The "Federica" hand: a simple, very efficient prothesis

Hand prostheses partially restore hand appearance and functionalities. Not everyone can afford expensive prostheses and many low-cost prostheses have been proposed. In particular, 3D printers have provided great opportunities by simplifying the manufacturing process and reducing costs. Generally, active prostheses use multiple motors for fingers movement and are controlled by electromyographic (EMG) signals. The "Federica" hand is a single motor prosthesis, equipped with an adaptive grasp and controlled by a force-myographic signal. The "Federica" hand is 3D printed and has an anthropomorphic morphology with five fingers, each consisting of three phalanges. The movement generated by a single servomotor is transmitted to the fingers by inextensible tendons that form a closed chain; practically, no springs are used for passive hand opening. A differential mechanical system simultaneously distributes the motor force in predefined portions on each finger, regardless of their actual positions. Proportional control of hand closure is achieved by measuring the contraction of residual limb muscles by means of a force sensor, replacing the EMG. The electrical current of the servomotor is monitored to provide the user with a sensory feedback of the grip force, through a small vibration motor. A simple Arduino board was adopted as processing unit. The differential mechanism guarantees an efficient transfer of mechanical energy from the motor to the fingers and a secure grasp of any object, regardless of its shape and deformability. The force sensor, being extremely thin, can be easily embedded into the prosthesis socket and positioned on both muscles and tendons; it offers some advantages over the EMG as it does not require any electrical contact or signal processing to extract information about the muscle contraction intensity. The grip speed is high enough to allow the user to grab objects on the fly: from the muscle trigger until to the complete hand closure, "Federica" takes about half a second. The cost of the device is about 100 US$. Preliminary tests carried out on a patient with transcarpal amputation, showed high performances in controlling the prosthesis, after a very rapid training session. The "Federica" hand turned out to be a lightweight, low-cost and extremely efficient prosthesis. The project is intended to be open-source: all the information needed to produce the prosthesis (e.g. CAD files, circuit schematics, software) can be downloaded from a public repository. Thus, allowing everyone to use the "Federica" hand and customize or improve it

Counting the degrees of freedom of generalized Galileons

We consider Galileon models on curved spacetime, as well as the counterterms introduced to maintain the second-order nature of the field equations of these models when both the metric and the scalar are made dynamical. Working in a gauge invariant framework, we first show how all the third-order time derivatives appearing in the field equations -- both metric and scalar -- of a Galileon model or one defined by a given counterterm can be eliminated to leave field equations which contain at most second-order time derivatives of the metric and of the scalar. The same is shown to hold for arbitrary linear combinations of such models, as well as their k-essence-like/Horndeski generalizations. This supports the claim that the number of degrees of freedom in these models is only 3, counting 2 for the graviton and 1 for the scalar. We comment on the arguments given previously in support of this claim. We then prove that this number of degrees of freedom is strictly less that 4 in one particular such model by carrying out a full-fledged Hamiltonian analysis. In contrast to previous results, our analyses do not assume any particular gauge choice of restricted applicability.Comment: 27 pages, no figure; v2: short explanation added below Eq. (42), improved Sec. II.B.

A novel broadband forcecardiography sensor for simultaneous monitoring of respiration, infrasonic cardiac vibrations and heart sounds

The precordial mechanical vibrations generated by cardiac contractions have a rich frequency spectrum. While the lowest frequencies can be palpated, the higher infrasonic frequencies are usually captured by the seismocardiogram (SCG) signal and the audible ones correspond to heart sounds. Forcecardiography (FCG) is a non-invasive technique that measures these vibrations via force sensing resistors (FSR). This study presents a new piezoelectric sensor able to record all heart vibrations simultaneously, as well as a respiration signal. The new sensor was compared to the FSR-based one to assess its suitability for FCG. An electrocardiogram (ECG) lead and a signal from an electro-resistive respiration band (ERB) were synchronously acquired as references on six healthy volunteers (4 males, 2 females) at rest. The raw signals from the piezoelectric and the FSR-based sensors turned out to be very similar. The raw signals were divided into four components: Forcerespirogram (FRG), Low-Frequency FCG (LF-FCG), High- Frequency FCG (HF-FCG) and heart sounds (HS-FCG). A beat-by-beat comparison of FCG and ECG signals was carried out by means of regression, correlation and Bland–Altman analyses, and similarly for respiration signals (FRG and ERB). The results showed that the infrasonic FCG components are strongly related to the cardiac cycle (R2 > 0.999, null bias and Limits of Agreement (LoA) of ± 4.9 ms for HF-FCG; R2 > 0.99, null bias and LoA of ± 26.9 ms for LF-FCG) and the FRG inter-breath intervals are consistent with ERB ones (R2 > 0.99, non-significant bias and LoA of ± 0.46 s). Furthermore, the piezoelectric sensor was tested against an accelerometer and an electronic stethoscope: synchronous acquisitions were performed to quantify the similarity between the signals. ECG-triggered ensemble averages (synchronized with R-peaks) of HF-FCG and SCG showed a correlation greater than 0.81, while those of HS-FCG and PCG scored a correlation greater than 0.85. The piezoelectric sensor demonstrated superior performances as compared to the FSR, providing more accurate, beat-by-beat measurements. This is the first time that a single piezoelectric sensor demonstrated the ability to simultaneously capture respiration, heart sounds, an SCG-like signal (i.e., HF-FCG) and the LF-FCG signal, which may provide information on ventricular emptying and filling events. According to these preliminary results the novel piezoelectric FCG sensor stands as a promising device for accurate, unobtrusive, long-term monitoring of cardiorespiratory functions and paves the way for a wide range of potential applications, both in the research and clinical fields. However, these results should be confirmed by further analyses on a larger cohort of subjects, possibly including also pathological patients

Photon number statistics uncover the fluctuations in non-equilibrium lattice dynamics

Fluctuations of the atomic positions are at the core of a large class of unusual material properties ranging from quantum para-electricity to high temperature superconductivity. Their measurement in solids is the subject of an intense scientific debate focused on seeking a methodology capable of establishing a direct link between the variance of the atomic displacements and experimentally measurable observables. Here we address this issue by means of non-equilibrium optical experiments performed in shot-noise limited regime. The variance of the time dependent atomic positions and momenta is directly mapped into the quantum fluctuations of the photon number of the scattered probing light. A fully quantum description of the non-linear interaction between photonic and phononic fields is benchmarked by unveiling the squeezing of thermal phonons in $\alpha$-quartz.Comment: 7 pages (main text), 5 figures, 11 pages (supplementary information

HIV-1 induces in vivo platelet activation by enhancing platelet NOX2 activity.

OBJECTIVES: HIV-1 patients show increased platelet activation, but the mechanisms involved are not completely clarified. We speculated that HIV-1 might induce in vivo platelet activation by enhancing platelet NOX2-related oxidative stress. METHODS: We measured soluble CD40 Ligand (sCD40L), a systemic marker of platelet activation, in 36 HIV-1 patients under effective combined antiretroviral therapy (cART) and in 10 naïve HIV-1 subjects. As control, 20 healthy subjects (HS) were included. Platelet oxidative stress was measured by platelet NOX2-derived peptide (sNOX2-dp), p47(phox) translocation to platelet membrane and platelet prostaglandin F2α (8-iso-PGF2α). RESULTS: sCD40L was increased both in HIV-1 naïve and cART patients compared to HS (p < 0.001). Platelet sNOX2-dp and 8-iso-PGF2α were significantly higher in HIV-1 naïve subjects compared to those on cART and to HS, and both were mutually correlated (R = 0.734, p < 0.001). A stepwise multivariable linear regression analysis showed that platelet sNOX2-dp (β: 0.803, p < 0.001), HIV-1 infection (β: 0.146, p = 0.014) and age (β: 0.166, p = 0.001) were independently associated to sCD40L levels. CONCLUSIONS: HIV-1 infection is associated with increased platelet oxidative stress, which was related to the activation of NOX2. The independent association between platelet NOX2 activation and plasma levels of sCD40L suggest that in vivo platelet activation may be dependent upon platelet oxidative stress

Guerra e moneta: come il conflitto in Ucraina cambierà il sistema monetario internazionale / War and money: how the war in Ukraine will change the international monetary system

L’invasione dell’Ucraina cambierà profondamente gli scenari economici e politici. Assieme alle sanzioni, accelererà il processo di ‘de-globalizzazione’ innescato dalla crisi finanziaria del 2008 e dalla pandemia. In questo lavoro analizziamo gli effetti che le sanzioni avranno su questi processi, in particolare sul sistema monetario internazionale. Negli ultimi anni il dominio del dollaro come valuta dei pagamenti internazionali è declinato ma lentamente, e i tentativi soprattutto della Cina e della Russia di emarginarlo non hanno avuto grande successo. Tuttavia, nel nuovo scenario i sistemi alternativi a SWIFT, particolarmente quello cinese, riceveranno un forte impulso così come l’utilizzo di pagamenti in valute diverse dal dollaro. Come già successo in altre epoche storiche, il cambiamento della valuta di riferimento degli scambi internazionali è legato a eventi epocali e a un cambio di paradigma tecnologico: la guerra e la valuta digitale cinese e poi di altri paesi potrebbero costituire le basi di questa svolta. / The invasion of Ukraine will change the economic and political scenarios. Together with the sanctions, it will accelerate the ‘de-globalization’ process already triggered by the 2008 financial crisis and the pandemic. In this paper, we analyze the effects that economic sanctions will have, in particular, on the international monetary system. In recent years, the dominance of the dollar as the default international currency has weakened albeit slowly. However, in the new scenario, alternative systems to SWIFT (particularly the Chinese one) will receive a strong boost as will the use of payments in currencies other than the dollar. As has already happened in other historical periods, the change in the dominant international currency is linked to epochal events and to a change in the technological paradigm: the war and the development of a digital currency in China and then in other countries could form the basis of this turning point

Efficient Generation of Multimodal Fluid Simulation Data

Applying the representational power of machine learning to the prediction of complex fluid dynamics has been a relevant subject of study for years. However, the amount of available fluid simulation data does not match the notoriously high requirements of machine learning methods. Researchers have typically addressed this issue by generating their own datasets, preventing a consistent evaluation of their proposed approaches. Our work introduces a generation procedure for synthetic multi-modal fluid simulations datasets. By leveraging a GPU implementation, our procedure is also efficient enough that no data needs to be exchanged between users, except for configuration files required to reproduce the dataset. Furthermore, our procedure allows multiple modalities (generating both geometry and photorealistic renderings) and is general enough for it to be applied to various tasks in data-driven fluid simulation. We then employ our framework to generate a set of thoughtfully designed benchmark datasets, which attempt to span specific fluid simulation scenarios in a meaningful way. The properties of our contributions are demonstrated by evaluating recently published algorithms for the neural fluid simulation and fluid inverse rendering tasks using our benchmark datasets. Our contribution aims to fulfill the community's need for standardized benchmarks, fostering research that is more reproducible and robust than previous endeavors.Comment: 10 pages, 7 figure

KiloNeuS: A Versatile Neural Implicit Surface Representation for Real-Time Rendering

NeRF-based techniques fit wide and deep multi-layer perceptrons (MLPs) to a continuous radiance field that can be rendered from any unseen viewpoint. However, the lack of surface and normals definition and high rendering times limit their usage in typical computer graphics applications. Such limitations have recently been overcome separately, but solving them together remains an open problem. We present KiloNeuS, a neural representation reconstructing an implicit surface represented as a signed distance function (SDF) from multi-view images and enabling real-time rendering by partitioning the space into thousands of tiny MLPs fast to inference. As we learn the implicit surface locally using independent models, resulting in a globally coherent geometry is non-trivial and needs to be addressed during training. We evaluate rendering performance on a GPU-accelerated ray-caster with in-shader neural network inference, resulting in an average of 46 FPS at high resolution, proving a satisfying tradeoff between storage costs and rendering quality. In fact, our evaluation for rendering quality and surface recovery shows that KiloNeuS outperforms its single-MLP counterpart. Finally, to exhibit the versatility of KiloNeuS, we integrate it into an interactive path-tracer taking full advantage of its surface normals. We consider our work a crucial first step toward real-time rendering of implicit neural representations under global illumination.Comment: 9 pages, 8 figure