Reference Trajectory Adaptation to Improve Human-Robot Interaction: A Database-Driven Approach.

Many robotic devices that are used for therapy or as assistive devices rely on pre-defined reference trajectories to assist the user's movements. Fixed pre-defined trajectories force the user to adapt to unnatural movement patterns which may be detrimental to rehabilitation outcomes. We propose a database-driven approach to adapt the reference trajectory of robotic training devices that rely on cyclic motion such as walking. Dynamic time warping is used to compare the measured pattern with a database of pre-approved safe trajectories; the best matching pattern is selected from the database and used for the next movement sequence. The proposed approach was evaluated in computer simulations and a bioinspired robotic test bench. Our proposed method reduced the RMS error between individual user trajectories and the supplied reference, even in the presence of measurement noise.

A combined approach to investigate the toxicity of an industrial landfill's leachate: chemical analyses, risk assessment and in vitro assays.

Solid wastes constitute an important and emerging problem. Landfills are still one of the most common ways to manage waste disposal. The risk assessment of pollutants from landfills is becoming a major environmental issue in Europe, due to the large number of sites and to the importance of groundwater protection. Furthermore, there is lack of knowledge for the environmental, ecotoxicological and toxicological characteristics of most contaminants contained into landfill leacheates. Understanding leachate composition and creating an integrated strategy for risk assessment are currently needed to correctly face the landfill issues and to make projections on the long-term impacts of a landfill, with particular attention to the estimation of possible adverse effects on human health and ecosystem. In the present study, we propose an integrated strategy to evaluate the toxicity of the leachate using chemical analyses, risk assessment guidelines and in vitro assays using the hepatoma HepG2 cells as a model. The approach was applied on a real case study: an industrial waste landfill in northern Italy for which data on the presence of leachate contaminants are available from the last 11 years. Results from our ecological risk models suggest important toxic effects on freshwater fish and small rodents, mainly due to ammonia and inorganic constituents. Our results from in vitro data show an inhibition of cell proliferation by leachate at low doses and cytotoxic effect at high doses after 48 h of exposure.

In vivo exposure of carp to graded concentrations of bisphenol A.

A wide range of environmental pollutants commonly termed endocrine disrupters (ED) can mimic steroid hormones causing adverse health effects. Recent studies showed that bisphenol A (BPA) together with other estrogenic chemicals, may be responsible for the disrupting effects observed in fish of the middle River Po. The present study has investigated the potential role of BPA in inducing this kind of effects and to this aim, 1-year-old (k1) common carp were exposed for 14 days to graded concentrations of BPA (1, 10, 100, and 1000microg/L). Histological alterations of gonads were described and compared to vitellogenin (VTG) and sex steroid levels. In carp males, BPA caused severe alterations of testis structure starting from 1microg/L. Several specimens lost the typical lobular structure showing spermatogenic cysts intermingled with free spermatozoa often degenerating into the lumen. Oocyte atresia was observed starting from 1micro BPA/L, concerning 57.1% of females at the highest concentration (1000microg BPA/L). A few carp from the same highest treatment also showed intersexuality (27%). Oestradiol-17beta (E2) significantly decreased both in 1 and 10microg BPA/L exposed carp reaching again values not significantly different from control in 1000microg BPA/L. At this concentration, a significant reduction of testosterone (T) was observed in both males and females. The mean plasma concentration of VTG significantly increased in 1000microg BPA/L exposed carp, even if a growing number of responsive carp was observed starting from the environmental concentrations (1 and 10microg BPA/L).