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I'd first check that rosaria (or other software connected to the robot) isn't still running. This can prevent ARIA from resetting the connection. You can use the robot reset button as Orso says, but you shouldn't need to power off the whole robot. I'll put in a request to check/fix rosaria to make sure it always disconnects correctly on control-c.

If you were using a USB-serial converter that could potentially be a problem, though it doesn't look like that applies in your case (since you are using /dev/ttyS0).