Development of a navigation algorithm for autonomous underwater vehicles

In this paper, the authors present an underwater navigation system for Autonomous Underwater Vehicles (AUVs) which exploits measurements from an Inertial Measurement Unit (IMU), a Pressure Sensor (PS) for depth and the Global Positioning System (GPS, used during periodic and dedicated resurfacings) and relies on either the Extended Kalman Filter (EKF) or the Unscented Kalman Filter (UKF) for the state estimation. Both (EKF and UKF) navigation algorithms have been validated through experimental navigation data related to some sea tests performed in La Spezia (Italy) with one of Typhoon class vehicles during the NATO CommsNet13 experiment (held in September 2013) and through Ultra-Short BaseLine (USBL) fixes used as a reference (ground truth). Typhoon is an AUV designed by the Department of Industrial Engineering of the Florence University for exploration and surveillance of underwater archaeological sites in the framework of the Italian THESAURUS project and the European ARROWS project. The obtained results have demonstrated the effectiveness of both navigation algorithms and the superiority of the UKF (very suitable for AUV navigation and, up to now, still not used much in this field) without increasing the computational load (affordable for on-line on-board AUV implementation)

Scaling Up Magnetic Nanobead Synthesis with Improved Stability for Biomedical Applications

The growing interest in multifunctional nano-objects based on polymers and magnetic nanoparticles for biomedical applications motivated us to develop a scale-up protocol to increase the yield of polymeric magnetic nanobeads while aiming at keeping the structural features at optimal conditions. The protocol was applied to two different types of magnetic ferrite nanoparticles: the Mn-ferrite selected for their properties as contrast agents in magnetic resonance imaging and iron oxide nanostar shaped nanoparticles chosen for their heat performance in magnetic hyperthermia. At the same time, some experiments on surface functionalization of nanobeads with amino modified polyethyelene glycol (PEG) molecules have provided further insight into the formation mechanism of magnetic nanobeads and the need to cross-link the polymer shell to improve the stability of the beads, making them more suitable for further manipulation and use. The present work summarizes the most important parameters required to be controlled for the upscaling of nanobead synthesis in a bench protocol and proposes an alternative cross-linking strategy based on prefunctionalization of the polymer prior to the nanobead formation as a key parameter to improve the nanobead structural stability in solutions at different pHs and during surface functionalization

Magnetic nanocarriers with tunable pH dependence for controlled loading and release of cationic and anionic payloads.

Superparamagnetic nanocarriers with tunable pH dependence of the surface charge are designed by a simple co-precipitation method. By exploiting electrostatic interactions, cationic or anionic payloads can be adsorbed and desorbed depending on the pH. On three different resulting nanocarrier systems, experiments of loading and release of gold nanoparticles as well as effective siRNA loading and in vitro delivery on human cells are performed

Performance of prototype BTeV silicon pixel detectors in a high energy pion beam

The silicon pixel vertex detector is a key element of the BTeV spectrometer. Sensors bump-bonded to prototype front-end devices were tested in a high energy pion beam at Fermilab. The spatial resolution and occupancies as a function of the pion incident angle were measured for various sensor-readout combinations. The data are compared with predictions from our Monte Carlo simulation and very good agreement is found.Comment: 24 pages, 20 figure

Beam Test of BTeV Pixel Detectors

The silicon pixel vertex detector is one of the key elements of the BTeV spectrometer. Detector prototypes were tested in a beam at Fermilab. We report here on the measured spatial resolution as a function of the incident angles for different sensor-readout electronics combinations. We compare the results with predictions from our Monte Carlo simulation.Comment: 7 pages, 5 figures, Invited talk given by J.C. Wang at "Vertex 2000, 9th International Workshop on Vertex Detectors", Michigan, Sept 10-15, 2000. To be published in NIM

Controlled Release of Doxorubicin Loaded within Magnetic Thermo-responsive Nanocarriers under Magnetic and Thermal Actuation in a Microfluidic Channel

We report a procedure to grow thermo-responsive polymer shells at the surface of magnetic nanocarriers made of multiple iron oxide superparamagnetic nanoparticles embedded in poly(maleic anhydride-alt-1-ocatadecene) polymer nanobeads. Depending on the comonomers and on their relative composition, tunable phase transition temperatures in the range between 26 and 47 °C under physiological conditions could be achieved. Using a suitable microfluidic platform combining magnetic nanostructures and channels mimicking capillaries of the circulatory system, we demonstrate that thermo-responsive nanobeads are suitable for localized drug delivery with combined thermal and magnetic activation. Below the critical temperature nanobeads are stable in suspension, retain their cargo, and cannot be easily trapped by magnetic fields. Increasing the temperature above the critical temperature causes the aggregation of nanobeads, forming clusters with a magnetic moment high enough to permit their capture by suitable magnetic g..

Study of the D^0 \to pi^-pi^+pi^-pi^+ decay

Using data from the FOCUS (E831) experiment at Fermilab, we present new measurements for the Cabibbo-suppressed decay mode $D^0 \to \pi^-\pi^+\pi^-\pi^+$. We measure the branching ratio $\Gamma(D^0 \to\pi^+\pi^- \pi^+\pi^-)/\Gamma(D^0 \to K^-\pi^+\pi^-\pi^+) = 0.0914 \pm 0.0018 \pm 0.0022$. An amplitude analysis has been performed, a first for this channel, in order to determine the resonant substructure of this decay mode. The dominant component is the decay $D^0 \to a_1(1260)^+ \pi^-$, accounting for 60% of the decay rate. The second most dominant contribution comes from the decay $D^0 \to \rho(770)^0\rho(770)^0$, with a fraction of 25%. We also study the $a_1(1260)$ line shape and resonant substructure. Using the helicity formalism for the angular distribution of the decay $D^0 \to \rho(770)^0\rho(770)^0$, we measure a longitudinal polarization of $P_L = (71 \pm 4\pm 2)$%.Comment: 38 pages, 8 figures. accepted for publication in Physical Review