Towards formal models and languages for verifiable Multi-Robot Systems

Incorrect operations of a Multi-Robot System (MRS) may not only lead to unsatisfactory results, but can also cause economic losses and threats to safety. These threats may not always be apparent, since they may arise as unforeseen consequences of the interactions between elements of the system. This call for tools and techniques that can help in providing guarantees about MRSs behaviour. We think that, whenever possible, these guarantees should be backed up by formal proofs to complement traditional approaches based on testing and simulation. We believe that tailored linguistic support to specify MRSs is a major step towards this goal. In particular, reducing the gap between typical features of an MRS and the level of abstraction of the linguistic primitives would simplify both the specification of these systems and the verification of their properties. In this work, we review different agent-oriented languages and their features; we then consider a selection of case studies of interest and implement them useing the surveyed languages. We also evaluate and compare effectiveness of the proposed solution, considering, in particular, easiness of expressing non-trivial behaviour.Comment: Changed formattin

Impact of heart rate on myocardial salvage in timely reperfused patients with STSegment elevation myocardial infarction. new insights from cardiovascular magnetic resonance

BACKGROUND: Previous studies evaluating the progression of the necrotic wave in relation to heart rate were carried out only in animal models of ST-elevated myocardial infarction (STEMI). Aim of the study was to investigate changes of myocardial salvage in relation to different heart rates at hospital admission in timely reperfused patients with STEMI by using cardiovascular magnetic resonance (CMR). METHODS: One hundred-eighty-seven patients with STEMI successfully and timely treated with primary coronary angioplasty underwent CMR five days after hospital admission. According to the heart rate at presentation, patients were subcategorized into 5 quintiles: <55 bpm (group I, n = 44), 55-64 bpm (group II, n = 35), 65-74 bpm (group III, n = 35), 75-84 bpm (group IV, n = 37), ≥85 bpm (group V, n = 36). Area at risk, infarct size, microvascular obstruction (MVO) and myocardium salvaged index (MSI) were assessed by CMR using standard sequences. RESULTS: Lower heart rates at presentation were associated with a bigger amount of myocardial salvage after reperfusion. MSI progressively decreased as the heart rates increased (0.54 group I, 0.46 group II, 0.38 group III, 0.34 group IV, 0.32 group V, p<0.001). Stepwise multivariable analysis showed heart rate, peak troponin and the presence of MVO were independent predictor of myocardial salvage. No changes related to heart rate were observed in relation to area at risk and infarct size. CONCLUSIONS: High heart rates registered before performing coronary angioplasty in timely reperfused patients with STEMI are associated with a reduction in salvaged myocardium. In particular, salvaged myocardium significantly reduced when heart rate at presentation is ≥85 bpm

Predicting and Optimizing Microswimmer Performance from the Hydrodynamics of Its Components: The Relevance of Interactions

Interest in the design of bioinspired robotic microswimmers is growing rapidly, motivated by the spectacular capabilities of their unicellular biological templates. Predicting the swimming speed and efficiency of such devices in a reliable way is essential for their rational design, and to optimize their performance. The hydrodynamic simulations needed for this purpose are demanding and simplified models that neglect nonlocal hydrodynamic interactions (e.g., resistive force theory for slender, filament-like objects that are the typical propulsive apparatus for unicellular swimmers) are commonly used. We show through a detailed case study of a model robotic system consisting of a spherical head powered by a rotating helical flagellum that (a) the errors one makes in the prediction of swimming speed and efficiency by neglecting hydrodynamic interactions are never quite acceptable and (b) there are simple ways to correct the predictions of the simplified theories to make them more accurate. We also formulate optimal design problems for the length of the helical flagellum giving maximal energetic efficiency, maximal distance traveled per motor turn, or maximal distance traveled per unit of work expended, and exhibit optimal solutions

A system of innovation to activate practices on open data:The Open4Citizens project

The increasing production of data is encouraging government institutions to consider the potential of open data as a public resource and to publish a large number of public datasets. This is configuring a new scenario in which open data are likely to play an important role for democracy and transparen-cy and for new innovation possibilities, in relation to the creation of a new generation of public services based on open data.In this context, though, it is possible to observe an asymmetry between the supply side of open data and the demand side. While more and more insti-tutions are producing and publishing data, there is no public awareness of the way in which such data can be used, nor is there a diffuse practice to work with those data. The definition of a practice for a large use of data is the aim of the Open4Citizens project, which promoted initiatives at different levels: at the level of immediate interaction between citizens, experts and open data, at the level of the creation of an ecosystem to work with data and at a level that could support the institutionalisation and consolidation of the new practice.<br/

The boundary flux. New perspectives for membrane process design

In the last decades much effort was put in understanding fouling phenomena on membranes. Many new concepts have been introduced in time, and parallel to this many parameters capable to quantify fouling issues and fouling evolution. One successful approach was the introduction of the critical flux theory. At first validated for microfiltration, the theory applied to ultrafiltration and nanofiltration, too. The possibility to measure a maximum value of the permeate flux for a given system without incurring in fouling issues was a breakthrough in membrane process design. Nevertheless, the application to the concept remains very limited: in many cases, in particular on systems where fouling is a main issue, critical fluxes were found to be very low, lower than economical feasibility permits to make membrane technology advantageous. Despite these arguments, the knowledge of the critical flux value still remains and must be considered as a good starting point for process design concerning productivity and longevity. In 2011, a new concept was introduced, that is the threshold flux. In this case, the concept evaluates the maximum permeate flow rate characterized by a low constant rate fouling regime, due to formation of a secondary, selective layer of foulant on the membrane surface. This concept, more than the critical flux, may be a new practical tool for membrane process designers. In this paper a brief review on critical and threshold flux will be reported and analyzed. In fact, critical and threshold flux concepts share many common aspects which merge perfectly into a new concept that is the boundary flux. The validation will occur mainly by the analysis of previous collected data by the authors, during the treatment of olive mill wastewater. A novel membrane process design method based on the boundary flux will then be presented