MPC-based humanoid pursuit-evasion in the presence of obstacles

We consider a pursuit-evasion problem between humanoids in the presence of obstacles. In our scenario, the pursuer enters the safety area of the evader headed for collision, while the latter executes a fast evasive motion. Control schemes are designed for both the pursuer and the evader. They are structurally identical, although the objectives are different: the pursuer tries to align its direction of motion with the line- of-sight to the evader, whereas the evader tries to move in a direction orthogonal to the line-of-sight to the pursuer. At the core of the control architecture is a Model Predictive Control scheme for generating a stable gait. This allows for the inclusion of workspace obstacles, which we take into account at two levels: during the determination of the footsteps orientation and as an explicit MPC constraint. We illustrate the results with simulations on NAO humanoids

Toward Reverse Engineering of VBA Based Excel Spreadsheet Applications

Modern spreadsheet systems can be used to implement complex spreadsheet applications including data sheets, customized user forms and executable procedures written in a scripting language. These applications are often developed by practitioners that do not follow any software engineering practice and do not produce any design documentation. Thus, spreadsheet applications may be very difficult to be maintained or restructured. In this position paper we present in a nutshell two reverse engineering techniques and a tool that we are currently realizing for the abstraction of conceptual data models and business logic models.Comment: In Proceedings of the 2nd Workshop on Software Engineering Methods in Spreadsheets (http://spreadsheetlab.org/sems15/

Modulation of cytokine production by carnitine

The ability of carnitine congeners to modulate cytokine production by human peripheral blood mononuclear cells (PBMC) was investigated. Modulation of cytokine production by PBMC of young (30 years of age or younger) and old (70 years of age or older) normal donors was first compared. The PBMC were collected over Ficoll–Hypaque and incubated in the presence of various concentrations of acetyl L-carnitine for 24 h. Subsequently the supernatants were collected and examined for cytokine production. The presence of cytokines in tissue culture supernatants was examined by ELISA. The cytokines measured included IL-1α, IL-1β, IL-2, IL-4, IL-6, TNFα, GM–CSF, and IFNγ. The results showed that at 50 μg/ml of acetyl L-carnitine the most significant response was obtained for TNFα. In this regard four of five young donors responded, but only one of five old donors responded. More recently these studies were expanded to examine the ability of L-carnitine to modulate cytokine production at higher doses, 200 and 400 μg/ml, in young donors. The results of these studies showed that in addition to TNFα, significant production of IL-1β and IL-6 was observed. These preliminary studies provide evidence that carnitine may modulate immune functions through the production of selected cytokines

Humanoid gait generation for walk-to locomotion using single-stage MPC

We consider the problem of gait generation for a humanoid robot that must walk to an assigned Cartesian goal. As a first solution, we consider a rather straightforward adaptation of our previous work: An external block produces high-level velocities, which are then tracked by a double-stage intrinsically stable MPC scheme where the orientation of the footsteps is chosen before determining their location and the CoM trajectory. The second solution, which represents the main contribution of the paper, is conceptually different: no high-level velocity is generated, and footstep orientations are chosen at the same time of the other decision variables in a singlestage MPC. This is made possible by carefully redesigning the motion constraints so as to preserve linearity. Preliminary results on a simulated NAO confirm that the single-stage method outperforms the conventional double-stage scheme

Predicting and Optimizing Microswimmer Performance from the Hydrodynamics of Its Components: The Relevance of Interactions

Interest in the design of bioinspired robotic microswimmers is growing rapidly, motivated by the spectacular capabilities of their unicellular biological templates. Predicting the swimming speed and efficiency of such devices in a reliable way is essential for their rational design, and to optimize their performance. The hydrodynamic simulations needed for this purpose are demanding and simplified models that neglect nonlocal hydrodynamic interactions (e.g., resistive force theory for slender, filament-like objects that are the typical propulsive apparatus for unicellular swimmers) are commonly used. We show through a detailed case study of a model robotic system consisting of a spherical head powered by a rotating helical flagellum that (a) the errors one makes in the prediction of swimming speed and efficiency by neglecting hydrodynamic interactions are never quite acceptable and (b) there are simple ways to correct the predictions of the simplified theories to make them more accurate. We also formulate optimal design problems for the length of the helical flagellum giving maximal energetic efficiency, maximal distance traveled per motor turn, or maximal distance traveled per unit of work expended, and exhibit optimal solutions

Insufficient control of blood pressure and incident diabetes

OBJECTIVE: Incidence of type 2 diabetes might be associated with preexisting hypertension. There is no information on whether incident diabetes is predicted by blood pressure control. We evaluated the hazard of diabetes in relation to blood pressure control in treated hypertensive patients. RESEARCH DESIGN AND METHODS: Nondiabetic, otherwise healthy, hypertensive patients (N = 1,754, mean +/- SD age 52 +/- 11 years, 43% women) participated in a network over 3.4 +/- 1 years of follow-up. Blood pressure was considered uncontrolled if systolic was >or=140 mmHg and/or diastolic was >or=90 mmHg at the last outpatient visit. Diabetes was defined according to American Diabetes Association guidelines. RESULTS: Uncontrolled blood pressure despite antihypertensive treatment was found in 712 patients (41%). At baseline, patients with uncontrolledblood pressure were slightly younger than patients with controlled blood pressure (51 +/- 11 vs. 53 +/- 12 years, P < 0.001), with no differences in sex distribution, BMI, duration of hypertension, baseline blood pressure, fasting glucose, serum creatinine and potassium, lipid profile, or prevalence of metabolic syndrome. During follow-up, 109 subjects developed diabetes. Incidence of diabetes was significantly higher in patients with uncontrolled (8%) than in those with controlled blood pressure (4%, odds ratio 2.08, P < 0.0001). In Cox regression analysis controlling for baseline systolic blood pressure and BMI, family history of diabetes, and physical activity, uncontrolled blood pressure doubled the risk of incident diabetes (hazard ratio [HR] 2.10, P < 0.001), independently of significant effects of age (HR 1.02 per year, P = 0.03) and baseline fasting glucose (HR 1.10 per mg/dl, P < 0.001). CONCLUSIONS: In a large sample of treated nondiabetic hypertensive subjects, uncontrolled blood pressure is associated with twofold increased risk of incident diabetes independently of age, BMI, baseline blood pressure, or fasting glucose

Insufficient control of blood pressure and incident diabetes

OBJECTIVE: Incidence of type 2 diabetes might be associated with preexisting hypertension. There is no information on whether incident diabetes is predicted by blood pressure control. We evaluated the hazard of diabetes in relation to blood pressure control in treated hypertensive patients. RESEARCH DESIGN AND METHODS: Nondiabetic, otherwise healthy, hypertensive patients (N = 1,754, mean +/- SD age 52 +/- 11 years, 43% women) participated in a network over 3.4 +/- 1 years of follow-up. Blood pressure was considered uncontrolled if systolic was >or=140 mmHg and/or diastolic was >or=90 mmHg at the last outpatient visit. Diabetes was defined according to American Diabetes Association guidelines. RESULTS: Uncontrolled blood pressure despite antihypertensive treatment was found in 712 patients (41%). At baseline, patients with uncontrolledblood pressure were slightly younger than patients with controlled blood pressure (51 +/- 11 vs. 53 +/- 12 years, P < 0.001), with no differences in sex distribution, BMI, duration of hypertension, baseline blood pressure, fasting glucose, serum creatinine and potassium, lipid profile, or prevalence of metabolic syndrome. During follow-up, 109 subjects developed diabetes. Incidence of diabetes was significantly higher in patients with uncontrolled (8%) than in those with controlled blood pressure (4%, odds ratio 2.08, P < 0.0001). In Cox regression analysis controlling for baseline systolic blood pressure and BMI, family history of diabetes, and physical activity, uncontrolled blood pressure doubled the risk of incident diabetes (hazard ratio [HR] 2.10, P < 0.001), independently of significant effects of age (HR 1.02 per year, P = 0.03) and baseline fasting glucose (HR 1.10 per mg/dl, P < 0.001). CONCLUSIONS: In a large sample of treated nondiabetic hypertensive subjects, uncontrolled blood pressure is associated with twofold increased risk of incident diabetes independently of age, BMI, baseline blood pressure, or fasting glucose

Calixarene based catalytic systems

2016 - 2017Catalysis is the essence of chemistry as it provides useful tools to make and brake chemical bonds. As nature has been a guide to many scientists, it’s no surprise that in the field of catalysis enzymes were a source of inspiration. Harnessing non covalent interactions, as enzymes do, is a fascinating perspective, and, since supramolecular chemistry became more and more involved in catalysis, a new discipline was born, named supramolecular catalysis. Since supramolecular hosts such as calix[n]arenes have been fruitfully employed in the synthesis of catalysts, in these work we report the design, characterization and applications of new calixarene based catalytic systems. In details chiral calix[4]arene amides 1-7 were employed as phase-transfer catalysts thanks to their cation complexing properties, while the calix[4]arene functionalized with a chiral primary amine-thiourea moiety 8 acted as bifunctional catalyst in several asymmetric conjugate addiction reactions. Finally dinuclear Zirconium-calix[8]arene complex 9 proved to be active in the ring opening polymerization of cyclic esters... [edited by author]XVI n.s