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In the field of clinical governance, the search for progressive high-quality health interventions is accompanied by the different health values they assume for the different stakeholders involved. With increasing frequency, the value of clinical psychology and psychotherapy interventions in the public service is also supported by their ability to be appropriate and measurable in terms of their effectiveness. As such, their expected future is one of systematic inclusion within increasingly defined and specific care pathways. The challenge that this evolution poses is complex from an epistemologicalmethodological point of view because it must include the various perspectives from which one looks at the nature of these interventions. Clinical appropriateness, as a meta-level variable, and accountability go beyond the simplistic/generic cost-benefit assessment of services and are proposed as a necessary conceptual framework for an adequate determination of outcomes.

We report the discovery of PSR J1646−4545, a 431 ms isolated pulsar, in the direction of the young massive cluster Westerlund 1. The pulsar was found in data taken between the years 2005 and 2010 with the “Murriyang” Parkes radio telescope in Australia. Thanks to the numerous detections of the pulsar, we were able to derive a phase-connected timing solution spanning the whole data set. This allowed us to precisely locate the pulsar at the border of the cluster and to measure its spin-down rate. The latter implies a characteristic age of ∼25 Myr, about twice as large as the estimated age of Westerlund 1. The age of PSR J1646−4545, together with its dispersion measure of ∼1029 pc cm−3, more than twice the value predicted by the two main galactic electron density models for Westerlund 1, makes the association of the pulsar with the cluster highly unlikely. We also report on ramifications from the presence of a magnetar in Westerlund 1 and the apparent lack of ordinary radio pulsars.

Background: Osteoporosis can reduce bone quality and increase the risk of fractures. In addition to pharmacological approaches, physical activity, and implanted devices, external devices can also be detected in the literature as a technique to strengthen bones. This type of intervention arises to be particularly promising because it minimizes the invasiveness of therapy. Methods: A systematic review of the technologies involved in such devices was carried out to identify the most fruitful ones in improving bone quality. This review, according to the PRISMA Statement, focuses on studies involving animals, and excludes pharmaceutical approaches. Findings: The animal models and devices used, their settings, interventions, outcomes measured, and consequent effect on bone quality are reported for each detected technology. Ultrasound and laser arose to be the most studied technologies in the literature, even if they have yet to be proved to have a significant effect on bone quality. Interpretation: External devices for bone quality improvement offer a non-invasive approach that causes minimum discomfort to the patient. This review aimed to detect which technologies reported in the literature significantly affect bone quality. The results showed that several technologies are currently used to improve bone quality. However, each study measures different outcomes and uses different measurement methods, device settings, and interventions. This lack of standardization and the reduced number of articles found do not allow for proper quantitative comparisons.

PSR J2140−2311B is a 13 ms pulsar discovered in 2001 in a 7.8 hr Green Bank Telescope observation of the core-collapsed globular cluster M30 and predicted to be in a highly eccentric binary orbit. This pulsar has eluded detection since then; therefore, its precise orbital parameters have remained a mystery until now. In this work, we present the confirmation of this pulsar using observations taken with the UHF receivers of the MeerKAT telescope as part of the TRAPUM Large Survey Project. Taking advantage of the beamforming capability of our backends, we have localized it, placing it 1.′2(1) from the cluster center. Our observations have enabled the determination of its orbit: It is highly eccentric ( e = 0.879) with an orbital period of 6.2 days. We also measured the rate of periastron advance, $\dot{\omega }=0.078\pm 0.002\,\deg \,{\mathrm{yr}}^{-1}$ . Assuming that this effect is fully relativistic, general relativity provides an estimate of the total mass of the system, M _TOT = 2.53 ± 0.08 M _⊙ , consistent with the lightest double neutron star systems known. Combining this with the mass function of the system gives the pulsar and companion masses of m _p < 1.43 M _⊙ and m _c > 1.10 M _⊙ , respectively. The massive, undetected companion could either be a massive white dwarf or a neutron star. M30B likely formed as a result of a secondary exchange encounter. Future timing observations will allow the determination of a phase-coherent timing solution, vastly improving our uncertainty in $\dot{\omega }$ and likely enabling the detection of additional relativistic effects, which will determine m _p and m _c .

In recent years, the number of people with disabilities has increased hugely, especially in low- and middle-income countries. At the same time, robotics has made significant advances in the medical field, and many research groups have begun to develop low-cost wearable solutions. The Mechatronics and Dynamic Modelling Lab of the Department of Industrial Engineering at the University of Florence has recently developed a new version of a wearable hand exoskeleton for assistive purposes. In this paper, we will present a new regression method to predict the finger angle position of the first joint from the value of the sEMG of the forearm and the previous position of the finger itself. To acquire the dataset necessary to train the regressor a specific graphical user interface was developed which was able to acquire sEMG data from a Myo armband and the finger position from a Leap Motion Controller. Two long short-term memory (LSTM) models were compared, one in its standard configuration and the other with a convolutional layer, yielding significantly better performance for the second one, with an increase in R2 coefficient from an average value of 0.746 to 0.825, leading to the conclusion that a convolutional layer could increase performance when few sensors are available.

Robot-based rehabilitation is consolidated as a viable and efficient practice to speed up and improve the recovery of lost functions. Several studies highlight that patients are encouraged to undergo their therapies and feel more involved in the process when collaborating with a user-friendly robotic environment. Object manipulation is a crucial element of hand rehabilitation treatments; however, as a standalone process may result in being repetitive and unstimulating in the long run. In this view, robotic devices, like hand exoskeletons, do arise as an excellent tool to boost both therapy's outcome and patient participation, especially when paired with the advantages offered by interacting with virtual reality (VR). Indeed, virtual environments can simulate real-life manipulation tasks and real-time assign a score to the patient's performance, thus providing challenging exercises while promoting training with a reward-based system. Besides, they can be easily reconfigured to match the patient's needs by manipulating exercise intensity, e.g., Assistance-As-Needed (AAN) and the required tasks. Modern VR can also render interaction forces when paired to wearable devices to give the user some sort of proprioceptive force or tactile feedback. Motivated by these considerations, a Hand Exoskeleton System (HES) has been designed to be interfaced with a variable admittance control to achieve VR-based rehabilitation tasks. The exoskeleton assists the patient's movements according to force feedback and following a reference value calculated inside the VR. Whenever the patient grasps a virtual object, the HES provides the user with a force feedback sensation. In this paper, the virtual environment, developed within the Webots framework and rendering a HES digital-twin mapping and mimicking the actual HES motion, will be described in detail. Furthermore, the admittance control strategy, which continuously varies the control parameters to best render the force sensation and adapt to the user's motion intentions, will be investigated. The proposed approach has been tested on a single subject in the framework of a pilot study.

We report on a comprehensive multiwavelength study of the pulsars in the globular cluster (GC) M5, including the discovery of M5G, a new compact noneclipsing “black widow” pulsar. Thanks to the analysis of 34 yr of radio data taken with the Five-hundred-meter Aperture Spherical radio Telescope and Arecibo telescopes, we obtained new phase-connected timing solutions for four pulsars and improved those of the other three. These have resulted in, among other things, (a) much improved proper motions for five pulsars, with transverse velocities (relative to the cluster) that are smaller than their respective escape velocities; (b) 3 σ and 1.5 σ detections of Shapiro delays in M5F and M5D, respectively; and (c) greatly improved measurement of the periastron advance in M5B, whose value of $\dot{\omega }=0\buildrel{\circ}\over{.} 01361(6)$ implies that M5B is still likely to be a heavy ( ${m}_{p}={1.981}_{-0.088}^{+0.038}\,{M}_{\odot }$ ) neutron star. The binary pulsars M5D, M5E, and M5F are confirmed to be in low-eccentricity binary systems, the low-mass companions of which are newly identified to be He white dwarfs using Hubble Space Telescope data. Four pulsars are also found to be associated with X-ray sources. Similarly to the eclipsing pulsar M5C, M5G shows little or no nonthermal X-ray emission, indicative of weak synchrotron radiation produced by intrabinary shocks. All seven pulsars known in M5 have short spin periods (

We report on the discovery of the companion star to the millisecond pulsar PSR J1835−3259B in the Galactic globular cluster NGC 6652. Taking advantage of deep photometric archival observations acquired through the Hubble Space Telescope in near-UV and optical bands, we identified a bright and blue object at a position compatible with that of the radio pulsar. The companion is located along the helium-core white dwarf cooling sequence, and the comparison with binary evolution models provides a mass of 0.17 ± 0.02 M _⊙ , a surface temperature of 11,500 ± 1900 K, and a very young cooling age of only 200 ± 100 Myr. The mass and the age of the companion are compatible with a progenitor star of about 0.87 M _⊙ , which started transferring mass to the primary during its evolution along the subgiant branch and stopped during the early red giant branch phase. Combining together the pulsar mass function and the companion mass, we found that this system is observed at an almost edge-on orbit and hosts a neutron star with a mass of 1.44 ± 0.06 M _⊙ , thus suggesting a highly nonconservative mass accretion phase. The young age of the WD companion is consistent with the scenario of a powerful, relatively young MSP indicated by the earlier detection of gamma-rays from this system.

Robotic devices are being employed in more and more sectors to enhance, streamline, and augment the outcomes of a wide variety of human activities. Wearable robots arise indeed as of-vital-importance tools for telerehabilitation or home assistance targeting people affected by motor disabilities. In particular, the field of “Robotics for Medicine and Healthcare” is attracting growing interest. The development of such devices is a primarily addressed topic since the increasing number of people in need of rehabilitation or assistive therapies (due to population aging) growingly weighs on the healthcare systems of the nation. Besides, the necessity to move to clinics represents an additional logistic burden for patients and their families. Among the various body parts, the hand is specially investigated since it most ensures the independence of an individual, and thus, the restoration of its dexterity is considered a high priority. In this study, the authors present the development of a fully wearable, portable, and tailor-made hand exoskeleton designed for both home assistance and telerehabilitation. Its purpose is either to assist patients during activities of daily living by running a real-time intention detection algorithm or to be used for remotely supervised or unsupervised rehabilitation sessions by performing exercises preset by therapists. Throughout the mechatronic design process, special attention has been paid to the complete wearability and comfort of the system to produce a user-friendly device capable of assisting people in their daily life or enabling recorded home rehabilitation sessions allowing the therapist to monitor the state evolution of the patient. Such a hand exoskeleton system has been designed, manufactured, and preliminarily tested on a subject affected by spinal muscular atrophy, and some results are reported at the end of the article.

Marine animal forests are benthic communities dominated by sessile suspension feeders (such as sponges, corals, and bivalves) able to generate three-dimensional (3D) frameworks with high structural complexity. The biodiversity and functioning of marine animal forests are strictly related to their 3D complexity. The present paper aims at providing new perspectives in underwater optical surveys. Starting from the current gaps in data collection and analysis that critically limit the study and conservation of marine animal forests, we discuss the main technological and methodological needs for the investigation of their 3D structural complexity at different spatial and temporal scales. Despite recent technological advances, it seems that several issues in data acquisition and processing need to be solved, to properly map the different benthic habitats in which marine animal forests are present, their health status and to measure structural complexity. Proper precision and accuracy should be chosen and assured in relation to the biological and ecological processes investigated. Besides, standardized methods and protocols are strictly necessary to meet the FAIR (findability, accessibility, interoperability, and reusability) data principles for the stewardship of habitat mapping and biodiversity, biomass, and growth data.

Underwater robots are nowadays employed for many different applications; during the last decades, a wide variety of robotic vehicles have been developed by both companies and research institutes, different in shape, size, navigation system, and payload. While the market needs to constitute the real benchmark for commercial vehicles, novel approaches developed during research projects represent the standard for academia and research bodies. An interesting opportunity for the performance comparison of autonomous vehicles lies in robotics competitions, which serve as an useful testbed for state-of-the-art underwater technologies and a chance for the constructive evaluation of strengths and weaknesses of the participating platforms. In this framework, over the last few years, the Department of Industrial Engineering of the University of Florence participated in multiple robotics competitions, employing different vehicles. In particular, in September 2017 the team from the University of Florence took part in the European Robotics League Emergency Robots competition held in Piombino (Italy) using FeelHippo AUV, a compact and lightweight Autonomous Underwater Vehicle (AUV). Despite its size, FeelHippo AUV possesses a complete navigation system, able to offer good navigation accuracy, and diverse payload acquisition and analysis capabilities. This paper reports the main field results obtained by the team during the competition, with the aim of showing how it is possible to achieve satisfying performance (in terms of both navigation precision and payload data acquisition and processing) even with small-size vehicles such as FeelHippo AUV.

Coastal zones are subjected to a wide range of phenomena acting on very different temporal and spatial scales: from decades to days and from hundreds of kilometers to tens of meters. Planning the management of such areas, thus, requires an accurate and updated knowledge of the ongoing processes. While standard monitoring activities are functional for the medium-long time scale and medium-large spatial scale, they struggle to provide adequate information concerning the short period (i.e., days) and small range (i.e., few meters). In addition, such operations are affected by high costs and logistic complexity since they generally involve the deployment of specific aircraft or maritime vehicles. On the contrary, the employment of robotic devices can represent a solution to these issues. Their proper use can allow for frequent surveys and enhance the coverage of the acquired data due to optimized mission strategies. Marine robotics has the potential to arise as an efficient complementary tool to standard monitoring techniques. Nevertheless, the use of marine robots is still limited and should be improved. The purpose of this paper is to discuss the current state of robotic technology, identifying both the benefits and shortcomings of its use for micro-tidal marine-coastal monitoring. The discussion will be supported by actual results, taken as an example, achieved using FeelHippo AUV, the compact Autonomous Underwater Vehicle (AUV) developed by the Department of Industrial Engineering at the University of Florence, Italy.

Used in several industrial fields to create innovative designs, topology optimization is a method to design a structure characterized by maximum stiffness properties and reduced weights. By integrating topology optimization with additive layer manufacturing and, at the same time, by using innovative materials such as lattice structures, it is possible to realize complex three-dimensional geometries unthinkable using traditional subtractive techniques. Surprisingly, the extraordinary potential of topology optimization method (especially when coupled with additive manufacturing and lattice structures) has not yet been extensively developed to study rotating machines. Based on the above considerations, the applicability of topology optimization, additive manufacturing, and lattice structures to the fields of turbomachinery and rotordynamics is here explored. Such techniques are applied to a turbine disk to optimize its performance in terms of resonance and mass reduction. The obtained results are quite encouraging since this approach allows improving existing turbomachinery components’ performance when compared with traditional one.

Robotics is increasingly involving many aspects of daily life and robotic-based assistance to physically impaired people is considered one of the most promising application of this largely investigated technology. However, the World Health Organization reports that, so far, only 10% of people in need can get access to the so-called assistive technology also due to its high costs. This work aims to tackle the aforementioned point presenting an innovative control strategy for a low-cost hand exoskeleton system based on surface electromyography signals. Most of the activities of daily living are, in fact, carried out thanks to the hands while the exploitation of surface electromyography signals represents a non-invasive technique in straightforwardly controlling wearable devices. Although such approach results deeply studied in literature, it has not been deeply tested on real patients yet. The main contribution of this article is hence not only to describe a novel control strategy but also to provide a detailed explanation of its implementation into a real device, ready to be used. Finally, the authors have evaluated and preliminary tested the proposed technique enrolling a patient in a single-case study.

The present paper proposes a methodology to design and manufacture optimized turbomachinery components by leveraging the potential of Topology Optimization (TO) and Additive Manufacturing (AM). The method envisages the use of TO to define the best configuration of the rotoric components in terms of both static and dynamic behavior with a resultant reduction of overall weight. Eventually, the topology-optimized component is manufactured by using appropriate materials that can guarantee valid mechanical performances. The proposed strategy has been applied to a 2D impeller used for centrifugal compressors to prove the effectiveness of a TO+AM-based approach. Although this approach has never been extensively used before to centrifugal compressors and expanders, its application on rotor and stator components might unlock several benefits: tuning the natural frequencies, a reduction in the stress level, and a lighter weight of the rotating part. These objectives can be reached alone or in combination, performing a single analysis or a multiple analyses optimization. Finally, the introduction of AM technologies as standard manufacturing resources could bring sensible benefits with respect to the time to production and availability of components. Such aspects are essential in the Oil and Gas context, when dealing with new projects but also for service operations.

Nowadays, the search for increasing performances in turbomachinery applications has led to a growing utilization of active magnetic bearings (AMBs), which can bring a series of advantages thanks to their features: AMBs allow the machine components to reach higher peripheral speeds; in fact there are no wear and lubrication problems as the contact between bearing surfaces is absent. Furthermore, AMBs characteristic parameters can be controlled via software, optimizing machine dynamics performances. However, active magnetic bearings present some peculiarities, as they have lower load capacity than the most commonly used rolling and hydrodynamic bearings, and they need an energy source; for these reasons, in case of AMBs overload or breakdown, an auxiliary bearing system is required to support the rotor during such landing events. During the turbomachine design process, it is fundamental to appropriately choose the auxiliary bearing type and characteristics, because such components have to resist to the rotor impact; so, a supporting design tool based on accurate and efficient models of auxiliary bearings is very useful for the design integration of the Active Magnetic Bearing System into the machine. This paper presents an innovative model to accurately describe the mechanical behavior of a complete rotor-dynamic system composed of a rotor equipped with two auxiliary rolling bearings. The model, developed and experimentally validated in collaboration with Baker Hughes a GE company (providing the test case and the experimental data), is able to reproduce the key physical phenomena experimentally observed; in particular, the most critical phenomenon noted during repeated experimental combined landing tests is the rotor forward whirl, which occurs in case of high friction conditions and greatly influences the whole system behavior. In order to carefully study some special phenomena like rotor coast down on landing bearings (which requires long period of time to evolve and involves many bodies and degrees of freedom) or other particular events like impacts (which occur in a short period of time), a compromise between accuracy of the results and numerical efficiency has been pursued. Some of the elements of the proposed model have been previously introduced in literature; however the present work proposes some new features of interest. For example, the lateral and the axial models have been properly coupled in order to correctly reproduce the effects observed during the experimental tests and a very important system element, the landing bearing compliant suspension, has been properly modelled to more accurately describe its elastic and damping effects on the system. Furthermore, the model is also useful to characterize the frequencies related to the rotor forward whirl motion.

This paper describes design methods for the plastic hull of an Unmanned Underwater Vehicle (UUV), with a particular focus on its cylindrical body and nearly spherical domes at the ends. With the proposed approach, the methodologies reported in the literature were compared, and suitable modifications and improvements were investigated and implemented to extend the classical theories and data to this case study. The investigated underwater vehicle, named FeelHippo, was designed and assembled by the Department of Industrial Engineering of the University of Florence. Its main hull is composed of an extruded PMMA (PolyMethyl MethAcrylate) cylinder and two thermoformed PMMA domes. Breakage of the hull results in destructive phenomena, namely, yielding and buckling. An experimental campaign and FEM (Finite Element Method) analysis were carried out to complete the theoretical study, and the collapse pressures were compared with the derived design values. In conclusion, the proposed innovative method is a lean and effective technique for designing underwater hull domes and predicting the collapse pressures.

Recently, robotics has increasingly become a companion for the human being and assisting physically impaired people with robotic devices is showing encouraging signs regarding the application of this largely investigated technology to the clinical field. As of today, however, exoskeleton design can still be considered a hurdle task and, even in modern robotics, aiding those patients who have lost or injured their limbs is surely one of the most challenging goal. In this framework, the research activity carried out by the Department of Industrial Engineering of the University of Florence concentrated on the development of portable, wearable and highly customizable hand exoskeletons to aid patients suffering from hand disabilities, and on the definition of patient-centered design strategies to tailor-made devices specifically developed on the different users’ needs. Three hand exoskeletons versions will be presented in this paper proving the major taken steps in mechanical designing and controlling a compact and lightweight solution. The performance of the resulting systems has been tested in a real-use scenario. The obtained results have been satisfying, indicating that the derived solutions may constitute a valid alternative to existing hand exoskeletons so far studied in the rehabilitation and assistance fields.

An interesting current research field related to autonomous robots is mobile manipulation performed by cooperating robots (in terrestrial, aerial and underwater environments). Focusing on the underwater scenario, cooperative manipulation of Intervention-Autonomous Underwater Vehicles (I-AUVs) is a complex and difficult application compared with the terrestrial or aerial ones because of many technical issues, such as underwater localization and limited communication. A decentralized approach for cooperative mobile manipulation of I-AUVs based on Artificial Neural Networks (ANNs) is proposed in this article. This strategy exploits the potential field method; a multi-layer control structure is developed to manage the coordination of the swarm, the guidance and navigation of I-AUVs and the manipulation task. In the article, this new strategy has been implemented in the simulation environment, simulating the transportation of an object. This object is moved along a desired trajectory in an unknown environment and it is transported by four underwater mobile robots, each one provided with a seven-degrees-of-freedom robotic arm. The simulation results are optimized thanks to the ANNs used for the potentials tuning.

Chronic kidney disease is growing as a global public health problem throughout the world. In Italy, CKD is becoming increasingly common with 52,777 patients treated with dialysis in 2010, about 10,000 new patients/years in dialysis from 2010. The impact on the health care system includes € 2.1 billion/year for dialysis plus € 338 million for indirect costs. Aim of the present analysis was to explore socio-economical variables in the management of CKD, and assess direct and indirect health costs and NHS resources consumption. The overall cost for patients in dialysis is about 44,000 €/years for hemodialysis and 30,000 €/years for peritoneal dialysis with different resources consumption over the different stage disease. The possibility of reducing the progression of renal damaging and beginning of dialysis may induce a low expenditure for the Italian NHS.