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

LA RUTA DE KUHN HACIA LA DISCONTINUIDAD: MÁS ALLÁ DE LA HISTORIA DE LA CIENCIA

En el camino que conduce a Kuhn hacia la concepción de la discontinuidad histórica del progreso científico en términos de periodos de ciencia normal y ciencia extraordinaria (o revolucionaria) hay ingredientes que no nacen específicamente de la historia de la ciencia y que son aportados por las indagaciones de Kuhn en otros campos o por convicciones propias que provienen de su educación escolar y universitaria. En este artículo se presentan dichos ingredientes y se muestra cómo cambia su contribución desde la primera síntesis de Kuhn en las Conferencias Lowell a una versión diferente y universalmente conocida: la de La estructura de las revoluciones científicas

Impact of minority concentration on fundamental (H)D ICRF heating performance in JET-ILW

ITER will start its operation with non-activated hydrogen and helium plasmas at a reduced magnetic field of B-0 = 2.65 T. In hydrogen plasmas, the two ion cyclotron resonance frequency (ICRF) heating schemes available for central plasma heating (fundamental H majority and 2nd harmonic He-3 minority ICRF heating) are likely to suffer from relatively low RF wave absorption, as suggested by numerical modelling and confirmed by previous JET experiments conducted in conditions similar to those expected in ITER's initial phase. With He-4 plasmas, the commonly adopted fundamental H minority heating scheme will be used and its performance is expected to be much better. However, one important question that remains to be answered is whether increased levels of hydrogen (due to e. g. H pellet injection) jeopardize the high performance usually observed with this heating scheme, in particular in a full-metal environment. Recent JET experiments performed with the ITER-likewall shed some light onto this question and the main results concerning ICRF heating performance in L-mode discharges are summarized here

Indigo (Cat5 & Sep5) System mechanical thrombectomy for acute mesenteric ischemia: an innovative approach for treatment of a severe but not so infrequent disease

Acute Mesenteric ischemia (AMI) is a severe and commonly underreported disease that has an annual incidence of 0.09-0.2% per patient year. However some studies have shown an increased incidence of AMI after performing an exhaustive analysis of 402 autopsies and surgeries (1970-1982 Malmo, Sweden). All mesenteric ischemia (MI) has and incidence of 12.9 cases of MI/10000 inhabitants/year, 67% thromboembolic SMA occlusion, 16% mesenteric venous thrombosis (MVT), 15% non-occlusive mesenteric ischemia (NOMI) and 2% have indeterminate cause. We present a patient with SMA treated satisfactorily with a new thromboaspiration system

Location of laccase in ordered mesoporous materials

The functionalization with amine groups was developed on the SBA-15, and its effect in the laccase immobilization was compared with that of a Periodic Mesoporous Aminosilica. A method to encapsulate the laccase in situ has now been developed. In this work, spherical aberration (Cs) corrected scanning transmission electron microscopy combined with high angle annular dark field detector and electron energy loss spectroscopy were applied to identify the exact location of the enzyme in the matrix formed by the ordered mesoporous solids

The Role of Peripheral Amide Groups as Hydrogen-Bonding Directors in the Tubular Self-Assembly of Dinucleobase Monomers

Nanotubes are a fascinating kind of self‐assembled structure which have a wide interest and potential in supramolecular chemistry. We demonstrated that nanotubes of defined dimensions can be produced from dinucleobase monomers through two decoupled hierarchical cooperative processes: cyclotetramerization and supramolecular polymerization. Here we analyze the role of peripheral amide groups, which can form an array of hydrogen bonds along the tube axis, on this self‐assembly process. A combination of (1)H NMR and CD spectroscopy techniques allowed us to analyze quantitatively the thermodynamics of each of these two processes separately. We found out that the presence of these amide directors is essential to guide the polymerization event and that their nature and number have a strong influence, not only on the stabilization of the stacks of macrocycles, but also on the supramolecular polymerization mechanism

Beyond gold: rediscovering tetrakis-(hydroxymethyl)-phosphonium chloride (THPC) as an effective agent for the synthesis of ultra-small noble metal nanoparticles and Pt-containing nanoalloys

The use of tetrakis-(hydroxymethyl)-phosphonium chloride (THPC) as simultaneous reducing agent and stabilizing ligand has been extended to the single-step synthesis at room temperature of a wide variety of monometallic nanoparticles and bi-/tri- metallic nanoalloys containing noble metals with potential application in catalysis. The colloidal suspensions exhibit mean diameters below 4 nm with narrow size distributions and high stability in aqueous solution for long periods of time

Spontaneous formation of Au-Pt alloyed nanoparticles using pure nano-counterparts as starters: a ligand and size dependent process

In this work we investigate the formation of PtAu monodisperse alloyed nanoparticles by ageing pure metallic Au and Pt small nanoparticles (sNPs), nanoparticle size <5 nm, under certain conditions. We demonstrate that those bimetallic entities can be obtained by controlling the size of the initial metallic sNPs separately prepared and by selecting their appropriate capping agents. The formation of this spontaneous phenomenon was studied using HR-STEM, EDS, ionic conductivity, UV-Vis spectroscopy and cyclic voltammetry. Depending on the type of capping agent used and the size of the initial Au sNPs, three different materials were obtained: (i) AuPt bimetallic sNPs showing a surface rich in Au atoms, (ii) segregated Au and Pt sNPs and (iii) a mixture of bimetallic nanoparticles as well as Pt sNPs and Au NPs. Surface segregation energies and the nature of the reaction environment are the driving forces to direct the distribution of atoms in the bimetallic sNPs. PtAu alloyed nanoparticles were obtained after 150 h of reaction at room temperature if a weak capping agent was used for the stabilization of the nanoparticles. It was also found that Au atoms diffuse towards Pt sNPs, producing a surface enriched in Au atoms. This study shows that even pure nanoparticles are prone to be modified by the surrounding nanoparticles to give rise to new nanomaterials if atomic diffusion is feasible

Exploring the Consistency of Data Collected in Archaeological Geophysics: A Case Study from the Iron Age Hillfort of Villasviejas del Tamuja (Extremadura, Spain)

Different geophysical methods applied at the settlement of Villasviejas del Tamuja (Botija, Spain) have identified robust anomalies located at the same position, but some anomalies are reflected by only one method. Furthermore, analysing the spatial correlation of these anomalies is of fundamental importance for obtaining a correct archaeological interpretation. In this work, we analysed the main results of electrical resistivity tomography (ERT), ground-penetrating radar (GPR) and magnetic gradiometry methods in a particular area of the archaeological site. In this analysis, we performed graphical and numerical spatial correlation analyses of the anomalies and observed strong agreement among the results provided by each method. Certain anomalies were reflected only in the magnetic and ERT studies. The results highlight the importance of applying several geophysical methods and performing spatial correlational analyses. Furthermore, the methodology that we have applied to evaluate the spatial correlation offers interesting results

IgE-Mediated Hypersensitivity Reactions to Cannabis in Laboratory Personnel

Background: There have been sporadic reports of hypersensitivity reactions to plants of the Cannabinaceae family (hemp and hops), but it has remained unclear whether these reactions are immunologic or nonimmunologic in nature. Objective: We examined the IgE-binding and histamine-releasing properties of hashish and marijuana extracts by CAP-FEIA and a basophil histamine release test. Methods: Two workers at a forensic laboratory suffered from nasal congestion, rbinitis, sneezing and asthmatic symptoms upon occupational contact with hashish or marijuana, which they had handled frequently for 25 and 16 years, respectively. Neither patient had a history of atopic disease. Serum was analyzed for specific IgE antibodies to hashish or marijuana extract by research prototype ImmunoCAP, and histamine release from basophils upon exposure to hashish or marijuana extracts was assessed. Results were matched to those of 4 nonatopic and 10 atopic control subjects with no known history of recreational or occupational exposure to marijuana or hashish. Results: Patient 1 had specific IgE to both hashish and marijuana (CAP class 2), and patient 2 to marijuana only (CAP class 2). Controls proved negative for specific IgE except for 2 atopic individuals with CAP class 1 to marijuana and 1 other atopic individual with CAP class 1 to hashish. Stimulation of basophils with hashish or marijuana extracts elicited histamine release from basophils of both patients and 4 atopic control subjects. Conclusions: Our results suggest an IgE-related pathomechanism for hypersensitivity reactions to marijuana or hashish. Copyright (C) 2011 S. Karger AG, Base