Optimal Trajectory Tracking for an Autonomous UAV

The aim of the present project is the design of optimal flight trajectories for an automomous aerial vehicle which is expected to reach the desired locations in the operational environment expressed in terms of planned waypoints. The navigation must be performed with the vehicle's best effort, i.e. with the lowest cost. Hence, we want to minimize the input energy, a function of the inputs for the mathematical model which describes the dynamics of the vehicle. The trajectory must satisfy all the constraints and pass through all the planned waypoints. Assuming the vehicle as a point mass model, the best solution has been investigated through a genetic algorithm search procedure. The optimisation problem has been solved by modifying a micro-genetic algorithm software which was initially developed by D.L. Carroll. Between all the possible trajectories we select the more "realistic" connections among the waypoints. First of all, we have left out the trajectories with discontinuity in the derivatives as these are not feasible by the real aircraft. The polynomial spline is a suitable candidate to solve our problem. The algorithm splits the trajectory in sub-trajectories which join a sequence of three waypoints. Starting from the first three waypoints, the following sub-trajectories are superimposed keeping the first waypoint coincident with the last of the previous sub-trajectory. The sequence of polynomials is initialized assuming that jumps in the direction of flight are avoided pointing the heading angle in the presumed direction of flight. The optimal trajectory is a trade-off amongst three factors: the required energy cost, the minimum distance from the required waypoint and the feasibility of the trajectory. Results obtained with this optimization procedure are presente

Optimal Trajectory Tracking for an Autonomous UAV

The aim of the present project is the design of optimal flight trajectories for an automomous aerial vehicle which is expected to reach the desired locations in the operational environment expressed in terms of planned waypoints. The navigation must be performed with the vehicle’s best effort, i.e. with the lowest cost. Hence, we want to minimize the input energy, a function of the inputs for the mathematical model which describes the dynamics of the vehicle. The trajectory must satisfy all the constraints and pass through all the planned waypoints. Assuming the vehicle as a point mass model, the best solution has been investigated through a genetic algorithm search procedure. The optimisation problem has been solved by modifying a micro-genetic algorithm software which was initially developed by D.L. Carroll. Between all the possible trajectories we select the more “realistic” connections among the waypoints. First of all, we have left out the trajectories with discontinuity in the derivatives as these are not feasible by the real aircraft. The polynomial spline is a suitable candidate to solve our problem. The algorithm splits the trajectory in sub-trajectories which join a sequence of three waypoints. Starting from the first three waypoints, the following sub-trajectories are superimposed keeping the first waypoint coincident with the last of the previous sub-trajectory. The sequence of polynomials is initialized assuming that jumps in the direction of flight are avoided pointing the heading angle in the presumed direction of flight. The optimal trajectory is a trade-off amongst three factors: the required energy cost, the minimum distance from the required waypoint and the feasibility of the trajectory. Results obtained with this optimization procedure are presented

FIRST RECORD IN EUROPE OF SEEDLINGS OF FICUS MACROPHYLLA F. COLUMNARIS (Moraceae) AND OF ITS POLLINATING WASP PLEISTODONTES CF. IMPERIALIS (Chalcidoidea Agaonidae)

Since the first half of the nineteenth century, several Ficus species have been introduced into Italy as ornamental trees throughout urban gardens and along urban roads. Because a relationship with an agaonid wasp is essential for the pollination and consequently for the production of fertile seeds of Ficus spp., the seedlings of other introduced fig species (Ficus microcarpa L. f., Ficus rubiginosa Desf. ex Vent. and Ficus watkinsiana F.M. Bailey) weren’t found in Europe in conjunction with their pollinating wasps until more than a century after the figs’ introduction. This study presents the first recorded observation of Ficus macrophylla f. columnaris (C. Moore) D. J. Dixon seedlings in Europe. The seedlings grew from fertile seeds pollinated by the Agaonid Pleistodontes cf. imperialis. As no other F. macrophylla seedlings have been found in any of the other historical gardens of Palermo where this species is present in spite of the occurrence of mature figs fruits, it is possible that the cracks of the terrace filled with soil and organic material where the plantlets were found could have created favorable microclimatic conditions quite similar to those that characterize the native distri- bution areas of this species

Recommendation Systems in Libraries: an Application with Heterogeneous Data Sources

The Reading[&]Machine project exploits the support of digitalization to increase the attractiveness of libraries and improve the users’ experience. The project implements an application that helps the users in their decision-making process, providing recommendation system (RecSys)-generated lists of books the users might be interested in, and showing them through an interactive Virtual Reality (VR)-based Graphical User Interface (GUI). In this paper, we focus on the design and testing of the recommendation system, employing data about all users’ loans over the past 9 years from the network of libraries located in Turin, Italy. In addition, we use data collected by the Anobii online social community of readers, who share their feedback and additional information about books they read. Armed with this heterogeneous data, we build and evaluate Content Based (CB) and Collaborative Filtering (CF) approaches. Our results show that the CF outperforms the CB approach, improving by up to 47% the relevant recommendations provided to a reader. However, the performance of the CB approach is heavily dependent on the number of books the reader has already read, and it can work even better than CF for users with a large history. Finally, our evaluations highlight that the performances of both approaches are significantly improved if the system integrates and leverages the information from the Anobii dataset, which allows us to include more user readings (for CF) and richer book metadata (for CB)

Il primo OBS/H italiano per il monitoraggio e lo studio di faglie e vulcani sottomarini

L’Istituto Nazionale di Geofisica e Vulcanologia (INGV) ha testato con successo, nel luglio 2006, il primo Ocean Bottom Seismometer with Hydrophone (OBS/H) italiano (Fig. 1). Lo strumento, interamente progettato e realizzato all’Osservatorio di Gibilmanna del Centro Nazionale Terremoti, dopo aver superato i test in laboratorio, in camera iperbarica a 600 bar ed in mare a 3412 m di profondità, è stato deposto per 9 giorni (12-21/07/’06) sulla spianata sommitale del vulcano sottomarino Marsili a 790 m di profondità (Fig. 2) ed ha registrato 835 eventi tra cui un telesisma, 8 eventi regionali e circa 800 eventi vulcanici

Il primo OBS/H italiano per il monitoraggio e lo studio di faglie e vulcani sottomarini

L’Istituto Nazionale di Geofisica e Vulcanologia (INGV) ha testato con successo, nel luglio 2006, il primo Ocean Bottom Seismometer with Hydrophone (OBS/H) italiano (Fig. 1). Lo strumento, interamente progettato e realizzato all’Osservatorio di Gibilmanna del Centro Nazionale Terremoti, dopo aver superato i test in laboratorio, in camera iperbarica a 600 bar ed in mare a 3412 m di profondità, è stato deposto per 9 giorni (12-21/07/’06) sulla spianata sommitale del vulcano sottomarino Marsili a 790 m di profondità (Fig. 2) ed ha registrato 835 eventi tra cui un telesisma, 8 eventi regionali e circa 800 eventi vulcanici.La realizzazione dell’OBS/H si colloca nell’ambito dei progetti finanziati dalla convenzione tra l’INGV e il Dipartimento Nazionale della Protezione Civile (DPC), che ha avuto come obiettivo la costituzione di un primo pool strumentale, costituito da 7 OBS/H, da impiegare come rete mobile sottomarina in occasione di forti eventi sismici che dovessero interessare le coste e i mari italiani. Tale progetto si inquadra in uno scenario di ben più ampio respiro che vedrà nei prossimi anni l’estensione a mare della rete sismica nazionale, obiettivo strategico inserito nel piano triennale dell’INGV che porterà entro il 2008 alla realizzazione della prima stazione italiana real-time collegata a terra via radio, che verrà posizionata a circa 30 miglia a sud-est di Ustica, luogo in cui è stato localizzato il terremoto di Palermo del 6 settembre 2002. Il prototipo di OBS/H utilizzato nel test sul Marsili è stato equipaggiato con un sensore sismico Trillium 40s della Nanometrics ed un idrofono OAS E-2PD con banda di risposta piatta tra 0 e 5 kHz. I segnali emessi da questi strumenti sono stati registrati da un digitalizzatore a 21 bit a basso consumo (Geolon MLS della SEND) che ha acquisito i dati ad una frequenza di campionamento di 200 campioni al secondo, per sfruttare il più possibile l’ampia banda di risposta dell’idrofono, al fine di mettere in evidenza l’attività idrotermale del vulcano. Il sensore sismico è posto all’interno di una bentosfera di 17 pollici (sfera di vetro certificata per operazioni sino a 6000 m di profondità), installato su una base autolivellante controllata elettronicamente. Il digitalizzatore e le batterie sono poste all’interno di un contenitore in ERGAL 7075. Per il recupero dello strumento a fine esperimento, è stato utilizzato uno sganciatore acustico IXSEA AR816S-MR opportunamente modificato dal personale dell’osservatorio di Gibilmanna per attivare, una volta ricevuto il segnale di “release”, un sistema di sgancio elettrolitico (burn-wire). Per deposizioni di lungo periodo, sino ad uno o due anni in relazione al tipo di sismometro a bordo, l’OBS/H sarà dotato della strumentazione indicata nella Tab. 1 Attualmente è in fase di progettazione un’evoluzione dello strumento che mira a dotarlo di un digitalizzatore a 24 bit, di un sistema di comunicazione basato su modem acustico e di un PC industriale con processore ARM grazie al quale, nell’eventualità di interventi della rete mobile sottomarina, sarà possibile estrarre tracce degli eventi verificatisi per una più accurata localizzazione dell’epicentro senza che si renda necessario il recupero dello strumento. Inoltre, mediante l’implementazione di algoritmi di trigger, sarà possibile l’utilizzo dell’OBS/H all’interno di un sistema di allerta tsunami in comunicazione con una boa di superficie collegata al centro di controllo via satellite

Uvulopalatopharyngoplasty with tonsillectomy in the treatment of severe OSAS

Objective: To establish the efficacy of uvulopalatopharyngoplasty with tonsillectomy for treating selected patients with severe obstructive sleep apnea syndrome Methodology: Retrospective study of patients who underwent clinical/instrumental evaluation and surgical treatment. Setting: University ENT division with a tertiary snoring referral center Participants: Twenty-two patients with normal body mass index affected by severe obstructive sleep apnea syndrome- Main outcome measures: Pre and post operative cardiopulmonary monitoring during sleep, daytime sleepiness evaluation, post treatment complication recording. Results: Complete response to therapy was obtained in 78% of patients. Four patients had relief of symptoms but retained apnea-hypopnea index scores greater than 5 Conclusions: Uvulopalatopharyngoplasty associated with tonsillectomy can be employed safely to treat patients with normal body mass index who suffer from severe obstructive sleep apne

Obstructive sleep apnoea syndrome (OSAS): effects on the vestibular system

Aim of the present study was to evaluate the effects of obstructive sleep apnoea syndrome (OSAS) on the peripheral and central vestibular system, by means of a case series prospective study at the University referral centre of Otolaryngology Head and Neck Surgery; 45 consecutive patients suffering from OSAS were compared with a control group of 30 volunteer subjects selected from among the department employees. Severity of the disease was evaluated by means of cardio-respiratory function monitoring during sleep; the apnoea-hypopnoea index was calculated. Both groups underwent: 1) head and neck examination; 2) fibre-optic examination; 3) pure tone audiometry; 4) evaluation of eye movement disorders using oculomotility tests recorded with the help of video-nystagmography; 5) caloric vestibular responses recorded with video-nystagmography; 6) auditory brainstem response. Results, when evaluating our data, showed that the peripheral vestibular system may become asymmetric due to hypoxic damage while the central vestibular system corrects this disequilibrium

First long time OBS campaign in the Ionian Sea

The INGV started its interest to extend the seismic monitoring network to the sea in 1995 with GEOSTAR (Geophysical and Oceanographic Station for Abyssal Research) project, coming out with the realization of the first multidisclipinary observatory for deep-sea monitoring [Favali et al. 2002]. At the end of 2004, the National Earthquake Center (CNT) of INGV decided to provide a pool of Ocean Bottom Seismometers to be employed as a submarine mobile network and to study submarine faults and volcanoes. This was possible thanks to an agreement between the INGV and the Italian National Civil Protection Department (DPC). On July 2006, the Gibilmanna OBS Lab, tested the first OBS prototype for nine days on the flat top of the Marsili submarine volcano [D’Anna et al. 2007] and in early 2007 other seven OBS’s were ready to be deployed on the seafloor. In May 2007, within the European project NERIES (activity NA6), the Gibilmanna OBS Lab of the INGV has deployed three Broad Band Ocean Bottom Seismometers (BBOBS) in the southern Ionian Sea at 3500-4000 meters of depth. This area has been chosen during the NERIES – “NA6-BBOBS net” meeting in Rome, on the 11th of September 2006 because at first, there are at the moment few seismological data [Scrocca et al., 2003] to construct a reliable model for the Ionian lithosphere and also the rate and features of the seismicity in the area between the Hyblean-Malta fault system and the accretionary prism of the Calabrian Arc are largely unknown [Catalano et al. 2002]. The Ionian Sea is indeed one of the most seismically active area in the Mediterranean region with several destructive earthquakes sometimes followed by tsunamis [Tinti et al. 2004]. The seismicity occurring in the Ionian basin is characterized by large location uncertainties due to the lack of seafloor seismic stations. In 2002, the quality of the seismic sensing and the location of earthquakes have been improved by the deployment of the real-time submarine observatory SN-1, about 25 km offshore Eastern Sicily [Sgroi et al, 2007]. However, the SN-1 location only allows to characterize the seismicity in the area offshore the eastern Sicily. Two of the three OBS’s were successfully recovered on the 2nd of February 2008; the last one was recovered on the 15th of March 2008 and another OBS was deployed on the same location to accomplish the continuous long-term seismic monitoring task (until May 2010) as planned in NERIES project