Cows fed hydroponic fodder and conventional diet: effects on milk quality

The technology of green fodder production is especially important in arid and semiarid regions. Hydroponics improves on average the amount of crops in the same space, as traditional soil-based farming and can reduce water consumption compared to traditional farming methods. Limited research has been carried out on the use of hydroponic fodder and milk quality. A comparative study of traditional (Malta farm) and hydroponic fodder (Gozo farm) was conducted in Malta with 20 cows of the Holstein\u2013Friesian breed from two farms. Individual and bulk-tank milk samples were collected once a week for a period of 1 month in order to evaluate physical (pH, conductivity, density, freezing point) and chemical (fat, protein, ash, lactose, solid nonfat) parameters as well as mineral (Zn, Cu, Pb, Ba) content. Milk proximate and physical data were processed by analysis of variance (ANOVA) for repeated measures and an ANOVA procedure with farm and time as effects for minerals. The results indicated differences in fat content and pH, showing higher values (P < 0.05) in milk samples of cows fed with the hydroponic rather than the traditional fodder; a significant time effect (P < 0.001) was found in all qualitative analyses except for lactose and salts. Minerals were in the range as reported elsewhere; Cu and Pb content was significantly higher (P < 0.001) in the Gozo farm than the one in Malta, whereas Zn content showed higher values in Malta (P < 0.001) than Gozo. Although the proximate results were similar for both farms, except for the higher fat content for the Gozo farm, principal component analysis (PCA) revealed that milk quality for the Gozo farm was superior to that of the Malta farm. However, further studies are needed to determine the effects of different hydroponic fodder using a large herd size

Position-sensorless control of permanent-magnet-assisted synchronous reluctance motor

The sensorless control of permanent-magnet-assisted synchronous reluctance (PMASR) motors is investigated, in order to conjugate the advantages of the sensorless control with full exploitation of the allowed operating area, for a given inverter. An additional pulsating flux is injected in the d-axis direction at low and zero speed, while it is dropped out, at large speed, to save voltage and additional loss. A flux-observer-based control scheme is used, which includes an accurate knowledge of the motor magnetic behavior. This leads, in general, to good robustness against load variations, by counteracting the magnetic cross saturation effect. Moreover, it allows an easy and effective correspondence between the wanted torque and flux and the set values of the chosen control variables, that is d-axis flux and q-axis current. Experimental verification of the proposed method is given, both steady-state and dynamic performance are outlined. A prototype PMASR motor will be used to this aim, as part of a purposely assembled prototype drive, for light traction application (electric scooter

Virtual Stiffness: A Novel Biomechanical Approach to Estimate Limb Stiffness of a Multi-Muscle and Multi-Joint System

In recent years, different groups have developed algorithms to control the stiffness of a robotic device through the electromyographic activity collected from a human operator. However, the approaches proposed so far require an initial calibration, have a complex subject-specific muscle model, or consider the activity of only a few pairs of antagonist muscles. This study described and tested an approach based on a biomechanical model to estimate the limb stiffness of a multi-joint, multi-muscle system from muscle activations. The “virtual stiffness” method approximates the generated stiffness as the stiffness due to the component of the muscle-activation vector that does not generate any endpoint force. Such a component is calculated by projecting the vector of muscle activations, estimated from the electromyographic signals, onto the null space of the linear mapping of muscle activations onto the endpoint force. The proposed method was tested by using an upper-limb model made of two joints and six Hill-type muscles and data collected during an isometric force-generation task performed with the upper limb. The null-space projection of the muscle-activation vector approximated the major axis of the stiffness ellipse or ellipsoid. The model provides a good approximation of the voluntary stiffening performed by participants that could be directly implemented in wearable myoelectric controlled devices that estimate, in real-time, the endpoint forces, or endpoint movement, from the mapping between muscle activation and force, without any additional calibrations

QoT Computation for 100G Lightpaths Routed on 10G-loaded Dispersion-Managed Network Segments

The core and backbone optical network market segment is largely dominated by coherent transmission delivering 100Gbps and beyond thanks to the DSP-based coherent transceivers technology optical line systems without chromatic dispersion compensation. The metro and access segment instead is still often made of dispersion-compensated optical line systems operated with cheap 10G transceivers because of the still excessive CAPEX required to upgrade this segment to coherent technology. In the context of the gradual rise of SDN technology, aimed at dynamically, transparently and automatically managing and orchestrating optical networks, the ability to route 100G coherent channels through a section of dispersion managed network populated with legacy 10G channels enables more flexibility and CAPEX savings. In this work we propose a simple, fast and conservative quality-of-transmission estimator, tailored to the needs of a software module for optical path computation, able to estimate of the 10G-to-100G non-linear effects

Upper limbs cranking for post-stroke rehabilitation: A pilot study on healthy subjects

Since one of the major consequences of stroke is hemiparesis, the rehabilitation of upper limbs is necessary to improve the quality of life. Arm cranking gesture represents an alternative rehabilitation tool, especially if accompanied by a biofeedback involving and motivating patients. The aim of this pilot study was twofold: (1) to evaluate the effect of a visual and virtual biofeedback on arm cranking gesture and (2) to estimate the duration of pull and push phases of the crank cycle. Nine healthy and young subjects were involved in the test and were asked to perform the arm cranking gesture in different conditions. A stereophotogrammetric system was adopted to create a virtual, visual and real time biofeedback of cadence, to measure the real cadence of participants and to estimate push and pull phases durations. Results showed that the biofeedback helped subjects to follow an externally imposed cadence. Furthermore, the pull phase resulted to be slightly longer than the push one, although the angular amplitude of the two phases suggested they were the same

Effects of temperature and mounting configuration on the dynamic parameters identification of industrial robots

Dynamic parameters are crucial for the definition of high-fidelity models of industrial manipulators. However, since they are often partially unknown, a mathematical model able to identify them is discussed and validated with the UR3 and the UR5 collaborative robots from Universal Robots. According to the acquired experimental data, this procedure allows for reducing the error on the estimated joint torques of about 90% with respect to the one obtained using only the information provided by the manufacturer. The present research also highlights how changes in the robot operating conditions affect its dynamic behavior. In particular, the identification process has been applied to a data set obtained commanding the same trajectory multiple times to both robots under rising joints temperatures. Average reductions of the viscous friction coefficients of about 20% and 17% for the UR3 and the UR5 robots, respectively, have been observed. Moreover, it is shown how the manipulator mounting configuration affects the number of the base dynamic parameters necessary to properly estimate the robots’ joints torques. The ability of the proposed model to take into account different mounting configurations is then verified by performing the identification procedure on a data set generated through a digital twin of a UR5 robot mounted on the ceiling

Identification of a UR5 collaborative robot dynamic parameters

The present paper describes an algorithm for the identification of the dynamic parameters of an industrial robot. This approach is based on the possibility to write robot dynamics in a linear form with respect to a specific set of dynamic parameters. To properly detect them, the coefficients of a 5th order Fast Fourier Series (FFS) trajectory have been optimized using a genetic algorithm. Such identification trajectory has been then commanded to a UR5 collaborative robot from Universal Robots and experimental joints torques have been recorded at a frequency of 125 Hz. Base dynamic parameters were identified using least square errors optimization reaching low standard deviations. The algorithm has been validated with a second persistent trajectory with good results. Temperature effects on friction coefficients have been analyzed by running two identification processes: one just after the first power-up of the robot and the other one after a half an hour warm-up

Biomechanical role and motion contribution of ligaments and bony constraints in the elbow stability: A preliminary study

In flexion-extension motion, the interaction of several ligaments and bones characterizes the elbow joint stability. The aim of this preliminary study was to quantify the relative motion of ulna respect to humerus in two human elbow specimens and to investigate the constraints role for maintaining the joint stability in different dissections condition. Two clusters of 4 markers were fixed respectively to ulna and humerus, and their trajectory was recorded by a motion capture system during orthopedic maneuver. Considering the medial ulnar collateral posterior bundle (pMUCL) and the coronoid, two dissection sequences were executed. The orthopedic maneuver of compression, pronation and varus force was repeated at 30°, 60°, 90° flexion for the functional investigation of constraints. Ulna deflection was compared to a baseline flexion condition. Respect to intact elbow, the coronoid osteotomy influences the elbow stability at 90° (deflection=11.49±17.39 mm), while small differences occur at 30° and 60°, due to ligaments constraint. The contemporary pMUCL dissection and coronoid osteotomy causes elbow instability, with large deflection at 30° (deflection=34.40±9.10 mm), 60° (deflection=45.41±18.47 mm) and 90° (deflection=52.16±21.92 mm). Surgeons may consider the pMUCL reconstruction in case of unfixable coronoid fracture

Upper Limbs Musculoskeletal OpenSim Model: Customization and Assessment

Computational modelling is a powerful tool in biomechanical studies. Open-source software OpenSim provides different musculoskeletal models. However, existing upper body models consider only one limb, which could be a limitation in reproducing two-handed tasks. The purpose of this research was to develop a two upper limbs model that can be customized with subject’s anthropometry and muscles properties. The proposed model was composed of thorax, left and right upper limbs. Each limb presents 3 degrees of freedom (shoulder flexion-extension, elbow flexion-extension and prono-supination), 4 flexor and 3 extensor muscles. A preliminary model assessment was done. A subject was asked to execute isometric tests at three elbow angles, holding different loads, while EMG muscle activation was recorded. Simulated and experimental muscles activation were compared considering the right upper limb. Very good results were obtained without external load, whereas differences were observed when increasing the load; but, overall, model performance remained acceptable