Behavioral control of unmanned aerial vehicle manipulator systems

In this paper a behavioral control framework is developed to control an unmanned aerial vehicle-manipulator (UAVM) system, composed by a multirotor aerial vehicle equipped with a robotic arm. The goal is to ensure vehicle-arm coordination and manage complex multi-task missions, where different behaviors must be encompassed in a clear and meaningful way. In detail, a control scheme, based on the null space-based behavioral paradigm, is proposed to handle the coordination between the arm and vehicle motion. To this aim, a set of basic functionalities (elementary behaviors) are designed and combined in a given priority order, in order to attain more complex tasks (compound behaviors). A supervisor is in charge of switching between the compound behaviors according to the mission needs and the sensory feedback. The method is validated on a real testbed, consisting of a multirotor aircraft with an attached 6 Degree of Freedoms manipulator, developed within the EU-funded project ARCAS (Aerial Robotics Cooperative Assembly System). At the the best of authors’ knowledge, this is the first time that an UAVM system is experimentally tested in the execution of complex multi-task missions. The results show that, by properly designing a set of compound behaviors and a supervisor, vehicle-arm coordination in complex missions can be effectively managed

Surface Periodic Poling in Lithium Niobate and Lithium Tantalate

Periodic Poling of Lithium Niobate crystals (PPLN) by means of electric field has revealed the best technique for finely tailoring PPLN structures and parameters, which play a central role in many current researches in the field of nonlinear integrated optics. Besides the most studied technique of bulk poling, recently a novel technique where domain inversion occurs just in a surface layer using photoresist or silica masks has been devised and studied. This surface periodic poling (SPP) approach is best suited when light is confined in a thin surface guiding layer or stripe, as in the case of optical waveguide devices. Also, we found that SPP respect to bulk poling offers two orders of magnitude reduction on the scale of periodicity, so that even nanostructures can be obtained provided an high resolution holographic mask writing technique is adopted. We were able to demonstrate 200 nm domain size, and also good compatibility with alpha-phase proton exchange channel waveguide fabrication. Our first experiments on Lithium Tantalate have also shown that the SPP technology appears to be applicable to this crystal (SPPLT), whose properties can allow to overcome limitations such as optical damage or UV absorption still present in PPLN devices. Finally, the issue of SPP compatibility with proton exchange waveguide fabrication will be addresse

Clinical‐epidemiological aspects of the Monkeypox 2022 epidemic: a multicenter study by the Italian SIDeMaST Group of Sexually Transmitted, Infectious and Tropical Diseases

Dear Editor,In spring 2022, an increase of monkeypox (mpox) cases was reported in Europe. Mpox is a zoonotic virus of the Poxviridae family, is endemic in the Congo Basin and just few cases outside Africa were reported before 2022. Its cutaneous presentation is similar to smallpox, usually preceded by a prodromal phase of fever, lymphadenopathy, headache and asthenia. Infection can occur through various means, including skin-to-skin contact, respiratory droplets or contact with fomites. The new outbreak is unique due to the increased human-to-human transmission, without an animal reservoir, particularly among men who have sex with men (MSM). As of February 13, 2023, 85.860 confirmed cases have been reported in 110 countries

Combination of chemotherapy and PD-1 blockade induces T cell responses to tumor non-mutated neoantigens

Grimaldi and Cammarata et al. develop a proteomics-based, target discovery platform to identify immunogenic proteins specific to apoptotic tumor cells. This study highlights the importance of protein modifications in apoptotic tumor cells as a mechanism of generating immunogenic neoantigens that can be targeted for T cell-based immunotherapy.Here, we developed an unbiased, functional target-discovery platform to identify immunogenic proteins from primary non-small cell lung cancer (NSCLC) cells that had been induced to apoptosis by cisplatin (CDDP) treatment in vitro, as compared with their live counterparts. Among the multitude of proteins identified, some of them were represented as fragmented proteins in apoptotic tumor cells, and acted as non-mutated neoantigens (NM-neoAgs). Indeed, only the fragmented proteins elicited effective multi-specific CD4(+) and CD8(+) T cell responses, upon a chemotherapy protocol including CDDP. Importantly, these responses further increased upon anti-PD-1 therapy, and correlated with patients' survival and decreased PD-1 expression. Cross-presentation assays showed that NM-neoAgs were unveiled in apoptotic tumor cells as the result of caspase-dependent proteolytic activity of cellular proteins. Our study demonstrates that apoptotic tumor cells generate a repertoire of immunogenic NM-neoAgs that could be potentially used for developing effective T cell-based immunotherapy across multiple cancer patients

Report relativo all'esplorazione di sismica a riflessione effettuata sul Palinuro Seamount

Le sorgenti sismiche solitamente contengono energia in un range di frequenza tra 1 e 100 Hz e man mano che si propagano l’attenuazione riduce l’energia nel terreno ; la maggior parte dei profili di sismica a riflessione commerciali è realizzato con l’utilizzo di sorgenti caratterizzati da range di frequenza fra 5 Hz e 15 kHz.Le sorgenti utilizzate differiscono se le prospezioni devono tenersi in ambiente subaereo o marino. Nel primo caso, vengono utilizzati esplosivi (piazzati alla base dello strato aerato) oppure dei Vibroseis, ossia dispositivi vibranti solidali al terreno. Le sorgenti marine più efficaci sono di tipo acustico, come ad esempio cannoni ad aria compressa che rilasciano una bolla d’aria ad alta pressione che oscilla, con un’emissione di energia che è funzione della dimensione della camera di compressione

Efficacy and Drug Survival after Switching from Etanercept to the Biosimilar SB4: A Real-Life Long-Term Study

We evaluated the 3-year drug survival and efficacy of the biosimilar SB4/Benepali in rheumatoid arthritis (RA), psoriatic arthritis (PsA) and ankylosing spondylitis (AS) patients, pre-viously treated with etanercept (ETA). Drug survival rate was calculated using the Kaplan\u2013Meier method and Cox proportional hazard models were developed to examine predictors of SB4 discontin-uation. 236 patients (120 RA, 80 PsA and 36 AS), aged 60.7 \ub1 13.8 years and with an ETA duration of 4.1 \ub1 3.4 years were included. The 3-year retention rate for SB4 was 94.4%, 88% and 86% in AS, RA and PsA patients, respectively, with no difference between groups. Patients without comorbid disease had higher retention rates vs. patients with comorbid disease (90% vs. 60%, p < 0.0001). Disease activity, as measured by DAS28, DAPSA and BASDAI remained stable over the 3 years. Comorbid disease (hazard ratio; HR: 4.06, p < 0.0001) and HAQ at baseline (HR: 2.42, p = 0.0024) significantly increased the risk of SB4 discontinuation, while previous ETA duration was negatively associated with SB4 discontinuation (HR: 0.97, p = 0.0064). Forty-one (17.4%) patients left the study due to the interruption of the SB4 treatment, 31 (75.6%) discontinued due to inefficacy and 10 (24.4%) due to adverse events. This real-life study confirms the similar efficacy profile of ETA with long-term retention and a good safety profile in inflammatory arthritis patients

Association of kidney disease measures with risk of renal function worsening in patients with type 1 diabetes

Background: Albuminuria has been classically considered a marker of kidney damage progression in diabetic patients and it is routinely assessed to monitor kidney function. However, the role of a mild GFR reduction on the development of stage 653 CKD has been less explored in type 1 diabetes mellitus (T1DM) patients. Aim of the present study was to evaluate the prognostic role of kidney disease measures, namely albuminuria and reduced GFR, on the development of stage 653 CKD in a large cohort of patients affected by T1DM. Methods: A total of 4284 patients affected by T1DM followed-up at 76 diabetes centers participating to the Italian Association of Clinical Diabetologists (Associazione Medici Diabetologi, AMD) initiative constitutes the study population. Urinary albumin excretion (ACR) and estimated GFR (eGFR) were retrieved and analyzed. The incidence of stage 653 CKD (eGFR < 60 mL/min/1.73 m2) or eGFR reduction > 30% from baseline was evaluated. Results: The mean estimated GFR was 98 \ub1 17 mL/min/1.73m2 and the proportion of patients with albuminuria was 15.3% (n = 654) at baseline. About 8% (n = 337) of patients developed one of the two renal endpoints during the 4-year follow-up period. Age, albuminuria (micro or macro) and baseline eGFR < 90 ml/min/m2 were independent risk factors for stage 653 CKD and renal function worsening. When compared to patients with eGFR > 90 ml/min/1.73m2 and normoalbuminuria, those with albuminuria at baseline had a 1.69 greater risk of reaching stage 3 CKD, while patients with mild eGFR reduction (i.e. eGFR between 90 and 60 mL/min/1.73 m2) show a 3.81 greater risk that rose to 8.24 for those patients with albuminuria and mild eGFR reduction at baseline. Conclusions: Albuminuria and eGFR reduction represent independent risk factors for incident stage 653 CKD in T1DM patients. The simultaneous occurrence of reduced eGFR and albuminuria have a synergistic effect on renal function worsening