Set-based Inverse Kinematics Control of an Anthropomorphic Dual Arm Aerial Manipulator

The paper presents a multiple task-priority inverse kinematics algorithm for a dual-arm aerial manipulator. Both tasks defined as equality constraints and inequality constraints are handled by means of a singularity robust method based on the Null-Space based Behavioral control. The proposed schema is constituted by the inverse kinematics control, that receives the desired behavior of the system and outputs the reference values for the motion variables, i.e. the UAV pose and the arm joints position, and a motion control, that computes the vehicle thrusts and the joint torques. The method has been experimentally validated on a system composed by an underactuated aerial hexarotor vehicle equipped with two lightweight 4-DOF manipulators, involved in operations requiring the coordination of the two arms and the vehicle

Surface Periodic Poling in Lithium Niobate and Lithium Tantalate

Periodic Poling of Lithium Niobate crystals (PPLN) by means of electric field has revealed the best technique for finely tailoring PPLN structures and parameters, which play a central role in many current researches in the field of nonlinear integrated optics. Besides the most studied technique of bulk poling, recently a novel technique where domain inversion occurs just in a surface layer using photoresist or silica masks has been devised and studied. This surface periodic poling (SPP) approach is best suited when light is confined in a thin surface guiding layer or stripe, as in the case of optical waveguide devices. Also, we found that SPP respect to bulk poling offers two orders of magnitude reduction on the scale of periodicity, so that even nanostructures can be obtained provided an high resolution holographic mask writing technique is adopted. We were able to demonstrate 200 nm domain size, and also good compatibility with alpha-phase proton exchange channel waveguide fabrication. Our first experiments on Lithium Tantalate have also shown that the SPP technology appears to be applicable to this crystal (SPPLT), whose properties can allow to overcome limitations such as optical damage or UV absorption still present in PPLN devices. Finally, the issue of SPP compatibility with proton exchange waveguide fabrication will be addresse

Tracking Control of Redundant Manipulators with Singularity-Free Orientation Representation and Null-Space Compliant Behaviour

This paper presents a suitable solution to control the pose of the end-effector of a redundant robot along a pre-planned trajectory, while addressing an active compliant behaviour in the null-space. The orientation of the robot is expressed through a singularity-free representation form. To accomplish the task, no exteroceptive sensor is needed. While a rigorous stability proof confirms the developed theory, experimental results bolster the performance of the proposed approach

Clinical‐epidemiological aspects of the Monkeypox 2022 epidemic: a multicenter study by the Italian SIDeMaST Group of Sexually Transmitted, Infectious and Tropical Diseases

Dear Editor,In spring 2022, an increase of monkeypox (mpox) cases was reported in Europe. Mpox is a zoonotic virus of the Poxviridae family, is endemic in the Congo Basin and just few cases outside Africa were reported before 2022. Its cutaneous presentation is similar to smallpox, usually preceded by a prodromal phase of fever, lymphadenopathy, headache and asthenia. Infection can occur through various means, including skin-to-skin contact, respiratory droplets or contact with fomites. The new outbreak is unique due to the increased human-to-human transmission, without an animal reservoir, particularly among men who have sex with men (MSM). As of February 13, 2023, 85.860 confirmed cases have been reported in 110 countries

An integrated approach for rock slope failure monitoring: The case study of Coroglio tuff cliff (Naples, Italy) - Preliminary results

The paper re ports the i mple mentation of an integrate d syste m ai me d at the real-ti me monitoring of a series of physical parame ters controlling the r ock slope stability. The system has bee n installe d on the Cor oglio tuff cliff, loc ate d in the highly ur banize d coastal area of Naples (Italy) at the bor der of the acti ve volcanic cal der a of Campi Flegrei. Preliminar y results obtai ne d during the first ye ar of data ac quisition and monitoring acti vi ty (Dece mber 2014 – January 2016) are also discussed on the basis of statistical models. (3) (PDF) An integrated approach for rock slope failure monitoring: the case study of Coroglio tuff cliff (Naples, Italy) – preliminary results. Available from: https://www.researchgate.net/publication/299340773_An_integrated_approach_for_rock_slope_failure_monitoring_the_case_study_of_Coroglio_tuff_cliff_Naples_Italy_-_preliminary_results [accessed Feb 27 2020].Published242-2471IT. Reti di monitoraggio e sorveglianzaN/A or not JC

ERAP1 and ERAP2 Haplotypes Influence Suboptimal HLA-B*27:05-Restricted Anti-Viral CD8+ T Cell Responses Cross-Reactive to Self-Epitopes

The human leukocyte antigen (HLA)-B*27 family of alleles is strongly associated with ankylosing spondylitis (AS), a chronic inflammatory disorder affecting the axial and peripheral joints, yet some HLA-B*27 variants not associated with AS have been shown. Since no major differences in the ligandome of associated compared to not-associated alleles have emerged, a plausible hypothesis is that the quantity rather than the quality of the presented epitopes makes the difference. In addition, the Endoplasmic Reticulum AminoPeptidases (ERAPs) 1 and 2, playing a crucial role in shaping the HLA class I epitopes, act as strong AS susceptibility factors, suggesting that an altered peptidome might be responsible for the activation of pathogenic CD8+ T cells. In this context, we have previously singled out a B*27:05-restricted CD8+ T cell response against pEBNA3A (RPPIFIRRL), an EBV peptide lacking the B*27 classic binding motif. Here, we show that a specific ERAP1/2 haplotype negatively correlates with such response in B*27:05 subjects. Moreover, we prove that the B*27:05 allele successfully presents peptides with the same suboptimal N-terminal RP motif, including the self-peptide, pDYNEIN (RPPIFGDFL). Overall, this study underscores the cooperation between the HLA-B*27 and ERAP1/2 allelic variants in defining CD8+ T cell reactivity to suboptimal viral and self-B*27 peptides and prompts further investigation of the B*27:05 peptidome composition

Combination of chemotherapy and PD-1 blockade induces T cell responses to tumor non-mutated neoantigens

Grimaldi and Cammarata et al. develop a proteomics-based, target discovery platform to identify immunogenic proteins specific to apoptotic tumor cells. This study highlights the importance of protein modifications in apoptotic tumor cells as a mechanism of generating immunogenic neoantigens that can be targeted for T cell-based immunotherapy.Here, we developed an unbiased, functional target-discovery platform to identify immunogenic proteins from primary non-small cell lung cancer (NSCLC) cells that had been induced to apoptosis by cisplatin (CDDP) treatment in vitro, as compared with their live counterparts. Among the multitude of proteins identified, some of them were represented as fragmented proteins in apoptotic tumor cells, and acted as non-mutated neoantigens (NM-neoAgs). Indeed, only the fragmented proteins elicited effective multi-specific CD4(+) and CD8(+) T cell responses, upon a chemotherapy protocol including CDDP. Importantly, these responses further increased upon anti-PD-1 therapy, and correlated with patients' survival and decreased PD-1 expression. Cross-presentation assays showed that NM-neoAgs were unveiled in apoptotic tumor cells as the result of caspase-dependent proteolytic activity of cellular proteins. Our study demonstrates that apoptotic tumor cells generate a repertoire of immunogenic NM-neoAgs that could be potentially used for developing effective T cell-based immunotherapy across multiple cancer patients

Efficacy and Drug Survival after Switching from Etanercept to the Biosimilar SB4: A Real-Life Long-Term Study

We evaluated the 3-year drug survival and efficacy of the biosimilar SB4/Benepali in rheumatoid arthritis (RA), psoriatic arthritis (PsA) and ankylosing spondylitis (AS) patients, pre-viously treated with etanercept (ETA). Drug survival rate was calculated using the Kaplan\u2013Meier method and Cox proportional hazard models were developed to examine predictors of SB4 discontin-uation. 236 patients (120 RA, 80 PsA and 36 AS), aged 60.7 \ub1 13.8 years and with an ETA duration of 4.1 \ub1 3.4 years were included. The 3-year retention rate for SB4 was 94.4%, 88% and 86% in AS, RA and PsA patients, respectively, with no difference between groups. Patients without comorbid disease had higher retention rates vs. patients with comorbid disease (90% vs. 60%, p < 0.0001). Disease activity, as measured by DAS28, DAPSA and BASDAI remained stable over the 3 years. Comorbid disease (hazard ratio; HR: 4.06, p < 0.0001) and HAQ at baseline (HR: 2.42, p = 0.0024) significantly increased the risk of SB4 discontinuation, while previous ETA duration was negatively associated with SB4 discontinuation (HR: 0.97, p = 0.0064). Forty-one (17.4%) patients left the study due to the interruption of the SB4 treatment, 31 (75.6%) discontinued due to inefficacy and 10 (24.4%) due to adverse events. This real-life study confirms the similar efficacy profile of ETA with long-term retention and a good safety profile in inflammatory arthritis patients

Association of kidney disease measures with risk of renal function worsening in patients with type 1 diabetes

Background: Albuminuria has been classically considered a marker of kidney damage progression in diabetic patients and it is routinely assessed to monitor kidney function. However, the role of a mild GFR reduction on the development of stage 653 CKD has been less explored in type 1 diabetes mellitus (T1DM) patients. Aim of the present study was to evaluate the prognostic role of kidney disease measures, namely albuminuria and reduced GFR, on the development of stage 653 CKD in a large cohort of patients affected by T1DM. Methods: A total of 4284 patients affected by T1DM followed-up at 76 diabetes centers participating to the Italian Association of Clinical Diabetologists (Associazione Medici Diabetologi, AMD) initiative constitutes the study population. Urinary albumin excretion (ACR) and estimated GFR (eGFR) were retrieved and analyzed. The incidence of stage 653 CKD (eGFR < 60 mL/min/1.73 m2) or eGFR reduction > 30% from baseline was evaluated. Results: The mean estimated GFR was 98 \ub1 17 mL/min/1.73m2 and the proportion of patients with albuminuria was 15.3% (n = 654) at baseline. About 8% (n = 337) of patients developed one of the two renal endpoints during the 4-year follow-up period. Age, albuminuria (micro or macro) and baseline eGFR < 90 ml/min/m2 were independent risk factors for stage 653 CKD and renal function worsening. When compared to patients with eGFR > 90 ml/min/1.73m2 and normoalbuminuria, those with albuminuria at baseline had a 1.69 greater risk of reaching stage 3 CKD, while patients with mild eGFR reduction (i.e. eGFR between 90 and 60 mL/min/1.73 m2) show a 3.81 greater risk that rose to 8.24 for those patients with albuminuria and mild eGFR reduction at baseline. Conclusions: Albuminuria and eGFR reduction represent independent risk factors for incident stage 653 CKD in T1DM patients. The simultaneous occurrence of reduced eGFR and albuminuria have a synergistic effect on renal function worsening