Progettazione di un sistema integrato di sensor fusion per la stima ottima della posizione angolare in sistemi di misura inerziali

In questo lavoro di tesi ci siamo occupati della ricerca di un algoritmo ottimo di sensor fusion per combinare i dati forniti dal giroscopio e dall’accelerometro per stimare la posizione angolare del sistema, procedendo con una semplificazione dell’algoritmo e con una trasformazione dello stesso in aritmetica fixed point, eseguendo un trade off tra prestazioni e complessità, avendo in mente una futura integrazione della logica in un’area limitata. Nel primo capitolo, dopo una breve digressione sull’andamento del mercato dei MEMS e una breve descrizione del principio di funzionamento di questi dispositivi, analizziamo lo stato dell’arte per quel che riguarda alcuni sistemi commerciali di ricostruzione della posizione angolare. Per una buona comprensione degli argomenti trattati nei capitoli successivi è stata inserita nell’appendice A una trattazione teorica della matematica dei quaternioni e sono ricavate alcune formule che saranno necessarie per ricavare un modello matematico del sistema. Nell’appendice B invece è stata inserita una descrizione teorica del filtro di Kalman e del suo utilizzo per migliorare la stima dello stato di un sistema in cui le equazioni di stato e di misura sono affette da rumore. Si arriva quindi a una derivazione del filtro di Kalman Esteso, necessario per il trattamento di sistemi non lineari. Nel secondo capitolo si descrive come è stato modellizzato il sistema. È stata effettuata una ricerca sulla letteratura scientifica per trovare lo stato dell’arte per i sistemi di ricostruzione della posizione angolare e sui possibili algoritmi che sono utilizzati: si è scelto di utilizzare i quaternioni per rappresentare la posizione angolare e un filtro di Kalman Esteso come algoritmo di sensor fusion tra i dati del giroscopio e dell’accelerometro. Il quaternione rappresentante la posizione angolare sarà la variabile di stato del sistema, mentre sono state utilizzate le equazioni del filtro di Kalman per effettuare una stima ottima dello stato del sistema. Si descrive inoltre il modello Simulink realizzato e il tuning iniziale di alcuni parametri del filtro. Nel terzo capitolo sono descritti alcuni test effettuati per avere un tuning più accurato del filtro e verificarne il corretto funzionamento. È stato realizzato un programma LabVIEW necessario per comandare la macchina di test del laboratorio. I test, non essendo ancora disponibile un sensore 6D, sono stati eseguiti utilizzando un sensore Cube Demo che simula le prestazioni di un sensore 6D. Nel quarto capitolo si descrive invece la realizzazione di un modello bit true del sistema, necessario per una futura implementazione in hardware integrato. Si è proceduto prima con una semplificazione dell’algoritmo eseguito, realizzando un filtro di Kalman semplificato. Successivamente è stata fatta una stima del numero di bit necessari per rappresentare i vari dati, simulando un’architettura di tipo fixed point. È stato eseguito quindi un trade off tra prestazioni ottenute e costo, cioè una stima ipotetica dell’area occupata dal sistema. Ci siamo occupati inoltre di alcuni metodi per approssimare le funzioni trigonometriche arcoseno e arcotangente necessarie per trasformare il quaternione in angoli di Eulero

A new species of Meligethes Stephens from China and additional data on members of the M. chinensis species-complex (Coleoptera: Nitidulidae, Meligethinae)

Meligethes (Odontogethes) inexpectatus sp. n. is described from China, Sichuan Province. The new species is based on a female specimen previously incorrectly referred to as Meligethes scrobescens Chen, Lin, Huang & Yang, 2015, which was recently described from a series of male specimens collected in the same area. Both species belong to the taxonomically difficult species-group related to M. chinensis Kirejtshuk, 1979, including a dozen closely related species distributed throughout Nepal and SW and Central China. The true female of Meligethes scrobescens is also described, based on recently collected material from China (Hubei and Chongqing), including a series of male and female specimens. Diagnostic characters distinguishing the new species from all other known members of the M. chinensis species-group and species-complex are discussed, and their overall range distribution are depicted. Additional data on geographic distribution and larval ecology of some of the closely related species are also reported

Revision of the pollen beetle genus Meligethes (Coleoptera: Nitidulidae)

A taxonomic revision of members of the genus Meligethes Stephens, 1830 is carried out. Taxonomic and distributional notes are provided on fiftythree Meligethes species, mostly known from the Eastern Palearctic and marginally from the Western Palearctic and the Oriental Regions. Among these, twentythree new species of Meligethes are diagnosed, figured and described: M. argentithorax sp. n. (Central China: Shaanxi, Shanxi), M. aurantirugosus sp. n. (Nepal), M. aureolineatus sp. n. (Central China: Sichuan), M. aurifer sp. n. (Central China: Shaanxi, Shanxi), M. brassicogethoides sp. n. (SW China: Yunnan), M. clinei sp. n. (SW China: Yunnan), M. elytralis sp. n. (Central China: Sichuan), M. ferruginoides sp. n. (Central China: Sichuan), M. cinereoargenteus sp. n. (Central China: Sichuan), M. henan sp. n. (Central China: Henan), M. luteoornatus sp. n. (SW China: Yunnan), M. marmota sp. n. (Nepal), M. nivalis sp. n. (SW and central China: Xizang and Chongqing), M. martes sp. n. (Central China: Shaanxi, Shanxi, Sichuan), M. nigroaeneus sp. n. (SW China: Yunnan), M. occultus sp. n. (SW China: Yunnan), M. pseudochinensis sp. n. (Central China: Hubei), M. pseudopectoralis sp. n. (SW China: Yunan), M. schuelkei sp. n. (Central China: Sichuan, Shaanxi), M. simulator sp. n. (Central-N China: Shanxi), M. stenotarsus sp. n. (SW China: Yunnan, Xizang), M. tryznai sp. n. (SW China: Yunnan), and M. volkovichi sp. n. (SW China: Yunnan). Revaluations at specific rank from synonymy are introduced for Meligethes lutra Solsky 1860, and for M. melleus Grouvelle, 1908. Three new synonymies are established: Meligethes brevipilus Kirejtshuk, 1980 = M. auripilis Reitter, 1889 (syn. n.), Meligethes zakharenkoi Kirejtshuk, 2005 = M. shirakii Sadanari Hisamatsu, 1956 (syn. n.), and Meligethes shirozui Sadanari Hisamatsu, 1965 = M. wagneri Rebmann, 1956 (syn. n.). Complete redescriptions are given for Meligethes binotatus Grouvelle, 1894, M. castanescens Grouvelle, 1903, M. ferrugineus Reitter, 1873, and M. melleus Grouvelle, 1908. The male of Meligethes lloydi Easton, 1968, is described and figured for the first time. The female genitalia of Meligethes auricomus Rebmann, 1956, M. cinereus Jelínek, 1978, and M. griseus Jelínek, 1978 are described and figured for the first time. Available information on insect-host-plant relationships and ecology are summarized for each species; probably all are associated as larvae with flowers of Rosaceae, chiefly of members of the closely related genera Rosa L., Rubus L., Prunus L., and Crataegus Tourn. ex L. All treated species are grouped in two here revaluated subgenera (Meligethes s.str. and Odonthogethes Reitter, 1871), and tentatively grouped also in species-groups and (when necessary) species-complexes, based on their morphology

Description of the unknown males of three Chinese Meligethes (Coleoptera: Nitidulidae, Meligethinae)

In this paper we present the description of male genitalia and additional information on taxonomy of three recently described and poorly known Chinese endemic members of the genus Meligethes Stephens, 1830, Meligethes (Odonthogethes) brassicogethoides Audisio, Sabatelli & Jelínek, 2015, M. (O.) inexpectatus Liu, Huang, Cline, Sabatelli & Audisio, 2017, and M. (O.) tricuspidatus Liu, Huang, Cline & Audisio, 2018

Five new species of Lamiogethes Audisio & Cline from China (Coleoptera: Nitidulidae: Meligethinae)

Five new species of the genus Lamiogethes Audisio & Cline are described from western, central and southern China: L. falcatus sp. n. (Sichuan), L. hastipenis sp. n. (Hubei), L. sagittalis sp. n. (Shaanxi), L. unditibiis sp. n. (Chongqing), and L. limaelytralis sp. n. (Sichuan). The first four new species appear to be morphologically related to Lamiogethes ancestor (Kirejtshuk, 1980) (comb. n.) from Central China, and allied taxa. Lamiogethes limaelytralis sp. n. appears to be more isolated, probably with relationships to the recently described L. forcipenis Liu, Huang, Cline & Audisio, 2017 and L. convexistrigosus Liu, Huang, Cline & Audisio, 2017 from Sichuan. All new species differ from other closely related taxa by details of the body shape and color, as well as the shape of the male and/or female genitalia

Rosaceae, Brassicaceae and pollen beetles: exploring relationships and evolution in an anthophilous beetle lineage (Nitidulidae, Meligethes-complex of genera) using an integrative approach

Background: Meligethes are pollen-beetles associated with flowers of Rosaceae as larvae. This genus currently consists of 63 known species in two subgenera, Meligethes and Odonthogethes, predominantly occurring in the eastern Palaearctic. We analyzed 74 morphological and ecological characters (169 states) of all species, as well as of 11 outgroup species from 7 Meligethinae genera (including Brassicogethes), to investigate their phylogeny. We also conducted a parallel molecular analysis on 9 Meligethes, 9 Odonthogethes, 3 Brassicogethes and 2 Meligethinus species based on DNA sequence data from mitochondrial (COI, 16S) and nuclear (CAD) genes. Results: Morphological phylogenetic reconstructions supported the monophyly of the whole genus and clades corresponding to purported subgenera Meligethes s.str. and Odonthogethes. Main species-groups were mostly confirmed, however some unresolved polytomies remained. Molecular data placed members of Brassicogethes (including 42 mostly W Palearctic species associated with Brassicaceae) as sister to Odonthogethes, with this clade being sister to Meligethes s.str. This phylogenetic scenario suggests that monophyletic Meligethes s.str., Odonthogethes and Brassicogethes should be regarded alternatively as three subgenera of a monophyletic Meligethes, or three genera in a monophyletic genus-complex, with mutually monophyletic Brassicogethes and Odonthogethes. Molecular analyses estimated the origin of this lineage at ca. 14–15 Mya from a common stem including Meligethinus. Conclusions: We hypothesize that the ancestor of Meligethes specialized on Rosaceae in the Middle Miocene (likely in Langhian Age) and subsequently radiated during Late Miocene and Plio-Pleistocene maintaining a trophic niche on this plant family. This radiation was primarily due to geographic isolation in E Asiatic mountain systems. Combined evidence from morphology, ancestral state parsimony reconstruction of host-plant associations and molecular evidence suggested that Rosoideae (Rosa spp.) represented the ancestral hosts of Meligethes s.str., followed by an independent shift of ancestral Odonthogethes (ca. 9–15 Mya) on Rubus (Rosoideae) and members of Rosaceae Spiraeoideae. Other ancestral Odonthogethes probably shifted again on the unrelated plant family Brassicaceae (maybe 8–14 Mya in S China), allowing a rapid westward radiation of the Brassicogethes clade

Morphological Study of the Alimentary Canal and Malpighian Tubules in the Adult of the Pollen Beetle Meligethes (Odonthogethes) chinensis (Coleoptera: Nitidulidae: Meligethinae)

Meligethinae has entirely become strictly anthophagous, also being called "pollen beetles", with all members (similar to 700 species) of this subfamily using pollen and other floral parts as food resources for their larvae and adults. In this study, we used light, fluorescence, and scanning electron microscopy (LM, FM, and SEM) to explore the fine morphological structure of the alimentary canal and Malpighian tubules of Meligethes (Odonthogethes) chinensis, a common Chinese pollen beetle associated with flowers of Rosaceae. The results show that the alimentary canal of M. (O.) chinensis is divided into three parts of foregut, midgut, and hindgut. The foregut is the shortest part and has no crop; the midgut is the widest part with numerous blunt-fingered gastric ceca; the front of the hindgut folds in a circle and then extends back to the anus. Six Malpighian tubules are attached to the colon to form a cryptonephridial system. We also provide a schematic color picture of the alimentary canal and Malpighian tubules in the hemocoelic cavity of the dissected M. (O.) chinensis. This study is the first to systematically study the general morphology of the alimentary canal and Malpighian tubules of Meligethinae, which can provide important support for subsequent anatomical and physiological studies of anthophagous beetles.Meligethes (Odonthogethes) chinensis is a highly specialized species of Nitidulidae in China that takes pollen as its main food source, and its main host plant is Rubus idaeus L. (Rosaceae). In this study, the structural morphology of the alimentary canal and Malpighian tubules of adult M. (O.) chinensis was observed under light, fluorescence, and scanning electron microscopy. The alimentary canal of adult M. (O.) chinensis is divided into foregut, midgut, and hindgut. The foregut is the shortest and consists of the pharynx, esophagus, proventriculus, and cardiac valve. The midgut is a straight, distended, cylindrical, thin-walled tube. Numerous blunt-fingered gastric ceca are distributed irregularly throughout the midgut. The hindgut is subdivided into the ileum, colon, and rectum. The ileum is coiled. The colon gradually enlarges posteriorly. The rectum is thickly muscled and followed by a membranous structure. The openings of proximal Malpighian tubules are evenly inserted into the junction of the midgut and hindgut, and distal Malpighian tubules are evenly attached to the colon to form a cryptonephridial system. In this study, we also compare the structure and infer the function of the alimentary canal and Malpighian tubules among beetles, as well as discuss the evolutionary and taxonomical implications

Relationship between tree-related microhabitats and the captures obtained using different trap methods for large threatened saproxylic beetles

Osmoderma eremita and Cerambyx cerdo are saproxylic beetle species, included in the IUCN Red List and in the EU/92 Habitats Directive. Their occurrence has been recorded, through appropriate traps, in several localities in Italy, including urban and peri-urban parks, mostly associated with veteran trees. In this study, traps were tested over 17 veteran oak trees in the Castelporziano Presidential Estate (Latium, Rome province, central Italy) and the abundance of sampled saproxylic beetles was related to the growing stock volume (GSV) and the abundance of microhabitats. Moreover, we compared three different trapping methods: a trap designed to monitor C. cerdo (CC), and two traps designed for monitoring O. eremita, i.e., the Black Cross Window Trap (BCWT) and the Black Bottle Traps (BBT). We found that larger trees hosted a great variety of microhabitats, in particular cavities, which abundance was correlated with the number of specimens sampled, especially O. eremita species. Both classic traps (i.e., CC traps and BCWT) and the herein-introduced BBT variants were effective for capturing large saproxylic beetles. In this work, we underline the importance of the preservation of veteran trees to the occurrence of threatened saproxylic beetles, and we contributed to (i) extending general knowledge of the habitat preferences of saproxylic beetles and (ii) improving new cost-effective trapping system variants

Proteostasis and ALS: Protocol for a phase II, randomised, double-blind, placebo-controlled, multicentre clinical trial for colchicine in ALS (Co-ALS)

Introduction: Disruptions of proteasome and autophagy systems are central events in amyotrophic lateral sclerosis (ALS) and support the urgent need to find therapeutic compounds targeting these processes. The heat shock protein B8 (HSPB8) recognises and promotes the autophagy-mediated removal of misfolded mutant SOD1 and TDP-43 fragments from ALS motor neurons (MNs), as well as aggregating species of dipeptides produced in C9ORF72-related diseases. In ALS-SOD1 mice and in human ALS autopsy specimens, HSPB8 is highly expressed in spinal cord MNs that survive at the end stage of disease. Moreover, the HSPB8-BAG3-HSP70 complex maintains granulostasis, which avoids conversion of dynamic stress granules (SGs) into aggregation-prone assemblies. We will perform a randomised clinical trial (RCT) with colchicine, which enhances the expression of HSPB8 and of several autophagy players, blocking TDP-43 accumulation and exerting crucial activities for MNs function. Methods and analysis: Colchicine in amyotrophic lateral sclerosis (Co-ALS) is a double-blind, placebo-controlled, multicentre, phase II RCT. ALS patients will be enrolled in three groups (placebo, colchicine 0.01 mg/day and colchicine 0.005 mg/day) of 18 subjects treated with riluzole; treatment will last 30 weeks, and follow-up will last 24 weeks. The primary aim is to assess whether colchicine decreases disease progression as measured by ALS Functional Rating Scale - Revised (ALSFRS-R) at baseline and at treatment end. Secondary aims include assessment of (1) safety and tolerability of Colchicine in patiets with ALS; (2) changes in cellular activity (autophagy, protein aggregation, and SG and exosome secretion) and in biomarkers of disease progression (neurofilaments); (3) survival and respiratory function and (4) quality of life. Preclinical studies with a full assessment of autophagy and neuroinflammation biomarkers in fibroblasts, peripheral blood mononuclear cells and lymphoblasts will be conducted in parallel with clinic assessment to optimise time and resources. Ethics and dissemination: The study protocol was approved by the Ethics Committee of Area Vasta Emilia Nord and by Agenzia Italiana del Farmaco (EUDRACT N.2017-004459-21) based on the Declaration of Helsinki. This research protocol was written without patient involvement. Patients' association will be involved in disseminating the study design and results. Results: will be presented during scientific symposia or published in scientific journals