Istituto Italiano di Tecnologia

About: Istituto Italiano di Tecnologia is a facility organization based out in Genoa, Italy. It is known for research contribution in the topics: Humanoid robot & Robot. The organization has 4561 authors who have published 14595 publications receiving 437558 citations. The organization is also known as: Italian Institute of Technology & IIT.

The influence of solid-state microstructure on the origin and yield of long-lived photogenerated charge in neat semiconducting polymers

Abstract: The influence of solid-state microstructure on the optoelectronic properties of conjugated polymers is widely recognized, but still poorly understood. Here, we show how the microstructure of conjugated polymers controls the yield and decay dynamics of long-lived photogenerated charge in neat films. Poly(3-hexylthiophene) was used as a model system. By varying the molecular weight, we drive a transition in the polymer microstructure from nonentangled, chain-extended, paraffinic-like to entangled, semicrystalline (MW = 5.5–347 kg/mol). The molecular weight range at which this transition occurs (MW = 40–50 kg/mol) can be deduced from the drastic change in elongation at break found in tensile tests. Linear absorption measurements of free-exciton bandwidth and time-resolved microwave conductivity (TRMC) measurements of transient photoconductance track the concomitant evolution in optoelectronic properties of the polymer as a function of MW. TRMC measurements show that the yield of free photogenerated charge increases with increasing molecular weight in the paraffinic regime and saturates at the transition into the entangled, semicrystalline regime. This transition in carrier yield correlates with a sharp transition in free-exciton bandwidth and decay dynamics at a similar molecular weight. We propose that the transition in microstructure controls the yield and decay dynamics of long-lived photogenerated charge. The evolution of a semicrystalline structure with well-defined interfaces between amorphous and crystalline domains of the polymer is required for spatial separation of the electron and hole. This structural characteristic not only largely controls the yield of free charges, but also serves as a recombination center, where mobile holes encounter a bath of dark electrons resident in the amorphous phase and recombine with quasi first-order kinetics. © 2011 Wiley Periodicals, Inc. J Polym Sci Part B: Polym Phys, 2011

Anatase-to-Rutile Phase Transition in TiO2 Nanoparticles Irradiated by Visible Light

Abstract: The light-induced phase transition of TiO2 nanoparticles from anatase to rutile structure is reported depending on the surrounding environment, the transition being accomplished under oxygen-poor conditions. The transition mechanism is interpreted in the framework of oxygen adsorption and desorption phenomena with the involvement of surface oxygen vacancies and F centers. It is shown that the observed phase transition is not thermally driven because the local temperature of the nanoparticles during irradiation is about 370 K (estimated through the Stokes to anti-Stokes Raman peaks ratio). On the contrary, the phase transition is initiated by intragap irradiation (with the exception of the red light one) that acts as TiO2 surface sensitizer, promoting the activation of the surface and the nucleation of rutile crystallites starting from two activated anatase neighboring nanoparticles.

Robust Control of Robot Manipulators Using Inclusive and Enhanced Time Delay Control

Abstract: Thanks to its simplicity and robustness, time delay control (TDC) has been recognized as a simple and yet effective alternative to robot model-based controls and/or intelligent controls. An inclusive and enhanced formulation of TDC for robust control of robot manipulators is presented in this paper. The proposed formulation consists of three intuitive terms: 1) time delay estimation (TDE), inherited from the original TDC, for cancellation of mostly continuous nonlinearities; 2) nonlinear desired error dynamics (DED) (i.e., a “mass”–“nonlinear damper”– “nonlinear spring” system) injection term; and 3) a TDE error correction term based on a nonlinear sliding surface. The proposed TDC formulation has an inclusive structure. Depending on the gain/parameter set chosen, the proposed formulation can become Hsia's formulation, Jin's formulations including a type of terminal sliding mode control (SMC), an SMC with a switching signum function, or a novel enhanced formulation. Experimental comparisons were made using a programmable universal manipulator for assembly-type robot manipulator with various parameter sets for the proposed control. Among them, the highest position tracking accuracy was obtained by using a terminal sliding DED with a terminal sliding correction term.

Advanced Cu-Sn foam for selectively converting CO2 to CO in aqueous solution

Abstract: A tin-modified copper foam for the efficient and selective reduction of CO2 to CO is reported. We employ a cost-efficient electrodeposition route to form a three-dimensional porous dendrite architecture, in which each dendrite possesses a copper core and a copper oxide/tin oxide shell. The sparse tin species on the electrode surface play a key role to achieve excellent faradaic efficiencies for CO formation with a maximum value of 94%. We demonstrate high CO partial current densities of 4.7 mA cm−2 and 7.9 mA cm−2 at applied potentials of -0.8 V and -1.1 V vs. the reversible hydrogen electrode, respectively. The high activity for electrochemical CO2 reduction is attributed to the unique hierarchical porous structure, which offers abundant electrochemically active sites and facilitates mass transport.

"soft" exoskeletons for upper and lower body rehabilitation — design, control and testing

Abstract: The basic concepts for exoskeletal systems have been suggested for some time with applications ranging from construction, manufacturing and mining to rescue and emergency services. In recent years, research has been driven by possible uses in medical/rehabilitation and military applications. Yet there are still significant barriers to the effective use and exploitation of this technology. Among the most pertinent of these factors is the power and actuation system and its impact of control, strength, speed and, perhaps most critically, safety. This work describes the design, construction and testing of an ultra low-mass, full-body exoskeleton system having seven degrees of freedom (DOFs) for the upper limbs and five degrees of freedom (DOFs) for each of the lower limbs. This low mass is primarily due to the use of a new range of pneumatic muscle actuators as the power source for the system. The work presented will show how the system takes advantage of the inherent controllable compliance to produce a unit...