Dynamic involvement of real world objects in the IoT: a consensus-based cooperation approach

A significant role in the Internet of Things (IoT) will be taken by mobile and low-cost unstable devices, which autonomously self-organize and introduce highly dynamic and heterogeneous scenarios for the deployment of distributed applications. This entails the devices to cooperate to dynamically find the suitable combination of their involvement so as to improve the system reliability while following the changes in their status. Focusing on the above scenario, we propose a distributed algorithm for resources allocation that is run by devices that can perform the same task required by the applications, allowing for a flexible and dynamic binding of the requested services with the physical IoT devices. It is based on a consensus approach, which maximizes the lifetime of groups of nodes involved and ensures the fulfillment of the requested Quality of Information (QoI) requirements. Experiments have been conducted with real devices, showing an improvement of device lifetime of more than 20%, with respect to a uniform distribution of tasks

Anilate-based Functional Molecular Materials with Conducting and Magnetic Properties

This work reports on the design, synthesis and characterization of novel anilate-based functional molecular materials showing magnetic and conducting properties. The family of anilate ligands comprises several derivatives obtained by introducing various substituents (H, F, Cl, Br, I, CN, Me, NO2, etc.) at the 3 and 6 positions of a common 2,5-dihyroxy- 1,4-benzoquinone framework. Their electronic/structural features, coordination modes and ability to mediate magnetic exchange interactions between coordinated metal centers make them suitable candidates for the preparation of the above-mentioned materials. In Chapter 1, the syntheses of novel anilate-based ligands (anilate = An) having thiophene (Th), 3,4-ethylenedioxy-thiophene (EDOT), or Cl/CN as substituents are presented, along with their crystal structures, the investigation of the emission (Cl/CN derivative) or charge-transfer (Th, EDOT derivatives) properties and preliminary coordination chemistry studies. Chapter 2 reports on a general synthetic strategy to achieve rationally designed tris-chelated octahedral paramagnetic metal complexes, based on the combination of CrIII and FeIII as metal ions with chloranilate, bromanilate, iodanilate, hydranilate and chlorcyananilate as ligands. The crystal structure analyses, spectroscopical and electrochemical features, density functional theory calculations, and the magnetic properties of these metal complexes of general formula [A]3[MIII(X2An)3] (A = (n-Bu)4N+, (Ph)4P+; MIII = Cr, Fe; X = Cl, Br, I, H, Cl/CN) are described. In Chapter 3 a novel class of molecule-based ferrimagnets formulated as [A][MnIIMIII(X2An)3] (A = [H3O(phz)3]+, (n-Bu)4N+; MIII = Cr, Fe; X = Cl, Br, I, H), obtained according to the “complex-asligand” approach by combining MnII metal ions with the [M(X2An)3]3- molecular building blocks described in Chapter 2, is reported. The crystal structures and the magnetic properties for these compounds are described, and the structure/properties correlation observed between the ordering temperature values and the electron density on the ligand ring, associated with the electron withdrawing properties of the X substituents, is particularly highlighted. Chapter 4 reports on the structural diversity and the physical properties of three new paramagnetic molecular conductors obtained combining the BEDT-TTF organic donor and the [Fe(Cl2An)3]3- metal complex as conducting and magnetic building blocks, respectively. The correlation between the crystal structure and conductivity behavior is reported. Finally, in Chapter 5, the crystal structures and the physical properties of a complete series of isostructural chiral molecular conductors obtained by combining the TM-BEDT-TTF organic donor in its (S,S,S,S) and (R,R,R,R) enantiopure forms, or their racemic mixture (rac), with 2D heterobimetallic anionic layers obtained in situ by association of tris(chloranilato)ferrate(III) metal complexes and potassium cations are described. As far as the framework of the thesis is concerned, this work is organized as follows. Part I contains a general introduction on molecular materials, the state of the art and the aim of the work. Part II contains the obtained results and their discussion divided in 5 Chapters whose content has been summarized above. Part III contains the conclusions and the perspectives for this work. Finally, Part IV contains 5 Appendixes where additional information (basic principles of conductivity and magnetism, details on the electrocrystallization technique, etc.) are given

A quantitative taxonomy of human hand grasps

Background: A proper modeling of human grasping and of hand movements is fundamental for robotics, prosthetics, physiology and rehabilitation. The taxonomies of hand grasps that have been proposed in scientific literature so far are based on qualitative analyses of the movements and thus they are usually not quantitatively justified. Methods: This paper presents to the best of our knowledge the first quantitative taxonomy of hand grasps based on biomedical data measurements. The taxonomy is based on electromyography and kinematic data recorded from 40 healthy subjects performing 20 unique hand grasps. For each subject, a set of hierarchical trees are computed for several signal features. Afterwards, the trees are combined, first into modality-specific (i.e. muscular and kinematic) taxonomies of hand grasps and then into a general quantitative taxonomy of hand movements. The modality-specific taxonomies provide similar results despite describing different parameters of hand movements, one being muscular and the other kinematic. Results: The general taxonomy merges the kinematic and muscular description into a comprehensive hierarchical structure. The obtained results clarify what has been proposed in the literature so far and they partially confirm the qualitative parameters used to create previous taxonomies of hand grasps. According to the results, hand movements can be divided into five movement categories defined based on the overall grasp shape, finger positioning and muscular activation. Part of the results appears qualitatively in accordance with previous results describing kinematic hand grasping synergies. Conclusions: The taxonomy of hand grasps proposed in this paper clarifies with quantitative measurements what has been proposed in the field on a qualitative basis, thus having a potential impact on several scientific fields

Dynamic carpooling in urban areas: design and experimentation with a multi-objective route matching algorithm

This paper focuses on dynamic carpooling services in urban areas to address the needs of mobility in real-time by proposing a two-fold contribution: a solution with novel features with respect to the current state-of-the-art, which is named CLACSOON and is available on the market; the analysis of the carpooling services performance in the urban area of the city of Cagliari through emulations. Two new features characterize the proposed solution: partial ridesharing, according to which the riders can walk to reach the driver along his/her route when driving to the destination; the possibility to share the ride when the driver has already started the ride by modeling the mobility to reach the driver destination. To analyze which features of the population bring better performance to changing the characteristics of the users, we also conducted emulations. When compared with current solutions, CLACSOON allows for achieving a decrease in the waiting time of around 55% and an increase in the driver and passenger success rates of around 4% and 10%, respectively. Additionally, the proposed features allowed for having an increase in the reduction of the CO2 emission by more than 10% with respect to the traditional carpooling service

Scylax of Caryanda, Pseudo-Scylax, and the Paris Periplus: Reconsidering the Ancient Tradition of a Geographical Text

The Periplus preserved in the manuscript Parisinus suppl. gr. 443, and erroneously ascribed to Scylax of Caryanda (sixth century BC), is the oldest extant specimen of ancient Greek periplography: it belongs to the second half of the fourth century. In the present article, all the testimonies on the ancient tradition of both Scylax and the Paris Periplus are carefully evaluated. The aim is to determine when and why the Paris Periplus was mistakenly ascribed to Scylax and to clear any doubts on the alleged authorship of this ancient geographic work. The confusion, or the wilful falsification, is evident in Strabo: he knew of Scylax’s voyage in the East and at the same time was acquainted with the text of the Paris Periplus, which he ascribed to this famous ancient seafarer. Greek and Latin authors of the Roman Imperial age knew the Paris Periplus, but many followed slavishly the erroneous ascription to Scylax of Caryanda. When Marcianus of Heraclea in the early Byzantine age collected his corpus of ancient Greek geographers he also ascribed the Paris Periplus to Scylax, thus handing down the error to the copyist of the Paris. suppl. gr. 443

Gaze, behavioral, and clinical data for phantom limbs after hand amputation from 15 amputees and 29 controls

Despite recent advances in prosthetics, many upper limb amputees still use prostheses with some reluctance. They often do not feel able to incorporate the artificial hand into their bodily self. Furthermore, prosthesis fitting is not usually tailored to accommodate the characteristics of an individual's phantom limb sensations. These are experienced by almost all persons with an acquired amputation and comprise the motor and postural properties of the lost limb. This article presents and validates a multimodal dataset including an extensive qualitative and quantitative assessment of phantom limb sensations in 15 transradial amputees, surface electromyography and accelerometry data of the forearm, and measurements of gaze behavior during exercises requiring pointing or repositioning of the forearm and the phantom hand. The data also include acquisitions from 29 able-bodied participants, matched for gender and age. Special emphasis was given to tracking the visuo-motor coupling between eye-hand/eye-phantom during these exercises