A model-based residual approach for human-robot collaboration during manual polishing operations

A fully robotized polishing of metallic surfaces may be insufficient in case of parts with complex geometric shapes, where a manual intervention is still preferable. Within the EU SYMPLEXITY project, we are considering tasks where manual polishing operations are performed in strict physical Human-Robot Collaboration (HRC) between a robot holding the part and a human operator equipped with an abrasive tool. During the polishing task, the robot should firmly keep the workpiece in a prescribed sequence of poses, by monitoring and resisting to the external forces applied by the operator. However, the user may also wish to change the orientation of the part mounted on the robot, simply by pushing or pulling the robot body and changing thus its configuration. We propose a control algorithm that is able to distinguish the external torques acting at the robot joints in two components, one due to the polishing forces being applied at the end-effector level, the other due to the intentional physical interaction engaged by the human. The latter component is used to reconfigure the manipulator arm and, accordingly, its end-effector orientation. The workpiece position is kept instead fixed, by exploiting the intrinsic redundancy of this subtask. The controller uses a F/T sensor mounted at the robot wrist, together with our recently developed model-based technique (the residual method) that is able to estimate online the joint torques due to contact forces/torques applied at any place along the robot structure. In order to obtain a reliable residual, which is necessary to implement the control algorithm, an accurate robot dynamic model (including also friction effects at the joints and drive gains) needs to be identified first. The complete dynamic identification and the proposed control method for the human-robot collaborative polishing task are illustrated on a 6R UR10 lightweight manipulator mounting an ATI 6D sensor

Outline analysis for identifying Limodorum species from seeds

Limodorum trabutianum Batt. is an orchid species of the Italian flora, with a central-western stenomediterranean distribution, that is sporadic in the western part of the distribution area of the more common L. abortivum (L.) Sw., an eurimediterranean species. It occurs in Italy only with a few populations in Tuscany, Latium, Umbria, Sicily and Sardinia [1], often with L. abortivum [2], [3], [4] from which it is easily recognizable only during anthesis for the denser inflorescence spike, the ribbon-like lip without differentiation in epychile and hypochile, and for the spur that is very short or absent [5]. On the contrary, the identification of these two taxa during the fruiting phase is rather difficult or even impossible. The aim of this study is to verify the taxonomic value of Limodorum seeds, particularly of their shape, as highlighted from recent studies for other orchids [6], [7], in order to establish its usefulness for recognizing the two species. We have identified 5 Italian populations of the two taxa: 2 populations of L. trabutianum, one within the Marturanum Regional Park (Barbarano Romano, Viterbo), the other near Cortona (Arezzo), and 3 populations of L. abortivum, near S. Martino al Cimino (Viterbo), in the M. Casoli Reserve (Bomarzo, Viterbo), and in the same site of L. trabutianum within the Marturanum Park. The phenology of these populations was monitored to collect mature seeds from naturally dehiscing capsules. The intra- and interspecific variability of seed shapes was analyzed with the methodology of Elliptic Fourier descriptors [8], which allows to describe in terms of harmonics each two-dimensional shape with a closed outline. For this outline analysis we used the software package SHAPE 1.3 [9]. An average of 100 seeds from each species and from each site was photographed with a NIKON Coolpix 5000 camera mounted on a LEITZ-ARISTOPLAN microscope, obtaining 500 digital images with a resolution of 300 dpi and a size of 800 x 1000 pixels. All images were prepared using Adobe Photoshop 7.0: as a first step, every foreign element was eliminated from the picture, thereby isolating the single seed, then its contrast with the background was maximized, and finally all images were saved in .bps format (24bit). The color images were converted to binary with Chain Coder before tracing the outlines in Chain-code, a coding system that describes the geometrical information of the shapes. Then the Chain-code file was transformed into a Normalized Elliptic Fourier file using Chc2Nef using 20 harmonics. The matrix of the harmonic coefficients underwent a process of data normalization based on the first harmonic, to transform the data into shape variables. Subsequently, a PCA was performed on the variancecovariance matrix of normalized coefficients using PrinComp, which gives a graphical output of the principal components (average shape ± standard deviations). The first results of the outline analysis confirm a low intraspecific variability of seed shape, but show a very high interspecific variability: L. abortivum seeds are very elongated, from fusiform to filiform, while L. trabutianum seeds are much wider and have a very lower length/ width ratio. These results allow to distinguish between these two species even during the fruiting phase, simply using seed shape as a diagnostic character, avoiding the use of traditional morphometric analysis which need microscopic measurements

Origin of neutron capture elements with the Gaia-ESO survey: the evolution of s- and r-process elements across the Milky Way

We study the abundance patterns and the radial gradients of s-process elements (Y, Zr, Ba, La and Ce), r-process elements (Eu) and mixed-process elements (Mo, Nd and Pr) in the Galactic thin disc by means of a detailed two-infall chemical evolution model for the Milky Way with state-of-the-art nucleosynthesis prescriptions. We consider r-process nucleosynthesis from merging neutron stars (MNS), magneto-rotational supernovae (MR-SNe) and s-process synthesis from low- and intermediate- mass stars (LIMS) and rotating massive stars. The predictions of our model are compared with data from the sixth data release of the Gaia-ESO survey, from which we consider 62 open clusters with age > 0.1 Gyr and 1300 Milky Way disc field stars. We conclude that: i) the [Eu/Fe] vs. [Fe/H] is reproduced by both a prompt and a delayed source, but the quick source completely dominates the Eu production; ii) rotation in massive stars contribute substantially to the s-process elements of the first peak, but MNS and MR-SNe are necessary in order to reproduce the observations; iii) due to the adopted yields, our model overpredicts Pr and underpredicts Nd, while the [Mo/Fe] vs. [Fe/H] is nicely reproduced. For the radial gradients, we conclude that: i) our predicted slope of the [Fe/H] gradient is in agreement with the one observed in open clusters by Gaia-ESO and other high-resolution spectroscopic surveys. ii) The predicted slope of the [Eu/H] radial gradient is steeper than the observed one, independently on how quick the production of Eu is. We discuss the possible causes of this discrepancy in terms of both different Galaxy formation scenarios and stellar radial migration effects. iii) For all the elements belonging to the second s-process peak (Ba, La, Ce) as well as for Pr, we predict a plateau at low Galactocentric distances, which is probably due to the enhanced enrichment from LIMS in the inner regions.Comment: 17 pages, 11 figures. Submitted to MNRA

Early results of PRO-EPI: PROspective multicenter observational study on elective pelvic nodes irradiation in patients with intermediate/high/very high-risk non-metastatic prostate cancer submitted to radical, adjuvant, or salvage radiotherapy with or without concomitant androgen deprivation therapy

Simple Summary: Although radiotherapy plays a fundamental role in the management of intermediate/high/very high-risk non-metastatic prostatic cancer (IHR-nmPca), there is still no consensus on the optimal treatment strategy in this setting. Remarkably, the role of elective nodal irradiation (ENI) is still highly controversial. The PROspective multicenter observational study on Elective Pelvic nodes Irradiation (PRO-EPI) was designed to provide "real life" data regarding the patterns of care for IHR-nmPca.Forty-three Italian Radiation Oncology centers participated in the PROspective multicenter observational study on Elective Pelvic nodes Irradiation (PRO-EPI) project, with 1029 patients enrolled. In this preliminary analysis, we longitudinally evaluated the impact of Elective Nodal Irradiation (ENI) and radiotherapy features on toxicity and quality of life (QoL). Six months follow-up data were available for 913 patients and 12 months data for 762 patients. Elective Nodal Irradiation was given to 506 patients (48.9%). Volumetric Intensity-Modulated Radiation Therapy (IMRT) was adopted in more than 77% of patients and Image-Guided Radiation Therapy (IGRT) in 84.4%. Androgen deprivation therapy (ADT) was administered to the majority of patients (68.3%), and it was associated to ENI in 408 cases (81.1%). Toxicity was mostly mild and reversible and IGRT resulted in a significant reduction of rectal toxicity, although a non-significant trend toward increased urinary toxicity was observed. No statistically significant differences in QoL and toxicity were seen in patients treated with or without ENI. The adoption of IGRT is widespread and increasing and could reduce treatment toxicity. ENI is not yet the standard treatment, but it is performed in a growing fraction of cases and not resulting into an increase in toxicity or in a deterioration of QoL. Further analyses are needed to clarify the long-term toxicity profile and the impact of ENI on survival

May-Hegglin Anomaly, Sebastian Syndrome, Fechtner Syndrome, and Epstein Syndrome Are not Distinct Entities but Represent a Variable Expression of a Single Illness

May-Hegglin anomaly, Sebastian syndrome, Fechtner syndrome, and Epstein syndrome are autosomal dominant macrothrombocytopenias distinguished by different combinations of clinical and laboratory signs, such as sensorineural hearing loss, cataract, nephritis, and polymorphonuclear Döhle-like bodies. Mutations in the MYH9 gene encoding for the nonmuscle myosin heavy chain IIA (NMMHC-IIA) have been identified in all these syndromes. To understand the role of the MYH9 mutations, we report the molecular defects in 12 new cases, which together with our previous works represent a cohort of 19 families. Since no genotype-phenotype correlation was established, we performed an accurate clinical and biochemical re-evaluation of patients. In addition to macrothrombocytopenia, an abnormal distribution of NMMHC-IIA within leukocytes was observed in all individuals, including those without Döhle-like bodies. Selective, high-tone hearing deficiency and cataract was diagnosed in 83% and 23%, respectively, of patients initially referred as having May-Hegglin anomaly or Sebastian syndrome. Kidney abnormalities, such as hematuria and proteinuria, affected not only patients referred as Fechtner syndrome and Epstein syndrome but also those referred as May-Hegglin anomaly and Sebastian syndrome. These findings allowed us to conclude that May-Hegglin anomaly, Sebastian syndrome, Fechtner syndrome, and Epstein syndrome are not distinct entities but rather a single disorder with a continuous clinical spectrum varying from mild macrothrombocytopenia with leukocyte inclusions to a severe form complicated by hearing loss, cataracts, and renal failure. For this new nosologic entity, we propose the term "MHY9-related disease," which better interprets the recent knowledge in this field and identifies all patients at risk of developing renal, hearing, or visual defects

Notulae to the Italian alien vascular flora 6

In this contribution, new data concerning the distribution of vascular flora alien to Italy are presented. It includes new records, confirmations, exclusions, and status changes for Italy or for Italian administrative regions of taxa in the genera Acalypha, Acer, Canna, Cardamine, Cedrus, Chlorophytum, Citrus, Cyperus, Epilobium, Eucalyptus, Euphorbia, Gamochaeta, Hesperocyparis, Heteranthera, Lemna, Ligustrum, Lycium, Nassella, Nothoscordum, Oenothera, Osteospermum, Paspalum, Pontederia, Romulea, Rudbeckia, Salvia, Sesbania, Setaria, Sicyos, Styphnolobium, Symphyotrichum, and Tradescantia. Nomenclature and distribution updates, published elsewhere, and corrigenda are provided as supplementary material

Notulae to the Italian alien vascular flora: 12

In this contribution, new data concerning the distribution of vascular flora alien to Italy are presented. It includes new records, confirmations, exclusions, and status changes for Italy or for Italian administrative regions. Nomenclatural and distribution updates published elsewhere are provided as Suppl. material 1

Notulae to the Italian alien vascular flora: 11

In this contribution, new data concerning the distribution of vascular flora alien to Italy are presented. It includes new records, confirmations, exclusions, and status changes for Italy or for Italian administrative regions. Nomenclatural and distribution updates published elsewhere are provided as Suppl. material 1

Disease-specific and general health-related quality of life in newly diagnosed prostate cancer patients: The Pros-IT CNR study

Background: The National Research Council (CNR) prostate cancer monitoring project in Italy (Pros-IT CNR) is an observational, prospective, ongoing, multicentre study aiming to monitor a sample of Italian males diagnosed as new cases of prostate cancer. The present study aims to present data on the quality of life at time prostate cancer is diagnosed. Methods: One thousand seven hundred five patients were enrolled. Quality of life is evaluated at the time cancer was diagnosed and at subsequent assessments via the Italian version of the University of California Los Angeles-Prostate Cancer Index (UCLA-PCI) and the Short Form Health Survey (SF-12). Results: At diagnosis, lower scores on the physical component of the SF-12 were associated to older ages, obesity and the presence of 3+ moderate/severe comorbidities. Lower scores on the mental component were associated to younger ages, the presence of 3+ moderate/severe comorbidities and a T-score higher than one. Urinary and bowel functions according to UCLA-PCI were generally good. Almost 5% of the sample reported using at least one safety pad daily to control urinary loss; less than 3% reported moderate/severe problems attributable to bowel functions, and sexual function was a moderate/severe problem for 26.7%. Diabetes, 3+ moderate/severe comorbidities, T2 or T3-T4 categories and a Gleason score of eight or more were significantly associated with lower sexual function scores at diagnosis. Conclusions: Data collected by the Pros-IT CNR study have clarified the baseline status of newly diagnosed prostate cancer patients. A comprehensive assessment of quality of life will allow to objectively evaluate outcomes of different profile of care