Null-Space Minimization of Center of Gravity Displacementof a Redundant Aerial Manipulator

Displacements of the base during trajectory tracking are a common issue in the control of aerial manipulators. These are caused by reaction torques transferred to the base due to the manipulator motion and, in particular, to the motion of its center of gravity. We present a novel approach to reduce base displacements of a kinematically redundant aerial manipulator by using null-space projection in the inverse kinematic control. A secondary objective function minimizes the horizontal displacement of the manipulator center of gravity. We test this algorithm on different trajectories for both three and four degrees of freedom (DOF) manipulators in a simulation environment. The results comparing our algorithm with inverse kinematic control without the null-space projection show up to an 80% reduction in the end-effector position error and an average of about 56% reduction in maximum base displacement. The simulation implementation also runs faster than in real-time in our code implementation. We provide a workspace analysis based on multiple stopping criteria such as excessive base displacement, joint velocities and end-effector position error for the 3 and 4 DOF manipulators. As expected, the 4 DOF manipulator has a larger workspace

Preparation of bio-functional textiles by surface functionalization of cellulose fabrics with caffeine loaded nanoparticles

In recent years transdermal drug delivery has aroused significant interest as a sustained and non-invasive way of administering active substances. The development of nanotechnology allowed the development of novel pharmaceutical formulations overcoming skin barrier. Furthermore, such nano-system can be combined with conventional fabrics to pave the way to a new generation of wearable drug delivery devices: bio-functional garments. First the NP were produced by flash nanoprecipitation technique (FNP), the production process was optimized to produce particles with suitable size for transdermal applications. The nanoparticles were characterized in terms of drug content by UV-visible spectroscopy and in terms of antioxidant activity by Electron Paramagnetic Resonance spectroscopy (EPR) coupled with spin trapping technique. The NPs were used to functionalize cotton and viscose-micromodal fabrics and the transdermal release properties were tested in vitro by Franz’s Cell experiment. FNP was proven to be an effective technique to produce tunable size particles. Moreover, the nanoencapsulated drug exhibited antioxidant activity. The release test evidenced a controlled release behavior effect providing evidence that the bio-functional textile is suitable for applications where sustained release and antioxidant properties are required

Women and Alport syndrome

X-linked Alport syndrome (XLAS) is caused by mutations in type IV collagen causing sensorineural hearing loss, eye abnormalities, and progressive kidney dysfunction that results in near universal end-stage renal disease (ESRD) and the need for kidney transplantation in affected males. Until recent decades, the disease burden in heterozygous “carrier” females was largely minimized or ignored. Heterozygous females have widely variable disease outcomes, with some affected females exhibiting normal urinalysis and kidney function, while others develop ESRD and deafness. While the determinants of disease severity in females with XLAS are uncertain, skewing of X-chromosome inactivation has recently been found to play a role. This review will explore the natural history of heterozygous XLAS females, the determinants of disease severity, and the utility of using XLAS females as kidney donors

Manufacture Techniques of Chitosan-Based Microcapsules to Enhance Functional Properties of Textiles

In recent years, the textile industry has been moving to novel concepts of products, which could deliver to the user, improved performances. Such smart textiles have been proven to have the potential to integrate within a commodity garment advanced feature and functional properties of different kinds. Among those functionalities, considerable interest has been played in functionalizing commodity garments in order to make them positively interact with the human body and therefore being beneficial to the user health. This kind of functionalization generally exploits biopolymers, a class of materials that possess peculiar properties such as biocompatibility and biodegradability that make them suitable for bio-functional textile production. In the context of biopolymer chitosan has been proved to be an excellent potential candidate for this kind of application given its abundant availability and its chemical properties that it positively interacts with biological tissue. Notwithstanding the high potential of chitosan-based technologies in the textile sectors, several issues limit the large-scale production of such innovative garments. In facts the morphologies of chitosan structures should be optimized in order to make them better exploit the biological activity; moreover a suitable process for the application of chitosan structures to the textile must be designed. The application process should indeed not only allow an effective and durable fixation of chitosan to textile but also comply with environmental rules concerning pollution emission and utilization of harmful substances. This chapter reviews the use of microencapsulation technique as an approach to effectively apply chitosan to the textile material while overcoming the significant limitations of finishing processes. The assembly of chitosan macromolecules into microcapsules was proved to boost the biological properties of the polymer thanks to a considerable increase in the surface area available for interactions with the living tissues. Moreover, the incorporation of different active substances into chitosan shells allows the design of multifunctional materials that effectively combine core and shell properties. Based on the kind of substances to be incorporated, several encapsulation processes have been developed. The literature evidences how the proper choices concerning encapsulation technology, chemical formulations, and process parameter allow tuning the properties and the performances of the obtained microcapsules. Furthermore, the microcapsules based finishing process have been reviewed evidencing how the microcapsules morphology can positively interact with textile substrate allowing an improvement in the durability of the treatment. The application of the chitosan shelled microcapsules was proved to be capable of imparting different functionalities to textile substrates opening possibilities for a new generation of garments with improved performances and with the potential of protecting the user from multiple harms. Lastly, a continuous interest was observed in improving the process and formulation design in order to avoid the usage of toxic substances, therefore, complying with an environmentally friendly approach

Severe neurological outcomes after very early bilateral nephrectomies in patients with autosomal recessive polycystic kidney disease (ARPKD)

To test the association between bilateral nephrectomies in patients with autosomal recessive polycystic kidney disease (ARPKD) and long-term clinical outcome and to identify risk factors for severe outcomes, a dataset comprising 504 patients from the international registry study ARegPKD was analyzed for characteristics and complications of patients with very early (� 3 months; VEBNE) and early (4�15 months; EBNE) bilateral nephrectomies. Patients with very early dialysis (VED, onset � 3 months) without bilateral nephrectomies and patients with total kidney volumes (TKV) comparable to VEBNE infants served as additional control groups. We identified 19 children with VEBNE, 9 with EBNE, 12 with VED and 11 in the TKV control group. VEBNE patients suffered more frequently from severe neurological complications in comparison to all control patients. Very early bilateral nephrectomies and documentation of severe hypotensive episodes were independent risk factors for severe neurological complications. Bilateral nephrectomies within the first 3 months of life are associated with a risk of severe neurological complications later in life. Our data support a very cautious indication of very early bilateral nephrectomies in ARPKD, especially in patients with residual kidney function, and emphasize the importance of avoiding severe hypotensive episodes in this at-risk cohort. © 2020, The Author(s)

PANC Study (Pancreatitis: A National Cohort Study): national cohort study examining the first 30 days from presentation of acute pancreatitis in the UK

Background Acute pancreatitis is a common, yet complex, emergency surgical presentation. Multiple guidelines exist and management can vary significantly. The aim of this first UK, multicentre, prospective cohort study was to assess the variation in management of acute pancreatitis to guide resource planning and optimize treatment. Methods All patients aged greater than or equal to 18 years presenting with acute pancreatitis, as per the Atlanta criteria, from March to April 2021 were eligible for inclusion and followed up for 30 days. Anonymized data were uploaded to a secure electronic database in line with local governance approvals. Results A total of 113 hospitals contributed data on 2580 patients, with an equal sex distribution and a mean age of 57 years. The aetiology was gallstones in 50.6 per cent, with idiopathic the next most common (22.4 per cent). In addition to the 7.6 per cent with a diagnosis of chronic pancreatitis, 20.1 per cent of patients had a previous episode of acute pancreatitis. One in 20 patients were classed as having severe pancreatitis, as per the Atlanta criteria. The overall mortality rate was 2.3 per cent at 30 days, but rose to one in three in the severe group. Predictors of death included male sex, increased age, and frailty; previous acute pancreatitis and gallstones as aetiologies were protective. Smoking status and body mass index did not affect death. Conclusion Most patients presenting with acute pancreatitis have a mild, self-limiting disease. Rates of patients with idiopathic pancreatitis are high. Recurrent attacks of pancreatitis are common, but are likely to have reduced risk of death on subsequent admissions

PANC Study (Pancreatitis: A National Cohort Study): national cohort study examining the first 30 days from presentation of acute pancreatitis in the UK

Abstract Background Acute pancreatitis is a common, yet complex, emergency surgical presentation. Multiple guidelines exist and management can vary significantly. The aim of this first UK, multicentre, prospective cohort study was to assess the variation in management of acute pancreatitis to guide resource planning and optimize treatment. Methods All patients aged greater than or equal to 18 years presenting with acute pancreatitis, as per the Atlanta criteria, from March to April 2021 were eligible for inclusion and followed up for 30 days. Anonymized data were uploaded to a secure electronic database in line with local governance approvals. Results A total of 113 hospitals contributed data on 2580 patients, with an equal sex distribution and a mean age of 57 years. The aetiology was gallstones in 50.6 per cent, with idiopathic the next most common (22.4 per cent). In addition to the 7.6 per cent with a diagnosis of chronic pancreatitis, 20.1 per cent of patients had a previous episode of acute pancreatitis. One in 20 patients were classed as having severe pancreatitis, as per the Atlanta criteria. The overall mortality rate was 2.3 per cent at 30 days, but rose to one in three in the severe group. Predictors of death included male sex, increased age, and frailty; previous acute pancreatitis and gallstones as aetiologies were protective. Smoking status and body mass index did not affect death. Conclusion Most patients presenting with acute pancreatitis have a mild, self-limiting disease. Rates of patients with idiopathic pancreatitis are high. Recurrent attacks of pancreatitis are common, but are likely to have reduced risk of death on subsequent admissions. </jats:sec

Digital Competences for Civil Servants and Digital Ecosystems for More Effective Working Processes in Public Organizations

Advancements in digital transformation, artificial intelligence, cloud computing, the Internet of Things (IoT), block-chain, big data, smart-working, information systems\u2019 interoperability, etc. are changing the nature of the link between technology and employment in public sector. There is the potential that these changes could bring also benefits beyond labour substitution, including higher levels of output, better quality, and fewer errors that are achievable through automation. The increasing introduction of automation and other digital technologies in public organizations means information systems could progressively substituting traditional outdated workers in performing routine, codifiable tasks while at the same time amplifying the productivity of workers in supplying problem solving skills and adaptability. In a specific report of 2018 PwC calculated that 5.1&nbsp;million jobs, or 44%, were at risk of digital disruption. A digital workplace value chain has becoming a revolutionary and dominant part of the world economy. Each stage can occur in different countries and under different regulatory conditions and be implemented wherever the necessary skills and materials are available at competitive cost and quality. Digital transformation itself should not be seen as a negative for the workforce. If adopted successfully and combined with successful organisational change and change management practices, they can help public organizations to be able to achieve and became more competitive. This article aims to describe the main goals and the preliminary results of a research that aims at analysing the digital technologies adoption rate in the European public sector, in order to assess also the motivations about the adoption as well as the no-adoption decision, the kind of technologies principally actually adopted inside public organizations and the activities of value chains where the new investments in these new technologies are focused

A novel missense mutation in exon 3 of the COL4A5 gene associated with late-onset Alport syndrome

We have identified a novel missense transition (362G-->A) in exon 3 of the COL4A5 gene in a male patient with late-onset Alport syndrome. We used non-isotopic single strand conformation polymorphism, heteroduplex analysis, and automated DNA sequencing. The mutation changes a conserved glycine at codon 54 for an aspartic acid (Gly54Asp), which abolishes a BstNI site. Using restriction analysis, we identified the heterozygous carrier status in the two daughters of the proband. Our findings are in keeping with the hypothesis that slower progressive forms of Alport syndrome are more often associated with missense mutations rather than large deletions or frameshifts. This is the first mutation described in the N-terminus triple helical 7S domain of the COL4A5 gene in an Alport syndrome patient

Emergence of Group B Streptococcus Disease in Pigs and Porcupines, Italy

We describe group B Streptococcus linked to disease in farmed pigs and wild porcupines in Italy. Occurrence in pigs was attributed to transmission from nonpasteurized bovine milk whey. Antimicrobial-resistance profiles in isolates from porcupines suggest no common source of infection. Our findings expand the known host range for group B Streptococcus disease