On the Use of Magnets to Robustify the Motion Control of Soft Hands

In this letter, we propose a physics-based framework to exploit magnets in robotic manipulation. More specifically, we suggest equipping soft and underactuated hands with magnetic elements, which can generate a magnetic actuation able to synergistically interact with tendon-driven and pneumatic actuations, engendering a complementarity that enriches the capabilities of the actuation system. Magnetic elements can act as additional Degrees of Actuation (DoAs), robustifying the motion control of the device and augmenting the hand manipulation capabilities. We investigate the interaction of a soft hand with itself for enriching possible hand shaping, and the interaction of the hand with the environment for enriching possible grasping capabilities. Physics laws and notions reported in the manuscript can be used as a guidance for DoAs augmentation and can provide tools for the design of novel soft hands

DBS-Based Eutectogels: Organized Vessels to Perform the Michael Addition Reaction**

Supramolecular eutectogels were obtained from the gelation of 1,3 : 2,4-dibenzylidene-D-sorbitol (DBS) in cholinium chloride-based deep eutectic solvents (DES), differing for the nature of the hydrogen bond donor. Ethylene glycol, diethylene glycol, triethylene glycol, glycerol and urea were tested. Soft materials were fully characterized, determining critical gelation concentration, gel-sol transition temperatures and mechanical properties. Furthermore, to have information about the organization of the gelator in the tridimensional network, resonance light scattering, circular dichroism and microscopy investigations were performed. Eutectogels were used as organized “vessels” to perform the L-proline catalyzed Michael addition reaction. The probe reaction was carried out in gel phase and in DES solution. Data collected shed light on the effect that gel microenvironment exerts on the outcome of the reaction. In general, gel phases allowed having comparable or even better results than the ones collected in DES solution, with better results obtained in soft materials with the highest organization, as accounted for by the presence of larger aggregates and the occurrence of stronger intermolecular interactions. In turn, this accounts also for the effect of substrates structure that indicates that better yields could be obtained in the presence of more flexible nucleophile and dienones, having more extended π-surface

Observing The Mediterranean Sea from space: 21 years of Pathfinder-AVHRR Sea Surface Temperatures (1985 to 2005). Re-analysis and validation

International audienceThe time series of satellite infrared AVHRR data from 1985 to 2005 has been used to produce a daily series of optimally interpolated SST maps over the regular grid of the operational MFSTEP OGCM model of the Mediterranean basin. A complete validation of this OISST (Optimally Interpolated Sea Surface Temperature) product with in situ measurements has been performed in order to exclude any possibility of spurious trends due to instrumental calibration errors/shifts or algorithms malfunctioning related to local geophysical factors. The validation showed that satellite OISST is able to reproduce in situ measurements with a mean bias of less than 0.1°C and RMSE of about 0.5°C and that errors do not drift with time or with the percent interpolation error

Spatio-temporal variability of micro-, nano- and pico-phytoplankton in the Mediterranean Sea from satellite ocean colour data of SeaWiFS

Abstract. The seasonal and year-to-year variability of the phytoplankton size class (PSC) spatial distribution has been examined in the Mediterranean Sea by using the entire time series of Sea-viewing Wide Field-of-view Sensor (SeaWiFS) space observations (1998–2010). Daily maps of PSCs have been determined using an empirical model based on a synoptic relationship between surface chlorophyll a and diagnostic pigments referred to different taxonomic groups. The analysis of micro-, nano- and pico-phytoplankton satellite time series (1998–2010) describes, quantitatively, the algal assemblage structure over the basin and reveals that the main contribution to chlorophyll a in most of the Mediterranean Sea comes from the pico-phytoplankton component, especially in nutrient-poor environments. Regions with different and peculiar features are the Northwestern Mediterranean Sea, the Alborán Sea and several coastal areas, such as the North Adriatic Sea. In these areas, local interactions between physical and biological components modulate the composition of the three phytoplankton size classes. It results that, during the spring bloom season, micro-phytoplankton dominates in areas of intense vertical winter mixing and deep/intermediate water formation, while in coastal areas micro-phytoplankton dominates in all seasons because of the nutrient supply from the terrestrial inputs. In the Alborán Sea, where the Atlantic inflow modulates the nutrient availability, any predominance of one class over the other two has been observed. The nano-phytoplankton component instead remains widespread over the entire basin along the year, and its contribution to chlorophyll a is of the order of 30–40 %. The largest inter-annual signal occurs in the Northwestern Mediterranean Sea, driven by the year-to-year variation in intensity and extension of the spring bloom, followed by the Alborán Sea, in which the inter-annual variability is strongly modulated by the Atlantic inflow. In absence of sufficient in situ data of community composition, the satellite-based analysis demonstrated that pico-, nano- and micro-phytoplankton classes often coexist. The predominance of one group over the other ones is strongly dependent on the physical and biological processes occurring at the mesoscale. These processes directly influence the nutrient and light availability, which are the principal forcing for the algae growth