The “presence of others” in a virtual environment: different collaborative modalities with hybrid resources

The purpose of this study is to see in which forms and under which conditions social presence turns into collaboration. Eight couples were asked to find some objects in a virtual environment in which collaboration was allowed but not mandatory. The qualitative analysis of the video recordings shows that all participants resorted to collaboration in forms that were justified by the requirements of the task, the environmental affordances and the different expertise.

A mosaicing approach for the acquisition and representation of 3D painted surfaces for conservation and restoration purposes

This paper describes an approach to the acquisition and representation of information on 3D painted surfaces (usually frescoes) based on the tassellation and mosaicing of the whole surface. The acquisition is carried out using an active vision system specifically designed for these purposes. In this paper, particular emphasis is placed on the mosaicing procedure of the acquired images, which, while conceptually simple, allows one to obtain very good results thanks to the effective exploitation of the features of the acquisition system. A careful qualitative and quantitative analysis of the performances of the system, obtained through tests on real scenes in the laboratory, is also presented.Received: 28 May 2001, Accepted: 8 November 2002, Published online: 18 June 2003 Correspondence to: Paolo GrattoniMassimiliano Spertino: With I.R.I.T.I. under grant N.202.12484 of the Italian Safeguard of Cultural Heritage C.N.R. project.     

Optimisation of a vehicle energy absorbing steel component with experimental validation

The paper deals with the optimisation of a tapered tubular steel component to be used as an energy-absorbing device in the front structure of a vehicle body. Aim of the optimisation problem is the minimisation of a load uniformity parameter evaluated as the ratio between the maximum and the average crushing loads. The optimisation problem takes into account two design variables describing a tapered geometrical configuration, the diameter of the component at one of its bounds and the tapering length. Two improved geometrical configurations have been found and have been experimentally tested to verify the numerical results with impact velocities up to 10 m/s.     

Obstacle Modelling Oriented to Safe Motion Planning and Control for Planar Rigid Robot Manipulators

Trajectory planning and tracking are crucial tasks in any application using robot manipulators. These tasks become particularly challenging when obstacles are present in the manipulator workspace. In this paper a n-joint planar robot manipulator is considered and it is assumed that obstacles located in its workspace can be approximated in a conservative way with circles. The goal is to represent the obstacles in the robot configuration space. The representation allows to obtain an efficient and accurate trajectory planning and tracking. A simple but effective path planning strategy is proposed in the paper. Since path planning depends on tracking accuracy, in this paper an adequate tracking accuracy is guaranteed by means of a suitably designed Second Order Sliding Mode Controller (SOSMC). The proposed approach guarantees a collision-free motion of the manipulator in its workspace in spite of the presence of obstacles, as confirmed by experimental results.     

Comparison of shear strength tests on AV119 epoxy-joined ceramics

The results of an experimental investigation on epoxy-joined CVD SiC and alumina tested in shear and apparent shear mode by four different configurations are presented. Ceramics have been joined by an epoxy adhesive (AV119), which is not to be considered as the final joining material for high temperature applications, but just as a model brittle joining material chosen to obtain several joined samples in a reasonable time. Advantages and disadvantages of each configuration are discussed and compared to results obtained with the same epoxy-joined carbon/carbon composites, tested by the same shear tests.     

Groebner Bases and Distance of Cyclic Codes

 Recently some methods have been proposed to find the distance of cyclic codes using Gr?bner bases. We present a similar method, whose computational cost is significantly lower. Received: April 24, 2001; revised version: February 14, 2002     

Mofete geothermal field

This report deals with the Mofete geothermal field, which was discovered in southern Italy by AGIP, the Italian state-owned company for exploration of oil, gas and other alternative energy resources, such as geothermal. AGIP is the main operator in the Mofete geothermal field, in joint venture with ENEL, the National Electricity Board. Seven wells have been drilled, and two producing aquifers found at depths between 500 and 2000 m. The preliminary interpretation of a long-term test (three months), together with the model of the field, suggest that a 10 MW power-plant will operate in the near future in the limited area considered favourable so far for geothermal production.     

Understanding the dynamic behaviour of middle-vessel continuous distillation columns

The fundamental dynamic behaviour of a middle-vessel continuous distillation column is studied in this paper. The interaction between the middle vessel (MV) design and control parameters is identified by means of a linear analysis. Transfer functions relating the dynamics of the product composition responses to changes in the disturbance inputs and manipulated inputs are derived. The role of the MV holdup and MV level controller gain in altering the product composition responses is identified. It is shown that the MV level controller gain can significantly affect the control performance when feed flow disturbances must be compensated for. However, it has a much lower impact in the control performance when feed composition disturbances need to be rejected; in this case, exploiting the “buffering” effect of the MV is more important for control. The analysis is carried out in detail for a LV control configuration, and is subsequently extended to an “on-demand” DB configuration. Finally, simple guidelines for the choice of the MV level controller gain and MV holdup are provided.     

Viable synthesis of a self-assembling regioregular thiophenic copolymer for second-order non-linear optics

Regioregular azobenzene-substituted polythiophenic copolymers were prepared by a regiospecific organometallic polycondensation procedure based on a Grignard metathesis reaction. Copolymers with a high content of chromophoric groups in the side chains and a high degree of configurational order of the backbones were obtained. A sample was also functionalized with hydroxyalkyl chains capable of setting up ordered supramolecular structures through hydrogen bonds. The final materials were fully characterized via NMR, IR, elemental analysis, GPC, DSC and X-ray diffraction. Moreover, measurements of NLO activity on polymer films showed the synthetic strategies adopted and monomers used to be correct. Values obtained by the in situ deprotection of the interacting functional groups after the alignment of the chromophorized side chains were very promising, proving the procedure to be suitable for industrial and commercial applications.     

Land Subsidence Spreading Factor of the Northern Adriatic Gas Fields, Italy

The land subsidence spreading factor χ provides a useful straightforward indication on how much of a gas/oil reservoir compaction induced by field development migrates to ground surface with a possible adverse impact on the stability of low‐lying coastal areas. This factor depends primarily on the ratio between the depth of burial and a representative horizontal dimension of the reservoir. However, an important influence is also exerted by the active bottom/lateral aquifer hydraulically connected to the field (called “waterdrive” in reservoir engineering) that may undergo an extensive depressurization also after the field abandonment, thus contributing to enhance the overall land settlement. In the Northern Adriatic basin, Italy, χ is evaluated using a nonlinear finite element model of three representative gas reservoirs (Chioggia Mare, Dorotea, and Dosso degli Angeli) surrounded by important bottom/lateral aquifers in the interval depth between 1000 and 3300 m. Results show that χ may easily approach and even exceed one for the deepest field as well, contrary to the prediction of land subsidence based on the compaction of the gas‐bearing formations alone, that can thus be largely underestimated.