Structure formation of amphiphilic molecules at the air,water interface and after film transfer

One of the basic concepts of molecular self-assembly is that the morphology of the aggregate is directly related to the structure and interaction of the aggregating molecules. This is not only true for the aggregation in bulk solution, but also for the formation of Langmuir films at the air/water interface. Thus, molecules at the interface do not necessarily form flat monomolecular films but can also aggregate into multilayers or surface micelles. In this context, various novel synthetic molecules were investigated in terms of their morphology at the air/water interface and in transferred films. rnFirst, the self-assembly of semifluorinated alkanes and their molecular orientation at the air/water interface and in transferred films was studied employing scanning force microscopy (SFM) and Kelvin potential force microscopy. Here it was found, that the investigated semifluorinated alkanes aggregate to form circular surface micelles with a diameter of 30 nm, which are constituted of smaller muffin-shaped subunits with a diameter of 10 nm. A further result is that the introduction of an aromatic core into the molecular structure leads to the formation of elongated surface micelles and thus implements a directionality to the self-assembly. rnSecond, the self-assembly of two different amphiphilic hybrid materials containing a short single stranded desoxyribonucleic acid (DNA) sequence was investigated at the air/water interface. The first molecule was a single stranded DNA (11mer) molecule with two hydrophobically modified 5-(dodec-1-ynyl)uracil nucleobases at the terminal 5'-end of the oligonucleotide sequence. Isotherm measurements revealed the formation of semi-stable films at the air/water interface. SFM imaging of films transferred via Langmuir-Blodgett technique supported this finding and indicated mono-, bi- and multilayer formation, according to the surface pressure applied upon transfer. Within these films, the hydrophilic DNA sequence was oriented towards air covering 95% of the substrate.rnSimilar results were obtained with a second type of amphiphile, a DNA block copolymer. Furthermore, the potential to perform molecular recognition experiments at the air/water interface with these DNA hybrid materials was evaluated.rnThird, polyglycerol ester molecules (PGE), which are known to form very stable foams, were studies. Aim was to elucidate the molecular structure of PGE molecules at the air/water interface in order to comprehend the foam stabilization mechanism. Several model systems mimicking the air/water interface of a PGE foam and methods for a noninvasive transfer were tested and characterized by SFM. It could be shown, that PGE stabilizes the air/water interface of a foam bubble by formation of multiple surfactant layers. Additionally, a new transfer technique, the bubble film transfer was established and characterized by high speed camera imaging.The results demonstrate the diversity of structures, which can be formed by amphiphilic molecules at the air/water interface and after film transfer, as well as the impact of the chemical structure on the aggregate morphology.

Pathogenetische Bedeutung der Glutathionperoxidase-1 in der arteriellen Gefäßwand

Die antioxidative Aktivität des Enzyms Glutathionperoxidase-1 (GPx-1) schützt vor Atherosklerose und ihren Folgeerkrankungen. In einer Vorstudie konnten wir zeigen, dass der Mangel an GPx-1 die Atheroskleroseentwicklung in Apolipoprotein E defizienten (ApoE-/-) Mäusen beschleunigt und modifiziert. Allerdings sind die Verteilung der GPx-1 in atherosklerotischen Läsionen und die Mechanismen für den erhöhten Makrophagengehalt in der Läsion noch nicht geklärt. Deshalb haben wir (1) die in-situ Expression der GPx-Isoformen in atherosklerotischen Läsionen von GPx-1-/-ApoE-/- und ApoE-/- Mäusen und (2) den Einfluss der GPx-1 Defizienz auf die Schaumzellbildung und Proliferation der Peritonealmakrophagen in ApoE-/- Mäusen untersucht. Die GPx-1-/-ApoE-/- und ApoE-/- Weibchen wurden für 6 und 12 Wochen auf einer atherogenen „Western-type“ Diät gehalten. Die in situ-Hybridisierung zeigte, dass die verschiedenen Isoformen der GPx (GPx-1, GPx-3, GPx-4) vorwiegend in Makrophagen, nicht jedoch in glatten Muskelzellen der atherosklerotischen Läsionen von ApoE-/- Mäusen exprimiert wurden. Für die in vitro Untersuchungen wurden 5 Monate alte, GPx-1 defiziente und Wildtyp-Mäuse, gehalten auf Normaldiät, verwendet. Die Öl-Rot-O Färbung zeigte, dass die GPx-1 Defizienz die OxLDL (oxidiertes LDL) - und E-LDL (enzymatisch modifiziertes LDL) - induzierte Schaumzellbildung förderte. Darüber hinaus war die OxLDL-induzierte Cholesterinakkumulation (zellulärer Cholesterinester/ Cholesterin-Gehalt) in GPx-1 defizienten Makrophagen verstärkt, sodass ein Mangel an GPx-1 die Aufnahme von OxLDL durch Monozyten und damit die Umwandlung in Schaumzellen beschleunigt. Hinsichtlich der Proliferation zeigte sich, dass MCSF (Macrophage Colony-Stimulating Facotr) ein stärkerer Stimulus als OxLDL ist. Ein Mangel an GPx-1 fördert die Proliferation zusätzlich. Daran ist die ERK1/2 (extracellular-signal regulated kinase 1/2) - Kaskade beteiligt, denn es wurde eine schnelle Phosphorylierung der ERK1/2-Kaskade durch MCSF und/oder OxLDL nachgewiesen. Entsprechend reduzieren ERK1/2-Inhibitoren die proliferative Aktivität der Makrophagen. Die Hemmung der p38-MAPK (p38 mitogen-activated protein kinase) führt zur vermehrten Proliferation und bei gleichzeitig verringerter Caspase-3/7 Aktivität der Makrophagen unabhängig von der Expression der GPx-1. Ein Mangel an GPx-1 hat auch keinen Einfluss auf die MCSF-vermittelte Aktivierung der p38-MAPK und JNK (c-Jun N-terminal kinase). Zusammenfassend läßt sich feststellen, dass die GPx-1-Defizienz einen signifikanten Einfluss auf die Schaumzellbildung und Proliferation von Makrophagen hat, was zur Beschleunigung der Atherosklerose und zu vermehrter Zellularität der entstehenden atherosklerotischen Läsionen führt. Die Proliferation wird über den ERK1/2 Signal-transduktionsweg positiv und über den p38-MAPK Weg negativ reguliert, wobei die ERK1/2-Kaskade empfindlich gegenüber oxidativem Stress bei GPx-1-Defizienz ist.

Modellazione CAD e ricostruzione virtuale di autobus pubblicitario d'epoca

L’oggetto della presente tesi è sviluppare la ricostruzione virtuale di un autobus pubblicitario progettato negli anni 50, un simbolo del design italiano legato allo sviluppo industriale del secondo dopoguerra. La tesi si sviluppa inizialmente con un’attività di ricerca e documentazione legata all'autobus, con particolare attenzione alla raccolta di immagini e disegni progettuali d’epoca, punto di partenza per la ricostruzione virtuale del mezzo. Si procede quindi alla modellazione CAD della carrozzeria cercando di replicare in modo quanto più dettagliato l’originale. Dal modello ottenuto, sono stati ricavati due prototipi di diverse dimensioni e materiali: un primo di dimensioni ridotte, realizzato tramite la tecnica del rapid prototyping, ed un secondo di dimensioni maggiori, in ureol fresato. Successivamente si procede ad uno studio preliminare di ricostruzione del mezzo con lo scopo di analizzare le principali problematiche di un’eventuale futura costruzione e messa in strada del mezzo. Tale studio parte dalla normativa vigente sulla costruzione e sulle norme di circolazione degli autobus, comprendente sia le leggi italiane sia comunitarie, riguardanti le caratteristiche dimensionali, prestazionali e di sicurezza che qualsiasi autobus con licenza di circolazione deve rispettare. Quindi verrà compiuta la scelta del telaio base da utilizzare tra quelli proposti dai maggiori costruttori europei e verrà realizzato il modello CAD anche del telaio con l’obiettivo di collegarlo alla carrozzeria e ottenere così il modello completo in tutte le sue parti. Per realizzare la scocca, verranno prese in esame le soluzioni costruttive più utilizzate dai progettisti di autobus, e viene svolto un breve studio riguardo i materiali utilizzabili a tale scopo. Sulla base di tali considerazioni si procederà alla modellazione della stessa. In ultimo si procede ad un preliminare studio fluidodinamico attraverso l’analisi CFD, e ad un preliminare studio del comportamento meccanico della struttura reticolare che sostiene la carrozzeria.

Design and Control of Robotic Hands

The application of dexterous robotic hands out of research laboratories has been limited by the intrinsic complexity that these devices present. This is directly reflected as an economically unreasonable cost and a low overall reliability. Within the research reported in this thesis it is shown how the problem of complexity in the design of robotic hands can be tackled, taking advantage of modern technologies (i.e. rapid prototyping), leading to innovative concepts for the design of the mechanical structure, the actuation and sensory systems. The solutions adopted drastically reduce the prototyping and production costs and increase the reliability, reducing the number of parts required and averaging their single reliability factors. In order to get guidelines for the design process, the problem of robotic grasp and manipulation by a dual arm/hand system has been reviewed. In this way, the requirements that should be fulfilled at hardware level to guarantee successful execution of the task has been highlighted. The contribution of this research from the manipulation planning side focuses on the redundancy resolution that arise in the execution of the task in a dexterous arm/hand system. In literature the problem of coordination of arm and hand during manipulation of an object has been widely analyzed in theory but often experimentally demonstrated in simplified robotic setup. Our aim is to cover the lack in the study of this topic and experimentally evaluate it in a complex system as a anthropomorphic arm hand system.

Magnetic actuators for nanosatellite attitude control

The research and the activities presented in the following thesis report have been led at the California Polytechnic State University (US) under the supervision of Prof. Jordi Puig Suari. The objective of the research has been the study of magnetic actuators for nanosatellite attitude control, called magnetorquer. Theese actuators are generally divided in three different kinds: air core torquer, embedded coil and torquerod. In a first phase of the activity, each technology has been analyzed, defining advantages and disadvantages, determining manufacturing procedures and creating mathematical model and designing equation. Dimensioning tools have been then implemented in numerical software to create an instrument that permits to determine the optimal configuration for defined requirements and constraints. In a second phase of the activities the models created have been validated exploiting prototypes and proper instruments for measurements. The instruments and the material exploited for experiments and prototyping have been provided by the PolySat and CubeSat laboratories. The results obtained led to the definition of a complete designing tool and procedure for nanosatellite magnetic actuators, introducing a cost analysis for each kind of solution. The models and the tools have been maintained fully parametric in order to offer a universal re-scalable instrument for satellite of different dimension class.

Sviluppo di un sistema RCP per il controllo della combustione diesel basato sull'analisi real-time del rumore di combustione

Lavoro sviluppato attraverso un’attività sperimentale svolta su un motore Diesel 1.3 Multijet, presente al banco nei laboratori hangar della Scuola di Ingegneria e Architettura, sede di Forlì. L’attività è stata incentrata sullo sviluppo di un sistema RCP (Rapid Control Prototyping) per il controllo del pattern di iniezione del motore, basato sull’analisi in tempo reale di un opportuno indice di rumore, calcolato in real time attraverso il processamento del segnale proveniente da un microfono da laboratorio affacciato al blocco motore.

Controllable assembly of graphene hybrid materials and their application in energy storage and conversion

Hybrid Elektrodenmaterialien (HEM) sind der Schlüssel zu grundlegenden Fortschritten in der Energiespeicherung und Systemen zur Energieumwandlung, einschließlich Lithium-Ionen-Batterien (LiBs), Superkondensatoren (SCs) und Brennstoffzellen (FCs). Die faszinierenden Eigenschaften von Graphen machen es zu einem guten Ausgangsmaterial für die Darstellung von HEM. Jedoch scheitern traditionelle Verfahren zur Herstellung von Graphen-HEM (GHEM) scheitern häufig an der fehlenden Kontrolle über die Morphologie und deren Einheitlichkeit, was zu unzureichenden Grenzflächenwechselwirkungen und einer mangelhaften Leistung des Materials führt. Diese Arbeit konzentriert sich auf die Herstellung von GHEM über kontrollierte Darstellungsmethoden und befasst sich mit der Nutzung von definierten GHEM für die Energiespeicherung und -umwandlung. Die große Volumenausdehnung bildet den Hauptnachteil der künftigen Lithium-Speicher-Materialien. Als erstes wird ein dreidimensionaler Graphen Schaumhybrid zur Stärkung der Grundstruktur und zur Verbesserung der elektrochemischen Leistung des Fe3O4 Anodenmaterials dargestellt. Der Einsatz von Graphenschalen und Graphennetzen realisiert dabei einen doppelten Schutz gegen die Volumenschwankung des Fe3O4 bei dem elektrochemischen Prozess. Die Leistung der SCs und der FCs hängt von der Porenstruktur und der zugänglichen Oberfläche, beziehungsweise den katalytischen Stellen der Elektrodenmaterialien ab. Wir zeigen, dass die Steuerung der Porosität über Graphen-basierte Kohlenstoffnanoschichten (HPCN) die zugängliche Oberfläche und den Ionentransport/Ladungsspeicher für SCs-Anwendungen erhöht. Desweiteren wurden Stickstoff dotierte Kohlenstoffnanoschichten (NDCN) für die kathodische Sauerstoffreduktion (ORR) hergestellt. Eine maßgeschnittene Mesoporosität verbunden mit Heteroatom Doping (Stickstoff) fördert die Exposition der aktiven Zentren und die ORR-Leistung der metallfreien Katalysatoren. Hochwertiges elektrochemisch exfoliiertes Graphen (EEG) ist ein vielversprechender Kandidat für die Darstellung von GHEM. Allerdings ist die kontrollierte Darstellung von EEG-Hybriden weiterhin eine große Herausforderung. Zu guter Letzt wird eine Bottom-up-Strategie für die Darstellung von EEG Schichten mit einer Reihe von funktionellen Nanopartikeln (Si, Fe3O4 und Pt NPs) vorgestellt. Diese Arbeit zeigt einen vielversprechenden Weg für die wirtschaftliche Synthese von EEG und EEG-basierten Materialien.

Virtual sensing technology applied to a swarm of autonomous robots.

This thesis proposes a novel technology in the field of swarm robotics that allows a swarm of robots to sense a virtual environment through virtual sensors. Virtual sensing is a desirable and helpful technology in swarm robotics research activity, because it allows the researchers to efficiently and quickly perform experiments otherwise more expensive and time consuming, or even impossible. In particular, we envision two useful applications for virtual sensing technology. On the one hand, it is possible to prototype and foresee the effects of a new sensor on a robot swarm, before producing it. On the other hand, thanks to this technology it is possible to study the behaviour of robots operating in environments that are not easily reproducible inside a lab for safety reasons or just because physically infeasible. The use of virtual sensing technology for sensor prototyping aims to foresee the behaviour of the swarm enhanced with new or more powerful sensors, without producing the hardware. Sensor prototyping can be used to tune a new sensor or perform performance comparison tests between alternative types of sensors. This kind of prototyping experiments can be performed through the presented tool, that allows to rapidly develop and test software virtual sensors of different typologies and quality, emulating the behaviour of several hardware real sensors. By investigating on which sensors is better to invest, a researcher can minimize the sensors’ production cost while achieving a given swarm performance. Through augmented reality, it is possible to test the performance of the swarm in a desired virtual environment that cannot be set into the lab for physical, logistic or economical reasons. The virtual environment is sensed by the robots through properly designed virtual sensors. Virtual sensing technology allows a researcher to quickly carry out real robots experiment in challenging scenarios without all the required hardware and environment.

Analisi della correlazione tra i parametri di processo e le prestazioni dei materiali polimerici ottenuti tramite fused deposition modeling

Questa tesi si propone di realizzare una caratterizzazione del polimero ABS ottenuto con tecnica Fused Deposition Modeling in modo da ottenere dati utili alla realizzazione di parti strutturali tramite rapid prototyping.

Energy harvesting from piezoelectric devices embedded in a 3D printed wing

This thesis work has been carried out at Clarkson University in Potsdam NY, USA and involved the design of a low elongation wing, consisting of parts made by polylactide (PLA) using the fused deposition model (FDM) technology of Rapid Prototyping, then assembled together in a thin aluminum spar. The aim of the research is to evaluate the feasibility of collecting electrical energy by converting mechanical energy from the vibration of the wing flutter. With this aim piezoelectric stripes were glued in the inner part of the wing, as well as on the aluminum spar, as monomorphic configuration. During the phases of the project, particular attention was given to the geometry and the materials used, in order to trigger the flutter for low flow velocity. The CAD software SolidWorks® was used for the design of the wing and then the drawings were sent to the Clarkson machine shop in order to to produce the parts required by the wing assembly. FEM simulations were performed, using software MSC NASTRAN/PATRAN®, to evaluate the stiffness of the whole wing as well as the natural vibration modes of the structure. These data, in a first approximation, were used to predict the flutter speed. Finally, experimental tests in the Clarkson wind tunnel facility were carried out in order to validate the results obtained from FEM analysis. The power collected by the piezoelectrics under flutter condition was addressed by tuning the resistors downstream the electronic circuit of the piezoelectrics.

Getting in touch-3D printing in Forensic Imaging

With the increasing use of medical imaging in forensics, as well as the technological advances in rapid prototyping, we suggest combining these techniques to generate displays of forensic findings. We used computed tomography (CT), CT angiography, magnetic resonance imaging (MRI) and surface scanning with photogrammetry in conjunction with segmentation techniques to generate 3D polygon meshes. Based on these data sets, a 3D printer created colored models of the anatomical structures. Using this technique, we could create models of bone fractures, vessels, cardiac infarctions, ruptured organs as well as bitemark wounds. The final models are anatomically accurate, fully colored representations of bones, vessels and soft tissue, and they demonstrate radiologically visible pathologies. The models are more easily understood by laypersons than volume rendering or 2D reconstructions. Therefore, they are suitable for presentations in courtrooms and for educational purposes.

Trunk sway in mildly disabled multiple sclerosis patients with and without balance impairment

Multiple sclerosis (MS) causes a broad range of neurological symptoms. Most common is poor balance control. However, knowledge of deficient balance control in mildly affected MS patients who are complaining of balance impairment but have normal clinical balance tests (CBT) is limited. This knowledge might provide insights into the normal and pathophysiological mechanisms underlying stance and gait. We analysed differences in trunk sway between mildly disabled MS patients with and without subjective balance impairment (SBI), all with normal CBT. The sway was measured for a battery of stance and gait balance tests (static and dynamic posturography) and compared to that of age- and sex-matched healthy subjects. Eight of 21 patients (38%) with an Expanded Disability Status Scale of 1.0-3.0 complained of SBI during daily activities. For standing on both legs with eyes closed on a normal and on a foam surface, patients in the no SBI group showed significant differences in the range of trunk roll (lateral) sway angle and velocity, compared to normal persons. Patients in the SBI group had significantly greater lateral sway than the no SBI group, and sway was also greater than normal in the pitch (anterior-posterior) direction. Sway for one-legged stance on foam was also greater in the SBI group compared to the no SBI and normal groups. We found a specific laterally directed impairment of balance in all patients, consistent with a deficit in proprioceptive processing, which was greater in the SBI group than in the no SBI group. This finding most likely explains the subjective symptoms of imbalance in patients with MS with normal CBT.

Anisotropic Mechanical Properties of ABS Parts Fabricated by Fused Deposition Modelling

In recent years, layered manufacturing (LM) processes have begun to progress from rapid prototyping techniques towards rapid manufacturing methods, where the objective is now to produce finished components for potential end use in a product (Caulfield et al., 2007). LM is especially promising for the fabrication of specific need, low volume products such as replacement parts for larger systems. This trend accentuates the need for a thorough understanding of the associated mechanical properties and the resulting behavior of parts produced by layered methods. Not only must the base material be durable, but the mechanical properties of the layered components must be sufficient to meet in-service loading and operational requirements, and be reasonably comparable to parts produced by more traditional manufacturing techniques. This chapter presents the details of a study completed to quantitatively analyze the potential of fused deposition modelling to fully evolve into a rapid manufacturing tool. The project objective is to develop an understanding of the dependence of the mechanical properties of FDM parts on raster orientation and to assess whether these parts are capable of maintaining their integrity while under service loading. The study examines the effect of fiber orientation, i.e. the direction of the polymer beads relative to the loading direction of the part, on a variety of important mechanical properties of ABS components fabricated by fused deposition modeling. Tensile, compressive, flexural, impact, and fatigue strength properties of FDM specimens are examined, evaluated, and placed in context in comparison with the properties of injection molded ABS parts.

Visual disturbance following sclerotherapy for varicose veins, reticular veins and telangiectasias: a systematic literature review

The objective of the study was to review the literature reporting visual disturbance (VD) following sclerotherapy for varicose veins. Underlying mechanisms will be discussed. A literature search of the databases Medline and Google Scholar was performed. Original articles including randomized trials, case series and case reports reporting VD in humans following sclerotherapy for varicose veins were included. Additional references were also obtained if they had been referenced in related publications. The search yielded 4948 results of which 25 reports were found to meet the inclusion criteria. In larger series with at least 500 included patients the prevalence of VD following sclerotherapy ranges from 0.09% to 2%. In most reports foam sclerotherapy was associated with VD (19); exclusive use of liquid sclerosant was reported in two cases, some reports included foam and liquid sclerosant (4). There were no persistent visual disorders reported. VD occurred with polidocanol and sodium tetradecyl sulphate in different concentrations (0.25-3%). Various forms of foam preparation including various ways of foam production and the liquid - air ratio (1 or 2 parts of liquid mixed with 3, 4 or 5 parts of air) were reported in association with the occurrence of VD. VDs following sclerotherapy for varicose veins are rare and all reported events were transient. Bubble embolism or any kind of embolism seems unlikely to be the only underlying mechanism. A systemic inflammatory response following sclerotherapy has been suggested. Further research to clarify the mechanism of action of sclerosants is required.

Perilipin-1 in hemodialyzed patients: association with history of coronary heart disease and lipid profile

Perilipin-1 surrounds lipid droplets in both adipocytes and in atheroma plaque foam cells and controls access of lipases to the lipid core. In hemodialysis (HD) patients, dyslipidemia, malnutrition, inflammation and atherosclerosis are common. Thirty-six HD patients and 28 healthy volunteers were enrolled into the study. Ten HD patients suffered from coronary heart disease (CHD). Perilipin-1, triglycerides, total cholesterol, low-density lipoprotein cholesterol, high-density lipoprotein cholesterol (HDL-C), body mass index, albumin, geriatric nutritional risk index, normalized protein catabolic rate, interleukin-6 (IL-6) and tumor necrosis factor-α (TNF-α) were measured. Perilipin-1 did not differ between HD patients and healthy volunteers. IL-6 and TNF-α were higher in HD patients. The evaluated nutritional markers and the markers of inflammation did not differ between HD patients with high perilipin-1 levels and HD patients with low perilipin-1 levels. Regarding the lipid profile, only HDL-C differed between HD patients with high perilipin-1 levels and HD patients with low perilipin-1 levels, and it was higher in the first subgroup. Perilipin-1 was significantly higher in HD patients without CHD. Perilipin-1 is detectable in the serum of HD patients and it is associated with increased HDL-C and decreased incidence of CHD.