Semi-Autonomous trajectory generation for mobile robots with integral haptic shared control

A new framework for semi-Autonomous path planning for mobile robots that extends the classical paradigm of bilateral shared control is presented. The path is represented as a B-spline and the human operator can modify its shape by controlling the motion of a finite number of control points. An autonomous algorithm corrects in real time the human directives in order to facilitate path tracking for the mobile robot and ensures i) collision avoidance, ii) path regularity, and iii) attraction to nearby points of interest. A haptic feedback algorithm processes both human's and autonomous control terms, and their integrals, to provide an information of the mismatch between the path specified by the operator and the one corrected by the autonomous algorithm. The framework is validated with extensive experiments using a quadrotor UAV and a human in the loop with two haptic interfaces

Modeling and control of UAV bearing formations with bilateral high-level steering

In this paper we address the problem of controlling the motion of a group of unmanned aerial vehicles (UAVs) bound to keep a formation defined in terms of only relative angles (i.e. a bearing formation). This problem can naturally arise within the context of several multi-robot applications such as, e.g. exploration, coverage, and surveillance. First, we introduce and thoroughly analyze the concept and properties of bearing formations, and provide a class of minimally linear sets of bearings sufficient to uniquely define such formations. We then propose a bearing-only formation controller requiring only bearing measurements, converging almost globally, and maintaining bounded inter-agent distances despite the lack of direct metric information.The controller still leaves the possibility of imposing group motions tangent to the current bearing formation. These can be either autonomously chosen by the robots because of any additional task (e.g. exploration), or exploited by an assisting human co-operator. For this latter 'human-in-the-loop' case, we propose a multi-master/multi-slave bilateral shared control system providing the co-operator with some suitable force cues informative of the UAV performance. The proposed theoretical framework is extensively validated by means of simulations and experiments with quadrotor UAVs equipped with onboard cameras. Practical limitations, e.g. limited field-of-view, are also considered. © The Author(s) 2012

Stand-alone Low Power Consumption FEE and DAQ for the Readout of Silicon Photomultipliers

We developed a front end electronics (FEE) and data acquisition (DAQ) system with a low power consumption, especially intended for stand-alone applications in unattended environments without standard electricity supply. The system works autonomously thanks to dedicated algorithms that are embedded. The FEE is based on the EASIROC chip, designed for the readout of Silicon photomultipliers (SiPMs). It digitizes the amplitude of the signals and provides time information with time of flight capability. The trigger logic is programmable and physical and accidental coincidences rates can be measured. The SiPMs temperature is controlled by thermoelectric cells. Thanks to a network of temperature and humidity sensors, a real-time software sets the optimal operating point of the SiPMs depending on external conditions and if necessary halts the system to avoid damage to the electronics. The system has been used in several muon radiography experiments

Morbid obesity and thyroid cancer rate. A review of literature

In the past three decades, several recent studies have analyzed the alarming increase of obesity worldwide, and it has been well established that the risk of many types of malignancies is increased in obese individuals; in the same period, thyroid cancer has become the fastest growing cancer of all malignancies. We investigated the current literature to underline the presence of a connection between excess body weight or Body Mass Index (BMI) and risk of thyroid cancer. Previous studies stated that the contraposition between adipocytes and adipose-resident immune cells enhances immune cell production of multiple pro-inflammatory factors with subsequent induction of hyperlipidemia and vascular injury; these factors are all associated with oxidative stress and cancer development and/or progression. Moreover, recent studies made clear the mitogenic and tumorigenic action of insulin, carried out through the stimulation of mitogen-activated protein kinase (MAPK) and phosphoinositide-3 kinase/AKT (PI3K/AKT) pathways, which is correlated to the hyperinsulinemia and hyperglycemia found in obese population. Our findings suggest that obesity and excess body weight are related to an increased risk of thyroid cancer and that the mechanisms that combine overweight with this cancer should be searched for in the adipokine pathways and chronic inflammation onset

Influence of tumor microenvironment and fibroblast population plasticity on melanoma growth, therapy resistance and immunoescape

Cutaneous melanoma (CM) tissue represents a network constituted by cancer cells and tumor microenvironment (TME). A key feature of CM is the high structural and cellular plasticity of TME, allowing its evolution with disease and adaptation to cancer cell and environmental alter-ations. In particular, during melanoma development and progression each component of TME by interacting with each other and with cancer cells is subjected to dramatic structural and cellular modifications. These alterations affect extracellular matrix (ECM) remodelling, phenotypic profile of stromal cells, cancer growth and therapeutic response. The stromal fibroblast populations of the TME include normal fibroblasts and melanoma‐associated fibroblasts (MAFs) that are highly abun-dant and flexible cell types interacting with melanoma and stromal cells and differently influencing CM outcomes. The shift from the normal microenvironment to TME and from normal fibroblasts to MAFs deeply sustains CM growth. Hence, in this article we review the features of the normal mi-croenvironment and TME and describe the phenotypic plasticity of normal dermal fibroblasts and MAFs, highlighting their roles in normal skin homeostasis and TME regulation. Moreover, we dis-cuss the influence of MAFs and their secretory profiles on TME remodelling, melanoma progres-sion, targeted therapy resistance and immunosurveillance, highlighting the cellular interactions, the signalling pathways and molecules involved in these processes

miR-519d Overexpression Is Associated With Human Obesity

Obesity is a consequence of imbalance of food intake and energy expenditure that results in storage of energy as fat, primarily in adipose tissue. MicroRNAs are non-coding RNAs that regulate gene expression in metabolic pathways and they are also involved in fat-cell development. The aim of this study was to evaluate whether microRNA dysfunction contributes to obesity. We analyzed, by microarray, the expression profile of 1,458 microRNAs in subcutaneous adipose tissue (SAT) from nondiabetic severely obese (n = 20) and nonobese adults (n = 8). Among 42 differently expressed microRNAs, we confirmed by reverse-transcription PCR (RT-PCR) that miR-519d was overexpressed whereas the protein levels of peroxisome proliferator-activated receptor-α (PPARA) (a predicted miR 519d target) were lower, at western analysis, in severely obese vs. nonobese subjects. We also show that miR-519d specifically and dose-dependently suppressed translation of the PPARA protein, and increased lipid accumulation during preadipocyte differentiation. Because PPARA plays a central role in fatty acid homeostasis, and in the transcriptional regulation of genes that are necessary for maintenance of the redox balance during the oxidative catabolism of fatty acids, we suggest that PPARA loss and miR-519d overexpression could be associated with metabolic imbalance and subsequent adipocyte hypertrophy in SAT during obesity

Electronics design of the RPC system for the OPERA muon spectrometer

The present document describes the front-end electronics of the RPC system that instruments the magnet muon spectrometer of the OPERA experiment. The main task of the OPERA spectrometer is to provide particle tracking information for muon identification and simplify the matching between the Precision Trackers. As no trigger has been foreseen for the experiment, the spectrometer electronics must be self-triggered with single-plane readout capability. Moreover, precision time information must be added within each event frame for off-line reconstruction. The read-out electronics is made of three different stages: the Front-End Boards (FEBs) system, the Controller Boards (CBs) system and the Trigger Boards(TBs) system. The FEB system provides discrimination of the strip incoming signals; a FAST-OR output of the input signals is also available for trigger plane signal generation. FEB signals are acquired by the CB system that provides the zero suppression and manages the communication to the DAQ and Slow Control. A Trigger Board allows to operate in both self-trigger mode (the FEB’s FAST-OR signal starts the plane acquisition) or in external-trigger mode (different conditions can be set on the FAST-OR signals generated from different planes)

The MURAVES muon telescope: a low power consumption muon tracker for muon radiography applications

Muon Radiography or muography is based on the measurement of the absorption or scattering of cosmic muons, as they pass through the interior of large scale bodies, In particular, absorption muography has been applied to investigate the presence of hidden cavities inside the pyramids or underground, as well as the interior of volcanoes' edifices. The MURAVES project has the challenging aim of investigating the density distribution inside the summit of Mt. Vesuvius. The information, together with that coming from gravimetric measurements, is useful as input to models, to predict how an eruption may develop. The MURAVES apparatus is a robust and low power consumption muon telescope consisting of an array of three identical and independent muon trackers, which provide in a modular way a total sensitive area of three square meters. Each tracker consists of four doublets of planes of plastic scintillator bars with orthogonal orientation, optically coupled to Silicon photomultipliers for the readout of the signal. The muon telescope has been installed on the slope of the volcano and has collected a first set of data, which are being analyzed

The MURAVES Experiment: A Study of the Vesuvius Great Cone with Muon Radiography

The MURAVES experiment aims at the muographic imaging of the internal structure of the summit of Mt. Vesuvius, exploiting muons produced by cosmic rays. Though presently quiescent, the volcano carries a dramatic hazard in its highly populated surroundings. The challenging measurement of the rock density distribution in its summit by muography, in conjunction with data from other geophysical techniques, can help the modeling of possible eruptive dynamics. The MURAVES apparatus consists of an array of three independent and identical muon trackers, with a total sensitive area of 3 square meters. In each tracker, a sequence of 4 XY tracking planes made of plastic scintillators is complemented by a 60 cm thick lead wall inserted between the two downstream planes to improve rejection of background from low-energy muons. The apparatus is currently acquiring data. Preliminary results from the analysis of the first data sample are presented

The MU-RAY project: Volcano radiography with cosmic-ray muons

Cosmic-ray muon radiography is a technique for imaging the variation of density inside the top few 100m of a volcanic cone. With resolutions up to 10s of meters in optimal detection conditions, muon radiography can provide images of the top region of a volcano edifice with a resolution that is considerably better than that typically achieved with conventional methods. Such precise measurements are expected to provide us with information on anomalies in the rock density distribution, like those expected from dense lava conduits, low density magma supply paths or the compression with depth of the overlying soil. The MU-RAY project aims at the construction of muon telescopes and the development of new analysis tools for muon radiography. The telescopes are required to be able to work in harsh environment and to have low power consumption, good angular and time resolutions, large active area and modularity. The telescope consists of two X–Y planes of 2x2 square meters area made by plastic scintillator strips of triangular shape. Each strip is read by a fast WLS fiber coupled to a silicon photomultiplier. The readout electronics is based on the SPIROC chip.Published120-1231.4. TTC - Sorveglianza sismologica delle aree vulcaniche attiveJCR Journalrestricte