SROS2: Usable Cyber Security Tools for ROS 2

ROS 2 is rapidly becoming a standard in the robotics industry. Built upon DDS as its default communication middleware and used in safety-critical scenarios, adding security to robots and ROS computational graphs is increasingly becoming a concern. The present work introduces SROS2, a series of developer tools and libraries that facilitate adding security to ROS 2 graphs. Focusing on a usability-centric approach in SROS2, we present a methodology for securing graphs systematically while following the DevSecOps model. We also demonstrate the use of our security tools by presenting an application case study that considers securing a graph using the popular Navigation2 and SLAM Toolbox stacks applied in a TurtleBot3 robot. We analyse the current capabilities of SROS2 and discuss the shortcomings, which provides insights for future contributions and extensions. Ultimately, we present SROS2 as usable security tools for ROS 2 and argue that without usability, security in robotics will be greatly impaired

Productos de alfarería de Cerro Macareno, Sevilla : naturaleza y procedencia de las ánforas y otros objetos cerámicos. Siglos VIII al III a. J.C.

Son muchos los métodos empleados para el estudio de las arcillas y de los productos cerámicos, contribuyendo de distinta manera, aunque complementaria, en el conocimiento de la composición, procedencia de los materiales, tecnología empleada en su elaboración y en general en todos aquellos procesos que se pudieron seguir en la tibricación del objeto cerámico. Estos métodos pueden ser, bien destructivos, aunque utilizando cantidades muy pequeñas de muestra, o bien no destructivos, cada vez más empleados en la investigación moderna. En el estudio de los materiales cerámicos, bien sea el soporte, o bien sea la pintura que ha servido para decorarlo, se emplea el análisisq\límico tradicional cualitativo y cuantitativo. Para este último se emplea cada \leimás la técnica de la absorción atómica. Asimismo, se emplean los siguientes métodos de análisis por vía física: La espectroscopía de emisión en el ultravioleta, que permite obtener un espectro de emisión en el que la parte más frecuentemente utilizada se sitúa entre 200 y 400 nm (ultravioleta). La espectrometría de fluorescencia de rayos X es una técnica desde hace tiempo utilizada. El método tiene poca sensibilidad para elementos tales como el cobre, níquel, cinc o hierro, a causa del «ruido de fondo» que el mismo aparato emite. La microfluorescencia permite operar directamente sobre una capa de pintura y su análisis no es destructivo. La microsonda electrónica es una aplicación de los principios y de la técnica de la espectrografía de emisión de rayos X. Su poder separador es infinitamente superior al del mejor instrumento óptico. La activación por neutrones, que precisa de una fuente generadora de estas radiaciones (pila atómica), es, por tanto, de muy difícil empleo. En España se utiliza la pila atómica de la Junta de Energía Nuclear. Este análisis permite determinar los elementos mayores, menores y trazas existentes en los objetos cerámicos y en los pigmentos. Es de un gran interés para conocer la procedencia de los materiales empleados, detectando el posible o posibles yacimientos de las arcillas utilizadas. La difracción de rayos X determina la estructura cristalina de los elementos y compuestos químicos ya sean orgánicos o inorgánicos, si bien la técnica no es válida para los compuestos amorfos. Para el estudio de aquellos materiales en los que la pintura se encuentre unida al soporte mediante lacas, gomas o barnices se emplean métodos de absorción en el infrarrojo, así como la cromatografía en fase gaseosa. Los métodos seguidos que se enumeran en el siguiente apartado nos han permitido identificar la procedencia y naturaleza de las arcillas utilizadas en los objetos cerámicos objeto de este estudio.Peer reviewe

Materias primas y datos tecnológicos de piezas cerámicas antiguas del yacimiento arqueológico de Cerro Macareno (Sevilla)

14 páginas, 5 figuras, 7 tablas, 7 referencias.[EN]: A study of twenty eight fragments of amphoras from the archaeological bed of Cerro Macareno (Sevilla) has been done by chemical, physicochemical, X-ray diffraction and thermal methods, in order to establish the nature and provenance of the raw materials and the technological aspects of their fabrication. All the data lead to the conclusion that four of the pieces were probably imported from the Palestine-Phoenicie; the rest were made out of raw materials from the surrounding areas of Cerro Macareno. Most of the pieces were fired below 700°C, only four of them at about 700-750°C, and the other seven, probably from 800-850°C.[ES]: Se estudian la composición química y mineralógica, contenido en determinados elementos escasos, materias primas y temperaturas probables de cocción empleadas en la fabricación de un conjunto de 25 fragmentos de ánforas del yacimiento arqueológico de Cerro Macareno (Sevilla). Los métodos empleados fueron análisis químico, difracción de rayos-X, A.T.D., análisis por activación neutrónica y pruebas de cocción intermitente por calentamiento de cien en cien grados, desde 400° a 1.100° C seguido en cada caso de estudios por difracción de rayos-X y de observación de los cambios de color y aspecto de los cortes de las piezas. De todo ello se concluye que cuatro de las piezas estudiadas son de origen importado (Palesti-na-Fenicia), estando fabricadas las restantes con materiales procedentes de los aluviones del Guadalquivir, en las inmediaciones del Cerro Macareno. Del total de las piezas, 17 se cocieron probablemente a temperaturas inferiores a 700°C, cuatro a 700-750° C y siete a 800-850°C.Peer reviewe

The ROCK inhibitor Fasudil prevents chronic restraint stress-induced depressive-like behaviors and dendritic spine loss in rat hippocampus

Indexación: Web of Science; Scopus.Background: Dendritic arbor simplification and dendritic spine loss in the hippocampus, a limbic structure implicated in mood disorders, are assumed to contribute to symptoms of depression. These morphological changes imply modifications in dendritic cytoskeleton. Rho GTPases are regulators of actin dynamics through their effector Rho kinase. We have reported that chronic stress promotes depressive-like behaviors in rats along with dendritic spine loss in apical dendrites of hippocampal pyramidal neurons, changes associated with Rho kinase activation. The present study proposes that the Rho kinase inhibitor Fasudil may prevent the stress-induced behavior and dendritic spine loss. Methods: Adult male Sprague-Dawley rats were injected with saline or Fasudil (i.p., 10 mg/kg) starting 4 days prior to and maintained during the restraint stress procedure (2.5 h/d for 14 days). Nonstressed control animals were injected with saline or Fasudil for 18 days. At 24 hours after treatment, forced swimming test, Golgi-staining, and immuno-western blot were performed. Results: Fasudil prevented stress-induced immobility observed in the forced swimming test. On the other hand, Fasudiltreated control animals showed behavioral patterns similar to those of saline-treated controls. Furthermore, we observed that stress induced an increase in the phosphorylation of MYPT1 in the hippocampus, an exclusive target of Rho kinase. This change was accompanied by dendritic spine loss of apical dendrites of pyramidal hippocampal neurons. Interestingly, increased pMYPT1 levels and spine loss were both prevented by Fasudil administration. Conclusion: Our findings suggest that Fasudil may prevent the development of abnormal behavior and spine loss induced by chronic stress by blocking Rho kinase activity.https://academic.oup.com/ijnp/article/20/4/336/263217

A study of the influence of TiO2 addition in Al2O3 coatings sprayed by suspension plasma spray

In this work, five different concentrations of a mixture of TiO2/Al2O3 nanopowders in an alcoholic suspension at 10wt.% solid content were sprayed by Suspension Plasma Spraying on steel discs. The influence of the presence of TiO2 at 0, 13, 40 and 75wt.% in Al2O3 was analysed by studying the properties of the sprayed coatings. Microscopy analysis of the projected coatings revealed a homogeneously distributed microstructure, where the densification of the coating increases with TiO2 content, while the original nanostructure is maintained. A nanoindentation study revealed an increment of nanohardness and elastic modulus due to the densifying effect of TiO2. The addition of significant amounts of TiO2 has been revealed as necessary in order to favour the fusion of Al2O3 in the SPS process

Rivière or Fleuve? Modelling Multilinguality in the Hydrographical

The need for interoperability among geospatial resources in different natural languages evidences the difficulties to cope with domain representations highly dependent of the culture in which they have been conceived. In this paper we characterize the problem of representing cultural discrepancies in ontologies. We argue that such differences can be accounted for at the ontology terminological layer by means of external elaborated models of linguistic information associated to ontologies. With the aim of showing how external models can cater for cultural discrepancies, we compare two versions of an ontology of the hydrographical domain: hydrOntology. The first version makes use of the labeling system supported by RDF(S) and OWL to include multilingual linguistic information in the ontology. The second version relies on the Linguistic Information Repository model (LIR) to associate structured multilingual information to ontology concepts. In this paper we propose an extension to the LIR to better capture linguistic and cultural specificities within and across language

Phase transitions on the surface of a carbon nanotube

A suspended carbon nanotube can act as a nanoscale resonator with remarkable electromechanical properties and the ability to detect adsorption on its surface at the level of single atoms. Understanding adsorption on nanotubes and other graphitic materials is key to many sensing and storage applications. Here we show that nanotube resonators offer a powerful new means of investigating fundamental aspects of adsorption on carbon, including the collective behaviour of adsorbed matter and its coupling to the substrate electrons. By monitoring the vibrational resonance frequency in the presence of noble gases, we observe the formation of monolayers on the cylindrical surface and phase transitions within these monolayers, and simultaneous modification of the electrical conductance. The monolayer observations also demonstrate the possibility of studying the fundamental behaviour of matter in cylindrical geometry.Comment: Unpublished; 7 pages with 4 figures plus 3 pages of supplementary materia

Co-recycling of natural and synthetic carbon materials for a sustainable circular economy

Circular economy approaches are commonly depicted by two cycles, where the biological cycle is associated with regeneration in the biosphere and the technical cycle with reuse, refurbishment, and recycling to maintain value and maximize material recovery. This work, instead, presents an alternative vision to the management of carbonbased materials that integrates the two cycles and enables the phasing-out of fossil carbon from the material system. The aim is to investigate the benefits and global potential of a co-recycling system, as an alternative to conventional recycling systems that separate biomass-based materials (e.g., wood, paper) from fossil-based materials (e.g., plastics). Thermochemical recycling technologies enable the conversion of carbon-based waste materials into high-quality synthetic products, promoting circularity and avoiding carbon losses such as carbon emissions and waste accumulation in landfills and nature. Here, the construction and analysis of co-recycling scenarios show how the deployment of thermochemical recycling technologies can decouple the material system from fossil resource extraction. Furthermore, energy use is reduced if pyrolysis and/or gasification are included in the portfolio of recycling technologies. In a decarbonized energy system, deployment of co-recycling can lead to near-zero carbon emissions, while in more carbon-intensive energy systems the choice of thermochemical recycling route is key to limiting carbon emissions

First record of promops davisoni (Thomas, 1921) (chiroptera, molossidae) from Chile and a description of its echolocation calls

[Primer registro de promops davisoni (Thomas, 1921) (chiroptera, molossidae) en Chile, y des-cripción de sus llamadas de ecolocación]Few studies have been conducted on the bat fauna of the Arica and Parinacota region, northern Chile. The genus Promops (Gervais, 1855) is a poorly known group of molossid bats, with three species widely distributed in Central and South America. We report for the first time the species Promops davisoni in Chile. Identification was based on echolocation calls obtained at the Azapa and Lluta valleys and compared to reference calls from Tacna, Peru. We report the species as far as 127 km south of the previous published southernmost record in Pampa Alta, Peru. In addition we obtained an individual found at the Anzota caves, near the city of Arica. The species is found on the coast and in the fluvial valleys of Northern Chile, with altitudes ranging from sea level to 822 m a.s.l. We propose that the distribution of P. davisoni may extend further south, to the locality of Tana in the Tarapacá region, based on the capacity of the species to cross distances of over 100 km over large desert areas. With this species, we increase the known bat fauna of Chile to 14 species, and the bat fauna of the Arica and Parinacota region to nine species. © SAREM, 2018.Peer reviewe

Thermodynamics of low dimensional spin-1/2 Heisenberg ferromagnets in an external magnetic field within Green function formalism

The thermodynamics of low dimensional spin-1/2 Heisenberg ferromagnets (HFM) in an external magnetic field is investigated within a second-order two-time Green function formalism in the wide temperature and field range. A crucial point of the proposed scheme is a proper account of the analytical properties for the approximate transverse commutator Green function obtained as a result of the decoupling procedure. A good quantitative description of the correlation functions, magnetization, susceptibility, and heat capacity of the HFM on a chain, square and triangular lattices is found for both infinite and finite-sized systems. The dependences of the thermodynamic functions of 2D HFM on the cluster size are studied. The obtained results agree well with the corresponding data found by Bethe ansatz, exact diagonalization, high temperature series expansions, and quantum Monte Carlo simulations.Comment: 11 pages, 14 figure