A Psychometric Properties Evaluation of the Italian Version of the Geriatric Depression Scale

Objective. The Geriatric Depression Scale (GDS) is an evaluation tool to diagnose older adult's depression. This questionnaire was defined by Yesavage and Brink in 1982; it was designed expressly for the older person and defines his/her degree of satisfaction, quality of life, and feelings. The objective of this study is to evaluate the psychometric properties of the Italian translation of the Geriatric Depression Scale (GDS-IT). Methods. The Italian version of the Geriatric Depression Scale was administered to 119 people (79 people with a depression diagnosis and 40 healthy ones). We examined the following psychometric characteristics: internal consistency reliability, test-retest reliability, concurrent validity, and construct validity (factor structure). Results. Cronbach's Alpha for the GDS-IT administered to the depressed sample was 0.84. Test-retest reliability was 0.91 and the concurrent validity was 0.83. The factorial analysis showed a structure of 5 factors, and the scale cut-off is between 10 and 11. Conclusion. The GDS-IT proved to be a reliable and valid questionnaire for the evaluation of depression in an Italian population. In the present study, the GDS-IT showed good psychometric properties. Health professionals now have an assessment tool for the evaluation of depression symptoms in the Italian population

Decoupled motion planning of a mobile manipulator for precision agriculture

Thanks to recent developments in service robotics technologies, precision agriculture (PA) is becoming an increasingly prominent research field, and several studies were made to present and outline how the use of mobile robotic systems can help and improve farm production. In this paper, the integration of a custom-designed mobile base with a commercial robotic arm is presented, showing the functionality and features of the overall system for crop monitoring and sampling. To this aim, the motion planning problem is addressed, developing a tailored algorithm based on the so-called manipulability index, that treats the base and robotic arm mobility as two independent degrees of motion; also developing an open source closed-form inverse kinematics algorithm for the kinematically redundant manipulator. The presented methods and sub-system, even though strictly related to a specific mobile manipulator system, can be adapted not only to PA applications where a mobile manipulator is involved but also to the wider field of assistive robotics

Wheeled Mobile Robots: State of the Art Overview and Kinematic Comparison Among Three Omnidirectional Locomotion Strategies

In the last decades, mobile robotics has become a very interesting research topic in the feld of robotics, mainly because of population ageing and the recent pandemic emergency caused by Covid-19. Against this context, the paper presents an overview on wheeled mobile robot (WMR), which have a central role in nowadays scenario. In particular, the paper describes the most commonly adopted locomotion strategies, perception systems, control architectures and navigation approaches. After having analyzed the state of the art, this paper focuses on the kinematics of three omnidirectional platforms: a four mecanum wheels robot (4WD), a three omni wheel platform (3WD) and a two swerve-drive system (2SWD). Through a dimensionless approach, these three platforms are compared to understand how their mobility is afected by the wheel speed limitations that are present in every practical application. This original comparison has not been already presented by the literature and it can be used to improve our understanding of the kinematics of these mobile robots and to guide the selection of the most appropriate locomotion system according to the specifc application

Design and Prototyping of an Interchangeable and Underactuated Tool for Automatic Harvesting

In the field of precision agriculture, the automation of sampling and harvesting operations plays a central role to expand the possible application scenarios. Within this context, this work presents the design and prototyping of a novel underactuated tool for the harvesting of autonomous grapevines. The device is conceived to be one of several tools that could be automatically grasped by a robotic manipulator. As a use case, the presented tool is customized for the gripper of the robotic arm mounted on the rover Agri.Q, a service robot conceived for agriculture automation, but it can be easily adapted to other robotic arm grippers. In this work, first, the requirements for such a device are defined, then the functional design is presented, and a dimensionless analysis is performed to guide the dimensioning of the device. Later, the executive design is carried out, while the results of a preliminary experimental validation test are illustrated at the end of the paper

In Depth Analysis of Power Balance, Handling, and the Traction Subsystem of an Articulated Skid-Steering Robot for Sustainable Agricultural Monitoring

This paper reports on the energy balance test performed on Agri.Q, an eight-wheel articulated robot intended to be a sustainable monitoring tool within the precision agriculture paradigm, and proposes an in-depth analysis of the traction subsystem in order to develop an appropriate traction allocation strategy to improve navigation through hilly or mountainous crops. Tests were conducted on the contribution of the orientable photovoltaic panel to the mission duration and overall sustainability, showing that a suitable mission plan, including dedicated charging phases, could significantly increase the robot’s operating time. A series of simulations of circular trajectories of different curvature and at different longitudinal velocities on flat ground were performed, with the aim of mapping the robot’s behaviour at steady state. The results of the simulations were analysed, paying particular attention to the required torques, manoeuvrability and forces exchanged on the ground. The simulations conducted demonstrated and extended previous results obtained on similar robotic architectures, which suffer from significant understeer behaviour due to significant lateral wheel slip during turning. They also showed the limitations of currently employed traction motors, but also the advantages of a proper traction allocation strategy involving the rear module. Article highlights. Agri.Q energy balance tests have been carried out to assess its endurance and sustainability The traction and handling behaviours of Agri.Q were mapped and discussed in detail in order to improve them Agri.Q has proven to be a basis for the future implementation of precision agriculture to advance the SDG

Torre Alfina Deep Geothermal Reservoir

The Castel Giorgio-Torre Alfina (CG-TA, central Italy) is a geothermal reservoir whose fluids are hosted in a carbonate formation at temperatures ranging between 120°C and 210°C. Data from deep wells suggest the existence of convective flow. We present the 3D numerical model of the CG-TA to simulate the undisturbed natural geothermal field and investigate the impacts of the exploitation process. The open source finite-element code OpenGeoSys is applied to solve the coupled systems of partial differential equations. The commercial software FEFLOW® is also used as additional numerical constraint. Calculated pressure and temperature have been calibrated against data from geothermal wells. The flow field displays multicellular convective patterns that cover the entire geothermal reservoir. The resulting thermal plumes protrude vertically over 3 km at Darcy velocity of about  m/s. The analysis of the exploitation process demonstrated the sustainability of a geothermal doublet for the development of a 5 MW pilot plant. The buoyant circulation within the geothermal system allows the reservoir to sustain a 50-year production at a flow rate of 1050 t/h. The distance of 2 km, between the production and reinjection wells, is sufficient to prevent any thermal breakthrough within the estimated operational lifetime. OGS and FELFOW results are qualitatively very similar with differences in peak velocities and temperatures. The case study provides valuable guidelines for future exploitation of the CG-TA deep geothermal reservoir

A preliminary synthesis of a light and compact wearable cable-driven parallel robot for wrist joint rehabilitation

Robot-assisted rehabilitation has proven to be effective in clinical practice, not only because of its ability to perform repetitive and intensive rehabilitation therapy but also because its rehabilitation outcome is not limited by the lack of experienced therapists or their fatigue due to long and repetitive rehabilitation sessions. Several robotic solutions have been proposed over time, but rarely have these solutions been successful, in particular due to the excessive bulk, discomfort, and joints alignment of the robotic solution. This paper lays the foundation for a preliminary synthesis of a wearable cable-driven parallel robot for wrist joint rehabilitation. Specifically, the synthesis focuses on defining an ad hoc geometric efficiency index to maximise the effective force required to achieve flexion-extension, radial-ulnar deviation and pronation-supination movements with the lowest possible cable tension. To consider lightness and wearability, the results of the synthesis are weighted to obtain a light and compact system that will be developed