Kineto-dynamic modeling of human upper limb for robotic manipulators and assistive applications

The sensory-motor architecture of human upper limb and hand is characterized by a complex inter-relation of multiple elements, such as ligaments, muscles, and joints. Nonetheless, humans are able to generate coordinated and meaningful motor actions to interact-and eventually explore-the external environment. Such a complexity reduction is usually studied within the framework of synergistic control, whose focus has been mostly limited on human grasping and manipulation. Little attention has been devoted to the spatio-temporal characterization of human upper limb kinematic strategies and how the purposeful exploitation of the environmental constraints shapes human execution of manipulative actions. In this chapter, we report results on the evidence of a synergistic control of human upper limb and during manipulation with the environment. We propose functional analysis to characterize main spatio-temporal coordinated patterns of arm joints. Furthermore, we study how the environment influences human grasping synergies. The effect of cutaneous impairment is also evaluated. Applications to the design and control of robotic and assistive devices are finally discussed

Modeling Human Motor Skills to Enhance Robots’ Physical Interaction

The need for users’ safety and technology acceptability has incredibly increased with the deployment of co-bots physically interacting with humans in industrial settings, and for people assistance. A well-studied approach to meet these requirements is to ensure human-like robot motions and interactions. In this manuscript, we present a research approach that moves from the understanding of human movements and derives usefull guidelines for the planning of arm movements and the learning of skills for physical interaction of robots with the surrounding environment

A technical framework for human-like motion generation with autonomous anthropomorphic redundant manipulators

The need for users' safety and technology accept-ability has incredibly increased with the deployment of co-bots physically interacting with humans in industrial settings, and for people assistance. A well-studied approach to meet these requirements is to ensure human-like robot motions. Classic solutions for anthropomorphic movement generation usually rely on optimization procedures, which build upon hypotheses devised from neuroscientific literature, or capitalize on learning methods. However, these approaches come with limitations, e.g. limited motion variability or the need for high dimensional datasets. In this work, we present a technique to directly embed human upper limb principal motion modes computed through functional analysis in the robot trajectory optimization. We report on the implementation with manipulators with redundant anthropomorphic kinematic architectures - although dissimilar with respect to the human model used for functional mode extraction - via Cartesian impedance control. In our experiments, we show how human trajectories mapped onto a robotic manipulator still exhibit the main characteristics of human-likeness, e.g. low jerk values. We discuss the results with respect to the state of the art, and their implications for advanced human-robot interaction in industrial co-botics and for human assistance

Infectious transfer of a fertility factor in Streptomyces coelicolor

SUMMARYInitial Fertility (IF) strains ofStreptomyces coelicolorare able to convert recipient strains (UF) to the IF condition by contact, without concomitant transfer of chromosomal markers. The conversion is prevented by the presence of acridine orange in the medium of the mixed culture. Acridine orange is also moderately effective in inducing the formation of UF variants from IF-treated strains. No effect of the drug is observed on UF variant formation from Normal Fertility (NF) strains nor on the behaviour of the fertility factor in NF × UF mixed cultures. The hypothesis is put forward that the fertility factor works as an episome inS. coelicolor, fixed to the chromosome in the NF strains, free in the IF strains and missing in the UF strains

Discovery of a Hard X-Ray Source, SAX J0635+0533, in the Error Box of the Gamma-Ray Source 2EG 0635+0521

We have discovered an x-ray source, SAX J0635+0533, with a hard spectrum within the error box of the GeV gamma-ray source in Monoceros, 2EG J0635+0521. The unabsorbed x-ray flux is 1.2*10^-11 erg cm^-2 s^-1 in the 2-10 keV band. The x-ray spectrum is consistent with a simple powerlaw model with absorption. The photon index is 1.50 +/- 0.08 and we detect emission out to 40 keV. Optical observations identify a counterpart with a V-magnitude of 12.8. The counterpart has broad emission lines and the colors of an early B type star. If the identification of the x-ray/optical source with the gamma-ray source is correct, then the source would be a gamma-ray emitting x-ray binary.Comment: Accepted to the Astrophysical Journal, 8 page

INVERSE RELATIONSHIP BETWEEN AORTIC ROOT DIAMETER AND RENAL FUNCTION IN HYPERTENSIVE SUBJECTS

Recent studies suggest that enlarged aortic root diameter (ARD) may predict cardiovascular events in absence of aneurysmatic alterations. Little is known about the influence of renal function on ARD. Our study was aimed to assess the relationships between glomerular filtration rate (GFR) and ARD in hypertensive subjects

Isolation and Characterization of Oil-Degrading Bacteria from Bilge Water

Twenty-one oil-degrading bacteria were isolated from bilge water. Based on a high growth rate on crude oil and on hydrocarbon degradation ability, 7 strains were selected (from 21 isolated) for further studies. 16S rRNA gene sequencing showed that isolated strains were affiliated to Bacillus, Pseudomonas and Halomonas genera; in particular, isolate BW-B12 (Bacillus sp., 99%), BW-C12 (Halomonas boliviensis, 99%) and BW-E12 (Halomonas boliviensis, 98%) were the best crude-oil degraders; after 10 days of cultivation in ONR 7a mineral medium supplemented with crude oil as single carbon source BW-B12, BW-C12 and BW-E12 showed a degradation rate of 80, 60 and 59%, respectively. The strains showed also a high emulsification activity and biosurfactants production. Obtained results give an important contribution in order to utilize these bilge water autochthonous microorganisms in processes of bioremediation of marine environment chronically polluted from saline oily wast

Relationship between albumin excretion rate and aortic stiffness in untreated essential hypertensive patients

OBJECTIVES: To evaluate, in a group of nondiabetic essential hypertensive patients with normal renal function, the relationship between albumin excretion rate (AER) and carotid-femoral pulse wave velocity (PWV), as an index of aortic stiffness. DESIGN: Cross-sectional study. SETTING: Outpatient hypertension clinic. SUBJECTS: Seventy patients with mild-to-moderate essential hypertension, aged 42 +/- 8 years, never pharmacologically treated. All subjects underwent routine laboratory tests, 24-h ambulatory blood pressure (BP) monitoring, measurement of carotid-femoral PWV, by means of a computerized method, and AER. RESULTS: Microalbuminuric patients (AER > or = 20 microg min(-1); n = 19), when compared with normoalbuminuric subjects, showed more elevated 24-h BP (136/88 +/- 10/10 vs. 128/83 +/- 7/6 mmHg; P < 0.001 and P = 0.013, for systolic and diastolic BP respectively) and higher values of carotid-femoral PWV (10.4 +/- 2 m s(-1) vs. 9.2 +/- 1.3; P = 0.006). This latter difference remained statistically significant, even after correction by ancova for 24-h systolic and diastolic BP, and body mass index (BMI, P = 0.016). Univariate regression analysis disclosed a tight correlation between AER and carotid-femoral PWV (r = 0.42; P = 0.0003). This association was confirmed in a multiple regression model (beta = 0.35; P = 0.009) in which, as independent variables, besides PWV, 24-h BP, age, serum glucose values, smoking status, gender and BMI, were added. CONCLUSIONS: Our results seem to confirm that microalbuminuria may represent the early renal manifestation of a widespread vascular dysfunction, and therefore it is an integrated marker of cardiovascular risk

Quality controls for cell cultures: identification of interspecies cross-contamination by PCR-RFLP analysis of the cytochrome b gene

Cross-contaminations of a cell line with cells of different species represent a potential risk in laboratories handling human and animal cells. Therefore, it is necessary to control such contaminations. Tests based on mitochondrial DNA (mtDNA) are used in forensic analysis, phylogenetic studies and in food authentication. However, the use of mtDNA in quality controls of cell cultures is recent. Mitochondrial sequence differences of closely related animal species are five- to tenfold higher than those of nuclear genes. On the contrary, intraspecies variation in mitochondrial sequences is low in most animal species. Moreover, each cell contains 100–10.000 mitochondrial genomes. The amount of mtDNA is greater than nuclear DNA, so that mtDNA can be analyzed also from small or partially degraded samples. In the present study, a method based on a PCR-Restriction Fragment Length Polymorphism (RFLP) analysis of the mitochondrial cytochrome b gene was used (2). This gene has some stable sequences which are recognized from universal primers and some variable sequences used for animal species identification by PCR-RFLP method