Barbara Mazzolai

Design of a biomimetic robotic octopus arm

This paper reports the rationale and design of a robotic arm, as inspired by an octopus arm. The octopus arm shows peculiar features, such as the ability to bend in all directions, to produce fast elongations, and to vary its stiffness. The octopus achieves these unique motor skills, thanks to its peculiar muscular structure, named muscular hydrostat. Different muscles arranged on orthogonal planes generate an antagonistic action on each other in the muscular hydrostat, which does not change its volume during muscle contractions, and allow bending and elongation of the arm and stiffness variation. By drawing inspiration from natural skills of octopus, and by analysing the geometry and mechanics of the muscular structure of its arm, we propose the design of a robot arm consisting of an artificial muscular hydrostat structure, which is completely soft and compliant, but also able to stiffen. In this paper, we discuss the design criteria of the robotic arm and how this design and the special arrangement of its muscular structure may bring the building of a robotic arm into being, by showing the results obtained by mathematical models and prototypical mock-ups.

Volcanoes as emission sources of atmospheric mercury in the Mediterranean basin

Emissions from volcanoes, fumaroles and solfataras as well as contributions from widespread geological anomalies could represent an important source of mercury released to the atmosphere in the Mediterranean basin. Volcanoes located in this area (Etna, Stromboli and Vulcano) are the most active in Europe; therefore, it is extremely important to know their mercury contributions to the regional atmospheric budget. Two main methods are used for the evaluation of volcanic mercury flux: a direct determination of the flux (by measuring in the plume) and an indirect one derived from the determination of the Hg/SO2 (or Hg/S) ratio value, as SO2 emissions are constantly monitored by volcanologists. An attempt to estimate mercury flux from the Vulcano volcano and to establish the Hg/S ratio value has been made along three field campaigns carried out in October 1998, in February and May 1999 sampling several fumaroles. Traditional sampling methods were used to collect both total Hg and S. The average Hg/S ratio value resulted to be 1.2 x 10(-7). From the Hg/S value we derived the Hg/SO2 value, and by assuming that all the volcanoes located in this area have the same Hg/SO2 ratio, mercury emissions from Vulcano and Stromboli were estimated to be in the range 1.3-5.5 kg/year and 7.3-76.6 kg/year respectively, while for Etna mercury flux ranged from 61.8 to 536.5 kg/year. Data reported in literature appear to be overestimated (Fitzgerald WF. Mercury emission from volcanos. In: 4th International conference on mercury as a global pollutant, August 4-8 1996, Hamburg, Germany), volcanic mercury emission does not constitute the main natural source of the metal.

Temporal trends in gaseous mercury evasion from the Mediterranean seawaters

Mercury evasion from seawaters is considered to be one of the main natural sources of mercury released to the atmosphere. The temporal evolution of this mechanism is related to biotic and abiotic processes that produce mercury in its elemental form and as DGM. The efficiency of these processes depends upon the intensity of the solar radiation, the ambient temperature of the air parcel above the seawater, and the water temperature. In the Mediterranean region, the magnitude of these mechanisms are particularly significant, due to favorable climate conditions and to the presence of large cinnabar deposits that cross the whole region; all these synergic factors yield significant evasional fluxes of mercury from the surface water during most of the annual period. In this work, mercury fluxes were measured by using a floating flux chamber connected to an atomic absorption analyzer. Photosynthetic active radiation (PAR) and UV components of the solar radiation were measured using the same system adopted in the EC ELDONet project. The measurements of the mercury evasional fluxes were carried out at three sites of the northern Tyrrhenian Sea during 1998. Two sites were located at unpolluted and polluted coastal areas, and the third was an offshore site. The evasional flux showed a typical daily trend, highest at midday when the ambient temperature and solar radiation were at the maximum, and lowest, near to zero, during the night. Besides the day-night behavior, a seasonal trend was also observed, with minimum values during the winter period (0.7-2.0 ng/m2 h) and maximum values during the summer (10-13 ng/m2 h).

SPIRAL: A novel biologically-inspired algorithm for gas/odor source localization in an indoor environment with no strong airflow

This work describes the design and experimental results of an algorithm, designed to localize a gas source in an indoor environment with no strong airflow by using an autonomous agent. This condition exacerbates the patchiness and intermittency of odor distribution, typical of turbulent flows in the presence of strong mean flows. Furthermore, no information about the wind can be used to detect the position of the source. In the approach proposed here, the robot moves along spirals. A spiral can be reset and a new one started, based on the information acquired about gas distribution. This enables the robot to get close to the ejecting source, without relying on airflow measurements. Results from experiments are also described and discussed, to assess the efficiency of the proposed method.

Human exposure to mercury in the vicinity of chlor-alkali plant.

The main objectives of our study were to estimate the impact of a mercury cell chlor-alkali (MCCA) complex in Rosignano Solvay (Tuscany, Italy) on the local environment and to assess mercury exposure of inhabitants living near the plant. Measurement campaigns of atmospheric Hg near the MCCA plant showed that the impact of the emitted Hg from the industry on the terrestrial environment is restricted to a close surrounding area. Total gaseous mercury concentrations in ambient air of inhabited area around the MCCA plant were in the range of 8.0-8.7 ng/m3 in summer and 2.8-4.2 ng/m3 in winter. Peaks of up to 100 ng/m3 were observed at particular meteorological conditions. Background levels of 2 ng/m3 were reached within a radius of 3 km from the plant. Reactive gaseous mercury emissions from the plant constituted around 4.2% of total gaseous mercury and total particulate mercury emission constituted around 1.0% of total gaseous mercury emitted. Analysis of local vegetables and soil samples showed relatively low concentrations of total mercury (30.1-2919 microgHg/kg DW in the soil; <0.05-111 microgHg/kg DW in vegetables) and methylmercury (0.02-3.88 microgHg/kg DW in the soil; 0.03-1.18 microgHg/kg DW in vegetables). Locally caught marine fish and fresh marine fish from the local market had concentrations of total Hg from 0.049 to 2.48 microgHg/g FW, of which 37-100% were in the form of methylmercury. 19% of analysed fish exceeded 1.0 microgHg/g FW level, which is a limit set by the European Union law on Hg concentrations in edible marine species for tuna, swordfish and shark, while 39% of analysed fish exceeded the limit of 0.5 microgHg/g FW set for all other edible marine species. Risk assessment performed by calculating ratio of probable daily intake (PDI) and provisional tolerable daily intake (PTDI) for mercury species for various exposure pathways showed no risks to human health for elemental and inorganic mercury, except for some individuals with higher number of amalgam fillings, while PDI/PTDI ratio for methylmercury and total mercury exceeded the toxicologically tolerable value due to the potential consumption of contaminated marine fish.

Study and fabrication of bioinspired Octopus arm mockups tested on a multipurpose platform

This paper illustrates a robotic approach to the study of the Octopus vulgaris arm. On the base of the embodied intelligence theory, a study on the interaction among materials, mechanisms and actuation systems has been conducted. Starting from the observation of the performances of the octopus and drawing inspiration by its functional anatomy, several mock-ups, made by different materials and actuated by different cable arrangements have been tested. For this purpose a versatile platform has been designed and built, where the various solutions have been mounted and compared. The final aim of the work is to replicate the main complex movements of the octopus in a robotic platform. In particular the reaching movement, which best represents the stereotyped motion pattern of the octopus arm, has been reproduced.

Urinary mercury and biomarkers of early renal dysfunction in environmentally and occupationally exposed adults: a three-country study.

We conducted a cross-sectional study in Sweden, Italy and Poland to assess environmental and occupational exposure to mercury from chloralkali (CA) plants and the potential association with biomarkers of early renal dysfunction. Questionnaire data and first-morning urine samples were collected from 757 eligible subjects. Urine samples were analysed for mercury corrected for creatinine (U-HgC), alpha-1-microglobulin (A1M), N-acetyl-beta-glucosaminidase (NAG) and albumin. Determinants of urinary mercury excretion were examined. Levels of kidney markers were compared in three U-HgC categories, and differences were tested taking age and other covariates into account. In the general population, the median U-HgC was higher in Italian (1.2 microg/gC) than in Polish (0.22 microg/gC) or Swedish (0.21 microg/gC) subjects, and no effect of living close to CA plants could be shown. Dental amalgam, chewing on amalgam, and fish consumption were positively associated with U-HgC. In subjects from the general population, no effects on the kidney markers could be detected, while in men, including workers occupationally exposed to mercury, U-HgC was positively associated with the kidney markers, especially with NAG, but to some extent also with A1M and albumin. Differences in urinary mercury and kidney markers in the general population between three studied countries could possibly be due to dietary factors, increased susceptibility to mercury at low selenium intake or co-exposure to other nephrotoxic metals.

A Universal Intelligent System-on-Chip Based Sensor Interface

The need for real-time/reliable/low-maintenance distributed monitoring systems, e.g., wireless sensor networks, has been becoming more and more evident in many applications in the environmental, agro-alimentary, medical, and industrial fields. The growing interest in technologies related to sensors is an important indicator of these new needs. The design and the realization of complex and/or distributed monitoring systems is often difficult due to the multitude of different electronic interfaces presented by the sensors available on the market. To address these issues the authors propose the concept of a Universal Intelligent Sensor Interface (UISI), a new low-cost system based on a single commercial chip able to convert a generic transducer into an intelligent sensor with multiple standardized interfaces. The device presented offers a flexible analog and/or digital front-end, able to interface different transducer typologies (such as conditioned, unconditioned, resistive, current output, capacitive and digital transducers). The device also provides enhanced processing and storage capabilities, as well as a configurable multi-standard output interface (including plug-and-play interface based on IEEE 1451.3). In this work the general concept of UISI and the design of reconfigurable hardware are presented, together with experimental test results validating the proposed device.

A Biologically-Inspired Algorithm Implemented on a new Highly Flexible Multi-Agent Platform for Gas Source Localization

This paper presents the design of a biologically-inspired algorithm, as well as the design and development of a new highly flexible multi-agent platform for a cooperative robotic system, to be applied to the localization of a gas source in an indoor environment with no strong airflow. The platform consists of a central PC and a variable number of robots. The robots cooperate, can communicate with each other, even when exchanging complex messages, and present a swarm-like behavior, which optimizes the gas localization task. The inexpensive, multipurpose, scalable, highly flexible platform whose use is discussed in this paper investigates the efficiency of bio-inspired cooperative algorithms, to detect the odor source location

The plant as a biomechatronic system

Our vision of plants is changing dramatically: from insensitive and static objects to complex living beings able to sense the environment and to use the information collected to adapt their behavior. At all times humans imitate ideas and concepts from nature to resolve technological problems. Solutions coming from plants have the potential to face challenges and difficulties of modern engineering design. Characteristic concepts of the plant world such as reiteration, modularity and swarm behavior could be of great help resolving technological problems. On the other hand a biorobotic approach would facilitate the resolution of many biological problems. In this paper, the concept of a plant-inspired robot is proposed for the investigation of both biological and technological issues.