Wearable exoskeletons hold the potential to provide valuable physical assistance across a range of tasks, with applications steadily expanding across different scenarios. However, the lack of universally accepted testbeds and standardized protocols limits the systematic benchmarking of these devices. In response, the STEPbySTEP project, funded within the Eurobench framework, proposes a modular, sensorized, reconfigurable staircase testbed designed as a novel evaluation approach within the first European benchmarking infrastructure for robotics. This testbed, to be incorporated into the Eurobench testing facility, focuses on stairs as common yet challenging obstacles in daily life that provide a unique benchmark for exoskeleton assessment.

The primary aim of STEPbySTEP is to propose a modular framework – including a specialized staircase design, tentative metrics, and testing protocols – to aid in evaluating and comparing exoskeleton performance. Here, we present the testbed and protocols developed and validated in preliminary trials using three exoskeletons: two lower-limb exoskeletons (LLEs) and one back-support exoskeleton. The results offer initial insights into the adaptability of the staircase testbed across devices, showcasing example metrics and protocols that underscore its benchmarking potential.

Rice cultivation in Italy is usually performed by direct seeding in flooded or in dry fields. Mechanical rice transplanting is a technique that can help control weeds and improve rice competition. To test the feasibility of the technique for different rice varieties in Italy, a study was conducted in the Lombardy region (northwest Italy), from 2016 to 2018. The study also evaluated the efficacy of hoeing in transplanted rice fields. The experiment consisted of two studies, a ‘field plot experiment’ (conducted from 2017 to 2018) and an ‘on-farm transplanting trial’ (conducted from 2016 to 2018). The ‘field plot experiment’ was carried out using a split plot design to determine the optimal transplanting distances within the row (12 or 17 cm) and the most suitable rice varieties for transplanting. Hoeing was performed once in 2017 and twice in 2018. Weed infestation was assessed by counting the number of weeds within a randomly placed square frame in the interrow areas, both before and after hoeing. Rice plant density, panicle density, yield, and yield components were also assessed. The ‘on-farm transplanting trial’ tested transplanting in several farms over the years. Different rice varieties were transplanted using the same machines, and hoeing was performed according to a predetermined schedule. Transplanter performance was assessed as well as rice yield data in all fields, while four fields were selected each year to assess hoeing efficacy against weeds. ANOVAs were used to test the differences in weed control and rice parameters among varieties and transplanting distances. The ‘field plot experiment’ showed that the transplanting distance did not affect weeds or rice variety. Transplanting at 12 cm within the row resulted in a higher plant density compared to 17 cm, however tillering compensated for the difference in the number of panicles. Carnaroli consistently recorded the lowest yield, less than 2 t ha−1, while Selenio, Spillo, and Laser seemed to be better suited for transplanting achieving the highest yield in 2018 (about 7 ha−1). In the ‘on-farm transplanting experiment’ hoeing was effective in controlling weeds, although the machineries used were not always able to function properly in saturated soil. Most of the transplanted field yielded approximately 3 to 5 t ha−1. Varieties with round grain exhibited the greatest yield variability among fields. The study suggests that to achieve a high yield in organic rice, the transplanting technique should be combined with an effective interrow tillage to control weeds.

The sheer number of research outputs published every year makes systematic reviewing increasingly time- and resource-intensive. This paper explores the use of machine learning techniques to help navigate the systematic review process. Machine learning has previously been used to reliably “screen” articles for review – that is, identify relevant articles based on reviewers’ inclusion criteria. The application of machine learning techniques to subsequent stages of a review, however, such as data extraction and evidence mapping, is in its infancy. We, therefore, set out to develop a series of tools that would assist in the profiling and analysis of 1952 publications on the theme of “outcomes-based contracting.” Tools were developed for the following tasks: assigning publications into “policy area” categories; identifying and extracting key information for evidence mapping, such as organizations, laws, and geographical information; connecting the evidence base to an existing dataset on the same topic; and identifying subgroups of articles that may share thematic content. An interactive tool using these techniques and a public dataset with their outputs have been released. Our results demonstrate the utility of machine learning techniques to enhance evidence accessibility and analysis within the systematic review processes. These efforts show promise in potentially yielding substantial efficiencies for future systematic reviewing and for broadening their analytical scope. Beyond this, our work suggests that there may be implications for the ease with which policymakers and practitioners can access evidence. While machine learning techniques seem poised to play a significant role in bridging the gap between research and policy by offering innovative ways of gathering, accessing, and analyzing data from systematic reviews, we also highlight their current limitations and the need to exercise caution in their application, particularly given the potential for errors and biases.

Two analogous inorganic-organic hybrids with a phyllosilicate-like structure SILMg1 and SILMg2, containing 3-aminopropyl- and N-propylethylenediaminetrimethoxysilane were synthesized through a sol-gel process. These hybrids adsorbed divalent cations of cobalt, nickel, copper, and zinc from aqueous solution to give the effectiveness of adsorption capacities in the sequence Cu2+ > Zn2+ > Ni2+ > Co2+. SILMg1 has a higher capacity of adsorption than SILMg2. Elemental analysis, X-ray diffractometry, thermal analysis, infrared and nuclear magnetic resonance spectroscopies, and energy dispersive system microscopy characterized all hybrids. The proposed adsorption mechanism involves dissolution of the precursor matrix, formation of a phyllosilicate around the adsorbed ion, and a complexation of the cation by the amino-pendant groups in the interlayer. These new phyllosilicates are more crystalline than the original hybrids. The adsorption of Co2+ increases the interlayer distance to maximum values of 1.81 and 2.24 Å for SILMg1 and SILMg2, respectively. Thermal analysis data showed a decrease of thermal stability with cation adsorption. Si-O-Si groups were detected by infrared spectroscopy in all hybrids and a band at 1384 cm-1 was assigned to the nitrate counter anion, which indicates the participation of this ion in the sphere of coordination of the interlayer complexes. The photomicrographs obtained by scanning electron microscopy showed the organized distribution of the sheet structure for these synthesized phyllosilicates.

The thermodynamic cationic exchange process involving divalent (Cu, Zn, Cd, Hg, Pb and Ca) and monovalent (Na) cations in Brazilian red Latosol soil was studied. Using a batchwise method, the exchange was monitored as a function of the added cation concentration and the aqueous suspension of the soil at different temperatures. The isotherm series obtained were adjusted to a modified Langmuir equation, whose results were compared with the proposed Rawat method. The cationic exchange equilibria constants (ln K) vary from 1.97 to 9.80 for the Langmuir equation and 7.06 to 13.50 for the Rawat method. The variation in enthalpies obtained by applying the van't Hoff equation gave, for Langmuir and Rawat procedures, exothermic values for Cu (65.5 and 97.3), Cd (36.9 and 45.6) and Pb (43.0 and 50.7) kJ mol−1, and endothermic values for Zn (40.8 and 30.5), Hg (15.0 and 11.3), Ca (30.4 and 40.0) and Na (32.7 and 42.3) kJ moL−1. The exchanges proceed spontaneously, as indicated by the free energy values: Cu (14.2 and 27.2), Zn (21.6 and 32.0), Cd (16.1 and 23.2), Hg (13.8 and 22.9), Pb (22.6 and 28.3), Ca (17.0 and 25.9) and Na (9.9 and 19.3) kJ mol−1 at 323 K. These results suggest that the interaction occurs by complex formation between the organic matter of the soil matrix and the cations dispersed in aqueous solution.

The contamination of aquatic environments by toxic metals such as radionuclides is of great concern because of the tendency of those metals to accumulate in the vital organs of humans and animals, causing severe health problems. The objective of this study was to investigate the use of natural and modified magadiite clay as an adsorbent to remove Th(IV), U(VI), and Eu(III) from aqueous solutions. Magadiite from the Amazon region, Brazil, was modified chemically with 5-mercapto-1-methyltetrazole (MTTZ) using a multi-step or heterogeneous synthesis pathway. The natural and modified materials were characterized using 29Si and 13C nuclear magnetic resonance, scanning electron microscopy, nitrogen gas adsorption, and elemental analysis. The physical-chemical properties of the chemically modified magadiite sample were modified, e.g. the specific surface area changed from 35.0 to 678.9 m2 g−1. The ability of the magadiite to remove Th(IV), U(VI), and Eu(III) from aqueous solution was then tested by a series of adsorption isotherms adjusted to a Sips equation. The effects of properties such as pH, contact time, and metal concentration on the adsorption capacity were studied. The adsorption maxima were determined to be 7.5 × 10−3, 9.8 × 10−3, and 12.9 × 10−3 mmol g−1 for Th(IV), U(VI), and Eu(III), respectively. From calorimetric determinations, the quantitative thermal effects for all these cations/basic center interactions gave exothermic enthalpy, negative Gibbs free energy, and positive entropy, confirming the energetically favorable conditions of such interactions at the solid/liquid interface for all systems.

Somen-alkyldiamines with thegeneral formulae H2N(CH2)nNH2 (n = 2–5) were intercalated into the layered silicic acid magadiite, from aqueous solution, causing an increase in the original interlayer distance of 1172 pm. The synthetic magadiite and all intercalated compounds were characterized by elemental analysis, infrared vibrational spectroscopy, X-ray diffractometry, 29Si nuclear magnetic resonance in the solid state, thermogravimetry, scanning electron microscopy, surface area and porosity. The intercalation was followed through a batch-wise method at 298±1 K and gave the maximum amounts 3.70, 2.80, 1.75 and 1.18 mmol g−1, for n varying from 2 to 5, respectively. The well characterized magadiite was calorimetrically titrated in a heterogeneous medium, to obtain the thermodynamic data of intercalation at the solid/liquid interface. Linear correlations were obtained for the number of moles intercalated (Nf), th einterlamellar distance (d) and the specific enthalpy (Δinth) values of the interactive process as a function of the number of C atoms of the aliphatic organic chains (nC) for n-alkyldiamine: Nf = (5.36±0.25) − (0.86±0.07)nC, d = (1406.6±1.9) + (20.9±0.5)nC and Δinth = (5.96±0.25) + (0.06±0.01)nC. The basic N guest atom/silanol acidic center interactions inside the host nanospace gallery gave exothermic enthalpies, positive entropies and negative Gibbs free energy values. This set of data suggests the spontaneity of these intercalation reactions.

This paper presents the design, manufacturing and experimental assessment of a morphing element consisting of a composite corrugated panel that hosts a diffused actuation system based on Shape Memory Alloy (SMA) actuators. The characterisation of the SMA actuators is reported and the system performance is predicted through an analytical model and finite element analyses. Two versions of the actuated system are proposed, with different methods for the physical integration of the SMA wires into the composite part. Manufacturing and testing of specimens with different wire densities are reported. Correlation with experiments validates the analytical and numerical approaches adopted for the design and analyses. The results confirm the potential of the concept proposed for developing corrugated panels that can be contracted in a predefined direction by a load-bearing actuation system, but still retain high stiffness and strength properties in other directions.

Energy-efficient condensation of steam contained in atmospheric air has emerged as a solution to the water scarcity. Academic and industrial research works that seeks to develop water collection devices with high efficiency has great relevance for the scientific community. In this work, we aim to show that modified carbon nanotubes forest can remove the condensed drops easier than a hydrophobic and a super-hydrophilic surface. In addition, this result was reached at high super saturation level which is an innovative aspect of this work. The Vertically Aligned Carbon Nanotubes (VACNTs) were grown on steel pipes. We used a CO2 laser and an O2 plasma to perform the post treatments that changed the CNTs to super-hydrophobic and super-hydrophilic, respectively. In addition, the CO2 laser treatment added a second level of roughness in the surface by etching the nanotubes walls. A polyethylene coating attached the carbon nanotubes to the substrate. We experimentally demonstrated a 24% higher vapor condensation rate at high supersaturations levels.

The union of the unique diamond properties with steel (most common substrate material) provides a new solution for machine parts under critical mechanical conditions and severe environmental. However, CVD diamond coating directly on steel comes with several issues. The fundamental reasons for the lack of adhesion are an iron catalytic effect, the high carbon solubility in iron and high mismatch in thermal expansion coefficient of diamond and steel. The use of interlayer may solve these issues acting as a diffusion barrier, for both iron and carbon, and match thermal expansion coefficients. Several articles describe the PVD deposition or electroplated interlayer. In the present study, the diamond film coated steel with an intermediate barrier deposited by laser cladding process. In this novel technique, laser irradiation melts the powder (preplaced) and the substrate surface to create the coating on a steel substrate. We used the SiC/Ti and SiC/Cu powder mixtures to create the intermediate barrier. Diamond film deposition was carried out in an HFCVD reactor (Hot Filament Chemical Vapor Deposition). The samples characterization included X-ray Diffraction (XRD); Field Emission Gun - Scanning Electron Microscopy (FEG-SEM) and Raman Scattering Spectroscopy (RSS). Results showed that laser incidence dissociated partially the SiC powder, forming FeSi, Cu3Si phases. Further, the composite layer assisted the high thermal stress relief in steel/diamond interface.

Microelectrodes have attracted great interest for electroanalysis because of their unique properties, such as nonlinear diffusion, increased rate of mass transport and reduced capacitance, which allows a fast response. In this work, we created a porous nanocomposite of boron doped diamond (BDD) deposited on carbon nanotubes – reduced graphene oxide (CNTs – RGO) by Hot Filament Chemical Vapor Deposition (HFCVD) technique. The resulting material yielded porous BDD microelectrodes. On the first step, we have grown the CNTs on carbon fiber (CF) surface by Thermal CVD in a tubular reactor. Camphor solution and Fe-Co were carbon and catalyst source, respectively. For exfoliation, CNTs were treated by hydrogen plasma and oxygen plasma. We applied a seeding solution containing nanodiamond dispersed in KCl aqueous solution. Diamond nanoparticles interact with oxygen-containing groups on CNTs, promoting an efficient seeding. We deposited BDD films in an HFCVD reactor using methane/hydrogen gas mixtures. For doping, a partial hydrogen flow bubbled in a closed vessel containing a solution of boron oxide dissolved in methanol. The microelectrodes were characterized by Raman Scattering Spectroscopy, Scanning Electron Microscopy with Field Emission Gun and Cyclic Voltammetry. The crystalline quality of CNTs and BDD doping level were studied by Raman analysis. SEM micrographs showed that nanocomposite presented high porosity. Electrochemical analysis showed that the deposition of BDD on CNTs-RGO increased the electrochemical response of the microelectrode. Besides, this electrode presented a low capacitive current in comparison with BDD grown on flat substrates. Further, the porous BDD nanocomposite showed itself to be promising in electroanalysis.

Surface modification treatments, such as the plasma nitriding improve the tribological properties of AISI 420 stainless steel; however, the corrosion resistance is deteriorated. The DLC (Diamond-Like Carbon) coatings were not only having a low friction coefficient but also good wear and corrosion resistance. In this work, both the corrosion behavior and the adhesion of the DLC hard coating, deposited on nitrided and non-nitrided AISI 420 stainless steel substrates, were studied. The coatings were characterized by means of EDS and Raman. In addition, nitrided layer microstructure and the coatings were analyzed by SEM-FIB and XRD. Corrosion behavior was evaluated by the salt spray fog test and cyclic potentiodynamic polarization tests in NaCl solution. The adhesion was assessed using Rockwell indentation and scratch tests. The a-C:H film and nitrided layer thicknesses were about 2.5 μm and 11 μm respectively. The nitrided layer improved adhesion in both tests. The coated AISI 420 stainless steel proved to have excellent atmospheric corrosion resistance and a passive behavior over 1 V (versus SCE) in the electrochemical tests. The adhesion and the corrosion performance were improved when the coating was deposited after the plasma nitriding treatment.

Composites of silicone rubber and vertically-aligned carbon nanotubes were produced by capillary infiltration of PDMS. The electrical properties of silicone membranes and carbon nanotubes were investigated by impedance spectroscopy. Gauge factor was evaluated by different ways from Nyquist plots, and reached values up 8.

Aligned multi-walled carbon nanotubes were grown on carbon fiber surface in order to provide a way to tailor the thermal, electrical and mechanical properties of the fiber-resin interface of a polymer composite. As the deposition temperature of the nanotubes is very high, an elevated exposure time can lead to degradation of the carbon fiber. To overcome this obstacle we have developed a deposition technique where the fiber is exposed to an atmosphere of growth for just one minute, and different concentrations of precursor solution were used.

Allan Hills nunatak, south Victoria Land, Antarctica, exposes an exceptional example of a shallow depth (< 500 m) intrusive complex formed during the evolution of the Ferrar large igneous province (LIP). Dyke distribution, geometries and relationships allow reconstruction of its history and mechanics of intrusion. Sills interconnect across host sedimentary layers, and a swarm of parallel inclined dolerite sheets is intersected by a radiating dyke-array associated with remnants of a phreatomagmatic vent, where the dolerite is locally quenched and mixed to form peperite. Intrusion geometries, and lack of dominant rift-related structures in the country rock indicate that magma overpressure, local stresses between mutually interacting dykes and vertical variations of host rock mechanical properties controlled the intrusive process throughout the thick and otherwise undeformed pile of sedimentary rocks (Victoria Group). Dolerite sills connected to one another by inclined sheets are inferred to record the preferred mode of propagation for magma-carrying cracks that represent the shallow portions of the Ferrar LIP plumbing system.