Logahedra: A new weakly relational domain

Weakly relational numeric domains express restricted classes of linear inequalities that strike a balance between what can be described and what can be efficiently computed. Popular weakly relational domains such as bounded differences and octagons have found application in model checking and abstract interpretation. This paper introduces logahedra, which are more expressiveness than octagons, but less expressive than arbitrary systems of two variable per inequality constraints. Logahedra allow coefficients of inequalities to be powers of two whilst retaining many of the desirable algorithmic properties of octagons

Contact mechanics analysis of a soft robotic fingerpad

The precision grasping capabilities of robotic hands is a key feature which is more and more required in the manipulation of objects in several unstructured fields, as for instance industrial, medical, agriculture and food industry. For this purpose, the realization of soft robotic fingers is crucial to reproduce the human finger skills. From this point of view the fingerpad is the part which is mostly involved in the contact. Particular attention must be paid to the knowledge of the mechanical contact behavior of soft artificial fingerpads. In this paper, artificial silicone fingerpads are applied to the last phalanx of robotic fingers actuated by tendons. The mechanical interaction between the fingerpad and a flat surface is analyzed in terms of deformations, contact areas and indentations. A reliable model of fingertip deformation properties provides important information for understanding robotic hand performance, that can be useful both in the design phase and for defining control strategies. The approach is based on theoretical, experimental, and numerical methods. The results will be exploited for the design of more effective robotic fingers for precision grasping of soft or fragile objects avoiding damages

Development and validation of wear models by using innovative three-dimensional laser scanners:

One of the main problems in railway and tramway systems, both dynamically (safety, comfort etc.) and economically (planning of maintenance interventions, reduction of wheel and rail lifetime etc.), is represented by the wear of wheel and rail profiles, due to the wheel–rail interaction. The profile's shape variation caused by wear influences the dynamic behaviour of the vehicle and, in particular, the wheel–rail contact conditions. Hence, nowadays, one of the most important topics in the railway field is the development of reliable wear models to predict profiles evolution, together with the use of more efficient and accurate measuring instruments for the model validation and the rolling components inspection. In this context, the aim of this research work is the development and the validation of wear models, using experimental data acquired through an innovative measuring instrument based on noncontact three-dimensional laser scanning technology. The tramway line of the city of Florence, characterized by very narrow curves and critical in terms of wear, has been chosen as a reference test case. Moreover, the inspection procedures currently adopted on this line for the maintenance plan are based only on classical two-dimensional contact measurement systems, not so accurate for a complete wear assessment. Therefore, the introduction of a new three-dimensional laser scanning technology may have a great impact on the maintenance management of the line

Introduction bottleneck and the contribute of Mesoamerican and Andean gene pools to common bean (Phaseolus vulgaris L.) diversity in Europe.

Common bean (Phaseolus vulgaris L., 2n = 2x = 22) is the most important edible food legume for direct human consumption in Europe and in the world as it represents a valuable source of proteins, vitamins, fibres, and minerals. Genetic and archaeological studies have shown that domestication of P. vulgaris was originated and domesticated in the New World and has two major gene pools, the Andean and the Mesoamerican, based on their centers of origin in South and Central America, respectively. After the first voyages of Columbus (1492) common bean was brought to Europe but historical and linguistic sources provide little evidence of the introduction and expansion of common bean in Europe. In common bean a large number of nuclear microsatellite markers (nuSSRs) have been already developed and mapped that show relatively high levels of polymorphism, thus providing an attractive choice for describing population structure. However, to the best of our knowledge, population studies of the European common bean, using nuSSRs, so far have been performed with only a small number of landraces or a small number of samples from a few geographic regions. In the present study, we used thirteen highly polymorphic nuSSRs to assess the genetic structure and level of diversity of a large collection of European landraces (256 individuals), in comparison with a representative American sample (89 individuals). Moreover, to obtain a detailed picture and to elucidate the effects of bottleneck of introduction and selection for adaptation during the expansion of common bean over the whole Europe, we also complemented the nuSSRs analysis by information provided by a Bayesian analysis implemented in STRUCTURE. Here, we present and discuss the role that inter-gene pool hybridization have had in shaping the genetic structure of the European bean landraces. The implication for evolution and the advantages for common bean breeding are also discussed

THE POTENTIAL OF PHYSIOLOGICAL ANALYSIS USING ELECTROMYOGRAPHY IN THE DESIGN OF MOTORCYCLES

Two-wheel vehicle comfort is usually assessed by means of subjective scorings or by measuring physical quantities such as acceleration, sound pressure, etc. which do not depend on the human response. This study has chosen a different approach, which is to use electromyography for evaluating the levels of muscle activity. It focuses more specifically on comfort in relation to aerodynamic loads. The loads were simulated by a wind tunnel. ANOVA statistical analysis was used to establish the impact of aerodynamic loads and of various motorcycle models on muscle activity levels. The results showed that aerodynamic loads generally cause an increase of muscle activity, although their impact varies in relation to the design of the motorcycle: each model ofmotorcycle produces a specific distribution of activity levels among muscles. The methodology can be used for vehicle-design purposes as well as organising motorbike training programmes.Keywords: Motorcycle; Aerodynamic loads; SEM; Ergonomics; Comfor

Physico-Chemical Characterization and Biological Activities of a Digestate and a More Stabilized Digestate-Derived Compost from Agro-Waste

The excessive use of agricultural soils and the reduction in their organic matter, following circular economy and environmental sustainability concepts, determined a strong attention in considering composting as a preferred method for municipalities and industries to recycle organic by-products. Microorganisms degrade organic matter for producing CO2, water and energy, originating stable humus named compost. The current study analyzed the chemical composition of a cow slurry on-farm digestate and a more stabilized digestate-derived compost (DdC), along with their phytotoxic, genotoxic and antifungal activities. The chemical analysis showed that digestate cannot be an ideal amendment due to some non-acceptable characteristics. Biological assays showed that the digestate had phytotoxicity on the tested plants, whereas DdC did not induce a phytotoxic effect in both plants at the lowest dilution; hence, the latter was considered in subsequent analyses. The digestate and DdC induced significant antifungal activity against some tested fungi. DdC did not show genotoxic effect on Vicia faba using a micronuclei test. Soil treated with DdC (5 and 10%) induced damping-off suppression caused by Fusarium solani in tomato plants. The eco-physiological data indicated that DdC at 5–10% could increase the growth of tomato plants. In conclusion, DdC is eligible as a soil amendment and to strengthen the natural soil suppressiveness against F. solani

Interval Slopes as Numerical Abstract Domain for Floating-Point Variables

The design of embedded control systems is mainly done with model-based tools such as Matlab/Simulink. Numerical simulation is the central technique of development and verification of such tools. Floating-point arithmetic, that is well-known to only provide approximated results, is omnipresent in this activity. In order to validate the behaviors of numerical simulations using abstract interpretation-based static analysis, we present, theoretically and with experiments, a new partially relational abstract domain dedicated to floating-point variables. It comes from interval expansion of non-linear functions using slopes and it is able to mimic all the behaviors of the floating-point arithmetic. Hence it is adapted to prove the absence of run-time errors or to analyze the numerical precision of embedded control systems

Breeding effects on durum wheat traits detected using GWAS and haplotype block analysis

IntroductionThe recent boosting of genomic data in durum wheat (Triticum turgidum subsp. durum) offers the opportunity to better understand the effects of breeding on the genetic structures that regulate the expression of traits of agronomic interest. Furthermore, the identification of DNA markers useful for marker-assisted selection could also improve the reliability of technical protocols used for variety protection and registration.MethodsWithin this motivation context, 123 durum wheat accessions, classified into three groups: landraces (LR), ancient (OC) and modern cultivars (MC), were evaluated in two locations, for 34 agronomic traits, including UPOV descriptors, to assess the impact of changes that occurred during modern breeding.ResultsThe association mapping analysis, performed with 4,241 SNP markers and six multi-locus-GWAS models, revealed 28 reliable Quantitative Trait Nucleotides (QTNs) related to plant morphology and kernel-related traits. Some important genes controlling flowering time and plant height were in linkage disequilibrium (LD) decay with QTNs identified in this study. A strong association for yellow berry was found on chromosome 6A (Q.Yb-6A) in a region containing the nadh-ubiquinone oxidoreductase subunit, a gene involved in starch metabolism. The Q.Kcp-2A harbored the PPO locus, with the associated marker (Ku_c13700_1196) in LD decay with Ppo-A1 and Ppo-A2. Interestingly, the Q.FGSGls-2B.1, identified by RAC875_c34512_685 for flag leaf glaucosity, mapped less than 1 Mb from the Epistatic inhibitors of glaucousness (Iw1), thus representing a good candidate for supporting the morphological DUS traits also with molecular markers. LD haplotype block approach revealed a higher diversity, richness and length of haploblocks in MC than OC and LR (580 in LR, 585 in OC and 612 in MC), suggesting a possible effect exerted by breeding programs on genomic regions associated with the agronomic traits.DiscussionOur findings pave new ways to support the phenotypic characterization necessary for variety registration by using a panel of cost-effectiveness SNP markers associated also to the UPOV descriptors. Moreover, the panel of associated SNPs might represent a reservoir of favourable alleles to use in durum wheat breeding and genetics