Towards Efficient Full Pose Omnidirectionality with Overactuated MAVs

Omnidirectional MAVs are a growing field, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete pose omnidirectionality and high hover efficiency have been developed independently, a robust system that combines the two has not been demonstrated to date. This paper presents VoliroX: a novel omnidirectional vehicle that can exert a wrench in any orientation while maintaining efficient flight configurations. The system design is presented, and a 6 DOF geometric control that is robust to singularities. Flight experiments further demonstrate and verify its capabilities.Comment: 10 pages, 6 figures, ISER 2018 conference submissio

Very High Cycle Corrosion Fatigue Study of the Collapsed Polcevera Bridge, Italy

A possible scenario is proposed to put into evidence how the combined effect of fatigue at very high number of cycles and corrosion could have been responsible for the failure of one of the strands and the subsequent collapse of the so-called balanced system of the Polcevera Bridge designed by Morandi. The analysis accounts for an actual estimation of the heavy-lorry traffic and load spectrum, as well as for the European Standards prescription for the fatigue damage accumulation assessment. In addition, the effective construction phases of the viaduct are considered. The structural analysis is carried out by means of analytical models, in order to simplify the structure complexity without prejudice to the description of the most relevant aspects of the structural behavior. The main purpose is to warn the scientific community and the public administrations that the combined effects of low-amplitude fatigue and corrosion can be dangerously underestimated, and that the existing assets of 20th century bridges deserve special attention in this respect

Guarantees for Spontaneous Synchronization on Random Geometric Graphs

The Kuramoto model is a classical mathematical model in the field of non-linear dynamical systems that describes the evolution of coupled oscillators in a network that may reach a synchronous state. The relationship between the network's topology and whether the oscillators synchronize is a central question in the field of synchronization, and random graphs are often employed as a proxy for complex networks. On the other hand, the random graphs on which the Kuramoto model is rigorously analyzed in the literature are homogeneous models and fail to capture the underlying geometric structure that appears in several examples. In this work, we leverage tools from random matrix theory, random graphs, and mathematical statistics to prove that the Kuramoto model on a random geometric graph on the sphere synchronizes with probability tending to one as the number of nodes tends to infinity. To the best of our knowledge, this is the first rigorous result for the Kuramoto model on random geometric graphs

Cap rock efficiency of geothermal systems in fold-and-thrust belts: Evidence from paleo-thermal and structural analyses in Rosario de La Frontera geothermal area (NW Argentina)

Cap rock characterization of geothermal systems is often neglected despite fracturing may reduce its efficiency and favours fluid migration. We investigated the siliciclastic cap rock of Rosario de La Frontera geothermal system (NW Argentina) in order to assess its quality as a function of fracture patterns and related thermal alteration. Paleothermal investigations (XRD on fine-grained fraction of sediments, organic matter optical analysis and fluid inclusions on veins) and 1D thermal modelling allowed us to distinguish the thermal fingerprint associated to sedimentary burial from that related to fluid migration. The geothermal system is hosted in a Neogene N-S anticline dissected by high angle NNW- and ENE-striking faults. Its cap rock can be grouped into two quality categories: • rocks acting as good insulators, deformed by NNW–SSE and E–W shear fractures, NNE-SSW gypsum- and N-S-striking calcite-filled veins that developed during the initial stage of anticline growth. Maximum paleo-temperatures (< 60 °C) were experienced during deposition to folding phases.• rocks acting as bad insulators, deformed by NNW-SSE fault planes and NNW- and WNW-striking sets of fractures associated to late transpressive kinematics. Maximum paleo-temperatures higher than about 115 °C are linked to fluid migration from the reservoir to surface (with a reservoir top at maximum depths of 2.5 km) along fault damage zones.This multi-method approach turned out to be particularly useful to trace the main pathways of hot fluids and can be applied in blind geothermal systems where either subsurface data are scarce or surface thermal anomalies are lacking.Fil: Maffucci, R.. Universita Degli Studi Della Tuscia; Italia. Universita Degli Studi Roma Tre; ItaliaFil: Corrado, Sveva. Universita Degli Studi Roma Tre; ItaliaFil: Aldega, L.. Instituto de Investigaciones Universitarias Roma la Sapienza; ItaliaFil: Bigi, S.. Instituto de Investigaciones Universitarias Roma la Sapienza; ItaliaFil: Chiodi, Agostina Laura. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Salta. Instituto de Investigaciones en Energía no Convencional. Universidad Nacional de Salta. Facultad de Ciencias Exactas. Departamento de Física. Instituto de Investigaciones en Energía no Convencional; ArgentinaFil: Di Paolo, L.. Eni E&P Division; ItaliaFil: Giordano, G.. Universita Degli Studi Roma Tre; ItaliaFil: Invernizzi, C.. Universita Degli Di Camerino; Itali

Response and relapse rates after treatment with long-acting somatostatin analogs in multifocal or recurrent type-1 gastric carcinoids : a systematic review and meta-analysis

Background: Type-1 gastric neuroendocrine tumors represent a recurring disease and long-acting somatostatin analogs can inhibit both gastrin release and endocrine cell proliferation. The efficacy and timing of this treatment are still unclear. We performed a systematic review of the literature to clarify the role of somatostatin analog treatment in type-1 gastric neuroendocrine tumors. Methods: A computerized literature search was performed using relevant keywords to identify all the pertinent articles published in the last 15 years. Results: Eight studies were included in this systematic review on somatostatin analogs in type-1 gastric neuroendocrine tumors. A complete response rate ranged from 25\u2013100%. When only the six prospective studies were considered, no significant heterogeneity was observed, and the pooled cumulative complete response rate was 84.5% (confidence interval 73.8\u201392.8). Three studies evaluated the type-1 gastric neuroendocrine tumor recurrence, with a cumulative relapse rate of 30.2% (confidence interval 13.1\u201350.6) after 34 months. Conclusion: Somatostatin analogs, namely lanreotide and octreotide, have an excellent response rate, with a good safety profile in selected type-1 gastric neuroendocrine tumors, which cannot be safely managed by endoscopic follow-up or resection due to multiple or frequently recurring disease. After therapy discontinuation, the cumulative relapse rate observed after a median 34-month follow-up was relatively high (30.2%)

Analysis of Odorous VOCs using TD-GC-MS/FID/PFPD: Development and Applications to Real Samples

This work aims to present the applicability of a gas chromatograph equipped with three detectors for the analysis of odorous mixtures. An Agilent gas chromatograph (mod. 8890), equipped with a mass spectrometer (Agilent 5977B MSD), a Flame Ionization Detector (FID, Agilent) and a Pulsed Flame Photometric Detector (PFPD, OI Analytical mod. 5833) was adopted, obtaining simultaneous acquisition with MS, FID and PFPD detectors. The splitting of the sample into the three detectors was carried out at the end of the chromatographic column, by a capillary flow technology splitter (Agilent Splitter CFT). By using this system, it is, therefore, possible to achieve the specific detection and quantification of organic compounds by FID analysis, sulphur compounds by PFPD and the identification of the compounds by MS analysis, via comparison with mass spectra. Based on the preliminary outcomes obtained,the application of this system in the analysis of odour samples enabled the determination of specific classes, even in traces: by this, the subsequent identification of these compounds during a single chromatographic run is possible. This combination provides significant time and costs savings in the calibration and analysis of chromatographic data

Expeditious Calibration Method for Quantification of Odorous Mixtures via GC

An odour sample is generally a complex matrix consisting of numerous molecules (mostly volatile organic compounds, VOCs) chemically different from each other, and which can be perceived by the human nose. In order to chemically characterize this complex gaseous matrix, gas-chromatography (GC) is commonly used. By this analytical technique, it is possible to obtain the resolution of odour gaseous mixtures in order to qualify and quantify the compounds. However, the quantification is a tricky operation based on the comparison of the sample under examination with purpose-made gas mixtures containing a compound, chosen as a standard, at known concentration. Commonly, these mixtures are obtained from cylinders of compressed gases, the use of which involves problems relating to their management, thermodynamic equilibrium feasibility, considerable economic outlay and not-negligible procurement times. This paper describes a method, proposed as a versatile and simple alternative to the use of such cylinders, for preparing gaseous calibration standards at known concentration. The method involves the continuous injection of VOC in liquid form, by means of a syringe pump, into a stream of neutral gas, such as air or nitrogen, which acts as diluent gas, controlled by a mass flow meter. Exploiting the volatility of the compounds used, it is possible to generate a continuous gas stream, exiting the system, containing the selected VOC at the desired concentration, which can be directly used as calibration standard