LARM PKM solutions for torso design in humanoid robots

Human-like torso features are essential in humanoid robots. In this paper problems for design and operation of solutions for a robotic torso are discussed by referring to experiences and designs that have been developed at Laboratory of Robotics and Mechatronics (LARM) in Cassino, Italy. A new solution is presented with conceptual views as waist-trunk structure that makes a proper partition of the performance for walking and arm operations as sustained by a torso.     

The Chloroplast of Chlamydomonas reinhardtii as a Testbed for Engineering Nitrogen Fixation into Plants

Eukaryotic organisms such as plants are unable to utilise nitrogen gas (N₂) directly as a source of this essential element and are dependent either on its biological conversion to ammonium by diazotrophic prokaryotes, or its supply as chemically synthesised nitrate fertiliser. The idea of genetically engineering crops with the capacity to fix N₂ by introduction of the bacterial nitrogenase enzyme has long been discussed. However, the expression of an active nitrogenase must overcome several major challenges: the coordinated expression of multiple genes to assemble an enzyme complex containing several different metal cluster co-factors; the supply of sufficient ATP and reductant to the enzyme; the enzyme’s sensitivity to oxygen; and the intracellular accumulation of ammonium. The chloroplast of plant cells represents an attractive location for nitrogenase expression, but engineering the organelle’s genome is not yet feasible in most crop species. However, the unicellular green alga Chlamydomonas reinhardtii represents a simple model for photosynthetic eukaryotes with a genetically tractable chloroplast. In this review, we discuss the main advantages, and limitations, of this microalga as a testbed for producing such a complex multi-subunit enzyme. Furthermore, we suggest that a minimal set of six transgenes are necessary for chloroplast-localised synthesis of an ‘Fe-only’ nitrogenase, and from this set we demonstrate the stable expression and accumulation of the homocitrate synthase, NifV, under aerobic conditions. Arguably, further studies in C. reinhardtii aimed at testing expression and function of the full gene set would provide the groundwork for a concerted future effort to create nitrogen-fixing crops.     

电弧炉中废钢料的元素监测

评估了激光诱导击穿光谱（LIBS）在废钢料分析中的使用,以用于电弧炉中废钢料的元素监测。开发了一个LIBS原型用于现场试验,并将其安装在位于废钢料填充区和电弧炉之间的钟摆式输送槽上。LIBS原型距离电弧炉大约25 m。废钢料填充的钟摆式输送槽的宽度和深度分别为大约2 m和1 m。调整废钢料的平均速率在0.3～5.5 m/min的范围内,使之满足电弧炉的装填要求,从而使废钢料的生产能力达到100 t/h。在安装地点,低合金废钢料中高含量硅的检测基本上对电弧炉控制的改进很有帮助。由于测量体积受限在600×600×180 mm³,研发的原型仅检测了一小部分的钢料表面。但是,在线LIBS测量还是显示了在工业环境下测定高硅废钢料样品的能力。为了拓展在加料、过程控制及管理上的应用,应增加测量体积从而进一步提高其性能。     

Sleep-related car crashes: risk perception and decision-making processes in young drivers

The aim of the present study is to analyse factors affecting worries, coping strategies and decisions of young drivers regarding the risk of sleep-related car crashes. Furthermore, the study also analyses whether framing the same information about sleepiness in two different linguistic forms influences: (1) the evaluation of the level of risk associated to a specific level of drowsiness (Attribute Framing problem); (2) the willingness to enact strategies to "prevent" sleepiness before night-time driving (Goal Framing problem); (3) the choice between two different ways, both of equal expected efficacy, of lowering drowsiness (Risky decision-making Framing problem). Six hundred and ninety-five young drivers [(57.6% females, 42.4% males); mean age 20.85 years (S.D.=1.2)] answered questions on drive risk perception and sleepiness, on nocturnal driving experience and on the strategies to deal with driver sleepiness, responding to one of the two different versions of the framed problems. A sub-sample of 130 participants completed the framed problems in both versions. The results show that experiences of sleep attacks and nocturnal driving frequency in the past 6 months affect both risk perception and the preventive strategies adopted. Furthermore, the manipulation on two out of the three problems (attribute and risky decision-making frames) significantly affected the respondents' evaluation.     

GMTR: two-dimensional geo-fit multitarget retrieval model for michelson interferometer for passive atmospheric sounding/environmental satellite observations

We present a new retrieval model designed to analyze the observations of the Michelson Interferometer for Passive Atmospheric Sounding (MIPAS), which is on board the ENVironmental SATellite (ENVISAT). The new geo-fit multitarget retrieval model (GMTR) implements the geo-fit two-dimensional inversion for the simultaneous retrieval of several targets including a set of atmospheric constituents that are not considered by the ground processor of the MIPAS experiment. We describe the innovative solutions adopted in the inversion algorithm and the main functionalities of the corresponding computer code. The performance of GMTR is compared with that of the MIPAS ground processor in terms of accuracy of the retrieval products. Furthermore, we show the capability of GMTR to resolve the horizontal structures of the atmosphere. The new retrieval model is implemented in an optimized computer code that is distributed by the European Space Agency as "open source" in a package that includes a full set of auxiliary data for the retrieval of 28 atmospheric targets.     

FEMMINA real-time, radio-frequency echo-signal equipment for testing novel investigation methods

Fast echographic multiparameter multi-image novel apparatus (FEMMINA), is a hardware and software platform dedicated to ultrasonic signal and image processing. FEMMINA is able to operate with sequences of radiofrequency (RF) frames. Its architecture is designed to be modular, expandable, and aimed at implementing different ultrasonic investigation techniques. The first experimental characteristic of this system is in its capability to operate in real time with ultrasonic RF signals, starting from acquisition up to processing, storage, and visualization. The second characteristic is the user-system interactivity that allows one to modify the operation appropriately while observing results. Currently, FEMMINA works in both typical experimental situations to study novel investigation techniques and clinical field to validate the proposed methods in different human districts.     

Sample treatment considerations in the analysis of organic colorants by surface-enhanced Raman scattering

The introduction of surface-enhanced Raman spectroscopy (SERS) in the field of cultural heritage has significantly improved the analysis of the organic dyes and their complexes that have been used as textile dyes and pigments in paintings and other polychrome works of art since antiquity. Over the last five years, a number of different procedures have been developed by various research groups. In this Article, we evaluate the effect of pretreating samples by exposing them to hydrofluoric acid (HF) vapor prior to SERS analysis, a step designed to hydrolyze the dye-metal complexes and increase analyte adsorption on the nanosized metallic support, thus enhancing the SERS signal. Materials studied include pure colorants, commercial lake pigments, and fibers from dyed textiles, as well as actual aged samples, such as microscopic fragments of lakes on paper and ancient pigments and glazes from several works of art, covering a wide range of time, from the second century B.C. to the early 20th century. In each case, SERS spectra obtained with or without HF hydrolysis were critically evaluated. The pretreatment with HF vapor resulted in faster analysis and increased sensitivity in most cases, with the exception of dyed silk fibers, where silk protein hydrolyzates were found to interfere with SERS analysis. As a final point, a two-step procedure including SERS on untreated and treated samples is proposed as a standard approach: by analyzing a sample first without hydrolysis, and then, following removal of the colloid, upon HF treatment, the best and most reliable results for a great number of dyes and substrates are assured.     

Construction of xylose dehydrogenase displayed on the surface of bacteria using ice nucleation protein for sensitive D-xylose detection

A novel method was developed to detect d-xylose (INS 967) sensitively and selectively, which is based on a xylose dehydrogenase (XDH) cell-surface displaying system using a newly identified ice nucleation protein from Pseudomonas borealis DL7 as an anchoring motif. With coenzyme NAD(+), the XDH-displayed bacteria facilitates the catalysis of the oxidization of xylose and the resultant NADH can be detected spectrometrically at 340 nm. The fusion protein was characterized by proteinase accessibility, Western blot, and enzyme activity assays. The established XDH surface displaying system did not inhibit the growth of the recombinant Escherichia coli strain. The XDH was mainly displayed on the surface of host cells, which is of high XDH activity and high D-xylose specificity. The optimal temperature and pH of cell displayed XDH were found at 30 °C and pH 8.0, respectively. The XDH-displayed bacteria can be used directly without further enzyme extraction and purification, and it improved the stability of the enzyme. Moreover, the cell-surface-displayed-protein-based approach showed a wide linear range (5-900 μM) and a low detection limit of 2 μM of d-xylose. More importantly, the recombinant cells could be used for precise detection of D-xylose from the real samples such as foods and degradation products of lignocellulose. The method shown here provides a simple, rapid, and low-cost strategy for the sensitive and selective measurement of D-xylose. In addition, the XDH-displayed bacteria showed an interesting response in developing electrochemical biosensors. Thus, the genetically engineered cells may find broad application in such biosensors and biocatalysts. Similarly, this type of genetic approach may be used for the expression of other intracellular enzymes of interest for certain purposes.     

How To Find a Needle (or Anything Else) in a Haystack: Two-Dimensional Correlation Spectroscopy-Filtering with Iterative Random Sampling Applied to Pharmaceutical Heparin

Risks of contamination of the major clinical anticoagulant heparin can arise from deliberate adulteration with unnatural or natural polysaccharides, including heparin from other animal sources, other natural products, or artifacts of manufacture, and these can escape detection by conventional means. Currently, there is no generally applicable, objective test recommended by regulators that can detect these in pharmaceutical heparin, and this continues to leave heparin exposed to contamination risks. Two-dimensional correlation spectroscopic-filtering with iterative random sampling (2D-COS-firs) is reported. It employs a difference covariance matrix with iterative random sampling, and is capable of revealing contamination in pharmaceutical heparin to a high level of sensitivity irrespective of the nature of those features. The technique is suitable to any situation in which a comparison of a single entity to a family of heterogeneous entities, particularly natural products and biosimilars, needs to be made, and will find application in pharmaceutical monitoring, manufacturing quality control, materials science, biotechnology, and metabolomic investigations.