Model predictive flight control systems for rotorcraft UAS

Constraints are widely present in the flight control problems: actuators saturations or flight envelope limitations are only some examples of that. The ability of Model Predictive Control (MPC) of dealing with the constraints joined with the increased computational power of modern calculators makes this approach attractive also for fast dynamics systems such as agile air vehicles. This PhD thesis presents the results, achieved at the Aerospace Engineering Department of the University of Bologna in collaboration with the Dutch National Aerospace Laboratories (NLR), concerning the development of a model predictive control system for small scale rotorcraft UAS. Several different predictive architectures have been evaluated and tested by means of simulation, as a result of this analysis the most promising one has been used to implement three different control systems: a Stability and Control Augmentation System, a trajectory tracking and a path following system. The systems have been compared with a corresponding baseline controller and showed several advantages in terms of performance, stability and robustness.

Systematic studies of protein immobilization by surface plasmon field-enhanced fluorescence spectroscopy

The research interest of this study is to investigate surface immobilization strategies for proteins and other biomolecules by the surface plasmon field-enhanced fluorescence spectroscopy (SPFS) technique. The recrystallization features of the S-layer proteins and the possibility of combining the S-layer lattice arrays with other functional molecules make this protein a prime candidate for supramolecular architectures. The recrystallization behavior on gold or on the secondary cell wall polymer (SCWP) was recorded by SPR. The optical thicknesses and surface densities for different protein layers were calculated. In DNA hybridization tests performed in order to discriminate different mismatches, recombinant S-layer-streptavidin fusion protein matrices showed their potential for new microarrays. Moreover, SCWPs coated gold chips, covered with a controlled and oriented assembly of S-layer fusion proteins, represent an even more sensitive fluorescence testing platform. Additionally, S-layer fusion proteins as the matrix for LHCII immobilization strongly demonstrate superiority over routine approaches, proving the possibility of utilizing them as a new strategy for biomolecular coupling. In the study of the SPFS hCG immunoassay, the biophysical and immunological characteristics of this glycoprotein hormone were presented first. After the investigation of the effect of the biotin thiol dilution on the coupling efficiently, the interfacial binding model including the appropriate binary SAM structure and the versatile streptavidin-biotin interaction was chosen as the basic supramolecular architecture for the fabrication of a SPFS-based immunoassay. Next, the affinity characteristics between different antibodies and hCG were measured via an equilibrium binding analysis, which is the first example for the titration of such a high affinity interaction by SPFS. The results agree very well with the constants derived from the literature. Finally, a sandwich assay and a competitive assay were selected as templates for SPFS-based hCG detection, and an excellent LOD of 0.15 mIU/ml was attained via the “one step” sandwich method. Such high sensitivity not only fulfills clinical requirements, but is also better than most other biosensors. Fully understanding how LHCII complexes transfer the sunlight energy directionally and efficiently to the reaction center is potentially useful for constructing biomimetic devices as solar cells. After the introduction of the structural and the spectroscopic features of LHCII, different surface immobilization strategies of LHCII were summarized next. Among them the strategy based on the His-tag and the immobilized metal (ion) affinity chromatography (IMAC) technique were of great interest and resulted in different kinds of home-fabricated His-tag chelating chips. Their substantial protein coupling capacity, maintenance of high biological activity and a remarkably repeatable binding ability on the same chip after regeneration was demonstrated. Moreover, different parameters related to the stability of surface coupled reconstituted complexes, including sucrose, detergent, lipid, oligomerization, temperature and circulation rate, were evaluated in order to standardize the most effective immobilization conditions. In addition, partial lipid bilayers obtained from LHCII contained proteo-liposomes fusion on the surface were observed by the QCM technique. Finally, the inter-complex energy transfer between neighboring LHCIIs on a gold protected silver surface by excitation with a blue laser (λ = 473nm) was recorded for the first time, and the factors influencing the energy transfer efficiency were evaluated.

Workflow Patterns for Service Oriented Computing in JOLIE

Il presente lavoro di tesi ha come punto focale la descrizione, la verifica e la dimostrazione della realizzabilità dei Workflow Patterns di Gestione del Flusso(Control-Flow) e Risorse (Resource) definiti da parte della Workflow Pattern Initiative (WPI)in JOLIE, un innovativo linguaggio di programmazione orientato ai servizi nato nell'ambito del Service Oriented Computing. Il Service Oriented Computing (SOC) è un nuovo modo di pensare la programmazione di applicazioni distribuite, i cui concetti fondamentali sono i servizi e la composizione. L’approccio SOC definisce la possibilità di costruire un’applicazione in funzione dei servizi che ne realizzano il comportamento tramite una loro composizione, definita secondo un particolare flusso di lavoro. Allo scopo di fornire la necessaria conoscenza per capire la teoria, le meccaniche e i costrutti di JOLIE utilizzati per la realizzazione dei pattern, il seguente lavoro di tesi è stato diviso in quattro parti, corrispondenti ad altrettanti capitoli. Nel primo capitolo viene riportata una descrizione generale del SOC e della Business Process Automation (BPA), che costituisce l’ambiente in cui il SOC è inserito. Per questo viene fatta una disamina della storia informatica sui sistemi distribuiti, fino ad arrivare ai sistemi odierni, presentando in seguito il contesto del BPA e delle innovazioni derivanti dalle sue macro-componenti, di cui il SOC fa parte. Continuando la descrizione dell’approccio Service Oriented, ne vengono presentati i requisiti (pre-condizioni) e si cerca di dare una definizione precisa del termine “servizio”, fino all'enunciazione dei principi SOC declinati nell’ottica delle Service Oriented Architectures, presentando in ultimo i metodi di composizione dei servizi, tramite orchestrazione e coreografia. L’ultima sezione del capitolo prende in considerazione il SOC in un’ottica prettamente industriale e ne evidenzia i punti strategici. Il secondo capitolo è incentrato sulla descrizione di JOLIE, gli aspetti fondamentali dell’approccio orientato ai servizi, che ne caratterizzano profondamente la definizione concettuale (SOCK), e la teoria della composizione dei servizi. Il capitolo non si pone come una descrizione esaustiva di tutte le funzionalità del linguaggio, ma considera soprattutto i concetti teorici, le strutture di dati, gli operatori e i costrutti di JOLIE utilizzati per la dimostrazione della realizzabilità dei Workflow Pattern del capitolo successivo. Il terzo capitolo, più lungo e centrale rispetto agli altri, riguarda la realizzazione dei workflow pattern in JOLIE. All'inizio del capitolo viene fornita una descrizione delle caratteristiche del WPI e dei Workflow Pattern in generale. In seguito, nelle due macro-sezioni relative ai Control-Flow e Resource pattern vengono esposte alcune nozioni riguardanti le metodologie di definizione dei pattern (e.g. la teoria sulla definizione delle Colored Petri Nets) e le convezioni adottate dal WPI, per passare in seguito al vero e proprio lavoro (sperimentale) di tesi riguardo la descrizione dei pattern, l’analisi sulla loro realizzabilità in JOLIE, insieme ad un codice di esempio che esemplifica quanto affermato dall'analisi. Come sommario delle conclusioni raggiunte sui pattern, alla fine di ognuna delle due sezioni definite in precedenza, è presente una scheda di valutazione che, con lo stesso metodo utilizzato e definito dalla WPI, permette di avere una rappresentazione generale della realizzabilità dei pattern in JOLIE. Il quarto capitolo riguarda gli esiti tratti dal lavoro di tesi, riportando un confronto tra le realizzazioni dei pattern in JOLIE e le valutazioni del WPI rispetto agli altri linguaggi da loro considerati e valutati. Sulla base di quanto ottenuto nel terzo capitolo vengono definite le conclusioni del lavoro portato avanti sui pattern e viene delineato un’eventuale scenario riguardante il proseguimento dell’opera concernente la validazione ed il completamento della studio. In ultimo vengono tratte alcune conclusioni sia riguardo JOLIE, nel contesto evolutivo del linguaggio e soprattutto del progetto open-source che è alla sua base, sia sul SOC, considerato nell’ambito del BPA e del suo attuale ambito di sviluppo dinamico.

The potential of the 3-UPU translational parallel manipulator and a procedure to select the best architecture

The 3-UPU three degrees of freedom fully parallel manipulator, where U and P are for universal and prismatic pair respectively, is a very well known manipulator that can provide the platform with three degrees of freedom of pure translation, pure rotation or mixed translation and rotation with respect to the base, according to the relative directions of the revolute pair axes (each universal pair comprises two revolute pairs with intersecting and perpendicular axes). In particular, pure translational parallel 3-UPU manipulators (3-UPU TPMs) received great attention. Many studies have been reported in the literature on singularities, workspace, and joint clearance influence on the platform accuracy of this manipulator. However, much work has still to be done to reveal all the features this topology can offer to the designer when different architecture, i.e. different geometry are considered. Therefore, this dissertation will focus on this type of the 3-UPU manipulators. The first part of the dissertation presents six new architectures of the 3-UPU TPMs which offer interesting features to the designer. In the second part, a procedure is presented which is based on some indexes, in order to allows the designer to select the best architecture of the 3-UPU TPMs for a given task. Four indexes are proposed as stiffness, clearance, singularity and size of the manipulator in order to apply the procedure.

Cooperative teleoperation systems

This thesis deals with the studies on the Cooperative Teleoperation Systems. The literature on cooperative teleoperation did not take into account control architectures composed of pairs of wave-based bilateral teleoperators operating in a shared environment. In this work The author two cooperative control schemes based on wave variables by considering two pairs of single-master/single-slave devices collaborating to carry out operations in a shared remote environment are proposed. Such architectures have been validated both with simulations and experimental tests. Ch. 2 introduces a description of the two control architectures proposed and presents some simulation results where the cooperative teleoperation systems evolve in free space and in contact with a stiff wall. In the Ch. 3 some experimental results which confirm the positive results of the control schemes are illustred. Such results have been achieved by using a prototype custom built at Laboratory of Automaiton and Robotics of University of Bologna, which is also illustrated in this chapter. In Ch. 4 the problem of defining proper tools and procedures for an analysis, and possibly a comparison, of the performances of cooperative teleoperation systems is addressed. In particular, a novel generalization of criteria adopted for classical (i.e. one master-one slave) teleoperators is presented and illustrated on the basis of the force-position and the position-position cooperative control schemes proposed in Ch. 2, both from a transparency and stability point of view, and by assuming a null time delay in the communication channel.

Analyse von Middleware-Technologien bzgl. Performanz und ihrer Eignung für lose und eng gekoppelte verteilte Anwendungen

Die vorliegende Dissertation analysiert die Middleware- Technologien CORBA (Common Object Request Broker Architecture), COM/DCOM (Component Object Model/Distributed Component Object Model), J2EE (Java-2-Enterprise Edition) und Web Services (inklusive .NET) auf ihre Eignung bzgl. eng und lose gekoppelten verteilten Anwendungen. Zusätzlich werden primär für CORBA die dynamischen CORBA-Komponenten DII (Dynamic Invocation Interface), IFR (Interface Repository) und die generischen Datentypen Any und DynAny (dynamisches Any) im Detail untersucht. Ziel ist es, a. konkrete Aussagen über diese Komponenten zu erzielen, und festzustellen, in welchem Umfeld diese generischen Ansätze ihre Berechtigung finden. b. das zeitliche Verhalten der dynamischen Komponenten bzgl. der Informationsgewinnung über die unbekannten Objekte zu analysieren. c. das zeitliche Verhalten der dynamischen Komponenten bzgl. ihrer Kommunikation zu messen. d. das zeitliche Verhalten bzgl. der Erzeugung von generischen Datentypen und das Einstellen von Daten zu messen und zu analysieren. e. das zeitliche Verhalten bzgl. des Erstellens von unbekannten, d. h. nicht in IDL beschriebenen Datentypen zur Laufzeit zu messen und zu analysieren. f. die Vorzüge/Nachteile der dynamischen Komponenten aufzuzeigen, ihre Einsatzgebiete zu definieren und mit anderen Technologien wie COM/DCOM, J2EE und den Web Services bzgl. ihrer Möglichkeiten zu vergleichen. g. Aussagen bzgl. enger und loser Koppelung zu tätigen. CORBA wird als standardisierte und vollständige Verteilungsplattform ausgewählt, um die o. a. Problemstellungen zu untersuchen. Bzgl. seines dynamischen Verhaltens, das zum Zeitpunkt dieser Ausarbeitung noch nicht oder nur unzureichend untersucht wurde, sind CORBA und die Web Services richtungsweisend bzgl. a. Arbeiten mit unbekannten Objekten. Dies kann durchaus Implikationen bzgl. der Entwicklung intelligenter Softwareagenten haben. b. der Integration von Legacy-Applikationen. c. der Möglichkeiten im Zusammenhang mit B2B (Business-to-Business). Diese Problemstellungen beinhalten auch allgemeine Fragen zum Marshalling/Unmarshalling von Daten und welche Aufwände hierfür notwendig sind, ebenso wie allgemeine Aussagen bzgl. der Echtzeitfähigkeit von CORBA-basierten, verteilten Anwendungen. Die Ergebnisse werden anschließend auf andere Technologien wie COM/DCOM, J2EE und den Web Services, soweit es zulässig ist, übertragen. Die Vergleiche CORBA mit DCOM, CORBA mit J2EE und CORBA mit Web Services zeigen im Detail die Eignung dieser Technologien bzgl. loser und enger Koppelung. Desweiteren werden aus den erzielten Resultaten allgemeine Konzepte bzgl. der Architektur und der Optimierung der Kommunikation abgeleitet. Diese Empfehlungen gelten uneingeschränkt für alle untersuchten Technologien im Zusammenhang mit verteilter Verarbeitung.

I progetti di Oswald Mathias Ungers per la città di Treviri. Questioni di composizione architettonica

Abstract This PhD thesis focuses on two projects carried out by Oswald Mathias Ungers in the city of Trier. More specifi cally, this study focuses on the relationship between composition principles, architectural forms, historical context and the nature of the city where these buildings have been built. The works carried out by Ungers in Trier are unique experiences - if taken in this master’s works context - and each one of them refl ects - in its specifi c project and architectural composition theme - the results - in terms of design - of a complex research on the fundamentals of architecture carried out by Ungers in more than fi ve decades of his activity. The theoretical and compositional experiment aspect is one of the main subjects to defi ne these buildings in terms of architecture. This aspect is so crucial that it is possible to consider them as an example of radical and specifi c experiences, referred to a specifi c place and based on a specifi c theoretical corpus. More specifi cally, this study focuses on the design activity carried out by Ungers in this city, mainly between the 80s and 90s and in the fi rst decade of the 21st century. It puts forward an interpretation that does not only defi ne the essential features, elements and questions lying behind these two architectures, but fi rst and foremost analyzes the theoretical, methodological and compositional relationship between Ungers and Trier, his adopted city. An increasingly closer relationship between the architect and his city highlights the wider relationship network established between the place and the projects carried out by Ungers in this city and makes it possible to understand the importance of Trier in the work of this architect, in his education and in his way to see, think and make architecture. The projects analyzed - the Thermen am Forum Museum (1988-1996) and the Kaiserthermen entrance hall (2003-2007) - were analyzed in terms of their architectural composition in an attempt to highlight the poetry of these architectures and to fi nd out their progressive, rational - and therefore transmissible - character. This study is an attempt to assess and unveil the compositional themes characterizing these projects while detecting the compositional principles lying behind the works and verifying the design process through which such principles were translated into architecture. Looking at these works as architectural composition examples makes it possible to clarify Ungers’ hermeneutic relationship established with the city’s history and structure. More specifi cally, the main subject of this thesis is the relationship between the architect, his city and history in the architectural solutions offered by two exemplary case studies, which were both built and placed in the historical city center of Trier and both connected with the ancient core of the city. The Thermen am Forum Museum and the Kaiserthermen entrance hall projects are - though being developed at different times of Ungers’ architectural life and though being extremely different in terms of approach to their context, due to their architectural image - two works that can be compared with the historical heritage of the city and this makes them ideal examples of the relationship between architectural forms, history and environment.

Physical models for numerical simulation of Si-based nanoscale FETs and sensors

To continuously improve the performance of metal-oxide-semiconductor field-effect-transistors (MOSFETs), innovative device architectures, gate stack engineering and mobility enhancement techniques are under investigation. In this framework, new physics-based models for Technology Computer-Aided-Design (TCAD) simulation tools are needed to accurately predict the performance of upcoming nanoscale devices and to provide guidelines for their optimization. In this thesis, advanced physically-based mobility models for ultrathin body (UTB) devices with either planar or vertical architectures such as single-gate silicon-on-insulator (SOI) field-effect transistors (FETs), double-gate FETs, FinFETs and silicon nanowire FETs, integrating strain technology and high-κ gate stacks are presented. The effective mobility of the two-dimensional electron/hole gas in a UTB FETs channel is calculated taking into account its tensorial nature and the quantization effects. All the scattering events relevant for thin silicon films and for high-κ dielectrics and metal gates have been addressed and modeled for UTB FETs on differently oriented substrates. The effects of mechanical stress on (100) and (110) silicon band structures have been modeled for a generic stress configuration. Performance will also derive from heterogeneity, coming from the increasing diversity of functions integrated on complementary metal-oxide-semiconductor (CMOS) platforms. For example, new architectural concepts are of interest not only to extend the FET scaling process, but also to develop innovative sensor applications. Benefiting from properties like large surface-to-volume ratio and extreme sensitivity to surface modifications, silicon-nanowire-based sensors are gaining special attention in research. In this thesis, a comprehensive analysis of the physical effects playing a role in the detection of gas molecules is carried out by TCAD simulations combined with interface characterization techniques. The complex interaction of charge transport in silicon nanowires of different dimensions with interface trap states and remote charges is addressed to correctly reproduce experimental results of recently fabricated gas nanosensors.

Responsive Bürstenpolymere

'Responsive' Bürstenpolymere Bürstenpolymere sind definiert verzweigte Makromoleküle, die aus einer Hauptkette und vielen darauf (kovalent) gepfropften Seitenketten bestehen; ist der Pfropfungsgrad hoch und die Hauptkette wesentlich länger als die Seitenketten, dann haben sie die Form semiflexibler molekularer Zylinder. Lassen sich Form bzw. Ausdehnung eines solchen Zylinders gezielt ansteuern, dann könnten diese Moleküle entweder als (Nano-)Sensoren für die entsprechende Umgebungsbedingung oder als molekulare Motoren eingesetzt werden. Die Idee responsiver Bürstenpolymere beruht auf folgender Überlegung: Die gestreckte Konformation der Hauptkette ist entropisch gegenüber einem entsprechenden Knäuel benachteiligt, weshalb sie ,molekulare Federn‘ darstellen, die auf Änderung der repulsiven Wechselwirkung zwischen den Seitenketten reagieren. Dies wurde für den Wechsel zwischen gutem und schlechtem Lösungsmitteln untersucht. Ein zweites Konzept zur Änderung der Molekülform beruht auf der intramolekularen Phasentrennung (,Segmentbildung‘) miteinander unverträglicher Seitenketten in selektiven Lösungsmitteln, da die Hauptkette durch Ausbildung von Mikrophasen entlang des Moleküls ebenfalls aus ihrer gestreckten Form gebracht werden sollte. Die dritte Möglichkeit zur Änderung der Konformation ist die intramolekulare Vernetzung von Seitenketten, die ebenfalls zu verringerter Abstoßung und damit zur Verkürzung der Zylinder führen sollte. Eine weitere wichtige Untersuchung der Arbeit war der Übergang einer geknäuelten Hauptkette zu einer gestreckten Bürste als Funktion der Pfropfdichte. Zur Beantwortung dieser Fragestellungen wurden zylindrische Bürstenpolymere durch ,Grafting Trough‘ und ,Grafting Onto‘ synthetisiert (PS bzw. PI/PS und PnBMA/PMAA mit Kern/Schale- und ,Segment‘-Architektur) und systematisch Pfropfdichte, Vernetzungsgrad (Vernetzung durch gamma-Bestrahlung) und Lösungsbedingungen verändert. Die Möglichkeit gezielter Ansteuerung der Konformationsänderung durch Vernetzung konnte nach polymeranaloger Modifikation von PI/PS-Bürstenpolymeren durch Photovernetzung und vernetzende Komplexierung erfolgreich bestätigt werden. Zur Untersuchung der Probenreihen wurden AFM, Licht- und Neutronenstreuung herangezogen. Die Analysen bestätigten konsistent die Änderung von Steifigkeit, Zylinderquerschnitt und Streckung der Hauptkette durch Variation von Pfropfdichte, Vernetzung und Lösungsmittelqualität. Für die Änderung der Pfropfdichte gehorchen die Parameter dabei Potenzgesetzen.

Statistical mechanics of protein complexed and condensed DNA

In this thesis I treat various biophysical questions arising in the context of complexed / ”protein-packed” DNA and DNA in confined geometries (like in viruses or toroidal DNA condensates). Using diverse theoretical methods I consider the statistical mechanics as well as the dynamics of DNA under these conditions. In the first part of the thesis (chapter 2) I derive for the first time the single molecule ”equation of state”, i.e. the force-extension relation of a looped DNA (Eq. 2.94) by using the path integral formalism. Generalizing these results I show that the presence of elastic substructures like loops or deflections caused by anchoring boundary conditions (e.g. at the AFM tip or the mica substrate) gives rise to a significant renormalization of the apparent persistence length as extracted from single molecule experiments (Eqs. 2.39 and 2.98). As I show the experimentally observed apparent persistence length reduction by a factor of 10 or more is naturally explained by this theory. In chapter 3 I theoretically consider the thermal motion of nucleosomes along a DNA template. After an extensive analysis of available experimental data and theoretical modelling of two possible mechanisms I conclude that the ”corkscrew-motion” mechanism most consistently explains this biologically important process. In chapter 4 I demonstrate that DNA-spools (architectures in which DNA circumferentially winds on a cylindrical surface, or onto itself) show a remarkable ”kinetic inertness” that protects them from tension-induced disruption on experimentally and biologically relevant timescales (cf. Fig. 4.1 and Eq. 4.18). I show that the underlying model establishes a connection between the seemingly unrelated and previously unexplained force peaks in single molecule nucleosome and DNA-toroid stretching experiments. Finally in chapter 5 I show that toroidally confined DNA (found in viruses, DNAcondensates or sperm chromatin) undergoes a transition to a twisted, highly entangled state provided that the aspect ratio of the underlying torus crosses a certain critical value (cf. Eq. 5.6 and the phase diagram in Fig. 5.4). The presented mechanism could rationalize several experimental mysteries, ranging from entangled and supercoiled toroids released from virus capsids to the unexpectedly short cholesteric pitch in the (toroidaly wound) sperm chromatin. I propose that the ”topological encapsulation” resulting from our model may have some practical implications for the gene-therapeutic DNA delivery process.

Double-stimulus sensitive (temperature and pH) self-assemblable polymers

The rheological properties of block co-polymers in water solution at different pH have been investigated. The block copolymers are based on different architectures containing poly(ethylene glycol), poly(propylene glycol) and different blocks of polymer that change their hydrophobic/hydrophilic behavior as a function of pH. The polymer chains of the starting material were extended at their functional ends with the pH-sensitive units using ATRP; this mechanism of controlled radical polymerization was chosen because of the need to minimize polydispersity and avoid transfer reactions possibly leading to homopolymeric inpurities. The starting material were modified in order to use them as macroinitiator for ATRP. The kinetic of each ATRP reaction has been investigated, in order to be able to synthesize polymers with different degree of polymerization, stopping the reaction when the desired polymers chain length has been reached. We will use polymer chains with different basicity and degree of polymerization to link any possible effect of their presence to the conditions under which they become hydrophobic. It has been shown that the rate of polymerization changes changing the type of macroinitiator and the type of monomer synthesized. The slowest rate of polymerization is the one with the most hindered monomer synthesized using the macroinitiator with the highest molecular weight. The water solubility of the synthesized polymers changes depending on the pH of the solution and on the structure of the polymers. It has been shown using 1H-NMR that some of the synthesized polymers are capable to self-aggregation in water solution. The self-aggregation and the type of aggregation is influenced from the structure of the polymer and from the pH of the solution. Changing the structure of the polymers and the pH it is possible to obtain different type of aggregates in solution. This aggregates differ for the volume occupied from them, and for their hardness. Rheological measurements have been demonstrated that the synthesized polymers are capable to form gel phases. The gelation temperature changes changing the structure of the aggregates in solution and it is possible to correlate the changing in the gelation temperature with the changing in the structure of the polymer.

MetaVaccinology: a new vaccine discovery tool

In the last decade, the reverse vaccinology approach shifted the paradigm of vaccine discovery from conventional culture-based methods to high-throughput genome-based approaches for the development of recombinant protein-based vaccines against pathogenic bacteria. Besides reaching its main goal of identifying new vaccine candidates, this new procedure produced also a huge amount of molecular knowledge related to them. In the present work, we explored this knowledge in a species-independent way and we performed a systematic in silico molecular analysis of more than 100 protective antigens, looking at their sequence similarity, domain composition and protein architecture in order to identify possible common molecular features. This meta-analysis revealed that, beside a low sequence similarity, most of the known bacterial protective antigens shared structural/functional Pfam domains as well as specific protein architectures. Based on this, we formulated the hypothesis that the occurrence of these molecular signatures can be predictive of possible protective properties of other proteins in different bacterial species. We tested this hypothesis in Streptococcus agalactiae and identified four new protective antigens. Moreover, in order to provide a second proof of the concept for our approach, we used Staphyloccus aureus as a second pathogen and identified five new protective antigens. This new knowledge-driven selection process, named MetaVaccinology, represents the first in silico vaccine discovery tool based on conserved and predictive molecular and structural features of bacterial protective antigens and not dependent upon the prediction of their sub-cellular localization.

Singularity-Free Fully-Isotropic Translational Parallel Manipulators

Parallel mechanisms show desirable characteristics such as a large payload to robot weight ratio, considerable stiffness, low inertia and high dynamic performances. In particular, parallel manipulators with fewer than six degrees of freedom have recently attracted researchers’ attention, as their employ may prove valuable in those applications in which a higher mobility is uncalled-for. The attention of this dissertation is focused on translational parallel manipulators (TPMs), that is on parallel manipulators whose output link (platform) is provided with a pure translational motion with respect to the frame. The first part deals with the general problem of the topological synthesis and classification of TPMs, that is it identifies the architectures that TPM legs must possess for the platform to be able to freely translate in space without altering its orientation. The second part studies both constraint and direct singularities of TPMs. In particular, special families of fully-isotropic mechanisms are identified. Such manipulators exhibit outstanding properties, as they are free from singularities and show a constant orthogonal Jacobian matrix throughout their workspace. As a consequence, both the direct and the inverse position problems are linear and the kinematic analysis proves straightforward.

Synthesis and surface modification of semiconductor nanocrystals

The last decade has witnessed an exponential growth of activities in the field of nanoscience and nanotechnology worldwide, driven both by the excitement of understanding new science and by the potential hope for applications and economic impacts. The largest activity in this field up to date has been in the synthesis and characterization of new materials consisting of particles with dimensions in the order of a few nanometers, so-called nanocrystalline materials. [1-8] Semiconductor nanomaterials such as III/V or II/VI compound semiconductors exhibit strong quantum confinement behavior in the size range from 1 to 10 nm. Therefore, preparation of high quality semiconductor nanocrystals has been a challenge for synthetic chemists, leading to the recent rapid progress in delivering a wide variety of semiconducting nanomaterials. Semiconductor nanocrystals, also called quantum dots, possess physical properties distinctly different from those of the bulk material. Typically, in the size range from 1 to 10 nm, when the particle size is changed, the band gap between the valence and the conduction band will change, too. In a simple approximation a particle in a box model has been used to describe the phenomenon[9]: at nanoscale dimensions the degenerate energy states of a semiconductor separate into discrete states and the system behaves like one big molecule. The size-dependent transformation of the energy levels of the particles is called “quantum size-effect”. Quantum confinement of both the electron and hole in all three dimensions leads to an increase in the effective bandgap of the material with decreasing crystallite size. Consequently, both the optical absorption and emission of semiconductor nanaocrystals shift to the blue (higher energies) as the size of the particles gets smaller. This color tuning is well documented for CdSe nanocrystals whose absorption and emission covers almost the whole visible spectral range. As particle sizes become smaller the ratio of surface atoms to those in the interior increases, which has a strong impact on particle properties, too. Prominent examples are the low melting point [8] and size/shape dependent pressure resistance [10] of semiconductor nanocrystals. Given the size dependence of particle properties, chemists and material scientists now have the unique opportunity to change the electronic and chemical properties of a material by simply controlling the particle size. In particular, CdSe nanocrystals have been widely investigated. Mainly due to their size-dependent optoelectronic properties [11, 12] and flexible chemical processibility [13], they have played a distinguished role for a number of seminal studies [11, 12, 14, 15]. Potential technical applications have been discussed, too. [8, 16-27] Improvement of the optoelectronic properties of semiconductor nanocrystals is still a prominent research topic. One of the most important approaches is fabricating composite type-I core-shell structures which exhibit improved properties, making them attractive from both a fundamental and a practical point of view. Overcoating of nanocrystallites with higher band gap inorganic materials has been shown to increase the photoluminescence quantum yields by eliminating surface nonradiative recombination sites. [28] Particles passivated with inorganic shells are more robust than nanocrystals covered by organic ligands only and have greater tolerance to processing conditions necessary for incorporation into solid state structures or for other applications. Some examples of core-shell nanocrystals reported earlier include CdS on CdSe [29], CdSe on CdS, [30], ZnS on CdS, [31] ZnS on CdSe[28, 32], ZnSe on CdSe [33] and CdS/HgS/CdS [34]. The characterization and preparation of a new core-shell structure, CdSe nanocrystals overcoated by different shells (CdS, ZnS), is presented in chapter 4. Type-I core-shell structures as mentioned above greatly improve the photoluminescence quantum yield and chemical and photochemical stability of nanocrystals. The emission wavelengths of type-I core/shell nanocrystals typically only shows a small red-shift when compared to the plain core nanocrystals. [30, 31, 35] In contrast to type-I core-shell nanocrystals, only few studies have been conducted on colloidal type-II core/shell structures [36-38] which are characterized by a staggered alignment of conduction and valence bands giving rise to a broad tunability of absorption and emission wavelengths, as was shown for CdTe/CdSe core-shell nanocrystals. [36] The emission of type-II core/shell nanocrystals mainly originates from the radiative recombination of electron-hole pairs across the core-shell interface leading to a long photoluminescence lifetime. Type-II core/shell nanocrystals are promising with respect to photoconduction or photovoltaic applications as has been discussed in the literature.[39] Novel type-II core-shell structures with ZnTe cores are reported in chapter 5. The recent progress in the shape control of semiconductor nanocrystals opens new fields of applications. For instance, rod shaped CdSe nanocrystals can enhance the photo-electro conversion efficiency of photovoltaic cells, [40, 41] and also allow for polarized emission in light emitting diodes. [42, 43] Shape control of anisotropic nanocrystals can be achieved by the use of surfactants, [44, 45] regular or inverse micelles as regulating agents, [46, 47] electrochemical processes, [48] template-assisted [49, 50] and solution-liquid-solution (SLS) growth mechnism. [51-53] Recently, formation of various CdSe nanocrystal shapes has been reported by the groups of Alivisatos [54] and Peng, [55] respectively. Furthermore, it has been reported by the group of Prasad [56] that noble metal nanoparticles can induce anisotropic growth of CdSe nanocrystals at lower temperatures than typically used in other methods for preparing anisotropic CdSe structures. Although several approaches for anisotropic crystal growth have been reported by now, developing new synthetic methods for the shape control of colloidal semiconductor nanocrystals remains an important goal. Accordingly, we have attempted to utilize a crystal phase control approach for the controllable synthesis of colloidal ZnE/CdSe (E = S, Se, Te) heterostructures in a variety of morphologies. The complex heterostructures obtained are presented in chapter 6. The unique optical properties of nanocrystals make them appealing as in vivo and in vitro fluorophores in a variety of biological and chemical investigations, in which traditional fluorescence labels based on organic molecules fall short of providing long-term stability and simultaneous detection of multiple emission colours [References]. The ability to prepare water soluble nanocrystals with high stability and quantum yield has led to promising applications in cellular labeling, [57, 58] deep-tissue imaging, [59, 60] and assay labeling [61, 62]. Furthermore, appropriately solubilized nanocrystals have been used as donors in fluorescence resonance energy transfer (FRET) couples. [63-65] Despite recent progress, much work still needs to be done to achieve reproducible and robust surface functionalization and develop flexible (bio-) conjugation techniques. Based on multi-shell CdSe nanocrystals, several new solubilization and ligand exchange protocols have been developed which are presented in chapter 7. The organization of this thesis is as follows: A short overview describing synthesis and properties of CdSe nanocrystals is given in chapter 2. Chapter 3 is the experimental part providing some background information about the optical and analytical methods used in this thesis. The following chapters report the results of this work: synthesis and characterization of type-I multi-shell and type-II core/shell nanocrystals are described in chapter 4 and chapter 5, respectively. In chapter 6, a high–yield synthesis of various CdSe architectures by crystal phase control is reported. Experiments about surface modification of nanocrystals are described in chapter 7. At last, a short summary of the results is given in chapter 8.

Comparative Analysis of Alternative Hybrid Systems for Automotive Applications

The main objective of this work was to investigate the impact of different hybridization concepts and levels of hybridization on fuel economy of a standard road vehicle where both conventional and non-conventional hybrid architectures are treated exactly in the same way from the point of view of overall energy flow optimization. Hybrid component models were developed and presented in detail as well as the simulations results mainly for NEDC cycle. The analysis was performed on four different parallel hybrid powertrain concepts: Hybrid Electric Vehicle (HEV), High Speed Flywheel Hybrid Vehicle (HSF-HV), Hydraulic Hybrid Vehicle (HHV) and Pneumatic Hybrid Vehicle (PHV). In order to perform equitable analysis of different hybrid systems, comparison was performed also on the basis of the same usable system energy storage capacity (i.e. 625kJ for HEV, HSF and the HHV) but in the case of pneumatic hybrid systems maximal storage capacity was limited by the size of the systems in order to comply with the packaging requirements of the vehicle. The simulations were performed within the IAV Gmbh - VeLoDyn software simulator based on Matlab / Simulink software package. Advanced cycle independent control strategy (ECMS) was implemented into the hybrid supervisory control unit in order to solve power management problem for all hybrid powertrain solutions. In order to maintain State of Charge within desired boundaries during different cycles and to facilitate easy implementation and recalibration of the control strategy for very different hybrid systems, Charge Sustaining Algorithm was added into the ECMS framework. Also, a Variable Shift Pattern VSP-ECMS algorithm was proposed as an extension of ECMS capabilities so as to include gear selection into the determination of minimal (energy) cost function of the hybrid system. Further, cycle-based energetic analysis was performed in all the simulated cases, and the results have been reported in the corresponding chapters.