On Centroidal Dynamics and Integrability of Average Angular Velocity

In the literature on robotics and multibody dynamics, the concept of average angular velocity has received considerable attention in recent years. We address the question of whether the average angular velocity defines an orientation framethat depends only on the current robot configuration and provide a simple algebraic condition to check whether this holds. In the language of geometric mechanics, this condition corresponds to requiring the flatness of the mechanical connection associated to the robotic system. Here, however, we provide both a reinterpretation and a proof of this result accessible to readers with a background in rigid body kinematics and multibody dynamics but not necessarily acquainted with differential geometry, still providing precise links to the geometric mechanics literature. This should help spreading the algebraic condition beyond the scope of geometric mechanics,contributing to a proper utilization and understanding of the concept of average angular velocity.Comment: 8 pages, accepted for IEEE Robotics and Automation Letters (RA-L

Sensitivity analysis of hybrid systems with state jumps with application to trajectory tracking

This paper addresses the sensitivity analysis for hybrid systems with discontinuous (jumping) state trajectories. We consider state-triggered jumps in the state evolution, potentially accompanied by mode switching in the control vector field as well. For a given trajectory with state jumps, we show how to construct an approximation of a nearby perturbed trajectory corresponding to a small variation of the initial condition and input. A major complication in the construction of such an approximation is that, in general, the jump times corresponding to a nearby perturbed trajectory are not equal to those of the nominal one. The main contribution of this work is the development of a notion of error to clarify in which sense the approximate trajectory is, at each instant of time, a firstorder approximation of the perturbed trajectory. This notion of error naturally finds application in the (local) tracking problem of a time-varying reference trajectory of a hybrid system. To illustrate the possible use of this new error definition in the context of trajectory tracking, we outline how the standard linear trajectory tracking control for nonlinear systems -based on linear quadratic regulator (LQR) theory to compute the optimal feedback gain- could be generalized for hybrid systems

SERPINB3 delays glomerulonephritis and attenuates the lupus-like disease in lupus murine models by inducing a more tolerogenic immune phenotype

Objective: To explore the effects of SERPINB3 administration in murine lupus models with a focus on lupus-like nephritis. Methods: 40 NZB/W F1 mice were subdivided into 4 groups and intraperitoneally injected with recombinant SERPINB3 (7.5 \u3bcg/0.1 mL or 15 \u3bcg/0.1 mL) or PBS (0.1 mL) before (group 1 and 2) or after (group 3 and 4) the development of proteinuria ( 65100 mg/dl). Two additional mice groups were provided by including 20 MRL/lpr mice which were prophylactically injected with SERPINB3 (10 mice, group 5) or PBS (10 mice, group 6). Time of occurrence and levels of anti-dsDNA and anti-C1q antibodies, proteinuria and serum creatinine, overall- and proteinuria-free survival were assessed in mice followed up to natural death. Histological analysis was performed in kidneys of both lupus models. The Th17:Treg cell ratio was assessed by flow-cytometry in splenocytes of treated and untreated MRL/lpr mice. Statistical analysis was performed using non parametric tests and Kaplan-Meier curves, when indicated. Results: Autoantibody levels and proteinuria were significantly decreased and time of occurrence significantly delayed in SERPINB3-treated mice vs. controls. In agreement with these findings, proteinuria-free and overall survival were significantly improved in SERPINB3-treated groups vs. controls. Histological analysis demonstrated a lower prevalence of severe tubular lesions in kidneys of group 5 vs. group 6. SERPINB3-treated mice showed an overall trend toward a reduced prevalence of severe lesions in both strains. Th17:Treg ratio was significantly decreased in splenocytes of MRL/lpr mice treated with SERPINB3, compared to untreated control mice. Conclusions: SERPINB3 significantly improves disease course and delays the onset of severe glomerulonephritis in lupus-prone mice, possibly inducing a more tolerogenic immune phenotype

Method for determination of stable carbon isotope ratio of methylnitrophenols in atmospheric particulate matter

A technique for the measurement of the stable isotope ratio of methylnitrophenols in atmospheric particulate matter is presented. Atmospheric samples from rural and suburban areas were collected for evaluation of the procedure. Particulate matter was collected on quartz fibre filters using dichotomous high volume air samplers. Methylnitrophenols were extracted from the filters using acetonitrile. The sample was then purified using a combination of high-performance liquid chromatography and solid phase extraction. The final solution was then divided into two aliquots. To one aliquot, a derivatising agent, Bis(trimethylsilyl)trifluoroacetamide, was added for Gas Chromatography-Mass Spectrometry analysis. The second half of the sample was stored in a refrigerator. For samples with concentrations exceeding 1 ng μl<sup>−1</sup>, the second half of the sample was used for measurement of stable carbon isotope ratios by Gas Chromatography-Isotope Ratio Mass Spectrometry. <br><br> The procedure described in this paper provides a method for the analysis of methylnitrophenols in atmospheric particulate matter at concentrations as low as 0.3 pg m<sup>−3</sup> and for stable isotope ratios with an accuracy of better than ±0.5‰ for concentrations exceeding 100 pg m<sup>−3</sup>. <br><br> In all atmospheric particulate matter samples analysed, 2-methyl-4-nitrophenol was found to be the most abundant methylnitrophenol, with concentrations ranging from the low pg m<sup>−3</sup> range in rural areas to more than 200 pg m<sup>−3</sup> in some samples from a suburban location

Sixth European seminar in virology on virus\u2013host interaction at single cell and organism level

The 6th European Seminar in Virology (EuSeV) was held in Bertinoro, Italy, 22\u201324 June 2018, and brought together international scientists and young researchers working in the field of Virology. Sessions of the meeting included: virus\u2013host-interactions at organism and cell level; virus evolution and dynamics; regulation; immunity/immune response; and disease and therapy. This report summarizes lectures by the invited speakers and highlights advances in the field

Hydrological assessment and monitoring of wetlands

The physical and chemical characteristics which favour wetland plant communities, primarily high soil water levels and anaerobic soil chemistry, are related directly to the hydrology/hydrogeology of the wetland and often its surrounding catchment. Appreciation and successful management of a wetland therefore almost always requires an understanding of its hydrological functioning, including the influences on hydrological functioning which often lie beyond the designated boundary of the sit

An introduction to Lie group integrators -- basics, new developments and applications

We give a short and elementary introduction to Lie group methods. A selection of applications of Lie group integrators are discussed. Finally, a family of symplectic integrators on cotangent bundles of Lie groups is presented and the notion of discrete gradient methods is generalised to Lie groups