On the manipulability of dual cooperative robots

The definition of manipulability ellipsoids for dual robot systems is given. A suitable kineto-static formulation for dual cooperative robots is adopted which allows for a global task space description of external and internal forces, and relative velocities. The well known concepts of force and velocity manipulability ellipsoids for a single robot are formally extended and the contributions of the two single robots to the cooperative system ellipsoids are illustrated. Duality properties are discussed. A practical case study is developed

Critical Steps of Plasmodium falciparum Ookinete Maturation

The egress and fertilization of Plasmodium gametes and development of a motile ookinete are the first crucial steps that mediate the successful transmission of the malaria parasites from humans to the Anopheles vector. However, limited information exists about the cell biology and regulation of this process. Technical impediments in the establishment of in vitro conditions for ookinete maturation in Plasmodium falciparum and other human malaria parasites further constrain a detailed characterization of ookinete maturation. Here, using fluorescence microscopy and immunolabeling, we compared P. falciparum ookinete maturation in Anopheles coluzzii mosquitoes in vivo and in cell culture in vitro. Our results identified two critical steps in ookinete maturation that are regulated by distinct mosquito factors, thereby highlighting the role of the mosquito environment in the transmission efficiency of malaria parasites

Structural distinctions of Fe2O3-In2O3 composites obtained by various sol-gel procedures, and their gas-sensing features

New and various approaches to the sol–gel synthesis of advanced gas-sensing materials based on nanosized Fe2O3–In2O3 (9:1 mol) mixed oxides, which differ in phase composition and grain size, have been considered in this paper. The correlation between the structural features of the composites and their gas-sensing behavior has been established. It was found that multi-phase Fe2O3–In2O3 composites containing metastable -Fe2O3 structure are characterized by the greatest sensitivity to both reducing (C2H5OH) and oxidizing (NO2) gases tested in this paper. The influence of synthesis conditions on the structural peculiarities of the Fe2O3–In2O3 composites was studied in detail and the possibility to adjust fine structure of the materials was demonstrated

The PRISMA Hand II: A Sensorized Robust Hand for Adaptive Grasp and In-Hand Manipulation

Although substantial progresses have been made in building anthropomorphic robotic hands, lack of mechanical robustness, dexterity and force sensation still restrains wide adoption of robotic prostheses. This paper presents the design and preliminary evaluation of the PRISMA hand II, which is a mechanically robust anthropomorphic hand developed at the PRISMA Lab of University of Naples Federico II. The hand is highly underactuated, as the 19 finger joints are driven by three motors via elastic tendons. Nevertheless, the hand can performs not only adaptive grasps but also in-hand manipulation. The hand uses rolling contact joints, which is compliant in multiple directions. Force sensor are integrated to each fingertip in order to provide force feedback during grasping and manipulation. Preliminary experiments have been performed to evaluate the hand. Results show that the hand can perform various grasps and in-hand manipulation, while the structure can withstand severe disarticulation. This suggests that the proposed design can be a viable solution for robust and dexterous prosthetic hands

A competitive cell-permeable peptide impairs Nme-1 (NDPK-A) and Prune-1 interaction: therapeutic applications in cancer.

The understanding of protein–protein interactions is crucial in order to generate a second level of functional genomic analysis in human disease. Within a cellular microenvironment, protein–protein interactions generate new functions that can be defined by single or multiple modes of protein interactions. We outline here the clinical importance of targeting of the Nme-1 (NDPK-A)–Prune-1 protein complex in cancer, where an imbalance in the formation of this protein–protein complex can result in inhibition of tumor progression. We discuss here recent functional data using a small synthetic competitive cell-permeable peptide (CPP) that has shown therapeutic efficacy for impairing formation of the Nme-1–Prune-1 protein complex in mouse preclinical xenograft tumor models (e.g., breast, prostate, colon, and neuroblastoma). We thus believe that further discoveries in the near future related to the identification of new protein–protein interactions will have great impact on the development of new therapeutic strategies against various cancers

Haptic-Based Shared-Control Methods for a Dual-Arm System

We propose novel haptic guidance methods for a dual-arm telerobotic manipulation system, which are able to deal with several different constraints, such as collisions, joint limits, and singularities. We combine the haptic guidance with shared-control algorithms for autonomous orientation control and collision avoidance meant to further simplify the execution of grasping tasks. The stability of the overall system in various control modalities is presented and analyzed via passivity arguments. In addition, a human subject study is carried out to assess the effectiveness and applicability of the proposed control approaches both in simulated and real scenarios. Results show that the proposed haptic-enabled shared-control methods significantly improve the performance of grasping tasks with respect to the use of classic teleoperation with neither haptic guidance nor shared control

A 177 ppm RMS Error-Integrated Interface for Time-Based Impedance Spectroscopy of Sensors

This paper presents an integrated circuit for time-based electrical impedance spectroscopy (EIS) of sensors. The circuit exploits maximum-length sequences (MLS) in order to perform a broadband excitation of the sensors under test. Therefore, the measured time-domain EIS is obtained by cross-correlating the input with the output of the analog front end (AFE). Unlike the conventional digital approach, the cross-correlation operation is performed in the analog domain. This leads to a lower RMS error in the measured time-domain EIS since the signal processing is not affected by the quantization noise of the analog-to-digital converter (ADC). It also relaxes the sampling frequency of the ADC leading, along with the lack of random access memory (RAM) usage, to a reduced circuit complexity. Theoretical concepts about the circuit’s design and operation are presented, with an emphasis on the thermal noise phenomenon. The simulated performances are shown by testing a sensor’s equivalent model composed of a 50 kΩ resistor in parallel with a 100 (Formula presented.) (Formula presented.) capacitor. A time-based EIS output of 255 points was obtained with a maximum tested frequency of 500 (Formula presented.) (Formula presented.) and a simulated RMS error of 0.0177% (or 177 ppm)

Forecasting SYM-H Index: A Comparison Between LongShort-Term Memory and Convolutional Neural Networks

Forecasting geomagnetic indices represents a key point to develop warning systems for the mitigation of possible effects of severe geomagnetic storms on critical ground infrastructures. Here we focus on SYM‐H index, a proxy of the axially symmetric magnetic field disturbance at low and middle latitudes on the Earth's surface. To forecast SYM‐H, we built two artificial neural network (ANN) models and trained both of them on two different sets of input parameters including interplanetary magnetic field components and magnitude and differing for the presence or not of previous SYM‐H values. These ANN models differ in architecture being based on two conceptually different neural networks: the long short‐term memory (LSTM) and the convolutional neural network (CNN). Both networks are trained, validated, and tested on a total of 42 geomagnetic storms among the most intense that occurred between 1998 and 2018. Performance comparison of the two ANN models shows that (1) both are able to well forecast SYM‐H index 1 h in advance, with an accuracy of more than 95% in terms of the coefficient of determination R2; (2) the model based on LSTM is slightly more accurate than that based on CNN when including SYM‐H index at previous steps among the inputs; and (3) the model based on CNN has interesting potentialities being more accurate than that based on LSTM when not including SYM‐H index among the inputs. Predictions made including SYM‐H index among the inputs provide a root mean squared error on average 42% lower than that of predictions made without SYM‐H

Isolation of rat hepatocytes for pharmacological studies on metabotropic glutamate receptor (mGluR) subtype 5: a comparison between collagenase I versus collagenase IV.

Isolated hepatocytes can be obtained from the liver by collagenase infusion, a procedure that could affect cell isolation as well as the integrity of membrane receptors. In this respect we compared metabotropic glutamate subtype 5 receptor (mGluR5) protein expression and activity in rat hepatocytes isolated by two collagenases, type I and type IV. Hepatocytes were isolated from male Wistar rats (200-250 g) using collagenase I or colla-genase IV and after isolation, viability and morphology of rat hepatocytes were assessed measuring mGluR5 protein expression by Western blot analyses. mGluR5 activation was evaluated by inositol-1-phosphate (IP-1) accumulation after treatment with the mGluR5 orthosteric agonist ACPD or the selective antagonist MPEP. No difference in cellular viability and morphology was observed using collagenase I when compared with collage-nase IV. An increase in mGluR5 protein expression was observed in hepatocytes isolated using collagenase IV with respect to collagenase I. Moreover, hepatocytes treated with ACPD and with MPEP presented higher levels of IP-1 when isolated using collagenase IV compared tocollagenase I. These results indicate that collage-nase IV better preserves the activity of surface proteins such as mGluR5in isolated rat hepatocytes, an in vitro model useful to reduce the use of experimental animals, in line with the 3R ethical framework