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

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]

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

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

Defective iron supply for erythropoiesis and adequate endogenous erythropoietin production in the anemia associated with systemic-onset juvenile chronic arthritis.

peer reviewedSystemic-onset juvenile chronic arthritis (SoJCA) is associated with high levels of circulating interleukin-6 (IL-6) and is frequently complicated by severe microcytic anemia whose pathogenesis is unclear. Therefore, we studied 20 consecutive SoJCA patients with hemoglobin (Hb) levels <12 g/dL, evaluating erythroid progenitor proliferation, endogenous erythropoietin production, body iron status, and iron supply for erythropoiesis. Hb concentrations ranged from 6.5 to 11.9 g/dL. Hb level was directly related to mean corpuscular volume (r = .82, P < .001) and inversely related to circulating transferrin receptor (r = -.81, P < .001) suggesting that the severity of anemia was directly proportional to the degree of iron-deficient erythropoiesis. Serum ferritin ranged from 18 to 1,660 microgram/L and was unrelated to Hb level. Bone marrow iron stores wore markedly reduced in the three children investigated, and they also showed increased serum transferrin receptor and normal-to-high serum ferritin. All 20 patients had elevated IL-6 levels and normal in vitro growth of erythroid progenitors. Endogenous erythropoietin (epo) production was appropriate for the degree of anemia as judged by both the observed to predicted log (serum epo) ratio 10.95 +/- 0.12) and a comparison of the serum epo-Hb regression found in these subjects with that of thalassemia patients. Multiple regression analysis showed that serum transferrin receptor was the parameter most closely related to hemoglobin concentration: variation in circulating transferrin receptor explained 61% of the variation in Hb level (P < .001). In 10 severely anemic patients, amelioration of anemia following intravenous iron administration resulted in normalization of serum transferrin receptor. Defective iron supply to the erythron rather than blunted epo production is the major cause of the microcytic anemia associated with SoJCA. A true body-iron deficiency caused by decreased iron absorption likely complicates long-lasting inflammation in the most anemic children, and this can be recognized by high serum transferrin receptor levels. Although oral iron is of no benefit, intravenous iron saccharate is a safe and effective means for improving iron availability for erythropoiesis and correcting this anemia. Thus, while chronically high endogenous IL-6 levels do not appear to blunt epo production, they are probably responsible for the observed abnormalities in iron metabolism. Anemia of chronic disease encompasses a variety of anemic conditions whose peculiar features may specifically correlate with the type of cytokine(s) predominantly released

Pneumocystis carinii pneumonia in patients with malignant haematological diseases: 10 years' experience of infection in GIMEMA centres.

A retrospective survey was conducted over a 10-year period (1990-99) among 52 haematology divisions in order to evaluate the clinical and laboratory characteristics and outcome of patients with proven Pneumocystis carinii pneumonia (PCP) complicating haematological diseases. The study included 55 patients (18 with non-Hodgkin's lymphoma, 10 with acute lymphoblastic leukaemia, eight with acute myeloid leukaemia, five with chronic myeloid leukaemia, four with chronic lymphocytic leukaemia, four with multiple myeloma, three with myelodys-plastic syndrome, two with myelofibrosis and one with thalassemia) who developed PCP. Among these, 18 (33%) underwent stem cell transplantation; only two received an oral prophylaxis with trimethroprim/sulphamethoxazole. Twelve patients (22%) developed PCP despite protective isolation in a laminar airflow room. The most frequent symptoms were: fever (86%), dyspnoea (78%), non-productive cough (71%), thoracic pain (14%) and chills (5%); a severe hypoxaemia was present in 39 patients (71%). Chest radiography or computerized tomography showed interstitial infiltrates in 34 patients (62%), alveolar infiltrates in 12 patients (22%), and alveolar-interstitial infiltrates in nine patients (16%). Bronchoalveolar lavage was diagnostic in 47/48 patients, induced sputum in 9/18 patients and lung biopsy in 3/8 patients. The diagnosis was made in two patients at autopsy. All patients except one started a specific treatment (52 patients trimethroprim/sulphamethoxazole, one pentamidine and one dapsone). Sixteen patients (29%) died of PCP within 30 d of diagnosis. Multivariate analysis showed that prolonged steroid treatment (P < 0.006) and a radiological picture of diffuse lung involvement (P < 0.003) were negative diagnostic factors

The microsporidian parasites Nosema ceranae and Nosema apis are widespread in honeybee (Apis mellifera) colonies across Scotland

Nosema ceranae is spreading into areas where Nosema apis already exists. N. ceranae has been reported to cause an asymptomatic infection that may lead, ultimately, to colony collapse. It is thought that there may be a temperature barrier to its infiltration into countries in colder climates. In this study, 71 colonies from Scottish Beekeeper’s Association members have been screened for the presence of N. apis and N. ceranae across Scotland. We find that only 11 of the 71 colonies tested positive for spores by microscopy. However, 70.4 % of colonies screened by PCR revealed the presence of both N. ceranae and N. apis, with only 4.2 or 7 % having either strain alone and 18.3 % being Nosema free. A range of geographically separated colonies testing positive for N. ceranae were sequenced to confirm their identity. All nine sequences confirmed the presence of N. ceranae and indicated the presence of a single new variant. Furthermore, two of the spore-containing colonies had only N. ceranae present, and these exhibited the presence of smaller spores that could be distinguished from N. apis by the analysis of average spore size. Differential quantification of the PCR product revealed N. ceranae to be the dominant species in all seven samples tested. In conclusion, N. ceranae is widespread in Scotland where it exists in combination with the endemic N. apis. A single variant, identical to that found in France (DQ374655) except for the addition of a single nucleotide polymorphism, is present in Scotland

Children over “-enty, -rty, -fty”: gamification and autonomy as an environmental education leitmotif for “children of all ages” using a new workplace narrative

The "Pocket Trainer" research project is part of a more comprehensive project, the "Ufficio Proattivo 150" project, which aims to assess a new workplace concept as an opportunity for individual development and health promotion, which differs from frequent beliefs that consider the workplace itself the cause of sedentarism or stress. By this rationale, new workstations plan to substitute the natural environment. Owing to innovative architectural solutions and specific equipment designs, the employees can exercise without interrupting the usual workflow. Individualized and adapted training programs support this user–place interaction in the spirit of gamification and distinguishing factories oriented at promoting the awareness of proper health practices of their employees. We designed a new portable and straightforward equipment, the cube fitness test (CFT), which is based on exercising at submaximal intensity. It can be used in several environments: at home, in the office, indoors, and outdoors. A preliminary investigation assessed the validity and reliability of CFT. A total of 54 individuals (21 females and 33 males, 20.0 ± 4.2 years old, 65.0 ± 11.4-kg body weight, 1.74 ± 0.09-m stature, 22.0 ± 2.4-kg·m−2 body mass index) participated in this study. They were tested on cardio-respiratory and muscular endurance, flexibility, core muscular efficiency, shoulder mobility, and upper body strength; the obtained results were related to measurements performed using CFT. Overall, acceptable and good reliability were obtained in single tests (r &gt; 0.66; p &lt; 0.001), and moderate to good validity was observed (r &gt; 0.50; p &lt; 0.001). Low validity was found in the core muscular efficiency (r = 0.44; p &lt; 0.001). CFT is a reliable instrument that contributes to developing consciousness, culture, and motivation toward physical activity. It provides knowledge of the advantages of good behaviour on the health status and quality of working life. This study confirmed that even mild and minimal exercise contributes to improving physical and mental health. Hence, the use of CFT in the Pocket Trainer intends to promote health at usual workplaces and in particular: i) higher wellbeing levels (actual and perceived), ii) new awareness on properties of physical activity on health prevention and healthy lifestyle promotion

Towards a safe aquatic literacy: Teaching the breaststroke swimming with mobile devices' support : A preliminary study

Problem Statement: Technical swimming skills, the breaststroke in particular, are basic for a safe aquatic literacy and drowning prevention. Learn-to-swim programs cope to several teaching constraints, including providing adequate feedbacks to the learner to guarantee the best motor control and skills’ acquisition. Recent technology makes mobile devices user-friendly and suitable in providing video feedbacks to the athletes or to the learners during coaching or teaching physical education and sports, even in particular environments, such as swimming pools. Approach: In this study, we supported a breaststroke learn-to-swim program with video feedbacks by mobile devices (MDS) and we compared the outcomes to a program in which the teacher used conventional feedbacks, comments and corrections, only provided by gesture and verbal communication (C). Sixteen young participants (20.6±0.5 years) were assigned to MDS or C. Before and after the 8-weeks learning program, the breaststroke skills of the participants were evaluated by both quantitative and qualitative analysis. Purpose: The study aimed to assess whether augmented feedbacks improved the learning of breaststroke skills more than the standard approach commonly used in swimming schools. Results: MDS and C resulted comparable, as no interaction was retrieved from the Mixed-model analysis of variance. However, the qualitative analysis revealed that MDS improved in a higher number of features among those observed. Conclusions: The results seem to indicate that learn-to-swim programs with augmented feedbacks, as by mobile devices, might be beneficial to the learners and recommended to the teachers