Ricostruzione di convessi e robotica

Questa tesi si è focalizzata sulla topologia robotica. In particolare, in questo elaborato si è voluto sottolineare l’importanza della topografia dei pezzi nella visione robotica. Siamo partiti dalle definizioni di politopo e di mappa gaussiana estesa, per poi passare ad alcuni punti chiave della robotica, quali la definizione di posa di un oggetto, di “peg in the hole”e di forma da X. Questi punti ci hanno permesso di enunciare i teoremi di Minkowski ed Alexandrov che sono stati poi utilizzati nella costruzione del metodo EGI. Questo metodo è stato quindi utilizzato per determinare l’assetto di un oggetto nello spazio e permettere quindi al braccio del robot di afferrarlo.

Effects of solid poly (ethylene glycols) addition to the solutions of aniline or N,N-dimethylaniline with water:experimental measurements and modelling

In this work, the liquid-liquid and solid-liquid phase behaviour of ten aqueous pseudo-binary and three binary systems containing polyethylene glycol (PEG) 2050, polyethylene glycol 35000, aniline, N,N-dimethylaniline and water, in the temperature range 298.15-350.15 K and at ambient pressure of 0.1 MPa, was studied. The obtained temperature-composition phase diagrams showed that the only functional co-solvent was PEG2050 for aniline in water, while PEG35000 even showed a clear anti-solvent effect in the N,N-dimethylaniline aqueous system. The experimental solid-liquid equilibria (SLE) data have been correlated by the non-random two-liquid (NRTL) model, and the correlation results are in accordance with the experimental results.

PROTEIN-TRIGGERED SUSTAINED DRUG RELEASE CONTROLLED BY APTAMERS BOUND TO OLIGOMER-CROSSLINKED ALGINATE

Sustained drug release systems provide many advantages over traditional delivery methods such as extending the time in which the drug is found to be within an effective concentration within the therapeutic window, which decreases the frequency of administration of the drug, and increases patient compliance. Research using polyacrylamide crosslinked by oligomers containing an aptamer sequence, has demonstrated a pulsatile release over 50 minutes triggered by a 2 mM target adenosine concentration. This thesis aims to build off this concept by designing a system that delivers in a sustained manner when triggered by micromolar target concentrations reflective of disease in vivo, using macromolecular targets. For example, the disease wet age related macular degeneration (wet AMD) is associated with increased concentrations of the protein vascular endothelial growth factor (VEGF-A) – a macromolecule. Patients with wet AMD would benefit from the implantation of devices or microspheres that release drugs in a sustained manner in response to local VEGF concentrations. In this thesis, we hypothesize that the protein lysozyme, used to demonstrate proof-of-concept, could trigger the increased release of drugs from oligomer-crosslinked alginate. The objectives are to (i) demonstrate sustained release from alginate, (ii) design oligomer crosslinked alginate that degrades in response to lysozyme, and then (iii) use these systems to control the release of FITC-dextran with and without lysozyme. A series of control experiments and analyses were used to optimize the crosslinking of alginate by annealed oligomers. The cumulative release of FITC-dextran (MW 20,000) from oligomer crosslinked alginate increased by 3.4 μg when lysozyme (3 μM) was introduced at 48 hours, as opposed to controls which released only 0.2 μg. FITC-loaded alginate microspheres coated by oligomer-crosslinked alginate released 15% more FITC-dextran over 120 hours when placed into 3 μM of lysozyme than without lysozyme. Controls of alginate crosslinked with PEG or control oligomers (without a lysozyme aptamer sequence) had no changes in release with lysozyme. The incorporation of a lysozyme aptamer onto oligomers used to crosslink alginate disks or alginate coatings on microspheres resulted in different diffusion and release of FITC-dextran into PBS with or without lysozyme. This approach could be adapted for the delivery of drugs to diseases with specific protein profiles such as wet AMD.

Abnormal primary and permanent dentitions with ectodermal symptoms predict WNT10A deficiency

BACKGROUND: The WNT10A protein is critical for the development of ectodermal appendages. Variants in the WNT10A gene may be associated with a spectrum of ectodermal abnormalities including extensive tooth agenesis. METHODS: In seven patients with severe tooth agenesis we identified anomalies in primary dentition and additional ectodermal symptoms, and assessed WNT10A mutations by genetic analysis. RESULTS: Investigation of primary dentition revealed peg-shaped crowns of primary mandibular incisors and three individuals had agenesis of at least two primary teeth. The permanent dentition was severely affected in all individuals with a mean of 21 missing teeth. Primary teeth were most often present in positions were succedaneous teeth were missing. Furthermore, most existing molars had taurodontism. Light, brittle or coarse hair was reported in all seven individuals, hyperhidrosis of palms and soles in six individuals and nail anomalies in two individuals. The anomalies in primary dentition preceded most of the additional ectodermal symptoms. Genetic analysis revealed that all seven individuals were homozygous or compound heterozygous for WNT10A mutations resulting in C107X, E222X and F228I. CONCLUSIONS: We conclude that tooth agenesis and/or peg-shaped crowns of primary mandibular incisors, severe oligodontia of permanent dentition as well as ectodermal symptoms of varying severity may be predictors of bi-allelic WNT10A mutations of importance for diagnosis, counselling and follow-up.

BM: Efectos de una política cambiaria de tipo fijo frente a una política cambiaria flexible sobre la inflación en Colombia : 1977 -1992

Frente a la política de apertura comercial que se viene desarrollando desde 1990 en Colombia, el manejo económico ha tenido como propósito fundamental lograr integrar la economía nacional al exterior. Una de las herramientas de política económica más importantes es la TASA DE CAMBIO; frente a ésta, es preciso adoptar una posición y conocer el manejo que se le ha dado a esta variable durante los últimos veinte años. A partir de 1967, la política cambiaría colombiana se basó en un sistema de devaluación gota a gota (Crawling Peg). Esta política continuó hasta 1991, cuando la Junta Monetaria cambió la devaluación gota a gota, por el sistema de Certificado de Cambio con descuento. En enero de 1994, la nueva Junta Directiva del Banco de la República eliminó el sistema de certificado de cambio con descuento e introdujo el sistema de Bandas Cambiarías

La transformación operativa de las fuerzas militares en el conflicto armado colombiano (1998-2010)

El presente trabajo tiene como objetivo mostrar como se dio la modernización de las Fuerzas Militares de Colombia a través del Plan Colombia y como la implementación de este, fue determinante para el desarrollo operativo-estratégico y táctico adelantado en la Política de Seguridad Democrática de tres maneras: la primera hubo una gran inversión adelantada por el gobierno colombiano en colaboración con el gobierno estadounidense. En segunda instancia, una vez realizado el desembolso previsto se procedió a la compra a gran escala de armamento, aeronaves y vehículos de combate pesados. En tercera y ultima instancia se aumento el pie de fuerza y se invirtió en entrenamiento militar contraguerrilla, que consolidaron la presencia del Estado en zonas de conflicto interno y prolongado, supliendo las necesidades de los colombianos en situación de vulnerabilidad.

Novos complexos micelares de metais de transição para aplicação na terapia dirigida contra o cancro

O cancro é a segunda causa de mortalidade a nível mundial. Um dos problemas nos tratamentos atuais de quimioterapia relaciona-se com os efeitos secundários causados pela falta de seletividade dos fármacos utilizados. Assim, um dos desafios atuais é o desenvolvimento de sistemas terapêuticos que permitam potenciar o efeito dos fármacos e diminuir os seus efeitos nocivos. Neste contexto, neste trabalho, foram sintetizados complexos de Fe, Co e Zn com fórmula geral [M(bipy-R)3]x+, a partir dos quais foi possível obter sistemas micelares formados in situ pela adição de um copolímero de PLA-b-PEG ou por introdução de macroligandos poliméricos anfifílicos. Os resultados mostram que as nanopartículas formadas apresentam tamanho e características adequadas para aplicações na terapia dirigida contra o cancro. Os resultados preliminares de citotoxicidade na linha tumoral humana da mama MDAMB231 indicam que todos os compostos estudados apresentam atividade citotóxica relevante, sendo os compostos micelares os mais promissores; Abstract: New micellar transition metals complexes for targeted therapy of cancer Cancer is the second leading cause of mortality worldwide. One problem in the current chemotherapy treatments is related to the severe side effects caused by the lack of selectivity of the drugs in clinical use. Thus, one of the current challenges is the development of new therapeutic systems that allow maximizing the effect of the drugs and reducing their harmful effects. In this context, several Fe, Co and Zn compounds of the general formula [M (bipy-R)3]x+ were synthesized in order to obtain micellar systems, either by in situ addition of a PLA-b-PEG copolymer or by introducing amphiphilic macroligands. The results show that the formed nanoparticles have size and characteristics suitable for applications in targeted therapy against cancer. Preliminary results of cytotoxicity in human breast cancer line MDAMB231 indicate that all the studied compounds show significant cytotoxic activity, being the micellar compounds the most promising agents.

Synchronizing the in vitro germination of Psidium guineense Sw. seeds by means of osmotic priming.

The Brazilian guava (Psidium guineense Swartz) is seed-propagated and, being native to the Caatinga biome, may frequently have uneven germination.Thus, we aimed to evaluate the synchronization of the in vitro seed germination of three accessions of the Brazilian guava, using water, polyethyleneglycol (PEG 6000), and potassium nitrate (KNO3) at different potentials and times of osmotic priming. Seeds from three accessions of the Brazilian guava (Y85, Y93,and Y97) from the UNEB/BA Germplasm Active Bank were subjected to the following pretreatments: -0.6, -1.0, -1.4, and -1,8 MPa PEG 6000; 10 and 20% KNO3 for 24h; 10 and 20% KNO3 for 48h; water for 24 and 48h; and non-primed seeds as the control. The experimental design was therefore a 10x3+1 factorial scheme. We assessed the germination percentage (G), mean germination time (MGT), germination speed (GS), and germination speed index (GSI). Data was subjected to analysis of variance followed by a means test (Duncan at 5% probability) and regression. There was interaction between the priming treatments and accessions for all evaluated features, except G. PEG 6000 decreased the MGT (from 6 to 8 days) and increased GS and GSI of seeds from all three accessions at potentials -1.0 to -1.5 MPa.Water-priming had a positive effect on MGT, GS, and GSI of accession Y85 seeds. KNO3 negatively affected germination of seeds from all three accessions. Thereby, we could synchronize seed germination of accessions Y85 and Y97 with PEG 6000.

Peptidomimetic ligands for tuning integrin-mediated signalling: rational design, synthesis and theranostic applications

Integrins are α/β-heterodimeric transmembrane adhesion receptors that mediate cell-cell and cell-ECM interactions. Integrins are bidirectional signalling receptors that respond to external signals (“outside-in” signalling) and in parallel, transduce internal signals to the matrix (“inside-out” signalling), to regulate vital cellular functions including migration, survival, growth and differentiation. Therefore, dysregulation of these tightly regulated processes often results in uncontrolled integrin activation and abnormal tissue expression that is responsible for many diseases. Because of their important roles in physiological and pathological events, they represent a validated target for therapeutic and diagnostic purposes. The aim of the present Thesis was focused on the development of peptidic ligands for α4β1 and αvβ3 integrin subtypes, involved in inflammatory responses (leukocytes recruitment and extravasation) and cancer progression (angiogenesis, tumor growth, metastasis), respectively. Following the peptidomimetic strategy, we designed and synthesized a small library of linear and cyclic hybrid α/β-peptidomimetics based on the phenylureido-LDV scaffolds for the treatment of chronic inflammatory autoimmune diseases. In order to implement a fast and non-invasive diagnostic method for monitoring the course of the inflammatory processes, a flat glass-surface of dye-loaded Zeolite L-crystal nanoparticles was coated with bioactive α4β1-peptidomimetics to detect specific integrin-expressing cells as biomarkers of inflammatory diseases. Targeted drug delivery has been considered a promising alternative to overcome the pharmacokinetic limitations of conventional anticancer drugs. Thus, a novel Small-Molecule Drug Conjugate was synthesized by connecting the highly cytotoxic Cryptophycin to the tumor-targeting RGDfK-peptide through a protease-cleavable linker. Finally, in view to making the peptide synthesis more sustainable and greener, we developed an alternative method for peptide bonds formation employing solvent-free mechanochemistry and ultra-mild minimal solvent-grinding conditions in common, inexpensive laboratory equipment. To this purpose, standard amino acids, coupling agents and organic-green solvents were used in the presence of nanocrystalline hydroxyapatite as a reusable, bio-compatible inorganic basic catalyst.

Silicon nanocrystals tailored for bioimaging and energy conversion

This thesis focus is the development of hybrid organic-inorganic systems based on Silicon Nanocrystals (SiNCs) with possible applications in the field of bioimaging and solar energy conversion. SiNCs were engineered thanks to the realization of a strong covalent Si-C bond on their surface, which allowed us to disperse them in different solvents with different final purpose. Chapter 1 introduces the basic properties of nanomaterials. Chapter 2 describes all the synthetic procedures to obtain the organic molecules-functionalized SiNCs. Chapter 3 illustrates an organic-inorganic antenna system based on SiNCs conjugated with diphenylanthracene (DPA) photoactive molecules, which was also embedded into Luminescent Solar Concentrators (LSC) made of a polymeric matrix. The optical and photovoltaic performances of this device were compared with the ones of a LSC embedded with a physical mixture made of SiNCs plus DPA at the same concentrations of the two components in the covalent system. Chapter 4 shows many different techniques to functionalize SiNCs with polyethylene glycol (PEG) chains in order to make them dispersible in water, for biomedical imaging applications. Chapter 5 presents the synthesis of dyes and/or SiNCs loaded Polymer Nanoparticles (PNPs) capable of excitation energy transfer (EET) mechanism. Chapter 6 is focused on the realization of photo-switchable systems based on azobenzene derivatives-functionalized SiNCs. These organic-inorganic hybrid materials were studied to possibly obtain a new light-driven response of SiNCs. In the end, chapter 7 reports the activity I followed in America, at The University of Texas at Austin, in the laboratory led by the professor Brian Korgel. Here I studied and compared the properties of high temperature hydrosilylated SiNCs and room temperature, radical promoted, hydrosilylated SiNCs.

Nanostructured luminescent chemosensors for environmental and biomedical applications

Nanomaterials are nowadays widely recognised as advantageous sensing tools due to their unique properties. Some natural nanomaterials, such as DNA or hyaluronic acid analysed in this PhD thesis, have an intrinsic biocompatibility that overcomes a series of issues in the field of sensing in biological environments. Therefore, the main aim of this project was to derivatize HA chains with luminescent dyes - both organic and metal complexes - in order to obtain natural polymer-based optical sensors. A derivatization of HA with these moieties was obtained and a photophysical characterization was provided. To prove their sensing ability towards nanomaterials, the interaction with. PluS Nanoparticles, featuring an outer PEG shell, was tested. It was mostly demonstrated that the main features of the luminophores used were present in the HA nanogels as well. For example, HA@Dansyl was proven to be a luminescent probe able to sense different environment polarities. Furthermore, in HA@PA the amount of excimers/monomers emission was found to be relatable to the degree of entanglement of HA chains, that changes upon interactions with nanoparticles. Moreover, two ruthenium bipyridyl derivatives were linked to HA and it was found out that HA interacts with long DNA sequences. Also, the presence of BPA, a small molecule of environmental concern, was detected using (i) an already studied hyaluronic acid derivative with rhodamine (HA@RB) , (ii) a dizinc ruthenium complex coordinating BPA to the metal centres, and (iii) a new probe constituted by PluSNPs@DEAC and HA@RB. Despite all the systems were found to be able to detect BPA, the latter probe presented advantages in terms of sensitivity. Furthermore, the chapter 2 of this thesis is focused on the detection of a NF-κB protein in PC3 cancer cells. via confocal microscopy by following a FRET signal variation on a triplex-hairpin derivatized with a FRET couple of dyes.

Caratterizzazione di bioelettrodi elastici a polimero semiconduttore nano-strutturato

Nell'ambito della medicina bioelettronica vi è un grande interesse nello sviluppo di bioelettrodi elastici ad interfaccia nanostrutturata per la rilevazione dei segnali elettrici del sistema nervoso. Uno dei materiali organici più performanti è il polimero conduttivo 3,4-polietilenediossitiofene (PEDOT), drogato col polianione polistirene sulfonato (PSS) a formare il PEDOT:PSS nanocomposito. Questo composto tende però a perdere le proprietà elettrochimiche di partenza quando sottoposto a stress meccanico. Per ottenere una caratterizzazione del materiale è stata esaminata la spettroscopia di impedenza elettrochimica (EIS) come funzione della frequenza temporale di alcuni elettrodi d' oro rivestiti di PEDOT:PSS elettrodepositato, utilizzando dei substrati microfabbricati. Sono stati inoltre eseguiti confronti con bioelettrodi PEDOT:PSS con l'aggiunta di glicole polietilenico (PEG) in fase di deposizione elettrochimica, un plastificante che migliora le proprietà elastiche dei bioelettrodi. Al fine di ottenere una caratterizzazione topologica dei dispositivi, si è fatto uso di un Microscopio a Forza Atomica (AFM). Infine, è stata elaborata una metodologia per caratterizzare i dispositivi sotto l'azione di uno stress meccanico molto ricorrente nelle applicazioni mediche. Si è constato che gli spettri di impedenza dei bioelettrodi possono essere ragionevolmente descritti da un circuito equivalente formato da una resistenza in serie ad una capacità. I parametri ricavati tramite questo modello sembrano suggerire inoltre un'analogia quantitativa nel comportamento del PEDOT:PSS e del PEDOT:PSS:PEG.

Studio dell’effetto di stabilizzanti polimerici su catalizzatori di oro nanostrutturati

Negli ultimi anni ha riscosso particolare interesse l’utilizzo di nanoparticelle metalliche nella catalisi per via delle loro eccellenti proprietà. Le limitazioni al loro utilizzo sono connesse alla complessità della loro sintesi a causa dei molteplici parametri che possono influenzare le proprietà e la morfologia del sistema finale. Recenti studi hanno permesso di individuare la possibilità che polimeri con opportune caratteristiche possano influenzare sia la morfologia che l’attività catalitica dei catalizzatori nanostruturati. Queste ricerche hanno aperto alla possibilità di controllare le proprietà delle nanoparticelle attraverso la sintesi di macromolecole con specifiche caratteristiche. Nel corso dell’attività di tirocinio si è studiato come il peso molecolare e la natura dello stabilizzante polimerico influenzino le dimensioni e l’attività delle nanoparticelle d’oro in termini di conversione ed accessibilità dei siti attivi del catalizzatore attraverso la reazione di riduzione del 4-nitrofenolo. Si sono confrontati risultati ottenuti da nanoparticelle sintetizzate utilizzando come stabilizzante campioni a differente peso molecolare di poli-etilenglilcole, poli-vinilammina e poli-vinilalcol.

Development of a polyplexes-based miRNA delivery system in a 3D-bioplotted osteoarthritis cellular model.

L'osteoartrite (OA) è una patologia infiammatorio/degenerativa ossea per la quale non sono disponibili terapie causali efficaci ma solo approcci palliativi per la riduzione del dolore cronico. E’ quindi giustificato un investimento per individuare nuove strategie di trattamento. In quest’ottica, lo scopo di questa tesi è stato quello di indagare l’efficacia di polyplexi a base di chitosano o di PEI-g-PEG in un modello cellulare 3D in vitro basato su un hydrogel di Gellan Gum Metacrilato (GGMA) con a bordo condrociti in condizioni simulate di OA. Inizialmente sono state studiate la dimensione e il potenziale-Z di un pool di formulazioni di poliplexi. Quindi se ne è valutata la citocompatibilità utilizzando cellule staminali mesenchimali immortalizzate Y201. Infine, una miscela di GGMA, cellule e polyplexi è stata utilizzata per la stampa 3D di campioni che sono stati coltivati fino a 14 giorni. La condizione OA è stata simulata trattando le cellule con una miscela di citochine implicate nello sviluppo della malattia. Tutte le formulazioni a base di chitosano e due basate su PEI-g-PEG si sono dimostrate citocompatibili e sono hanno veicolato i miRNA nelle cellule (come mostrato dai risultati di analisi in fluorescenza). I risultati delle colorazioni H&E e AlcianBlue hanno confermato che il terreno condizionato ha ben ricreato le condizioni di OA. I polyplexi a base di chitosano e PEI-g-PEG hanno controbilanciato gli effetti delle citochine. Risultati incoraggianti, anche se da approfondire ulteriormente, provengono anche dall’analisi di espressione (RT-PCR) di cinque geni specifici della cartilagine. Concludendo, questo modello ha ben riprodotto le condizioni di OA in vitro; il chitosano ha mostrato di essere un adeguato veicolo per un trattamento a base di miRNA; il PEI-g-PEG si propone come un'alternativa più economica e ragionevolmente affidabile, sebbene il rischio di citotossicità alle concentrazioni più elevate richieda una più esteva validazione sperimentale.

β-lactams from their structural features to their biological applications

β-lactam compounds represent an important class of four-membered cyclic amides (azetidin-2-ones) thanks to their valuable and varied biological activities. The presence of a β-lactam ring in a series of bioactive molecules targeting different proteins, allows us to consider the azetidin-2-one a privileged structure. The constrained four-membered cyclic amide could easily undergo ring-opening reactions by nucleophilic residues in the active sites of enzymes and this is the mechanism suggested for antibacterial activity; moreover, the rigid core structure could favour and actually enhance directional noncovalent bonding for an effective ligand−receptor recognition. Nowadays monocyclic β-lactams are known as anticancer, antidiabetic, anti-tubercular, anti-inflammatory agents and as ligands of integrin receptors. In order to consider different facets of 4-azetidin-2-ones, this theis will be divided into two sections: the first one will be dedicated to the design, synthesis and characterization of biological active β-lactams (new β-lactam based integrin ligands and their different applications and novel N-thio-alkyl substituted azetidinones for the treatment of Tuberculosis); the second one instead, will be based on two projects which consider two different proprieties of β-lactams: stereochemistry, evaluated by biocatalytic methods and reactivity at C-4 position. In the first case we want to obtain enantiomerically pure 4-acetoxy-2-azetidinone, useful for synthesis of stereo-chemically defined bioactive β-lactams, while in the second case we want to study in which conditions the nucleophilic substitutions occur. A final section will be instead dedicated to the research project conducted in Philochem AG, Zurich, under the supervision of Prof. Dario Neri and Dr. Samuele Cazzamalli, based on the study of new cleavable disulfide linkers for small molecule drug conjugates targeting Fibroblast activation protein (FAP).