Processor-in-the-loop architecture design and experimental validation for an autonomous racing vehicle

Self-driving vehicles have experienced an increase in research interest in the last decades. Nevertheless, fully autonomous vehicles are still far from being a common means of transport. This paper presents the design and experimental validation of a processor-in-the-loop (PIL) architecture for an autonomous sports car. The considered vehicle is an all-wheel drive full-electric single-seater prototype. The retained PIL architecture includes all the modules required for autonomous driving at system level: environment perception, trajectory planning, and control. Specifically, the perception pipeline exploits obstacle detection algorithms based on Artificial Intelligence (AI), and the trajectory planning is based on a modified Rapidly-exploring Random Tree (RRT) algorithm based on Dubins curves, while the vehicle is controlled via a Model Predictive Control (MPC) strategy. The considered PIL layout is implemented firstly using a low-cost card-sized computer for fast code verification purposes. Furthermore, the proposed PIL architecture is compared in terms of performance to an alternative PIL using high-performance real-time target computing machine. Both PIL architectures exploit User Datagram Protocol (UDP) protocol to properly communicate with a personal computer. The latter PIL architecture is validated in real-time using experimental data. Moreover, they are also validated with respect to the general autonomous pipeline that runs in parallel on the personal computer during numerical simulation

Is there any survival advantage of obesity in Southern European haemodialysis patients?

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Feeling for the other with ease:prospective actors show high levels of emotion recognition and report above average empathic concern, but do not experience strong distress

Differences in empathic abilities between acting, dance, and psychology students were explored, in addition to the appropriateness of existing empathy measures in the context of these cohorts. Students ( N = 176) across Higher Education Institutions in the United Kingdom and Europe were included in the online survey analysis, consisting of the Reading the Mind in the Eyes (RME) test, the Interpersonal Reactivity Index (IRI), the Empathy Quotient (EQ), and the E-drawing test (EDT), each measuring particular facets of empathy. Based on existing evidence and our understanding of the discipline practices, we predicted that acting students would perform the best at identifying people's emotional expressions but might lack other cognitive or affective empathy skills, particularly those related to emotional reactions. This cohort thus provides an opportunity to evaluate different empathy measures. While actors showed significantly higher RME scores than dancers, the difference between actors and psychologists was marginal. Moreover, actors' scores did not differ significantly on other empathy measures, such as their concern for others' emotional wellbeing or fantasy, both measured by IRI subscales. Psychology students scored highest in the IRI perspective taking subscale and the data supported anecdotal evidence that psychologists were more concerned for others' emotional wellbeing than dancers or actors. Dancers seemed the least concerned with others' perspectives and emotional states, which we explained through a somatosensory 'inward' focus required by their art form. Nevertheless, compared to the general population, our groups reported higher empathic abilities on all IRI subscales except for personal distress. Altogether, our study shows that the RME, the IRI, and the EDT vary in their susceptibility to different facets of empathic abilities in acting, dance, and psychology students whereas the EQ does not. Emotions can be expressed and perceived through language, facial expressions, or behavior. As many empathy tests focus on one type of signal they might miss other strategies. Where empathy tests are applied to individuals that have a predominance to read or respond to others in a particular way, as we showed through these three disciplines, they might not capture these empathic strategies. We thus propose that empathy tests must evolve by means of integrating varied forms of communication. </p

MAX-91: Polarimetric SAR results on Montespertoli site

The polarimetric Synthetic Aperture Radar (SAR) is a powerful sensor for high resolution ocean and land mapping and particularly for monitoring hydrological parameters in large watersheds. There is currently much research in progress to assess the SAR operational capability as well as to estimate the accuracy achievable in the measurements of geophysical parameters with the presently available airborne and spaceborne sensors. An important goal of this research is to improve our understanding of the basic mechanisms that control the interaction of electro-magnetic waves with soil and vegetation. This can be done both by developing electromagnetic models and by analyzing statistical relations between backscattering and ground truth data. A systematic investigation, which aims at a better understanding of the information obtainable from the multi-frequency polarimetric SAR to be used in agro-hydrology, is in progress by our groups within the framework of SIR-C/X-SAR Project and has achieved a most significant milestone with the NASA/JPL Aircraft Campaign named MAC-91. Indeed this experiment allowed us to collect a large and meaningful data set including multi-temporal multi-frequency polarimetric SAR measurements and ground truth. This paper presents some significant results obtained over an agricultural flat area within the Montespertoli site, where intensive ground measurements were carried out. The results are critically discussed with special regard to the information associated with polarimetric data

Rainfall thresholds for the possible occurrence of landslides in Italy

Abstract. In Italy, rainfall is the primary trigger of landslides that frequently cause fatalities and large economic damage. Using a variety of information sources, we have compiled a catalogue listing 753 rainfall events that have resulted in landslides in Italy. For each event in the catalogue, the exact or approximate location of the landslide and the time or period of initiation of the slope failure is known, together with information on the rainfall duration D, and the rainfall mean intensity I, that have resulted in the slope failure. The catalogue represents the single largest collection of information on rainfall-induced landslides in Italy, and was exploited to determine the minimum rainfall conditions necessary for landslide occurrence in Italy, and in the Abruzzo Region, central Italy. For the purpose, new national rainfall thresholds for Italy and new regional rainfall thresholds for the Abruzzo Region were established, using two independent statistical methods, including a Bayesian inference method and a new Frequentist approach. The two methods proved complementary, with the Bayesian method more suited to analyze small data sets, and the Frequentist method performing better when applied to large data sets. The new regional thresholds for the Abruzzo Region are lower than the new national thresholds for Italy, and lower than the regional thresholds proposed in the literature for the Piedmont and Lombardy Regions in northern Italy, and for the Campania Region in southern Italy. This is important, because it shows that landslides in Italy can be triggered by less severe rainfall conditions than previously recognized. The Frequentist method experimented in this work allows for the definition of multiple minimum rainfall thresholds, each based on a different exceedance probability level. This makes the thresholds suited for the design of probabilistic schemes for the prediction of rainfall-induced landslides. A scheme based on four probabilistic thresholds is proposed. The four thresholds separate five fields, each characterized by different rainfall intensity-duration conditions, and corresponding different probability of possible landslide occurrence. The scheme can be implemented in landslide warning systems that operate on rainfall thresholds, and on precipitation measurements or forecasts

Demise of the Planktic Foraminifer genus Morozovella during the Early Eocene Climatic Optimum: new records from ODP Site 1258 (Demerara Rise, western equatorial Atlantic) and Site 1263 (Walvis Ridge, South Atlantic)

Here we present relative abundances of planktic foraminifera that span the Early Eocene Climatic Optimum (EECO) at Ocean Drilling Program (ODP) Site 1258 in the western equatorial Atlantic. The EECO (~53.3−49.1 Ma) represents peak Cenozoic warmth, probably related to high atmospheric CO2, and when planktic foraminifera, a dominant component of marine sediment, exhibit a major biotic response. Consistent with previous work, the relative abundance of the genus Morozovella, which dominated early Paleogene tropical-subtropical assemblages, markedly and permanently declined from a mean percentage of ~32% to less than ~7% at the beginning of the EECO. The distinct decrease in Morozovella abundance occurred at Site 1258 within ~20 kyr before a negative excursion in δ13C records known as the J event and which defines the beginning of EECO. Moreover, all morozovellid species except M. aragonensis dropped in abundance permanently at Site 1258, and this is related to a reduction in test-size. Comparing our data with that from other locations, the remarkable switch in planktonic foraminifera assemblages appears to have begun first with unfavourable environmental conditions near the Equator and then extended to higher latitudes. Several potential stressors may explain observations, including some combination of algal photosymbiont inhibition (bleaching), a sustained increase in temperature, or an extended decrease in pH

Criteria for the Evaluation of Italian Scientific Institutes for Research, Hospitalization and Healthcare (IRCCS): Comparison with European Standards and Certification Models

The definition of the title 'Istituto di Ricovero e Cura a Carattere Scientifico' (IRCCS) and how this title is given by the Italian Ministry of Health is presented. Specifically, the first assessment of a commission concerning the essential information for the accreditation process is introduced. Moreover, the two years review process that aims to collect last updated information of the IRCCS, to identify level of excellence and critical aspects, is also explained. The present Italian forms and international manuals like Joint Commission, OECI and HCERES were schematized using UML diagrams. The current IRCCS accreditation forms are presented with the suggested updates organized in some levels of structuring. We compared the Italian forms with the manuals required to obtain international certifications (Joint Commission and OECI) and we analyzed the criteria for the evaluation of research units in France (the HCERES standards). Although it is a preliminary study, the use of UML diagrams allows to schematize a new accreditation model, in line with European guidelines and the most important international certifications

Dynamics of lymphatic regeneration and flow patterns after lymph node dissection.

Knowledge about the mechanisms of regeneration of the lymphatic vasculature after surgical trauma is essential for the development of strategies for the prevention and therapy of lymphedema. However, little is known about the alterations of lymphatic flow directly after surgical trauma. We investigated lymphatic function in mice using near-infrared imaging for a period of 4 weeks after surgeries that mimic sentinel lymph node biopsy (SLNB) or axillary lymph node dissection (ALND), by removal of the popliteal lymph node (LN) alone or together with the popliteal fat pad, respectively. SLNB-like surgery did not cause changes in lymphatic drainage in the majority of cases. In contrast, lymphatic drainage impairment shown by collecting vessel rupture, dermal backflow and rerouting of lymph flow via collateral vessels were observed after ALND-like surgery. All collateral vessels drained to the inguinal LN. These results indicate that less invasive surgery prevents lymphatic decompensation. They also reveal the development and maturation of collateral lymphatic vessels after extensive surgical trauma, which reroute the flow of lymph towards a different LN. These findings might be helpful for the development of strategies to prevent and/or treat post-surgical lymphedema

On Symmetries of Extremal Black Holes with One and Two Centers

After a brief introduction to the Attractor Mechanism, we review the appearance of groups of type E7 as generalized electric-magnetic duality symmetries in locally supersymmetric theories of gravity, with particular emphasis on the symplectic structure of fluxes in the background of extremal black hole solutions, with one or two centers. In the latter case, the role of an "horizontal" symmetry SL(2,R) is elucidated by presenting a set of two-centered relations governing the structure of two-centered invariant polynomials.Comment: 1+13 pages, 2 Tables. Based on Lectures given by SF and AM at the School "Black Objects in Supergravity" (BOSS 2011), INFN - LNF, Rome, Italy, May 9-13 201