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Authors: Cocuzza, S; Pretto, I; Debei, S; CISAS G Colombo Ctr Studies & Activ Space; CISAS G Colombo Ctr Studies & Activ Space; Deparment Mech Engn; This paper presents the theoretical formulation and the experimental validation of a novel solution for the inverse kinematics of redundant space robotic systems aimed at locally minimizing the torque transferred to the spacecraft due to the robotic arm movement. The differential kinematics is formulated at the acceleration level and an additional constraint is imposed in order to locally minimize the torque transferred to the spacecraft center of mass. This problem can be expressed as a constrained linear least squares problem and a closed-form solution is obtained. An extension of this method is presented in order to take into account the physical limits of the manipulator, by limiting the joint accelerations under acceptable values. In this case the problem can be expressed as a constrained linear least squares problem with both equality and inequality constraints. The proposed solution has been experimentally tested using a 3D free-flying robot previously tested in an ESA Parabolic Flight Campaign. In this test campaign the 3D robot has been converted in a 2D robot taking advantage of its modular structure, and it has been suspended by means of air-bearings on a granite plane. In this way it is possible to perform simulated microgravity tests without time constraints. The base of the robot is fixed on ground by means of a custom design dynamometer, which measures the torque transferred to ground to be minimized. The experimental results validated the proposed solutions and confirmed their good performance. © 2010 by Silvio Cocuzza. Cocuzza; Pretto; Debei

Journal: English

Published: doi

DOI: WOS:000279276700001

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Volume: ACTA ASTRONAUTICA###0094-5765 Pages: 295-Reaction torque control of redundant space robotic systems for orbital maintenance and simulated microgravity tests

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Authors: Penasa, M; Cassandro, M; Pretto, D; De Marchi, M; Comin, A; Chessa, S; Dal Zotto, R; Bittante, G; Dept Anim Sci; Dept Anim Sci; Dept Vet Sci & Technol Food Safety; The aim of the study was to quantify the effects of composite β- and κ-casein (CN) genotypes on genetic variation of milk coagulation properties (MCP); milk yield; fat, protein, and CN contents; somatic cell score; pH; and titratable acidity (TA) in 1,042 Italian Holstein-Friesian cows. Milk coagulation properties were defined as rennet coagulation time (RCT) and curd firmness (a30). Variance components were estimated using 2 animal models: model 1 included herd, days in milk, and parity as fixed effects and animal and residual as random effects, and model 2 was model 1 with the addition of composite β- and κ-CN genotype as a fixed effect. Genetic correlations between RCT and a30 and between these traits and milk production traits were obtained with bivariate analyses, based on the same models. The inclusion of casein genotypes led to a decrease of 47, 68, 18, and 23% in the genetic variance for RCT, a30, pH, and TA, respectively, and less than 6% for other traits. Heritability of RCT and a30 decreased from 0.248 to 0.143 and from 0.123 to 0.043, respectively. A moderate reduction was found for pH and TA, whereas negligible changes were detected for other milk traits. Estimates of genetic correlations were comparable between the 2 models. Results show that composite β- and κ-CN genotypes are important for RCT and a30 but cannot replace the recording of MCP themselves. © 2010 American Dairy Science Association. Penasa; Cassandro; Pretto; De Marchi; Comin; Chessa; Dal Zotto; Bittante

Journal: English

Published: doi

DOI: WOS:000279026800052

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Volume: JOURNAL OF DAIRY SCIENCE###0022-0302 Pages: 3349-Short communication: Influence of composite casein genotypes on additive genetic variation of milk production traits and coagulation properties in Holstein-Friesian cows

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Authors: PENSIERI D'ORIENTE::journal64400::600; Non assegn; ITA; D. De Pretto

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Authors: Pretto, D; De Marchi, M; Dalvit, C; Cassandro, M; Dipartimento Sci Anim; Dipartimento Sci Anim; Aim of this study was to compare profitability of Burlina and Holstein Friesian cows in northern Italy. Cow's profitability was calculated for each breed, with consideration of economic incentive programs and alternative milk pricing scenarios. The difference in annual profitability between Burlina and Holstein Friesian ranged from -€719 to -€274 per cow per year. In a low-input management level with a cow's incentive payment and a specific cheese market strategy the low milk yield of Burlina can be compensate respect to Holstein Friesian. Pretto; de Marchi; Dalvit; Cassandro

Journal: English

Published: doi

DOI: WOS:000279461400005

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Volume: ITALIAN JOURNAL OF ANIMAL SCIENCE###1594-4077 Pages: 67-Comparing profitability of Burlina and Holstein Friesian cattle breeds

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Authors: Penasa, M; Cecchinato, A; Battagin, M; De Marchi, M; Pretto, D; Cassandro, M; Dept Anim Sci; Dept Anim Sci; The aim of the study was to infer (co)variance components for daily milk yield, fat and protein contents, and somatic cell score (SCS) in Burlina cattle (a local breed in northeast Italy). Data consisted of 13 576 monthly test-day records of 666 cows (parities 1 to 8) collected in 10 herds between 1999 and 2009. Repeatability animal models were implemented using Bayesian methods. Flat priors were assumed for systematic effects of herd test date, days in milk, and parity, as well as for permanent environmental, genetic, and residual effects. On average, Burlina cows produced 17.0 kg of milk per day, with 3.66 and 3.33% of fat and protein, respectively, and 358 000 cells per mL of milk. Marginal posterior medians (highest posterior density of 95%) of heritability were 0.18 (0.09-0.28), 0.28 (0.21-0.36), 0.35 (0.25-0.49), and 0.05 (0.01-0.11) for milk yield, fat content, protein content, and SCS, respectively. Marginal posterior medians of genetic correlations between the traits were low and a 95% Bayesian confidence region included zero, with the exception of the genetic correlation between fat and protein contents. Despite the low number of animals in the population, results suggest that genetic variance for production and quality traits exists in Burlina cattle. Penasa; Cecchinato; Battagin; de Marchi; Pretto; Cassandro

Journal: English

Published: Penasa M.; Cecchinato A.; Battagin M.; de Marchi M.; Pretto D.; Cassandro M.

DOI: WOS:000286161600009

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Volume: JOURNAL OF APPLIED GENETICS###1234-1983 Pages: 495-Bayesian inference of genetic parameters for test-day milk yield, milk quality traits, and somatic cell score in Burlina cows