Mechanical BioMEMS Technologies for Advanced Label-free Sensing of Biomolecular Species in Microfluidic Channels

The aim of this PhD project is to investigate alternative sensing methodologies that can possibly improve the sensing performances of lab–on–chip (LOC) designed for biochemical applications. Suspended microchannel resonator (SMR) for bio–mechanical sensing applications have become very popular as detection of weigths of chemicals integrated in LOC. They exploit laser doppler vibrometry (LDV) for dynamic mode detection. In this thesis two different SMRs designs have been investigated, involving either technological challenges – the use of polymers as material and processing techniques based on laser micromachining – and different sensing phenomena – the use of the parametric resonance rather than the standard harmonic resonance response. The flexibility of two–photon direct laser writing is exploited to optimize a highly– versatile fabrication strategy based on a shell–writing procedure with the aim to reduce fabrication time of big inlet/outlet sections compatible with most microfluidic systems for LOCs. With respect to standard microfabrication techniques, requiring several technological steps to obtain suspended hollow structures, this method allows to fabricate complex SMR sensors in only one fabrication step, by virtue of its intrinsically three– dimensional nature. A SMR fixed-fixed beam has been fabricated and characterized by LDV. A different sensing mechanism based on the parametric resonance instead of the harmonic resonance has been investigated to develop a novel platform for the characterization of biomolecules in free–flow with unique specificity, sensitivity, and speed: to this purpose a PDMS based device was realized by laser machining, a rapid prototype fabrication technique; beside to it, a commercial fused silica capillary tubing was also employed in the realization of a prototype for this sensing mechanism, and both solutions were tested through LDV

Logiche bioclimatiche per il progetto di riqualificazione del quartiere fieristico di Cagliari

Progettazione del nuovo quartiere fieristico di Cagliari seguendo i dettami dell'archiettura bioclimatica

Design, Development and Scaling Analysis of a Variable Stiffness Magnetic Torsion Spring

In this paper we report on the design, modeling, experimental testing and scaling analysis of a novel MAgnetic Variable stiffnEess spRIng-Clutch (MAVERIC) device, which may be used as the elastic element of Variable Stiffness Actuators (VSAs). The device, comprising two co-axial diametrically magnetized hollow cylinders, has two degrees of freedom: a rotation of the two cylinders around the common axis and a relative translation along the same axis. For small rotations, the torque arising from the magnetic interaction of the two cylinders is almost linearly proportional to their relative rotation, as in mechanical torsion springs. In addition, the stiffness of the equivalent spring can be varied continuously from a maximum value down to exactly zero by changing the axial overlap of the two cylinders. In this way the proposed device can be used both as a clutch (i.e., perfectly compliant element) and as a variable stiffness torsion spring. A prototype, designed after magnetostatic FEM simulations, has been built and experimentally characterized. The developed MAVERIC has an experimentally determined maximum transmissible torque of 109.81mNm, while the calculated maximum stiffness is 110.2mNmrad−1. The amplitude of the torque-angle characteristic can be tuned linearly with a sensitivity of 12.63mNmmm−1 rad−1. Further simulations have been computed parameterizing the geometry and the number of pole pairs of the magnets. The maximum torque density reached for one pole pair is 47.21 · 103 Nm m−3, whereas for a fixed geometry similar to that of the developed prototype, the maximum torque is reached for seven pole pairs. Overall, compared to mechanical springs, MAVERIC has no fatigue or overloading issues. Compared to other magnetic couplers, torsion stiffness can be varied continuously from a maximum value down to exactly zero, when the device acts as a disengaged clutch, disconnecting the load from the actuator

A systematic review of genetic polymorphisms associated with binge eating disorder

The genetic polymorphisms involved in the physiopathology of binge eating disorder (BED) are currently unclear. This systematic review aims to highlight and summarize the research on polymorphisms that is conducted in the BED. We looked for observational studies where there was a genetic comparison between adults with BED, in some cases also with obesity or overweight, and healthy controls or obesity/overweight without BED. Our protocol was written using PRISMA. It is registered at PROSPERO (identification: CRD42020198645). To identify potentially relevant documents, the following bibliographic databases were searched without a time limit, but until September 2020: PubMed, PsycINFO, Scopus, and Web of Science. In total, 21 articles were included in the qualitative analysis of the systematic review, as they met the eligibility criteria. Within the selected studies, 41 polymorphisms of 17 genes were assessed. Overall, this systematic review provides a list of potentially useful genetic polymorphisms involved in BED: 5-HTTLPR (5-HTT), Taq1A (ANKK1/DRD2), A118G (OPRM1), C957T (DRD2), rs2283265 (DRD2), Val158Met (COMT), rs6198 (GR), Val103Ile (MC4R), Ile251Leu (MC4R), rs6265 (BNDF), and Leu72Met (GHRL). It is important to emphasize that Taq1A is the polymorphism that showed, in two different research groups, the most significant association with BED. The remaining polymorphisms need further evidence to be confirmed

Hexavalent Chromium: Analysis of the Mechanism of Groundwater Contamination in a Former Industrial Site in the Province of Vicenza (Northern Italy)

The study consisted in the analysis of the mobilization mechanisms of hexavalent chromium (Cr(VI)) into groundwater from a decommissioned contaminated factory. The site is located in the Province of Vicenza and formerly was a chrome-plating plant. The subsoil consists predominantly of gravelly deposits with a thickness of at least one hundred meters. An unconfined aquifer is present with water table at about 23 m depth bgl. During the seven years of monitoring (2008-2014), the fluctuation of groundwater level was more than 6 m; hydraulic conductivity is about 1.0E-03 m/s and groundwater seepage velocity about 12 m/day. At the area of the source of contamination, the unsaturated soil is contaminated by hexavalent chromium throughout the thickness: concentrations range from 200 to 500 mg/kg. At the bottom of zone of groundwater level fluctuation, the hexavalent chromium concentration decreases to below the detection limit. The available data (e.g. hexavalent chromium concentrations in groundwater, groundwater level, local rainfall) give the opportunity to assess the effects, on the magnitude of groundwater contamination, of the effective infiltration versus the fluctuation of groundwater level. The main analysis was performed on a statistical basis, in order to find out which of the two factors was most likely related to the periodic peaks of hexavalent chromium concentration in groundwater. Statistical analysis results were verified by a mass balance. Data show that at the site both the effective infiltration through the unsaturated zone and the leaching of soil contaminated by groundwater, when it exceeds a certain piezometric level, lead to peak concentrations of hexavalent chromium, even if with characteristics and effects different

Human Hand Motion Analysis and Synthesis of Optimal Power Grasps for a Robotic Hand

Biologically inspired robotic systems can find important applications in biomedical robotics, since studying and replicating human behaviour can provide new insights into motor recovery, functional substitution and human-robot interaction. The analysis of human hand motion is essential for collecting information about human hand movements useful for generalizing reaching and grasping actions on a robotic system. This paper focuses on the definition and extraction of quantitative indicators for describing optimal hand grasping postures and replicating them on an anthropomorphic robotic hand. A motion analysis has been carried out on six healthy human subjects performing a transverse volar grasp. The extracted indicators point to invariant grasping behaviours between the involved subjects, thus providing some constraints for identifying the optimal grasping configuration. Hence, an optimization algorithm based on the Nelder-Mead simplex method has been developed for determining the optimal grasp configuration of a robotic hand, grounded on the aforementioned constraints. It is characterized by a reduced computational cost. The grasp stability has been tested by introducing a quality index that satisfies the form-closure property. The grasping strategy has been validated by means of simulation tests and experimental trials on an arm-hand robotic system. The obtained results have shown the effectiveness of the extracted indicators to reduce the non-linear optimization problem complexity and lead to the synthesis of a grasping posture able to replicate the human behaviour while ensuring grasp stability. The experimental results have also highlighted the limitations of the adopted robotic platform (mainly due to the mechanical structure) to achieve the optimal grasp configuration

Cross-point architecture for spin transfer torque magnetic random access memory

Spin transfer torque magnetic random access memory (STT-MRAM) is considered as one of the most promising candidates to build up a true universal memory thanks to its fast write/read speed, infinite endurance and non-volatility. However the conventional access architecture based on 1 transistor + 1 memory cell limits its storage density as the selection transistor should be large enough to ensure the write current higher than the critical current for the STT operation. This paper describes a design of cross-point architecture for STT-MRAM. The mean area per word corresponds to only two transistors, which are shared by a number of bits (e.g. 64). This leads to significant improvement of data density (e.g. 1.75 F2/bit). Special techniques are also presented to address the sneak currents and low speed issues of conventional cross-point architecture, which are difficult to surmount and few efficient design solutions have been reported in the literature. By using a STT-MRAM SPICE model including precise experimental parameters and STMicroelectronics 65 nm technology, some chip characteristic results such as cell area, data access speed and power have been calculated or simulated to demonstrate the expected performances of this new memory architecture

Computational Simulation as a Principle, a Tool and a Method for a Future-proof. Design Strategy Interview with Cosimo Accoto

The interview with Cosimo Accoto starts with a question: how can design move into "critical uncertainties"? Through an overview of Accoto's fields of investigation and a focus on the latest ongoing research, he presents the concept of "simulation", as a new design horizon and a new ontogenetic vector in the imagination and production of our future

Design and Characterization of a Novel High-Power Series Elastic Actuator for a Lower Limb Robotic Orthosis

A safe interaction is crucial in wearable robotics in general, while in assistive and rehabilitation applications, robots may also be required to minimally perturb physiological movements, ideally acting as perfectly transparent machines. The actuation system plays a central role because the expected performance, in terms of torque, speed and control bandwidth, must not be achieved at the expense of lightness and compactness. Actuators embedding compliant elements, such as series elastic actuators, can be designed to meet the above-mentioned requirements in terms of high energy storing capacity and stability of torque control. A number of series elastic actuators have been proposed over the past 20 years in order to accommodate the needs arising from specific applications. This paper presents a novel series elastic actuator intended for the actuation system of a lower limb wearable robot, recently developed in our lab. The actuator is able to deliver 300 W and has a novel architecture making its centre of mass not co-located with its axis of rotation, for an easier integration into the robotic structure. A custom-made torsion spring with a stiffness of 272.25 N·m·rad– 1 is directly connected to the load. The delivered torque is calculated from the measurement of the spring deflection, through two absolute encoders. Testing on torque measurement accuracy and torque/stiffness control are reported