Photometry of comet 9P/Tempel 1 during the 2004/2005 approach and the Deep Impact module impact

The results of the 9P/Tempel 1 CARA (Cometary Archive for Amateur Astronomers) observing campaign is presented. The main goal was to perform an extended survey of the comet as a support to the Deep Impact (DI) Mission. CCD R, I and narrowband aperture photometries were used to monitor the $Af\rho$ quantity. The observed behaviour showed a peak of 310 cm 83 days before perihelion, but we argue that it could be distorted by the phase effect, too. The phase effect is roughly estimated around 0.0275 mag/degree, but we had no chance for direct determination because of the very similar geometry of the observed apparitions. The log-slope of $Af\rho$ was around -0.5 between about 180--100 days before the impact but evolved near the steady-state like 0 value by the impact time. The DI module impact caused an about 60%{} increase in the value of $Af\rho$ and a cloud feature in the coma profile which was observed just after the event. The expansion of the ejecta cloud was consistent with a fountain model with initial projected velocity of 0.2 km/s and $\beta$=0.73. Referring to a 25~000 km radius area centered on the nucleus, the total cross section of the ejected dust was 8.2/$A$ km$^2$ 0.06 days after the impact, and 1.2/$A$ km$^2$ 1.93 days after the impact ($A$ is the dust albedo). 5 days after the event no signs of the impact were detected nor deviations from the expected activity referring both to the average pre-impact behaviour and to the previous apparitions ones.Comment: 25 pages (including cover pages), 9 figures, 1 table, accepted by Icarus DI Special Issu

Dust Environment Model of the Interstellar Comet 2I/Borisov

2I/Borisov is the first interstellar comet discovered on 2019 August 30, and it soon showed a coma and a dust tail. This study reports the results of images obtained at the Telescopio Nazionale Galileo telescope, on La Palma - Canary Islands, in 2019 November and December. The images have been obtained with the R filter in order to apply our dust tail model. The model has been applied to the comet 67P/Churyumov-Gerasimenko and compared to the Rosetta dust measurements showing a very good agreement. It has been applied to the comet 2I/Borisov, using almost the same parameters, obtaining a dust environment similar to that of 67P/Churyumov-Gerasimenko, suggesting that the activity may be very similar. The dust tail analysis provided a dust-loss rate Qd ≍ 35 kg s-1 in 2019 November and Qd ≍ 30 kg s-1 in 2019 December

Enhancing the Trajectory Tracking Performance Capabilities of Position-Controlled Manipulators

This paper addresses the problem of enhancing the performance capabilities of position-controlled robot manipulators. The proposed strategy aims at adaptively generating the position set-points for the standard position controller of the robot, so that the desired behavior is obtained even in the presence of system uncertainty. This algorithm is computationally simple, does not require knowledge of both manipulator payload model parameters and dynamics, and is implemented in decentralized form. It can be shown that this control strategy is globally stable and that the ultimate size of the controller errors can be made arbitrarily small. The performance of the proposed control scheme is illustrated through actual hardware experiments with a COMAU Smart S2 anthropomorphic manipulator. The results show that the additional controller provides a way to enhance the performance of a standard PID regulator often in use for industrial robot manipulators, while still keeping it in operatio

Dust environment model of the interstellar comet 2i/borisov

2I/Borisov is the first interstellar comet discovered on 2019 August 30, and it soon showed a coma and a dust tail. This study reports the results of images obtained at the Telescopio Nazionale Galileo telescope, on La Palma-Canary Islands, in 2019 November and December. The images have been obtained with the R filter in order to apply our dust tail model. The model has been applied to the comet 67P/Churyumov-Gerasimenko and compared to the Rosetta dust measurements showing a very good agreement. It has been applied to the comet 2I/Borisov, using almost the same parameters, obtaining a dust environment similar to that of 67P/Churyumov-Gerasimenko, suggesting that the activity may be very similar. The dust tail analysis provided a dust-loss rate Qd 48 35 kg s-1in 2019 November and Qd 48 30 kg s-1in 2019 December

Specifications and validation of the ACMG/AMP criteria for clinical interpretation of sequence variants in collagen genes associated with joint hypermobility

Deleterious variants in collagen genes are the most common cause of hereditary connective tissue disorders (HCTD). Adaptations of the American College of Medical Genetics and Genomics/Association for Molecular Pathology (ACMG/AMP) criteria are still lacking. A multidisciplinary team was set up for developing specifications of the ACMG/AMP criteria for COL1A1, COL1A2, COL2A1, COL3A1, COL5A1, COL5A2, COL11A1, COL11A2 and COL12A1, associated with various forms of HCTD featuring joint hypermobility, which is becoming one of the most common reasons of referral for molecular testing in this field. Such specifications were validated against 209 variants, and resulted effective for classifying as pathogenic and likely pathogenic null alleles without downgrading of the PVS1 level of strength and recurrent Glycine substitutions. Adaptations of selected criteria reduced uncertainties on private Glycine substitutions, intronic variants predicted to affect the splicing, and null alleles with a downgraded PVS1 level of strength. Segregation and multigene panel sequencing data mitigated uncertainties on non-Glycine substitutions by the attribution of one or more benignity criteria. These specifications may improve the clinical utility of molecular testing in HCTD by reducing the number of variants with neutral/conflicting interpretations. Close interactions between laboratory and clinicians are crucial to estimate the a priori utility of molecular test and to improve medical reports

<i>EPOXI</i>: comet 103P/Hartley 2 observations from a worldwide campaign

Earth- and space-based observations provide synergistic information for space mission encounters by providing data over longer timescales, at different wavelengths and using techniques that are impossible with an in situ flyby. We report here such observations in support of the EPOXI spacecraft flyby of comet 103P/Hartley 2. The nucleus is small and dark, and exhibited a very rapidly changing rotation period. Prior to the onset of activity, the period was ~16.4 hr. Starting in 2010 August the period changed from 16.6 hr to near 19 hr in December. With respect to dust composition, most volatiles and carbon and nitrogen isotope ratios, the comet is similar to other Jupiter-family comets. What is unusual is the dominance of CO2-driven activity near perihelion, which likely persists out to aphelion. Near perihelion the comet nucleus was surrounded by a large halo of water-ice grains that contributed significantly to the total water production