Trajectory Planning in Robotics

Trajectory planning is a fundamental issue for robotic applications and automation in general. The ability to generate trajectories with given features is a key point to ensure significant results in terms of quality and ease of performing the required motion, especially at the high operating speeds necessary in many applications. The general problem of trajectory planning in Robotics is addressed in the paper, with an overview of the most significant methods, that have been proposed in the robotic literature to generate collision-free paths. The problem of finding an optimal trajectory for a given path is then discussed and some significant solutions are described.     

Fracture and debonding of a thin film on a stiff substrate: analytical and numerical solutions of a one-dimensional variational model

We study multi-fissuration and debonding phenomena of a thin film bonded to a stiff substrate using the variational approach to fracture mechanics. We consider a reduced one-dimensional membrane model where the loading is introduced through uniform inelastic (e.g., thermal) strains in the film or imposed displacements of the substrate. Fracture phenomena are accounted for by adopting a Griffith model for debonding and transverse fracture. On the basis of energy minimization arguments, we recover the key qualitative properties of the experimental evidences, like the periodicity of transverse cracks and the peripheral debonding of each regular segment. Phase diagrams relate the maximum number of transverse cracks that may be created before debonding takes place, as a function of the material properties and the sample’s geometry. The theoretical results are illustrated with numerical simulations obtained through a finite element discretization and a regularized variational formulation of the Ambrosio–Tortorelli type, which is suited to further extensions in two-dimensional settings.     

Electrolytes for quasi solid‐state dye‐sensitized solar cells based on block copolymers

The first use of PS_n‐b‐PEO_m‐b‐PS_n block copolymers (PS = polystyrene, PEO = poly(ethylene oxide)) as solid hosts for iodine/iodide electrolytes in dye‐sensitized solar cells (DSSCs) is described. Using the benchmark photosensitizer N719, DSSC based on the quasi solid‐state electrolytes afforded efficiencies up to 6.7%, to be compared with an efficiency of 7.3% obtained in similar conditions with a conventional iodine/iodide liquid electrolyte. By varying the PS:PEO relative volume ratio in the block copolymers different properties and morphologies were obtained. © 2013 Wiley Periodicals, Inc. J. Polym. Sci., Part A: Polym. Chem. 2014 , 52, 719–727     

Divergent Synthesis of Bioactive Dithiodiketopiperazine Natural Products Based on a Double C(sp3)−H Activation Strategy

This article provides a detailed report of our efforts to synthesize the dithiodiketopiperazine (DTP) natural products (−)-epicoccin G and (−)-rostratin A using a double C(sp³)−H activation strategy. The strategy's viability was first established on a model system lacking the C8/C8’ alcohols. Then, an efficient stereoselective route including an organocatalytic epoxidation was secured to access a key bis-triflate substrate. This bis-triflate served as the functional handles for the key transformation of the synthesis: a double C(sp³)−H activation. The successful double activation opened access to a common intermediate for both natural products in high overall yield and on a multigram scale. After several unsuccessful attempts, this intermediate was efficiently converted to (−)-epicoccin G and to the more challenging (−)-rostratin A via suitable oxidation/reduction and protecting group sequences, and via a final sulfuration that occurred in good yield and high diastereoselectivity. These efforts culminated in the synthesis of (−)-epicoccin G and (−)-rostratin A in high overall yields (19.6 % over 14 steps and 12.7 % over 17 steps, respectively), with the latter being obtained on a 500 mg scale. Toxicity assessments of these natural products and several analogues (including the newly synthesized epicoccin K) in the leukemia cell line K562 confirmed the importance of the disulfide bridge for activity and identified dianhydrorostratin A as a 20x more potent analogue.     

A Single Thermoresponsive Diblock Copolymer Can Form Spheres,Worms or Vesicles in Aqueous Solution

It is well‐known that the self‐assembly of AB diblock copolymers in solution can produce various morphologies depending on the relative volume fraction of each block. Recently, polymerization‐induced self‐assembly (PISA) has become widely recognized as a powerful platform technology for the rational design and efficient synthesis of a wide range of block copolymer nano‐objects. In this study, PISA is used to prepare a new thermoresponsive poly(N‐(2‐hydroxypropyl) methacrylamide)‐poly(2‐hydroxypropyl methacrylate) [PHPMAC‐PHPMA] diblock copolymer. Remarkably, TEM, rheology and SAXS studies indicate that a single copolymer composition can form well‐defined spheres (4 °C), worms (22 °C) or vesicles (50 °C) in aqueous solution. Given that the two monomer repeat units have almost identical chemical structures, this system is particularly well‐suited to theoretical analysis. Self‐consistent mean field theory suggests this rich self‐assembly behavior is the result of the greater degree of hydration of the PHPMA block at lower temperature, which is in agreement with variable temperature ¹H NMR studies.     

The Regularity of Parametrized Integer Stationary Varifolds in Two Dimensions

We establish an optimal regularity result for parametrized two-dimensional stationary varifolds. Namely, we show that the parametrization map is a smooth minimal branched immersion and that the multiplicity function is constant. We provide some applications of this regularity result, especially in the calculus of variations for the area functional. © 2020 Wiley Periodicals LLC