Double actuation architectures for rendering variable impedance in compliant robots: A review

Novel compliant actuation systems have been developed in recent years for a variety of possible advantages, such as establishing a safe human–robot interaction, increasing energy efficiency, reducing the effects of impacts and even for the development of neuro-inspired robotic platforms to be used in human motor control studies.In this rapidly growing and transversal research field, systems involving more than one active element (typically motors) for each actuated degree of freedom are being investigated to allow separate position and impedance regulations. Considering the wide range of applications and the large number of different arrangements deriving from the combination of two active elements and passive elastic components, several actuation architectures have been devised.This paper reviews state-of-the-art rotary variable impedance units incorporating two separate motors. Existing devices are grouped in three main categories. A critical and comparative analysis of the most relevant features is carried out, also based on most representative prototypes. Recently proposed methodologies and evaluation criteria for design optimization are illustrated and perspectives on potential applications of double actuation systems are presented.     

A variational integrators approach to second order modeling and identification of linear mechanical systems

The theory of variational integration provides a systematic procedure to discretize the equations of motion of a mechanical system, preserving key properties of the continuous time flow. The discrete-time model obtained by variational integration theory inherits structural conditions which in general are not guaranteed under general discretization procedures. We discuss a simple class of variational integrators for linear second order mechanical systems and propose a constrained identification technique which employs simple linear transformation formulas to recover the continuous time parameters of the system from the discrete-time identified model. We test this approach on a simulated eight degrees of freedom system and show that the new procedure leads to an accurate identification of the continuous-time parameters of second-order mechanical systems starting from discrete measured data.     

LC with Evaporative Light-Scattering Detection for Quantitative Analysis of Organic Acids in Juices

In this work, a performing LC method with evaporative light-scattering detector was described for the analysis of tartaric, malic, ascorbic, citric and succinic acids in fruit juices. The method was optimized and validated in comparison with LC-UV, in terms of accuracy, LODs, LOQs and precision. The successive application to ACE, orange, pear, peach, mulberry and apple juices allowed separation and quantitative determination of organic acids in about 20 min just diluting and filtering the sample before LC determination. In the analysed juices, citric, malic and ascorbic acids were always present, and in all the samples, citric acid was the prevailing acid followed by malic acid except for peach and apple juices where an opposite trend was found. Tartaric and succinic acids were detected at lower concentrations and more rarely, except for peach juices, all containing tartaric acid, and ACE and orange juices, all containing succinic acid.     

Left invertibility of discrete systems with finite inputs and quantised output

The aim of this article is to address left invertibility for dynamical systems with inputs and outputs in discrete sets. We study systems which evolve in discrete time within a continuous state-space. Quantised outputs are generated by the system according to a given partition of the state-space, while inputs are arbitrary sequences of symbols in a finite alphabet, which are associated to specific actions on the system. Our main results are obtained under some contractivity hypotheses. The problem of left invertibility, i.e. recovering an unknown input sequence from the knowledge of the corresponding output string, is addressed using the theory of iterated function systems (IFS), a tool developed for the study of fractals. We show how the IFS naturally associated to a system and the geometric properties of its attractor are linked to the invertibility property of the system. Our main result is a necessary and sufficient condition for left invertibility and uniform left invertibility for joint contractive systems. In addition, an algorithm is proposed to recover inputs from output strings. A few examples are presented to illustrate the application of the proposed method.     

Almost sure exponential convergence to consensus of random gossip algorithms

In this paper, we provide a proof of almost sure exponential convergence to consensus for a general class of ergodic edge selection processes. The proof is based on the multiplicative ergodic theorem of Oseledec and also applies to continuous time gossip algorithms. An example of exponential convergence in a non ergodic case is also discussed. Copyright © 2012 John Wiley & Sons, Ltd.     

Molecularly imprinted solid-phase extraction for cholesterol determination in cheese products

A new sorbent for molecularly imprinted solid-phase extraction (MISPE) to detect cholesterol (CHO) in food matrices able to work in an aqueous media was synthesized.     

Synthesis, characterization and antimicrobial activity of conjugates based on fluoroquinolon-type antibiotics and gelatin

Different fluoroquinolon-type antibiotics were conjugated to gelatin with the aim to synthesize biomacromolecules with antimicrobial properties. The covalent linkage of the antibiotic was performed by a radical process involving the residues in the side chains of gelatin able to undergo oxidative modifications. The conjugation of antibiotic moieties onto the protein structure was confirmed by FT-IR, UV–Vis, fluorescence, and calorimetric analyses. Biocompatibility tests were performed on human bone marrow mesenchymal stromal cells and the antibacterial properties of bioactive polymers were investigated by appropriate tests against Klebsiella pneumoniae and Escherichia coli. With regard to the tests conducted in the presence of E. coli, a minimum inhibitory concentration (MIC) ranging from 0.05 to 0.40 μg mL^?1 was recorded, while in the presence of K. pneumoniae this concentration varies from 0.10 to 1.60 μg mL^?1. In all the conjugates, the drug moieties retain their biological activity and the MIC values are lower than the resistance parameters of fluoroquinolon-type antibiotics versus Enterobacteriacae. The collected data suggest a broad range of applications, from biomedical to pharmaceutical and food science for all conjugates.     

Extreme points of Riccati inequalities

Relations between solutions of the algebraic Riccati equation and the associated quadratic matrix inequalities are discussed and explained.     

Neoadjuvant chemotherapy for extremity osteosarcoma--preliminary results of the Rizzoli''s 4th study

OBJECTIVES: Our study was designed to clarify the role of the thalamus in the generation of the electrically elicited long-latency reflexes (LLR) in voluntarily activated hand muscles. MATERIALS AND METHODS: EMG responses of the thenar muscles were evoked by electrical stimulation of the median nerve at the wrist at motor threshold intensity in 10 patients with acute pure sensory stroke due to thalamic infarction. Concomitant recording of somatosensory evoked potentials (SEPs) was performed. The subjects were asked to steadily abduct the thumb at 20-30% of maximal force against a force transducer. Rectified and averaged EMG activities were recorded. RESULTS: The LLR II was missing completely or significantly attenuated in the majority of the patients (9 of 10), of whom 3 also had delayed latency. Abnormal SEPs were documented in 7 patients (7 of 10). In the follow-up, 5 patients had partial reversal of LLR II. LLR II was still pathological in 1 fully recovered patient. CONCLUSION: Our results further confirm the transcortical generation of LLR II and imply that a thalamic relay is present in the afferent limb of the LLR.