Direct design of a velocity controller and load disturbance estimation for a self-balancing industrial manual manipulator

Self-balancing manual manipulators are devices that countervail the weight of a load that must be manually handled and moved by a human operator. Standard manipulators are made of a framework with an electric motor on the top and a spool connected to the motor shaft through a transmission gear. The load is hung by a handling device connected to a metallic rope wound on the spool. The device considered in this paper, in its current layout, is endowed with a load cell that measures the load weight and is controlled in an open loop. A new layout has been designed, which is not including the weighting load cell and is feedback controlled. The load’s counterbalance and movement are obtained by a velocity closed loop control algorithm designed using a direct design method, the Virtual Reference Feedback Tuning (VRFT). VRFT provides controller parameters tuning in a completely automatic way based on a single I/O batch measurement on the plant. Moreover, the elimination of the load weight transducer causes issues to some handling devices that need weight measurements to attach and detach the load. So, a load mass observer has been designed using a gravitational torque estimator, which is an enhanced version of standard disturbance torque observer for electric motors.     

Viscoelastic Properties of Tarocco Orange Fruit

In this work, the rheometrical behaviour of Tarocco orange fruit was assessed via stress–relaxation testing under constant engineering strain (ε _z) in the range of 5–20% of the initial fruit height, each test being prolonged for 15 min and replicated 20 times. The time course of the experimental dimensionless relaxation modulus (G*) was typical of a viscoelastic solid and was reconstructed by considering two Maxwell elements in parallel to an elastic spring element. In a more restricted ε _z range (i.e. 5–10%), the dimensionless viscoelastic constants (A _i) were found to be approximately constant, the elastic component responsible for the equilibrium residual stress representing about 42% of the initial relaxation modulus. After any orange fruit had been submitted to stress–relaxation testing and decompressed for 5 min, it exhibited a practically negligible mass loss (0.04 ± 0.03%) and a permanent volume contraction rising from 1.7 ± 1.0% to 3.0 ± 0.9% as ε _z was increased from 5% to 10%. Thus, by tasting the orange fruit firmness at ε _z ≤5%, fruit response, being of the viscoelastic type, is expected to give rise to nearly irrelevant deformations.     

Stochastic receding horizon control with output feedback and bounded controls

We study the problem of receding horizon control for stochastic discrete-time systems with bounded control inputs and incomplete state information. Given a suitable choice of causal control policies, we first present a slight extension of the Kalman filter to estimate the state optimally in mean-square sense. We then show how to augment the underlying optimization problem with a negative drift-like constraint, yielding a second-order cone program to be solved periodically online. We prove that the receding horizon implementation of the resulting control policies renders the state of the overall system mean-square bounded under mild assumptions. We also discuss how some quantities required by the finite-horizon optimization problem can be computed off-line, thus reducing the on-line computation.     

Detection of VAMP Proteolysis by Tetanus and Botulinum Neurotoxin Type B In Vivo with a Cleavage-Specific Antibody

Tetanus and Botulinum type B neurotoxins are bacterial metalloproteases that specifically cleave the vesicle-associated membrane protein VAMP at an identical peptide bond, resulting in inhibition of neuroexocytosis. The minute amounts of these neurotoxins commonly used in experimental animals are not detectable, nor is detection of their VAMP substrate sensitive enough. The immune detection of the cleaved substrate is much more sensitive, as we have previously shown for botulinum neurotoxin type A. Here, we describe the production in rabbit of a polyclonal antibody raised versus a peptide encompassing the 13 residues C-terminal with respect to the neurotoxin cleavage site. The antibody was affinity purified and found to recognize, with high specificity and selectivity, the novel N-terminus of VAMP that becomes exposed after cleavage by tetanus toxin and botulinum toxin type B. This antibody recognizes the neoepitope not only in native and denatured VAMP but also in cultured neurons and in neurons in vivo in neurotoxin-treated mice or rats, suggesting the great potential of this novel tool to elucidate tetanus and botulinum B toxin activity in vivo.     

Inactivation effect of an 18-T pulsed magnetic field combined with other technologies on Escherichia coli

The inactivation effect of 18 T pulsed magnetic fields in combination with selected non-thermal technologies was studied on Escherichia coli ATCC 11775. The bacteria were subjected to a treatment of either ultrasound (20 kHz, 70 W, 242 μm), high hydrostatic pressure (207 MPa, 5 min), pulsed electric field (6.25 kV/cm, 5.6 ms), or anti-microbials (Nisin 77.5 mg/l, lysozyme 1 mg/ml) and 50 magnetic field pulses (18 T, 30 μs). No additional inactivation or cell damage due to exposure to the pulsed magnetic field at 42°C was observed.     

Design and technical status of the EU contribution to ITER

Europe is involved in the procurement of most of the high-technology items for the ITER device (e.g. parts of the superconducting Toroidal (TF) and Poloidal Field (PF) coils, the vacuum vessel (VV), the in-vessel components, the remote handling, the additional heating systems, the tritium plant and cryoplant and finally parts of the diagnostics). In many cases the technologies required to manufacture these components are well established, in others there is still ongoing design and R&D work to select and optimise the final design solutions and to consolidate the underlying technologies as, for example, in the areas of heating and current drive, plasma diagnostics, shield blanket and first wall, remote handling, etc. A design review has recently been conducted by the ITER Organisation, with the support of the Domestic Agencies (DAs) established by the countries participating to ITER, to address the remaining outstanding technical issues and understand the associated implications for design, machine performance, schedule and cost.This paper provides an update of the design and technical status of EU contributions to ITER.     

Trehalose Treatment in Zebrafish Model of Lafora Disease

Mutations in the EPM2A gene encoding laforin cause Lafora disease (LD), a progressive myoclonic epilepsy characterized by drug-resistant seizures and progressive neurological impairment. To date, rodents are the only available models for studying LD; however, their use for drug screening is limited by regulatory restrictions and high breeding costs. To investigate the role of laforin loss of function in early neurodevelopment, and to screen for possible new compounds for treating the disorder, we developed a zebrafish model of LD. Our results showed the epm2a^−/− zebrafish to be a faithful model of LD, exhibiting the main disease features, namely motor impairment and neuronal hyperexcitability with spontaneous seizures. The model also showed increased inflammatory response and apoptotic death, as well as an altered autophagy pathway that occurs early in development and likely contributes to the disease progression. Early administration of trehalose was found to be effective for rescuing motor impairment and neuronal hyperexcitability associated with seizures. Our study adds a new tool for investigating LD and might help to identify new treatment opportunities.