Folding Knots Using a Team of Aerial Robots

From ancient times, humans have been using cables and ropes to tie, carry, and manipulate objects by folding knots. However, automating knot folding is challenging because it requires dexterity to move a cable over and under itself. In this paper, we propose a method to fold knots in midair using a team of aerial vehicles. We take advantage of the fact that vehicles are able to fly in between cable segments without any re-grasping. So the team grasps the cable from the floor, and releases it once the knot is folded. Based on a composition of catenary curves, we simplify the complexity of dealing with an infinite-dimensional configuration space of the cable, and formally propose a new knot representation. Such representation allows us to design a trajectory that can be used to fold knots using a leader-follower approach. We show that our method works for different types of knots in simulations. Additionally, we show that our solution is also computationally efficient and can be executed in real-time.Comment: International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, Oct 23 - Oct. 27, 202

An improved algorithm for narrow-band searches of continuous gravitational waves

Continuous gravitational waves signals, emitted by asymmetric spinning neutron stars, are among the main targets of current detectors like Advanced LIGO and Virgo. In the case of sources, like pulsars, which rotational parameters are measured through electromagnetic observations, typical searches assume that the gravitational wave frequency is at a given known fixed ratio with respect to the star rotational frequency. For instance, for a neutron star rotating around one of its principal axis of inertia the gravitational signal frequency would be exactly two times the rotational frequency of the star. It is possible, however, that this assumption is wrong. This is why search algorithms able to take into account a possible small mismatch between the gravitational waves frequency and the frequency inferred from electromagnetic observations have been developed. In this paper we present an improved pipeline to perform such narrow-band searches for continuous gravitational waves from neutron stars, about three orders of magnitude faster than previous implementations. The algorithm that we have developed is based on the {\it 5-vectors} framework and is able to perform a fully coherent search over a frequency band of width $\mathcal{O}$(Hertz) and for hundreds of spin-down values running a few hours on a standard workstation. This new algorithm opens the possibility of long coherence time searches for objects which rotational parameters are highly uncertain.Comment: 19 pages, 8 figures, 6 tables, submitted to CQ

A new data analysis framework for the search of continuous gravitational wave signals

Continuous gravitational wave signals, like those expected by asymmetric spinning neutron stars, are among the most promising targets for LIGO and Virgo detectors. The development of fast and robust data analysis methods is crucial to increase the chances of a detection. We have developed a new and flexible general data analysis framework for the search of this kind of signals, which allows to reduce the computational cost of the analysis by about two orders of magnitude with respect to current procedures. This can correspond, at fixed computing cost, to a sensitivity gain of up to 10%-20%, depending on the search parameter space. Some possible applications are discussed, with a particular focus on a directed search for sources in the Galactic center. Validation through the injection of artificial signals in the data of Advanced LIGO first observational science run is also shown.Comment: 21 pages, 8 figure

QGRS Mapper: a web-based server for predicting G-quadruplexes in nucleotide sequences

The quadruplex structures formed by guanine-rich nucleic acid sequences have received significant attention recently because of growing evidence for their role in important biological processes and as therapeutic targets. G-quadruplex DNA has been suggested to regulate DNA replication and may control cellular proliferation. Sequences capable of forming G-quadruplexes in the RNA have been shown to play significant roles in regulation of polyadenylation and splicing events in mammalian transcripts. Whether quadruplex structure directly plays a role in regulating RNA processing requires investigation. Computational approaches to study G-quadruplexes allow detailed analysis of mammalian genomes. There are no known easily accessible user-friendly tools that can compute G-quadruplexes in the nucleotide sequences. We have developed a web-based server, QGRS Mapper, that predicts quadruplex forming G-rich sequences (QGRS) in nucleotide sequences. It is a user-friendly application that provides many options for defining and studying G-quadruplexes. It performs analysis of the user provided genomic sequences, e.g. promoter and telomeric regions, as well as RNA sequences. It is also useful for predicting G-quadruplex structures in oligonucleotides. The program provides options to search and retrieve desired gene/nucleotide sequence entries from NCBI databases for mapping G-quadruplexes in the context of RNA processing sites. This feature is very useful for investigating the functional relevance of G-quadruplex structure, in particular its role in regulating the gene expression by alternative processing. In addition to providing data on composition and locations of QGRS relative to the processing sites in the pre-mRNA sequence, QGRS Mapper features interactive graphic representation of the data. The user can also use the graphics module to visualize QGRS distribution patterns among all the alternative RNA products of a gene simultaneously on a single screen. QGRS Mapper can be accessed at

A semi-coherent analysis method to search for continuous gravitational waves emitted by ultra-light boson clouds around spinning black holes

As a consequence of superradiant instability induced in Kerr black holes, ultra-light boson clouds can be a source of persistent gravitational waves, potentially detectable by current and future gravitational-wave detectors. These signals have been predicted to be nearly monochromatic, with a small steady frequency increase (spin-up), but given the several assumptions and simplifications done at theoretical level, it is wise to consider, from the data analysis point of view, a broader class of gravitational signals in which the phase (or the frequency) slightly wander in time. Also other types of sources, e.g. neutron stars in which a torque balance equilibrium exists between matter accretion and emission of persistent gravitational waves, would fit in this category. In this paper we present a robust and computationally cheap analysis pipeline devoted to the search of such kind of signals. We provide a full characterization of the method, through both a theoretical sensitivity estimation and through the analysis of syntethic data in which simulated signals have been injected. The search setup for both all-sky searches and higher sensitivity directed searches is discussed.Comment: 13 pages, 13 figure

An intrusion and fault tolerant forensic storage for a SIEM system

Current Security Information and Events Management (SIEM) solutions lack a data storage facility which is secure enough - i.e. stored events related to security incidents cannot be forged and are always available - that it can be used for forensic purposes. Forensic storage used by current SIEM solutions uses traditional RSA algorithm to sign the security events. In this paper we have analyzed the limits of current forensic storages, and we have proposed an architecture for forensic storage, implementing a threshold-based variant of the RSA algorithm, that outperforms state of the art SIEM solutions in terms of intrusion- and fault-tolerance. We show by experiments that our forensic storage works correctly even in the presence of cyber-attacks, although with a performance penalty. We also conduct an experimental campaign to evaluate the performance cost of the proposed scheme as a function of the threshold