Development and testing of an MPC attitude controller for an ROV

openMarine exploration utilizing Remotely Operated Vehicles (ROVs) has become integral to understanding the oceanic environment. Coordinating multiple vehicles concurrently is a critical aspect of enhancing exploration efficiency. This thesis focuses on the development and testing of a Model Predictive Control (MPC) combined controller for an Autonomous Underwater Vehicle (AUV) and an Uncrewed Surface Vehicle (USV) ROV.\\ Recognizing the importance of coordinated marine exploration, the research investigates the implementation of an MPC algorithm to control both AUVs and USVs simultaneously. The study is conducted in simulated environments to assess the controller's performance under varying conditions.\\ The development process involves designing a versatile MPC controller capable of effectively coordinating the movements of AUVs and USVs. The goal is to optimize their trajectories and maintain synchronized exploration patterns and a stable optical based connection. The unique dynamics of each vehicle type are considered to ensure adaptability and robust performance in the challenging underwater environment.\\ This research contributes to the advancement of marine exploration by addressing the challenges of coordinating multiple vehicles. The MPC combined controller offers a possible solution for optimizing exploration missions, providing a foundation for further developments in autonomous marine systems.Marine exploration utilizing Remotely Operated Vehicles (ROVs) has become integral to understanding the oceanic environment. Coordinating multiple vehicles concurrently is a critical aspect of enhancing exploration efficiency. This thesis focuses on the development and testing of a Model Predictive Control (MPC) combined controller for an Autonomous Underwater Vehicle (AUV) and an Uncrewed Surface Vehicle (USV) ROV.\\ Recognizing the importance of coordinated marine exploration, the research investigates the implementation of an MPC algorithm to control both AUVs and USVs simultaneously. The study is conducted in simulated environments to assess the controller's performance under varying conditions.\\ The development process involves designing a versatile MPC controller capable of effectively coordinating the movements of AUVs and USVs. The goal is to optimize their trajectories and maintain synchronized exploration patterns and a stable optical based connection. The unique dynamics of each vehicle type are considered to ensure adaptability and robust performance in the challenging underwater environment.\\ This research contributes to the advancement of marine exploration by addressing the challenges of coordinating multiple vehicles. The MPC combined controller offers a possible solution for optimizing exploration missions, providing a foundation for further developments in autonomous marine systems

The pgip family in soybean and three other legume species: evidence for a birth-and-death model of evolution

Polygalacturonase-inhibiting proteins (PGIPs) are leucine-rich repeat (LRR) plant cell wall glycoproteins involved in plant immunity. They are typically encoded by gene families with a small number of gene copies whose evolutionary origin has been poorly investigated. Here we report the complete characterization of the full complement of the pgip family in soybean (Glycine max [L.] Merr.) and the characterization of the genomic region surrounding the pgip family in four legume species. Results: BAC clone and genome sequence analyses showed that the soybean genome contains two pgip loci. Each locus is composed of three clustered genes that are induced following infection with the fungal pathogen Sclerotinia sclerotiorum (Lib.) de Bary, and remnant sequences of pgip genes. The analyzed homeologous soybean genomic regions (about 126 Kb) that include the pgip loci are strongly conserved and this conservation extends also to the genomes of the legume species Phaseolus vulgaris L., Medicago truncatula Gaertn. and Cicer arietinum L., each containing a single pgip locus. Maximum likelihood-based gene trees suggest that the genes within the pgip clusters have independently undergone tandem duplication in each species. Conclusions: The paleopolyploid soybean genome contains two pgip loci comprised in large and highly conserved duplicated regions, which are also conserved in bean, M. truncatula and C. arietinum. The genomic features of these legume pgip families suggest that the forces driving the evolution of pgip genes follow the birth-and-death model, similar to that proposed for the evolution of resistance (R) genes of NBS-LRR-type

The expression of a bean PGIP in transgenic wheat confers increased resistance to the fungal pathogen Bipolaris sorokiniana

In several plant-pathogen interactions to overcome the barrier represented by cell wall most fungal pathogens produce a variety of hydrolytic enzymes and between them PGs are one of the first to be secreted. We demonstrate that transgenic wheat plants expressing PvPGIP2 showed a significant reduction of symptoms following the infection of Bipolaris sorokiniana suggesting that pectin hydrolysis is an important step for fungal penetration of wheat plants.In molti sistemi pianta patogeno i patogeni al fine di superare l’ostacolo rappresentato dalla parete cellulare producono degli enzimi idrolitici tra cui le Poligalatturonasi ( PG) sono tra i primi ad essere secreti. In questo lavoro dimostriamo che piante transgeniche di frumento sovraesprimenti la PvPGIP2 mostrano una significativa riduzione nella sintomatologia riscontrata in seguito ad infezione con Bipolaris sorokiniana suggerendo che l’idrolisi della pectina rappresenta uno step importante per la penetrazione e la colonizzazione dei tessuti di frumento.L'articolo é disponibile sul sito dell'editore: http://www.apsjournals.apsnet.or

Role of Polygalacturonase-Inhibiting Proteins in the Arabidopsis thaliana-Fusarium graminearum interaction.

Comunicazione oral

Transgenic expression of polygalacturonase-inhibiting proteins in Arabidopsis and wheat increases resistance to the flower pathogen Fusarium graminearum

Fusarium head blight (FHB), caused by Fusarium graminearum, is one of the most important diseases of wheat worldwide, resulting in yield losses and mycotoxin contamination. The molecular mechanisms regulating Fusarium penetration and infection are poorly understood. Beside mycotoxin production, cell wall degradation may play a role in the development of FHB. Many fungal pathogens secrete polygalacturonases (PGs) during the early stages of infection, and plants have evolved polygalacturonase-inhibiting proteins (PGIPs) to restrict pectin degradation during fungal infection. To investigate the role of plant PGIPs in restricting the development of FHB symptoms, we first used Arabidopsis thaliana, whose genome encodes two PGIPs (AtPGIP1 and AtPGIP2). Arabidopsis transgenic plants expressing either of these PGIPs under control of the CaMV 35S promoter accumulate inhibitory activity against F. graminearum PG in their inflorescences, and show increased resistance to FHB. Second, transgenic wheat plants expressing the bean PvPGIP2 in their flowers also had a significant reduction of symptoms when infected with F. graminearum. Our data suggest that PGs likely play a role in F. graminearum infection of floral tissues, and that PGIPs incorporated into wheat may be important for increased resistance to FHB

The expression of a bean PGIP in transgenic wheat confers increased resistance to the fungal pathogen Bipolaris sorokiniana

A possible strategy to control plant pathogens is the improvement of natural plant defense mechanisms against the tools that pathogens commonly use to penetrate and colonize the host tissue. One of these mechanisms is represented by the host plant\u2019s ability to inhibit the pathogen\u2019s capacity to degrade plant cell wall polysaccharides. Polygalacturonase-inhibiting proteins (PGIP) are plant defense cell wall glycoproteins that inhibit the activity of fungal endopolygalacturonases (endo-PGs). To assess the effectiveness of these proteins in protecting wheat from fungal pathogens, we produced a number of transgenic wheat lines expressing a bean PGIP (PvPGIP2) having a wide spectrum of specificities against fungal PGs. Three independent transgenic lines were characterized in detail, including determination of the levels of PvPGIP2 accumulation and its subcellular localization and inhibitory activity. Results show that the transgene-encoded protein is correctly secreted into the apoplast, maintains its characteristic recognition specificities, and endows the transgenic wheat with new PG recognition capabilities. As a consequence, transgenic wheat tissue showed increased resistance to digestion by the PG of Fusarium moniliforme. These new properties also were confirmed at the plant level during interactions with the fungal pathogen Bipolaris sorokiniana. All three lines showed significant reductions in symptom progression (46 to 50%) through the leaves following infection with this pathogen. Our results illustrate the feasibility of improving wheat\u2019s defenses against pathogens by expression of proteins with new capabilities to counteract those produced by the pathogens