ROBOTIC INTERACTION AND COOPERATION. Industrial and rehabilitative applications

The main goal of the thesis is the development of human-robotic interaction control strategies, which enable close collaboration between human and robot. In this framework we studied two di erent aspects, with applications respectively in industrial and rehabilitation domains. In the rst part safety issues are examined on a scenario in which a robot manipulator and a human perform the same task and in the same workspace. During the task execution the human should be able to get into contact with the robot and in this case an estimation algorithm of both interaction forces and contact point is proposed in order to guarantee safety conditions. At the same time, all the unintended contacts have to be avoided, and a suitable post collision strategy has been studied to move away the robot from the collision area or to reduce the impact e orts. However, the second part of the thesis focus on the cooperation between an orthesis and a patient. Indeed, in order to support a rehabilitation process, gait parameters, such as hip and knee angles or the beginning of a gait phase, have been estimated. For this purpose a sensor system, consisting of accelerometers and gyroscopes, and algorithms, developed in order to avoid the error accumulation due to the gyroscopes drift and the vibrations related to the beginning of the stance phase due to the accelerometers, have been proposed.The main goal of the thesis is the development of human-robotic interaction control strategies, which enable close collaboration between human and robot. In this framework we studied two di erent aspects, with applications respectively in industrial and rehabilitation domains. In the rst part safety issues are examined on a scenario in which a robot manipulator and a human perform the same task and in the same workspace. During the task execution the human should be able to get into contact with the robot and in this case an estimation algorithm of both interaction forces and contact point is proposed in order to guarantee safety conditions. At the same time, all the unintended contacts have to be avoided, and a suitable post collision strategy has been studied to move away the robot from the collision area or to reduce the impact e orts. However, the second part of the thesis focus on the cooperation between an orthesis and a patient. Indeed, in order to support a rehabilitation process, gait parameters, such as hip and knee angles or the beginning of a gait phase, have been estimated. For this purpose a sensor system, consisting of accelerometers and gyroscopes, and algorithms, developed in order to avoid the error accumulation due to the gyroscopes drift and the vibrations related to the beginning of the stance phase due to the accelerometers, have been proposed

Contact Estimation in Robot Interaction

In the paper, safety issues are examined in a scenario in which a robot manipulator and a human perform the same task in the same workspace. During the task execution, the human should be able to physically interact with the robot, and in this case an estimation algorithm for both interaction forces and a contact point is proposed in order to guarantee safety conditions. The method, starting from residual joint torque estimation, allows both direct and adaptive computation of the contact point and force, based on a principle of equivalence of the contact forces. At the same time, all the unintended contacts must be avoided, and a suitable post-collision strategy is considered to move the robot away from the collision area or else to reduce impact effects. Proper experimental tests have demonstrated the applicability in practice of both the post-impact strategy and the estimation algorithms; furthermore, experiments demonstrate the different behaviour resulting from the adaptation of the contact point as opposed to direct calculation

Separase prevents genomic instability by controlling replication fork speed

Proper chromosome segregation is crucial for preserving genomic integrity, and errors in this process cause chromosome mis-segregation, which may contribute to cancer development. Sister chromatid separation is triggered by Separase, an evolutionary conserved protease that cleaves the cohesin complex, allowing the dissolution of sister chromatid cohesion. Here we provide evidence that Separase participates in genomic stability maintenance by controlling replication fork speed. We found that Separase interacted with the replication licensing factors MCM2-7, and genome-wide data showed that Separase co-localized with MCM complex and cohesin. Unexpectedly, the depletion of Separase increased the fork velocity about 1.5-fold and caused a strong acetylation of cohesin's SMC3 subunit and altered checkpoint response. Notably, Separase silencing triggered genomic instability in both HeLa and human primary fibroblast cells. Our results show a novel mechanism for fork progression mediated by Separase and thus the basis for genomic instability associated with tumorigenesis

Separase prevents genomic instability by controlling replication fork speed

Proper chromosome segregation is crucial for preserving genomic integrity, and errors in this process cause chromosome mis-segregation, which may contribute to cancer development. Sister chromatid separation is triggered by Separase, an evolutionary conserved protease that cleaves the cohesin complex, allowing the dissolution of sister chromatid cohesion. Here we provide evidence that Separase participates in genomic stability maintenance by controlling replication fork speed. We found that Separase interacted with the replication licensing factors MCM2-7, and genome-wide data showed that Separase co-localized with MCM complex and cohesin. Unexpectedly, the depletion of Separase increased the fork velocity about 1.5-fold and caused a strong acetylation of cohesin's SMC3 subunit and altered checkpoint response. Notably, Separase silencing triggered genomic instability in both HeLa and human primary fibroblast cells. Our results show a novel mechanism for fork progression mediated by Separase and thus the basis for genomic instability associated with tumorigenesis

Occurrence and temporal distribution of extended-spectrum β-lactamase-producing Escherichia coli in clams from the Central Adriatic, Italy

The spread of extended-spectrum β-lactamase (ESBL)-producing Escherichia coli is a major public health issue. Bivalves are filter-feeder animals capable of bioaccumulating the microorganisms present in water. This physiological characteristic makes them both good indicators of environmental contamination and possible carriers of pathogenic bacteria, including those resistant to antimicrobials. The aim of this study was to investigate the occurrence of ESBL-producing E. coli in clams (n = 308) collected from harvesting areas of the Central Adriatic Sea between 2018 and 2019. ESBL- /class C β-lactamase (AmpC)- producing E. coli and Escherichia spp. were isolated by streaking over the surface of MacConkey agar plates supplemented with cefotaxime enriched broths of the initial shellfish suspension. E. coli and Escherichia spp. resistant to cefotaxime were screened for ESBL production by using the double disk synergy test. Susceptibility to different antimicrobials and confirmation of ESBL-production were determined by the minimum inhibitory concentration (MIC) test. Isolates were further characterized by whole genome sequencing (WGS) and bioinformatic analysis of genomes with different tools. Overall, ESBL-producing E. coli were isolated from 3% of the samples. Of 13 ESBL- and ESBL−/AmpC-producing Escherichia spp. (n = 11 E. coli, n = 1 E. marmotae, n = 1 E. ruysiae) isolates, 13 were resistant to ampicillin and cefotaxime, 9 to sulfamethoxazole, 6 to tetracycline and nalidixic acid, 4 to trimethoprim, and 3 to ceftazidime, cefoxitin, ciprofloxacin, and chloramphenicol. Moreover, the majority (8/11) of the ESBL-producing E. coli isolates were multidrug-resistant. WGS showed that the isolates predominantly carried the blaCTX-M-15 gene (3/11) and blaCTX-M-14 and blaCTX-M-1 (2/11 each). The AmpC β-lactamase CMY-2 was found in two isolates. Phylogroup A was the most prevalent (5/11), followed by phylogroups D (4/11), F (1/11), and B2 (1/11). Ten different sequence types (STs) were identified. Occurrence at sampling sites ranged between 0 and 27%. To identify associations between the occurrence of ESBL-producing E. coli and E. coli levels, samples were divided into two groups, with E. coli at >230 MPN/100 g and E. coli at ≤230 MPN/100 g. ESBL-producing E. coli isolates were significantly more commonly recovered in samples with higher E. coli levels (14%) than in those with lower levels of E. coli (2%). Moreover, the majority (3/4) of the potentially pathogenic strains were isolated in samples with higher E. coli levels. These findings provided evidence for the bacterial indicator of fecal contamination, E. coli, as an index organism for ESBL-producing E. coli isolates in bivalves

Cinema in comunità: offerta, fruizione e processi di inclusione

Il capitolo analizza il ruolo dei film e dei prodotti audiovisivi nei processi di welfare di comunità. Dopo una ricostruzione storico-teorica dei processi di consumo dei film nel corso del tempo, il capitolo si focalizza sulle iniziative nate dal basse all'interno del Quartiere Navile del Comune di Bologna; iniziative che cercano di favoriscono momenti di aggregazione, socializzazione e maturazione culturale a partire dalla fruizione condivisa di film e di altri prodotti audiovisivi. Il capitolo è frutto di una ricerca sul campo condotta degli autori attraverso interviste e osservazioni partecipanti nel corso del 2020

Use of accelerometers and gyros for hip and knee angle estimation

In this paper a wearable sensor system, consisting of accelerometers and gyros, has been studied to estimate hip and knee angles. The proposed algorithm, developed in order to avoid the error accumulation due to gyroscopes drift, has been tested on angle measurement of the hip and knee of a commercial device for assisted gait. The results have shown a good accuracy of the angles estimation, also in high angle rate movemen

Plumage coloration and morphometrics of the Little Owl Athene noctua in the Western Palearctic

The Little Owl is a species with a wide range in the Palearctic. Thirteen subspecies have been described based on small coloration or size differences. Recently, genetic studies in the western portion of the European range have shown the presence of some well distinct clades. We examined the variation in structural size and coloration of Western Palearctic birds, with particular attention to the pattern of light and dark pigmentation on the tail, and we checked for the presence of UV reflection through reflectance spectroscopy. We did not find clear-cut differences in size or plumage between the currently accepted subspecies, nor between individuals pertaining to the different genetic clade areas. There is a trend for individuals from the western genetic clade (Iberia, France, England and central Europe) to have longer tarsus with smaller wings, while individuals from the eastern generic clade (Balkans) have an opposite pattern. Italian birds are intermediate. The tail of Balkan birds has a wider dark pigmentation, with reduced light spots. Little owl feathers do not show reflectance in the UV part of the spectrum. We found a very large variation of morphological and color patterns between individuals collected in the same geographical area. Currently, the arrangement of individuals to any Little owls' subspecies on morphological data appears to be a very difficult task

Characterization of a prophage and a defective integrative conjugative element carrying the optrA gene in linezolid-resistant Streptococcus dysgalactiae subsp. equisimilis isolates from pigs, Italy

Objectives: To investigate the optrA-carrying genetic elements and their transferability in two linezolid-resistant Streptococcus dysgalactiae subsp. equisimilis (SDSE) strains of swine origin. Methods: SDSE strains (V220 and V1524) were phenotypically and genotypically characterized. Transferability of oxazolidinone resistance genes (filter mating), genetic elements and relatedness between isolates (WGS) were analysed. Excision of the genetic elements was assayed by inverse PCR. Results: SDSE isolates were resistant to chloramphenicol, florfenicol and linezolid, but susceptible to tedizolid and both carried the optrA gene.In SDSE V220 optrA was located on a 72.9-kb ICESdyV220 inserted in the 3' end of the chromosomal rum gene. It was 94%-96% identical (coverage, from 31% to 61%) to other optrA-carrying ICEs. In-depth ICESdyV220 sequence analysis revealed that optrA was carried by an IMESdyV220 (17.9 kb), also containing the tet(O/W/32/O) gene. Inverse PCR assays excluded the ICESdyV220 mobility. In SDSE V1524, optrA was carried by the ΦSdyV1524 prophage, integrated near the 5' end of the chromosomal had gene, showing a genetic organization similar to that of other streptococcal phage. Conjugation and transduction assays failed to demonstrate the optrA transferability to streptococcal recipients. V220 and V1524 belonged to two novel sequence types (ST704 and ST634, respectively). Conclusions: To the best of our knowledge, this is the first identification of the optrA gene on a prophage and an ICE in SDSE isolates from swine brain.These findings are consistent with the current belief in the key role of bacteriophages and ICEs in the streptococcal evolution and adaptation