Towards a self-collision aware teleoperation framework for compound robots

This work lays the foundations of a self-collision aware teleoperation framework for compound robots. The need of an haptic enabled system which guarantees self-collision and joint limits avoidance for complex robots is the main motivation behind this paper. The objective of the proposed system is to constrain the user to teleoperate a slave robot inside its safe workspace region through the application of force cues on the master side of the bilateral teleoperation system. A series of simulated experiments have been performed on the Kuka KMRiiwa mobile robot; however, due to its generality, the framework is prone to be easily extended to other robots. The experiments have shown the applicability of the proposed approach to ordinary teleoperation systems without altering their stability properties. The benefits introduced by this framework enable the user to safely teleoperate whichever complex robotic system without worrying about self-collision and joint limitations

Enhancing airplane boarding procedure using vision based passenger classification

This paper presents the implementation of a new boarding strategy that exploits passenger and hand-luggage detection and classification to reduce the boarding time onto an airplane. A vision system has the main purpose of providing passengers data, in terms of agility coefficient and hand-luggage size to a seat assignment algorithm. The software is able to dynamically generate the passenger seat that reduces the overall boarding time while taking into account the current airplane boarding state. The motivation behind this work is to speed up of the passenger boarding using the proposed online procedure of seat assignment based on passenger and luggage classification. This method results in an enhancement of the boarding phase, in terms of both time and passenger experience. The main goal of this work is to demonstrate the usability of the proposed system in real conditions proving its performances in terms of reliability. Using a simple hardware and software setup, we performed several experiments recreating a gate entrance mock up and comparing the measurements with ground truth data to assess the reliability of the system

A fast airplane boarding strategy using online seat assignment based on passenger classification

The minimization of the turnaround time, the duration which an aircraft must remain parked at the gate, is an important goal of airlines to increase their profitability. This work introduces a procedure to minimize of the turnaround time by speeding up the boarding time in passenger aircrafts. This is realized by allocating the seat numbers adaptively to passengers when they pass the boarding gate and not before. Using optical sensors, an agility measure is assigned to each person and also a measure to characterize the size of her/his hand-luggage. Based on these two values per passenger and taking into account additional constraints, like reserved seats and the belonging to a group, a novel seat allocation algorithm is introduced to minimize the boarding time. Extensive simulations show that a mean reduction of the boarding time with approximately 15% is achieved compared to existing boarding strategies. The costs of introducing the proposed procedure are negligible, while the savings of reducing the turnaround time are enormous, considering that the costs generated by inactive planes on an airport are estimated to be about 30 $ per minute

Enhancing bilateral teleoperation using camera-based online virtual fixtures generation

In this paper we present an interactive system to enhance bilateral teleoperation through online virtual fixtures generation and task switching. This is achieved using a stereo camera system which provides accurate information of the surrounding environment of the robot and of the tasks that have to be performed in it. The use of the proposed approach aims at improving the performances of bilateral teleoperation systems by reducing the human operator workload and increasing both the implementation and the execution efficiency. In fact, using our method virtual guidances do not need to be programmed a priori but they can be instead automatically generated and updated making the system suitable for unstructured environments. We strengthen the proposed method using passivity control in order to safely switch between different tasks while teleoperating under active constraints. A series of experiments emulating real industrial scenarios are used to show that the switch between multiple tasks can be passively and safely achieved and handled by the system

Vision based virtual fixture generation for teleoperated robotic manipulation

In this paper we present a vision-based system for online virtual fixture generation suitable for manipulation tasks using remote controlled robots. This system makes use of a stereo camera system which provides accurate pose estimation of parts within the surrounding environment of the robot using features detection algorithms. The proposed approach is suitable for fast adaptation of the teleoperation system to different manipulation tasks without the need of tedious reimplementation of virtual constraints. Our main goal is to improve the efficiency of bilateral teleoperation systems by reducing the human operator effort in programming the system. In fact, using this method virtual guidances do not need to be programmed a priori but they can be instead dynamically generated on-the-fly and updated at any time making, in the end, the system suitable for any unstructured environment. In addition, this methodology is easily adaptable to any kind of teleoperation system since it is independent from the used master/slave robots. In order to validate our approach we performed a series of experiments in an emulated industrial scenario. We show how through the use of our approach a generic telemanipulation task can be easily accomplished without influencing the transparency of the system

Impact of a single point mutation on the antimicrobial and fibrillogenic properties of cryptides from human apolipoprotein B

Host defense peptides (HDPs) are gaining increasing interest, since they are endowed with multiple activities, are often effective on multidrug resistant bacteria and do not generally lead to the development of resistance phenotypes. Cryptic HDPs have been recently identified in human apolipoprotein B and found to be endowed with a broad-spectrum antimicrobial activity, with antibiofilm, wound healing and immunomodulatory properties, and with the ability to synergistically act in combination with conventional antibiotics, while being not toxic for eukaryotic cells. Here, a multidisciplinary approach was used, including time killing curves, differential scanning calorimetry, circular dichroism, ThT binding assays, and transmission electron microscopy analyses. The effects of a single point mutation (Pro → Ala in position 7) on the biological properties of ApoB-derived peptide r(P)ApoBLPro have been evaluated. Although the two versions of the peptide share similar antimicrobial and anti-biofilm properties, only r(P)ApoBLAla peptide was found to exert bactericidal effects. Interestingly, antimicrobial activity of both peptide versions appears to be dependent from their interaction with specific components of bacterial surfaces, such as LPS or LTA, which induce peptides to form β-sheet-rich amyloid-like structures. Altogether, obtained data indicate a correlation between ApoB-derived peptides self-assembling state and their antibacterial activity

Component Interactions and Electron Transfer in Toluene/o-Xylene Monooxygenase

The multicomponent protein toluene/o-xylene monooxygenase (ToMO) activates molecular oxygen to oxidize aromatic hydrocarbons. Prior to dioxygen activation, two electrons are injected into each of two diiron(III) units of the hydroxylase, a process that involves three redox active proteins: the ToMO hydroxylase (ToMOH), Rieske protein (ToMOC), and an NADH oxidoreductase (ToMOF). In addition to these three proteins, a small regulatory protein is essential for catalysis (ToMOD). Through steady state and pre-steady state kinetics studies, we show that ToMOD attenuates electron transfer from ToMOC to ToMOH in a concentration-dependent manner. At substoichiometric concentrations, ToMOD increases the rate of turnover, which we interpret to be a consequence of opening a pathway for oxygen transport to the catalytic diiron center in ToMOH. Excess ToMOD inhibits steady state catalysis in a manner that depends on ToMOC concentration. Through rapid kinetic assays, we demonstrate that ToMOD attenuates formation of the ToMOC–ToMOH complex. These data, coupled with protein docking studies, support a competitive model in which ToMOD and ToMOC compete for the same binding site on the hydroxylase. These results are discussed in the context of other studies of additional proteins in the superfamily of bacterial multicomponent monooxygenases.National Institute of General Medical Sciences (U.S.) (5-R01-GM032134)United States. National Institutes of Health (T32GM008334

Patterns of Gene Flow Define Species of Thermophilic Archaea

A genomic view of speciation in Archaea shows higher rates of gene flow within coexisting microbial species than between them