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.

Design and Characterization of Luminescent Silica Nanoparticles

The aim of this thesis was to design, synthesize and characterize dye-doped silica nanoparticles (DDSNPs) to be used as chemosensors or labels in bioanalytical applications. DDSNPs represent one of the most versatile and useful components in nanomedicine displaying important features such as high colloid stability in water, low toxicity, one-pot inexpensive synthesis and tunable fluorescence emission. Starting from the one-pot and highly reproducible synthesis of “silica-core/PEG shell” DDSNPs based on the use of micelles of Pluronic F127, in which take place both hydrolysis and condensation of the silica precursor and of the dyes functionalized with a triethoxysilane group, we developed DDSNPs suitable for optical and optoacustic imaging, drug loading and chemical sensing obtaining very interesting results for the further development of nanomedicine.

Stratigraphic study and analysis of the barchan dunefield of the Laguna coastal zone in Santa Catarina, Brazil

The association of several favorable factors has resulted in the development of a wide barchan dune field that stands out as a fundamental element in the coastal landscape of southern Santa Catarina state in Brazil. This original ecosystem is being destroyed and highly modified, due to urbanization. This work identifies and discusses its basic characteristics and analyzes the favorable factors for its preservation, in the foreseen of both a sustainable future and potential incomes from ecotourism. The knowledge of the geologic evolution allows to associate this transgressive Holocene dunes formation to more dissipative beach conditions. Spatial differences on morphodynamics are related to local and regional contrasts in the sediment budget, with an influence on gradients of wave attenuation in the inner shelf and consequently with influence in the level of coastal erosion. The link between relative sea level changes and coastal eolian sedimentation can be used to integrate coastal eolian systems to the sequence stratigraphy model. The main accumulation phase of eolian sediments would occur during the final transgressive and highstand systems tracts. Considering the global character of Quaternary relative sea level changes, the Laguna transgressive dune field should be correlated with similar eolian deposits developed along other parts of the Brazilian coast compatibles with the model of dunefield initiation during rising and highstand sea level phases.

Design and prototyping of electronic PCBs for the study of the atmosphere in harsh environmental conditions

Progettazione, test e creazione di schede elettroniche per lo studio dell'atmosfera in condizioni ambientali difficili.

LoneStar : Design and evaluation of an energy-efficient, disk-based archival storage system

Bandlaufwerke waren bisher die vorherrschende Technologie, um die anfallenden Datenmengen in Archivsystemen zu speichern. Mit Zugriffsmustern, die immer aktiver werden, und Speichermedien wie Festplatten die kostenmäßig aufholen, muss die Architektur vor Speichersystemen zur Archivierung neu überdacht werden. Zuverlässigkeit, Integrität und Haltbarkeit sind die Haupteigenschaften der digitalen Archivierung. Allerdings nimmt auch die Zugriffsgeschwindigkeit einen erhöhten Stellenwert ein, wenn aktive Archive ihre gesamten Inhalte für den direkten Zugriff bereitstellen. Ein band-basiertes System kann die hierfür benötigte Parallelität, Latenz und Durchsatz nicht liefern, was in der Regel durch festplattenbasierte Systeme als Zwischenspeicher kompensiert wird.rnIn dieser Arbeit untersuchen wir die Herausforderungen und Möglichkeiten ein festplattenbasiertes Speichersystem zu entwickeln, das auf eine hohe Zuverlässigkeit und Energieeffizienz zielt und das sich sowohl für aktive als auch für kalte Archivumgebungen eignet. Zuerst analysieren wir die Speichersysteme und Zugriffsmuster eines großen digitalen Archivs und präsentieren damit ein mögliches Einsatzgebiet für unsere Architektur. Daraufhin stellen wir Mechanismen vor um die Zuverlässigkeit einer einzelnen Festplatte zu verbessern und präsentieren sowie evaluieren einen neuen, energieeffizienten, zwei- dimensionalen RAID Ansatz der für „Schreibe ein Mal, lese mehrfach“ Zugriffe optimiert ist. Letztlich stellen wir Protokollierungs- und Zwischenspeichermechanismen vor, die die zugrundeliegenden Ziele unterstützen und evaluieren das RAID System in einer Dateisystemumgebung.

Design and implementation of an anonymous peer-to-peer iaas cloud

Cloud services are becoming ever more important for everyone's life. Cloud storage? Web mails? Yes, we don't need to be working in big IT companies to be surrounded by cloud services. Another thing that's growing in importance, or at least that should be considered ever more important, is the concept of privacy. The more we rely on services of which we know close to nothing about, the more we should be worried about our privacy. In this work, I will analyze a prototype software based on a peer to peer architecture for the offering of cloud services, to see if it's possible to make it completely anonymous, meaning that not only the users using it will be anonymous, but also the Peers composing it will not know the real identity of each others. To make it possible, I will make use of anonymizing networks like Tor. I will start by studying the state of art of Cloud Computing, by looking at some real example, followed by analyzing the architecture of the prototype, trying to expose the differences between its distributed nature and the somehow centralized solutions offered by the famous vendors. After that, I will get as deep as possible into the working principle of the anonymizing networks, because they are not something that can just be 'applied' mindlessly. Some de-anonymizing techniques are very subtle so things must be studied carefully. I will then implement the required changes, and test the new anonymized prototype to see how its performances differ from those of the standard one. The prototype will be run on many machines, orchestrated by a tester script that will automatically start, stop and do all the required API calls. As to where to find all these machines, I will make use of Amazon EC2 cloud services and their on-demand instances.

Design and implementation of the ESEO spacecraft simulator

The thesis work is developed under the European Student Earth Orbiter (ESEO) project supported by the European Space Agency (ESA) in order to help prepare a well-qualified space-engineering workforce for Europe's future. In the following chapters we are going to analyse how to simulate some ESEO subsystem. First of all, the Thermal Subsystem that evaluates the temperature evolution of on-board instruments. For this purpose, simulating also the orbital and attitude dynamics of the spacecraft, it is necessary in order to evaluate external environmental fluxes. The Power Subsystem will be the following step and it models the ability of a spacecraft to produce and store electrical energy. Finally, we will integrate in our software a block capable of simulating the communication link between the satellite and the Ground Station (GS). This last step is designed and validated during the thesis preparation.

Actor Kit: Design and Development of an Actor Framework for Swift

Nell'ambito dello sviluppo software, la concorrenza è sempre stata vista come la strada del futuro. Tuttavia, questa è stata spesso ignorata a causa del continuo sviluppo dell'hardware che ha permesso agli sviluppatori di continuare a scrivere software sequenziale senza doversi preoccupare delle performance. In un'era in cui le nuove architetture hardware presentano processori multi-core, tutto questo non è più possibile. L'obiettivo di questa tesi è stato quello di considerare il Modello ad Attori come valida alternativa allo sviluppo di applicazioni in ambito mobile e quindi di progettare, sviluppare e distribuire un nuovo framework sulla base di tale modello. Il lavoro parte quindi da una panoramica di Swift, il nuovo linguaggio di programmazione presentato da Apple al WWDC 2014, in cui vengono analizzati nel dettaglio i meccanismi che abilitano alla concorrenza. Successivamente viene descritto il modello ad attori in termini di: attori, proprietà, comunicazione e sincronizzazione. Segue poi un'analisi delle principali implementazioni di questo modello, tra cui: Scala, Erlang ed Akka; quest'ultimo rappresenta la base su cui è stato ispirato il lavoro di progettazione e sviluppo del framework Actor Kit. Il quarto capitolo descrive tutti i concetti, le idee e i principi su cui il framework Actor Kit è stato progettato e sviluppato. Infine, l'ultimo capitolo presenta l'utilizzo del framework in due casi comuni della programmazione mobile: 1) Acquisizione dati da Web API e visualizzazione sull'interfaccia utente. 2) Acquisizione dati dai sensori del dispositivo. In conclusione Actor Kit abilita la progettazione e lo sviluppo di applicazioni secondo un approccio del tutto nuovo nell'ambito mobile. Un possibile sviluppo futuro potrebbe essere l'estensione del framework con attori che mappino i framework standard di Apple; proprio per questo sarà reso pubblico con la speranza che altri sviluppatori possano evolverlo e renderlo ancora più completo e performante.

Computer-assisted design and manufacture of implants in the late reconstruction of extensive orbital fractures

To evaluate the use of computer-assisted designed and manufactured (CAD/CAM) orbital wall and floor implants for late reconstruction of extensive orbital fractures.

Identification of bracovirus particle proteins and analysis of their transcript levels at the stage of virion formation

http://www.ncbi.nlm.nih.gov/pubmed/20554796

Recovery and Analysis of Transaction Scope from Scattered Information in Java Enterprise Applications

Java Enterprise Applications (JEAs) are large systems that integrate multiple technologies and programming languages. Transactions in JEAs simplify the development of code that deals with failure recovery and multi-user coordination by guaranteeing atomicity of sets of operations. The heterogeneous nature of JEAs, however, can obfuscate conceptual errors in the application code, and in particular can hide incorrect declarations of transaction scope. In this paper we present a technique to expose and analyze the application transaction scope in JEAs by merging and analyzing information from multiple sources. We also present several novel visualizations that aid in the analysis of transaction scope by highlighting anomalies in the specification of transactions and violations of architectural constraints. We have validated our approach on two versions of a large commercial case study.

A Minimally Invasive Technique for the Detection and Analysis of Pulmonary Fat Embolism: A Feasibility Study*

We investigated the feasibility of postmortem percutaneous needle biopsy (PNB) for obtaining pulmonary samples adequate for the study of pulmonary fat embolism (PFE). Samples of both lungs were obtained from 26 cadavers via two different methods: (i) PNB and (ii) the double-edged knife technique, the gold standard at our institute. After water storage and Sudan III staining, six forensic pathologists independently examined all samples for the presence and severity of PFE. The results were compared and analyzed in each case regarding the vitality of the PFE and its relationship to the cause of death. The results showed that PFE was almost identically diagnosed and graded on the samples obtained via both methods. The discrepancies between the two techniques did not affect the diagnoses of vitality or cause of death related to PFE. This study demonstrates the feasibility of the PNB sampling method for the diagnosis and interpretation of PFE in the postmortem setting.

Geochemical Modeling and Analysis of the Frac Water Used in the Hydraulic Fracturing of the Marcellus Formation, Pennsylvania

The hydraulic fracturing of the Marcellus Formation creates a byproduct known as frac water. Five frac water samples were collected in Bradford County, PA. Inorganic chemical analysis, field parameters analysis, alkalinity titrations, total dissolved solids(TDS), total suspended solids (TSS), biological oxygen demand (BOD), and chemical oxygen demand (COD) were conducted on each sample to characterize frac water. A database of frac water chemistry results from across the state of Pennsylvania from multiple sources was compiled in order to provide the public and research communitywith an accurate characterization of frac water. Four geochemical models were created to model the reactions between frac water and the Marcellus Formation, Purcell Limestone, and the oil field brines presumed present in the formations. The average concentrations of chloride and TDS in the five frac water samples were 1.1 �± 0.5 x 105 mg/L (5.5X average seawater) and 140,000 mg/L (4X average seawater). BOD values for frac water immediately upon flow back were over 10X greater than the BOD of typical wastewater, but decreased into the range of typical wastewater after a short period of time. The COD of frac water decreases dramatically with an increase in elapsed time from flow back, but remain considerably higher than typicalwastewater. Different alkalinity calculation methods produced a range of alkalinity values for frac water: this result is most likely due to high concentrations of aliphatic acid anions present in the samples. Laboratory analyses indicate that the frac watercomposition is quite variable depending on the companies from which the water was collected, the geology of the local area, and number of fracturing jobs in which the frac water was used, but will require more treatment than typical wastewater regardless of theprecise composition of each sample. The geochemical models created suggest that the presence of organic complexes in an oil field brine and Marcellus Formation aid in the dissolution of ions such as bariumand strontium into the solution. Although equilibration reactions between the Marcellus Formation and the slickwater account for some of the final frac water composition, the predominant control of frac water composition appears to be the ratio of the mixture between the oil field brine and slickwater. The high concentration of barium in the frac water is likely due to the abundance of barite nodules in the Purcell Limestone, and the lack of sulfate in the frac water samples is due to the reducing, anoxic conditions in the earth's subsurface that allow for the degassing of H2S(g).

Design and construction of a new Drosophila species, D.synthetica, by synthetic regulatory evolution

Here, I merge the principles of synthetic biology1,2 and regulatory evolution3-11 to create a new species12-15 with a minimal set of known elements. Using preexisting transgenes and recessive mutations of Drosophila melanogaster, a transgenic population arises with small eyes and a different venation pattern that fulfills the criteria of a new species according to Mayr's "Biological Species Concept"7,10. The genetic circuit entails the loss of a non-essential transcription factor and the introduction of cryptic enhancers. Subsequent activation of those enhancers causes hybrid lethality. The transition from "transgenic organisms" towards "synthetic species", such as Drosophila synthetica, constitutes a safety mechanism to avoid hybridization with wild type populations and preserve natural biodiversity16-18. Drosophila synthetica is the first transgenic organism that cannot hybridize with the original wild type population but remains fertile when crossed with other transgenic animals.