10081 research outputs found
Sort by
Computational tool for three-point hitch geometry optimization
Get PDFThe weight-transfer effect, consisting of the change in dynamic load distribution between the front and the rear tractor axles, is one of the most impairing phenomena for the performance, comfort, and safety of agricultural operations. Excessive weight transfer from the front to the rear tractor axle can occur during operation or maneuvering of implements connected to the tractor through the three-point hitch (TPH). In this respect, an optimal design of the TPH can ensure better dynamic load distribution and ultimately improve operational performance, comfort, and safety. In this study, a computational design tool (The Optimizer) for the determination of a TPH geometry that minimizes the weight-transfer effect is developed. The Optimizer is based on a constrained minimization algorithm. The objective function to be minimized is related to the tractor front-to-rear axle load transfer during a simulated reference maneuver performed with a reference implement on a reference soil. Simulations are based on a 3-degrees-of-freedom (DOF) dynamic model of the tractor-TPH-implement aggregate. The inertial, elastic, and viscous parameters of the dynamic model were successfully determined through a parameter identification algorithm. The geometry determined by the Optimizer complies with the ISO-730 Standard functional requirements and other design requirements. The interaction between the soil and the implement during the simulated reference maneuver was successfully validated against experimental data. Simulation results show that the adopted reference maneuver is effective in triggering the weight-transfer effect, with the front axle load exhibiting a peak-to-peak value of 27.1 kN during the maneuver. A benchmark test was conducted starting from four geometries of a commercially available TPH. As result, all the configurations were optimized by above 10%. The Optimizer, after 36 iterations, was able to find an optimized TPH geometry which allows to reduce the weight-transfer effect by 14.9%
A ROS-based software architecture for a versatile collaborative dual-armed autonomous mobile robot for the manufacturing industry
Get PDFThe industrial context is changing rapidly due to advancements in technology fueled by the Internet and Information Technology. The fourth industrial revolution counts integration, flexibility, and optimization as its fundamental pillars, and, in this context, Human-Robot Collaboration has become a crucial factor for manufacturing sustainability in Europe. Collaborative robots are appealing to many companies due to their low installation and running costs and high degree of flexibility, making them ideal for reshoring production facilities with a short return on investment.
The ROSSINI European project aims to implement a true Human-Robot Collaboration by designing, developing, and demonstrating a modular and scalable platform for integrating human-centred robotic technologies in industrial production environments. The project focuses on safety concerns related to introducing a cobot in a shared working area and aims to lay the groundwork for a new working paradigm at the industrial level. The need for a software architecture suitable to the robotic platform employed in one of three use cases selected to deploy and test the new technology was the main trigger of this Thesis. The chosen application consists of the automatic loading and unloading of raw-material reels to an automatic packaging machine through an Autonomous Mobile Robot composed of an Autonomous Guided Vehicle, two collaborative manipulators, and an eye-on-hand vision system for performing tasks in a partially unstructured environment.
The results obtained during the ROSSINI use case development were later used in the SENECA project, which addresses the need for robot-driven automatic cleaning of pharmaceutical bins in a very specific industrial context. The inherent versatility of mobile collaborative robots is evident from their deployment in the two projects with few hardware and software adjustments.
The positive impact of Human-Robot Collaboration on diverse production lines is a motivation for future investments in research on this increasingly popular field by the industry
Nanomechanical characterization of soft bioelectronic interfaces via modeling-informed atomic force microscopy
Get PDFThe field of bioelectronics involves the use of electrodes to exchange electrical signals with biological systems for diagnostic and therapeutic purposes in biomedical devices and healthcare applications. However, the mechanical compatibility of implantable devices with the human body has been a challenge, particularly with long-term implantation into target organs. Current rigid bioelectronics can trigger inflammatory responses and cause unstable device functions due to the mechanical mismatch with the surrounding soft tissue. Recent advances in flexible and stretchable electronics have shown promise in making bioelectronic interfaces more biocompatible.
To fully achieve this goal, material science and engineering of soft electronic devices must be combined with quantitative characterization and modeling tools to understand the mechanical issues at the interface between electronic technology and biological tissue. Local mechanical characterization is crucial to understand the activation of failure mechanisms and optimizing the devices. Experimental techniques for testing mechanical properties at the nanoscale are emerging, and the Atomic Force Microscope (AFM) is a good candidate for in situ local mechanical characterization of soft bioelectronic interfaces.
In this work, in situ experimental techniques with solely AFM supported by interpretive models for the characterization of planar and three-dimensional devices suitable for in vivo and in vitro biomedical experimentations are reported. The combination of the proposed models and experimental techniques provides access to the local mechanical properties of soft bioelectronic interfaces. The study investigates the nanomechanics of hard thin gold films on soft polymeric substrates (Poly(dimethylsiloxane) PDMS) and 3D inkjet-printed micropillars under different deformation states. The proposed characterization methods provide a rapid and precise determination of mechanical properties, thus giving the possibility to parametrize the microfabrication steps and investigate their impact on the final device
A formal analysis of blockchain consensus
Get PDFIn this thesis, we analyse these protocols using PRISM+, our extension of the probabilistic model checker PRISM with blockchain types and operations upon them. This allows us to model the behaviour of key participants in the protocols and describe the protocols as a parallel composition of PRISM+ processes.
Through our analysis of the Bitcoin model, we are able to understand how forks (where different nodes have different versions of the blockchain) occur and how they depend on specific parameters of the protocol, such as the difficulty of the cryptopuzzle and network communication delays. Our results corroborate the statement that considering confirmed the transactions in blocks at depth larger than 5 is reasonable because the majority of miners have consistent blockchains up-to that depth with probability of almost 1. We also study the behaviour of the Bitcoin network with churn miners (nodes that leave and rejoin the network) and with different topologies (linear topology, ring topology, tree topology and fully connected topology).
PRISM+ is therefore used to analyse the resilience of Hybrid Casper when changing various basic parameters of the protocol, such as block creation rates and penalty determination strategies. We also study the robustness of Hybrid Casper against two known attacks: the Eclipse attack (where an attacker controls a significant portion of the network's nodes and can prevent other nodes from receiving new transactions) and the majority attack (where an attacker controls a majority of the network's nodes and can manipulate the blockchain to their advantage)
Study of genes involved in her2-positive breast cancer progression for identification of new therapeutic targets
Get PDFHER2 overexpression is observed in 20-30% of invasive breast carcinomas and it is correlated with poor prognosis. Although targeted therapies have revolutionized the treatment of HER2-positive breast cancer, a high number of patients presented primary or acquired resistance to monoclonal antibodies and tyrosine kinase inhibitors. Tumor heterogenicity, epithelial to mesenchymal transition (EMT) and cancer stem cells are key factors in target therapy resistance and tumor progression.
The aim of this project was to discover alternative therapeutic strategies to over-come tumor resistance by harnessing immune system and looking for new targetable molecules.
The results reported introduce a virus-like particles-based vaccine against HER2 as promising therapeutic approach to treat HER2-positive tumors. The high and persistent anti-HER2 antibody titers elicited by the vaccine significantly inhibited tumor growth and metastases onset. Furthermore, the polyclonal response induced by the vaccine also inhibited human HER2-positive breast cancer cells resistant to trastuzumab in vitro, suggesting its efficacy also on trastuzumab resistant tumors.
To identify new therapeutic targets to treat progressed breast cancer, we took advantage from a dynamic model of HER2 expression obtained in our laboratory, in which HER2 loss and cancer progression were associated with the acquisition of EMT and stemness features. Targeting EMT-involved molecules, such as PDGFR-β, or the induction of epithelial markers, like E-cadherin, proved to be successful strategy to impair HER2-negative tumor growth.
Density alterations, which might be induced by anti-HER2 target therapies, in cell culture condition of a cell line with a labile HER2 expression, caused HER2 loss probably as consequence of more aggressive subpopulations which prevail over the others. These subpopulations showed an increased EMT and stemness profile, confirming that targeting EMT-involved molecules or antigen expressed by cancer stem cells together with anti-HER2 target therapies is a valid strategy to inhibit HER2-positive cells and simultaneously prevent selection of more aggressive clone
New senthesis and derivatizations of peptidomimetics and peptide-conjugates for theranostic applications
Get PDFIn the contest of a modern green chemistry approach, we firstly tried to substituent the classic peptide synthesis approach with the use of N-carboxyanhydrides in the presence of Hydroxyapatite, a high biocompatible inorganic base. Despite the great results, further developments are necessary for a daily use in laboratory and for our research, we decided to proceed with solid phase or liquid phase synthesis.
In the first chapter, the treatment of pain with the use of opioids is introduced. The abuse and misuse of these kind of potent analgesics, led to the necessity of developing new drugs with less side effects. Starting from a previous study, where the introduction of a lactam-like structure in the place of the proline of Endomorphine1, switched the selectivity from MOR to KOR, we designed and synthetized three different libraries by placing a different trans inducer element to gain the desired selectivity and activity forcing the structure to adopt a linear rather than folded position.
In the second chapter, we focused on lactate dehydrogenase, an enzyme overexpressed when the cells in hypoxia conditions, like in a tumour mass, need to produce energy through the transformation of pyruvate into lactate. We synthetized different cyclic peptidomimetics, designed to be inhibitors, as powerful tool to contrast cancer cells growing. Biological assays produced satisfactory preliminary results, but further studies are necessary for a definitive output.
Finally in the last chapter, the cancer treatment problem is also approached through the design of nanoparticles, able to deliver drugs with efficacy and selectivity. We firstly synthetized silica core nanoparticles, built with toxic peptide sequences conjugated through click chemistry with Pluronic acid and then, in collaboration with Miriam Royo’s research group, we synthetized multivalent platforms for used drugs for the treatment of advanced colorectal cancer
Study of the tracking performance of a liquid Argon detector based on a novel optical imaging concept
Get PDFThe Deep Underground Neutrino Experiment (DUNE) is a long-baseline accelerator experiment designed to make a significant contribution to the study of neutrino oscillations with unprecedented sensitivity. The main goal of DUNE is the determination of the neutrino mass ordering and the leptonic CP violation phase, key parameters of the
three-neutrino flavor mixing that have yet to be determined. An important component of the DUNE Near Detector complex is the System for on-Axis Neutrino Detection (SAND) apparatus, which will include GRAIN (GRanular Argon for Interactions of Neutrinos), a novel liquid Argon detector aimed at imaging neutrino interactions using only scintillation light. For this purpose, an innovative optical readout system based on Coded Aperture Masks is investigated. This dissertation aims to demonstrate the feasibility of reconstructing particle tracks and the topology of CCQE (Charged Current Quasi Elastic) neutrino events in GRAIN with such a technique. To this end, the development and implementation of a reconstruction algorithm based on Maximum Likelihood Expectation Maximization was carried out to directly obtain a three-dimensional distribution proportional to the energy deposited by charged particles crossing the LAr volume. This study includes the evaluation of the design of several camera configurations and the simulation of a multi-camera optical system in GRAIN
“Resabios” as subversion. Ethnohistory of the movements of indigenous people, women and workers in the Bolivian «apparent State»
Get PDFLa tesi adotta una prospettiva etnostorica rafforzata da una metodologia etnografica per analizzare lo sviluppo dei processi di politicizzazione nel territorio boliviano dal periodo coloniale ad oggi, collocandoli all’interno di un più ampio sistema di relazioni economiche, politiche e sociali dettate dall’eterogeneo sviluppo del capitalismo globale; la tesi mostra sia il modo specifico in cui, nelle varie contingenze storiche, queste relazioni hanno riorganizzato l’«abigarrada» società boliviana e inciso sui processi di politicizzazione, sia il modo in cui i soggetti hanno contestato e messo in tensione tale riorganizzazione.
Per l’analisi si partirà dalla posizione di quei soggetti che sono stati definiti alternativamente come indios, indigeni, campesinos nel territorio boliviano, guardando alle connessioni politiche che questi hanno messo in campo con diversi soggetti – donne, lavoratori, attivisti urbani. Questa posizione offre una «prospettiva epistemologica privilegiata» per indagare il modo in cui i movimenti sociali impattano nell’articolazione tra Stato, società civile e capitale, non perché tali soggetti sono portatori di un’autenticità alternativa al capitalismo, ma perché il modo in cui riattivano quell’insieme di miti, credenze e residui precapitalistici – i «resabios» – che concorrono alla «memoria larga» delle lotte, innestandoli su elementi introdotti dal capitalismo, mostra la loro capacità di sovvertire la posizione subalterna che la riproduzione del capitale nel territorio boliviano ha imposto loro. Si mostreranno anche le tensioni e i conflitti dati dalle diverse posizioni che donne e uomini, giovani e anziani, figure d’autorità e ‘base’ assumono all’interno della loro identificazione come indigeni.
La ricerca permette di affermare che l’identità indigena è il prodotto della risposta istituzionale che di volta in volta è stata data per neutralizzare l’emergenza politica di soggetti la cui eterogeneità non ha impedito, ma al contrario ha reso possibile, un’accumulazione di forza tale da mettere in crisi gli assetti politici, economici e istituzionali dello Stato post-coloniale.The dissertation employs an ethnohistorical perspective, combined with an ethnographic methodology, to examine the development of politicisation processes in Bolivia from the colonial period to the present day. These processes are viewed within the wider context of economic, political, and social relations shaped by the uneven development of global capitalism. The dissertation demonstrates how these relations have restructured the «abigarrada» Bolivian society and impacted the politicisation processes in various historical contingencies, as well as how the subjects have contested and challenged this restructuring.
The analysis starts from the position of those subjects that have been alternatively defined as indios, indigenous, campesinos within the Bolivian territory, exploring their political connections with different groups, such as women, workers, and urban activists. This approach provides a «privileged epistemological perspective» to understand how social movements influence the relationship between the State, civil society, and capital. The significance of these subjects lies not in their bearing of an alternative authenticity to capitalism, but in their ability to activate a set of myths, beliefs, and pre-capitalist residues – the «resabios» – that contribute to the «memoria larga» of struggles. By grafting these elements onto capitalism, they can subvert the subaltern position imposed on them by the reproduction of capital in Bolivia.
The research also reveals the tensions and conflicts arising from different positions held by indigenous people, including women and men, young and old, and authority figures versus the “base”. The research demonstrates that indigenous identity is a product of the institutional response that has been given to neutralise the political emergence of heterogeneous subjects. Their heterogeneity has made possible an accumulation of strength such as to challenge the post-colonial State’s political, economic, and institutional arrangements
Italian higher education students’ perspectives on internationalization at home and their identity as English as lingua franca users
Get PDFThis study aims to explore the Italian students’ perspectives on using English in English-medium instruction (EMI) programs in light of the practices of internationalization at home (IaH) at the University of Bologna (UNIBO) in Italy and further investigates whether these attitudes affect their language identity as English as lingua franca (ELF) users. To serve this aim, a mixed-method approach was adopted to collect quantitative and in-depth qualitative data in two phases through an online survey and a semi-structured interview. A total number of 78 Italian students participated in the survey, out of which 14 participants were interviewed. The findings of the online survey indicated that most participants (92%) held a positive perspective toward the use of English in EMI programs and the findings from the interviews were in line with the results of the survey. However, the purpose of the interviews was to explore the participants’ views on their language identity as ELF users. Thematic analysis of the interviews revealed that students experience emotional, cognitive, and social transitions in EMI programs in response to their shift from a non-EMI to an EMI academic setting. Overall, all the above-mentioned transitions were positive and could lead to personal development. However, it can be concluded that the EMI context provides few opportunities for the emergence of significant new subject positions mediated by English in this study. The focus on students’ perspectives on the use of English in EMI programs can contribute to the improvement in language policy planning and internationalized curriculum design by policymakers and alleviate tensions over the controversial issue of the Englishization of higher education by considering how EMI students perceive their use of English as ELF users not superior standard English users
Decompositions of powers of quadratic forms
Get PDFWe analyze the Waring decompositions of the powers of any quadratic form over the field of complex numbers. Our main objective is to provide detailed information about their rank and border rank. These forms are of significant importance because of the classical decomposition expressing the space of polynomials of a fixed degree as a direct sum of the spaces of harmonic polynomials multiplied by a power of the quadratic form. Using the fact that the spaces of harmonic polynomials are irreducible representations of the special orthogonal group over the field of complex numbers, we show that the apolar ideal of the s-th power of a non-degenerate quadratic form in n variables is generated by the set of harmonic polynomials of degree s+1. We also generalize and improve upon some of the results about real decompositions, provided by B. Reznick in his notes from 1992, focusing on possibly minimal decompositions and providing new ones, both real and complex. We investigate the rank of the second power of a non-degenerate quadratic form in n variables, which is equal to (n^2+n+2)/2 in most cases. We also study the border rank of any power of an arbitrary ternary non-degenerate quadratic form, which we determine explicitly using techniques of apolarity and a specific subscheme contained in its apolar ideal. Based on results about smoothability, we prove that the smoothable rank of the s-th power of such form corresponds exactly to its border rank and to the rank of its middle catalecticant matrix, which is equal to (s+1)(s+2)/2