This article focuses on a Hardware-In-the-Loop application developed from the advanced energy field project LIFES50+. The aim is to replicate, inside a wind gallery test facility, the combined effect of aerodynamic and hydrodynamic loads on a floating wind turbine model for offshore energy production, using a force controlled robotic device, emulating floating substructure's behaviour. In addition to well known real-time Hardware-In-the-Loop (HIL) issues, the particular application presented has stringent safety requirements of the HIL equipment and difficult to predict operating conditions, so that extra computational efforts have to be spent running specific safety algorithms and achieving desired performance. To meet project requirements, a high performance software architecture based on Position-Based-Admittance-Control (PBAC) is presented, combining low level motion interpolation techniques, efficient motion planning, based on buffer management and Time-base control, and advanced high level safety algorithms, implemented in a rapid real-time control architecture.

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Aim: To histologically assess the effectiveness of a socketpreservation technique using enzyme-treated equine bone granules as a bone-graft material in combination with an equine collagen matrix as a scaffold for soft-tissue regeneration. Background: Enzyme-treated equine bone granules and equine collagen matrix recently have been developed to help overcome alveolar bone deficiencies that develop in the wake of edentulism. Case report: The patient had one mandibular molar extracted and the socket grafted with equine bone granules. The graft was covered with the equine collagen matrix, placed in a double layer. No flap was prepared, and the gingival margins were stabilized with a single stitch, leaving the matrix partially exposed and the site to heal by secondary intention. The adjacent molar was extracted 1 month later, and that socket was left to heal by secondary intention without any further treatment. Three months after each surgery, an implant was placed and a biopsy was collected. The two biopsies underwent histological processing and qualitative evaluation. Histomorphometric analysis was also performed to calculate the percentage of newly formed bone (NFB) in the two cores. Healing at both sites was uneventful, and no inflammation or other adverse reactions were observed in the samples. Soft-tissue healing by secondary intention appeared to occur faster at the grafted site. The corresponding core showed a marked separation between soft and hard tissue that was not observed in the core

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