Integration for the next generation: embedding force control into industrial robots

In this paper, the interaction control schemes suitable for implementation on industrial robot units are presented. In particular, the focus is on impedance control and parallel control, which are conceived to manage the interaction with a more or less compliant environment without requiring an accurate model thereof. All the considered schemes are based on an inner motion control loop, which can be the usual independent joint control of PID type or an advanced model-based motion control law with superior tracking performance. The inner motion control loop is in charge of tracking the reference trajectory computed by the outer interaction control loop. Special emphasis is given to controlling 6-degrees-of-freedom (DOF) interaction tasks involving the end-effector position and orientation when a contact force and moment are applied.     

Microbial succession during ripening of Naples-type salami, a southern Italian fermented sausage

Studies were carried out on the microbiological and physico-chemical changes which occurred during the ripening of five batches of Naples-type salami, manufactured without starter cultures. Salami were sampled internally and externally, and the following microbial groups were studied: lactic acid bacteria, Micrococcaceae and yeasts. The results obtained indicated that lactobacilli constituted the predominant flora, both on the surface and in the interior of the pieces throughout the ripening period. Micrococcaceae and yeasts were also found in considerable number in both locations. Characterisation of 191 lactic isolates indicated that the salami microflora was dominated by homofermentative lactobacilli; approximately 63% of them could be identified as Lactobacillus sake; 40% showing the traits of a racemase negative variant of this species, once referred to Lactobacillus bavaricus. Yeast population mainly comprised Debaryomyces strains. All the colonies grown on mannitol salt and Kranep agar were catalase-positive cocci; novobiocin-resistant staphylococci were the only Micrococcaceae found. The API Staph identification system did not prove to be reliable: 82% of the isolates remained unidentified. To achieve improved characterisation, cluster analysis was subsequently performed on this group, corroborating the existence of a fairly homogeneous group representing an intermediate variety between Staphylococcus xylosus and Staphylococcus saprophyticus that was isolated during the whole ripening process.     

New technologies for relaxation: The role of presence.

In recent years, several publications have appeared on virtual reality (VR) therapy in the treatment of anxiety disorders. However, a limited number of these studies targeted stress management and relaxation. To evaluate the efficacy of VR as a support tool in the relaxation process, this study compared its efficacy with two other media (DVD and audiotape). The goals of the experiment were to test the efficacy of each condition in increasing relaxation and reducing anxiety, and whether the sense of presence-the feeling of being inside the media content-correlated with the efficacy of the treatment. Results suggested the importance of the sense of presence as a mediating variable between the media experience and the efficacy of the protocol. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Development of a Hypersensitive Periodate‐Cleavable Amino Acid that is Methionine‐ and Disulfide‐Compatible and its Application in MHC Exchange Reagents for T Cell Characterisation

Incorporation of cleavable linkers into peptides and proteins is of particular value in the study of biological processes. Here we describe the synthesis of a cleavable linker that is hypersensitive to oxidative cleavage as the result of the periodate reactivity of a vicinal amino alcohol moiety. Two strategies directed towards the synthesis of a building block suitable for solid‐phase peptide synthesis were developed: a chemoenzymatic route, involving L ‐threonine aldolase, and an enantioselective chemical route; these led to α,γ‐diamino‐β‐hydroxybutanoic acids in diastereoisomerically mixed and enantiopure forms, respectively. Incorporation of the 1,2‐amino alcohol linker into the backbone of a peptide generated a conditional peptide that was rapidly cleaved at very low concentrations of sodium periodate. This cleavable peptide ligand was applied in the generation of MHC exchange reagents for the detection of antigen‐specific T cells in peripheral blood cells. The extremely low concentration of periodate required to trigger MHC peptide exchange allowed the co‐oxidation of methionine and disulfide residues to be avoided. Conditional MHC reagents hypersensitive to periodate can now be applied without limitations when UV irradiation is undesired or less practical.     

Niche partitioning,shape of species response,and diversity in the phytobenthos across the rocky shoreline of a large peri-Alpine lake

By colonizing a particular depth zone across the transition from aquatic to terrestrial habitats, littoral species may exhibit specific physiological and ecological adaptations, as well as characteristic responses to the gradient of conditions across the ecotone. The objectives of the study were: (i) to identify the depth zone (location in relation to average water level) where the replacement of species occurs most rapidly; (ii) to test whether and to what extent the occurrence of species, their abundance and their response to the gradient evolves over time; and (iii) to assess the shape of the species' response to the gradient, calculating the niche overlap of the dominant species. Results showed that the diversity of species peaked at a depth between 18 and 48 cm, in a zone thought to be of intermediate disturbance (the transect depth was, on average, 103 cm). The main macroalgal species (the red alga, Bangia atropurpurea and the green algae, Jaoa bullata, and Cladophora glomerata), showed a variety of response shapes to the gradient: monotonic, symmetrical and skewed, depending on the stage of seasonal growth. The efficient regulation of growth of B. atropurpurea along the fluctuating gradient was interpreted as an adaptive trait giving it an advantage over more slowly reacting species. The spatial and temporal niches of B. atropurpurea and Jaoa bullata overlapped widely only in early spring, whereas later their optimal habitats were clearly differentiated. This suggested partial niche segregation between these two species, and a potential seasonal interaction.     

Coal combustion: Correlation between surface area and thermogravimetric analysis data

A series of coals of different rank has been characterized by surface area measurements performed by sorption of both nitrogen and carbon dioxide. While the data obtained with nitrogen do not discriminate among the different coal samples, those based on carbon dioxide sorption do give a significant distinction between the samples. This technique has also been applied to the determination of the surface area of coal samples quenched after stepwise combustion in air atmosphere. It has been possible to establish a useful correlation between the latter data and the burning profile measured by derivative thermogravimetry. The aim of the present study was to gain a better understanding of the coal combustion process on a laboratory scale which could reasonably be extended to combustion plants. The results presented are relevant to some of the multivalent aspects inherent in the coal combustion process and some valuable information has been gained in respect of characterization of solid fuels.     

Use of native species and biodegradable chelating agents in the phytoremediation of abandoned mining areas

BACKGROUND: The application of phytostabilization and assisted phytoextraction to the remediation of abandoned mining areas can be a valuable method to reclaim these areas without modifying soil and landscape characteristics. An in situ application of a continuous phytoextraction technique was carried out in the area of Campo Pisano (Sardinia, Italy), followed by a laboratory assisted phytoextraction test using the biodegradable chelating agents methylglycine diacetic acid (MGDA) and iminodissuccinic acid (IDSA). The plants used were Scrophularia canina subsp. bicolor, Cistus salviifolius and Teucrium flavum subsp. glaucum. RESULTS: The plant that accumulated more Pb was T. glaucum (353 mg kg^?1) while C. salviifolius demonstrated better ability to accumulate Zn (1560 mg kg^?1). S. bicolor showed a better tolerance to metals but accumulated 119 mg kg^?1 of Pb. Accumulation of metals immediately after chelant application was up to 300 mg kg^?1 of Pb and 3000 mg kg^?1 of Zn which did not further increase during the assisted phytoextraction experiment. CONCLUSION: The plant that demonstrated to be most suitable for phytoremediation application was S. bicolor due to its higher biomass production and tolerance to metals. The low cation exchange capacity and the high concentration of Ca and Mg in soil determined a low chelant effectiveness. Copyright © 2009 Society of Chemical Industry     

Development of spoilage microbiota in beef stored in nisin activated packaging

The aim of this study was to assess the microbial populations causing the spoilage of chilled beef during storage and to evaluate the effect of the use of an antimicrobial packaging for the meat storage. A nisin activated antimicrobial packaging was developed by using a nisin, HCL and EDTA solution and used for the storage of beef cuts at 1 °C. The common spoilage related microbial groups were monitored during the storage of beef in activated and non activated plastic bags by using selective media. The use of the antimicrobial packaging caused an overall significant reduction of viable counts of Gram positive bacteria such as carnobacteria, lactic acid bacteria and Brochotrix thermosphacta whose development was inhibited for at least 11 days of storage compared to the control. Moreover, a 1–3 log cycles reduction of enterobacteria was also registered between 22 and 32 days of storage. The microbiota was assessed at species level by using Polymerase chain reaction-denaturing gradient gel electrophoresis (PCR-DGGE) analysis of 16S rRNA gene of DNA extracted directly from meat and from bulk cells from selective media plates and showed that the species occurring within the targeted microbial groups did not change according to storage conditions. In conclusion, the use of the nisin activated packaging reduced the number of spoilage populations but did not affect the species diversity. Improved antimicrobial packaging is needed, possibly coupled with vacuum storage, to possibly achieve a simultaneous inhibition of more spoilage microbial groups and to preserve the microbiological quality of beef during chilled storage.     

Identification of Aminoimidazole and Aminothiazole Derivatives as Src Family Kinase Inhibitors

Src family kinases (SFKs) are a family of non‐receptor tyrosine kinases (TKs) implicated in the regulation of many cellular processes. The aberrant activity of these TKs has been associated with the growth and progression of cancer. In particular, c‐Src is overexpressed or hyperactivated in a variety of solid tumors and is most likely a strong promoting factor for the development of metastasis. Herein, the synthesis of new 4‐aminoimidazole and 2‐aminothiazole derivatives and their in vitro biological evaluation are described for their potential use as SFK inhibitors. Initially, 2‐aminothiazole analogues of dasatinib and 4‐aminoimidazole derivatives were synthesized and tested against the SFKs Src, Fyn, Lyn, and Yes. Five hits were identified as the most promising compounds, with K_i values in the range of 90–480 nm . A combination of molecular docking, homology modeling, and molecular dynamics were then used to investigate the possible binding mode of such compounds within the ATP binding site of the SFKs. Finally, the antiproliferative activities of the best candidates were evaluated against SH‐SY5Y and K562 cell lines. Compound 3 b [2‐(4‐{2‐methyl‐6‐[(5‐phenylthiazol‐2‐yl)amino]pyrimidin‐4‐yl}piperazin‐1‐yl)ethanol] was found to be the most active inhibitor.