Task oriented nonlinear control laws for telerobotic assembly operations

The goal of this research is to achieve very intelligent telerobotic controllers which are capable of receiving high-level commands from the human operator and implementing them in an adaptive manner in the object/task/manipulator workspace. Initiatives by the authors at Integrated Systems, Inc. to identify and develop the key technologies necessary to create such a flexible, highly programmable, telerobotic controller are presented. The focus of the discussion is on the modeling of insertion tasks in three dimensions and nonlinear implicit force feedback control laws which incorporate tool/workspace constraints. Preliminary experiments with dual arm beam assembly in 2-D are presented

Mechanical Systems: Symmetry and Reduction

Reduction theory is concerned with mechanical systems with symmetries. It constructs a lower dimensional reduced space in which associated conservation laws are taken out and symmetries are \factored out" and studies the relation between the dynamics of the given system with the dynamics on the reduced space. This subject is important in many areas, such as stability of relative equilibria, geometric phases and integrable systems

Strategies for Prevention of Pertussis

Introdução: Nos últimos 30 anos, em vários países, tem sido relatado um aumento da incidência de tosse convulsa, sobretudo em adolescentes e adultos, apesar das altas taxas de cobertura de imunização primária. Objectivos: Rever aspectos da epidemiologia da tosse convulsa, descrever algumas estratégias de controlo, com ênfase nas que incluem a utilização de vacinas com menores quantidades do toxóide diftérico e de alguns componentes pertussis (dTpa), e a avaliação da eficácia e efectividade destas vacinas. Métodos: Selecção de artigos relevantes, através da base de dados PubMed e sítios de acesso livre da internet, publicados entre 1991 e 2011. Resultados: As alterações do padrão epidemiológico são atribuídas, principalmente, à diminuição da imunidade ao longo dos anos, após a vacinação ou infecção natural. Os adolescentes e adultos foram identificados como importantes fontes de transmissão da doença para lactentes muito jovens que, uma vez não imunizados ou parcialmente imunizados, são mais vulneráveis às complicações relacionadas com a doença e apresentam maior mortalidade. A vacina (dTpa), formulada para o uso em adolescentes e adultos é segura e eficaz. A sua utilização também reduz a transmissão da tosse convulsa para os grupos etários com alto risco de complicações. Conclusão: A disponibilidade da dTpa oferece novas oportunidades para reduzir o impacto da tosse convulsa. A modificação das estratégias preventivas pode levar a um melhor controlo global da doença

Morpho-biometrical, nutritional and phytochemical characterization of carrot landraces from Puglia region (southern Italy)

The explorations as a part of the regional BiodiverSO Programme of vegetable genetic resource rescue revealed that in the arenili (sandy shores) of “Salterns of Margherita di Savoia” (SMS), a coastal landscape area of Puglia region (southern Italy), along the commercial genotypes of small rooting species, landraces are still cultivated. The morpho-biometrical, nutritional and phytochemical properties of two carrot landraces (“Carota a punta lunga” and “Carota a punta tonda”) and a commercial carrot hybrid (“Presto”) collected from the SMS area are examined. The study highlighted that the pedological conditions of the arenili of the SMS area are the main driving force in controlling the nutritional and nutraceutical characteristics of carrot, conferring to genotypes grown in this area a high profile in comparison with literature data. In the site of cultivation of arenili, a large variability in the morpho-qualitative traits emerged among carrot genotypes. “Carota a punta tonda” stands for a promising genotype being very rich in phenols (209.8 mg kg-1 fw) (mainly di-caffeic acid derivative and chlorogenic acid), Β-carotene (21,512 µg 100 g-1 fw), and high antioxidative proprieties. “Carota a punta tonda” could be considered as a healthy product for consumers and also amenable to selection for breeding purpose. Increasing the knowledge about nutritional and nutraceutical properties of local landraces may push the preference of consumers beyond the local community and, at the same time, farmers can be stimulated to continue their cultivation. Thus, the promotion of their on-farm/in situ conservation (cultivation) could represent an efficient strategy for agro-biodiversity preservation

Nutritional characterization of two rare landraces of Turnip (Brassica rapa. var. rapa) tops and their on-farm conservation in Foggia Province

The study of nutritional properties in landrace products and the general context of its cultivation site are crucial to designing a sustainable on-farm strategy for landrace conservation. The present study describes the main nutritional aspects of two Brassica rapa subspecies rapa landraces collected in Puglia, Italy along with agroecological and socioeconomical traits where they are cultivated. The two B. rapa landraces ('Cima di rapa dalla testa' and 'Cima di rapa antica') are only found in sites at 700-800 m asl and in two landscape units (the Southern Daunian Mountains (SDM) and the Umbra Forest (UF), respectively) of the Foggia province. These rare landraces were selected by farmers to produce turnip greens/tops from ancient root turnip crops. They are named and consumed by local people in the same way as turnip tops of Brassica rapa subspecies sylvestris ('Cima di rapa'), which are widely cultivated in Puglia. Compared to the most common 'Cima di rapa', the two highlighted landraces have a better nutritional profile linked to an improved content in antioxidant compounds-i.e., vitamin C (458 mg kg-1 FW), total phenols (347 mg ac. gallic equivalent kg-1 FW)-in glucosinolate (741 μmol kg FW-1, in 'Cima di rapa antica') and in minerals, such as K. Both landraces are deemed as having a high risk of erosion. Few exemplars are cultivated in marginal lands and urban/peri-urban areas (SDM), or in isolated sites within the UF, which is a special protection zone within Gargano National Park. However, natural, cultural, and recreational tourism are the main economic activities in both landscape units

AB0563 DISCONTINUATION OF ANTI-TNFα IN PATIENTS WITH PSORIATIC ARTHRITIS: A SINGLE-CENTER EXPERIENCE

Background:TNF inhibitors have been largely demonstrated to be effective and reasonably safe for the treatment of psoriatic arthritis (PsA). Current EULAR guidelines recommend the use of an anti-TNF as first choice treatment in patients with PsA for whom a synthetic DMARD (usually methotrexate or leflunomide) is not efficacious or not well tolerated [1]. In a scenario where biologic treatments are easily available, and the treat to target strategy is widely accepted, a complete disease remission or at least a minimal disease activity are considered realistic goals to be achieved in a growing proportion of patients [2]. However, there remains very little research regarding anti-TNF discontinuation in patients who achieved a complete remission [3-5].Objectives:The primary aim of this study was to measure the disease-free interval after anti-TNF discontinuation, secondary it was investigated whether the use of Power Doppler Ultrasound (PDUS) and Contrast Enhanced Ultrasound (CEUS) could improve the diagnostic accuracy in the recognition of the relapse. Finally, we wanted to characterize the clinical features of the disease recurrence.Methods:From June 2018, 35 patients with PsA (27 males and 8 female) treated with anti-TNF, in stable remission were prospectively monitored for 1 year after treatment discontinuation. Remission was defined as documented absence of clinical and ultrasonographic signs of arthritis or enthesitis. Complete rheumatological and dermatological examinations were performed in all participants, at baseline and every 8-12 weeks: American College of Rheumatology (ACR) 66-68 joint count; Psoriasis Area Severity Index (PASI); patient pain visual analog score (VAS); patient global disease activity VAS; Health Assessment Questionnaire (HAQ); Leeds Enthesitis Index (LEI); Bath Ankylosing Spondylitis Disease Activity Index (BASDAI); Bath Ankylosing Spondylitis Functional Index (BASFI); Power Doppler Ultrasound (PDUS) of the involved joints and entheses, Contrast Enhanced Ultrasound (CEUS) of a selected joint or enthesis and laboratory inflammation tests.Results:31 out of the 35 enrolled patients, experienced a disease recurrence with an average disease-free interval of 27.9±21.1 weeks (Figure 1). In 3 patients the treatment was restored for a relapse of the skin psoriasis, 8 patients reported only axial symptoms of disease relapse and 20 patients had both axial and peripheral joints involvement (average DAPSA score of 23.6±11.1; average BASDAI score of 4.7±2.6; average BASFI score 4.5±2.9). In all cases the disease flare was moderate and all patients promptly regained remission after restarting the treatment. Both PDUS and CEUS were safe and reliable showing a good percentage of accordance (95,4%) in detecting synovitis and enthesitis.Conclusion:The rate of disease relapse of PsA after anti-TNF discontinuation is relevant. However the disease-free interval was not short. Retreatment with the same anti-TNF was effective and safe.References:[1]Gossec L, Baraliakos X, Kerschbaumer A, et al. EULAR recommendations for the management of psoriatic arthritis with pharmacological therapies: 2019 update. Ann Rheum Dis. 2020 Jun;79(6):700-712.[2]Dures E, Shepperd S, Mukherjee S, et al. Treat-to-target in PsA: methods and necessity. RMD Open. 2020 Feb;6(1):e001083.[3]Stober C, Ye W, Guruparan T, et al. Prevalence and predictors of tumour necrosis factor inhibitor persistence in psoriatic arthritis. Rheumatology (Oxford). 2018 Jan 1;57(1):158-163.[4]Huynh DH, Boyd TA, Etzel CJ, et al. Persistence of low disease activity after tumour necrosis factor inhibitor (TNFi) discontinuation in patients with psoriatic arthritis. RMD Open. 2017 Jan 16;3(1):e000395.[5]Ye W, Tucker LJ, Coates LC. Tapering and Discontinuation of Biologics in Patients with Psoriatic Arthritis with Low Disease Activity. Drugs. 2018 Nov;78(16):1705-1715.Disclosure of Interests:None declared

Evaluation of Garlic Landraces from Foggia Province (Puglia Region; Italy)

Interest in local landraces has unfortunately decreased over, the last decades, in which they have been continuously subjected to a high genetic erosion in favour of new modern varieties. Within the Puglia region (S-E Italy), Foggia province was found to be the richest in vegetable landraces. In the present study, six garlic landraces collected from this area have been assessed for their chemical composition (minerals, organic acids, free sugars, volatile, and phenolic compounds) along with their main morpho-biometrical traits. A commercial genotype was also considered as a reference standard. The landraces show a large variability, but in general high morphological standards, high levels of cations and phenols, and low levels of volatile-(S)-compounds in comparison with the commercial genotype and the literature values. 'Aglio di Peschici' and 'Aglio Rosso di Monteleone di Puglia' are very rich in minerals and phenols (mainly ferulic acid and iso-rhamnetin). This increase in knowledge on the chemical properties of these garlic landraces could represent a tool for encouraging the consumption of a food product. At the same time, the consumption of these landraces would stimulate their cultivation and could highly contribute to protection against the risk of erosion of agro-biodiversity by their in situ/on-farm conservation