CONTAINER LOCALISATION AND MASS ESTIMATION WITH AN RGB-D CAMERA

In the research area of human-robot interactions, the automatic estimation of the mass of a container manipulated by a person leveraging only visual information is a challenging task. The main challenges consist of occlusions, different filling materials and lighting conditions. The mass of an object constitutes key information for the robot to correctly regulate the force required to grasp the container. We propose a single RGB-D camera-based method to locate a manipulated container and estimate its empty mass i.e., independently of the presence of the content. The method first automatically selects a number of candidate containers based on the distance with the fixed frontal view, then averages the mass predictions of a lightweight model to provide the final estimation. Results on the CORSMAL Containers Manipulation dataset show that the proposed method estimates empty container mass obtaining a score of 71.08% under different lighting or filling conditions

Prospects for measuring the 229Th isomer energy using a metallic magnetic microcalorimeter

The Thorium-229 isotope features a nuclear isomer state with an extremely low energy. The currently most accepted energy value, 7.8 +- 0.5 eV, was obtained from an indirect measurement using a NASA x-ray microcalorimeter with an instrumental resolution 26 eV. We study, how state-of-the-art magnetic metallic microcalorimeters with an energy resolution down to a few eV can be used to measure the isomer energy. In particular, resolving the 29.18 keV doublet in the \gamma-spectrum following the \alpha-decay of Uranium-233, corresponding to the decay into the ground and isomer state, allows to measure the isomer transition energy without additional theoretical input parameters, and increase the energy accuracy. We study the possibility of resolving the 29.18 keV line as a doublet and the dependence of the attainable precision of the energy measurement on the signal and background count rates and the instrumental resolution.Comment: 32 pages, 8 figures, eq. (3) correcte

Data assimilation of radar reflectivity volumes in a LETKF scheme

Quantitative precipitation forecast (QPF) is still a challenge for numerical weather prediction (NWP), despite the continuous improvement of models and data assimilation systems. In this regard, the assimilation of radar reflectivity volumes should be beneficial, since the accuracy of analysis is the element that most affects short-term QPFs. Up to now, few attempts have been made to assimilate these observations in an operational set-up, due to the large amount of computational resources needed and due to several open issues, like the rise of imbalances in the analyses and the estimation of the observational error. In this work, we evaluate the impact of the assimilation of radar reflectivity volumes employing a local ensemble transform Kalman filter (LETKF), implemented for the convection-permitting model of the COnsortium for Small-scale MOdelling (COSMO). A 4-day test case on February 2017 is considered and the verification of QPFs is performed using the fractions skill score (FSS) and the SAL technique, an object-based method which allows one to decompose the error in precipitation fields in terms of structure (S), amplitude (A) and location (L). Results obtained assimilating both conventional data and radar reflectivity volumes are compared to those of the operational system of the Hydro-Meteo-Climate Service of the Emilia-Romagna Region (Arpae-SIMC), in which only conventional observations are employed and latent heat nudging (LHN) is applied using surface rainfall intensity (SRI) estimated from the Italian radar network data. The impact of assimilating reflectivity volumes using LETKF in combination or not with LHN is assessed. Furthermore, some sensitivity tests are performed to evaluate the effects of the length of the assimilation window and of the reflectivity observational error (roe). Moreover, balance issues are assessed in terms of kinetic energy spectra and providing some examples of how these affect prognostic fields. Results show that the assimilation of reflectivity volumes has a positive impact on QPF accuracy in the first few hours of forecast, both when it is combined with LHN or not. The improvement is further slightly enhanced when only observations collected close to the analysis time are assimilated, while the shortening of cycle length worsens QPF accuracy. Finally, the employment of too small a value of roe introduces imbalances into the analyses, resulting in a severe degradation of forecast accuracy, especially when very short assimilation cycles are used.</p

Absence of RNA-binding protein FXR2P prevents prolonged phase of kainate-induced seizures.

Status epilepticus (SE) is a condition in which seizures are not self-terminating and thereby pose a serious threat to the patient's life. The molecular mechanisms underlying SE are likely heterogeneous and not well understood. Here, we reveal a role for the RNA-binding protein Fragile X-Related Protein 2 (FXR2P) in SE. Fxr2 KO mice display reduced sensitivity specifically to kainic acid-induced SE. Immunoprecipitation of FXR2P coupled to next-generation sequencing of associated mRNAs shows that FXR2P targets are enriched in genes that encode glutamatergic post-synaptic components. Of note, the FXR2P target transcriptome has a significant overlap with epilepsy and SE risk genes. In addition, Fxr2 KO mice fail to show sustained ERK1/2 phosphorylation induced by KA and present reduced burst activity in the hippocampus. Taken together, our findings show that the absence of FXR2P decreases the expression of glutamatergic proteins, and this decrease might prevent self-sustained seizures

The Future of Neutrino Mass Measurements: Terrestrial, Astrophysical, and Cosmological Measurements in the Next Decade. Highlights of the NuMass 2013 Workshop. Milano, Italy, February 4 - 7, 2013

The third Workshop of the NuMass series ("The Future of Neutrino Mass Measurements: Terrestrial, Astrophysical, and Cosmological Measurements in the Next Decade: NuMass 2013") was held at Dipartimento di Fisica "G. Occhialini, University of Milano-Bicocca in Milano, Italy, on 4-7 February 2013. The goal of this international workshop was to review the status and future of direct and indirect neutrino mass measurements in the laboratory as well as from astrophysical and cosmological observations. This paper collects most of the contributions presented during the Workshop

A Wavy Two-Dimensional Covalent Organic Framework from Core-Twisted Polycyclic Aromatic Hydrocarbons

A high degree of crystallinity is an essential aspect in two-dimensional covalent organic frameworks, as many properties depend strongly on the structural arrangement of the different layers and their constituents. We introduce herein a new design strategy based on core-twisted polycyclic aromatic hydrocarbon as rigid nodes that give rise to a two-dimensional covalent organic framework with a wavy honeycomb (chairlike) lattice. The concave–convex self-complementarity of the wavy two-dimensional lattice guides the stacking of framework layers into a highly stable and ordered covalent organic framework that allows a full 3D analysis by transmission electron microscopy revealing its chairlike honeycomb facets and aligned mesoporous channels. Remarkably, the waviness of the framework does not disrupt the interlayer π–π stacking that shows charge transporting properties similar to those of planar covalent organic frameworks. The implementation of core-twisted aromatics as building blocks for covalent organic frameworks brings new possibilities in the design of highly ordered organic materials

Three dimensional nanoscale analysis reveals aperiodic mesopores in a covalent organic framework and conjugated microporous polymer

The integrated analytical approach developed in this study offers a powerful methodology for the structural characterisation of complex molecular nanomaterials. Structures of a covalent organic framework based on boronate esters (COF-5) and a conjugated microporous polymer (Aza-CMP) have been investigated by a combination of several electron microscopy techniques elucidating the three-dimensional topology of the complex polycrystalline (COF) and non-crystalline (CMP) materials. Unexpected, aperiodic mesoporous channels of 20-50 nm in diameter were found to be penetrating the COF and CMP particles, which cannot be detected by X-ray diffraction techniques. The mesopores appear to be stable under a range of different conditions and accessible to gas molecules, exhibiting a particular bonding capability with CO2 in the case of the CMP. The mesoporosity is unrelated to the intrinsic chemical structures of the COF or CMP but rather it reflects the mechanisms of polymer particle formation in a polycondensation reaction. The mesopores may be templated by clusters of solvent molecules during the COF or CMP synthesis, leaving cavities within the polymer particles. The unexpected mesoporosity discovered in COF and CMP materials begs for re-assessment of the nature of framework materials and may open new opportunities for applications of these molecular materials in gas sorption or catalysis

An Expanded 2D Fused Aromatic Network with 90-Ring Hexagons

Two-dimensional fused aromatic networks (2D FANs) have emerged as a highly versatile alternative to holey graphene. The synthesis of 2D FANs with increasingly larger lattice dimensions will enable new application perspectives. However, the synthesis of larger analogues is mostly limited by lack of appropriate monomers and methods. Herein, we describe the synthesis, characterisation and properties of an expanded 2D FAN with 90-ring hexagons, which exceed the largest 2D FAN lattices reported to date

Characterization of low temperature metallic magnetic calorimeters having gold absorbers with implanted 163^{163}Ho ions

For the first time we have investigated the behavior of fully micro-fabricated low temperature metallic magnetic calorimeters (MMCs) after undergoing an ion-implantation process. This experiment had the aim to show the possibility to perform a high precision calorimetric measurement of the energy spectrum following the electron capture of $^{163}$Ho using MMCs having the radioactive $^{163}$Ho ions implanted in the absorber. The implantation of $^{163}$Ho ions was performed at ISOLDE-CERN. The performance of a detector that underwent an ion-implantation process is compared to the one of a detector without implanted ions. The results show that the implantation dose of ions used in this experiment does not compromise the properties of the detector. In addition an optimized detector design for future $^{163}$Ho experiments is presented