RPBP: Rapid-prototyped remote-brain biped with 3D perception

This paper provides the design of a novel open-hardware mini-bipedal robot, named Rapid-Prototyped Remote-Brain BiPed (RPBP), that is developed to provide a low-cost and reliable platform for locomotion and perception research. The robot is made of customized 3D-printed material (ABS plastic) and electronics, and commercial Robotics Dynamixel MX-28 actuators, as well as visual RGB-D and IMU sensing systems. We show that the robot is able to perform some locomotion/visual-odometry tasks and it is easy to switch between different feet designs, providing also a novel Center-of-Pressure (CoP) sensing system, so that it can deal with various types of terrain. Moreover, we provide a description of its control and perception system architecture, as well as our opensource software packages that provide sensing and navigation tools for locomotion and visual odometry on the robot. Finally, we briefly discuss the transferability of some prototype research that has been done on the developed mini-biped, to half or fullsize humanoid robots, such as COMAN or WALK-MAN

A simplified approach for the seismic loss assessment of rc buildings at urban scale: The case study of Potenza (Italy)

Comprehensive methodologies based on a fully probabilistic approach (i.e., the performance- based earthquake engineering approach, PBEE), represent a refined and accurate tool for the seismic performance assessment of structures. However, those procedures are suitable for building-specific evaluations, appearing extremely time-consuming if applied at the urban scale. In the proposed contribution, simplified loss assessment procedure will be applied at the urban scale with reference to the residential building stock of the center of Potenza. After the identification of the main reinforced concrete (RC) structural typologies and the definition of specific archetype building numerical models, the direct estimation of expected annual loss (DEAL) methodology will be applied to derive the EAL (i.e., expected annual loss) of RC buildings, deriving information on the effectively seismic quality (or seismic resilience) of the aforementioned built heritage at urban scale. Similarly, the monetary losses associated with downtime are evaluated. Preliminary considerations on the socio-economic effects of seismic scenarios on the territorial scale are also proposed

A galgahévízi láprét talajtani, hidrológiai és szedimentológiai vizsgálata

Napjainkban fokozott figyelem irányul a vizes élőhelyek felé. Hazánkban jelentősen lecsökkent a területük, szigetszerűvé váltak, éppen ezért, a természetes közegben betöltött egyedülálló ökológiai szerepüknek köszönhetően egyre inkább az érdeklődés és a kutatások középpontjába kerülnek (Ángyán et al. 2004). Galgahévíz a Gödöllői-dombság és az észak-alföldi hordalékkúp síkság határán helyezkedik el, a Galga-patak mentén. A területet Ny-ról határolja a Sósi-patak, amely egykor a lápréten keresztül jutott a Galga-patakba. A láprét természeti értékeinek degradációja (amelyet korábban a legeltetés és a kaszálás miatt jelentős volt) az 1990-es évek végén felerősödött, eltűnőben vannak egyes, természetvédelmi szempontból értékes növényfajok és társulások. Célunk az volt, hogy feltárjuk ezen degradációs folyamatok talajtani, hidrológiai, okait, a láprétet veszélyeztető tényezőket. A láprét kialakulását meghatározó egyik, talán a legfontosabb tényező a víz, ezért fennmaradásához alapvetően fontos a vízutánpótlás biztosítása. A láprét vízháztartásának, vízutánpótlásának megismerése, megértése megalapozhatja a revitalizációs terveket. A láprét kutatása az 1990-es évek végén kezdődött, azóta számos publikáció született az itt feltárt eredményekről

Finite volume form factors in integrable theories

We develop a new method to calculate finite size corrections for form factors in two-dimensional integrable quantum field theories. We extract these corrections from the excited state expectation value of bilocal operators in the limit when the operators are far apart. We elaborate the finite size effects explicitly up to the 3rd L\"uscher order and conjecture the structure of the general form. We also fully recover the explicitly known massive fermion finite volume form factors.Comment: 37 pages, 9 figure

The Damage Survey of Cultural Built Heritage Between Simplified Procedures and Needs for Implementation: the Case Study of Emilia-Romagna Cemeteries

Seven years after the earthquake occurred in Emilia-Romagna, the planning phases related to the cultural heritage reconstruction are coming to a conclusion. At this point, the Agency for reconstruction - earthquake 2012 has launched an unprecedented process aimed at verifying, also through the recognition of the main critical issues, the simplified damage assessment procedures whose application has allowed an aware and sustainable management of the emergency. The Guidelines for the evaluation and reduction of seismic risk on Cultural Heritage, and the Directive 12/12/2013 “Procedures for management of activities for cultural heritage securing and safeguarding in the event of emergencies caused by natural disasters” of MiBAC identify as first cognitive procedure the compilation of sheet to provide vulnerabilities and damage level representation on movable and immovable assets. In particular, they establish two important survey instruments: the A-Church and the B-Palaces sheets. These are the only two instruments used between 2012 and 2013 for the damage level characterization of the cultural heritage caused by the “Emilia 2012” earthquake. The widespread use of these sheets has brought to light several problems that have negatively affected the successive economic assessment of the intervention. In fact, if these sheets well describe the vulnerabilities of the specialized types Churches or Palaces, they are ill suited to types with different features, which, in the Emilia-Romagna case, represent about 30% of damage cultural heritage numerically and economically. In particular, the most relevant sample in this set are the cemeteries. After the analysis of sheets produced for the cemetery type, the need to implementation for the already consolidated procedures has become clear, in order to be able to manage the post-emergency phases on those types that, as cemeteries, represent an important part of the local cultural identity, but that are not addressed in existing tools

Silica containing composite anion exchange membranes by sol–gel synthesis: a short review

This short review summarizes the literature on composite anion exchange membranes (AEM) containing an organo-silica network formed by sol-gel chemistry. The article covers AEM for diffusion dialysis (DD), for electrochemical energy technologies including fuel cells and redox flow batteries, and for electrodialysis. By applying a vast variety of organically modified silica compounds (ORMOSIL), many composite AEM reported in the last 15 years are based on poly (vinylalcohol) (PVA) or poly (2,6-dimethyl-1,4-phenylene oxide) (PPO) used as polymer matrix. The most stringent requirements are high permselectivity and water flux for DD membranes, while high ionic conductivity is essential for electrochemical applications. Furthermore, the alkaline stability of AEM for fuel cell applications remains a challenging problem that is not yet solved. Possible future topics of investigation on composite AEM containing an organo-silica network are also discussed

ACTN-3 and ACE genotypes in elite male Italian athletes

The ACE I/D and the ACTN-3 R577X polymorphisms are the most studied genes associated with elite athlete status, even if this association has been often conflicting. The aim of the present study was to investigate the association between the ACE and the ACTN3 genotypes and elite performance in Italian male athletes. The ACTN-3 R577X and the ACE I/D genotype distributions of 59 elite male Italian athletes practicing gymnastics (G; n = 17), 100 m-400 m running (R; n = 12), and playing soccer (S; n= 30) were compared with controls from Italian (C; n = 31) populations. For ACE distribution, athletes did not differ from controls (G, X2 = 0.37, df = 2, p = 0.82; R, X2 = 1.90, df = 2, p = 0.45; S, X2 = 1.48, df = 2, p = 0.47) and the DD genotype was at very high frequency in all groups (G = 53%, R= 50%, S = 60%, C = 45%). For ACTN-3 distribution, elite gymnasts showed a significant difference from controls (X2 = 6.57, df = 2, p = 0.03), showing an absence of XX genotype. Soccer players and runners did not differ from controls in ACTN-3 genotype distribution (R, X2 =0.43, df = 2, p = 0.80; S, X 2 = 1.25, df = 2, p = 0.53). Even if the ACE DD genotype is often positively associated with elite sprint/power athlete status, its high frequency in Italian populations eliminates the possibility of its exclusive association in Italian athletes. The results of ACTN3 genotypes suggest that RR genotype of ACTN-3 gene is a determinant of elite gymnasts status but it is not the key factor for achieving a top-level performance in soccer or track events

Crosslinked SPEEK membranes: Mechanical, thermal, and hydrothermal properties

The thermal and mechanical behavior, the water uptake (WU), and water diffusion coefficient of sulfonated poly(ether ether ketone) (SPEEK)membranes annealed at 180 degrees C for different times were explored by high-resolution thermogravimetric analysis, mechanical tensile tests, dynamic mechanical analysis, and WU measurements. The mechanical and thermal stability increased with the thermal treatment time, i.e., with the degree of crosslinking. The effect of residual casting solvent, dimethyl sulfoxide (DMSO), on the WU within SPEEK was probed. In presence of residual DMSO, crosslinked SPEEK exhibited higher water sorption at low and medium relative humidity (RH), and lower water sorption at high RH. These membranes have properties well adapted to fuel cell applications

A covalent organic/inorganic hybrid proton exchange polymeric membrane: synthesis and characterization

Commercial polyetheretherketone (Victrex PEEK) was sulfonated up to 90% degree of sulfonation (DS), then reacted with SiCl4 to obtain a hybrid polymer. The product was characterized by 29-Si NMR and ATR/FTIR spectroscopies demonstrating the formation of covalent bonds between the organic and inorganic components. No dispersed inorganic silicon was present in the product as evidenced by the lack of any resonance at 100 ppm. Despite the high DS the physicochemical properties of the hybrid were suitable for the preparation of membranes exhibiting high and stable conductivity values (10K2 S/cm), hence suitable for application as ion exchange membrane