Position-agnostic autonomous navigation in vineyards with Deep Reinforcement Learning

Precision agriculture is rapidly attracting research to efficiently introduce automation and robotics solutions to support agricultural activities. Robotic navigation in vineyards and orchards offers competitive advantages in autonomously monitoring and easily accessing crops for harvesting, spraying and performing time-consuming necessary tasks. Nowadays, autonomous navigation algorithms exploit expensive sensors which also require heavy computational cost for data processing. Nonetheless, vineyard rows represent a challenging outdoor scenario where GPS and Visual Odometry techniques often struggle to provide reliable positioning information. In this work, we combine Edge AI with Deep Reinforcement Learning to propose a cutting-edge lightweight solution to tackle the problem of autonomous vineyard navigation with-out exploiting precise localization data and overcoming task-tailored algorithms with a flexible learning-based approach. We train an end-to-end sensorimotor agent which directly maps noisy depth images and position-agnostic robot state information to velocity commands and guides the robot to the end of a row, continuously adjusting its heading for a collision-free central trajectory. Our extensive experimentation in realistic simulated vineyards demonstrates the effectiveness of our solution and the generalization capabilities of our agent

An Adaptive Row Crops Path Generator with Deep Learning Synergy

The autonomous navigation of agricultural field machines strongly depends on the global path generation system. Indeed, a correct and effective path construction heavily influences the overall navigation stack compromising the successfulness of the robot mission. However, the most commonly used search algorithms struggle to adapt to environments where a significant prior knowledge of the domain is not negligible. Despite this crucial factor, path generation for row-based crops has received little attention from the research community so far. The proposed research introduces a novel global path planning system that works in synergy with a deep learning model to provide an accurate and centered path with respect to the rows of the analyzed crop. It guarantees the full coverage of the given occupancy grid with less processing time compared to other available literature solutions. Moreover, the presented methodology can detect an anomaly in the path generation and provide the hypothetical user feedback of the missing full coverage of the given crop. Indeed, especially in a practical application, the correct coverage and centrality of the path are essential for effective autonomous navigation. Experimentation with synthetic and real-world satellite occupancy grid maps clearly show the advantages of the proposed methodology and its intrinsic robustness

Assessing the Performance of Virtualization Technologies for NFV: a Preliminary Benchmarking

The NFV paradigm transforms those applications executed for decades in dedicated appliances, into software images to be consolidated in standard server. Although NFV is implemented through cloud computing technologies (e.g., virtual machines, virtual switches), the network traffic that such components have to handle in NFV is different than the traffic they process when used in a cloud computing scenario. Then, this paper provides a (preliminary) benchmarking of the widespread virtualization technologies when used in NFV, which means when they are exploited to run the so called virtual network functions and to chain them in order to create complex services

Chromatin and DNA methylation dynamics during retinoic acid-induced RET gene transcriptional activation in neuroblastoma cells.

Although it is well known that RET gene is strongly activated by retinoic acid (RA) in neuroblastoma cells, the mechanisms underlying such activation are still poorly understood. Here we show that a complex series of molecular events, that include modifications of both chromatin and DNA methylation state, accompany RA-mediated RET activation. Our results indicate that the primary epigenetic determinants of RA-induced RET activation differ between enhancer and promoter regions. At promoter region, the main mark of RET activation was the increase of H3K4me3 levels while no significant changes of the methylation state of H3K27 and H3K9 were observed. At RET enhancer region a bipartite chromatin domain was detected in unstimulated cells and a prompt demethylation of H3K27me3 marked RET gene activation upon RA exposure. Moreover, ChIP experiments demonstrated that EZH2 and MeCP2 repressor complexes were associated to the heavily methylated enhancer region in the absence of RA while both complexes were displaced during RA stimulation. Finally, our data show that a demethylation of a specific CpG site at the enhancer region could favor the displacement of MeCP2 from the heavily methylated RET enhancer region providing a novel potential mechanism for transcriptional regulation of methylated RA-regulated loci

Diferencias relacionadas con el sexo en pacientes con IAMCEST: análisis por puntuación de propensión

Supplementary data associated with this article can be found in the online version available at https://doi.org/ 10.24875/RECICE.M19000061.[EN] Introduction and objectives: Female sex is believed to be a significant risk factor for mortality among patients with ST-segment elevation myocardial infarction (STEMI) undergoing primary percutaneous coronary interventions (pPCI). Methods: We collected data on all consecutive STEMI patients treated with pPCI within 12 hours and compared the males vs the females. The primary endpoint was long-term mortality one month after hospital discharge. The secondary endpoint was 30-days mortality. Results: From March 2006 to December 2016, 1981 patients underwent pPCI at our hospital, 484 (24.4%) were females. Compared with men, women were older (mean age 71.3 ± 11.6 vs 62.9 ± 11.8 years, P < .001), less smokers (26.7% vs 72.7%; P < .001), more diabetic (28.0% vs 22.3%; P < .002), more hypertensive (69.6% vs 61.3%; P < .001), presented more often with shock at baseline (13.2% vs 9.0%; P = .006), had longer symptoms-to-balloon time frames (5.36 ± 3.97 vs 4.47 ± 3.67 hours; P < .001). Also, women were less likely to receive glycoprotein IIb-IIIa inhibitors (59.5% vs 71.4%; P < .001) and stents (79.5% vs 86.6%; P = .01). During the 30-day and long-term follow-up (mean 4.9 ± 3.2 years) the female sex was associated with a higher mortality rate (8.9% vs 4.0%, P < .001 and 23.8% vs 18.4%, P = .01, respectively). After propensity score matching, 379 men and 379 women were selected. Female sex continued to be associated with a higher death rate at 30 days (9.5% vs 5.5%; P = .039) but not in the long term among survivors (25.6% vs 21.4%; P = .170). Conclusions: Compared to men, women with STEMI undergoing pPCI had higher 30-day mortality rates. However, among survivors, the long-term mortality rate was similar. Even if residual confounding cannot be ruled out, this difference in the outcomes may be partially explained by biological sex-related differences.[ES]Introducción y objetivos: El sexo femenino se considera un importante factor de riesgo de mortalidad en el infarto agudo de miocardio con elevación del segmento ST (IAMCEST) tratado con intervención coronaria percutánea primaria (ICPp). Métodos: Se analizó a todos los pacientes consecutivos con IAMCEST tratados con ICPp dentro de las primeras 12 horas, y se compararon varones y mujeres. El objetivo principal fue la mortalidad a largo plazo en los supervivientes después del primer mes del alta, y el objetivo secundario fue la mortalidad a los 30 días. Resultados: Desde marzo de 2006 hasta diciembre de 2016 se trató con ICPp 1.981 a pacientes, de los cuales 484 (24,4%) eran mujeres. En comparación con los varones, las mujeres tenían mayor edad (edad media 71,3 ± 11,6 frente a 62,9 ± 11,8 años, p < 0,001) y la frecuencia de fumadoras era más baja (26,7 frente a 72,7%; p < 0,001), mientras que era más alta la frecuencia de diabetes (28,0 frente a 22,3%; p < 0,002), hipertensión arterial (69.6 frente a 61,3%, p < 0,001) y shock al ingreso (13,2 frente a 9,0%; p = 0,006), y más largo el tiempo desde el comienzo de los síntomas hasta la intervención con balón (5,36 ± 3,97 frente a 4,47 ± 3,67 horas; p < 0,001). Además, la frecuencia de tratamiento con inhibidores de la glucoproteína IIb-IIIa (59,5 frente a 71,4%; p < 0,001) y stent (79,5 frente a 86,6%, p = 0,01) fue inferior. Tanto a los 30 días como a largo plazo (media 4,9 ± 3,2 años), el sexo femenino se asoció con una mortalidad más alta (8,9 frente a 4,0%, p < 0,001, y 23,8 frente a 18,4%, p = 0,01, respectivamente). Se seleccionaron 379 mujeres y 379 varones emparejados por puntuación de propensión. Se mantuvo la asociación entre sexo femenino y mayor mortalidad a los 30 días (9,5 frente a 5,5%; p = 0,039), pero no a largo plazo (25,6 frente a 21,4%; p = 0,170). Conclusiones: En comparación con los varones, las mujeres con IAMCEST tratadas con ICPp tuvieron mayor mortalidad a los 30 días. Sin embargo, entre los supervivientes, la mortalidad a largo plazo fue similar. Aunque no puede descartarse el efecto de variables residuales de confusión, las diferencias en el pronóstico podrían explicarse en parte por diferencias biológicas relacionadas con el sexo.S

Bismuth oxyhalides for NOx degradation under visible light: the role of the chloride precursor

ABSTRACT: Photocatalysis is a green technology for tackling water and air contamination. A valid alternative to the most exploited photocatalytic material, TiO2, is bismuth oxyhalides, which feature a wider bandgap energy range and use visible radiation to attain photoexcitation. Moreover, their layered structure favors the separation of photogenerated electron–hole pairs, with an enhancement in photocatalytic activity. Controlled doping of bismuth oxyhalides with metallic bismuth nanoparticles allows for further boosting of the performance of the material. In the present work, we synthesized Y%Bi-doped BiO(Cl0.875Br0.125) (Y = 0.85, 1, 2, 10) photocatalysts, using cetyltrimethylammonium bromide as the bromide source and varying the chloride source to assess the impact that both length and branching of the hydrocarbon chain might have on the framing and layering of the material. A change in the amount of the reducing agent NaBH4 allowed tuning of the percentage of metallic bismuth. After a thorough characterization (XRPD, SEM, TEM, UV-DRS, XPS), the photocatalytic activity of the catalysts was tested in the degradation of NOx under visible light, reaching a remarkable 53% conversion after 3 h of illumination for the material prepared using cetylpyridinium chloride

Opsonin-deficient nucleoproteic corona endows unPEGylated liposomes with stealth properties in vivo

For several decades, surface grafted polyethylene glycol (PEG) has been a go-to strategy for preserving the synthetic identity of liposomes in physiological milieu and preventing clearance by immune cells. However, the limited clinical translation of PEGylated liposomes is mainly due to the protein corona formation and the subsequent modification of liposomes’ synthetic identity, which affects their interactions with immune cells and blood residency. Here we exploit the electric charge of DNA to generate unPEGylated liposome/DNA complexes that, upon exposure to human plasma, gets covered with an opsonin-deficient protein corona. The final product of the synthetic process is a biomimetic nanoparticle type covered by a proteonucleotidic corona, or “proteoDNAsome”, which maintains its synthetic identity in vivo and is able to slip past the immune system more efficiently than PEGylated liposomes. Accumulation of proteoDNAsomes in the spleen and the liver was lower than that of PEGylated systems. Our work highlights the importance of generating stable biomolecular coronas in the development of stealth unPEGylated particles, thus providing a connection between the biological behavior of particles in vivo and their synthetic identity

Risk prediction of major cardiac adverse events and all-cause death following covid-19 hospitalization at one year follow-up: The HOPE-2 score

Background: Long -term consequences of COVID-19 are still partly known. Aim of the study: To derive a clinical score for risk prediction of long-term major cardiac adverse events (MACE) and all cause death in COVID-19 hospitalized patients. Methods: 2573 consecutive patients were enrolled in a multicenter, international registry (HOPE-2) from January 2020 to April 2021 and identified as the derivation cohort. Five hundred and twenty-six patients from the CardioCovid-Italy registry were considered as external validation cohort. A long-term prognostic risk score for MACE and all cause death was derived from a multivariable regression model. Results: Out of 2573 patients enrolled in the HOPE-2 registry, 1481 (58 %) were male, with mean age of 60 +/- 16 years. At long-term follow-up, the overall rate of patients affected by MACE and/or all cause death was 7.8 %. After multivariable regression analysis, independent predictors of MACE and all cause death were identified. The HOPE-2 prognostic score was therefore calculated by giving: 1 -4 points for age class ( = 85), 3 points for history of cardiovascular disease, 1 point for hypertension, 3 points for increased troponin serum levels at admission and 2 points for acute renal failure during hospitalization. Score accuracy at ROC curve analysis was 0.79 (0.74 at external validation). Stratification into 3 risk groups ( 6 points) classified patients into low, intermediate and high risk. The observed MACE and all-cause death rates were 1.9 %, 9.4 % and 26.3 % for low- intermediate and high-risk patients, respectively (Log-rank test p < 0.01). Conclusions: The HOPE-2 prognostic score may be useful for long-term risk stratification in patients with previous COVID-19 hospitalization. High-risk patients may require a strict follow-up