Kinematics of single-loop mechanisms and serial robot arms: A systematic approach

This paper presents a systematic approach, based on displacement group properties, to the kinematic analysis of spatial linkages with one closed loop and to the solution of the inverse kinematic problem for robot manipulators. By using the proposed approach, a set of kinematic chains can be determined such that a first closure equation with one unknown can be derived directly and explicitly. Then the remaining closure equations are obtained: it is proved that they can be expressed in triangular form. The basic algorithms used to solve these equations in closed form are also presented. For each algorithm, the conditions of applicability, the initial information required, the results, the type and form of equations, and the maximum number of solutions are given. The proposed approach is well suited to the symbolic explicit solution of the inverse kinematic problem of a wide range of robut mechanisms. An example of its application is given.

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Sommario Il lavoro presenta un appreceio sistematico, basato sulle proprietà dei gruppi di spostamento, all'analisi cinematica di posizione di meccanismi spaziali ad una maglia e alla cinematica inversa di robot manipolatori seriali. L'approccio consente di determinare un insieme di catene cinematiche per le quali può essere scritta e risolta direttamente una prima equazione di chiusura in una sola incognita. Viene successivamente dimostrato esaustivamente che, per tali catene, le successive equazioni di chiusura possono essere espresse e risolte in forma triangolare. Inoltre sono presentati gli algoritmi di base utilizzabili per la soluzione del problema posto. Per ciascuno di essi sono dati: le condizioni di applicabilità, l'informazione iniziale richiesta, i risultati ottenuti, il tipo e la forma delle equazioni e il massimo numero di soluzioni possibili. L'approccio presentato è utilizzabile per la soluzione simbolica esplicita, manuale o automatica, di un esteso insieme di meccanismi per robot. Viene dato un esempio di uso del metodo.

     

Application of a lattice-gas numerical algorithm to modelling water transport in fractured porous media

A 2D lattice-gas numerical algorithm was used to simulate liquid infiltration into unsaturated porous media with a parallel sided central crack. The chosen model, the interacting liquid-gas model of Appert and Zaleski, has dynamic properties leading to a phase transition and liquid and gas phases can be simulated by the model. These two phases are used to simulate biphasic flow in porous media. Fourteen numerical experiments of liquid infiltration were carried out which differed in the morphology of the microporous matrix, in the aperture of the central crack and in the amount of liquid supplied. For the same microporous matrix, the infiltration dynamics in the dual media depended upon the ratio between the amount of liquid supplied and the crack aperture. Variations in water storage over time and liquid flow regimes within the cracks are discussed.     

Physico-Chemical Properties of Inorganic NPs Influence the Absorption Rate of Aquatic Mosses Reducing Cytotoxicity on Intestinal Epithelial Barrier Model

Noble metals nanoparticles (NPs) and metal oxide NPs are widely used in different fields of application and commercial products, exposing living organisms to their potential adverse effects. Recent evidences suggest their presence in the aquifers water and consequently in drinking water. In this work, we have carefully synthesized four types of NPs, namely, silver and gold NPs (Ag NPs and Au NPs) and silica and titanium dioxide NPs (SiO₂ NPs and TiO₂ NPs) having a similar size and negatively charged surfaces. The synthesis of Ag NPs and Au NPs was carried out by colloidal route using silver nitrate (AgNO₃) and tetrachloroauric (III) acid (HAuCl₄) while SiO₂ NPs and TiO₂ NPs were achieved by ternary microemulsion and sol-gel routes, respectively. Once the characterization of NPs was carried out in order to assess their physico-chemical properties, their impact on living cells was studied. We used the human colorectal adenocarcinoma cells (Caco-2), known as the best representative intestinal epithelial barrier model to understand the effects triggered by NPs through ingestion. Then, we moved to explore how water contamination caused by NPs can be lowered by the ability of three species of aquatic moss, namely, Leptodictyum riparium, Vesicularia ferriei, and Taxiphyllum barbieri, to absorb them. The experiments were conducted using two concentrations of NPs (100 μM and 500 Μm as metal content) and two time points (24 h and 48 h), showing a capture rate dependent on the moss species and NPs type. Then, the selected moss species, able to actively capture NPs, appear as a powerful tool capable to purify water from nanostructured materials, and then, to reduce the toxicity associated to the ingestion of contaminated drinking water.     

Human capital estimation in higher education

The concept of human capital (HC) could be defined, from an economical viewpoint, as a stock variable representing the capacity of an individual to produce a sustained flow of income due to its investment in (higher) education and work experience. This paper focuses on the empirical estimation of the graduates’ latent variable HC, composed of two principal dimensions, Educational HC and Work Experience HC, within a realistic structural model, allowing causal relationship among endogenous and exogenous indicators, taking into account possible effects of external covariates. New administrative archives and a novel methodological approach are used. The methodology is applied to estimate HC of graduates in several universities of the Milan area in the early stages of their working career. The empirical results confirm the structure of the Italian job market, where investment in HC through higher education plays only a marginal role for explaining the economic performance.     

Photoinduced Charge Separation in a Donor–Spacer–Acceptor Dyad with N‐Annulated Perylene Donor and Methylviologen Acceptor

The first donor–acceptor species in which a strongly emissive N‐annulated perylene dye is connected to a methylviologen electron acceptor unit via its macrocyclic nitrogen atom, is prepared by a stepwise, modular procedure. The absorption spectra, redox behavior, spectroelectrochemistry and photophysical properties of this dyad and of its model species are investigated, also by pump–probe fs transient absorption spectroscopy. Photoinduced oxidative electron transfer from the excited state of the dyad, centered on the N‐annulated perylene subunit, to the appended methyviologen electron acceptor takes place in a few ps. The charge‐separated species recombines in 19 ps. Our results indicate that N‐annulated perylene can be connected to functional units by taking advantage of the macrocyclic nitrogen, an option never used until now, without losing their properties, so opening the way to new designing approaches.     

Property (R) for Bounded Linear Operators

We introduce the spectral property (R), for bounded linear operators defined on a Banach space, which is related to Weyl type theorems. This property is also studied in the framework of polaroid, or left polaroid, operators.