Development and testing of the propulsion system of MARTA AUV

This work deals with the design of the propulsion system of a modular AUV (Autonomous Underwater Vehicle). The authors describe the design methodologies and the testing devices used for the fast prototyping of MARTA (MARine Tool for Archaeology) AUV actuation system, including drivers, motors and propellers. In particular, the authors introduce the design criteria followed for the preliminary testing activities and the methodologies adopted for fast testing and prototyping of the proposed solutions. This is a quite important topic considering the high customization and the reliability required by this kind of applications

An IMU and USBL-aided buoy for underwater localization

Autonomous underwater navigation remains, as of today, a challenging task. The marine environment limits the number of sensors available for precise localization, hence Au- tonomous Underwater Vehicles (AUVs) usually rely on inertial and velocity sensors to obtain an estimate of their position either through dead reckoning or by means of more sophisticated navigation filters (such as Kalman filters and its extensions [1]). On the other hand, acoustic localization makes possible the determination of a reliable vehicles pose estimate exploiting suit- able acoustic modems [3]; such estimate can even be integrated within the navigation filter of the vehicle in order to increase its accuracy. In this paper, the authors discuss the development and the performance of an Ultra-Short BaseLine (USBL)-aided buoy to improve the localization of underwater vehicles. At first, the components and the physical realization of the buoy will be discussed; then, the procedure to compute the position of the target will be analyzed. The following part of the paper will be focused on the development of a recursive state estimation algorithm to process the measurements computed by the buoy; specifically, Extended Kalman Filter [4] has been adopted to deal with the nonlinearities of the sensors housed on the buoy. A validation of the measurement filtering through experimental tests is also proposed

An IMU and USBL-aided buoy for underwater localization

Autonomous underwater navigation remains, as of today, a challenging task. The marine environment limits the number of sensors available for precise localization, hence Au- tonomous Underwater Vehicles (AUVs) usually rely on inertial and velocity sensors to obtain an estimate of their position either through dead reckoning or by means of more sophisticated navigation filters (such as Kalman filters and its extensions [1]). On the other hand, acoustic localization makes possible the determination of a reliable vehicles pose estimate exploiting suit- able acoustic modems [3]; such estimate can even be integrated within the navigation filter of the vehicle in order to increase its accuracy. In this paper, the authors discuss the development and the performance of an Ultra-Short BaseLine (USBL)-aided buoy to improve the localization of underwater vehicles. At first, the components and the physical realization of the buoy will be discussed; then, the procedure to compute the position of the target will be analyzed. The following part of the paper will be focused on the development of a recursive state estimation algorithm to process the measurements computed by the buoy; specifically, Extended Kalman Filter [4] has been adopted to deal with the nonlinearities of the sensors housed on the buoy. A validation of the measurement filtering through experimental tests is also proposed

School Feeding Programs in Middle Childhood and Adolescence

Almost every country in the world has a national school feeding program to provide daily snacks or meals to school-attending children and adolescents. The interven- tions reach an estimated 368 million children and ado- lescents globally. The total investment in the intervention is projected to be as much as US$75 billion annually (WFP 2013), largely from government budgets. School feeding may contribute to multiple objectives, including social safety nets, education, nutrition, health, and local agriculture. Its contribution to education objectives is well recognized and documented, while its role as a social safety net was underscored following the food and fuel crises of 2007 and 2008 (Bundy and others 2009). In terms of health and nutrition, school feeding contributes to the continuum of development by build- ing on investments made earlier in the life course, including maternal and infant health interventions and early child development interventions (see chapter 7 in this volume, Alderman and others 2017). School feeding may also help leverage global efforts to enhance the inclusiveness of education for out-of-school children, adolescent girls, and disabled persons, as called for in the Sustainable Development Goals (see chapter 17 in this volume, Graham and others 2017). Although the Disease Control Priorities series focuses on low- and middle-income countries (LMICs), evidence from high-income countries (HICs) is included because of the near universality of school feeding and the insights that inclusion can provide as economies develop. For example, the design of school feeding in countries under- going the nutrition transition 1 may provide some lessons on how to shift from providing access to sufficient calo- ries to promoting healthful diets and dietary behaviors for children and adolescents (WFP 2013). Agricultural development has increasingly gained attention. It is clear that to enable the transition to sus- tainable, scalable government-run programs, the inclu- sion of the agricultural sector is essential (Bundy and others 2009; Drake and others 2016). Accounting for the full benefits of school feeding through cost- effectiveness and benefit-cost analysis is challenging, similar to other complex interventions, but undertaking this accounting is critical for assessing the tradeoffs with competing investments. This chapter reviews the evidence about how school feeding meets these objectives and provides some indi- cation of costs in relation to benefits. The costs of the intervention are well established; estimates that encompass all the benefits of school feeding are more challenging. The benefits must be quantified and translated to the same unit to allow for aggregation. Moreover, how school feeding interventions are designed and implemented varies significantly across countries. Given that delivery of school feeding often involves multiple sectors, common policy frameworks and cross-sectoral coordination are required to achieve maximum benefit (Bundy and others 2009). Several other chapters in the volume highlight school feeding. These include chapter 11 (Lassi, Moin, and Bhutta 2017), chapter 20 (Bundy and others 2017), chapter 22 (Plaut and others 2017), and chapter 25 (Fernandes and Aurino 2017)

Macropinocytosis as a potential mechanism driving neurotropism of Cryptococcus neoformans

Cryptococcus neoformans can invade the central nervous system by crossing the blood-brain barrier via a transcellular mechanism that relies on multiple host factors. In this narrative, we review the evidence that a direct interplay between C. neoformans and brain endothelial cells forms the basis for invasion and transmigration across the brain endothelium. Adherence and internalization of C. neoformans is dependent on transmembrane proteins, including a hyaluronic acid receptor and an ephrin receptor tyrosine kinase. We consider the role of EphA2 in facilitating the invasion of the central nervous system by C. neoformans and highlight experimental evidence supporting macropinocytosis as a potential mechanism of internalization and transcytosis. How macropinocytosis might be conclusively demonstrated in the context of C. neoformans is also discussed

Response of microchannel plates to single particles and to electromagnetic showers

We report on the response of microchannel plates (MCPs) to single relativistic particles and to electromagnetic showers. Particle detection by means of secondary emission of electrons at the MCP surface has long been proposed and is used extensively in ion time-of-flight mass spectrometers. What has not been investigated in depth is their use to detect the ionizing component of showers. The time resolution of MCPs exceeds anything that has been previously used in calorimeters and, if exploited effectively, could aid in the event reconstruction at high luminosity colliders. Several prototypes of photodetectors with the amplification stage based on MCPs were exposed to cosmic rays and to 491 MeV electrons at the INFN-LNF Beam-Test Facility. The time resolution and the efficiency of the MCPs are measured as a function of the particle multiplicity, and the results used to model the response to high-energy showers.Comment: Paper submitted to NIM

Response of microchannel plates in ionization mode to single particles and electromagnetic showers

Hundreds of concurrent collisions per bunch crossing are expected at future hadron colliders. Precision timing calorimetry has been advocated as a way to mitigate the pileup effects and, thanks to their excellent time resolution, microchannel plates (MCPs) are good candidate detectors for this goal. We report on the response of MCPs, used as secondary emission detectors, to single relativistic particles and to electromagnetic showers. Several prototypes, with different geometries and characteristics, were exposed to particle beams at the INFN-LNF Beam Test Facility and at CERN. Their time resolution and efficiency are measured for single particles and as a function of the multiplicity of particles. Efficiencies between 50% and 90% to single relativistic particles are reached, and up to 100% in presence of a large number of particles. Time resolutions between 20ps and 30ps are obtained.Comment: 20 pages, 9 figures. Paper submitted to NIM

Typhoon at CommsNet13: Experimental experience on AUV navigation and localization

This paper presents two acoustic-based techniques for Autonomous Underwater Vehicle (AUV) navigation within an underwater network of fixed sensors. The proposed algorithms exploit the positioning measurements provided by an Ultra-Short Base Line (USBL) transducer on-board the vehicle to aid the navigation task. In the considered framework the acoustic measurements are embedded in the communication network scheme, causing time-varying delays in ranging with the fixed nodes. The results presented are obtained with post-processing elaborations of the raw experimental data collected during the CommsNet13 campaign, organized and scientifically led by the NATO Science and Technology Organization Centre for Maritime Research and Experimentation (CMRE). The experiment involved several research institutions and included among its objectives the evaluation of on-board acoustic USBL systems for navigation and localization of AUVs. The ISME groups of the Universities of Florence and Pisa jointly participated to the experiment with one Typhoon class vehicle. This is a 300 m depth rated AUV with acoustic communication capabilities originally developed by the two groups for archaeological search in the framework of the THESAURUS project. The CommsNet13 Typhoon, equipped with an acoustic modem/USBL head, navigated within the fixed nodes acoustic network deployed by CMRE. This allows the comparison between inertial navigation, acoustic self-localization and ground truth represented by GPS signals (when the vehicle was at the surface)