An Innovative Mission Management System for Fixed-Wing UAVs

This paper presents two innovative units linked together to build the main frame of a UAV Mis- sion Management System. The first unit is a Path Planner for small UAVs able to generate optimal paths in a tridimensional environment, generat- ing flyable and safe paths with the lowest com- putational effort. The second unit is the Flight Management System based on Nonlinear Model Predictive Control, that tracks the reference path and exploits a spherical camera model to avoid unpredicted obstacles along the path. The control system solves on-line (i.e. at each sampling time) a finite horizon (state horizon) open loop optimal control problem with a Genetic Algorithm. This algorithm finds the command sequence that min- imizes the tracking error with respect to the ref- erence path, driving the aircraft far from sensed obstacles and towards the desired trajectory

NMPC and genetic algorithm based approach for trajectory tracking and collision avoidance of UAVs

Research on unmanned aircraft is improving constantly the autonomous flight capabilities of these vehicles in order to provide performance needed to employ them in even more complex tasks. UAV Path Planning (PP) system plans the best path to per- form the mission and then it uploads this path on the Flight Management System (FMS) providing reference to the aircraft navigation. Tracking the path is the way to link kine- matic references related to the desired aircraft positions with its dynamic behaviours, to generate the right command sequence. This paper presents a Nonlinear Model Predictive Control (NMPC) system that tracks the reference path provided by PP and exploits a spherical camera model to avoid unpredicted obstacles along the path. The control sys- tem solves on-line (i.e., at each sampling time) a finite horizon (state horizon) open loop optimal control problem with a Genetic Algorithm. This algorithm finds the command sequence that minimises the tracking error with respect to the reference path, driving the aircraft far from sensed obstacles and towards the desired trajectory

A real-scale soil Phytoremediation

In the present investigation, a phytoremediation process with a combination of different plant species (Populus nigra (var.italica), Paulownia tomentosa and Cytisus scoparius) has been proposed at real-scale to bioremediate and functionally recover a soil historically contaminated by heavy metals and organic contaminants. In the attempts to assess both effectiveness and evolution of the remediation system toward a natural soil ecosystem, besides the pollution parameters, also parameters describing the efficiency of the microbiological components (enzyme activities), were investigated. In three years the total content of hydrocarbons and heavy metals in soil decreased with time (50% and 10-30%, respectively), in particular at surface level. The reduction in pollutants was probably the reason of the increase over the time of the ?-glucosidase and phosphatase activity, enzymes related to C and P cycles, respectively. However, this trend was obviously due also to the greater availability of substrates. Dehydrogenase activity, widely used as an indicator of overall microbial activity, showed a great variability among sampling points. Moreover, a phytotest carried out with Lepidium sativum and Raphanus sativus, showed after three years a significant increase in percentage of plant growth, confirming a reduction in soil toxicity and an improvement in soil nutritional state. At the moment the evaluation of the soil protein pattern (SDS-page), are in progress, in order to identify a correlation between the organic contamination and the soil protein expression. Therefore, this biological system seems very promising to perform both decontamination and to functionally recover a polluted soil also at real-scale level

Using numerical modeling tools for managed aquifer recharge at induced riverbank filtration schemes

Managed Aquifer Recharge (MAR),  Lucca, Italy,  FREEWAT platform, modelling

Cognitive Based Design of a HMI for Telenavigation of A Space Rover

Human Machine Interface (HMI) design is a critical field of work because no general guidelines or rules have been assessed. In order to aid practitioners to design effective HMIs, different methodologies have been studied. To understand task objectives and plan goal-oriented actions, human operators exploit specific cognitive processes that have to be supported with advanced interfaces. Including cognitive aspects in HMI design allows generating an information flow that reduces user mental workload, increasing his/her situation awareness. This paper focuses on design and test of aGraphical User Interface (GUI) for the telenavigation of a space rover that makes the cognitive process of the user a priority in relation to the other development guidelines. To achieve this, a Cognitive Task Analysis (CTA) techinque, known as Applied Cognitive Work Analysis (ACWA), is combined with a multi-agent empirical test to ensure the GUI effectiveness. The ACWA allows evaluating mission scenarios, i.e. piloting the rover on the Mars surface, in order to obtain a model of the human cognitive demands that arise in these complex work domains. These demands can be used to obtain an effective information flow between the GUI and the operator. The multi-agent empirical test, on the other hand, allows an early feedback on the user mental workload aiming to validate the GUI. The result of the methodology is a GUI that eases the information flow through the interface, enhancing operator's performanc

Treatment with FRAX486 rescues neurobehavioral and metabolic alterations in a female mouse model of CDKL5 deficiency disorder

Introduction: CDKL5 deficiency disorder (CDD) is a rare neurodevelopmental condition, primarily affecting girls for which no cure currently exists. Neuronal morphogenesis and plasticity impairments as well as metabolic dysfunctions occur in CDD patients. The present study explored the potential therapeutic value for CDD of FRAX486, a brain-penetrant molecule that was reported to selectively inhibit group I p21-activated kinases (PAKs), serine/threonine kinases critically involved in the regulation of neuronal morphology and glucose homeostasis.Methods: The effects of treatment with FRAX486 on CDD-related alterations were assessed in vitro (100 nM for 48h) on primary hippocampal cultures from Cdkl5-knockout male mice (Cdkl5-KO) and in vivo (20 mg/Kg, s.c. for 5 days) on Cdkl5-KO heterozygous females (Cdkl5-Het).Results: The in vitro treatment with FRAX486 completely rescued the abnormal neuronal maturation and the number of PSD95-positive puncta in Cdkl5-KO mouse neurons. In vivo, FRAX486 normalized the general health status, the hyperactive profile and the fear learning defects of fully symptomatic Cdkl5-Het mice. Systemically, FRAX486 treatment normalized the levels of reactive oxidizing species in the whole blood and the fasting-induced hypoglycemia displayed by CdklS-Het mice. In the hippocampus of Cdkl5-Het mice, treatment with FRAX486 rescued spine maturation and PSD95 expression and restored the abnormal PAKs phosphorylation at sites which are critical for their activation (P-PAK-Ser144/141/139) or for the control cytoskeleton remodeling (P-PAK1-Thr212).Conclusions: Present results provide evidence that PAKs may represent innovative therapeutic targets for CDD

Occurrence of Legionella in showers at recreational facilities.

Critical environments, including water systems in recreational settings, represent an important source of Legionella pneumophila infection in humans. In order to assess the potential risk for legionellosis, we analyzed Legionella contamination of water distribution systems in 36 recreational facilities equipped with swimming pools. One hundred and sixty water samples were analyzed from shower heads or taps located in locker rooms or in bathrooms. By culture method and polymerase chain reaction, 41/160 samples were positive for Legionella from 12/36 recreational centers. Hotels (57.1%) and sports centers (41.2%) were the most contaminated. L. pneumophila serotypes 2–14 (25/41) were more frequently found than serotype 1 (10/41). Samples at temperature ≥30 °C were more frequently positive than samples at temperature <30 °C (n = 39 vs n = 2, p < 0.00001). The presence of L. pneumophila was investigated by comparison with heterotrophic plate count (HPC), an indicator of water quality. The presence of L. pneumophila was associated more frequently with high and intermediate HPC load at 37 °C, therefore should be considered a potential source when HPC at 37 °C is >10 CFU/mL. Maintenance, good hygiene practices, interventions on the hydraulic system and regular controls must be implemented to minimize exposure to L. pneumophila infection risk

Therapeutic effects elicited by the probiotic Lacticaseibacillus rhamnosus GG in children with atopic dermatitis. The results of the ProPAD trial

Atopic dermatitis (AD) is a chronic inflammatory skin disease affecting up to 20% of the pediatric population associated with alteration of skin and gut microbiome. Probiotics have been proposed for AD treatment. The ProPAD study aimed to investigate the therapeutic effects of the probiotic Lacticaseibacillus rhamnosus GG (LGG) in children with AD

Therapeutic Effects of Butyrate on Pediatric Obesity: A Randomized Clinical Trial

Importance: The pediatric obesity disease burden imposes the necessity of new effective strategies. Objective: To determine whether oral butyrate supplementation as an adjunct to standard care is effective in the treatment of pediatric obesity. Design, setting, and participants: A randomized, quadruple-blind, placebo-controlled trial was performed from November 1, 2020, to December 31, 2021, at the Tertiary Center for Pediatric Nutrition, Department of Translational Medical Science, University of Naples Federico II, Naples, Italy. Participants included children aged 5 to 17 years with body mass index (BMI) greater than the 95th percentile. Interventions: Standard care for pediatric obesity supplemented with oral sodium butyrate, 20 mg/kg body weight per day, or placebo for 6 months was administered. Main outcomes and measures: The main outcome was the decrease of at least 0.25 BMI SD scores at 6 months. The secondary outcomes were changes in waist circumference; fasting glucose, insulin, total cholesterol, low-density lipoprotein cholesterol, high-density lipoprotein cholesterol, triglyceride, ghrelin, microRNA-221, and interleukin-6 levels; homeostatic model assessment of insulin resistance (HOMA-IR); dietary and lifestyle habits; and gut microbiome structure. Intention-to-treat analysis was conducted. Results: Fifty-four children with obesity (31 girls [57%], mean [SD] age, 11 [2.91] years) were randomized into the butyrate and placebo groups; 4 were lost to follow-up after receiving the intervention in the butyrate group and 2 in the placebo group. At intention-to-treat analysis (n = 54), children treated with butyrate had a higher rate of BMI decrease greater than or equal to 0.25 SD scores at 6 months (96% vs 56%, absolute benefit increase, 40%; 95% CI, 21% to 61%; P < .01). At per-protocol analysis (n = 48), the butyrate group showed the following changes as compared with the placebo group: waist circumference, -5.07 cm (95% CI, -7.68 to -2.46 cm; P < .001); insulin level, -5.41 μU/mL (95% CI, -10.49 to -0.34 μU/mL; P = .03); HOMA-IR, -1.14 (95% CI, -2.13 to -0.15; P = .02); ghrelin level, -47.89 μg/mL (95% CI, -91.80 to -3.98 μg/mL; P < .001); microRNA221 relative expression, -2.17 (95% CI, -3.35 to -0.99; P < .001); and IL-6 level, -4.81 pg/mL (95% CI, -7.74 to -1.88 pg/mL; P < .001). Similar patterns of adherence to standard care were observed in the 2 groups. Baseline gut microbiome signatures predictable of the therapeutic response were identified. Adverse effects included transient mild nausea and headache reported by 2 patients during the first month of butyrate intervention. Conclusions and relevance: Oral butyrate supplementation may be effective in the treatment of pediatric obesity. Trial registration: ClinicalTrials.gov Identifier: NCT04620057