HIGH RESOLUTION SURVEY OF MOSAICS OF THE CRYPT OF THE ST. NICOLA’S BASILICA (BARI, ITALY) AND CHARACTERIZATION AND PROVENANCE STUDIES OF MARBLE TESSERAE

This paper focusses on the mosaics of the crypt of the St. Nicola’s Basilica in Bari, a valuable evidence of use and reuse of ancient white and coloured marbles from the Roman world, together with local and imitation stones. The study belongs to a wider research project (MARMORA), about ancient marbles employed in the Apulia Cultural Heritage, and aims to improve knowledge and preserve these artworks, in order to enhance their valorisation and enjoyment. Therefore, firstly a high definition survey of mosaic floors was performed and after, characterization and provenance studies of stone tesserae, recognition of geometrical motifs and stylistic influence were carried out. Preliminary results allowed to obtain a digital representation of mosaics, including all the contributions on material characterisation and provenance

A Compression Valve for Sanitary Control of Fluid-Driven Actuators

With significant research focused on integrating robotics into medical devices, sanitary control of pressurizing fluids in a precise, accurate, and customizable way is highly desirable. Current sanitary flow control methods include pinch valves which clamp the pressure line locally to restrict fluid flow; resulting in damage and variable flow characteristics over time. This article presents a sanitary compression valve based on an eccentric clamping mechanism. The proposed valve distributes clamping forces over a larger area, thereby reducing the plastic deformation and associated influence on flow characteristic. Using the proposed valve, significant reductions in plastic deformation (up to 96%) and flow-rate error (up to 98%) were found, when compared with a standard pinch valve. Additionally, an optimization strategy presents a method for improving linearity and resolution over the working range to suit specific control applications. The valve efficacy has been evaluated through controlled testing of a water jet-propelled low-cost endoscopic device. In this case, use of the optimized valve shows a reduction in the average orientation error and its variation, resulting in smoother movement of the endoscopic tip when compared to alternative wet and dry valve solutions. The presented valve offers a customizable solution for sanitary control of fluid-driven actuators

The gustin (CA6) gene polymorphism, rs2274333 (A/G), as a mechanistic link between PROP tasting and fungiform taste papilla density and maintenance

Taste sensitivity to PROP varies greatly among individuals and is associated with polymorphisms in the bitter receptor gene TAS2R38, and with differences in fungiform papilla density on the anterior tongue surface. Recently we showed that the PROP non-taster phenotype is strongly associated with the G variant of polymorphism rs2274333 (A/G) of the gene that controls the salivary trophic factor, gustin. The aims of this study were 1) to investigate the role of gustin gene polymorphism rs2274333 (A/G), in PROP sensitivity and fungiform papilla density and morphology, and 2) to investigate the effect of this gustin gene polymorphism on cell proliferation and metabolic activity. Sixty-four subjects were genotyped for both genes by PCR techniques, their PROP sensitivity was assessed by scaling and threshold methods, and their fungiform papilla density, diameter and morphology were determined. In vitro experiments examined cell proliferation and metabolic activity, following treatment with saliva of individuals with and without the gustin gene mutation, and with isolated protein, in the two iso-forms. Gustin and TAS2R38 genotypes were associated with PROP threshold (p=0.0001 and p=0.0042), but bitterness intensity was mostly determined by TAS2R38 genotypes (p<0.000001). Fungiform papillae densities were associated with both genotypes (p<0.014) (with a stronger effect for gustin; p=0.0006), but papilla morphology was a function of gustin alone (p<0.0012). Treatment of isolated cells with saliva from individuals with the AA form of gustin or direct application of the active iso-form of gustin protein increased cell proliferation and metabolic activity (p<0.0135). These novel findings suggest that the rs2274333 polymorphism of the gustin gene affects PROP sensitivity by acting on fungiform papilla development and maintenance, and could provide the first mechanistic explanation for why PROP super-tasters are more responsive to a broad range of oral stimul

EVALUATION OF DEM DERIVED BY REPEAT-PASS X-BAND STRIPMAP MODE PAZ DATA

Abstract. This paper, presents the initial results of digital elevation model (DEM) extraction from PAZ Synthetic Aperture Radar (SAR) satellite images using repeat-pass interferometric analysis. We used a multi-temporal high-resolution strip-map mode X-band satellite image that has a single polarization. Five main classes, i.e., volcanic structures, agriculture, settlement, sand dune and plain bareland are considered depending on the structure of the region. Within the category, the coherence value and DEM value are evaluated. In the accuracy assessment analysis, a reference map produced from aerial photogrammetry is used. Additionally, global DEM TanDEM-X data is also tested in the study region. In the analysis, quality metrics, mean error (ME), root means square error (RMSE), standard deviation (STD), and the normalized median absolute deviation (NMAD) are used. The results showed that as the temporal baseline increases the coherence values and the quality of the DEM product decrease. The RMSE values range between 2.36 m to 7.09 m in different classes. The TanDEM-X data provided high accuracies over each class range from 0.88 m to 2.40 m. Since the study area is vulnerable to sinkhole formation, sinkhole-like signals were also observed in the interferograms obtained from different and sequential pairs. The high-resolution repeat-pass PAZ data pointed out its potential for interferometric products generation

Online Disturbance Estimation for Improving Kinematic Accuracy in Continuum Manipulators

Continuum manipulators are flexible robots which undergo continuous deformation as they are actuated. To describe the elastic deformation of such robots, kinematic models have been developed and successfully applied to a large variety of designs and to various levels of constitutive stiffness. Independent of the design, kinematic models need to be calibrated to best describe the deformation of the manipulator. However, even after calibration, unmodeled effects such as friction, nonlinear elastic and/or spatially varying material properties as well as manufacturing imprecision reduce the accuracy of these models. In this letter, we present a method for improving the accuracy of kinematic models of continuum manipulators through the incorporation of orientation sensor feedback. We achieve this through the use of a “disturbance wrench,” which is used to compensate for these unmodeled effects, and is continuously estimated based on orientation sensor feedback as the robot moves through its workspace. The presented method is applied to the HydroJet, a waterjet-actuated soft continuum manipulator, and shows an average of 40% reduction in root mean square position and orientation error in the two most common types of kinematic models for continuum manipulators, a Cosserat rod model and a pseudo-rigid body model

Teleoperation and Contact Detection of a Waterjet-Actuated Soft Continuum Manipulator for Low-Cost Gastroscopy

Gastric cancer is the third leading cause of cancer deaths worldwide, with most new cases occurring in low and middle income countries, where access to screening programs is hindered by the high cost of conventional endoscopy. The waterjet-actuated HydroJet endoscopic platform was developed as a low-cost, disposable alternative for inspection of the gastric cavity in low-resource settings. In this work, we present a teleoperation scheme and contact detection algorithm that work together to enable intuitive teleoperation of the HydroJet within the confined space of the stomach. Using a geometrically accurate stomach model and realistic anatomical inspection targets, we demonstrate that, using these methods, a novice user can complete a gastroscopy in approximately the same amount of time with the HydroJet as with a conventional endoscope

Non Abelian Geometrical Tachyon

We investigate the dynamics of a pair of coincident D5 branes in the background of $k$ NS5 branes. It has been proposed by Kutasov that the system with a single probing D-brane moving radially in this background is dual to the tachyonic DBI action for a non-BPS Dp brane. We extend this proposal to the non-abelian case and find that the duality still holds provided one promotes the radial direction to a matrix valued field associated with a non-abelian geometric tachyon and a particular parametrization for the transverse scalar fields is chosen. The equations of motion of a pair of coincident D5 branes moving in the NS5 background are determined. Analytic and numerical solutions for the pair are found in certain simplified cases in which the U(2) symmetry is broken to $U(1) \times U(1)$ corresponding to a small transverse separation of the pair. For certain range of parameters these solutions describe periodic motion of the centre of mass of the pair 'bouncing off' a finite sized throat whose minimum size is limited by the D5 branes separation.Comment: 18 pages, 2 figures, PdfLatex: references added.accepted for publication in JHE

Deciphering ascending thoracic aortic aneurysm hemodynamics in relation to biomechanical properties

The degeneration of the arterial wall at the basis of the ascending thoracic aortic aneurysm (ATAA) is a complex multifactorial process, which may lead to clinical complications and, ultimately, death. Individual genetic, biological or hemodynamic factors are inadequate to explain the heterogeneity of ATAA development/progression mechanisms, thus stimulating the analysis of their complex interplay. Here the disruption of the hemodynamic environment in the ATAA is investigated integrating patient-specific computational hemodynamics, CT-based in vivo estimation of local aortic stiffness and advanced fluid mechanics methods of analysis. The final aims are (1) deciphering the ATAA spatiotemporal hemodynamic complexity and its link to near-wall topological features, and (2) identifying the existing links between arterial wall degeneration and hemodynamic insult. Technically, two methodologies are applied to computational hemodynamics data, the wall shear stress (WSS) topological skeleton analysis, and the Complex Networks theory. The same analysis was extended to the healthy aorta. As main findings of the study, we report that: (1) different spatiotemporal heterogeneity characterizes the ATAA and healthy hemodynamics, that markedly reflect on their WSS topological skeleton features; (2) a link (stronger than canonical WSS-based descriptors) emerges between the variation of contraction/expansion action exerted by WSS on the endothelium along the cardiac cycle, and ATAA wall stiffness. The findings of the study suggest the use of advanced methods for a deeper understanding of the hemodynamics disruption in ATAA, and candidate WSS topological skeleton features as promising indicators of local wall degeneration

Inconsistent relationships among protection, benthic assemblage, habitat complexity and fish biomass in Mediterranean temperate rocky reefs

Marine Protected Areas (MPAs) have been proved to effectively protect and restore fish assemblages. There is mixed evidence regarding the effects of MPAs on benthic assemblages, habitat complexity, and how protection might mediate the effects of habitat features (including biotic and abiotic components) on fish assemblages, with very little information concerning temperate areas. Here, our aim is to assess how protection 1) influences benthic assemblages and habitat complexity, and 2) mediates the effects of habitat complexity on fishes. Using non-destructive methods (photosampling for shallow rocky benthic assemblages, and underwater visual census using strip transects for fish assemblages) to characterize benthic and fish assemblages, we sampled 15 Mediterranean locations, each including protected and unprotected sites. In all, we sampled 90 sites, and analyzed 2,760 photos and 800 replicated transects, gathering information on 44 benthic and 72 fish taxa. Abiotic, biotic and synthetic (i.e. combining the previous two) complexity indices have been computed to synthesize habitat features. Overall, whole benthic assemblages did not significantly differ between protected and unprotected conditions, but higher cover of the ecologically important erect algae belonging to the genus Cystoseira sensu lato was recorded within MPAs. Abiotic, biotic and synthetic complexity did not show clear patterns related to protection levels, displaying inconsistent responses between different locations. Our findings highlight that protection has a generally positive effect on fish biomass, this latter variable responding independently of the habitat complexity. Our study, in conclusion, confirms that MPAs can be effective to protect and restore rocky-reef assemblages, highlighting the need for more in-depth exploration of the mechanisms determining the different responses of benthic taxa to protection and how this can influence the associated fish assemblages