Singularity Avoidance for Cart-Mounted Hand-Guided Collaborative Robots: A Variational Approach

Most collaborative robots (cobots) can be taught by hand guiding: essentially, by manually jogging the robot, an operator teaches some configurations to be employed as via points. Based on those via points, Cartesian end-effector trajectories such as straight lines, circular arcs or splines are then constructed. Such methods can, in principle, be employed for cart-mounted cobots (i.e., when the jogging involves one or two linear axes, besides the cobot axes). However, in some applications, the sole imposition of via points in Cartesian space is not sufficient. On the contrary, albeit the overall system is redundant, (i) the via points must be reached at the taught joint configurations, and (ii) the undesirable singularity (and near-singularity) conditions must be avoided. The naive approach, consisting of setting the cart trajectory beforehand (for instance, by imposing a linear-in-time motion law that crosses the taught cart configurations), satisfies the first need, but does not guarantee the satisfaction of the second. Here, we propose an approach consisting of (i) a novel strategy for decoupling the planning of the cart trajectory and that of the robot joints, and (ii) a novel variational technique for computing the former in a singularity-aware fashion, ensuring the avoidance of a class of workspace singularity and near-singularity configurations

From global to local scale: where is the best for conservation purpose?

Demographic analysis of plant populations represents an essential conservation tool allowing to identify the population trends both at global and at the local level. In this study, the population dynamics of Helianthemum caput-felis (Cistaceae) was investigated at the local level by monitoring six populations distributed in Sardinia, Balearic Islands and Ibero-Levantine coast (Alicante). Demographic data for each population were analysed by performing Integral Projection Models (IPMs). Our results showed that, although the local trend of the main basic demographic functions was similar, vital rates and demographic dynamics varied among populations indicating high variability. In fact, asymptotic growth rate in Spanish populations widely varied both between years and populations (some populations growth, decline or strongly decline), while Sardinian populations showed greater equilibrium or a slight increase. Also, the typical pattern of a long-lived species was not supported by the results at the local scale. These results indicated that different populations of the same species can present extremely different population dynamics and support the belief that, for conservation needs, local studies are more informative than global ones: the conservation status of H. caput-felis could notably vary at a small spatial scale and, accordingly, the conservation efforts must be planned at the population level and supported by local analysis

Shell-supported footbridges

Architects and engineers have been always attracted by concrete shell structures due to their high efficiency and plastic shapes. In this paper the possibility to use concrete shells to support footbridges is explored. Starting from Musmeci's fundamental research andwork in shell bridge design, the use of numerical formfinding methods is analysed. The form-finding of a shellsupported footbridge shaped following Musmeci's work is first introduced. Coupling Musmeci's and Nervi's experiences, an easy construction method using a stay-inplace ferrocement formwork is proposed. Moreover, the advantage of inserting holes in the shell through topology optimization to remove less exploited concrete has been considered. Curved shell-supported footbridges have been also studied, and the possibility of supporting the deck with the shell top edge, that is along a single curve only, has been investigated. The form-finding of curved shell-supported footbridges has been performed using a Particle-Spring System and Thrust Network Analysis. Finally, the form-finding of curved shell-supported footbridges subjected to both vertical and horizontal forces (i.e. earthquake action) has been implemented

Closed-loop Control from Data-Driven Open-Loop Optimal Control Trajectories

We show how the recent works on data driven open-loop minimum-energy control for linear systems can be exploited to obtain closed-loop piecewise-affine control laws, by employing a state-space partitioning technique which is at the basis of the static relatively optimal control. In addition, we propose a way for employing portions of the experimental input and state trajectories to recover information about the natural movement of the state and dealing with non-zero initial conditions. The same idea can be used for formulating several open-loop control problems entirely based on data, possibly including input and state constraints

Assessing the global conservation status of the rock rose Helianthemum caput-felis

The assessment of the conservation status of a species is the first step in developing a conservation strategy. IUCN Red Lists assessments are an important starting point for conservation actions and the most commonly applied method for assessing the extinction risk of a species. In this study, the global conservation status of the rock rose Helianthemum caput-felis Boiss. (Cistaceae), a perennial Mediterranean plant, was evaluated using the Red List criteria. The distribution of the species was determined by monitoring historical localities and all other suitable sites along the western Mediterranean coasts for 6 years. For each confirmed locality, the ecological and population parameters and the main threats were recorded; these data were used in a quantitative analysis of the species' extinction risk. Our findings indicate there have been several recent extinctions, and there is a continuing decline in the species' area of occurrence, habitat quality and number of reproductive plants. The main threats are related to human activities. Extinction models indicate a probability of quasi-extinction risk of c. 30% in five generations or c. 45% in three generations, with the species likely to become extinct in seven currently known localities within the next 10 years. Application of the Red List criteria indicates H. caput-felis should be categorized as Endangered. This study confirms that legal protection and passive conservation measures are insufficient to guarantee the persistence of a plant species. Active conservation and management actions are needed to protect this and other threatened species of the Mediterranean Basin

Infections and Multiple Sclerosis: From the World to Sardinia, From Sardinia to the World

Multiple Sclerosis (MS) is an inflammatory disease of the central nervous system. Sardinia, an Italian island, is one of the areas with the highest global prevalence of MS. Genetic factors have been widely explored to explain this greater prevalence among some populations; the genetic makeup of the Sardinians appears to make them more likely to develop autoimmune diseases. A strong association between MS and some infections have been reported globally. The most robust evidence indicating the role of infections is MS development concerns the Epstein-Barr virus (EBV). Anti-EBV antibodies in patients once infected by EBV are associated with the development of MS years later. These features have also been noted in Sardinian patients with MS. Many groups have found an increased expression of the Human endogenous retroviruses (HERV) family in patients with MS. A role in pathogenesis, prognosis, and prediction of treatment response has been proposed for HERV. A European multi-centre study has shown that their presence was variable among populations, ranging from 59% to 100% of patients, with higher HERV expression noted in Sardinian patients with MS. The mycobacterium avium subspecies paratuberculosis (MAP) DNA and antibodies against MAP2694 protein were found to be associated with MS in Sardinian patients. More recently, this association has also been reported in Japanese patients with MS. In this study, we analysed the role of infectious factors in Sardinian patients with MS and compared it with the findings reported in other populations

Conservation studies on threatened endemic plants of the Mediterranean area: a literature overview for Sardinia

Abstract Sardinia is the second-largest island in the Mediterranean Sea, situated in the West Mediterranean basin. Its isolation and high geological diversity have created a wide range of habitats, with high levels of endemism, especially on its mountain massifs. Despite the rich plant biodiversity of the Island and the threats to its endemic flora, few biological conservation studies have been conducted on Sardinian endemic plants. A literature analysis highlighted that 19 papers were published, with the 68% of them being focused on threatened species. These data highlight the poor knowledge on the conservation status of the endemic flora of Sardinia. However, the increasing number of papers detected in the last three years represents a good signal that more attention will be devoted to threatened endemic species of the Island in the near future. Key words: Biodiversity, Habitat Directive, Hot Spot, IUCN. Riassunto La Sardegna è la seconda isola per dimensioni del Mar Mediterraneo, situata nel bacino occidentale. Il lungo isolamento e l'elevata diversità geologica dell'Isola hanno determinato un'ampia diversificazione di habitat, con elevati livelli di specie endemiche, in particolar modo nei suoi massicci montuosi. Tuttavia, nonostante la ricca diversità vegetale dell'Isola e le minacce alla sua flora endemica, pochi studi di biologia della conservazione sono stati realizzati su piante endemiche della Sardegna. L'analisi bibliografica ha evidenziato che sono stati pubblicati 19 articoli su specie endemiche, il 68% dei quali focalizzati su specie minacciate. Questi dati evidenziano l'attuale scarsa conoscenza sullo stato di conservazione della flora endemica della Sardegna. Tuttavia, il crescente numero di pubblicazioni osservato negli ultimi tre anni rappresenta un segnale positivo per il futuro, evidenziando una crescente attenzione per le specie endemiche minacciate dell'Isola

Curved footbridges supported by a shell obtained through thrust network analysis

After Maillart's concrete curved arch bridges were built before the Second World War, in the second half of the past century and this century, many curved bridges have been built with both steel and concrete. Conversely, since the construction of Musmeci's shell supported bridge in Potenza, few shell bridges have been constructed. This paper explains how to design a curved footbridge supported by an anticlastic shell by shaping the shell via a thrust network analysis (TNA). By taking advantage of the peculiar properties of anticlastic membranes, the unconventional method of shaping a shell by a TNA is illustrated. The shell top edge that supports the deck has an assigned layout, which is provided by the road curved layout. The form of the bottom edge is obtained by the form-finding procedure as a thrust line, by applying the thrust network analysis (TNA) in a non-standard manner, shaping the shell by applying the boundary conditions and allowing relaxation. The influence of the boundary conditions on the bridge shape obtained as an envelope of thrust lines is investigated. A finite element analysis was performed. The results indicate that the obtained shell form is effective in transferring deck loads to foundations via compressive stresses and taking advantage of concrete mechanical properties

A new species of Aquilegia (Ranunculaceae) from Sardinia (Italy)

The new species Aquilegia cremnophila (Ranunculaceae) from the Italian island of Sardinia is here described and illustrated. It occurs in shady rocky crevices, near the upper parts of Mt. Corrasi (Supramontes Region), where it is a member of chasmophilous communities. This species is morphologically, phenologically, ecologically and genetically well differentiated from the other Sardinian taxa, showing some relationships mainly with A. nugorensis, an endemic species of Central-Eastern Sardinia. Its conservation status is examined. A key of all taxa present in Sardinia is also provided. © 2012 Magnolia Press.Peer Reviewe

72 Inhalatory antibiotic therapy in cystic fibrosis and emergence of colistin resistant Gram-negative non-fermenting bacteria: a new problem in pulmonary infection treatment?

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