DOES: A Deep Learning-based approach to estimate roll and pitch at sea

The use of Attitude and Heading Reference Systems (AHRS) for orientation estimation is now common practice in a wide range of applications, e.g., robotics and human motion tracking, aerial vehicles and aerospace, gaming and virtual reality, indoor pedestrian navigation and maritime navigation. The integration of the high-rate measurements can provide very accurate estimates, but these can suffer from errors accumulation due to the sensors drift over longer time scales. To overcome this issue, inertial sensors are typically combined with additional sensors and techniques. As an example, camera-based solutions have drawn a large attention by the community, thanks to their low-costs and easy hardware setup; moreover, impressive results have been demonstrated in the context of Deep Learning. This work presents the preliminary results obtained by DOES, a supportive Deep Learning method specifically designed for maritime navigation, which aims at improving the roll and pitch estimations obtained by common AHRS. DOES recovers these estimations through the analysis of the frames acquired by a low-cost camera pointing the horizon at sea. The training has been performed on the novel ROPIS dataset, presented in the context of this work, acquired using the FrameWO application developed for the scope. Promising results encourage to test other network backbones and to further expand the dataset, improving the accuracy of the results and the range of applications of the method as a valid support to visual-based odometry techniques

Danae++: A smart approach for denoising underwater attitude estimation

One of the main issues for the navigation of underwater robots consists in accurate vehicle positioning, which heavily depends on the orientation estimation phase. The systems employed to this end are affected by different noise typologies, mainly related to the sensors and to the irregular noise of the underwater environment. Filtering algorithms can reduce their effect if opportunely con-figured, but this process usually requires fine techniques and time. This paper presents DANAE++, an improved denoising autoencoder based on DANAE (deep Denoising AutoeNcoder for Attitude Estimation), which is able to recover Kalman Filter (KF) IMU/AHRS orientation estimations from any kind of noise, independently of its nature. This deep learning-based architecture already proved to be robust and reliable, but in its enhanced implementation significant improvements are obtained in terms of both results and performance. In fact, DANAE++ is able to denoise the three angles describing the attitude at the same time, and that is verified also using the estimations provided by an extended KF. Further tests could make this method suitable for real-time applications in navigation tasks

Evaluation of the Economic Performance of Coastal Trawling off the Southern Coast of Sicily (Central Mediterranean Sea)

The economic performances of four trawling fleets (those of the Sicilian cities of Trapani, Sciacca, Licata and Porto Palo di Capo Passero) operating in the coastal waters along the southern coast of Sicily (geographical Subarea 16), and potentially affected by the establishment of the Fisheries Restricted Areas (FRAs), were analysed. The main economic performance results (revenues, costs and profits) of 37 trawlers were calculated prior to the implementation of FRAs and compared with those estimated by the spatial bio-economic model SMART after the FRAs’ establishment. Results showed that the fleets of Sciacca and Licata, located in the central part of the southern Sicilian coast, had a short-term reduction of profits as a result of the implementation of the FRAs; conversely, a short-term increase in the economic performances of Trapani and Porto Palo di Capo Passero fleets was expected. Although the FRAs represent a good tool for rebuilding overexploited stocks, the different socio-economic impacts of the single fleets should be assessed before adopting them and the implementation of specific compensative measures should be planned for the impacted fleet until a more productive state of the stock is reached

Splenomegaly impacts prognosis in essential thrombocythemia and polycythemia vera: A single center study

Splenomegaly is one of the major clinical manifestations of primary myelofibrosis and is common also in other chronic Philadelphia-negative myeloproliferative neoplasms, causing symptoms and signs and affecting quality of life of patients diagnosed with these diseases. We aimed to study the impact that such alteration has on thrombotic risk and on the survival of patients with essential thrombocythemia and patients with Polycythemia Vera (PV). We studied the relationship between splenomegaly (and its grade), thrombosis and survival in 238 patients with et and 165 patients with PV followed at our center between January 1997 and May 2019

Early impairment of endothelial structure and function in young normal-weight women with polycystic ovary syndrome

The aim of this study was to evaluate the presence of early vascular damage in young normal-weight women with polycystic ovary syndrome (PCOS).Thirty young normal-weight women with PCOS, who had no additional metabolic or cardiovascular diseases, and 30 healthy women (controls) matched for age and body mass index were studied. A complete hormonal assay was performed in each subject. Serum insulin and glucose levels were measured at baseline and after the oral glucose tolerance test. Plasma endothelin-1 levels and serum lipid profile were also assessed. The endothelial function was studied by flow-mediated dilation on the brachial artery, and arterial structure was evaluated by intima-media thickness measurement using Doppler ultrasound of both common carotid arteries.A significant (P < 0.05) difference in flow-mediated dilation (14.3 +/- 1.9% vs. 18.1 +/- 2.0% for PCOS patients and controls, respectively) and in intima-media thickness (0.53 +/- 0.09 mm vs. 0.39 +/- 0.08 mm for PCOS patients and controls, respectively) was found between PCOS and control subjects. Serum endothelin-1 levels were also significantly (P < 0.05) higher in PCOS patients compared with controls (1.1 +/- 0.4 pmol/liter vs. 0.5 +/- 0.2 pmol/liter for PCOS patients and controls, respectively).In conclusion, our data show that young, normal-weight, nondyslipidemic, nonhypertensive women with PCOS have an early impairment of endothelial structure and function

Use of drugs for attrv amyloidosis in the real world: How therapy is changing survival in a non-endemic area

Background: Over the past decade, three new drugs have been approved for the treatment of hereditary amyloid transthyretin (ATTRv) polyneuropathy. The aim of this work was to analyze whether current therapies prolong survival for patients affected by ATTRv amyloidosis. Methods: The study was conducted retrospectively, analyzing the medical records of 105 patients with genetic diagnoses of familial amyloidotic polyneuropathy followed at the two referral centers for the disease in Sicily, Italy. Of these, 71 received disease-modifying therapy, while 34 received only symptomatic treatment or no therapy. Results: The most used treatment in our patient cohort was tafamidis, followed by liver transplantation, patisiran, inotersen, and diflunisal. The median survival was significantly longer for treated vs. untreated patients (12 years vs. 8 years). In the 71 patients who received disease-modifying treatment, the presence of cardiac involvement, weight loss, or autonomic dysfunction at diagnosis was not related to survival. Conversely, patients diagnosed in the early stage of the disease (PND 1) had significantly longer survival than those diagnosed in the late stage (PND 2–4)

Proliferative and apoptotic pathways in the testis of quail coturnix coturnix during the seasonal reproductive cycle

The quail Coturnix coturnix is a seasonal breeding species, with the annual reproductive cycle of its testes comprising an activation phase and a regression phase. Our previous results have proven that the testicular levels of both 17β‐estradiol (E2) and androgens are higher during the reproductive period compared to the non‐reproductive period, which led us to hypothesize that estrogens and androgens may act synergistically to initiate spermatogenesis. The present study was, therefore, aimed to investigate the estrogen responsive system in quail testis in relation to the reproduction seasonality, with a focus on the molecular pathways elicited in both active and regressive quail testes. Western blotting and immunohistochemistry analysis revealed that the expression of ERα, which is the predominant form of estrogen receptors in quail testis, was correlated with E2 concentration, suggesting that increased levels of E2‐induced ERα could play a key role in the resumption of spermatogenesis during the reproductive period, when both PCNA and SYCP3, the mitotic and meiotic markers, respectively, were also increased. In the reproductive period we also found the activation of the ERK1/2 and Akt‐1 kinase pathways and an increase in second messengers cAMP and cGMP levels. In the non‐reproductive phase, when the E2/ERα levels were low, the inactivation of ERK1/2 and Akt‐1 pathways favored apoptotic events due to an increase in the levels of Bax and cytochrome C, with a consequent regression of the gonad

Surface modification of basalt fibres with ZnO nanorods and its effect on thermal and mechanical properties of pla-based composites

The composites based on basalt fibres and poly(lactic acid) (PLA) show promising applications in biomedical and automotive fields, but their mechanical performance is still largely hindered by poor interfacial properties. Zinc oxide nanorods have been successfully used to tune the PLA/basalt fibre interface by growing them on commercially available basalt fabrics. The hierarchical fibres significantly enhanced the mechanical properties of PLA-based composites, especially their flexural strength and stiffness. These values are 26% and 22% higher than those of unmodified basalt/PLA composites, and 24% and 34% higher than those of glass/PLA composites used as a baseline. The increase in tensile and flexural properties hinges on the mechanical interlocking action promoted by ZnO nanorods and on the creation of a compact transcrystallinity structure. A degradation of PLA matrix was detected but it was positively counteracted by the better interfacial stress transfer. This study offers a novel approach for modifying the fibre–matrix interface of biocomposites intended for high-performance applications