Path Planning and Real-Time Collision Avoidance Based on the Essential Visibility Graph

This paper deals with a novel procedure to generate optimum flight paths for multiple unmanned aircraft in the presence of obstacles and/or no-fly zones. A real-time collision avoidance algorithm solving the optimization problem as a minimum cost piecewise linear path search within the so-called Essential Visibility Graph (EVG) is first developed. Then, a re-planning procedure updating the EVG over a selected prediction time interval is proposed, accounting for the presence of multiple flying vehicles or movable obstacles. The use of Dubins curves allows obtaining smooth paths, compliant with flight mechanics constraints. In view of possible future applications in hybrid scenarios where both manned and unmanned aircraft share the airspace, visual flight rules compliant with International Civil Aviation Organization (ICAO) Annex II Right of Way were implemented. An extensive campaign of numerical simulations was carried out to test the effectiveness of the proposed technique by setting different operational scenarios of increasing complexity. Results show that the algorithm is always able to identify trajectories compliant with ICAO rules for avoiding collisions and assuring a minimum safety distance as well. Furthermore, the low computational burden suggests that the proposed procedure can be considered a promising approach for real-time applications

The Post-Eocene Evolution of the Doruneh Fault Region (Central Iran): The Intraplate Response to the Reorganization of the Arabia-Eurasia Collision Zone

The Cenozoic deformation history of Central Iran has been dominantly accommodated by the activation of major intracontinental strike-slip fault zones, developed in the hinterland domain of the Arabia-Eurasia convergent margin. Few quantitative temporal and kinematic constraints are available from these strike-slip deformation zones, hampering a full assessment of the style and timing of intraplate deformation in Iran and the understanding of the possible linkage to the tectonic reorganization of the Zagros collisional zone. This study focuses on the region to the north of the active trace of the sinistral Doruneh Fault. By combing structural and low-temperature apatite fission track (AFT) and (U-Th)/He (AHe) thermochronology investigations, we provide new kinematic and temporal constraints to the deformation history of Central Iran. Our results document a post-Eocene polyphase tectonic evolution dominated by dextral strike-slip tectonics, whose activity is constrained since the early Miocene in response to an early, NW-SE oriented paleo-σ1 direction. A major phase of enhanced cooling/exhumation is constrained at the Miocene/Pliocene boundary, caused by a switch of the maximum paleo-σ1 direction to N-S. When integrated into the regional scenario, these data are framed into a new tectonic reconstruction for the Miocene-Quaternary time lapse, where strike-slip deformation in the intracontinental domain of Central Iran is interpreted as guided by the reorganization of the Zagros collisional zone in the transition from an immature to a mature stage of continental collision

Withdrawal of mechanical ventilation in amyotrophic lateral sclerosis patients: a multicenter Italian survey

Background: Law 219/2017 was approved in Italy in December 2017, after a years-long debate on the autonomy of healthcare choices. This Law, for the first time in Italian legislation, guarantees the patient's right to request for withdrawal of life-sustaining treatments, including mechanical ventilation (MV). Objective: To investigate the current status of MV withdrawal in amyotrophic lateral sclerosis (ALS) patients in Italy and to assess the impact of Law 219/2017 on this practice. Methods: We conducted a Web-based survey, addressed to Italian neurologists with expertise in ALS care, and members of the Motor Neuron Disease Study Group of the Italian Society of Neurology. Results: Out of 40 ALS Italian centers, 34 (85.0%) responded to the survey. Law 219/2017 was followed by an increasing trend in MV withdrawals, and a significant increase of neurologists involved in this procedure (p 0.004). However, variations across Italian ALS centers were observed, regarding the inconsistent involvement of community health services and palliative care (PC) services, and the intervention and composition of the multidisciplinary team. Conclusions: Law 219/2017 has had a positive impact on the practice of MV withdrawal in ALS patients in Italy. The recent growing public attention on end-of-life care choices, along with the cultural and social changes in Italy, requires further regulatory frameworks that strengthen tools for self-determination, increased investment of resources in community and PC health services, and practical recommendations and guidelines for health workers involved