An ultra-low pressure pneumatic jamming impact device to non-destructively assess cherimoya firmness

[EN] The quality of cherimoya fruit is reduced by the rapid deterioration of firmness during ripening. Different methods have been developed for the measurement of firmness. The objective of this study was to use a developed impact prototype for the non-destructive assessment and prediction of cherimoya fruit firmness. The prototype has an ultra-low pressure pneumatic jamming rod used to copy the irregular fruit shape. A sample of 200 cherimoyas from Málaga (Spain) `Fino de Jete¿ were tested during 4 days. Every day all the fruits were non-destructively tested and a set of 15 were destructively tested. On the fourth day all the remaining fruits were also destructively tested. The prototype was capable of copying the irregularities of the fruit and non-destructively assessing the decrease in cherimoya firmness during ripening without causing damage. A high correlation was found between destructive firmness and non-destructive variables from the prototype. A PLS model was developed to relate destructive firmness from day 4 to non-destructive variables and diameter from day 3, with a R2 of 75.6 and a RMSECV of 0.9885. A calibration set confirmed the prediction with a R2 of 80.2 and a RMSEP of 0.0561. Firmness decay could be non-destructively predicted 24 h in advance using the variables extracted from the prototype device signal.Ortiz Sánchez, MC.; Blanes Campos, C.; Mellado, M. (2019). An ultra-low pressure pneumatic jamming impact device to non-destructively assess cherimoya firmness. Biosystems Engineering. 180:161-167. https://doi.org/10.1016/j.biosystemseng.2019.02.003S16116718

Architecting centralized coordination of soccer robots based on principle solution

This is an Accepted Manuscript of an article published by Taylor & Francis in Advanced Robotics on 2015, available online:http://www.tandfonline.com/10.1080/01691864.2015.1017534Coordination strategy is a relevant topic in multi-robot systems, and robot soccer offers a suitable domain to conduct research in multi-robot coordination. Team strategy collects and uses environmental information to derive optimal team reactions, through cooperation among individual soccer robots. This paper presents a diagrammatic approach to architecting the coordination strategy of robot soccer teams by means of a principle solution. The proposed model focuses on robot soccer leagues that possess a central decision-making system, involving the dynamic selection of the roles and behaviors of the robot soccer players. The work sets out from the conceptual design phase, facilitating cross-domain development efforts, where different layers must be interconnected and coordinated to perform multiple tasks. The principle solution allows for intuitive design and the modeling of team strategies in a highly complex robot soccer environment with changing game conditions. Furthermore, such an approach enables systematic realization of collaborative behaviors among the teammates.This work was partially supported by the Spanish Ministry of Economy and Competitiveness (MINECO) under the CICYT project Mission Based Control (COBAMI): DPI2011-28507-C02-01/02. Jose G. Guarnizo was supported by a scholarship from the Administrative Department of Science, Technology and Innovation COLCIENCIAS, Colombia.Guarnizo Marín, JG.; Mellado Arteche, M.; Low, CY.; Blanes Noguera, F. (2015). Architecting centralized coordination of soccer robots based on principle solution. Advanced Robotics. 29(15):989-1004. https://doi.org/10.1080/01691864.2015.1017534S98910042915Farinelli, A., Iocchi, L., & Nardi, D. (2004). Multirobot Systems: A Classification Focused on Coordination. IEEE Transactions on Systems, Man and Cybernetics, Part B (Cybernetics), 34(5), 2015-2028. doi:10.1109/tsmcb.2004.832155Tews, A., & Wyeth, G. (2000). MAPS: a system for multi-agent coordination. Advanced Robotics, 14(1), 37-50. doi:10.1163/156855300741429Stulp, F., Utz, H., Isik, M., & Mayer, G. (2010). Implicit Coordination with Shared Belief: A Heterogeneous Robot Soccer Team Case Study. Advanced Robotics, 24(7), 1017-1036. doi:10.1163/016918610x496964Guarnizo, J. G., Mellado, M., Low, C. Y., & Aziz, N. (2013). Strategy Model for Multi-Robot Coordination in Robotic Soccer. Applied Mechanics and Materials, 393, 592-597. doi:10.4028/www.scientific.net/amm.393.592Riley, P., & Veloso, M. (2002). Recognizing Probabilistic Opponent Movement Models. Lecture Notes in Computer Science, 453-458. doi:10.1007/3-540-45603-1_59Ros, R., Arcos, J. L., Lopez de Mantaras, R., & Veloso, M. (2009). A case-based approach for coordinated action selection in robot soccer. Artificial Intelligence, 173(9-10), 1014-1039. doi:10.1016/j.artint.2009.02.004Atkinson, J., & Rojas, D. (2009). On-the-fly generation of multi-robot team formation strategies based on game conditions. Expert Systems with Applications, 36(3), 6082-6090. doi:10.1016/j.eswa.2008.07.039Costelha, H., & Lima, P. (2012). Robot task plan representation by Petri nets: modelling, identification, analysis and execution. Autonomous Robots, 33(4), 337-360. doi:10.1007/s10514-012-9288-xAbreu, P. H., Silva, D. C., Almeida, F., & Mendes-Moreira, J. (2014). Improving a simulated soccer team’s performance through a Memory-Based Collaborative Filtering approach. Applied Soft Computing, 23, 180-193. doi:10.1016/j.asoc.2014.06.021Duan, Y., Liu, Q., & Xu, X. (2007). Application of reinforcement learning in robot soccer. Engineering Applications of Artificial Intelligence, 20(7), 936-950. doi:10.1016/j.engappai.2007.01.003Hwang, K.-S., Jiang, W.-C., Yu, H.-H., & Li, S.-Y. (2011). Cooperative Reinforcement Learning Based on Zero-Sum Games. Mobile Robots - Control Architectures, Bio-Interfacing, Navigation, Multi Robot Motion Planning and Operator Training. doi:10.5772/26620Gausemeier, J., Dumitrescu, R., Kahl, S., & Nordsiek, D. (2011). Integrative development of product and production system for mechatronic products. Robotics and Computer-Integrated Manufacturing, 27(4), 772-778. doi:10.1016/j.rcim.2011.02.005Klančar, G., Zupančič, B., & Karba, R. (2007). Modelling and simulation of a group of mobile robots. Simulation Modelling Practice and Theory, 15(6), 647-658. doi:10.1016/j.simpat.2007.02.002Gausemeier, J., Frank, U., Donoth, J., & Kahl, S. (2009). Specification technique for the description of self-optimizing mechatronic systems. Research in Engineering Design, 20(4), 201-223. doi:10.1007/s00163-008-0058-

A ratchet mechanism for amplification in low-frequency mammalian hearing

The sensitivity and frequency selectivity of hearing result from tuned amplification by an active process in the mechanoreceptive hair cells. In most vertebrates the active process stems from the active motility of hair bundles. The mammalian cochlea exhibits an additional form of mechanical activity termed electromotility: its outer hair cells (OHCs) change length upon electrical stimulation. The relative contributions of these two mechanisms to the active process in the mammalian inner ear is the subject of intense current debate. Here we show that active hair-bundle motility and electromotility can together implement an efficient mechanism for amplification that functions like a ratchet: sound-evoked forces acting on the basilar membrane are transmitted to the hair bundles whereas electromotility decouples active hair-bundle forces from the basilar membrane. This unidirectional coupling can extend the hearing range well below the resonant frequency of the basilar membrane. It thereby provides a concept for low-frequency hearing that accounts for a variety of unexplained experimental observations from the cochlear apex, including the shape and phase behavior of apical tuning curves, their lack of significant nonlinearities, and the shape changes of threshold tuning curves of auditory nerve fibers along the cochlea. The ratchet mechanism constitutes a general design principle for implementing mechanical amplification in engineering applications.Comment: 6 pages, 4 figures, plus Supplementary Information. Animation available on the PNAS website (http://dx.doi.org/10.1073/pnas.0914345107)

A Safe, Efficient and Integrated Indoor Robotic Fleet for Logistic Applications in Healthcare and Commercial Spaces: The ENDORSE Concept

International audienceHospitals are rightfully considered a field of indoor logistic robotics of high commercial potential. However, today, only a handful of mobile robotic solutions for hospital logistics exist that have failed to trigger widespread acceptance by the market. This is because existing systems require costly infrastructure installation, they do not easily integrate to corporate IT solutions, are not adequately shielded from cybersecurity threats, and as a result, they do not fully automate procedures and traceability of the items they carry. Moreover, existing systems are limited on scope, focusing only on delivery services, and hence do not provide any other type of support to the medical and nursing staff. ENDORSE system will address the aforementioned technical challenges and functional limitations by pursuing four innovation pillars: (i) infrastructure-less multi-robot indoor navigation; (ii) advanced Human-Robot Interaction (HRI) for resolving deadlocks and achieving efficient sharing of space resources in crowded environments; (iii) deployment of the ENDORSE software as a cloud-based service facilitating its integration with corporate software solutions, complying with GDPR data security requirements; (iv) reconfigurable and modular hardware architectures so that diverse modules can be easily swapped. ENDORSE functionality will be demonstrated via the integration of an e-diagnostic support module for vital signs monitoring on a fleet of mobile robots, facilitating connectivity to cloud-based Electronic Health Records (EHR), and validated in an operational hospital environment for realistic assessment

Outcome of protease inhibitor substitution with nevirapine in HIV-1 infected children

<p>Abstract</p> <p>Background</p> <p>Protease inhibitors (PIs) have been associated with metabolic complications. There is a trend to switch to simpler therapy to improve these disturbances. We report a case-series describing the effects in metabolic abnormalities in seven HIV-infected children, previously treated with protease inhibitor (PI) after switching to nevirapine.</p> <p>Methods</p> <p>Seven children with stable PI-containing regimen and a long lasting HIV-1 RNA < 50 copies/ml were switched to nevirapine. All patients were naïve to non nucleoside reverse transcriptase inhibitor. PIs were switched to nevirapine. Preentry nucleoside reverse transcriptase inhibitors were maintained. The substitution of PIs with nevirapine was made when the patient showed hyperlipidemia or lipodystrophy or the physician and/or the patient's willingness to simplify. Clinical, laboratory data and anthropometric parameters were assessed every 3 months. Dual-energy X-Ray absorptiometry scans (DXA) was performed at baseline and at 12 months.</p> <p>Results</p> <p>Seven HIV-infected children were enrolled. Median age: 130 months (99,177). Median baseline CD4%: 32%. All had HIV-1 RNA < 50 copies/ml. Median length of preentry PI-therapy was 47 months (28, 91). Median age at the beginning of nevirapine was 120 months (99,177). Median decrease in cholesterol in 7.2 mmol/L was observed (P = 0.09), from baseline to 12 months. HDL-cholesterol increased in 5.1 mmol/L (P = 0.03) throughout the study period. No significant changes were observed in DXA with regard to body fat, but changes in total body bone mineral content and lean body content were significant. CD4% remained stable. All patients but one maintained viral load < 50 copies/ml at 12 months. The patient with virologic failure referred bad adherence. Children referred to take medication more easily.</p> <p>Conclusion</p> <p>PI substitution with nevirapine improved lipid profile in our patients, although this strategy did not show significant changes in body fat or lipodystrophy.</p

Squamous cell carcinoma related with dental implants. A clinical cases report

One third of all cases of head and neck carcinoma (CA) concern the oral mucosa. The use of dental implants (DI) for dental rehabilitation is widely extended. However, a few studies have reported some cases with neoplasic alterations, among the tissue surrounding implants. Our aim was to analyze possible alterations at the bone-implant interface in patients with oral squamous cell carcinoma (SCC), providing new evidence that could relate or discard a possible link between these factors. We used, for the first time, different techniques, including electron microscopy and histology, to analyze the implant ´s surface and the surrounding tissue from four clinical cases with neoplasic alterations surrounding DI. Histologically, ample inflammatory tissue was found in direct contact with the implant surface. Surface analysis of this tissue, revealed titanium percentages. According to our study, no oncological relation with deterioration of the implant surface was found, although DI were constantly related with peri-implantitis, a chronic trauma of the oral mucosa that could involve a neoplastic factor

Soil fungal : Bacterial ratios are linked to altered carbon cycling

Acknowledgments We thank Steffen Ruehlow, Agnes Fastnacht, Karl Kuebler, Iris Kuhlmann, Heike Geilmann, and Petra Linke for technical support in establishing the experiment and with stable isotope analyses. We also thank Markus Lange, Daniel Read, and Hyun Gweon for helpful discussions. Funding AM has received funding from Max Planck Society and the European Union’s Horizon 2020 research and innovation program under the Marie Sklodowska-Curie grant agreement No 655240. AM has also received a career orientation grant from the Jena School for Microbial Communication (JSMC) that funded the laboratory visits. DFG SFB Aquadiva funded part of this work.Peer reviewedPublisher PD

Assessment of eggplant firmness with accelerometers on a pneumatic robot gripper

A pneumatic robot gripper capable of sorting eggplants according to their firmness has been developed and tested. The gripper has three fingers and one suction cup. Each finger has an inertial sensor attached to it. One of the fingers adapts to and copies the shapes of eggplants when the jamming of its internal granular material changes from soft to hard. The other fingers adapt to the shape of the eggplant with the use of extra degrees of freedom. Specific software acquires and processes the information obtained with the inertial sensors and generates 16 independent variables extracted from the signals. A total of 234 eggplants were selected and tested on the same day with the robot gripper, during the pick-and-place operation, and with a destructive firmness tester. The non-destructive parameters extracted from the gripper finger accelerometers were used to build and validate a partial least square model, with a calibration regression coefficient of r = 0.87 and a high prediction performance (r = 0.90). Furthermore, from the results of the paper, it has been seen that the procedure can be simplified by using only two non-destructive impacts and one uniaxial accelerometer to assess eggplant firmness. The non-destructive assessment of firmness while grasping agricultural products in pick-and-place operations could be implemented in many prehensile pneumatic robot grippers. This technique could mean an important advance in the hygienic postharvest handling of fruits and vegetables.This research is supported by MANI-DACSA project (Ref. RTA2012-00062-C04-02), partially funded by the Spanish Government (Ministerio de Economia y Competitividad).Blanes Campos, C.; Ortiz Sánchez, MC.; Mellado Arteche, M.; Beltrán Beltrán, P. (2015). Assessment of eggplant firmness with accelerometers on a pneumatic robot gripper. Computers and Electronics in Agriculture. 113:44-50. https://doi.org/10.1016/j.compag.2015.01.013S445011

Measuring the Higgs Sector

If we find a light Higgs boson at the LHC, there should be many observable channels which we can exploit to measure the relevant parameters in the Higgs sector. We use the SFitter framework to map these measurements on the parameter space of a general weak-scale effective theory with a light Higgs state of mass 120 GeV. Our analysis benefits from the parameter determination tools and the error treatment used in new--physics searches, to study individual parameters and their error bars as well as parameter correlations.Comment: 45 pages, Journal version with comments from refere

Nivolumab Alone and With Ipilimumab in Previously Treated Metastatic Urothelial Carcinoma: CheckMate 032 Nivolumab 1 mg/kg Plus Ipilimumab 3 mg/kg Expansion Cohort Results

PURPOSE CheckMate 032 is an open-label, multicohort study that includes patients with unresectable locally advanced or metastatic urothelial carcinoma (mUC) treated with nivolumab 3 mg/kg monotherapy every 2 weeks (NIVO3), nivolumab 3 mg/kg plus ipilimumab 1 mg/kg every 3 weeks for four doses followed by nivolumab monotherapy 3 mg/kg every 2 weeks (NIVO3+IPI1), or nivolumab 1 mg/kg plus ipilimumab 3 mg/kg every 3 weeks for four doses followed by nivolumab monotherapy 3 mg/kg every 2 weeks (NIVO1+IPI3). We report on the expanded NIVO1+IPI3 cohort and extended follow-up for the NIVO3 and NIVO3+IPI1 cohorts. METHODS Patients with platinum-pretreated mUC were enrolled in this phase I/II multicenter study to receive NIVO3, NIVO3+IPI1, or NIVO1+IPI3 until disease progression or unacceptable toxicity. Primary end point was investigator-assessed objective response rate per Response Evaluation Criteria in Solid Tumors (RECIST) version 1.1, including duration of response. RESULTS Seventy-eight patients were treated with NIVO3 (minimum follow-up, 37.7 months), 104 with NIVO3+IPI1 (minimum follow-up, 38.8 months), and 92 with NIVO1+IPI3 (minimum follow-up, 7.9 months). Objective response rate was 25.6%, 26.9%, and 38.0% in the NIVO3, NIVO3+IPI1, and NIVO1+IPI3 arms, respectively. Median duration of response was more than 22 months in all arms. Grade 3 or 4 treatment-related adverse events occurred in 21 (26.9%), 32 (30.8%), and 36 (39.1%) patients treated with NIVO3, NIVO3+IPI1, and NIVO1+IPI3, respectively. Grade 5 treatment-related pneumonitis occurred in one patient each in the NIVO3 and NIVO3+IPI1 arms. CONCLUSION With longer follow-up, NIVO3 demonstrated sustained antitumor activity alone and in combination with ipilimumab. NIVO1+IPI3 provided the greatest antitumor activity of all regimens, with a manageable safety profile. This result not only supports additional study of NIVO1+IPI3 in mUC, but demonstrates the potential benefit of immunotherapy combinations in this disease