DRIFT: Deep Reinforcement Learning for Intelligent Floating Platforms Trajectories

This investigation introduces a novel deep reinforcement learning-based suite to control floating platforms in both simulated and real-world environments. Floating platforms serve as versatile test-beds to emulate microgravity environments on Earth. Our approach addresses the system and environmental uncertainties in controlling such platforms by training policies capable of precise maneuvers amid dynamic and unpredictable conditions. Leveraging state-of-the-art deep reinforcement learning techniques, our suite achieves robustness, adaptability, and good transferability from simulation to reality. Our Deep Reinforcement Learning (DRL) framework provides advantages such as fast training times, large-scale testing capabilities, rich visualization options, and ROS bindings for integration with real-world robotic systems. Beyond policy development, our suite provides a comprehensive platform for researchers, offering open-access at https://github.com/elharirymatteo/RANS/tree/ICRA24

Effects of exogenous enzymes, Lactobacillus acidophilus or their combination on feed performance response and carcass characteristics of rabbits fed sugarcane bagasse

The aim of this study was to evaluate the effect of Lactobacillus acidophilus (LAC), exogenous enzymes of ZAD® (exogenous enzyme preparation) or their combination on feed conversion, and dressing of rabbits fed different treatments of sugarcane bagasse (SCB). Five rations were allotted randomly to five groups of New-Zealand White (NZW) rabbits (n=10) with initial live body weight of (838±42.4) g and 5 weeks of age. Rabbits were fed on diets with different sources of fiber as follows, (i) a control diet composed of 100% berseem hay and 0% SCB, (ii) 50% berseem hay and 50% untreated SCB (USCB), (iii) 50% berseem hay and 50% SCB treated with L. acidophilus (LAC), (iv) 50% berseem hay and 50% SCB treated with ZAD® (ZAD), and (v) 50% berseem hay and 50% SCB treated with a combination of LAC+ZAD® (LZ). Treatments of SCB with L. acidophilus, ZAD® and LAC+ZAD® had the highest feed conversion ratio than both USCB and control. The dressing percentage of rabbits that fed the LAC and LZ diets was higher (P<0.05) compared with that in the other groups. Performance index (PI) for LAC group was improved (P<0.05) compared to that for the other groups; however, PI for USCB group was the lowest (P<0.05). It could be concluded that treating SCB with L. acidophilus, exogenous enzymes of ZAD® or their combination improved feed conversion and performance with more positive effects with L. acidophilus than the other treatments

Effects of Exogenous Enzymes, Lactobacillus acidophilus or their Combination on Feed Intake, Digestibility and Performance of Rabbits Fed Sugarcane Bagasse

The aim of this study was to evaluate the effect of Lactobacillus acidophilus (LAC), exogenous enzymes ZAD® or their combination on feed intake, nutrient digestibility and performance of rabbits fed increasing levels of sugarcane bagasse (SCB). Five rations were allotted randomly to five groups of New Zealand white (NZW) rabbits (838±42.4g average BW at 5 weeks of age. Rabbits were fed: (i) a control diet made of 100% berseem hay and 0% SCB, (ii) 50% berseem hay and 50% untreated SCB (USCB), (iii) 50% berseem hay and 50% SCB treated with Lactobacillus acidophilus (LAC), (iv) 50% berseem hay and 50% SCB treated with ZAD® (ZAD), and (v) 50% berseem hay and 50% SCB treated with LAC+ZAD® (LZ). Treatment of SCB with Lactobacillus acidophilus, ZAD® and LAC+ ZAD® led to higher CP content and lower contents of ADF, NDF and DM. Total DM intake was not affected by treatments. Digestibility coefficient of CP for LAC and LZ were higher (P<0.05) compared to the other groups. The BW for LAC and LZ rabbits was higher (P<0.05) than for the other groups, while the BW for LAC rabbit was the highest (P<0.05) and for USCB was the lowest. It can be concluded that treating sugarcane bagasse with Lactobacillus acidophilus, exogenous enzymes of ZAD® or their combination improved feeding values; however, the treatment with Lactobacillus acidophilus was found to be the best

Patient-specific image-based computer simulation for theprediction of valve morphology and calcium displacement after TAVI with the Medtronic CoreValve and the Edwards SAPIEN valve

AIMS: Our aim was to validate patient-specific software integrating baseline anatomy and biomechanical properties of both the aortic root and valve for the prediction of valve morphology and aortic leaflet calcium displacement after TAVI. METHODS AND RESULTS: Finite element computer modelling was performed in 39 patients treated with a Medtronic CoreValve System (MCS; n=33) or an Edwards SAPIEN XT (ESV; n=6). Quantitative axial frame morphology at inflow (MCS, ESV) and nadir, coaptation and commissures (MCS) was compared between multislice computed tomography (MSCT) post TAVI and a computer model as well as displacement of the aortic leaflet calcifications, quantified by the distance between the coronary ostium and the closest calcium nodule. Bland-Altman analysis revealed a strong correlation between the observed (MSCT) and predicted frame dimensions, although small differences were detected for, e.g., Dmin at the inflow (mean±SD MSCT vs. MODEL: 21.6±2.4 mm vs. 22.0±2.4 mm; difference±SD: -0.4±1.3 mm, p<0.05) and Dmax (25.6±2.7 mm vs. 26.2±2.7 mm; difference±SD: -0.6±1.0 mm, p<0.01). The observed and predicted calcium displacements were highly correlated for the left and right coronary ostia (R2=0.67 and R2=0.71, respectively p<0.001). CONCLUSIONS: Dedicated software allows accurate prediction of frame morphology and calcium displacement after valve implantation, which may help to improve outcome

Effect of Mediterranean saltbush (Atriplex halimus) ensilaging with two developed enzyme cocktails on feed intake, nutrient digestibility and ruminal fermentation in sheep

The aim of this study was to assess the effects of feeding Atriplex halimus (AH) silage treated with two developed enzyme cocktails to sheep on feed intake, nutrient digestibility and ruminal fermentation. The AH silage was treated without or with 2 L of ZAD1® or ZAD2®/1000 kg with 5% molasses and ensiled for 30 days. Barley grain (300 g/head/day) was fed as an energy supplement once daily at 10.00 hours and AH silage with or without enzyme treatment was offered ad libitum to animals twice daily at 09.00 and 16.00 hours. Sheep were fed on four experimental forage diets comprised of AH silage and barley (D1), AH silage treated with ZAD1® and barley (D2), AH silage treated with ZAD2® and barley (D3) and AH silage treated with a combination of ZAD1® and ZAD2® (1:1) and barley (D4). Ensiling AH with enzymes reduced its contents of neutral detergent fiber and acid detergent fiber. The dry matter intake of AH of D2, D3 and D4 decreased (P < 0.001) as compared to D1. However, enzyme-treated diets had greater total digestible nutrients intake (P < 0.001) as compared to D1. The nutrients digestibility for D2, D3 and D4 were higher than those for D1 (P < 0.001), and were higher for D3 as compared to both D2 and D4. Sheep fed on D3 had highest (P < 0.001) ruminal total volatile fatty acids concentration, ammonia nitrogen concentration and microbial protein yield. It could be concluded that AH silage treated with ZAD1® or ZAD2® improved digestibility and rumen fermentation in sheep

Mobility Strategy of Multi-Limbed Climbing Robots for Asteroid Exploration

Mobility on asteroids by multi-limbed climbing robots is expected to achieve our exploration goals in such challenging environments. We propose a mobility strategy to improve the locomotion safety of climbing robots in such harsh environments that picture extremely low gravity and highly uneven terrain. Our method plans the gait by decoupling the base and limbs' movements and adjusting the main body pose to avoid ground collisions. The proposed approach includes a motion planning that reduces the reactions generated by the robot's movement by optimizing the swinging trajectory and distributing the momentum. Lower motion reactions decrease the pulling forces on the grippers, avoiding the slippage and flotation of the robot. Dynamic simulations and experiments demonstrate that the proposed method could improve the robot's mobility on the surface of asteroids.Comment: Submitted version of paper accepted for presentation at the CLAWAR 2023 (26th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines

Determinants of image quality of rotational angiography for on-line assessment of frame geometry after transcatheter aortic valve implantation

To study the determinants of image quality of rotational angiography using dedicated research prototype software for motion compensation without rapid ventricular pacing after the implantation of four commercially available catheter-based valves. Prospective observational study including 179 consecutive patients who underwent transcatheter aortic valve implantation (TAVI) with either the Medtronic CoreValve (MCS), Edward-SAPIEN Valve (ESV), Boston Sadra Lotus (BSL) or Saint-Jude Portico Valve (SJP) in whom rotational angiography (R-angio) with motion compensation 3D image reconstruction was performed. Image quality was evaluated from grade 1 (excellent image quality) to grade 5 (strongly degraded). Distinction was made between good (grades 1, 2) and poor image quality (grades 3–5). Clinical (gender, body mass index, Agatston score, heart rate and rhythm, artifacts), procedural (valve type) and technical variables (isocentricity) were related with the image quality assessment. Image quality was good in 128 (72 %) and poor in 51 (28 %) patients. By univariable analysis only valve type (BSL) and the presence of an artefact negatively affected image quality. By multivariate analysis (in which BMI was forced into the model) BSL valve (Odds 3.5, 95 % CI [1.3–9.6], p = 0.02), presence of an artifact (Odds 2.5, 95 % CI [1.2–5.4], p = 0.02) and BMI (Odds 1.1, 95 % CI [1.0–1.2], p = 0.04) were independent predictors of poor image quality. Rotational angiography with motion compensation 3D image reconstruction using a dedicated research prototype software offers good image quality for the evaluation of frame geometry after TAVI in the majority of patients. Valve type, presence of artifacts and higher BMI negatively affect image quality

Experimental Verification of Robotic Landing and Locomotion on Asteroids

peer reviewedIn-situ explorations of asteroids and other small celestial bodies are crucial to collect surface samples, which could be the key to understanding the formation of our solar system. Studying the composition of asteroids is also important for future planetary defense and mining resources for in-situ utilization. However, the weak gravitational field poses many challenges for robotic landing and locomotion scenarios on the surface of asteroids. Legged climbing robots are expected to perform well under microgravity, as they can maintain surface attachment, preventing undesired flotation and uncontrolled bouncing. Therefore, we need to consider methods to plan and control the landing and locomotion of climbing robots on asteroids. In this study, we have performed experiments regarding the emulation of two scenarios; 1- Landing, 2- Locomotion. For both landing and locomotion scenarios, separate PD controllers have been utilized

Air-steam gasification of sewage sludge in a bubbling bed reactor: Effect of alumina as a primary catalyst

Numerous references can be found in scientific literature regarding biomass gasification. However, there are few works related to sludge gasification. A study of sewage sludge gasification process in a bubbling fluidised bed gasifier on a laboratory scale is here reported. The aim was to find the optimum conditions for reducing the production of tars and gain more information on the influx of different operating variables in the products resulting from the gasification of this waste. The variables studied were the equivalence ratio (ER), the steam-biomass ratio (SB) and temperature. Specifically, the ER was varied from 0.2 to 0.4, the SB from 0 to 1 and the temperature from 750 °C (1023 K) to 850 °C (1123 K). Although it was observed that tar production could be considerably reduced (up to 72%) by optimising the gasification conditions, the effect of using alumina (aluminium oxide, of proven efficacy in destroying the tar produced in biomass gasification) as primary catalyst in air and air-steam mixture tests was also verified. The results show that by adding small quantities of alumina to the bed (10% by weight of fed sludge) considerable reductions in tar production can be obtained (up to 42%) improving, at the same time, the lower heating value (LHV) of the gas and carbon conversion