Determination of gold in alloys via potentiometric titration; an alternative to the fire assay

In this paper we report the results of a deep investigation of gold title in jewellery alloys by means of potentiometric titration. After reviewing the suitable reactions for such purpose we focused on the most profitable one, which involves the use of hexadecylpyridinium chloride (CPC). This cation gives rise to selective and quantitative precipitation of AuCl4 −. We completely revised a method previously proposed by W.S. Selig in the 80's, by improving the sampling preparation and by optimizing the titration steps. Then, the new proposed method was tested on a large number of different alloys, commonly used for goldsmithery purposes. The obtained gold titles were compared with the data achieved by fire assay, giving rise to a very good agreement. At the light of these results, the present method can be rightfully considered a cheaper and "greener" alternative to the traditional one

Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment

This paper presents a three-layered architecture that enables stylistic locomotion with online contact location adjustment. Our method combines an autoregressive Deep Neural Network (DNN) acting as a trajectory generation layer with a model-based trajectory adjustment and trajectory control layers. The DNN produces centroidal and postural references serving as an initial guess and regularizer for the other layers. Being the DNN trained on human motion capture data, the resulting robot motion exhibits locomotion patterns, resembling a human walking style. The trajectory adjustment layer utilizes non-linear optimization to ensure dynamically feasible center of mass (CoM) motion while addressing step adjustments. We compare two implementations of the trajectory adjustment layer: one as a receding horizon planner (RHP) and the other as a model predictive controller (MPC). To enhance MPC performance, we introduce a Kalman filter to reduce measurement noise. The filter parameters are automatically tuned with a Genetic Algorithm. Experimental results on the ergoCub humanoid robot demonstrate the system's ability to prevent falls, replicate human walking styles, and withstand disturbances up to 68 Newton. Website: https://sites.google.com/view/dnn-mpc-walking Youtube video: https://www.youtube.com/watch?v=x3tzEfxO-x

Genome sequences of three SARS-CoV-2 P.1 strains identified from patients returning from Brazil to Italy

Severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) is the causative agent of the current coronavirus disease 2019 (COVID-19) pandemic. We report the complete sequences of three SARS-CoV-2 P.1 strains obtained from nasopharyngeal swab specimens from three patients returning from Brazil to Italy

Comparison of seven prognostic tools to identify low-risk pulmonary embolism in patients aged <50 years

publishersversionPeer reviewe

Association Between Preexisting Versus Newly Identified Atrial Fibrillation and Outcomes of Patients With Acute Pulmonary Embolism

Background Atrial fibrillation (AF) may exist before or occur early in the course of pulmonary embolism (PE). We determined the PE outcomes based on the presence and timing of AF. Methods and Results Using the data from a multicenter PE registry, we identified 3 groups: (1) those with preexisting AF, (2) patients with new AF within 2 days from acute PE (incident AF), and (3) patients without AF. We assessed the 90-day and 1-year risk of mortality and stroke in patients with AF, compared with those without AF (reference group). Among 16 497 patients with PE, 792 had preexisting AF. These patients had increased odds of 90-day all-cause (odds ratio [OR], 2.81; 95% CI, 2.33-3.38) and PE-related mortality (OR, 2.38; 95% CI, 1.37-4.14) and increased 1-year hazard for ischemic stroke (hazard ratio, 5.48; 95% CI, 3.10-9.69) compared with those without AF. After multivariable adjustment, preexisting AF was associated with significantly increased odds of all-cause mortality (OR, 1.91; 95% CI, 1.57-2.32) but not PE-related mortality (OR, 1.50; 95% CI, 0.85-2.66). Among 16 497 patients with PE, 445 developed new incident AF within 2 days of acute PE. Incident AF was associated with increased odds of 90-day all-cause (OR, 2.28; 95% CI, 1.75-2.97) and PE-related (OR, 3.64; 95% CI, 2.01-6.59) mortality but not stroke. Findings were similar in multivariable analyses. Conclusions In patients with acute symptomatic PE, both preexisting AF and incident AF predict adverse clinical outcomes. The type of adverse outcomes may differ depending on the timing of AF onset.info:eu-repo/semantics/publishedVersio

A new application of the Extended Kalman filter to the estimation of roll angles of a motorcycle with Inertial Measurement Unit

The capability of providing a real–time reliable measure of the actual roll angle is of great importance for the racing motorcycle dynamics. This study presents a method based on an Extended Kalman Filter (EKF) for the estimation of the actual roll angle of a motorcycle equipped with an Inertial Measurement Unit (IMU), with the advantage of not needing the development and implementation of a complete motorcycle model. Measured data which, depending on the additional instrumentation available on the motorcycle, do not form a complete set of input data for the estimation algorithm, induce the introduction of approximations affecting the accuracy of the results. A thorough error analysis is carried out by means of numerical simulations along with experimental validations. As a result, a novel approximate form for the kinematical model of the IMU is developed, yielding an overall good accuracy in the roll angle estimates

Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization

In this paper we consider the problem of allowing a humanoid robot that is subject to a persistent disturbance, in the form of a payload-carrying task, to follow given planned footsteps. To solve this problem, we combine an online nonlinear centroidal Model Predictive Controller - MPC with a contact stable force parametrization. The cost function of the MPC is augmented with terms handling the disturbance and regularizing the parameter. The performance of the resulting controller is validated both in simulations and on the humanoid robot iCub. Finally, the effect of using the parametrization on the computational time of the controller is briefly studied

Early changes in prodynorphin mRNA and ir-dynorphin A levels after kindled seizures in the rat.

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Whole-Body Geometric Retargeting for Humanoid Robots

Humanoid robot teleoperation allows humans to integrate their cognitive capabilities with the apparatus to perform tasks that need high strength, manoeuvrability and dexterity. This paper presents a framework for teleoperation of humanoid robots using a novel approach for motion retargeting through inverse kinematics over the robot model. The proposed method enhances scalability for retargeting, i.e., it allows teleoperating different robots by different human users with minimal changes to the proposed system. Our framework enables an intuitive and natural interaction between the human operator and the humanoid robot at the configuration space level. We validate our approach by demonstrating whole-body retargeting with multiple robot models. Furthermore, we present experimental validation through teleoperation experiments using two state-of-the-art whole-body controllers for humanoid robots.Comment: Equal author contribution from Kourosh Darvish and Yeshasvi Tirupachur