Model identification and flight control design for the Prometheus mapping drone

We consider the problem of the modeling, system identification, trajectory generation and control of the Prometheus mapping drone. The Prometheus drone consists in indoor navigation and mapping using an aerial vehicle. A non linear model is computed and identified with a Kalman filter. A trajectory generator was develop, then, a controller able to track this trajectory is computed, taking in consideration the dynamic of the systemope

First description of early developmental stages of the native invasive fireworm Hermodice carunculata (Annelida, Amphinomidae): a cue to the warming of the Mediterranean Sea

Observations on the reproductive behavior and larval development of the bristled fireworm Hermodice carunculata, a common inhabitant of shallow marine rocky bottoms in the Southern Mediterranean Sea, are reported here. In recent years, an increase in abundance and a northward expansion of the populations along the Southern Italian coast were jointly detected, presumably linked to rising water temperature in the Mediterranean Sea. After making in situ observations on two consecutive spawning events, live worms and fresh spawn were brought into the lab, kept at either 27 ºC or 22 ºC and followed through development. Complete and normal development was observed only at 27°C. By contrast, embryonic and larval development appeared to be slowed down at 22°C, stopping at the protrochophora stage. Early development of H. carunculata suggests the existence of a long pre-metamorphic, planktotrophic period in the water column that can explain the genetic cohesion of this species and the low genetic divergence found among populations across the Atlantic Ocean. The observed increase in abundance, invasiveness potential, and geographical northern distribution of the bearded fireworms is probably determined by a progressive northward latitudinal shift of the sea surface temperature coincident with the temperature threshold required for the developmental and reproductive success of the worm

Impulse Control Disorder in Parkinson's Disease: A Meta-Analysis of Cognitive, Affective, and Motivational Correlates

Background: In Parkinson's disease (PD), impulse control disorders (ICDs) develop as side-effect of dopaminergic replacement therapy (DRT). Cognitive, affective, and motivational correlates of ICD in medicated PD patients are debated. Here, we systematically reviewed and meta-analyzed the evidence for an association between ICD in PD and cognitive, affective, and motivational abnormalities.Methods: A systematic review and meta-analysis was performed on PubMed, Science Direct, ISI Web of Science, Cochrane, EBSCO for studies published between 1-1-2000 and 8-3-2017 comparing cognitive, affective, and motivational measures in PD patients with ICD (ICD+) vs. those without ICD (ICD–). Exclusion criteria were conditions other than PD, substance and/or alcohol abuse, dementia, drug naïve patients, cognition assessed by self-report tools. Standardized mean difference (SMD) was used, and random-effect model applied.Results: 10,200 studies were screened (title, abstract), 79 full-texts were assessed, and 25 were included (ICD+: 625 patients; ICD–: 938). Compared to ICD–, ICD+ showed worse performance reward-related decision-making (0.42 [0.02, 0.82], p = 0.04) and set-shifting tasks (SMD = −0.49 [95% CI −0.78, −0.21], p = 0.0008). ICD in PD was also related to higher self-reported rate of depression (0.35 [0.16, 0.54], p = 0.0004), anxiety (0.43 [0.18, 0.68], p = 0.0007), anhedonia (0.26 [0.01, 0.50], p = 0.04), and impulsivity (0.79 [0.50, 1.09], p < 0.00001). Heterogeneity was low to moderate, except for depression (I2 = 61%) and anxiety (I2 = 58%).Conclusions: ICD in PD is associated with worse set-shifting and reward-related decision-making, and increased depression, anxiety, anhedonia, and impulsivity. This is an important area for further studies as ICDs have negative impact on the quality of life of patients and their caregivers

Dopaminergic Neurotransmission in Patients With Parkinson's Disease and Impulse Control Disorders: A Systematic Review and Meta-Analysis of PET and SPECT Studies

Background: Around 30% Parkinson's disease (PD) patients develop impulse control disorders (ICDs) to D2/3 dopamine agonists and, to a lesser extent, levodopa. We aim to investigate striatal dopaminergic function in PD patients with and without ICD.Methods: PubMed, Science Direct, EBSCO, and ISI Web of Science databases were searched (from inception to March 7, 2018) to identify PET or SPECT studies reporting striatal dopaminergic function in PD patients with ICD (ICD+) compared to those without ICD (ICD–). Studies which included drug naïve patients, explored non-pharmacological procedures (e.g., deep brain stimulation), and those using brain blood perfusion or non-dopaminergic markers were excluded. Standardized mean difference (SDM) was used and random-effect models were applied. Separate meta-analyses were performed for dopamine transporter level, dopamine release, and dopamine receptors availability in the putamen, caudate, dorsal, and ventral striatum.Results: A total of 238 studies were title and abstract screened, of which 19 full-texts were assessed. Nine studies (ICD+: N = 117; ICD–: N = 175 patients) were included in the analysis. ICD+ showed a significant reduction of dopamine transporter binding in the putamen (SDM = −0.46; 95% CI: −0.80, −0.11; Z = 2.61; p = 0.009), caudate (SDM = −0.38; 95% CI: −0.73, −0.04; Z = 2.18; p = 0.03) and dorsal striatum (SDM = −0.45; 95% CI: −0.77, −0.13; Z = 2.76; p = 0.006), and increased dopamine release to reward-related stimuli/gambling tasks in the ventral striatum (SDM = −1.04; 95% CI: −1.73, −0.35; Z = 2.95; p = 0.003). Dopamine receptors availability did not differ between groups. Heterogeneity was low for dopamine transporter in the dorsal striatum (I2 = 0%), putamen (I2 = 0%) and caudate (I2 = 0%), and pre-synaptic dopamine release in the dorsal (I2 = 0%) and ventral striatum (I2 = 0%); heterogeneity was high for dopamine transporter levels in the ventral striatum (I2 = 80%), and for dopamine receptors availability in the ventral (I2 = 89%) and dorsal (I2 = 86%) striatum, putamen (I2 = 93%), and caudate (I2 = 71%).Conclusions: ICD+ patients show lower dopaminergic transporter levels in the dorsal striatum and increased dopamine release in the ventral striatum when engaged in reward-related stimuli/gambling tasks. This dopaminergic imbalance might represent a biological substrate for ICD in PD. Adequately powered longitudinal studies with drug naïve patients are needed to understand whether these changes may represent biomarkers of premorbid vulnerability to ICD

Climbing walls, making bridges: children of immigrants’ identity negotiations through capoeira and parkour in Turin.

Capoeira and parkour are two different body practices which have gained worldwide attention in urban settings in the last few decades. The following paper will explore how capoeira and parkour relate to the construction of identity paths amongst children of immigrants between 12 and 20 in Turin, Italy. It will do so by looking at how such practices are used by young men of migrant origin to negotiate and perform narratives of self-worth, belonging and recognition within marginalising and excluding urban environments. This study acknowledges that social identifications are created, negotiated and (re)produced through bodily and spatial means and within networks of power relations. Following this premise, the insights proposed in this paper suggest that the ambivalent and fluid use of bodies and spaces implied by capoeira and parkour can represent a meaningful lens to understand the embodied and spatial identity negotiations enacted by participants in their daily lives. This theoretical perspective will illuminate the place that active bodies, spaces and leisure practices take in the negotiation of social identities, and dynamics of inclusion/exclusion, enacted by youth of migrant origin within early twenty-first century Turin cityscape

Exploring the embryonic development of upper beak in Octopus vulgaris Cuvier, 1797: New findings and implications for age estimation

The beak of cephalopods (in particular octopods, where statoliths are not suitable) is a useful tool for age estimation and the aging method provides essential information on cephalopod growth and life cycles. These parameters are valuable in the assessment of population dynamics and stock management. The embryonic development of cephalopod beaks is poorly known. The presence of pre-hatching increments on the reading areas (rostrum and lateral walls) is unclear and there are no data on temperature influence. In this study, egg clusters of Octopus vulgaris were reared at 16, 19, 21, 23, and 26 °C. The extracted upper jaws were observed in order to validate the age of first daily increment formation, assessing the accuracy of age inferred from the two reading areas. Jaw dimensions were also measured in order to explore the development at different temperature conditions. The growth rate was calculated for beaks of rearing condition 21 °C, and the overall dimensions were compared among all incubation temperatures. Three ad hoc developmental stages are proposed for the upper beak of O. vulgaris embryos. Increments on lateral walls appear during the second phase, whereas the first increment on the rostrum is visible only at hatching. Consequently, only the accuracy of age inferred from the rostrum surface is confirmed for the early stages. The growth rate of the rostrum region accounted for a drop in growth during the third phase. Conversely, the growth rate increased until hatching in lateral walls, suggesting that the heterogeneity of the growth rate could be due to the different role played by the beak areas. Temperature influenced beaks in terms of overall size, as embryos reared at a warm temperature (23 °C) were smaller than the others. These results confirm that the incubation environment could alter hatchling characteristics thus affecting the recruitment conditions.Postprint1,58

Early mobilisation in critically ill COVID-19 patients: a subanalysis of the ESICM-initiated UNITE-COVID observational study

Background Early mobilisation (EM) is an intervention that may improve the outcome of critically ill patients. There is limited data on EM in COVID-19 patients and its use during the first pandemic wave. Methods This is a pre-planned subanalysis of the ESICM UNITE-COVID, an international multicenter observational study involving critically ill COVID-19 patients in the ICU between February 15th and May 15th, 2020. We analysed variables associated with the initiation of EM (within 72 h of ICU admission) and explored the impact of EM on mortality, ICU and hospital length of stay, as well as discharge location. Statistical analyses were done using (generalised) linear mixed-effect models and ANOVAs. Results Mobilisation data from 4190 patients from 280 ICUs in 45 countries were analysed. 1114 (26.6%) of these patients received mobilisation within 72 h after ICU admission; 3076 (73.4%) did not. In our analysis of factors associated with EM, mechanical ventilation at admission (OR 0.29; 95% CI 0.25, 0.35; p = 0.001), higher age (OR 0.99; 95% CI 0.98, 1.00; p ≤ 0.001), pre-existing asthma (OR 0.84; 95% CI 0.73, 0.98; p = 0.028), and pre-existing kidney disease (OR 0.84; 95% CI 0.71, 0.99; p = 0.036) were negatively associated with the initiation of EM. EM was associated with a higher chance of being discharged home (OR 1.31; 95% CI 1.08, 1.58; p = 0.007) but was not associated with length of stay in ICU (adj. difference 0.91 days; 95% CI − 0.47, 1.37, p = 0.34) and hospital (adj. difference 1.4 days; 95% CI − 0.62, 2.35, p = 0.24) or mortality (OR 0.88; 95% CI 0.7, 1.09, p = 0.24) when adjusted for covariates. Conclusions Our findings demonstrate that a quarter of COVID-19 patients received EM. There was no association found between EM in COVID-19 patients' ICU and hospital length of stay or mortality. However, EM in COVID-19 patients was associated with increased odds of being discharged home rather than to a care facility. Trial registration ClinicalTrials.gov: NCT04836065 (retrospectively registered April 8th 2021)