Online Motion Planning for Safe Human–Robot Cooperation Using B-Splines and Hidden Markov Models

When humans and robots work together, ensuring safe cooperation must be a priority. This research aims to develop a novel real-time planning algorithm that can handle unpredictable human movements by both slowing down task execution and modifying the robot’s path based on the proximity of the human operator. To achieve this, an efficient method for updating the robot’s motion is developed using a two-fold control approach that combines B-splines and hidden Markov models. This allows the algorithm to adapt to a changing environment and avoid collisions. The proposed framework is thus validated using the Franka Emika Panda robot in a simple start–goal task. Our algorithm successfully avoids collision with the moving hand of an operator monitored by a fixed camera

Traceability and authentication in agri-food production: A multivariate approach to the characterization of the Italian food excellence elephant garlic (Allium ampeloprasum L.), a vasoactive nutraceutical

A research platform for food authentication was set up by combining stable isotope ratio analysis, metabolomics by gas and liquid mass-spectrometry and NMR investigations, chemometric analyses for food excellences. This multi-analytical approach was tested on samples of elephant garlic (Allium ampeloprasum L.), a species belonging to the same genus of common garlic (Allium ampeloprasum L.), mainly produced in southern Tuscany-(Allium ampeloprasum). The isotopic composition allowed the product to be geographically characterized. Flavonoids, like (+)-catechin, cinnamic acids, quercetin glycosides were identified. The samples showed also a significant amount of dipeptides, sulphur-containing metabolites and glutathione, the latter of which could be considered a molecular marker of the analyzed elephant garlic. For nutraceutical profiling to reach quality labels, extracts were investigated in specific biological assays, displaying interesting vasorelaxant properties in rat aorta by mediating nitric oxide release from the endothelium and exhibited positive inotropic and negative chronotropic effects in rat perfused heart

Star-spot activity, orbital obliquity, transmission spectrum, physical properties, and TTVs of the HATS-2 planetary system

Our aim in this paper is to refine the orbital and physical parameters of the HATS-2 planetary system and study transit timing variations and atmospheric composition thanks to transit observations that span more than ten years and that were collected using different instruments and pass-band filters. We also investigate the orbital alignment of the system by studying the anomalies in the transit light curves induced by starspots on the photosphere of the parent star. We analysed new transit events from both ground-based telescopes and NASA's TESS mission. Anomalies were detected in most of the light curves and modelled as starspots occulted by the planet during transit events. We fitted the clean and symmetric light curves with the JKTEBOP code and those affected by anomalies with the PRISM+GEMC codes to simultaneously model the photometric parameters of the transits and the position, size, and contrast of each starspot. We found consistency between the values we found for the physical and orbital parameters and those from the discovery paper and ATLAS9 stellar atmospherical models. We identified different sets of consecutive starspot-crossing events that temporally occurred in less than five days. Under the hypothesis that we are dealing with the same starspots, occulted twice by the planet during two consecutive transits, we estimated the rotational period of the parent star and, in turn the projected and the true orbital obliquity of the planet. We find that the system is well aligned. We identified the possible presence of transit timing variations in the system, which can be caused by tidal orbital decay, and we derived a low-resolution transmission spectrum.Comment: 23 pages, 21 figures, Accepted for publication in Astronomy & Astrophysic

The ultra-hot-Jupiter KELT-16 b: Dynamical Evolution and Atmospheric Properties

Abstract We present broad-band photometry of 30 planetary transits of the ultra-hot Jupiter KELT-16 b, using five medium-class telescopes. The transits were monitored through standard B, V, R, I filters and four were simultaneously observed from different places, for a total of 36 new light curves. We used these new photometric data and those from the TESS space telescope to review the main physical properties of the KELT-16 planetary system. Our results agree with previous measurements but are more precise. We estimated the mid-transit times for each of these transits and combined them with others from the literature to obtain 69 epochs, with a time baseline extending over more than four years, and searched for transit time variations. We found no evidence for a period change, suggesting a lower limit for orbital decay at 8 Myr, with a lower limit on the reduced tidal quality factor of Q^{\prime }_{\star }&gt;(1.9 \pm 0.8) \times 10^5 with $95\%$ confidence. We built up an observational, low-resolution transmission spectrum of the planet, finding evidence of the presence of optical absorbers, although with a low significance. Using TESS data, we reconstructed the phase curve finding that KELT-16 b has a phase offset of 25.25 ± 14.03 ○E, a day- and night-side brightness temperature of 3190 ± 61 K and 2668 ± 56 K, respectively. Finally, we compared the flux ratio of the planet over its star at the TESS and Spitzer wavelengths with theoretical emission spectra, finding evidence of a temperature inversion in the planet’s atmosphere, the chemical composition of which is preferably oxygen-rich rather than carbon-rich.</jats:p

In vitro phosphorylation as tool for modification of silk and keratin fibrous materials

An overview is given of the recent work on in vitro enzymatic phosphorylation of silk fibroin and human hair keratin. Opposing to many chemical "conventional" approaches, enzymatic phosphorylation is in fact a mild reaction and the treatment falls within "green chemistry" approach. Silk and keratin are not phosphorylated in vivo, but in vitro. This enzyme-driven modification is a major technological breakthrough. Harsh chemical chemicals are avoided, and mild conditions make enzymatic phosphorylation a real "green chemistry" approach. The current communication presents a novel approach stating that enzyme phosphorylation may be used as a tool to modify the surface charge of biocompatible materials such as keratin and silk