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

Uniformity Of The 2000 Test Beam Module With The New Optimal Filtering Coefficients

An original method to reconstruct electron and pion signals in the Liquid ARGon barrel calorimeter (LARG) is applied to test beam data collected at the H8 line of the CERN North Area in July and August 2000. The method is based on the use of optimal filtering coefficients and takes into account the electrical description of the read-out electronics in the reconstruction of the physics pulses. Results on improvements in the LARG response and in particular on the energy uniformity of the calorimeter are shown

Uniformity of the 2000 test beam module with the new optimal filtering coefficients

An original method to reconstruct electron and pion signals in the Liquid ARGon barrel calorimeter (LARG) is applied to test beam data collected at the H8 line of the CERN North Area in July and August 2000. The method is based on the use of optimal filtering coefficients and takes into account the electrical description of the read-out electronics in the reconstruction of the physics pulses. Results on improvements in the LARG response and in particular on the energy uniformity of the calorimeter are shown

Kidney transplantation and withdrawal rates among wait-listed first-generation immigrants in Italy

Background: Multiple barriers diminish access to kidney transplantation (KT) in immigrant compared to non-immigrant populations. It is unknown whether immigration status reduces the likelihood of KT after wait-listing despite universal healthcare coverage with uniform access to transplantation. Methods: We retrospectively collected data of all adult waiting list (WL) registrants in Italy (2010-20) followed for 5 years until death, KT in a foreign center, deceased-donor kidney transplant (DDKT), living-donor kidney transplant (LDKT) or permanent withdrawal from the WL. We calculated adjusted relative probability of DDKT, LDKT and permanent WL withdrawal in different immigrant categories using competing-risks multiple regression models. Results: Patients were European Union (EU)-born (n = 21 624), Eastern European-born (n = 606) and non-European-born (n = 1944). After controlling for age, sex, blood type, dialysis vintage, case-mix and sensitization status, non-European-born patients had lower LDKT rates compared to other immigrant categories: LDKT adjusted relative probability of non-European-born vs. Eastern European-born 0.51 (95% CI: 0.33-0.79; P = 0.002); of non-European-born vs. EU-Born: 0.65 (95% CI: 0.47-0.82; P = 0.001). Immigration status did not affect the rate of DDKT or permanent WL withdrawal. Conclusions: Among EU WL registrants, non-European immigration background is associated with reduced likelihood of LDKT but similar likelihood of DDKT and permanent WL withdrawal. Wherever not available, new national policies should enable coverage of travel and medical fees for living-donor surgery and follow-up for non-resident donors to improve uptake of LDKT in immigrant patients, and provide KT education that is culturally competent, individually tailored and easily understandable for patients and their potential living donors

Monocyte to lymphocyte blood ratio in tuberculosis and HIV patients: Comparative analysis, preliminary data

Recent data confirmed the hypothesis suggested by historical studies that the ratio of peripheral blood monocytes to lymphocytes (M/L) is associated with the risk of tuberculosis (TB) disease. We retrospectively analyzed the electronic health records of tuberculosis and HIV-positive patients who had followed day-care programs at the AIDS Center of the University of Palermo, Italy. 261 patients were recruited and divided into 6 groups as follows: healthy control group (HCG: 47 pts), latent HIV negative infected TB group (LIG, 43 pts), active HIV negative tuberculosis (TAG: 61 pts), treated tuberculosis HIV negative (TTG: 44 pts), HIV drug-naive patients tested TST and QFT-IT-negative with negative chest x-Ray (HIVnG: 44 pts), and HIV-tuberculosis coinfection (HIVTB-G: 22 pts). For each group, absolute lymphocyte (L), monocyte (M) and M/L ratio by peripheral blood was calculated. The mean value of monocytes in the TAG group was significant, the highest (0.70\uc2\ub10.37 1x103/\uce\ubcl) in comparison to HGC (0.70>0.44, p-value <0.05), HIVnG (0.70>0.40, p-value <0.05) and HIVTB-G (0.70>0.45, p-value<0.05). Monocyte to lymphocyte blood RATIO showed a significant difference between groups (p-value <0.001). In particular, the mean score of M/L ratio was higher in the TAG group compared to the HGC (0.49>0.27, p-value<0.05), LIG (0.49>0.29, p-value<0.05), TTG (0.49>0.32) and HIVTB-G groups (0.49>0.27, p-value<0.05). Our data confirm a significant difference in monocyte to lymphocyte blood ratio in tuberculosis disease. These data may be useful for monitoring and revising implementation plans for the different phases of tuberculosis disease (latent Mycobacterium tuberculosis (MTB) infection versus TB active disease). Regarding HIV samples, the small sample size is somewhat offset by the need, fully satisfied in our sample, to enlist specific patients such as co-infected HIV/TBC who voluntarily submit to clinical trials in our geographical area

A detailed map of Higgs boson interactions by the ATLAS experiment ten years after the discovery

The standard model of particle physics1-4 describes the known fundamental particles and forces that make up our Universe, with the exception of gravity. One of the central features of the standard model is a field that permeates all of space and interacts with fundamental particles5-9. The quantum excitation of this field, known as the Higgs field, manifests itself as the Higgs boson, the only fundamental particle with no spin. In 2012, a particle with properties consistent with the Higgs boson of the standard model was observed by the ATLAS and CMS experiments at the Large Hadron Collider at CERN10,11. Since then, more than 30 times as many Higgs bosons have been recorded by the ATLAS experiment, enabling much more precise measurements and new tests of the theory. Here, on the basis of this larger dataset, we combine an unprecedented number of production and decay processes of the Higgs boson to scrutinize its interactions with elementary particles. Interactions with gluons, photons, and W and Z bosons-the carriers of the strong, electromagnetic and weak forces-are studied in detail. Interactions with three third-generation matter particles (bottom (b) and top (t) quarks, and tau leptons (τ)) are well measured and indications of interactions with a second-generation particle (muons, μ) are emerging. These tests reveal that the Higgs boson discovered ten years ago is remarkably consistent with the predictions of the theory and provide stringent constraints on many models of new phenomena beyond the standard model

Optimization of RPCs read-out panel with electromagnetic simulation

With the upgrade of the RPCs [1]-[2] and the increase of its performances, the study and the optimization of the read-out panel is necessary in order to maintain the signal integrity and to reduce the intrinsic crosstalk. Through Electromagnetic Simulation, performed with CST Studio Suite, new panels design are tested and their crosstalk property are studied. The behavior of different type of panel is shown, in particular a panel with the decoupling strip connected through their characteristic impedance to the ground plane is simulated