Trasmission and Reflection (ATR)Far-Infrared Spectroscopy Applied in the Analysis of Cultural Heritage Materials

FIR spectroscopy is an alternative way of collecting spectra of many inorganic pigments and corrosion products found on art objects, which is not normally observed in the MIR region. Most FIR spectra are traditionally collected in transmission mode but as a real novelty it is now also possible to record FIR spectra in ATR (Attenuated Total Reflectance) mode. In FIR transmission we employ polyethylene (PE) for preparation of pellets by embedding the sample in PE. Unfortunately, the preparation requires heating of the PE in order to produces at transparent pellet. This will affect compounds with low melting points, especially those with structurally incorporated water. Another option in FIR transmission is the use of thin films. We test the use of polyethylene thin film (PETF), both commercial and laboratory-made PETF. ATR collection of samples is possible in both the MIR and FIR region on solid, powdery or liquid samples. Changing from the MIR to the FIR region is easy as it simply requires the change of detector and beamsplitter (which can be performed within a few minutes). No preparation of the sample is necessary, which is a huge advantage over the PE transmission method. The most obvious difference, when comparing transmission with ATR, is the distortion of band shape (which appears asymmetrical in the lower wavenumber region) and intensity differences. However, the biggest difference can be the shift of strong absorbing bands moving to lower wavenumbers in ATR mode. The sometimes huge band shift necessitates the collection of standard library spectra in both FIR transmission and ATR modes, provided these two methods of collecting are to be employed for analyses of unknown samples. Standard samples of 150 pigment and corrosion compounds are thus collected in both FIR transmission and ATR mode in order to build up a digital library of spectra for comparison with unknown samples. XRD, XRF and Raman spectroscopy assists us in confirming the purity or impurity of our standard samples. 24 didactic test tables, with known pigment and binder painted on the surface of a limestone tablet, are used for testing the established library and different ways of collecting in ATR and transmission mode. In ATR, micro samples are scratched from the surface and examined in both the MIR and FIR region. Additionally, direct surface contact of the didactic tablets with the ATR crystal are tested together with water enhanced surface contact. In FIR transmission we compare the powder from our test tablet on the laboratory PETF and embedded in PE. We also compare the PE pellets collected using a 4x beam condenser, focusing the IR beam area from 8 mm to 2 mm. A few samples collected from a mural painting in a Nepalese temple, corrosion products collected from archaeological Chinese bronze objects and samples from a mural paintings in an Italian abbey, are examined by ATR or transmission spectroscopy.

Historic and modern alloys: atmospheric corrosion and development of accelerated ageing methodologies

The atmospheric corrosion of modern and historic alloys used in cultural heritage has been investigated by applying specific accelerated ageing methods. Three main research lines were carried out, involving different materials. In the first part, the atmospheric corrosion of a modern Cu-3Si-1Mn bronze was investigated through accelerated ageing tests simulating outdoor runoff conditions. The corrosion processes were evaluated through different analyses, and the results obtained were compared to those of a traditional quaternary bronze. The second line was carried out to characterise historic aluminium alloys used in aeronautics to develop and apply innovative protection strategies for their conservation. Historic wrecks were identified and characterised through micro and macroscale observations. Moreover, accelerated ageing tests were performed on both historic and modern alloys to compare their behaviour and select the best modern substrate to be used for the development of effective coatings. The third research line aimed to develop accelerate sampling and ageing methods to investigate the role of particulate matter (PM) in the atmospheric corrosion of bronzes and metals in general. The first approach consisted in the fine-tuning of an efficient accelerated method for ambient PM sampling on bronze specimens followed by their accelerated ageing, in order to establish a correlation between the PM and the substrate’s corrosion. After the accelerated ageing of the specimens, the corrosion was evaluated by surface characterisation and correlated to the PM features. The second approach consisted in the development of a synthetic PM formulation and of an artificial deposition method, which was performed by spraying mixtures containing the main PM inorganic fractions on a G-85 bronze with an airbrush. The deposition efficiency was assessed, and the effect of synthetic PM on the bronze corrosion was evaluated. The results were compared to those obtained by ambient PM deposition.

Trajectory planning of single and dual-arm robots for time-optimal handling of liquids and objects

This Thesis studies the optimal control problem of single-arm and dual-arm serial robots to achieve the time-optimal handling of liquids and objects. The first topic deals with the planning of time-optimal anti-sloshing trajectories of an industrial robot carrying a cylindrical container filled with a liquid, considering 1-dimensional and 2-dimensional planar motions. A technique for the estimation of the sloshing height is presented, together with its extension to 3-dimensional motions. An experimental validation campaign is provided and discussed to assess the thoroughness of such a technique. As far as anti-sloshing trajectories are concerned, 2-dimensional paths are considered and, for each one of them, three constrained optimizations with different values of the sloshing-height thresholds are solved. Experimental results are presented to compare optimized and non-optimized motions. The second part focuses on the time-optimal trajectory planning for dual-arm object handling, employing two collaborative robots (cobots) and adopting an admittance-control strategy. The chosen manipulation approach, known as cooperative grasping, is based on unilateral contact between the cobots and the object, and it may lead to slipping during motion if an internal prestress along the contact-normal direction is not prescribed. Thus, a virtual penetration is considered, aimed at generating the necessary internal prestress. The stability of cooperative grasping is ensured as long as the exerted forces on the object remain inside the static-friction cone. Constrained-optimization problems are solved for 3-dimensional paths: the virtual penetration is chosen among the control inputs of the problem and friction-cone conditions are treated as inequality constraints. Also in this case experiments are presented in order to prove evidence of the firm handling of the object, even for fast motions.

Properties of gas and dark matter in X-ray galaxy clusters with Sunyaev Zel'dovich measurements

I have studied entropy profiles obtained in a sample of 24 X-ray objects at high redshift retrieved from the Chandra archive. I have discussed the scaling properties of the entropy S, the correlation between metallicity Z and S, the profiles of the temperature of the gas, Tgas, and performed a comparison between the dark matter 'temperature' and Tgas in order to constrain the non-gravitational processes which affect the thermal history of the gas. Furthermore I have studied the scaling relations between the X-ray quantities and Sunyaev Zel'dovich measurements. I have observed that X-ray laws are steeper than the relations predicted from the adiabatic model. These deviations from expectations based on self-similarity are usually interpreted in terms of feedback processes leading to non-gravitational gas heating, and suggesting a scenario in which the ICM at higher redshift has lower both X-ray luminosity and pressure in the central regions than the expectations from self-similar model. I have also investigated a Bayesian X-ray and Sunyaev Zel'dovich analysis, which allows to study the external regions of the clusters well beyond the volumes resolved with X-ray observations (1/3-1/2 of the virial radius), to measure the deprojected physical cluster properties, like temperature, density, entropy, gas mass and total mass up to the virial radius.

In defence of modeling simultaneity for a correct approximation of cultural aspects: implications for food consumers studies with latent variables

Dealing with latent constructs (loaded by reflective and congeneric measures) cross-culturally compared means studying how these unobserved variables vary, and/or covary each other, after controlling for possibly disturbing cultural forces. This yields to the so-called ‘measurement invariance’ matter that refers to the extent to which data collected by the same multi-item measurement instrument (i.e., self-reported questionnaire of items underlying common latent constructs) are comparable across different cultural environments. As a matter of fact, it would be unthinkable exploring latent variables heterogeneity (e.g., latent means; latent levels of deviations from the means (i.e., latent variances), latent levels of shared variation from the respective means (i.e., latent covariances), levels of magnitude of structural path coefficients with regard to causal relations among latent variables) across different populations without controlling for cultural bias in the underlying measures. Furthermore, it would be unrealistic to assess this latter correction without using a framework that is able to take into account all these potential cultural biases across populations simultaneously. Since the real world ‘acts’ in a simultaneous way as well. As a consequence, I, as researcher, may want to control for cultural forces hypothesizing they are all acting at the same time throughout groups of comparison and therefore examining if they are inflating or suppressing my new estimations with hierarchical nested constraints on the original estimated parameters. Multi Sample Structural Equation Modeling-based Confirmatory Factor Analysis (MS-SEM-based CFA) still represents a dominant and flexible statistical framework to work out this potential cultural bias in a simultaneous way. With this dissertation I wanted to make an attempt to introduce new viewpoints on measurement invariance handled under covariance-based SEM framework by means of a consumer behavior modeling application on functional food choices.