Radar/electro-optical data fusion for non-cooperative UAS sense and avoid

Abstract This paper focuses on hardware/software implementation and flight results relevant to a multi-sensor obstacle detection and tracking system based on radar/electro-optical (EO) data fusion. The sensing system was installed onboard an optionally piloted very light aircraft (VLA). Test flights with a single intruder plane of the same class were carried out to evaluate the level of achievable situational awareness and the capability to support autonomous collision avoidance. System architecture is presented and special emphasis is given to adopted solutions regarding real time integration of sensors and navigation measurements and high accuracy estimation of sensors alignment. On the basis of Global Positioning System (GPS) navigation data gathered simultaneously with multi-sensor tracking flight experiments, potential of radar/EO fusion is compared with standalone radar tracking. Flight results demonstrate a significant improvement of collision detection performance, mostly due to the change in angular rate estimation accuracy, and confirm data fusion effectiveness for facing EO detection issues. Relative sensors alignment, performance of the navigation unit, and cross-sensor cueing are found to be key factors to fully exploit the potential of multi-sensor architectures

Inhibitory Effect of Aqueous Extracts from Marine Sponges on the Activity and Expression of Gelatinases A (MMP-2) and B (MMP-9) in Rat Astrocyte Cultures

The aim of this study was to evaluate whether water soluble compounds present in aqueous extracts from seven Mediterranean demosponges exert biological activity towards matrix metalloproteinases (MMPs), which represent important pathogenic factors of human dis- eases. Aqueous extracts were tested on LPS-activated cultured rat astrocytes, and levels and expression of MMP-2 and MMP-9 were assessed by zymography and RT-PCR, re- spectively. Our results demonstrated that the studied extracts contain water soluble com- pounds able to inhibit MMP-2 and MMP-9 activity and expression. We also compared the anti-MMP activities present in aqueous extracts from wild and reared specimens of Tethya aurantium and T. citrina. The results obtained revealed that the reared sponges maintain the production of bioactive compounds with inhibitory effect on MMP-2 and MMP-9 for all the duration of the rearing period. Taken together, our results indicate that the aqueous ex- tracts from the selected Mediterranean demosponges possess a variety of water-soluble bioactive compounds, which are able to inhibit MMPs at different levels. The presence of bi- ological activity in aqueous extracts from reared specimens of T. aurantium and T. citrina strongly encourage sponge aquaculture as a valid option to supply sponge biomass for drug development on a large scale

Il quadro concettuale e le esperienze di misurazione delle Smart Cities

The concept of Smart City is considered increasingly strategic for the solution to the questions related to the irreversible urban agglomeration growth. Created in the nineties in parallel to the liberalisation process of telecommunications and the development of internet services, this expression risks remaining too generic and without a shared operational definition. This paper contribute to the existing literature in two ways: i) providing an overall survey of the definition and measurement problems; ii) deriving some methodological suggestions from the analysis, in order to proceed towards a robust and comparable Smart City measurement system. The latter results extremely relevant in the perspective of a dedicated monitoring system implementatio

Particle Filtering for Obstacle Tracking in UAS Sense and Avoid Applications

Obstacle detection and tracking is a key function for UAS sense and avoid applications. In fact, obstacles in the flight path must be detected and tracked in an accurate and timely manner in order to execute a collision avoidance maneuver in case of collision threat. The most important parameter for the assessment of a collision risk is the Distance at Closest Point of Approach, that is, the predicted minimum distance between own aircraft and intruder for assigned current position and speed. Since assessed methodologies can cause some loss of accuracy due to nonlinearities, advanced filtering methodologies, such as particle filters, can provide more accurate estimates of the target state in case of nonlinear problems, thus improving system performance in terms of collision risk estimation. The paper focuses on algorithm development and performance evaluation for an obstacle tracking system based on a particle filter. The particle filter algorithm was tested in off-line simulations based on data gathered during flight tests. In particular, radar-based tracking was considered in order to evaluate the impact of particle filtering in a single sensor framework. The analysis shows some accuracy improvements in the estimation of Distance at Closest Point of Approach, thus reducing the delay in collision detection

Smart city: fact and fiction

Transforming a city into a Smart City is a complex and multidimensional process which changes over time since all the involved stakeholders work to achieve more and better results. “To be smart” affects many aspects of a city including economics, government, people, living, mobility, environment, energy and services. This paper aims at critically analysing the main features related to smart cities such as terminological issues, the heterogeneous theoretical background and the methodological limits of the few existing measurement experiences

Smart city: fact and fiction

Transforming a city into a Smart City is a complex and multidimensional process which changes over time since all the involved stakeholders work to achieve more and better results. “To be smart” affects many aspects of a city including economics, government, people, living, mobility, environment, energy and services. This paper aims at critically analysing the main features related to smart cities such as terminological issues, the heterogeneous theoretical background and the methodological limits of the few existing measurement experiences

Truncated Analogues of a G-Quadruplex-Forming Aptamer Targeting Mutant Huntingtin: Shorter Is Better!

Two analogues of the MS3 aptamer, which was previously shown to have an exquisite capability to selectively bind and modulate the activity of mutant huntingtin (mHTT), have been here designed and evaluated in their physicochemical and biological properties. Featured by a distinctive propensity to form complex G-quadruplex structures, including large multimeric aggregates, the original 36-mer MS3 has been truncated to give a 33-mer (here named MS3-33) and a 17-mer (here named MS3-17). A combined use of different techniques (UV, CD, DSC, gel electrophoresis) allowed a detailed physicochemical characterization of these novel G-quadruplex-forming aptamers, tested in vitro on SH-SY5Y cells and in vivo on a Drosophila Huntington’s disease model, in which these shorter MS3-derived oligonucleotides proved to have improved bioactivity in comparison with the parent aptamer

Fighting the Huntington's Disease with a G-Quadruplex-Forming Aptamer Specifically Binding to Mutant Huntingtin Protein: Biophysical Characterization, In Vitro and In Vivo Studies

A set of guanine-rich aptamers able to preferentially recognize full-length huntingtin with an expanded polyglutamine tract has been recently identified, showing high efficacy in modulating the functions of the mutated protein in a variety of cell experiments. We here report a detailed biophysical characterization of the best aptamer in the series, named MS3, proved to adopt a stable, parallel G-quadruplex structure and show high nuclease resistance in serum. Confocal microscopy experiments on HeLa and SH-SY5Y cells, as models of non-neuronal and neuronal cells, respectively, showed a rapid, dose-dependent uptake of fluorescein-labelled MS3, demonstrating its effective internalization, even in the absence of transfecting agents, with no general cytotoxicity. Then, using a well-established Drosophila melanogaster model for Huntington's disease, which expresses the mutated form of human huntingtin, a significant improvement in the motor neuronal function in flies fed with MS3 was observed, proving the in vivo efficacy of this aptamer