Comportamento reologico di nanocompositi a base di miscele HDPE/PA6

La preparazione di sistemi nanocompositi a base di miscele polimeriche suscita notevole interesse perché offre potenzialmente l’opportunità di combinare in maniera sinergica in un unico materiale diverse proprietà non possedute singolarmente da nessun polimero. In generale, le caratteristiche di questi sistemi polifasici dipendono certamente dalla natura dei costituenti, ma anche dalla morfologia finale del materiale: il controllo della dispersione e della dimensione delle particelle nonché dell’adesione interfacciale tra fasi (polimero/polimero, polimero/carica) costituiscono perciò parametri critici per il successo di questi materiali. Scopo di questo lavoro è stato valutare l’influenza della morfologia, sia a livello nanometrico che micrometrico, sul comportamento reologico di miscele HDPE/PA6 in presenza di un’argilla modificata organicamente e di differenti sistemi compatibilizzanti. Inoltre è stata studiata l’influenza del metodo di preparazione dei materiali nonché della rilavorazione sulla morfologia e conseguentemente sulle proprietà reologiche dei nanocompositi ottenuti. La morfologia dei materiali preparati è stata caratterizzata tramite microscopia SEM e TEM. La caratterizzazione reologica in regime dinamico è stata effettuata mediante un reometro a piatti piani paralleli

Mechanical behavior of polylactic acid/polycaprolactone porous layered functional composites

Biopolymeric porous devices exhibiting graded properties can play a crucial role in several fields, such as tissue engineering or controlled drugs release. In this context, the gradient of a specific property can be achieved by developing porous laminates composed by different types of materials. This work presents for the first time a multi-phasic porous laminate based on polycaprolactone (PCL) and polylactic acid (PLA) prepared by combining melt mixing, compression molding and particle leaching. All the materials were characterized from a morphological and a mechanical point of view. The results put into evidence the possibility to tune and to predict the mechanical properties by controlling the process parameters together with geometrical features

The Streptomyces coelicolor small ORF trpM stimulates growth and morphological development and exerts opposite effects on actinorhodin and calcium-dependent antibiotic production

In actinomycetes, antibiotic production is often associated with a morpho-physiological differentiation program that is regulated by complex molecular and metabolic networks. Many aspects of these regulatory circuits have been already elucidated and many others still deserve further investigations. In this regard, the possible role of many small open reading frames (smORFs) in actinomycete morpho-physiological differentiation is still elusive. In Streptomyces coelicolor, inactivation of the smORF trpM (SCO2038) – whose product modulates L-tryptophan biosynthesis – impairs production of antibiotics and morphological differentiation. Indeed, it was demonstrated that TrpM is able to interact with PepA (SCO2179), a putative cytosol aminopeptidase playing a key role in antibiotic production and sporulation. In this work, a S. coelicolor trpM knock-in (Sco-trpMKI) mutant strain was generated by cloning trpM into overexpressing vector to further investigate the role of trpM in actinomycete growth and morpho-physiological differentiation. Results highlighted that trpM: (i) stimulates growth and actinorhodin (ACT) production; (ii) decreases calcium-dependent antibiotic (CDA) production; (iii) has no effect on undecylprodigiosin production. Metabolic pathways influenced by trpM knock- in were investigated by combining two-difference in gel electrophoresis/nanoliquid chromatography coupled to electrospray linear ion trap tandem mass spectrometry (2D- DIGE/nanoLC-ESI-LIT-MS/MS) and by LC-ESI-MS/MS procedures, respectively. These analyses demonstrated that over-expression of trpM causes an over-representation of factors involved in protein synthesis and nucleotide metabolism as well as a down-representation of proteins involved in central carbon and amino acid metabolism. At the metabolic level, this corresponded to a differential accumulation pattern of different amino acids – including aromatic ones but tryptophan – and central carbon intermediates. PepA was also down-represented in Sco-trpMKI. The latter was produced as recombinant His-tagged protein and was originally proven having the predicted aminopeptidase activity. Altogether, these results highlight the stimulatory effect of trpM in S. coelicolor growth and ACT biosynthesis, which are elicited through the modulation of various metabolic pathways and PepA representation, further confirming the complexity of regulatory networks that control antibiotic production in actinomycetes

On the Suspension Design of Paquitop, a Novel Service Robot for Home Assistance Applications

The general and constant ageing of the world population that has been observed in the last decade has led robotics researchers community to focus its aims to answer the ever-growing demand for health care, housing, care-giving, and social security. Among others, the researchers at Politecnico di Torino are developing a novel platform to enhance the performance offered by present-day issues, and to assess many others which were not even taken into consideration before they have been highlighted by the pandemic emergency currently in progress. This situation, in fact, made dramatically clear how important it is to have reliable non-human operators whom one can trust when the life of elderly or weak patients is endangered by the simple presence of other people. The platform, named Paquitop, features an innovative architecture conceived for omni-directional planar motion. The machine is designed for domestic, unstructured, and variously populated environments. Therefore, the mobile robot should be able to avoid or pass over small obstacles, passing through the capability to achieve specific person tracking tasks, and arriving to the need of operating with an high dynamic performance. Given its purpose, this work addresses the design of the suspension system which enables the platform to ensure a steady floor contact and adequate stability in every using condition. Different configurations of such system are then presented and compared through use-case simulations

Decoupled motion planning of a mobile manipulator for precision agriculture

Thanks to recent developments in service robotics technologies, precision agriculture (PA) is becoming an increasingly prominent research field, and several studies were made to present and outline how the use of mobile robotic systems can help and improve farm production. In this paper, the integration of a custom-designed mobile base with a commercial robotic arm is presented, showing the functionality and features of the overall system for crop monitoring and sampling. To this aim, the motion planning problem is addressed, developing a tailored algorithm based on the so-called manipulability index, that treats the base and robotic arm mobility as two independent degrees of motion; also developing an open source closed-form inverse kinematics algorithm for the kinematically redundant manipulator. The presented methods and sub-system, even though strictly related to a specific mobile manipulator system, can be adapted not only to PA applications where a mobile manipulator is involved but also to the wider field of assistive robotics

Statistical study of the influence of CNTs purification and plasma functionalization on the properties of Polycarbonate-CNTs nanocomposites

This work reports a statistical study on the relationship between the chemical-physical properties of CNTs, which vary by changing the conditions of purification and plasma treatment, and the macroscopic properties of PC-based nanocomposites. CNTs are synthesized and then purified in two different ways and used as fillers for the preparation of PC/CNTs nanocomposites. In some cases, oxygen plasma treatment is carried out to improve their affinity to the matrix. The CNTs are characterized by TGA, ICP/OES and FT-Raman spectroscopy, titration and morphological analysis. Mechanical, dynamic-mechanical, electrical and morphological tests are used for characterizing PC/CNTs nanocomposites

Wheeled Mobile Robots: State of the Art Overview and Kinematic Comparison Among Three Omnidirectional Locomotion Strategies

In the last decades, mobile robotics has become a very interesting research topic in the feld of robotics, mainly because of population ageing and the recent pandemic emergency caused by Covid-19. Against this context, the paper presents an overview on wheeled mobile robot (WMR), which have a central role in nowadays scenario. In particular, the paper describes the most commonly adopted locomotion strategies, perception systems, control architectures and navigation approaches. After having analyzed the state of the art, this paper focuses on the kinematics of three omnidirectional platforms: a four mecanum wheels robot (4WD), a three omni wheel platform (3WD) and a two swerve-drive system (2SWD). Through a dimensionless approach, these three platforms are compared to understand how their mobility is afected by the wheel speed limitations that are present in every practical application. This original comparison has not been already presented by the literature and it can be used to improve our understanding of the kinematics of these mobile robots and to guide the selection of the most appropriate locomotion system according to the specifc application

In Depth Analysis of Power Balance, Handling, and the Traction Subsystem of an Articulated Skid-Steering Robot for Sustainable Agricultural Monitoring

This paper reports on the energy balance test performed on Agri.Q, an eight-wheel articulated robot intended to be a sustainable monitoring tool within the precision agriculture paradigm, and proposes an in-depth analysis of the traction subsystem in order to develop an appropriate traction allocation strategy to improve navigation through hilly or mountainous crops. Tests were conducted on the contribution of the orientable photovoltaic panel to the mission duration and overall sustainability, showing that a suitable mission plan, including dedicated charging phases, could significantly increase the robot’s operating time. A series of simulations of circular trajectories of different curvature and at different longitudinal velocities on flat ground were performed, with the aim of mapping the robot’s behaviour at steady state. The results of the simulations were analysed, paying particular attention to the required torques, manoeuvrability and forces exchanged on the ground. The simulations conducted demonstrated and extended previous results obtained on similar robotic architectures, which suffer from significant understeer behaviour due to significant lateral wheel slip during turning. They also showed the limitations of currently employed traction motors, but also the advantages of a proper traction allocation strategy involving the rear module. Article highlights. Agri.Q energy balance tests have been carried out to assess its endurance and sustainability The traction and handling behaviours of Agri.Q were mapped and discussed in detail in order to improve them Agri.Q has proven to be a basis for the future implementation of precision agriculture to advance the SDG

An Estimator for the Kinematic Behaviour of a Mobile Robot Subject to Large Lateral Slip

In this paper, the effects of wheel slip compensation in trajectory planning for mobile tractor-trailer robot applications are investigated. Firstly, a kinematic model of the proposed robot architecture is marked out, then an experimental campaign is done to identify if it is possible to kinematically compensate trajectories that otherwise would be subject to large lateral slip. Due to the close connection to the experimental data, the results shown are valid only for Epi.q, the prototype that is the main object of this manuscript. Nonetheless, the base concept can be usefully applied to any mobile robot subject to large lateral slip