Ground robotics in tunnels: Keys and lessons learned after 10 years of research and experiments

The work reported in this article describes the research advances and the lessons learned by the Robotics, Perception and Real‐Time group over a decade of research in the field of ground robotics in confined environments. This study has primarily focused on localization, navigation, and communications in tunnel‐like environments. As will be discussed, this type of environment presents several special characteristics that often make well‐established techniques fail. The aim is to share, in an open way, the experience, errors, and successes of this group with the robotics community so that those that work in such environments can avoid (some of) the errors made. At the very least, these findings can be readily taken into account when designing a solution, without needing to sift through the technical details found in the papers cited within this text.     

Fewer Defects in the Surface Slows the Hydrolysis Rate,Decreases the ROS Generation Potential,and Improves the Non‐ROS Antimicrobial Activity of MgO

Magnesium oxide (MgO) is recognised as exhibiting a contact‐based antibacterial activity. However, a comprehensive study of the impact of atomic‐scale surface features on MgO's antibacterial activity is lacking. In this study, the nature and abundance of the native surface defects on different MgO powders are thoroughly investigated. Their impacts on the hydrolysis kinetics, antibacterial activity against Escherichia coli (ATCC 47076), Staphylococcus epidermidis and Pseudomonas aeruginosa and the reactive oxygen species (ROS) generation potential are determined and explained. It is shown that a reduction in the abundance of low‐coordinated oxygen atoms on the surface of the MgO improves its resistance to both hydrolysis and antibacterial activity. The ROS generation potential, determined in‐situ using a fluorescence microplate assay and electron paramagnetic resonance spectroscopy, is not an inherent property of the studied MgO, rather it is a side product of hydrolysis (only for the most highly defected MgO particles) and/or a consequence of the MgO/bacteria interaction. The evaluation of the mutual correlations of the hydrolysis, the antibacterial activity and the ROS generation, with their origin in the surface defects' peculiarities, led to the conclusion that the acid/base reaction between the MgO surface and the bacterial wall contributes considerably to the MgO's antibacterial activity.     

Hybrid Photonic Nanostructures by In Vivo Incorporation of an Organic Fluorophore into Diatom Algae

Biotechnological processes harnessing living organisms' metabolism are low‐cost routes to nanostructured materials for applications in photonics, electronics, and nanomedicine. In the pursuit of photonic biohybrids, diatoms microalgae are attractive given the properties of the porous micro‐to‐nanoscale structures of the biosilica shells (frustules) they produce. The investigations have focused on in vivo incorporation of tailored molecular fluorophores into the frustules of Thalassiosira weissflogii diatoms, using a procedure that paves the way for easy biotechnological production of photonic nanostructures. The procedure ensures uniform staining of shells in the treated culture and permits the resulting biohybrid photonic nanostructures to be isolated with no damage to the dye and periodic biosilica network. Significantly, this approach ensures that light emission from the dye embedded in the isolated biohybrid silica is modulated by the silica's nanostructure, whereas no modulation of photoluminescence is observed upon grafting the fluorophore onto frustules by an in vitro approach based on surface chemistry. These results pave the way to the possibility of easy production of photonic nanostructures with tunable properties by simple feeding the diatoms algae with tailored photoactive molecules.     

Meteorological and oceanographic conditions in the northern Adriatic Sea during the period June 1999-July 2002: influence on the mucilage phenomenon

Mucilage events (formation of very large organic aggregates and gelatinous surface layers) have been documented several times during the past two centuries in the northern Adriatic Sea (NA), while their frequency has significantly increased since 1988. In this work, meteorological and oceanographic conditions in the NA during the period June 1999-July 2002 are described and their relation to the outbreak and fate of the mucilage phenomenon was investigated. Salinity and temperature data were collected during approximately monthly cruises along three transects in the NA. Relevant meteorological situations (air temperature, rainfall, wind) were selected from large-scale ECMWF analyses and from the Local Analysis and Prediction System (LAPS; Emilia Romagna Meteorological Service), while sea conditions (waves) were analysed by means of the Wave Adriatic Model (WAM). Data for air temperature, rainfall, and wind from several meteorological stations in the region were used. Average seasonal cycles of sea temperature and salinity simulated with statistical models, based on historical data collected in the NA since 1972, were used to determine thermal and haline anomalies. The monthly anomaly variability of maximum and minimum air temperatures, rainfall amount and number of rainy days did not appear to be relevant for the mucilage phenomenon outbreak. In contrast, both vertical and horizontal thermohaline gradients in the region were more developed during late spring and summer of 2000 and particularly of 2002, when the mucilage events were of greatest extent in space and time, compared to 2001 (short-lived event) and 1999 (no event). These more pronounced gradients were due to a combination of several unusual conditions: sharp heating of the sea surface in May-June, domination of eastwards transport of freshened waters formed in the Po Delta area, and intrusion of very high salinity intermediate waters originating in the eastern Mediterranean. Moreover, in winter of both 2000 and 2002 very dense and cold water formed and remained in the bottom layer until spring, contributing to increase the stratification degree of the water column. The duration of the mucilage events and their spatial distribution in the region depend strongly on meteorological changes. Recurrent anticyclonic conditions, characterized by low wind and calm sea, favour extended events in time (up 2 months in 2002). In contrast, highly perturbed weather, particularly due to strong "bora" wind, can be determined in sharp decay of the event (e.g. in July 2000).     

Photocatalytic Oxidation of Organic Micro-Pollutants: Pilot Plant Investigation and Mechanistic Aspects of the Degradation Reaction

An innovative pilot plant based on UVB and TiO₂ (Anatase) allowed for photocatalytic degradation of organic micro-pollutants. The catalyst was immobilized onto a channel through which the solution containing a target molecule (methylene blue, MB) was re-circulated. Due to the cationic nature of the MB substrate, the adsorption reaction onto the catalyst surface provided a significant contribution to the overall degradation mechanism due to the negatively charged surface at neutral pH (TiO₂ pH_zpc = 6.8). The influence of the initial MB concentration was investigated in the range 0.3–2.0 mg L^?1 with the Langmuir–Hinshelwood (LH) model showing good data correlations at concentrations up to 0.7 mg L^?1, whereas at higher concentrations a pure zero-order (catalytic) kinetic trend was observed. Flow rate of the re-circulating solution sensibly influenced kinetics after the larger volumes of liquid exposed to UVB/TiO₂ and to the better oxygen saturation in the liquid phase. UV?vis and HPLC-MS/MS experimental determinations allowed for identification of MB residual concentration and by-products.     

Optical switching of a photochromic bis-phenylazo compound in PMMA films

We present our results on a newly synthesized bis-phenylazo derivative, namely bisperfluoroalkylsulfonylamino- arylazomethylene-triphenyl-phosphorane (BAM-TPP). Thin films of BAM-TPP in polymethylmethacrylate (PMMA) matrix were prepared. The films (thickness, d < 60 μm) were exposed to UV-vis light with variable intensity in order to stimulate the photochromic reaction of BAM-TPP. The resulting absorption changes of the BAM-TPP/PMMA films were investigated by spectrophotometry. The absorption spectra reveal that BAM-TPP molecules in PMMA undergo photoisomerization with resulting decrease of absorbance in the range 500–700 nm. Finally, the time response of film transmittance at 514 nm under increasing CW light intensity was recorded, showing that the reverse photochromic process brings the absorbance back to its pristine value. The obtained films thus proved to be suitable for optical switching applications.

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Determination of the conformation of the human VDAC1 N-terminal peptide, a protein moiety essential for the functional properties of the pore

Mitochondrial porin or VDAC (voltage-dependent anion-selective channel) is the most abundant protein in the mitochondrial outer membrane. The structure of VDAC has been predicted to be a transmembrane beta-barrel with an alpha-helix at the N terminus. It is a matter of debate as to whether this putative alpha-helix plays a structural role as a component of the pore walls or a function in the pore activity. We have synthesised the human VDAC1 (HVDAC1) N-terminal peptide Ac-AVPPTYADLGKSARDVFTK-NH2 (Prn2-20) and determined its structure by CD and NMR spectroscopy. CD studies show that the Prn2-20 peptide exists in aqueous solvent as an unstructured peptide with no stable secondary structure. In membrane-mimetic SDS micelles or water/trifluoroethanol, however, it assumes an amphipathic alpha-helix conformation between Tyr5 and Val16, as deduced from NMR. No ordered structure was observed in dodecyl beta-maltoside. Differential scanning calorimetric measurements were carried out in order to examine the membrane affinity of the peptide. Upon interaction with the negatively charged 1,2 dipalmitoyl-sn-glycero-3-phosphoserine membrane, Prn2-20 exhibited distinctive behaviour, suggesting that electrostatics play an important role. Interaction between the peptide and artificial bilayers indicates that the peptide lies on the membrane surface. Recombinant HVDAC1 deletion mutants, devoid of seven or 19 N-terminal amino acids, were used for transfection of eukaryotic cells. Over-expression of HVDAC1 increases the number of Cos cells with depolarised mitochondria, and this effect is progressively reduced in cells transfected with HVDAC1 lacking those seven or 19 amino acids. The mitochondrial targeting of the deletion mutants is unaffected. The overall picture emerging from our experiments is that the VDAC N-terminal peptide plays a role in the proper function of this protein during apoptotic events.     

Sequential Data Fusion via Vector Spaces: Fusion of Heterogeneous Data in the Complex Domain

A sequential data fusion approach via higher dimensional vector spaces is introduced. This is achieved by making use of the representation of directional signals within the field of complex numbers $C$ . The concept of data fusion is next introduced and the place of the proposed approach within that framework is identified. The benefits of such an approach are illustrated and a range of possible applications is shown. The concept introduced is supported by a real world case study which focuses on simultaneous forecasting of wind speed and direction. The architectures and learning algorithms which support this concept are introduced and their distributed sequential fusion nature is highlighted.