TESS. La banca dati on-line dei rivestimenti a mosaico

A project undertaken by the University of Padua has developed the new database system TESS for mosaics. This database system meets the national standards required by the Istituto Centrale per il Catalogo e la Documentazione – ICCD. The database is available on-line thanks to the project «Cultural heritage in the Adriatic area: knowledge, preservation and enhancement», co-financed by the Community Initiative INTERREG III A – Adriatic Cross Border Programme. In detail, the database TESS includes informative files regarding Building and Rooms, Location, relevant Bibliography and Mosaic Pavement. Each file contains plans, designs and photographs. Furthermore, all the fields have a list of univocal and exhaustive terms in the Italian language. The mosaics database aims to provide a key working tool for the identification of the origins of iconographic themes, their geographic distribution and the development of local fashions which vary according to the context. The software was developed on a FileMaker client/server environment to achieve these key goals: multiplatform availability (Windows/Macintosh), multiuser capability and remote connectivity. Making wide use of the latest tools included in FileMaker 8, the development group created a smart and complete GUI to access the complex data structure, and at the same time implemented a stringent control of user privileges by setting data-related group policies. The result is a powerful middleware application that allows data entry, analysis and publication to geographically distributed operators and will provide data consultation to other users through normal web browsers

Force-based Pose Regulation of a Cable-Suspended Load Using UAVs with Force Bias

International audienceThis work studies how force measurement/estimation biases affect the force-based cooperative manipulation of a beam-like load suspended with cables by two aerial robots. Indeed, force biases are especially relevant in a force-based manipulation scenario in which direct communication is not relied upon. First, we compute the equilibrium configurations of the system. Then, we show that inducing an internal force in the load augments the robustness of the load attitude error and its sensitivity to force-bias variations. Eventually, we propose a method for zeroing the load position error. The results are validated through numerical simulations and experiments

Takeoff and landing on slopes via inclined hovering with a tethered aerial robot

In this paper we face the challenging problem of takeoff and landing on sloped surfaces for a VTOL aerial vehicle. We define the general conditions for a safe and robust maneuver and we analyze and compare two classes of methods to fulfill these conditions: free-flight vs. passivelytethered. Focusing on the less studied tethered method, we show its advantages w.r.t. the free-flight method thanks to the possibility of inclined hovering equilibria. We prove that the tether configuration and the inclination of the aerial vehicle w.r.t. the slope are flat outputs of the system and we design a hierarchical nonlinear controller based on this property. We then show how this controller can be used to land and takeoff in a robust way without the need of either a planner or a perfect tracking. The validity and applicability of the method in the real world is shown by experiments with a quadrotor that is able to perform a safe landing and takeoff on a sloped surface

Direct Force Feedback Control and Online Multi-Task Optimization for Aerial Manipulators

In this letter we present an optimization-based method for controlling aerial manipulators in physical contact with the environment. The multi-task control problem, which includes hybrid force-motion tasks, energetic tasks, and position/postural tasks, is recast as a quadratic programming problem with equality and inequality constraints, which is solved online. Thanks to this method, the aerial platform can be exploited at its best to perform the multi-objective tasks, with tunable priorities, while hard constraints such as contact maintenance, friction cones, joint limits, maximum and minimum propeller speeds are all respected. An on-board force/torque sensor mounted at the end effector is used in the feedback loop in order to cope with model inaccuracies and reject external disturbances. Real experiments with a multi-rotor platform and a multi-DoF lightweight manipulator demonstrate the applicability and effectiveness of the proposed approach in the real world

The three-body recombination of a condensed Bose gas near a Feshbach resonance

In this paper, we study the three-body recombination rate of a homogeneous dilute Bose gas with a Feshbach resonance at zero temperature. The ground state and excitations of this system are obtained. The three-body recombination in the ground state is due to the break-up of an atom pair in the quantum depletion and the formation of a molecule by an atom from the broken pair and an atom from the condensate. The rate of this process is in good agreement with the experiment on $^{23}$Na in a wide range of magnetic fields.Comment: 10 pages, 2 figures, to be published in Phys. Rev.

Past, Present, and Future of Aerial Robotic Manipulators

This article analyzes the evolution and current trends in aerial robotic manipulation, comprising helicopters, conventional underactuated multirotors, and multidirectional thrust platforms equipped with a wide variety of robotic manipulators capable of physically interacting with the environment. It also covers cooperative aerial manipulation and interconnected actuated multibody designs. The review is completed with developments in teleoperation, perception, and planning. Finally, a new generation of aerial robotic manipulators is presented with our vision of the future

Design of multirotor aerial vehicles: A taxonomy based on input allocation

This paper reviews the effect of multirotor aerial vehicle designs on their abilities in terms of tasks and system properties. We propose a general taxonomy to characterize and describe multirotor aerial vehicles and their designs, which we apply exhaustively on the vast literature available. Thanks to the systematic characterization of the designs, we exhibit groups of designs having the same abilities in terms of achievable tasks and system properties. In particular, we organize the literature review based on the number of atomic actuation units and we discuss global properties arising from their choice and spatial distribution in the mechanical designs. Finally, we provide a discussion on the common traits of the designs found in the literature and the main open and future problems

Investigation of the prevalence of antibodies against neurotropic polyomaviruses BK, JC and SV40 in sera from patients affected by multiple sclerosis.

Viral agents seem to be linked to multiple sclerosis (MS). This association is based on evidence of (1) early exposure to viruses and MS onset; (2) increased prevalence of MS disease in specific geographic regions; (3) likelihood of developing MS being more prevalent in high-risk areas; (4) altered immune responses to different viruses. In this study, sera from patients affected by MS and controls, represented by sera from patients with other neurologic diseases, both inflammatory and non-inflammatory, and from healthy donors, were investigated for the presence of antibodies against neurotropic polyomaviruses BKV, JCV and SV40 in their sera. Our study has indicated that the prevalence of BKV antibodies in sera from MS patients is higher than that detected in normal individuals, while levels of antibodies against BKV and JCV are lower in MS patients compared to those of normal subjects