Metrological characterization of a vision-based system for relative pose measurements with fiducial marker mapping for spacecrafts

An improved approach for the measurement of the relative pose between a target and a chaser spacecraft is presented. The selected method is based on a single camera, which can be mounted on the chaser, and a plurality of fiducial markers, which can be mounted on the external surface of the target. The measurement procedure comprises of a closed-form solution of the Perspective from n Points (PnP) problem, a RANdom SAmple Consensus (RANSAC) procedure, a non-linear local optimization and a global Bundle Adjustment refinement of the marker map and relative poses. A metrological characterization of the measurement system is performed using an experimental set-up that can impose rotations combined with a linear translation and can measure them. The rotation and position measurement errors are calculated with reference instrumentations and their uncertainties are evaluated by the Monte Carlo method. The experimental laboratory tests highlight the significant improvements provided by the Bundle Adjustment refinement. Moreover, a set of possible influencing physical parameters are defined and their correlations with the rotation and position errors and uncertainties are analyzed. Using both numerical quantitative correlation coefficients and qualitative graphical representations, the most significant parameters for the final measurement errors and uncertainties are determined. The obtained results give clear indications and advice for the design of future measurement systems and for the selection of the marker positioning on a satellite surface

The dominant allele Aft induces a shift from flavonol to anthocyanin production in response to UV-B radiation in tomato fruit

The introgression of the A ft allele into domesticated tomato induced a shift from flavonol to anthocyanin production in response to UV-B radiation, while the hp - 1 allele negatively influenced the response of flavonoid biosynthesis to UV-B. Introgression of the dominant allele Anthocyanin fruit (Aft) from Solanum chilense induces anthocyanin accumulation in the peel of tomato (Solanum lycopersicum L.) fruit. UV-B radiation can influence plant secondary metabolism regulating the expression of several genes, among which those involved in flavonoid biosynthesis. Here, we investigated whether post-harvest UV-B treatment could up-regulate flavonoid production in tomato fruits and whether the Aft allele could affect flavonoid biosynthesis under UV-B radiation. Mature green fruits of an anthocyanin-rich tomato mutant line (SA206) and of its wild-type reference, cv. Roma, were daily subjected to post-harvest UV-B treatment until full ripening. Up-regulation of CHS and CHI transcription by UV-B treatment induced flavonoid accumulation in the peel of cv. Roma. Conversely, UV-B decreased the total flavonoid content and CHS transcript levels in the SA206 peel. SA206 being a double mutant containing also hp-1 allele, we investigated also the behavior of hp-1 fruit. The decreased peel flavonoid accumulation and gene transcription in response to UV-B suggest that hp-1 allele is involved in the marked down-regulation of the flavonoid biosynthesis observed in SA206 fruit. Interestingly, in SA206, UV-B radiation promoted the synthesis of delphinidin, petunidin, and malvidin by increasing F3'5'H and DFR transcription, but it decreased rutin production, suggesting a switch from flavonols to anthocyanins. Finally, although UV-B radiation does not reach the inner fruit tissues, it down-regulated flavonoid biosynthesis in the flesh of both genotypes. This study provides, for the first time, evidence that the presence of the functional Aft allele, under UV-B radiation, redirects flavonoid synthesis towards anthocyanin production and suggests that the hp-1 allele negatively influences the response of flavonoid biosynthesis to UV-B

On the viability of chitosan-derived mesoporous carbons as supports for PtCu electrocatalysts in PEMFC

Chitosan is an abundant and non-toxic natural polysaccharide rich in nitrogen, which is used here to obtain N-doped mesoporous carbons (NMCs) as supports for Pt-saving PtCu alloy elecrocatalysts, which can be of interest for low-temperature fuels cells. NMCs with different textural properties were synthesized from cheap silica templates. They presented relative dominance of disordered graphitic lattice and comparable amounts of pyrrolic and pyridinic N, with different specific BET surface areas (715-1040 m2 g−1) and mesopore (1.2-2.4 cm3 g−1) and micropore volumes (0.1-0.6 cm3 g−1). PtCu nanoparticles were deposited by Cu electroless deposition and further galvanic exchange with Pt, with overall Pt loadings about 20 wt.%. Pt-rich PtCu alloy crystallites with contracted Pt fcc lattices and sizes of 3.1-4.7 nm were formed. The synthesized PtCu/NMCs catalysts presented better specific current densities for the oxygen reduction and better CO tolerance and specific current densities for the methanol oxidation reaction than those of commercial Pt/C and PtCu/CMK-3. The PtCu/NMC prepared with the H2SO4-activated NMC was the most active catalyst. The different textural properties of the carbonaceous materials appeared to determine the surface structure of the PtCu nanoparticles

Synergistic Effect of Sn and Fe in Fe-Nx Site Formation and Activity in Fe-N-C Catalyst for ORR

Iron-nitrogen-carbon (Fe-N-C) materials emerged as one of the best non-platinum group material (non-PGM) alternatives to Pt/C catalysts for the electrochemical reduction of O2 in fuel cells. Co-doping with a secondary metal center is a possible choice to further enhance the activity toward oxygen reduction reaction (ORR). Here, classical Fe-N-C materials were co-doped with Sn as a secondary metal center. Sn-N-C according to the literature shows excellent activity, in particular in the fuel cell setup; here, the same catalyst shows a non-negligible activity in 0.5 M H2SO4 electrolyte but not as high as expected, meaning the different and uncertain nature of active sites. On the other hand, in mixed Fe, Sn-N-C catalysts, the presence of Sn improves the catalytic activity that is linked to a higher Fe-N4 site density, whereas the possible synergistic interaction of Fe-N4 and Sn-Nx found no confirmation. The presence of Fe-N4 and Sn-Nx was thoroughly determined by extended X-ray absorption fine structure and NO stripping technique; furthermore, besides the typical voltammetric technique, the catalytic activity of Fe-N-C catalyst was determined and also compared with that of the gas diffusion electrode (GDE), which allows a fast and reliable screening for possible implementation in a full cell. This paper therefore explores the effect of Sn on the formation, activity, and selectivity of Fe-N-C catalysts in both acid and alkaline media by tuning the Sn/Fe ratio in the synthetic procedure, with the ratio 1/2 showing the best activity, even higher than that of the iron-only containing sample (jk = 2.11 vs 1.83 A g-1). Pt-free materials are also tested for ORR in GDE setup in both performance and durability tests

The Italian National Beekeeping Registry (BDNA) as a Tool to Identify Areas Suitable for Controlled Mating of Honey Bees in Italy

Honey bee mating is difficult to control as it occurs in flight, several kilometers away from the hive of origin of both queens and drones. In recent years, there has been an increase in the introduction into Italy of queen bees and swarms originating from interracial crossings (especially those known as "Buckfast"), or belonging to non-native subspecies. Consequently, there is a strong need to establish areas suitable for controlled mating. The Italian national beekeeping registry (BDNA) has been recently set up to monitor the position of apiaries and movement of hives, with the purpose of economic and sanitary protection and improvement of bee heritage and food safety. The BDNA was, thus, deemed a suitable tool to explore the availability of areas that could be used as mating stations. Specific criteria, such as not be classified as wetlands, altitude below 1500 m a.s.l., distance of at least 6000 m from an apiary, and distance of at least 1500 m from the national terrestrial border, were selected for defining the mating stations. Furthermore, all the remaining Italian national territory was considered suitable for settlement of mating stations, including towns, industrial settlements, and roads. Based on these criteria, the following methodological framework was applied: (1) collection of the required data (i.e., apiaries coordinates, geospatial data on soil classification, geospatial data on terrain altitude, Italian boundary geospatial data); (2) calculation for the excluded areas according with the criteria listed above; (3) calculation of the mating areas by means of the difference between the entire Italian territory and the excluded areas. The database of BDNA was used to identify them. Appropriate databases and software were used to exclude the areas of the Italian national territory that did not fulfill the established criteria. In this paper, we report the procedure applied to identify on maps the areas suitable for controlled mating of queen bees in the Italian national territory based on data currently available in the BDNA

Branched Matrix Models and the Scales of Supersymmetric Gauge Theories

In the framework of the matrix model/gauge theory correspondence, we consider supersymmetric U(N) gauge theory with $U(1)^N$ symmetry breaking pattern. Due to the presence of the Veneziano--Yankielowicz effective superpotential, in order to satisfy the $F$--term condition $\sum_iS_i=0$, we are forced to introduce additional terms in the free energy of the corresponding matrix model with respect to the usual formulation. This leads to a matrix model formulation with a cubic potential which is free of parameters and displays a branched structure. In this way we naturally solve the usual problem of the identification between dimensionful and dimensionless quantities. Furthermore, we need not introduce the $\N=1$ scale by hand in the matrix model. These facts are related to remarkable coincidences which arise at the critical point and lead to a branched bare coupling constant. The latter plays the role of the $\N=1$ and $\N=2$ scale tuning parameter. We then show that a suitable rescaling leads to the correct identification of the $\N=2$ variables. Finally, by means of the the mentioned coincidences, we provide a direct expression for the $\N=2$ prepotential, including the gravitational corrections, in terms of the free energy. This suggests that the matrix model provides a triangulation of the istanton moduli space.Comment: 1+18 pages, harvmac. Added discussion on the CSW relative shifts of theta vacua and the odd phases at the critical point. References added and typos correcte

A shashlik calorimeter with longitudinal segmentation for a linear collider

Two techniques for longitudinal segmentation of shashlik calorimeters are proposed. Beam tests have demonstrated the technical feasibility of longitudinally segmented shashlik calorimeters in which longitudinal sampling is performed by lateral vacuum photodiodes or by using two scintillator types with different decay times. Results concerning energy resolution and e/π separation are presente

On the Chiral Ring of N=1 Supersymmetric Gauge Theories

We consider the chiral ring of the pure N=1 supersymmetric gauge theory with SU(N) gauge group and show that the classical relation S^{N^2}=0 is modified to the exact quantum relation (S^N-\Lambda^{3N})^N=0.Comment: 5 pages. Comments and references adde

Different environmental gradients associated to the spatiotemporal and genetic pattern of the H5N8 highly pathogenic avian influenza outbreaks in poultry in Italy

Comprehensive understanding of the patterns and drivers of avian influenza outbreaks is pivotal to inform surveillance systems and heighten nations’ ability to quickly detect and respond to the emergence of novel viruses. Starting in early 2017, the Italian poultry sector has been involved in the massive H5N8 highly pathogenic avian influenza epidemic that spread in the majority of the European countries in 2016/2017. Eighty‐three outbreaks were recorded in north‐eastern Italy, where a densely populated poultry area stretches along the Lombardy, Emilia‐Romagna and Veneto regions. The confirmed cases, affecting both the rural and industrial sectors, depicted two distinct epidemic waves. We adopted a combination of multivariate statistics techniques and multi‐model regression selection and inference, to investigate how environmental factors relate to the pattern of outbreaks diversity with respect to their spatiotemporal and genetic diversity. Results showed that a combination of eco‐climatic and host density predictors were associated with the outbreaks pattern, and variation along gradients was noticeable among genetically and geographically distinct groups of avian influenza cases. These regional contrasts may be indicative of a different mechanism driving the introduction and spreading routes of the influenza virus in the domestic poultry population. This methodological approach may be extended to different spatiotemporal scale to foster site‐specific, ecologically informed risk mitigating strategies

A new method for accurate platelet thrombi volume measurement using a confocal microscope

The accuracy of quantitative measurements represents an essential pre-requisite to the characterization and definition of the complex dynamic phenomena occurring in the field of cell biology. In research projects that involve the induction of blood coagulation under flow in microfluidic artificial channels, thrombus volume is an important quantity for estimation as a significant index related to the individual thrombotic risk profile. Concerning its importance in the early diagnosis of cardiovascular diseases, the estimated thrombus volume should reflect and represent reality. In 3D confocal microscopy, systematic errors can arise from distortions of the axial distance, whose accurate calibration remains a challenge. As a result, the 3D reconstructions show a noticeable axial elongation, and the volume measurements are thus overestimated. In this paper, a 400-600 % volume overestimation is demonstrated, and a new easy to use and automatic calibration procedure is outlined for this specific microfluidic and optical context. The adaptive algorithm proposed leads to the automatic compensation of the elongation error and to the accurate thrombus volume measurement. The method has been calibrated using fluorescent beads of known volume, validated with groups of several distinct platelets and finally applied on platelet thrombi