Path‐following algorithms and experiments for an unmanned surface vehicle

This paper addresses the problem of path following in two‐dimensional space for underactuated unmanned surface vehicles (USVs), defining a set of guidance laws at the kinematic level. The proposed nonlinear Lyapunov‐based control law yields convergence of the path‐following error coordinates to zero. Furthermore, the introduction of a virtual controlled degree of freedom for the target to be followed on the path removes singularity behaviors present in other guidance algorithms proposed in the literature. Some heuristic approaches are then proposed to face the problem of speed of advance adaptation based on path curvature measurement and steering action prediction. Finally a set of experimental results of all the proposed guidance laws, carried out with the Charlie USV, demonstrates the feasibility of the proposed approach and the performance improvements, in terms of precision in following the reference path and transient reduction, obtained by introducing speed adaptation heuristics. © 2009 Wiley Periodicals, Inc.     

Integration of InGaP/GaAs/Ge triple‐junction solar cells on deeply patterned silicon substrates

We report preliminary results on InGaP/InGaAs/Ge photovoltaic cells for concentrated terrestrial applications, monolithically integrated on engineered Si(001) substrates. Cells deposited on planar Ge/Si(001) epilayers, grown by plasma‐enhanced chemical vapor deposition, provide good efficiency and spectral response, despite the small thickness of the Ge epilayers and a threading dislocation density as large as 10⁷/cm². The presence of microcracks generated by the thermal misfit is compensated by a dense collection grid that avoids insulated areas. In order to avoid the excessive shadowing introduced by the use of a dense grid, the crack density needs to be lowered. Here, we show that deep patterning of the Si substrate in blocks can be an option, provided that a continuous Ge layer is formed at the top, and it is suitably planarized before the metalorganic chemical vapor deposition. The crack density is effectively decreased, despite that the efficiency is also lowered with respect to unpatterned devices. The reasons of this efficiency reduction are discussed, and a strategy for improvement is proposed and explored. Full morphological analysis of the coalesced Ge blocks is reported, and the final devices are tested under concentrated AM1.5D spectrum. Copyright © 2016 John Wiley & Sons, Ltd.     

Biosynthesis of the Myxobacterial Antibiotic Corallopyronin A

Corallopyronin A is a myxobacterial compound with potent antibacterial activity. Feeding experiments with labelled precursors resulted in the deduction of all biosynthetic building blocks for corallopyronin A and revealed an unusual feature of this metabolite: its biosynthesis from two chains, one solely PKS‐derived and the other NRPS/PKS‐derived. The starter molecule is believed to be carbonic acid or its monomethyl ester. The putative corallopyronin A biosynthetic gene cluster is a trans‐AT‐type mixed PKS/NRPS gene cluster, containing a β‐branching cassette. Striking features of this gene cluster are a NRPS‐like adenylation domain that is part of a PKS‐type module and is believed to be responsible for glycine incorporation, as well as split modules with individual domains occurring on different genes. It is suggested that CorB is a trans‐acting ketosynthase and it is proposed that it catalyses the Claisen condensation responsible for the interconnection of the two chains. Additionally, the stereochemistry of corallopyronin A was deduced by a combination of a modified Mosher's method and ozonolysis with subsequent chiral GC analyses.     

Structure-activity relationship study of 16 a-thiocamptothecins: an integrated in vitro and in silico approach

The instability of the hydroxylactone E ring represents a critical drawback of camptothecins, because the lactone ring is recognized to be essential for stabilization of topoisomerase I‐mediated DNA cleavage. In an attempt to investigate the effect of the thiopyridone pharmacophofore on the molecular and pharmacological features of the drug, we prepared a series of novel 16 a‐thiocamptothecin analogues. Due to the sulfur atom, a destabilization of the hydrogen bond between the hydroxy group in position 17 of the opened E ring and the carbonyl of the pyridone moiety is predicted, thus shifting the equilibrium toward the closed lactone form and increasing the lipophilic properties of the compounds. This feature was associated with superior antiproliferative potency, with reduced interaction with the human serum albumin and with substantial increase of the persistence of the topoisomerase I–DNA cleavable complex. These effects were prominent for thio‐SN38, the most active compound of the series. The favorable interactions at the molecular and cellular level of the reported thiocamptothecins confer promising features, and these compounds warrant preclinical development.     

Aromatic volatile organic compounds absorption with phenyl-based deep eutectic solvents: A molecular thermodynamics and dynamics study

The suitability of phenyl-based deep eutectic solvents (DESs) as absorbents for toluene absorption was investigated by means of thermodynamic modeling and molecular dynamics (MD). The thermodynamic models perturbed-chain statistical associating fluid theory (PC-SAFT) and conductor-like screening model for real solvents (COSMO-RS) were used to predict the vapor–liquid equilibrium of DES–toluene systems. PC-SAFT yielded quantitative results even without using any binary fitting parameters. Among the five DESs studied in this work, [TEBAC][PhOH] consisting of triethyl benzyl ammonium chloride (TEBAC) and phenol (PhOH), was considered as the most suitable absorbent. Systems with [TEBAC][PhOH] had lowest equilibrium pressures of the considered DES–toluene mixtures, the best thermodynamic characteristics (i.e., Henry's law constant, excess enthalpy, Gibbs free energy of solvation of toluene), and the highest self-diffusion coefficient of toluene. The molecular-level mechanism was explored by MD simulations, indicating that [TEBAC][PhOH] has the strongest interaction of DES–toluene compared to the other DESs under study. This work provides guidance to rationally design novel DESs for efficient aromatic volatile organic compounds absorption.     

Release and absorption of carotenes from processed carrots (Daucus carota) using in vitro digestion coupled with a Caco-2 cell trans-well culture model

The release and absorption (bioavailability) of carotenoids is a prerequisite for their nutritional impact. This can be strongly affected by the processing conditions used to prepare the food matrix that contains them. To determine the effect of processing on carotenoid bioavailability, homogenized, raw, blanched and cooked carrots were exposed to an in vitro gastric and intestinal digestion model. Final digest samples were placed onto a Caco-2 cell trans-well monolayer culture to mimic intestinal absorption. The results show that the cooked carrot puree consisting of primarily single plant cell particles had the highest release of carotenes, followed by blanched consisting primarily of plant cell clusters and raw carrot puree consisting of larger plant cell clusters. Absorption through the Caco-2 cell layer was the highest from the digesta of cooked carrot puree followed by the digesta of blanched carrot puree. This study demonstrates that thermal processing and/or mechanical homogenization to disrupt plant cell wall matrix enhances the in vitro bioavailability of carotenes from carrots.     

Physiological relevance of food grade microcapsules: Impact of milk protein based microcapsules on inflammation in mouse models for inflammatory bowel diseases

In order to increase beneficial effects of bioactive compounds in functional food and dietary supplements, enormous efforts are put in the technological development of microcapsules. Although these products are often tailor‐made for disease susceptible consumer, the physiological impact of microcapsule uptake on the respective target consumer has never been addressed. The present study aimed to assess the relevance of this aspect by analyzing the impact of milk protein based microcapsules on experimental inflammatory bowel disease. Long‐term feeding of sodium caseinate or rennet gel microcapsules resulted in significant alterations in the intestinal microbiota of healthy mice. In TNFΔARE/wt mice, a model for chronic ileal inflammation, rennet gel microcapsules resulted in further increased splenomegaly, whereas ileal inflammation was unchanged. In IL10^?/? mice, a model for chronic colitis, both types of microcapsules induced a local increase of the intestinal inflammation. The present study is the first to demonstrate that, independent of their cargo, microcapsules have the potential to affect the intestinal microbiota and to exert unprecedented detrimental effects on disease‐susceptible individuals. In conclusion, the impact of microcapsule uptake on the respective target consumer groups should be thoroughly investigated in advance to their commercial use in functional food or dietary supplements.     

Hazard assessment of edible oil refining: Formation of flammable mixtures in storage tanks

This work presents a methodology for the assessment of hazards due to the formation of flammable mixtures in edible oil refineries, with particular focus on storage tanks. Safety issues in these plants are due to the presence of residual volatile flammable solvents deriving from the extraction processes, which may accumulate in the storage tanks and generate flammable vapour mixtures. The methodology, based on the application of a thermodynamic model for the estimation of vapour phase composition in oil storage tanks as a function of operating conditions (i.e. temperature and residual solvent content), allows the identification of potential hazards due to formation of flammable mixtures inside the tanks. The model was first validated using available experimental data and then extended to case-studies representative of state-of-the-art industrial storage applications. The results of the case-studies were then used to calculate specific hazard indexes, providing a quick tool for preliminary assessment of hazards due to the formation of flammable mixtures in edible oil storage plants.     

Automatic fragility curve evaluation of masonry churches accounting for partial collapses by means of 3D FE homogenized limit analysis

A novel 3D homogenized FE limit analysis software is proposed for the fragility curve evaluation of entire existing masonry churches. The approach is a two-step one. In the first phase homogenized masonry strength domains are obtained using a simplified kinematic procedure applied on a three-leaf unitary cell. In the second phase, homogenized domains are implemented at a structural level on a plate and cell kinematic FE software. The procedure is tested on two real scale existing churches located in Italy and compared to results provided by means of a conventional elastic approach performed by means of a standard commercial software. The global behavior at failure and the overall strength of the buildings are assessed through Monte Carlo simulations varying both masonry mechanical properties and direction of the equivalent seismic load.     

Three-dimensional effects induced by FRP-from-masonry delamination

In this study, delamination of a perfectly-adherent FRP reinforcement from a masonry pillar is investigated by means of a fully three-dimensional finite element model. It is shown that the width of the FRP reinforcement governs the propagation of damage through the brick bulk starting from the anchorage of the strip, and influences significantly the overall response in terms of peak strength, ductility and fracture energy. The resulting failure mechanisms are specified. A critical comparison with formulae provided by Italian design code is also provided, for which mechanically-based improvements are suggested, taking into account three-dimensional effects.