Optimal self assembly of modular manipulators with active and passive modules

In this paper, we develop self-assembling robot systems composed of active modular robots and passive bars. The target structure is modeled as a dynamic graph. We present two provably correct algorithms for creating the structure. A decentralized optimal algorithm for the navigation of multiple modular robots on a partial truss structure is used to guide the robots to their location on the target structure. A decentralized algorithm for scheduling the transportation and placement of truss elements is used to coordinate the creation of the target structure. Both algorithms rely on locally optimal matching. The truss self-assembly algorithm has quadratic competitive ratio for static as well as dynamic graph representation. We show simulation results and results for experiments with two 3DOF robots and passive bars that can create and control a 6DOF manipulation.     

New carbon composite adsorbents for the removal of textile dyes from aqueous solutions: Kinetic,equilibrium, and thermodynamic studies

New carbon composite materials were prepared by pyrolysis of mixture of coffee wastes and red mud at 700 °C with the inorganic: organic ratios of 1.9 (CC-1.9) and 2.2 (CC-2.2). These adsorbents were used to remove reactive orange 16 (RO-16) and reactive red 120 (RR-120) textile dyes from aqueous solution. The CC-1.9 and CC-2.2 materials were characterized using Fourier transform infrared spectroscopy, Nitrogen adsorption/desorption curves, scanning electron Microscopy and X-ray diffraction. The kinetic of adsorption data was fitted by general order kinetic model. A three-parameter isotherm model, Liu isotherm model, gave the best fit of the equilibrium data (298 to 323 K). The maximum amounts of dyes removed at 323 K were 144.8 (CC-1.9) and 139.5 mg g^?1 (CC-2.2) for RO-16 dye and 95.76 (CC-1.9) and 93.80 mg g^?1 (CC-2.2) for RR-120 dye. Two simulated dyehouse effluents were used to investigate the application of the adsorbents for effluent treatment.     

Influence of counterface roughness on friction properties of engineering plastics for bearing applications

The study investigates the effects of the roughness of the metal counterface (mirror finished or polished) on the coefficient of dry friction for some of the most common engineering plastics used in current bearing technology. The results show that an optimal roughness for minimum friction is likely to exist for any polymer, and it depends on the bulk properties of the polymer itself. “Soft” plastics characterized by a low modulus of elasticity exhibit better sliding behaviour on very smooth, mirror finished surfaces, whereas for high-modulus plastics lower friction is measured in combination with rougher, polished counterfaces. The influence of the contact pressure and sliding velocity are also investigated and found to depend on the layout of the tribological system.     

Design of an integrated low-noise read-out system for DNA capacitive sensors

This paper presents an electronic system for a fast DNA label-less detection. The sensitivity of the capacitive sensor in use is improved by depositing an insulating self-assembled monolayer (SAM) over the golden electrodes. The capacitance shift due to the hybridization effect is monitored by means of a charge-sensitive amplifier and digitalized by means of a comparator and a counter. The read-out solution demonstrates the ability to identify a 0.01% variation on the capacitive value of the sensor. Results from measurements with the optimized sensor show the reliability of the electronics. The investigated solution is suitable for monolithic systems or for a micro-fabricated array of sensors. An example of the integrated front-end is described and performances and noise evaluation are reported here.     

Landscape dynamics of Mediterranean montane grasslands over 60 years and implications for habitats conservation. A case study in the northern Apennines (Italy)

Widespread trends of abandonment have strongly affected Mediterranean mountains after the Second World War, triggering spontaneous recolonisation of forests. A diachronic analysis of the landscape in a Natura 2000 site (Tuscany, Italy) was carried out using digital aerial photographs (1954, 2013) and a GIS-based methodology, focusing on territories above 1300 m a.s.l. The detected variations of total areas, patch shape, patch dimensions and selected metrics showed a notable shift of the vegetation towards woody types and a drastic reduction of open grasslands, some with high conservation value, accompanied by a strong increase in patch number, surface and edge. A decrease of SDI and SEI diversity indices was also observed. Considering that fragmentation is one of the main causes threatening habitats and species, our results point out a clear necessity for a monitoring programme and suitable actions aimed at improving the status of biodiversity-rich montane grasslands.     

Immunochemical or fluorescent labeling of vesicular subcellular fractions for microscopy imaging

We describe a procedure for the labeling of membranous vesicular purified subcellular fractions, to image them, typically by confocal laser scanning microscopy. Being intracellular organelles, these fractions, once purified cannot be attached to glass slides as for cells. Fractions are labeled “in batch” without prior embedding or freezing. Each labeling step performed by passages of resuspension/centrifugation is followed by washings. Then samples are dispersed on the glass slides. Mammalian retinal rod outer segment disks, intact brain stem myelin vesicles, and brain synaptosomes were chosen, as these subcellular fractions can be purified by well established procedures. These fractions were immunolabeled with specific antibodies. Moreover, by the earlier procedure, we show that the mitochondrial vital membrane potential probe MitoTracker Deep Red 633 stains myelin vesicles and rod disks before fixation, consistently with our previous reports of a respiring capacity of these membranes. Therefore, the technique seems adequate to become an instrument to study the structure and the function of these and other subcellular fractions. Microsc. Res. Tech. 73:1086–1090, 2010. © 2010 Wiley‐Liss, Inc.     

Non-Coding RNAs in Muscle Dystrophies

ncRNAs are the most recently identified class of regulatory RNAs with vital functions in gene expression regulation and cell development. Among the variety of roles they play, their involvement in human diseases has opened new avenues of research towards the discovery and development of novel therapeutic approaches. Important data come from the field of hereditary muscle dystrophies, like Duchenne muscle dystrophy and Myotonic dystrophies, rare diseases affecting 1 in 7000–15,000 newborns and is characterized by severe to mild muscle weakness associated with cardiac involvement. Novel therapeutic approaches are now ongoing for these diseases, also based on splicing modulation. In this review we provide an overview about ncRNAs and their behavior in muscular dystrophy and explore their links with diagnosis, prognosis and treatments, highlighting the role of regulatory RNAs in these pathologies.     

Instrumental and sensory evaluation of cooked pasta during frozen storage

Food consumption patterns have changed significantly during the last years, showing an increase in the consumption of convenience foods. Frozen foods represent an important segment of this market. The aim of the present paper was to study the influence of frozen storage on the quality of cooked organic tagliatelle. Instrumental measurements of different quality parameters (moisture content, colour, textural and rheological characteristics of frozen cooked pasta) were performed during twelve months of storage. The sensory properties of pasta were also evaluated by means of an acceptability study. In general, both instrumental and sensory analysis found that frozen storage affects negatively the acceptability of cooked pasta. The advantages obtained through fast freezing procedures are not maintained along storage, being hardness (instrumental) and consistency (sensory) the most relevant quality indices. Finally, the shelf life of the product was calculated as 3.6 and 3.8 months in the cryogenic device and air‐blast tunnel, respectively, based on simple kinetic models.     

Integrated mass spectrometry approach to profile proanthocyanidins occurring in food supplements: Analysis of Potentilla erecta L. rhizomes

Potentilla erecta (L.) is known for the high concentration of proanthocyanidin oligomers (PAs) in its underground parts. The use of its preparations as food supplements and the lack of chemical–analytical studies concerning with an efficient chromatographic separation procedure for these compounds led us to develop a strategy to profile PAs occurring in this species.