Visual control through narrow passages for an omnidirectional wheeled robot

Robotic systems are gradually replacing human intervention in dangerous facilities to improve human safety and prevent risky situations. In this domain, our work addresses the problem of autonomous crossing narrow passages in a semi-structured (i.e., partially-known) environment. In particular, we focus on the CERN’s Super Proton Synchrotron particle accelerator, where a mobile robot platform is equipped with a lightweight arm to perform measurements, inspection, and maintenance operations. The proposed approach leverages an image-based visual servoing strategy that exploits computer vision to detect and track known geometries defining narrow passage gates. The effectiveness of the proposed approach has been demonstrated in a realistic mock-up

A laser gyroscope system to detect the Gravito-Magnetic effect on Earth

Large scale square ring laser gyros with a length of four meters on each side are approaching a sensitivity of 1x10^-11 rad/s/sqrt(Hz). This is about the regime required to measure the gravitomagnetic effect (Lense Thirring) of the Earth. For an ensemble of linearly independent gyros each measurement signal depends upon the orientation of each single axis gyro with respect to the rotational axis of the Earth. Therefore at least 3 gyros are necessary to reconstruct the complete angular orientation of the apparatus. In general, the setup consists of several laser gyroscopes (we would prefer more than 3 for sufficient redundancy), rigidly referenced to each other. Adding more gyros for one plane of observation provides a cross-check against intra-system biases and furthermore has the advantage of improving the signal to noise ratio by the square root of the number of gyros. In this paper we analyze a system of two pairs of identical gyros (twins) with a slightly different orientation with respect to the Earth axis. The twin gyro configuration has several interesting properties. The relative angle can be controlled and provides a useful null measurement. A quadruple twin system could reach a 1% sensitivity after 3:2 years of data, provided each square ring has 6 m length on a side, the system is shot noise limited and there is no source for 1/f- noise.Comment: 9 pages, 6 figures. 2010 Honourable mention of the Gravity Research Foundation; to be published on J. Mod. Phys.

The GINGER Project and status of the ring-laser of LNGS

A ring-laser attached to the Earth measures the absolute angular velocity of the Earth summed to the relativistic precessions, de Sitter and Lense-Thirring. GINGER (Gyroscopes IN GEneral Relativity) is a project aiming at measuring the LenseThirring effect with a ground based detector; it is based on an array of ring-lasers. Comparing the Earth angular velocity measured by IERS and the measurement done with the GINGER array, the Lense-Thirring effect can be evaluated. Compared to the existing space experiments, GINGER provides a local measurement, not the averaged value and it is unnecessary to model the gravitational field. It is a proposal, but it is not far from being a reality. In fact the GrossRing G of the Geodesy Observatory of Wettzell has a sensitivity very close to the necessary one. G ofWettzell is part of the IERS system which provides the measure of the Length Of the DAY (LOD); G provides information on the fast component of LOD. In the last few years, a roadmap toward GINGER has been outlined. The experiment G-GranSasso, financed by the INFN Commission II, is developing instrumentations and tests along the roadmap of GINGER. In this short paper the main activities of G-GranSasso and some results will be presented. The first results of GINGERino will be reported, GINGERino is the large ring-laser installed inside LNGS and now in the commissioning phase. Ring-lasers provide as well important informations for geophysics, in particular the rotational seismology, which is an emerging field of science. GINGERino is one of the three experiments of common interest between INFN and INGV

A Superconductor Made by a Metal Heterostructure at the Atomic Limit Tuned at the "Shape Resonance": MgB2

We have studied the variation of Tc with charge density and lattice parameters in Mg1-xAlxB2 superconducting samples at low Al doping x<8%. We show that high Tc occurs where the chemical potential is tuned at a "superconducting shape resonance" near the energy Ec of the quantum critical point (QCP) for the dimensional transition from 2D to 3D electronic structure in a particular subband of the natural superlattice of metallic atomic boron layers. At the "shape resonance" the electrons pairs see a 2D Fermi surface at EF-w0 and a 3D Fermi surface at EF+wo, where wo is the energy cut off of the pairing interaction. The resonant amplification occurs in a narrow energy range where EF-Ec is in the range of 2wo.Comment: 16 page

Measuring Gravito-magnetic Effects by Multi Ring-Laser Gyroscope

We propose an under-ground experiment to detect the general relativistic effects due to the curvature of space-time around the Earth (de Sitter effect) and to rotation of the planet (dragging of the inertial frames or Lense-Thirring effect). It is based on the comparison between the IERS value of the Earth rotation vector and corresponding measurements obtained by a tri-axial laser detector of rotation. The proposed detector consists of six large ring-lasers arranged along three orthogonal axes. In about two years of data taking, the 1% sensitivity required for the measurement of the Lense-Thirring drag can be reached with square rings of 6 $m$ side, assuming a shot noise limited sensitivity ($20 prad/s/\sqrt{Hz}$). The multi-gyros system, composed of rings whose planes are perpendicular to one or the other of three orthogonal axes, can be built in several ways. Here, we consider cubic and octahedron structures. The symmetries of the proposed configurations provide mathematical relations that can be used to study the stability of the scale factors, the relative orientations or the ring-laser planes, very important to get rid of systematics in long-term measurements, which are required in order to determine the relativistic effects.Comment: 24 pages, 26 Postscript figure

Measuring gravito-magnetic effects by multi ring-laser gyroscope

We propose an under-ground experiment to detect the general relativistic effects due to the curvature of space-time around the Earth (de Sitter effect) and to the rotation of the planet (dragging of the inertial frames or Lense-Thirring effect). It is based on the comparison between the IERS value of the Earth rotation vector and corresponding measurements obtained by a tri-axial laser detector of rotation. The proposed detector consists of six large ring-lasers arranged along three orthogonal axes. In about two years of data taking, the 1% sensitivity required for the measurement of the Lense-Thirring drag can be reached with square rings of 6 m side, assuming a shot noise limited sensitivity (20prad/s/sqrt(Hz). The multi-gyros system, composed of rings whose planes are perpendicular to one or the other of three orthogonal axes, can be built in several ways. Here, we consider cubic and octahedral structures. It is shown that the symmetries of the proposed configurations provide mathematical relations that can be used to ensure the long term stability of the apparatus

Autologous bone marrow stem cell intralesional transplantation repairing bisphosphonate related osteonecrosis of the jaw

<p>Abstract</p> <p>Purpose</p> <p>Bisphosphonate - related osteonecrosis of the JAW (BRONJ) is a well known side effect of bisphosphonate therapies in oncologic and non oncologic patients. Since to date no definitive consensus has been reached on the treatment of BRONJ, novel strategies for the prevention, risk reduction and treatment need to be developed. We report a 75 year old woman with stage 3 BRONJ secondary to alendronate and pamidronate treatment of osteoporosis. The patient was unresponsive to recommended treatment of the disease, and her BRONJ was worsening. Since bone marrow stem cells are know as being multipotent and exhibit the potential for differentiation into different cells/tissue lineages, including cartilage, bone and other tissue, we performed autologous bone marrow stem cell transplantation into the BRONJ lesion of the patient.</p> <p>Methods</p> <p>Under local anesthesia a volume of 75 ml of bone marrow were harvested from the posterior superior iliac crest by aspiration into heparinized siringes. The cell suspension was concentrated, using Ficoll - Hypaque^®centrifugation procedures, in a final volume of 6 ml. Before the injection of stem cells into the osteonecrosis, the patient underwent surgical toilet, local anesthesia was done and spongostan was applied as a carrier of stem cells suspension in the bone cavity, then 4 ml of stem cells suspension and 1 ml of patient's activated platelet-rich plasma were injected in the lesion of BRONJ.</p> <p>Results</p> <p>A week later the residual spongostan was removed and two weeks later resolution of symptoms was obtained. Then the lesion improved with progressive superficialization of the mucosal layer and CT scan, performed 15 months later, shows improvement also of bone via concentric ossification: so complete healing of BRONJ (stage 0) was obtained in our patient, and 30 months later the patient is well and without signs of BRONJ.</p> <p>Conclusion</p> <p>To our knowledge this is the first case of BRONJ successfully treated with autologous stem cells transplantation with a complete response.</p

The GINGER Project

GINGER (Gyroscopes IN General Relativity) is a project aiming at measuring the Lense-Thirring effect, at 1% level, with an experiment on earth. It is based on an array of ring-lasers, which are the most sensitive inertial sensors to measure the rotation rate of the Earth. The GINGER project is still under discussion; the experiment G-GranSasso is an R&amp;D experiment financed by INFN Group II, it is studying the key points of GINGER and at the same time developing prototypes. In the following the signal coming out of a ring-laser and the present sensitivity are described.The prototypes GP2 and GINGERino and the preliminary results are reported. This project is inter-disciplinary since ring-lasers provide informations for the fast variation of the earth rotation rate, they are used for the rotational seismology and for top sensitivity angle metrology