Flexible joints control: A minimum-time feed-forward technique

The paper proposes a linear programming approach to the feed-forward minimum-time control of flexible joints. Taking into account both input and output constraints, the optimal bang–bang control is computed by discretizing a continuous-time joint model and by solving a sequence of linear programming feasibility problems. The resulting joint motion is a smooth rest-to-rest motion without oscillations. Theoretical analysis is presented and proof of convergence is given. Experimental results illustrate the proposed open-loop technique. Comparisons are made with inversion-based techniques.     

Genetic nearest feature plane

The problem addressed in this paper concerns the complexity reduction of the nearest feature plane classifier, so that it may be applied also in dataset where the training set contains many patterns. This classifier considers, to classify a test pattern, the subspaces created by each combination of three training patterns. The main problem is that in dataset of high cardinality this method is unfeasible.A genetic algorithm is here used for dividing the training patterns in several clusters which centroids are used to build the feature planes used to classify the test set.The performance improvement with respect to other nearest neighbor based classifiers is validated through experiments with several benchmark datasets.     

F-substituted hydroxyapatite nanopowders: Thermal stability,sintering behaviour and mechanical properties

Fluorine-substituted hydroxyapatites are considered promising materials for bone scaffolding. In this study a systematic investigation on F-half substituted hydroxyapatite (F-HAp, Ca₁₀(PO₄)₆OHF) obtained by precipitation is reported. Results on composition analysis, thermal behaviour, and sinterability are presented for a comparison with the respective pure hydroxyapatite. Samples were characterised by electron microscopy, induced coupled plasma-atomic emission spectroscopy, thermal analysis, infrared spectroscopy, N₂ adsorption measurements, X-ray diffraction and dilatometry. A semicrystalline F-substituted hydroxyapatite powder made up of needle-like nanoparticles was obtained. Notwithstanding that it was thermally stable up to 1300 °C, it was sintered at relatively low temperatures obtaining a very fine microstructure with a relevant nano-porosity, beneficial in view of cell adhesion and in-growth.Hardness, elastic modulus and toughness of produced samples were investigated by Vickers–Knoop microhardness testing. Significant improvements of the mechanical properties were observed for the F-substituted hydroxyapatite, in comparison with pure hydroxyapatite.     

Formulation optimisation of vegetable flour–loaded functional bread. Part II: effect of the flour hydration on the bread quality

In this work, the hydration process of durum wheat–based functional bread loaded with yellow pepper flour was optimised. In particular, the investigated vegetable flour and durum wheat semolina were mixed after they were separately hydrated. Three different amounts of water added to the yellow pepper flour were studied for assessing the effect of vegetable flour hydration level on the dough development and overall quality of bread. The bread formulation investigated in a previous work, based on 25% of yellow pepper and 2% of guar seed as structuring agent where the vegetable flour was directly added to the hydrated durum wheat semolina dough, was chosen as control sample. Results highlighted that dough samples with yellow pepper flour hydrated at highest water content showed a rheological behaviour similar to the durum wheat dough. Moreover, creep analysis showed that the sample added with no‐hydrated yellow pepper flour recorded the greatest resistance to deformation. Same results were obtained for the dough tensile and bread compression tests. The use of the hydrated yellow pepper flour also improved all sensorial attributes.     

Non-Coding RNAs in Muscle Dystrophies

ncRNAs are the most recently identified class of regulatory RNAs with vital functions in gene expression regulation and cell development. Among the variety of roles they play, their involvement in human diseases has opened new avenues of research towards the discovery and development of novel therapeutic approaches. Important data come from the field of hereditary muscle dystrophies, like Duchenne muscle dystrophy and Myotonic dystrophies, rare diseases affecting 1 in 7000–15,000 newborns and is characterized by severe to mild muscle weakness associated with cardiac involvement. Novel therapeutic approaches are now ongoing for these diseases, also based on splicing modulation. In this review we provide an overview about ncRNAs and their behavior in muscular dystrophy and explore their links with diagnosis, prognosis and treatments, highlighting the role of regulatory RNAs in these pathologies.     

Removal of exhausted oils by adsorption on mixed Ca and Mg oxides

Adsorption tests were performed on two different exhausted oils to reduce their polluting and health hazard potential: a "water-insoluble oil", utilised for automotive engine lubrication, and an "emulsified" oil, used as coolant for metal-cutting tools. Dolomite, a low-cost recovery material, was used to prepare two effective adsorbents: (a) a mixed Ca and Mg oxide obtained by thermal decomposition of dolomite at 1800 degrees C, and (b) an activated material obtained by submitting this product to chemical treatment with HCl. Preliminary tests carried out with an excess of the former material showed that the insoluble oil was adsorbed with lower yield (Y = 0.40) than the soluble (emulsified) oil (Y = 0.60). The material activation with HCl remarkably improved the adsorption of soluble oil organic fraction (Y > 0.90), while only a little increase in the removal yield was observed for the insoluble oil (Y = 0.44). The results presented and discussed in this work pointed out that the products of dolomite calcination can successfully replace the conventional adsorbing materials in the removal of organic pollutants, with particular concern to exhausted soluble oils, which cannot usually be recycled, thus reducing the operational costs of their treatment.     

Biomechanical evaluation of cell-loaded and cell-free hydroxyapatite implants for the reconstruction of segmental bone defects

Porous hydroxyapatite (HA) scaffoldings are currently used in tissue engineering for bone reconstruction. When this osteoconductive biomaterial is combined with osteoprogenitor cells, it acquires osteoinductive features which accelerate and improve bone formation in vivo. The aim of our study was to assess the mechanical properties of HA–bone complexes undergoing indentation tests, and relate stiffness to composition and structure as examined by micro X-ray. To this purpose, 35-mm tibia diaphyseal resections were performed in sheep. Gaps were filled using porous HA cylinders. Implants were loaded with autologous bone marrow stromal cells (BMSC); cell-free cylinders were used as control. After 8 weeks, bone tissue was found within the internal macropores of cell-loaded HA carriers, and in control implants, bone formation was mostly limited to the outer surface. As assessed by indentation testing the stiffness values of bone–HA composites were halfway between those of HA scaffoldings and tibia bone. Cell-loaded implants were stiffer than cell-free ones. In a cell-loaded implant we also analyzed the variation of stiffness along the main axis of the tibia.