Gauge Mediated SUSY Breaking via Seesaw

We present a simple scenario for gauge mediated supersymmetry breaking where the messengers are also the fields that generate neutrino masses. We show that the simplest such scenario corresponds to the case where neutrino masses are generated through the Type I and Type III seesaw mechanisms. The entire supersymmetric spectrum and Higgs masses are calculable from only four input parameters. Since the electroweak symmetry is broken through a doubly radiative mechanism, meaning a nearly zero B-term at the messenger scale which runs down to acceptable values, one obtains quite a constrained spectrum for the supersymmetric particles whose properties we describe. We refer to this mechanism as "nu-GMSB".Comment: a few corrections, references adde

Force Control Improvement in Collaborative Robots through Theory Analysis and Experimental Endorsement

[EN] Due to the elasticity of their joints, collaborative robots are seldom used in applications with force control. Besides, the industrial robot controllers are closed and do not allow the user to access the motor torques and other parameters, hindering the possibility of carrying out a customized control. A good alternative to achieve a custom force control is sending the output of the force regulator to the robot controller through motion commands (inner/outer loop control). There are different types of motion commands (e.g., position or velocity). They may be implemented in different ways (Jacobian inverse vs. Jacobian transpose), but this information is usually not available for the user. This article is dedicated to the analysis of the effect of different inner loops and their combination with several external controllers. Two of the most determinant factors found are the type of the inner loop and the stiffness matrix. The theoretical deductions have been experimentally verified on a collaborative robot UR3, allowing us to choose the best behaviour in a polishing operation according to pre-established criteria.The authors are grateful for the financial support of the Spanish Ministry of Economy and European Union, grant DPI2016-81002-R (AEI/FEDER, UE), to the research work here published. Rodrigo Perez-Ubeda is grateful to the Ph.D. Grant CONICYT PFCHA/DOCTORADO BECAS CHILE/2017-72180157.Pérez-Ubeda, R.; Zotovic Stanisic, R.; Gutiérrez, SC. (2020). Force Control Improvement in Collaborative Robots through Theory Analysis and Experimental Endorsement. Applied Sciences. 10(12):1-24. https://doi.org/10.3390/app10124329S1241012Top Trends Robotics 2020—International Federation of Robotics https://ifr.org/ifr-press-releases/news/top-trends-robotics-2020Gaz, C., Magrini, E., & De Luca, A. (2018). A model-based residual approach for human-robot collaboration during manual polishing operations. Mechatronics, 55, 234-247. doi:10.1016/j.mechatronics.2018.02.014Iglesias, I., Sebastián, M. A., & Ares, J. E. (2015). Overview of the State of Robotic Machining: Current Situation and Future Potential. Procedia Engineering, 132, 911-917. doi:10.1016/j.proeng.2015.12.577Perez-Ubeda, R., Gutierrez, S. C., Zotovic, R., & Lluch-Cerezo, J. (2019). Study of the application of a collaborative robot for machining tasks. Procedia Manufacturing, 41, 867-874. doi:10.1016/j.promfg.2019.10.009Spong, M. W. (1989). On the force control problem for flexible joint manipulators. IEEE Transactions on Automatic Control, 34(1), 107-111. doi:10.1109/9.8661Ren, T., Dong, Y., Wu, D., & Chen, K. (2019). Impedance control of collaborative robots based on joint torque servo with active disturbance rejection. Industrial Robot: the international journal of robotics research and application, 46(4), 518-528. doi:10.1108/ir-06-2018-0130Ajoudani, A., Tsagarakis, N. G., & Bicchi, A. (2017). Choosing Poses for Force and Stiffness Control. IEEE Transactions on Robotics, 33(6), 1483-1490. doi:10.1109/tro.2017.2708087Magrini, E., & De Luca, A. (2016). Hybrid force/velocity control for physical human-robot collaboration tasks. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). doi:10.1109/iros.2016.7759151Ahmad, S. (1993). Constrained motion (force/position) control of flexible joint robots. IEEE Transactions on Systems, Man, and Cybernetics, 23(2), 374-381. doi:10.1109/21.229451Calanca, A., & Fiorini, P. (2018). Understanding Environment-Adaptive Force Control of Series Elastic Actuators. IEEE/ASME Transactions on Mechatronics, 23(1), 413-423. doi:10.1109/tmech.2018.2790350Oh, S., & Kong, K. (2017). High-Precision Robust Force Control of a Series Elastic Actuator. IEEE/ASME Transactions on Mechatronics, 22(1), 71-80. doi:10.1109/tmech.2016.2614503Yin, H., Li, S., & Wang, H. (2016). Sliding mode position/force control for motion synchronization of a flexible-joint manipulator system with time delay. 2016 35th Chinese Control Conference (CCC). doi:10.1109/chicc.2016.7554329Ma, Z., Hong, G.-S., Ang, M. H., Poo, A.-N., & Lin, W. (2018). A Force Control Method with Positive Feedback for Industrial Finishing Applications. 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). doi:10.1109/aim.2018.8452689Huang, L., Ge, S. S., & Lee, T. H. (2006). Position/force control of uncertain constrained flexible joint robots. Mechatronics, 16(2), 111-120. doi:10.1016/j.mechatronics.2005.10.002Chiaverini, S., Siciliano, B., & Villani, L. (1999). A survey of robot interaction control schemes with experimental comparison. IEEE/ASME Transactions on Mechatronics, 4(3), 273-285. doi:10.1109/3516.789685Winkler, A., & Suchy, J. (2016). Explicit and implicit force control of an industrial manipulator — An experimental summary. 2016 21st International Conference on Methods and Models in Automation and Robotics (MMAR). doi:10.1109/mmar.2016.7575081Neranon, P., & Bicker, R. (2016). Force/position control of a robot manipulator for human-robot interaction. Thermal Science, 20(suppl. 2), 537-548. doi:10.2298/tsci151005036nChen, S., Zhang, T., & Zou, Y. (2017). Fuzzy-Sliding Mode Force Control Research on Robotic Machining. Journal of Robotics, 2017, 1-8. doi:10.1155/2017/8128479Lin, H.-I., & Dubey, V. (2018). Design of an Adaptive Force Controlled Robotic Polishing System Using Adaptive Fuzzy-PID. Advances in Intelligent Systems and Computing, 825-836. doi:10.1007/978-3-030-01370-7_64Perez-Vidal, C., Gracia, L., Sanchez-Caballero, S., Solanes, J. E., Saccon, A., & Tornero, J. (2019). Design of a polishing tool for collaborative robotics using minimum viable product approach. International Journal of Computer Integrated Manufacturing, 32(9), 848-857. doi:10.1080/0951192x.2019.1637026Chen, F., Zhao, H., Li, D., Chen, L., Tan, C., & Ding, H. (2019). Contact force control and vibration suppression in robotic polishing with a smart end effector. Robotics and Computer-Integrated Manufacturing, 57, 391-403. doi:10.1016/j.rcim.2018.12.019Mohammad, A. E. K., Hong, J., & Wang, D. (2018). Design of a force-controlled end-effector with low-inertia effect for robotic polishing using macro-mini robot approach. Robotics and Computer-Integrated Manufacturing, 49, 54-65. doi:10.1016/j.rcim.2017.05.011Xiao, C., Wang, Q., Zhou, X., Xu, Z., Lao, X., & Chen, Y. (2019). Hybrid Force/Position Control Strategy for Electromagnetic based Robotic Polishing Systems. 2019 Chinese Control Conference (CCC). doi:10.23919/chicc.2019.8865183Li, J., Zhang, T., Liu, X., Guan, Y., & Wang, D. (2018). A Survey of Robotic Polishing. 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO). doi:10.1109/robio.2018.8664890Zollo, L., Siciliano, B., De Luca, A., Guglielmelli, E., & Dario, P. (2004). Compliance Control for an Anthropomorphic Robot with Elastic Joints: Theory and Experiments. Journal of Dynamic Systems, Measurement, and Control, 127(3), 321-328. doi:10.1115/1.1978911Han, D., Duan, X., Li, M., Cui, T., Ma, A., & Ma, X. (2017). Interaction Control for Manipulator with compliant end-effector based on hybrid position-force control. 2017 IEEE International Conference on Mechatronics and Automation (ICMA). doi:10.1109/icma.2017.8015929Schindlbeck, C., & Haddadin, S. (2015). Unified passivity-based Cartesian force/impedance control for rigid and flexible joint robots via task-energy tanks. 2015 IEEE International Conference on Robotics and Automation (ICRA). doi:10.1109/icra.2015.7139036Zotovic Stanisic, R., & Valera Fernández, Á. (2009). Simultaneous velocity, impact and force control. Robotica, 27(7), 1039-1048. doi:10.1017/s0263574709005451Volpe, R., & Khosla, P. (1993). A theoretical and experimental investigation of explicit force control strategies for manipulators. IEEE Transactions on Automatic Control, 38(11), 1634-1650. doi:10.1109/9.262033Zeng, G., & Hemami, A. (1997). An overview of robot force control. Robotica, 15(5), 473-482. doi:10.1017/s026357479700057xSalisbury, J. (1980). Active stiffness control of a manipulator in cartesian coordinates. 1980 19th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes. doi:10.1109/cdc.1980.272026Chen, S.-F., & Kao, I. (2000). Conservative Congruence Transformation for Joint and Cartesian Stiffness Matrices of Robotic Hands and Fingers. The International Journal of Robotics Research, 19(9), 835-847. doi:10.1177/02783640022067201Institute of Robotics and Mechatronics DLR Light Weight Robot III https://www.dlr.de/rm/en/desktopdefault.aspx/tabid-12464/#gallery/2916

Behavioural Study of the Force Control Loop Used in a Collaborative Robot for Sanding Materials

[EN] The rise of collaborative robots urges the consideration of them for different industrial tasks such as sanding. In this context, the purpose of this article is to demonstrate the feasibility of using collaborative robots in processing operations, such as orbital sanding. For the demonstration, the tools and working conditions have been adjusted to the capacity of the robot. Materials with different characteristics have been selected, such as aluminium, steel, brass, wood, and plastic. An inner/outer control loop strategy has been used, complementing the robot¿s motion control with an outer force control loop. After carrying out an explanatory design of experiments, it was observed that it is possible to perform the operation in all materials, without destabilising the control, with a mean force error of 0.32%. Compared with industrial robots, collaborative ones can perform the same sanding task with similar results. An important outcome is that unlike what might be thought, an increase in the applied force does not guarantee a better finish. In fact, an increase in the feed rate does not produce significant variation in the finish¿less than 0.02 m; therefore, the process is in a ¿saturation state¿ and it is possible to increase the feed rate to increase productivity.Rodrigo Perez-Ubeda is grateful to the Ph.D. Grant CONICYT PFCHA/Doctorado Becas Chile/2017-72180157 and the University of Antofagasta, Chile.Pérez Ubeda, R.; Gutiérrez, SC.; Zotovic Stanisic, R.; Perles, A. (2020). Behavioural Study of the Force Control Loop Used in a Collaborative Robot for Sanding Materials. Materials. 14(1):1-19. https://doi.org/10.3390/ma14010067S11914

Stem cells and COVID-19: are the human amniotic cells a new hope for therapies against the SARS-CoV-2 virus?

A new coronavirus respiratory disease (COVID-19) caused by the SARS-CoV-2 virus, surprised the entire world, producing social, economic, and health problems. The COVID-19 triggers a lung infection with a multiple proinflammatory cytokine storm in severe patients. Without effective and safe treatments, COVID-19 has killed thousands of people, becoming a pandemic. Stem cells has been suggested as a therapy for lung related diseases. In particular, mesenchymal stem cells (MSCs) have been successfully tested in some clinical trials in patients with COVID-19. The encouraging results positioned MSCs as a possible cell therapy for COVID-19. The amniotic membrane from human placenta at term is a valuable stem cell source, including human amniotic epithelial cells (hAECs) and human mesenchymal stromal cells (hAMSCs). Interestingly, amnion cells have immunoregulatory, regenerative, and anti-inflammatory properties. Moreover, hAECs and hAMSCs have been used both in preclinical studies and in clinical trials against respiratory diseases. They have reduced the inflammatory response and restored the pulmonary tissue architecture in lung-injury in vivo models. Here, we review the existing data about the stem cells use for COVID-19 treatment, including the ongoing clinical trials. We also consider the non-cellular therapies that are being applied. Finally, we discuss the human amniotic membrane cells use in patients who suffer from immune/inflammatory lung diseases and hypothesize their possible use as a successful treatment against COVID-19.Fil: Riedel, Rodrigo Nicolas. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Química Biológica de la Facultad de Ciencias Exactas y Naturales. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Química Biológica de la Facultad de Ciencias Exactas y Naturales; ArgentinaFil: Pérez Pérez, Antonio. Universidad de Sevilla; EspañaFil: Sánchez Margalet, Victor S. Universidad de Sevilla; EspañaFil: Varone, Cecilia Laura. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Química Biológica de la Facultad de Ciencias Exactas y Naturales. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Química Biológica de la Facultad de Ciencias Exactas y Naturales; ArgentinaFil: Maymo, Julieta Lorena. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Química Biológica de la Facultad de Ciencias Exactas y Naturales. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Química Biológica de la Facultad de Ciencias Exactas y Naturales; Argentin

N-Benzoyl-N′,N′-dimethyl­thio­urea

In the title compound, C10H12N2OS, the amide NCO group is twisted relative to the thio­ureido SCN2 group, forming a dihedral angle of 55.3 (2)°. The crystal packing shows inter­molecular N—H⋯S and weak C—H⋯O inter­actions, the former giving rise to the formation of centrosymmetric R 2 2(8) dimers

Tris[N-(2-furoyl)-N,N′-diphenyl­thio­ureato-κ2 O,S]cobalt(III)

In the title compound, [Co(C18H13N2O2S)3], the CoIII atom is coordinated by the S and O atoms of three N-furoyl-N′,N′-diphenyl­thio­urea ligands in a slightly distorted octa­hedral geometry. The three O atoms are arranged fac, as are the three S atoms

cis-Bis[N-(2-furoyl)-N′,N′-diphenyl­thio­ureato-κ2 O,S]nickel(II)

In the title compound, [Ni(C18H13N2O2S)2], the NiII atom is coordinated by the S and O atoms of two N-furoyl-N′,N′-diphenyl­thio­ureate ligands in a slightly distorted square-planar coordination geometry. The two O and two S atoms are cis to each other

cis-Bis(N-benzoyl-N′,N′-dibenzyl­thio­ureato-κ2 O,S)nickel(II)

In the title compound, [Ni(C22H19N2OS)2], the NiII atom is coordinated by the S and O atoms of two N-benzoyl-N′,N′-dibenzyl­thio­ureate ligands in a slightly distorted square-planar geometry. The two O atoms are cis, as are the two S atoms

Proton Stability, Dark Matter and Light Color Octet Scalars in Adjoint SU(5) Unification

The unification of gauge interactions in the context of Adjoint SU(5) and its phenomenological consequences are investigated. We show the allowed mass spectrum of the theory which is compatible with proton decay, and discuss the possibility to have a cold dark matter candidate. Due to the upper bounds on the proton decay partial lifetimes, tau (p --> K^+ nubar) < 9.3 10^{36} years and tau(p --> pi^+ nubar) < 3.0 10^{35} years, the theory could be tested at future proton decay experiments. The theory predicts also light scalar color octets which could be produced at the Large Hadron Collider.Comment: 20 pages, 8 figures, minor corrections, one reference added, to appear in Physical Review

Intradermal and virosomal influenza vaccines for preventing influenza hospitalization in the elderly during the 2011–2012 influenza season: A comparative effectiveness study using the Valencia health care information system

AbstractBackgroundThe use of intradermal vaccination or virosomal vaccines could increase protection against influenza among the vulnerable population of older adults. Studies assessing the comparative effectiveness of these two influenza vaccine types in this age group are lacking.MethodsWe conducted a retrospective cohort study to estimate the comparative effectiveness of intradermal seasonal trivalent-influenza vaccine (TIV) delivered by a microneedle injection system and a virosomal-TIV intramuscularly delivered for prevention of influenza hospitalization in non-institutionalized adults aged ≥65 years. We obtained administrative data on immunization status and influenza hospitalization for the 2011–2012 influenza season, and used Cox regression models to assess comparative effectiveness. We estimated crude and adjusted (age, sex, comorbidity, pharmaceutical claims, recent pneumococcal vaccination and number of hospitalizations for all causes other than influenza between the previous and current influenza seasons) hazard ratios (HR).ResultsOverall, 164,021 vaccinated subjects were evaluated. There were 127 hospitalizations for influenza among 62,058 subjects, contributing 914,740 person-weeks at risk in the virosomal-TIV group, and 133 hospitalizations for influenza among 101,963 subjects, contributing 1,504,570 person-weeks at risk in the intradermal-TIV group. The crude HR of intradermal-TIV relative to virosomal-TIV was 0.64 (95% confidence interval (CI): 0.50–0.81), and the adjusted Cox estimated HR was 0.67 (95% CI: 0.52–0.85).ConclusionsDuring the 2011–2012 influenza season the risk of hospitalization for influenza was reduced by 33% in non-institutionalized elderly adults who were vaccinated with intradermal-TIV compared with virosomal-TIV