, the mass of the group is M200 about 6E13
Msun. We also measured a mass-to-light ratio of 130 Msun/Lsun and a luminosity
fraction of diffuse light of about 20% within 0.5 R200. We conjecture that
galaxy pairs that are surrounded by diffuse light, probably due to tidal
interactions, can serve as signposts for groups.Comment: Astronomy & Astrophysics accepted, 13 pages, 10 figure
The JAK2V617 mutation induces constitutive activation and agonist hypersensitivity in basophils of polycythemia vera.
BACKGROUND: The JAK2V617F mutation has been associated with constitutive and enhanced activation of neutrophils, while no information is available concerning other leukocyte subtypes. DESIGN AND METHODS: We evaluated correlations between JAK2V617F mutation and the count of circulating basophils, the number of activated CD63(+) basophils, their response in vitro to agonists as well as the effects of a JAK2 inhibitor. RESULTS: We found that basophil count was increased in patients with JAK2V617F -positive myeloproliferative neoplasms, particularly in those with polycythemia vera, and was correlated with the V617F burden. The burden of V617F allele was similar in neutrophils and basophils from patients with polycythemia vera, while total JAK2 mRNA content was remarkably greater in the basophils; however, the content of JAK2 protein in basophils was not increased. The number of CD63(+) basophils was higher in patients with polycythemia vera than in healthy subjects or patients with essential thrombocythemia or primary myelofibrosis and was correlated with the V617F burden. Ultrastructurally, basophils from patients with polycythemia vera contained an increased number of granules, most of which were empty suggesting cell degranulation in vivo. Ex vivo experiments revealed that basophils from patients with polycythemia vera were hypersensitive to the priming effect of interleukin-3 and to f-MLP-induced activation; pre-treatment with a JAK2 inhibitor reduced polycythemia vera basophil activation. Finally, we found that the number of circulating CD63(+) basophils was significantly greater in patients suffering from aquagenic pruritus, who also showed a higher V617F allele burden. CONCLUSIONS: These data indicate that the number of constitutively activated and hypersensitive circulating basophils is increased in polycythemia vera, underscoring a role of JAK2V617F in these cellsâ abnormal function and, putatively, in the pathogenesis of pruritus
The VIP Experiment
The Pauli Exclusion Principle (PEP) is a basic principle of Quantum
Mechanics, and its validity has never been seriously challenged. However, given
its importance, it is very important to check it as thoroughly as possible.
Here we describe the VIP (Violation of PEP) experiment, an improved version of
the Ramberg and Snow experiment (Ramberg and Snow, Phys. Lett. B238 (1990)
438); VIP shall be performed at the Gran Sasso underground laboratories, and
aims to test the Pauli Exclusion Principle for electrons with unprecedented
accuracy, down to Comment: 7 pages, 5 figures, PDF only, presented by Edoardo Milotti to the
conference "Quantum Theory: reconsideration of foundations-3", Vaxjo
(Sweden), June, 6-11 200
The Cosmic-Ray Proton and Helium Spectra measured with the CAPRICE98 balloon experiment
A new measurement of the primary cosmic-ray proton and helium fluxes from 3
to 350 GeV was carried out by the balloon-borne CAPRICE experiment in 1998.
This experimental setup combines different detector techniques and has
excellent particle discrimination capabilities allowing clear particle
identification. Our experiment has the capability to determine accurately
detector selection efficiencies and systematic errors associated with them.
Furthermore, it can check for the first time the energy determined by the
magnet spectrometer by using the Cherenkov angle measured by the RICH detector
well above 20 GeV/n. The analysis of the primary proton and helium components
is described here and the results are compared with other recent measurements
using other magnet spectrometers. The observed energy spectra at the top of the
atmosphere can be represented by (1.27+-0.09)x10^4 E^(-2.75+-0.02) particles
(m^2 GeV sr s)^-1, where E is the kinetic energy, for protons between 20 and
350 GeV and (4.8+-0.8)x10^2 E^(-2.67+-0.06) particles (m^2 GeV nucleon^-1 sr
s)^-1, where E is the kinetic energy per nucleon, for helium nuclei between 15
and 150 GeV nucleon^-1.Comment: To be published on Astroparticle Physics (44 pages, 13 figures, 5
tables
High-resolution tSZ cartography of clusters of galaxies with NIKA at the IRAM 30-m telescope
The thermal Sunyaev-Zeldovich effect (tSZ) is a powerful probe to study
clusters of galaxies and is complementary with respect to X-ray, lensing or
optical observations. Previous arcmin resolution tSZ observations ({\it e.g.}
SPT, ACT and Planck) only enabled detailed studies of the intra-cluster medium
morphology for low redshift clusters (). Thus, the development of
precision cosmology with clusters requires high angular resolution observations
to extend the understanding of galaxy cluster towards high redshift. NIKA2 is a
wide-field (6.5 arcmin field of view) dual-band camera, operated at and containing KID (Kinetic Inductance Detectors), designed to
observe the millimeter sky at 150 and 260 GHz, with an angular resolution of 18
and 12 arcsec respectively. The NIKA2 camera has been installed on the IRAM
30-m telescope (Pico Veleta, Spain) in September 2015. The NIKA2 tSZ
observation program will allow us to observe a large sample of clusters (50) at
redshift ranging between 0.5 and 1. As a pathfinder for NIKA2, several clusters
of galaxies have been observed at the IRAM 30-m telescope with the NIKA
prototype to cover the various configurations and observation conditions
expected for NIKA2.Comment: Proceedings of the 28th Texas Symposium on Relativistic Astrophysics,
Geneva, Switzerland, December 13-18, 201
Non-Pauli Effects from Noncommutative Spacetimes
Noncommutative spacetimes lead to nonlocal quantum field theories (qft's)
where spin-statistics theorems cannot be proved. For this reason, and also
backed by detailed arguments, it has been suggested that they get corrected on
such spacetimes leading to small violations of the Pauli principle. In a recent
paper \cite{Pauli}, Pauli-forbidden transitions from spacetime noncommutativity
were calculated and confronted with experiments. Here we give details of the
computation missing from this paper. The latter was based on a spacetime
different from the Moyal plane. We argue that it
quantizes time in units of . Energy is then conserved only mod
. Issues related to superselection rules raised by non-Pauli
effects are also discussed in a preliminary manner.Comment: 15 Pages, 1 Table, Full details and further developments of
arXiv:1003.2250. This version is close to the one accepted by JHE
High angular resolution Sunyaev-Zel'dovich observations of MACS J1423.8+2404 with NIKA: Multiwavelength analysis
The prototype of the NIKA2 camera, NIKA, is an instrument operating at the
IRAM 30-m telescope, which can observe simultaneously at 150 and 260GHz. One of
the main goals of NIKA2 is to measure the pressure distribution in galaxy
clusters at high resolution using the thermal SZ (tSZ) effect. Such
observations have already proved to be an excellent probe of cluster pressure
distributions even at high redshifts. However, an important fraction of
clusters host submm and/or radio point sources, which can significantly affect
the reconstructed signal. Here we report on <20" resolution observations at 150
and 260GHz of the cluster MACSJ1424, which hosts both radio and submm point
sources. We examine the morphology of the tSZ signal and compare it to other
datasets. The NIKA data are combined with Herschel satellite data to study the
SED of the submm point source contaminants. We then perform a joint
reconstruction of the intracluster medium (ICM) electronic pressure and density
by combining NIKA, Planck, XMM-Newton, and Chandra data, focusing on the impact
of the radio and submm sources on the reconstructed pressure profile. We find
that large-scale pressure distribution is unaffected by the point sources
because of the resolved nature of the NIKA observations. The reconstructed
pressure in the inner region is slightly higher when the contribution of point
sources are removed. We show that it is not possible to set strong constraints
on the central pressure distribution without accurately removing these
contaminants. The comparison with X-ray only data shows good agreement for the
pressure, temperature, and entropy profiles, which all indicate that MACSJ1424
is a dynamically relaxed cool core system. The present observations illustrate
the possibility of measuring these quantities with a relatively small
integration time, even at high redshift and without X-ray spectroscopy.Comment: 15 pages, 17 figures, submitted to A&
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