A new software architecture for developing and testing algorithms for space exploration missions

In recent years, planet exploration has received an increasing interest due to the possibility of exploiting planet resources and assuring a human–robotic colonized presence on suitable planetary surfaces. These goals can be reached through the development of smart robots, which are able to work on their own and without requiring a constant human supervision but, at the same time, assuring a great level of safety and reliability. To this aim, the development of effective architectures, concerning both software and hardware issues, could represent a great improvement toward this ambitious objective. This paper presents a novel modular architecture called Test Bench for Robotics and Autonomy (TBRA), the main objective of which is to create a test bench for rover autonomy missions where different implementations of a particular subsystem can be easily tested, while keeping the rest of the system unchanged. Thus, it allows the developers to be able to compare the results of tests and understand which version works better. Such architecture has been built on top of the Workframe, a generic middleware for real-time robotics. This two-layered approach allows the final user to deal only with the TBRA interface, which is designed to be extremely simple to use and takes care of most real-time programming problems, while allowing flexibility in the development, maintenance and future extension of the TBRA itself.     

Analytical solution for composite layered beam subjected to uniformly distributed load

The article presents an analytical theory for multilayered composite beams subjected to transverse uniformly distributed loads. The formulation is based on a layerwise model characterized by third-order approximation of the axial displacements and fourth-order approximation of the transverse displacements. The layerwise kinematical model is rewritten in terms of generalized variables. The beam equilibrium equations, expressed in terms of stress resultant, allow writing the boundary value governing problem. The layerwise fields are obtained by postprocessing steps. The main advantage is to ensure the accuracy level associated to the layerwise formulations preserving the computational efficiency of the equivalent-single-layer theories.     

Evaluation of Po River water quality in Torino (Italy): Effects of diffuse and local point loads

The aim of this paper is to examine the Po River water quality in a small stretch in Piedmont (northern Italy). In this stretch a large pollution load, derived from the wastewater treatment plant of Torino area (more than 2 million inhabitants), is discharged and diluted in the water. In this study this load has been quantified and modeled in order to understand the sources, destinations and effects of the emitted pollutants. The objective was to determine the impact produced by the Torino Wastewater Treatment Plant on the quality of the water, based on various hydrological conditions and the possible intervention on the point and diffuse loads.     

Nanoscale characterization of the biomechanical hardening of bovine zona pellucida

The zona pellucida (ZP) is an extracellular membrane surrounding mammalian oocytes. The so-called zona hardening plays a key role in fertilization process, as it blocks polyspermy, which may also be caused by an increase in the mechanical stiffness of the ZP membrane. However, structural reorganization mechanisms leading to ZP''s biomechanical hardening are not fully understood yet. Furthermore, a correct estimate of the elastic properties of the ZP is still lacking. Therefore, the aim of the present study was to investigate the biomechanical behaviour of ZP membranes extracted from mature and fertilized bovine oocytes to better understand the mechanisms involved in the structural reorganization of the ZP that may lead to the biomechanical hardening of the ZP. For that purpose, a hybrid procedure is developed by combining atomic force microscopy nanoindentation measurements, nonlinear finite element analysis and nonlinear optimization. The proposed approach allows us to determine the biomechanical properties of the ZP more realistically than the classical analysis based on Hertz''s contact theory, as it accounts for the nonlinearity of finite indentation process, hyperelastic behaviour and material heterogeneity. Experimental results show the presence of significant biomechanical hardening induced by the fertilization process. By comparing various hyperelastic constitutive models, it is found that the Arruda–Boyce eight-chain model best describes the biomechanical response of the ZP. Fertilization leads to an increase in the degree of heterogeneity of membrane elastic properties. The Young modulus changes sharply within a superficial layer whose thickness is related to the characteristic distance between cross-links in the ZP filamentous network. These findings support the hypothesis that biomechanical hardening of bovine ZP is caused by an increase in the number of inter-filaments cross-links whose density should be higher in the ZP inner side.     

Direct Selective Extraction of Trivalent Americium from PUREX Raffinate Using a Combination of CyMe4BTPhen and TEDGA—A Feasibility Study

The direct and selective extraction of Am(III) from simulated PUREX raffinate is demonstrated using a novel combination of the lipophilic extractant CyMe₄BTPhen (2,9-bis(5,5,8,8-tetramethyl-5,6,7,8-tetrahydrobenzo[e]-[1,2,4]triazin-3-yl)-1,10-phenanthroline) and the hydrophilic complexant TEDGA (N,N,N’,N’-tetraethyl-diglycolamide) to enhance selectivity toward Am(III) extraction. Separation factors (SF) of up to SF_Am/Cm = 4.9 were observed in tracer experiments using this combination of CyMe₄BTPhen and TEDGA. Distribution ratios of stable isotopes of fission and activation products contained in a simulated PUREX raffinate solution are reported for the first time with CyMe₄BTPhen, and some co-extracted metal ions are identified. The metal ions partly co-extracted from the simulated PUREX raffinate solution were Cu, Pd, Cd, Ag, Ni, and to a lesser extent Sn and Mo. The co-extraction of Pd and Ag was successfully suppressed using Bimet ((2S,2’S)-4,4’-(ethane-1,2-diylbis(sulfanediyl))bis(2-aminobutanoic acid)). The extraction was also studied as a function of the TEDGA concentration. The distribution ratios of Am and Cm can be adjusted by variation of the TEDGA concentration to yield D_Am values >1 and D_Cm values <1. Separation factors for Am(III) over Cm(III) of up to SF_Am/Cm = 2.4 were observed in these experiments. For Ln(III) + Y(III), distribution ratios below 1 were observed, thus enabling a direct extraction of Am(III) from simulated PUREX raffinate with a sufficient selectivity against trivalent lanthanides and Cm(III).     

Energy retrofit of historical buildings: theoretical and experimental investigations for the modelling of reliable performance scenarios

The paper suggests a multi-criteria approach for the energy refurbishment of historical buildings, proposing methodologies for the performance analysis, coupling several experimental and numerical studies. The target consisted in a rigorous evaluation procedure, in order to guarantee the necessary reliability of a numerical model of the system “building envelope/technical plants”, on which testing the technical and economical convenience of energy retrofit solutions.The paper collects the long work carried out by several Institutions during the last years, on Building “Palazzo dell’Aquila Bosco-Lucarelli”, a historical building located in Benevento (Southern Italy), currently analyzed in order to define the technical adoption of possible improving actions.The carried out studies, beyond the proposition of an operational methodology, are aimed to evidence a best-practice specified for the Italian territorial context, which has several historical buildings needing restoration.Carefully applied investigations, based on various methodologies and through several instrumentations, allowed the definition of a numerical model correspondent to the real building, defined also comparing the results with the historical requests of gas and electricity. Moreover, dynamic energy simulations tested the effectiveness, singularly and coupled, of several solutions for the building energy optimization. A significant potentiality of energy and economic optimization has been demonstrated.     

MalFamAware: automatic family identification and malware classification through online clustering

International Journal of Information Security - The skyrocketing growth rate of new malware brings novel challenges to protect computers and networks. Discerning truly novel malware from variants...     

Phasor‐FLIM analysis of Thioflavin T self‐quenching in Concanavalin amyloid fibrils

The formation of amyloid structures has traditionally been related to human neurodegenerative pathologies and, in recent years, the interest in these highly stable nanostructures was extended to biomaterial sciences. A common method to monitor amyloid growth is the analysis of Thioflavin T fluorescence. The use of this highly selective dye, diffused worldwide, allows mechanistic studies of supramolecular assemblies also giving back important insight on the structure of these aggregates. Here we present experimental evidence of self‐quenching effect of Thioflavin T in presence of amyloid fibrils. A significant reduction of fluorescence lifetime of this dye which is not related to the properties of analyzed amyloid structures is found. This result is achieved by coupling Fluorescence Lifetime Imaging Microscopy with phasor approach as suitable model‐free methods and constitute a serious warning that have to be taken in account if is dye is used for quantitative studies.