Caspase-independent programmed cell death triggers Ca2PO4 deposition in an in vitro model of nephrocalcinosis

We provide evidence of caspase-independent cell death triggering the calcification process in GDNF-silenced HK-2 cells

Prioritized motion-force control of constrained fully-actuated robots: "Task Space Inverse Dynamics"

Pre-print submitted to "Robotics and Autonomous Systems"We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they do not find the optimal solution for the secondary tasks. Other frameworks are optimal, but they tackle the control problem at kinematic level, hence they neglect the robot dynamics and they do not allow for force control. Still other frameworks are optimal and consider force control, but they are computationally less efficient than ours. Our final claim is that, for fully-actuated robots, computing the operational-space inverse dynamics is equivalent to computing the inverse kinematics (at acceleration level) and then the joint-space inverse dynamics. Thanks to this fact, our control framework can efficiently compute the optimal solution by decoupling kinematics and dynamics of the robot. We take into account: motion and force control, soft and rigid contacts, free and constrained robots. Tests in simulation validate our control framework, comparing it with other state-of-the-art equivalent frameworks and showing remarkable improvements in optimality and efficiency

Prioritized Optimal Control

Pre-print of the paper presented at Robotics and Automation (ICRA), IEEE International Conference on, Hong Kong, China, 2014This paper presents a new technique to control highly redundant mechanical systems, such as humanoid robots. We take inspiration from two approaches. Prioritized control is a widespread multi-task technique in robotics and animation: tasks have strict priorities and they are satisfied only as long as they do not conflict with any higher-priority task. Optimal control instead formulates an optimization problem whose solution is either a feedback control policy or a feedforward trajectory of control inputs. We introduce strict priorities in multi-task optimal control problems, as an alternative to weighting task errors proportionally to their importance. This ensures the respect of the specified priorities, while avoiding numerical conditioning issues. We compared our approach with both prioritized control and optimal control with tests on a simulated robot with 11 degrees of freedom

RELAP5-3D thermal hydraulic analysis of the target cooling system in the SPES experimental facility

The SPES (Selective Production of Exotic Species) experimental facility, under construction at the Italian National Institute of Nuclear Physics (INFN) Laboratories of Legnaro, Italy, is a second generation Isotope Separation On Line (ISOL) plant for advanced nuclear physic studies. The UCx target-ion source system works at temperature of about 2273 K, producing a high level of radiation (10^5 Sv/h), for this reason a careful risk analysis for the target chamber is among the major safety issues. In this paper, the obtained results of thermofluid-dynamics simulations of accidental transients in the SPES target cooling system are reported. The analysis, performed by using the RELAP5-3D 2.4.2 qualified thermal-hydraulic system code, proves good safety performance of this system during different accidental conditions

Contributions to the linear and nonlinear theory of the beam-plasma interaction

We focus our attention on some relevant aspects of the beam-plasma instability in order to refine some features of the linear and nonlinear dynamics. After a re-Analysis of the Poisson equation and of the assumption dealing with the background plasma in the form of a linear dielectric, we study the non-perturbative properties of the linear dispersion relation, showing the necessity for a better characterization of the mode growth rate in those flat regions of the distribution function where the Landau formula is no longer predictive. We then upgrade the original-body approach in O'Neil et al. (Phys. Fluids, vol. 14, 1971, pp. 1204-1212), in order to include a return current in the background plasma. This correction term is responsible for smaller saturation levels and growth rates of the Langmuir modes, as result of the energy density transferred to the plasma via the return current. Finally, we include friction effects, as those due to the collective influence of all the plasma charges on the motion of the beam particles. The resulting force induces a progressive resonance detuning, because particles are losing energy and decreasing their velocity. This friction phenomenon gives rise to a deformation of the distribution function, associated with a significant growth of the less energetic particle population. The merit of this work is to show how a fine analysis of the beam-plasma instability outlines a number of subtleties about the linear, intermediate and late dynamics which can be of relevance when such a system is addressed as a paradigm to describe relevant nonlinear wave-particle phenomena (Chen Zonca, Rev. Mod. Phys., vol. 88, 2016, 015008)

Partial Force Control of Constrained Floating-Base Robots

Pre-print of paper presented at Intelligent Robots and Systems (IROS 2014), IEEE International Conference on, Chicago, USA, 2014Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motion and a subset of the contact forces of a floating-base robot. We derive a new formulation of the lexicographic optimization problem typically arising in multitask motion/force control frameworks. The structure of the constraints of the problem (i.e. the dynamics of the robot) allows us to find a sparse analytical solution. This leads to an equivalent optimization with reduced computational complexity, comparable to inverse-dynamics based approaches. At the same time, our method preserves the flexibility of optimization based control frameworks. Simulations were carried out to achieve different multi-contact behaviors on a 23-degree-offreedom humanoid robot, validating the presented approach. A comparison with another state-of-the-art control technique with similar computational complexity shows the benefits of our controller, which can eliminate force/torque discontinuities

Cell death in the kidney

Apoptotic cell death is usually a response to the cell’s microenvironment. In the kidney, apoptosis contributes to parenchymal cell loss in the course of acute and chronic renal injury, but does not trigger an inflammatory response. What distinguishes necrosis from apoptosis is the rupture of the plasma membrane, so necrotic cell death is accompanied by the release of unprocessed intracellular content, including cellular organelles, which are highly immunogenic proteins. The relative contribution of apoptosis and necrosis to injury varies, depending on the severity of the insult. Regulated cell death may result from immunologically silent apoptosis or from immunogenic necrosis. Recent advances have enhanced the most revolutionary concept of regulated necrosis. Several modalities of regulated necrosis have been described, such as necroptosis, ferroptosis, pyroptosis, and mitochondrial permeability transition-dependent regulated necrosis. We review the different modalities of apoptosis, necrosis, and regulated necrosis in kidney injury, focusing particularly on evidence implicating cell death in ectopic renal calcification. We also review the evidence for the role of cell death in kidney injury, which may pave the way for new therapeutic opportunities

A device to characterize optical fibres

ATLAS is a general purpose experiment approved for the LHC collider at CERN. An important component of the detector is the central hadronic calorimeter; for its construction more than 600,000 Wave Length Shifting (WLS) fibres (corresponding to a total length of 1,120 Km) have been used. We have built and put into operation a dedicated instrument for the measurement of light yield and attenuation length over groups of 20 fibres at a time. The overall accuracy achieved in the measurement of light yield (attenuation length) is 1.5% (3%). We also report the results obtained using this method in the quality control of a large sample of fibres.Comment: 17 pages 20 figeres submitted to NIM journa