Neurophysiological models of gaze control in Humanoid Robotics

This work present a robotic implementation of a neurophysiological model of rapid orienting gaze shifts in humans, with the final goal of model parameters validation and tuning. The quantitative assessment of robot performance confirmed a good ability to foveate the target with low residual errors around the desired target position. Furthermore, the ability to maintain the desired position was good and the gaze fixation after the saccadic movement was executed with only few oscillations of the head and eye. This is because the model required a very high dynamic. 9.1. Robotic point of view The head and eye residual oscillations increase linearly with increasing amplitude. In Fig. 16 is evident that the residual gaze oscillation is less than head. This is explained with the compensation introduced by the eye oscillations which compensate the gaze which becomes more stable. We explain these findings by observing that the accelerations required to execute (or stopand-invert) the movement are very high especially for the eye movement. Even if the robotic head was designed to match the human performances (in terms of angle and velocities) in its present configuration it is still not capable produce such accelerations. This is particularly evident for the movement of the eye because the motor has to invert its rotation when the fixation point is first achieved. With respect to the timing of the movement it has been found that the results of the experiments are in close accordance to the data available on humans (Goossens and Van Opstal, 1997). The same conclusion may be drawn for the shapes of the coordinated movement that can be directly compared to the typical examples reported in Fig. 14. Figure 16, 17 show that the model is capable of providing inadequate control of the redundant platform. The system response is very fast, due to the robotic head platform design. TGst time take into account the problem of eye-head coordination and the very high acceleration. The head is voluntarily delayed less than 30 millisecond after eye movement, according to human physiology, by means of Ph block (Goossens and Van Opstal ,1997). 9.2. Neurophysiological point of view A typical robotic eye-head movement is shows in Fig. 14

A survey on pest insects of fiber and grain sorghum in northern Italy

In the Po valley plain grain sorghum (Sorghum bicolor) has been introduced in the last decades for cattle feed production. More recently fiber sorghum has been tested to be used for electric power production. Since little is known about the sorghum insect pest community in northern Italy, a research was carried out in a study area located in the central western area of the Po valley. Grain sorghum plots and fields were studied between 2008 and 2011. No insect pest of economic importance was recorded in grain sorghum cultivations. Population density of the aphid Rhopalosiphim maidis was very low, as well as the one of the European Corn Borer (ECB, Ostrinia nubilalis, Lepidoptera Crambidae). Lygus rugulipennis (Hemiptera Miridae) tended to colonize grain sorghum after panicle development, but densities were not a matter of concern. In fiber sorghum plots ECB populations did not result noxious, while R. maidis density was higher than the one on grain sorghum, but infestations did not signifi¬cantly affect the development of the stalks, being localized only on panicles during their first stage of develop¬ment. The production of cyanogenetic compounds by young sorghum plants is likely to be an effective protection against ECB first generation larvae, while earlier harvest time of both grain and fiber sorghum compared with maize later harvest time prevents significant damages caused by ECB second generation larvae. Sorghum requires less water than maize. Such a condition, joint to the weak susceptibility to insect pests, could favour a further increase of sorghum cultivations in northern Italy

Reconfigurable RF Energy Harvester with Customized Differential PCB Antenna

In this work, a RF Energy harvester comprised of a differential RF-DC CMOS converter realized in ST130nm CMOS technology and a customized broadband PCB antenna with inductive coupling feeding is presented. Experimental results show that the system can work with different carrier frequencies and thanks to its reconfigurable architecture the proposed converter is able to provide a regulated output voltage of 2 V over a 14 dB of RF input power range. The conversion efficiency of the whole system peaks at 18% under normal outdoor working conditions

Integrated RF-DC converter and PCB antenna for UHF wireless powering applications

In this work, a broadband differential RF-DC CMOS converter realized in CMOS 130 nm technology with a customized PCB antenna with inductive coupling feeding for RF energy scavenging is presented. Experimental results show that output DC voltage higher than 1V from 800MHz to 970MHz can be obtained with a load of 1kohm

Mating disruption of helicoverpa armigera (Lepidoptera: Noctuidae) on processing tomato: First applications in northern Italy

Helicoverpa armigera is a polyphagous and globally distributed pest. In Italy, this species causes severe damage on processing tomato. We compared the efficacy of mating disruption with a standard integrated pest management strategy (IPM) in a two-year experiment carried out in Northern Italy. Mating disruption registered a very high suppression of male captures (>95%) in both growing seasons. Geostatistical analysis of trap catches was shown to be a useful tool to estimate the efficacy of the technique through representation of the spatial pattern of captures. Lower fruit damage was recorded in mating disruption than in the untreated control plots, with a variable efficacy depending on season and sampling date. Mating disruption showed a higher efficacy than standard IPM in controlling H. armigera infestation in the second season experiment. Mating disruption showed the potential to optimize the H. armigera control. Geostatistical maps were suitable to draw the pheromone drift out of the pheromone-treated area in order to evaluate the efficacy of the technique and to detect the weak points in a pheromone treated field. Mating disruption and standard IPM against H. armigera were demonstrated to be only partially effective in comparison with the untreated plots because both strategies were not able to fully avoid fruit damage

Single-Ended Broadband Antenna for Radiofrequency Energy Harvesting

A single-ended broadband UHF antenna with high inductive input impedance for radiofrequency energy harvesting is here presented. It consists of a small feeding loop and a conical radiating monopole. A prototype has been fabricated on a FR4 substrate and tested. Experimental results show a -3dB power transmission bandwidth of about 130MHz (860MHz−990MHz)

Interactions between the Multicolored Asian Lady Beetle Harmonia axyridis and the Parasitoid Dinocampus coccinellae

Harmonia axyridis (Pallas) has been introduced either intentionally or accidentally in different areas outside its native range, where it is often regarded as invasive. Dinocampus coccinellae (Schrank) has been recorded to parasitize H. axyridis in the field, both in the native and introduced areas, Italy included. The percent of parasitism found in our field investigation was low (four percent).The effect of exposure time of H. axyridis to D. coccinellae and the impact of parasitization on host longevity, oviposition capacity and egg fertility were evaluated in the laboratory. The acceptance and suitability of H. axyridis as host for D. coccinellae were then studied, in comparison with the native coccinellid Adalia bipunctata (L.), which shares the same ecological niche. The effects of parasitization on female longevity and reproduction capacity in the exotic vs. the indigenous lady beetle were also investigated. The overall results showed that D. coccinellae negatively affected the fitness of H. axyridis, more than that of A. bipunctata. The parasitoid may thus play a marginal role in controlling the populations of the Asian lady beetle, without representing a threat to A. bipunctata

EULAR recommendations for the management of rheumatoid arthritis with synthetic and biological disease-modifying antirheumatic drugs: 2016 update

Recent insights in rheumatoid arthritis (RA) necessitated updating the European League Against Rheumatism (EULAR) RA management recommendations. A large international Task Force based decisions on evidence from 3 systematic literature reviews, developing 4 overarching principles and 12 recommendations (vs 3 and 14, respectively, in 2013). The recommendations address conventional synthetic (cs) disease-modifying antirheumatic drugs (DMARDs) (methotrexate (MTX), leflunomide, sulfasalazine); glucocorticoids (GC); biological (b) DMARDs (tumour necrosis factor (TNF)-inhibitors (adalimumab, certolizumab pegol, etanercept, golimumab, infliximab), abatacept, rituximab, tocilizumab, clazakizumab, sarilumab and sirukumab and biosimilar (bs) DMARDs) and targeted synthetic (ts) DMARDs (Janus kinase (Jak) inhibitors tofacitinib, baricitinib). Monotherapy, combination therapy, treatment strategies (treat-to-target) and the targets of sustained clinical remission (as defined by the American College of Rheumatology-(ACR)-EULAR Boolean or index criteria) or low disease activity are discussed. Cost aspects were taken into consideration. As first strategy, the Task Force recommends MTX (rapid escalation to 25 mg/week) plus short-term GC, aiming at >50% improvement within 3 and target attainment within 6 months. If this fails stratification is recommended. Without unfavourable prognostic markers, switching to—or adding—another csDMARDs (plus short-term GC) is suggested. In the presence of unfavourable prognostic markers (autoantibodies, high disease activity, early erosions, failure of 2 csDMARDs), any bDMARD (current practice) or Jak-inhibitor should be added to the csDMARD. If this fails, any other bDMARD or tsDMARD is recommended. If a patient is in sustained remission, bDMARDs can be tapered. For each recommendation, levels of evidence and Task Force agreement are provided, both mostly very high. These recommendations intend informing rheumatologists, patients, national rheumatology societies, hospital officials, social security agencies and regulators about EULAR's most recent consensus on the management of RA, aimed at attaining best outcomes with current therapies