Adaptive Robust Three‐dimensional Trajectory Tracking for Actively Articulated Tracked Vehicles*

A new approach is proposed for an adaptive robust three‐dimensional (3D) trajectory‐tracking controller design. The controller is modeled for actively articulated tracked vehicles (AATVs). These vehicles have active sub‐tracks, called flippers, linked to the ends of the main tracks, to extend the locomotion capabilities in hazardous environments, such as rescue scenarios. The proposed controller adapts the flippers configuration and simultaneously generates the track velocities, to allow the vehicle to autonomously follow a given feasible 3D path. The approach develops both a direct and differential kinematic model of the AATV for traversal task execution correlating the robot body motion to the flippers motion. The benefit of this approach is to allow the controller to flexibly manage all the degrees of freedom of the AATV as well as the steering. The differential kinematic model integrates a differential drive robot model, compensating the slippage between the vehicle tracks and the traversed terrain. The underlying feedback control law dynamically accounts for the kinematic singularities of the mechanical vehicle structure. The designed controller integrates a strategy selector too, which has the role of locally modifying the rail path of the flipper end points. This serves to reduce both the effort of the flipper servo motors and the traction force on the robot body, recognizing when the robot is moving on a horizontal plane surface. Several experiments have been performed, in both virtual and real scenarios, to validate the designed trajectory‐tracking controller, while the AATV negotiates rubble, stairs, and complex terrain surfaces. Results are compared with both the performance of an alternative control strategy and the ability of skilled human operators, manually controlling the actively articulated components of the robot.     

2,3-oxidosqualene cyclase: From azasqualenes to new site-directed inhibitors

2,3-Oxidosqualene cyclases (OSC) are enzymes which convert 2,3-oxidosqualene (OS) into polycyclic triterpenoids such as lanosterol, cycloartenol, and α-and β-amyrin. Our interest in the study of OSC is the development of new OSC inhibitors for potential use as hypocholesterolemic, antifungal, or phytotoxic drugs. In particular, we describe the biological activity and the mechanism of a series of acyclic azasqualene derivatives mimicking the C-2, C-8, and C-20 carbonium ions formed during OS cyclization. Some of these carbonium ion analogues are very promising as specific hypocholesterolemic agents. The toxicity, the biodistribution, and the pharmacokinetics of different azasqualene derivatives in mice are also presented. In order to obtain new, site-directed irreversible inhibitors of OSC, a series of squalene derivatives containing functional groups that can link covalently to an active-site thiol group was designed. Among these compounds, squalene maleimide was the most active toward mammalian OSC, whereas squalene Ellman behaved as an irreversible inhibitor of OSC from yeast Based on a paper presented at the symposium on the “Regulation of Biosynthesis and Function of Isopentenoids” Atlanta, Georgia, May 1994.     

Remediation of PAH-contaminated sediments by chemical oxidation

The aim of this experimental investigation was to assess the feasibility of using chemical oxidation to degrade sorbed polycyclic aromatic hydrocarbons (PAHs) in case of old date sediment contamination. For this purpose several bench scale laboratory tests were performed, with the following liquid reactants: hydrogen peroxide, modified Fenton's reagent, activated sodium persulfate, potassium permanganate, as well as a combination of potassium permanganate and hydrogen peroxide, and a combination of activated sodium persulfate and hydrogen peroxide. The main target of the study was to find out what liquid oxidant was more effective in reducing the pollutant content and to assess the optimal reactant doses. The initial total PAH concentration in sediment samples was about 2800mg/kgSS (light PAHs about 1600mg/kgSS, heavy PAHs about 1200mg/kgSS) and a 95% degradation was required to meet the remediation goals. Based on the results of this study, chemical oxidation proved to be an effective remediation technology, amenably applicable for the ex situ remediation of the sediments of concern. Different reactants resulted however in different removal efficiencies. The best remediation performances were achieved with the use of modified Fenton's reagent, hydrogen peroxide and potassium permanganate, with oxidant dosages about 100mmols per 30g sediment sample. In all these cases the residual heavy PAH concentration in the treated samples was below 100mg/kgSS. The optimal oxidant dosages determined in this study were quite high, as sorbed PAH mineralization requires very vigorous oxidation conditions, especially for soils and sediments with high organic matter content. The results indicated that the optimal oxidant dose must be carefully determined under site-specific conditions. In fact, if the oxidation conditions are not strong enough, the reactants cannot be able to attack the most recalcitrant compounds, while also too high oxidant doses can result in a decrease in the oxidation efficiency, thus failing in meeting the remediation goals.     

Reaction of gold nanoparticles with tetracyanoquinoidal molecules. Spectrophotometric determination of the Au0 content of gold nanoparticles

The interaction of gold nanoparticles (AuNPs) and typical tetracyanoquinoidal compounds such as bis(dicyanomethylene)-bithiophene and tetracyanoquinodimethane (TCNQ) has been investigated. AuNPs in toluene solution reduce the tetracyano compounds to the radical anion, as shown by UV-vis spectroscopy. The reaction, promoted by the bromide anion used as a stabilizer for AuNPs, involves in the case of TCNQ the total amount of Au(0) in the nanoparticles. A spectrophotometric method for the evaluation of the Au(0) content of capped AuNPs in organic solution has been established and successfully applied to the analysis of dodecanethiol-capped AuNPs.     

Adverse pregnancy outcomes in a population exposed to the emissions of a municipal waste incinerator

Some contaminants emitted by municipal waste incinerators are believed to adversely affect reproductive health in the exposed populations; yet only limited and conflicting epidemiologic evidence on this issue has been provided so far. In this study we analyzed rates of spontaneous abortion and prevalence at birth of congenital anomalies in women residing or working near the municipal solid waste incinerator of Modena, northern Italy, during the 2003--2006 period and who experienced higher levels of exposure to polychlorinated dibenzo-p-dioxins and dibenzofurans, compared to the remaining municipal population. In women residing in two areas close to the incinerator plant with increasing exposure to dioxins, we did not detect an excess risk of miscarriage (relative risk [RR] 1.00, 95% confidence interval [CI] 0.65-1.48) and of birth defects (RR 0.64, 95% CI 0.20-1.55), nor did any indication of dose-response relation emerge. Among female workers employed in the factories located in the exposed areas, we did not observe a higher risk of spontaneous abortion (RR 1.04, 95% CI 0.38-2.30); however, an increase in prevalence of birth defects was noted (RR 2.26), although this risk estimate was statistically very unstable (95% CI 0.57-6.14). Overall, the study results provide little evidence of an excess risk of adverse pregnancy outcomes in women exposed to emissions from a modern municipal solid waste incinerator.     

Adsorption of Dinitrogen Tetroxide (N2O4) on Multi-walled Carbon Nanotubes (MWCNTs)

The adsorption of dinitrogen tetroxide (N₂O₄) on multi-walled carbon nanotubes (MWCNTs) has been studied by FT-IR, Raman and X-ray photoelectron spectroscopy (XPS). The N₂O₄ adsorption is fully reversible, and after the desorption there is no evidences of MWCNTs nitration. Instead, the MWCNTs have been found oxidized by the action of N₂O₄. By thermogravimetric analysis (TGA) about 5% by weight of oxygenated groups have been found. Thermal analysis has revealed that MWCNTs having a surface area of 275 m²/g are able to reversibly adsorb about 25% by weight of N₂O₄, a value comparable to that observed for certain active carbons.     

Modelling the dynamic interaction of systemic inflammation and the hypothalamic–pituitary–adrenal (HPA) axis during and after cardiac surgery

Major surgery and critical illness produce a potentially life-threatening systemic inflammatory response. The hypothalamic–pituitary–adrenal (HPA) axis is one of the key physiological systems that counterbalances this systemic inflammation through changes in adrenocorticotrophic hormone (ACTH) and cortisol. These hormones normally exhibit highly correlated ultradian pulsatility with an amplitude modulated by circadian processes. However, these dynamics are disrupted by major surgery and critical illness. In this work, we characterize the inflammatory, ACTH and cortisol responses of patients undergoing cardiac surgery and show that the HPA axis response can be classified into one of three phenotypes: single-pulse, two-pulse and multiple-pulse dynamics. We develop a mathematical model of cortisol secretion and metabolism that predicts the physiological mechanisms responsible for these different phenotypes. We show that the effects of inflammatory mediators are important only in the single-pulse pattern in which normal pulsatility is lost—suggesting that this phenotype could be indicative of the greatest inflammatory response. Investigating whether and how these phenotypes are correlated with clinical outcomes will be critical to patient prognosis and designing interventions to improve recovery.     

Additive Manufacturing of Poly(3-hydroxybutyrate-co-3-hydroxyvalerate)/Poly(D,L-lactide-co-glycolide) Biphasic Scaffolds for Bone Tissue Regeneration

Polyhydroxyalkanoates are biopolyesters whose biocompatibility, biodegradability, environmental sustainability, processing versatility, and mechanical properties make them unique scaffolding polymer candidates for tissue engineering. The development of innovative biomaterials suitable for advanced Additive Manufacturing (AM) offers new opportunities for the fabrication of customizable tissue engineering scaffolds. In particular, the blending of polymers represents a useful strategy to develop AM scaffolding materials tailored to bone tissue engineering. In this study, scaffolds from polymeric blends consisting of poly(3-hydroxybutyrate-co-3-hydroxyvalerate) (PHBV) and poly(D,L-lactide-co-glycolide) (PLGA) were fabricated employing a solution-extrusion AM technique, referred to as Computer-Aided Wet-Spinning (CAWS). The scaffold fibers were constituted by a biphasic system composed of a continuous PHBV matrix and a dispersed PLGA phase which established a microfibrillar morphology. The influence of the blend composition on the scaffold morphological, physicochemical, and biological properties was demonstrated by means of different characterization techniques. In particular, increasing the content of PLGA in the starting solution resulted in an increase in the pore size, the wettability, and the thermal stability of the scaffolds. Overall, in vitro biological experiments indicated the suitability of the scaffolds to support murine preosteoblast cell colonization and differentiation towards an osteoblastic phenotype, highlighting higher proliferation for scaffolds richer in PLGA.