Abstract-Physical cooperation with humans greatly enhances the capabilities of robotic systems when leaving standardized industrial settings. Our novel cognition-enabled control framework presented in this paper enables a robotic assistant to enrich its own experience by acquisition of human task knowledge during joint manipulation. Our robot incrementally learns semantic task structures during joint task execution using hierarchically clustered Hidden Markov Models. A semantic labeling of recognized task segments is acquired from the human partner through speech. After a small number of repetitions, the robot uses an anticipated task progress to generate a feed-forward set point for an admittance feedback control scheme. This paper describes the framework and its implementation on a mobile bi-manual platform. The evolution of the robot's task knowledge is presented and discussed. Finally, the cooperation quality is measured in terms of the robot's task contribution.

This article elucidates and expands on María Lugones's account of complex communication across liminal sites as the basis for deep coalitions among oppressed groups. The analysis underscores the crucial role that emotions and resistant imaginations play in complex communication and world-traveling across liminal sites. In particular, it focuses on the role of emotional echoing and epistemic activism in complex forms of communication among oppressed subjects. It elucidates Gloria Anzaldúa's storytelling and Doris Salcedo's visual art as exemplary forms of epistemic activism that issue coalitional gestures and critical provocations that can wake people up from their epistemic slumbers and instigate forms of complex communication that can create new possibilities for coalitional politics.

A colony hybridization method for detecting lactic acid bacteria encoding specific bacteriocins was developed. Specific PCR-generated probes were used to detect colonies of pediocin PA-1, lactococcin A, enterocin AS-48, nisin A and lacticin 481 producing strains. The probes were shown to be sensitive and specific for sequences belonging to the structural genes of the respective bacteriocins.

Problem statement: Many agro-industrial wastes have little or none utilization, when these materials could be a very rich source of several value-added compounds, such as: the pecan nut shells, which contain Antioxidant Phenolic (AP) molecules like tannins. Approach: In this study, a bioprocess for the liberation of AP from Pecan Nut Shells (PNS) was described. A chemical characterization of raw material was evaluated to determine polyphenolic content of PNS, among other components. Several fungal culture systems were evaluated at 96 h fermentation processes and using PNS as sole carbon source. Solid (SSC) and Submerged (SmC) fermentations were carried out using three strains of Aspergillus niger. Culture medium was composed of a solid (10-50%) and a liquid (90- 50%) part in order to complete the 100% of the medium. Results: A high concentration (19%) of tannins was found in PNS on a dry basis, from which condensed tannins and their monomers were found as the main fraction (14%) of tannins of PNS, also on a dry basis. In the strain selection step, Aspergillus niger GH1 showed better growth on pecan nut shells compared to A. niger PSH strain, therefore, A. niger GH1 was used for later experiments. The highest concentration of AP was obtained with SSC inoculated with spores of A. niger GH1 on the 40% of solids system and in 20% solids system where, among the other systems both presented 114 mg TP g^-1 of phenolics liberation at 24 h of fermentation. PNS is an important source of catechin, being this kind of compound which can be liberated in higher proportion compared to other phenolics compounds. Conclusion: This study demonstrated that fermenting PNS represent a good alternative to both use residues and obtaining AP

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