Towards Efficient Full Pose Omnidirectionality with Overactuated MAVs

Omnidirectional MAVs are a growing field, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete pose omnidirectionality and high hover efficiency have been developed independently, a robust system that combines the two has not been demonstrated to date. This paper presents VoliroX: a novel omnidirectional vehicle that can exert a wrench in any orientation while maintaining efficient flight configurations. The system design is presented, and a 6 DOF geometric control that is robust to singularities. Flight experiments further demonstrate and verify its capabilities.Comment: 10 pages, 6 figures, ISER 2018 conference submissio

Cap rock efficiency of geothermal systems in fold-and-thrust belts: Evidence from paleo-thermal and structural analyses in Rosario de La Frontera geothermal area (NW Argentina)

Cap rock characterization of geothermal systems is often neglected despite fracturing may reduce its efficiency and favours fluid migration. We investigated the siliciclastic cap rock of Rosario de La Frontera geothermal system (NW Argentina) in order to assess its quality as a function of fracture patterns and related thermal alteration. Paleothermal investigations (XRD on fine-grained fraction of sediments, organic matter optical analysis and fluid inclusions on veins) and 1D thermal modelling allowed us to distinguish the thermal fingerprint associated to sedimentary burial from that related to fluid migration. The geothermal system is hosted in a Neogene N-S anticline dissected by high angle NNW- and ENE-striking faults. Its cap rock can be grouped into two quality categories: • rocks acting as good insulators, deformed by NNW–SSE and E–W shear fractures, NNE-SSW gypsum- and N-S-striking calcite-filled veins that developed during the initial stage of anticline growth. Maximum paleo-temperatures (< 60 °C) were experienced during deposition to folding phases.• rocks acting as bad insulators, deformed by NNW-SSE fault planes and NNW- and WNW-striking sets of fractures associated to late transpressive kinematics. Maximum paleo-temperatures higher than about 115 °C are linked to fluid migration from the reservoir to surface (with a reservoir top at maximum depths of 2.5 km) along fault damage zones.This multi-method approach turned out to be particularly useful to trace the main pathways of hot fluids and can be applied in blind geothermal systems where either subsurface data are scarce or surface thermal anomalies are lacking.Fil: Maffucci, R.. Universita Degli Studi Della Tuscia; Italia. Universita Degli Studi Roma Tre; ItaliaFil: Corrado, Sveva. Universita Degli Studi Roma Tre; ItaliaFil: Aldega, L.. Instituto de Investigaciones Universitarias Roma la Sapienza; ItaliaFil: Bigi, S.. Instituto de Investigaciones Universitarias Roma la Sapienza; ItaliaFil: Chiodi, Agostina Laura. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Salta. Instituto de Investigaciones en Energía no Convencional. Universidad Nacional de Salta. Facultad de Ciencias Exactas. Departamento de Física. Instituto de Investigaciones en Energía no Convencional; ArgentinaFil: Di Paolo, L.. Eni E&P Division; ItaliaFil: Giordano, G.. Universita Degli Studi Roma Tre; ItaliaFil: Invernizzi, C.. Universita Degli Di Camerino; Itali

The cumulative effects of known susceptibility variants to predict primary biliary cirrhosis risk.

Multiple genetic variants influence the risk for development of primary biliary cirrhosis (PBC). To explore the cumulative effects of known susceptibility loci on risk, we utilized a weighted genetic risk score (wGRS) to evaluate whether genetic information can predict susceptibility. The wGRS was created using 26 known susceptibility loci and investigated in 1840 UK PBC and 5164 controls. Our data indicate that the wGRS was significantly different between PBC and controls (P=1.61E-142). Moreover, we assessed predictive performance of wGRS on disease status by calculating the area under the receiver operator characteristic curve. The area under curve for the purely genetic model was 0.72 and for gender plus genetic model was 0.82, with confidence limits substantially above random predictions. The risk of PBC using logistic regression was estimated after dividing individuals into quartiles. Individuals in the highest disclosed risk group demonstrated a substantially increased risk for PBC compared with the lowest risk group (odds ratio: 9.3, P=1.91E-084). Finally, we validated our findings in an analysis of an Italian PBC cohort. Our data suggested that the wGRS, utilizing genetic variants, was significantly associated with increased risk for PBC with consistent discriminant ability. Our study is a first step toward risk prediction for PBC

The &quot;safe falls, safe schools&quot; multicentre international project: Evaluation and analysis of backwards falling ability in Italian secondary schools

Problem statement: Different studies have reported on the epidemiology related to injuries resulting from falls, which are the most common causes of injury in Italy. The World Health Organization considers falls as the second leading cause of accidental or unintentional deaths worldwide. However, it has been demonstrated that the Safe Fall, Safe Schools Programme (SFSSP) based on 10-min warm-up sessions is able to teach techniques for falling backwards in safe way during physical education (PE) classes. Unfortunately, there are no studies that have analysed extensive warm-up and detraining effects related to the age. Aim: The aim of this study was to assess extensive specific warm-up (20 min) and detraining effects after five weeks on the SFSSP on Italian secondary school students according to age. Methods: Eighty-seven secondary school students took part in this investigation. Students were divided into two groups, equally distributed by age. The trial-control group (TC=39) and the control-trial group (CT=48) performed the same PE lesson for 10 weeks. In the first five weeks, two different 20-min warm-up exercises were performed (TC=SFSSP; CT=conventional warm-up); after five weeks, the warm-ups were inverted (TC=conventional warm-up; CT=SFSSP). The backwards falling ability test carried out among both groups was evaluated in relation to the position of the neck, trunk, knees, hips and hands, before and after five and 10 weeks. Results: McNemar\u2019s test showed significant differences (between pre-and mid-time points, P&lt;0.05) for the neck, trunk, hip and hands, while no significant differences were found in the knee value (P=0.581 in TC). No differences were found between the mid-and post-time points for TC. In CT, no differences were found in-between (pre-and mid-time points, P&gt;0.05) for all variables studied. Significant differences (P&lt;0.05) were found in-between the mid-and post- time points for CT in all variables studied. Analysis of the total scores for SFSSP showed significantly differences in TC and CT (P&lt;0.0001). The Wilcoxon signed-rank test showed no significant differences (total scores: first year=1.68\ub11.05 AU; fifth year=1.47\ub10.86 AU; P=0.34) before the SFSSP intervention, while the SFSSP was able to improve the ability after intervention (total scores: first year=4.47\ub10.84 AU; fifth year=3.91\ub11.40 AU; P&lt;0.01). Conclusions: The SFSSP was able to improve motor ability for both groups and the detraining effect was found to maintain the same ability level compared to that after the SFSSP intervention. Participants started with the same level of backwards falling ability and each group, after the intervention, significantly raised its score, confirming the efficacy of the intervention. Therefore, the SFSSP could be included in the standard national programme without changing the standard training lesson

Il progetto &#8220;Multi-Teaching Styles Approach and Active Reflection&#8221; per l&#8217;attivit&#224; motoria nella scuola primaria = The &#8220;Multi-Teaching Styles Approach and Active Reflection&#8221; Project for physical activity in the primary school

L\u2019educazione fisica curricolare, per essere veramente sostenibile nel con-testo educativo scolastico e motorio pi\uf9 in generale, deve rispondere ad al-cune prerogative di adattamento ai bisogni specifici della realt\ue0 a cui essa siriferisce. In questo articolo sono sviluppate le premesse necessarie e un pos-sibile approccio da proporre per la formazione del corpo docente deputatoalla conduzione dell\u2019attivit\ue0 motoria nella scuola primaria, sia esso general-ista o specialista. Sono approfonditi il concetto di sostenibilit\ue0 dell\u2019edu-cazione fisica, l\u2019insegnamento, l\u2019organizzazione e la conduzione dell\u2019attivit\ue0motoria da parte di insegnanti per definizione preparati e padroni della ma-teria. Per questo sono considerate le strategie didattico-metodologiche dautilizzare per coinvolgere in modo adeguato gli alunni, suscitandone il nec-essario interesse per apprendere ed acquisire le competenze motorie utiliper la vita. In particolare, sono descritti il background, la metodologia ed iprincipali risultati di un primo studio condotto nell\u2019ambito del progetto diricerca \u201cMulti-Teaching Styles Approach and Active Reflection\u201d. Ne consegueil delinearsi di un possibile efficace indirizzo per la formazione di insegnanticapaci di adattare adeguatamente la propria progettualit\ue0 operativa in fun-Pietro Luigi InvernizziUniversit\ue0 degli Studi di Milano - [email protected] ScuratiUniversit\ue0 degli Studi di Milano - [email protected] &amp; Insegnamento XVII \u2013 3s \u2013 2019Codice ISSN 2279-7505 (on line)\ua9 Pensa MultiMedia EditoreCodice doi: 10.7346/-feis-XVII-03-19_10 IntroduzioneUna Educazione Fisica moderna per essere al passo con i tempi e poter assumereun ruolo culturale significativo e sostenibileall\u2019interno della realt\ue0 scolastica deveessere capace di adattarsi per rispondere alle differenti esigenze e necessit\ue0 socio-culturali di realt\ue0 scolastiche che spesso esprimono bisogni molto differenti (In-vernizzi, Dugnani, &amp; Mauro, 2018). In alcune scuole, per esempio, diventapreminente attuare l\u2019integrazione progressiva di pi\uf9 culture, favorita da globaliz-zazione e fenomeni migratori. In altre, le sfide richieste all\u2019Educazione Fisica po-trebbero essere maggiormente rivolte ad una trasversalit\ue0 disciplinare, checonsenta di esprimere un pensiero critico e riflessivo anche attraverso l\u2019uso ditecnologie che rendono disponibili una grande quantit\ue0 di informazioni, comun-que da vagliare e verificare.L\u2019educazione della motricit\ue0 non pu\uf2 disgiungersi quindi da una visione pi\uf9ampia, che si ricolleghi alla necessit\ue0 di affrontare le sfide di ogni peculiare realt\ue0in modo flessibile e appropriato, per assumere un significato di physical literacy(Whitehead, 2010), quindi di utilit\ue0 sociale, e che favorisca l\u2019instaurarsi di \u201cbuonepratiche\u201d come risposta di adattamento plastico alle richieste di una societ\ue0 sem-pre pi\uf9 complessa e variabile. La \u201cnormalit\ue0 motoria\u201d (proficiency barrier) costituisce comunque, in ambitoscolastico, la premessa indispensabile e la base di una autonomia funzionale perun\u2019adeguata tutela della salute, la \u201cqualit\ue0 degli anni di vita\u201d, un dinamismo e vi-talit\ue0 psico-fisica per la gestione di s\ue9 non solo nel breve periodo, ma anche nellefasi successive della vita (Stodden, Langendorfer, &amp; Roberton, 2009). A questo pro-posito, in questo articolo abbiamo ritenuto utile incentrare l\u2019attenzione, pi\uf9 chesul quantoe sul cosafare, ampiamente studiati in letteratura, sul comefare e sullestrategie didattiche utili ad un pi\uf9 rapido ed efficace adattamento ai differentipossibili contesti. Il tutto trova applicazione nel progetto di ricerca \u201cMulti-Teaching, Pietro Luigi Invernizzi, Raffaele Scurati110zione delle occorrenze di trasversalit\ue0 culturale e delle caratteristiche socio-ambientali della scuola in cui si trovano ad operare.Physical education (PE) curricula, to be sustainable in the educational processand, more widely, during physical activity (PA) at school, must adapt to thespecific needs of the actual related context. This paper addresses the as-sumptions and the possible approaches for a successful teachers\u2019 trainingfor leading physical activity in the primary school. They might be proposedto both generalists and specialists. PE sustainability, teaching processes, PAorganization and conduction from teachers expected to be competent andproficient because of their background, are also deepened. Therefore,proper teaching methods to involve the students and to promote the interestin learning and acquiring the motor competence for daily life are considered.In particular, we described the background, the procedure and the resultsof a pilot study within the \u201cMulti-Teaching Styles Approach and Active Re-flection\u201d research program. A promising effective direction of teachers\u2019 ed-ucational programs outcomes. It is likely suitable to train teachers skilled inadapting the operational planning to the specific demands deriving from cul-tural, social and environmental features of the school in which they operate

The Gap between Tobacco Treatment Guidelines, Health Service Organization, and Clinical Practice in Comprehensive Cancer Centres

Smoking cessation is necessary to reach a higher quality of life, and, for a cancer patient, it represents an important step in improving the outcome of both prognosis and therapy. Being a cancer patient addicted to nicotine may be a critical situation. We conducted a survey to monitor how many comprehensive cancer centres in Italy have an outpatient smoker clinic and which kinds of resources are available. We also inquired about inpatient services offering psychological and pharmacological support for smoking cessation, reduction, or care of acute nicotine withdrawal symptoms. What we have witnessed is a significant gap between guidelines and services. Oncologists and cancer nurses are overscheduled, with insufficient time to engage in discussion on a problem that they do not consider directly related to cancer treatment. Furthermore, smoking habits and limited training in tobacco dependence and treatment act as an important barrier and lead to the undervaluation of smokers' needs

Clonal Chromosome Anomalies Affecting Fli1 Mimic Inherited Thrombocytopenia Of The Paris-Trousseau Type

Introduction: The thrombocytopenia of the Paris-Trousseau (TCPT) type is a contiguous gene syndrome characterized by mild bleeding tendency, variable thrombocytopenia (THC), abnormal giant alpha-granules in platelets and dysmegakaryopoiesis: it derives from a constitutional deletion of chromosome 11 leading to the loss of FLI1, a transcription factor involved in megakaryocyte differentiation and maturation. Case report: A women with an acquired, isolated THC developing over 10 yr showed morphological features typical of TCPT in platelets and bone marrow (BM). Twenty years after the onset of THC, the other hematological parameters are still normal and the patient is well. Results: Clonal hemopoiesis was shown and chromosome analyses performed on BM revealed a clone with 45 chromosomes and a complex unbalanced translocation involving chromosomes 2, 3, and 11. The anomaly was present in the majority of bone marrow cells but only in a few peripheral blood elements. A microarray-based comparative genomic hybridization defined the deleted region of chromosome 11 including the FLI1 locus that was missing. Conclusion: Although our patient presented with nearly all the characteristics of TCPT, her illness was acquired instead of being inherited and the most appropriate diagnosis is that of the unilineage dysplasia 'refractory THC.' This observation suggests that appropriate cytogenetic investigations should be always considered in patients with acquired THC of unknown origin

Clustering of loose groups and galaxies from the Perseus--Pisces Survey

We investigate the clustering properties of loose groups in the Perseus--Pisces redshift Survey (PPS). Previous analyses based on CfA and SSRS surveys led to apparently contradictory results. We investigate the source of such discrepancies, finding satisfactory explanations for them. Furthermore, we find a definite signal of group clustering, whose amplitude $A_G$ exceeds the amplitude $A_g$ of galaxy clustering ($A_G=14.5^{+3.8}_{-3.0}$, $A_g=7.42^{+0.20}_{-0.19}$ for the most significant case; distances are measured in \hMpc). Groups are identified with the adaptive Friends--Of--Friends (FOF) algorithms HG (Huchra \& Geller 1982) and NW (Nolthenius \& White 1987), systematically varying all search parameters. Correlation strenght is especially sensitive to the sky--link $D_L$ (increasing for stricter normalization $D_0$), and to the (depth \mlim of the) galaxy data. It is only moderately dependent on the galaxy luminosity function $\phi(L)$, while it is almost insensitive to the redshift--link $V_L$ (both to the normalization $V_0$ and to the scaling recipes HG or NW).Comment: 28 pages (LaTeX aasms4 style) + 5 Postscript figures ; ApJ submitted on May 4th, 1996; group catalogs available upon request ([email protected]

La Candelaria Ridge (NW Argentina) as a natural lab for the exploration of the geothermal system of Rosario de La Frontera: Methods and preliminary results

Within the scientific framework recently proposed by C.U.I.A. (Consorzio Universitario Italiano per l’Argentina) for the development of applied researches on the Argentina territory, several research groups, belonging to selected Italian and Argentina Universities, converged in the last year on the research line devoted to the “Sustainable development of future towns”. This contribution focuses on the preliminary results achieved by this collaboration among the Universities of Camerino, Jujuy, Roma Tre, Salta, Sapienza. The project focuses on the application of robust methodologies and the development of new ones to explore the geothermal potential of the area of Rosario de La Frontera (NW Argentina) located at the northern edge of La Candelaria Ridge, one of positively inverted structures cropping out between the provinces of Salta and Tucuman. It belongs to the Santa Barbara System of the Andes retro-wedge...Fil: Maffucci, R.. Università Roma Tre III; ItaliaFil: Caffe, Pablo Jorge. Universidad Nacional de Jujuy. Instituto de Geología Minera; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Salta; ArgentinaFil: Corrado, Sveva. Università Roma Tre III; ItaliaFil: Invernizzi, Ciro. Università degli Studi di Camerino; ItaliaFil: Giordano, G.. Università Roma Tre III; ItaliaFil: Pierantoni, Pablo. Università degli Studi di Camerino; ItaliaFil: Viramonte, Jose Maria. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Salta; Argentina. Universidad Nacional de Salta. Facultad de Ciencias Naturales. Instituto Geonorte; Argentin

La Candelaria Ridge (NW Argentina) as a natural lab for the exploration of the geothermal system of Rosario de La Frontera: Methods and preliminary results

Within the scientific framework recently proposed by C.U.I.A. (Consorzio Universitario Italiano per l’Argentina) for the development of applied researches on the Argentina territory, several research groups, belonging to selected Italian and Argentina Universities, converged in the last year on the research line devoted to the “Sustainable development of future towns”. This contribution focuses on the preliminary results achieved by this collaboration among the Universities of Camerino, Jujuy, Roma Tre, Salta, Sapienza. The project focuses on the application of robust methodologies and the development of new ones to explore the geothermal potential of the area of Rosario de La Frontera (NW Argentina) located at the northern edge of La Candelaria Ridge, one of positively inverted structures cropping out between the provinces of Salta and Tucuman. It belongs to the Santa Barbara System of the Andes retro-wedge...Fil: Maffucci, R.. Università Roma Tre III; ItaliaFil: Caffe, Pablo Jorge. Universidad Nacional de Jujuy. Instituto de Geología Minera; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Salta; ArgentinaFil: Corrado, Sveva. Università Roma Tre III; ItaliaFil: Invernizzi, Ciro. Università degli Studi di Camerino; ItaliaFil: Giordano, G.. Università Roma Tre III; ItaliaFil: Pierantoni, Pablo. Università degli Studi di Camerino; ItaliaFil: Viramonte, Jose Maria. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Salta; Argentina. Universidad Nacional de Salta. Facultad de Ciencias Naturales. Instituto Geonorte; Argentin