SUMMARY: Spatial transcriptomics has changed our way to study tissue structure and cellular organization. However, there are still limitations in its resolution, and most available platforms do not reach a single cell resolution. To address this issue, we introduce SpatialDDLS, a fast neural network-based algorithm for cell type deconvolution of spatial transcriptomics data. SpatialDDLS leverages single-cell RNA sequencing data to simulate mixed transcriptional profiles with predefined cellular composition, which are subsequently used to train a fully connected neural network to uncover cell type diversity within each spot. By comparing it with two state-of-the-art spatial deconvolution methods, we demonstrate that SpatialDDLS is an accurate and fast alternative to the available state-of-the art tools. AVAILABILITY AND IMPLEMENTATION: The R package SpatialDDLS is available via CRAN-The Comprehensive R Archive Network: https://CRAN.R-project.org/package=SpatialDDLS. A detailed manual of the main functionalities implemented in the package can be found at https://diegommcc.github.io/SpatialDDLS.

Physical Human-Robot Interaction(pHRI) re-quires taking safety into account from the design board to the collaborative operation of any robot. For collaborative robotic environments, where human and machine are sharing space and interacting physically, the analysis and quantification of impacts becomes very relevant and necessary. Furthermore, analyses of this kind are a valuable source of information for the design of safer, more efficient pHRI. In the definition of the first parameter for dynamic impact analysis, the dynamic impact mitigation capacity was considered for certain configurations of the robot, but the design characteristics of the robot, such as the inertia of actuators, were not included. This paradigm changed when MIT presented the “impact mitigation factor” (IMF) with which, in addition to considering the ability of a certain robot to mitigate impacts for every configuration, it was possible to quantify backdriveability by taking the inertia of actuators into account for the calculation of the factor. However, IMF was proposed as a method to analyse floating robots like. This paper presents the Generalised Impact Absorption Factor (GIAF), suitable for both floating and fixed-base robots. GIAF is a valuable design parameter, as it provides information about the backdriveability of each joint, while allowing the comparison of impact response between floating and fixed-base robotic platforms. In this work, the mathematical definition of GIAF is developed and examples of possible uses of GIAF are presented.

The use of soft robotics to perform tasks and interact with the environment requires good system identification. Data-driven methods offer a promising alternative where traditional analytical model-based techniques have proven insufficient. However, their use has been limited and under-explored in soft robotics. The novelty of this research lies in the application of Gaussian processes to soft robotics and the exploration of approximate Gaussian processes (AGP) and deep Gaussian processes (DGP) methods. It highlights the advantages of Gaussian processes in modeling uncertainty, incorporating prior knowledge, and handling complex systems. This is achieved through the identification of the forward and inverse kinematics of a two-degree-of-freedom soft robotic arm actuated by three tendons. A comparison is made between different configurations using Gaussian processes and the results are also compared with those obtained from the analytical model of the kinematics and an artificial neural network (ANN). The research contributes to the development of more efficient and accurate techniques for system identification, kinematics modeling, and control in soft robotics.