Use of Unmanned Aerial Systems in Civil Applications

Interest in drones has been exponentially growing in the last ten years and these machines are often presented as the optimal solution in a huge number of civil applications (monitoring, agriculture, emergency management etc). However the promises still do not match the data coming from the consumer market, suggesting that the only big field in which the use of small unmanned aerial vehicles is actually profitable is the video-makers’ one. This may be explained partly with the strong limits imposed by existing (and often "obsolete") national regulations, but also - and pheraps mainly - with the lack of real autonomy. The vast majority of vehicles on the market nowadays are infact autonomous only in the sense that they are able to follow a pre-determined list of latitude-longitude-altitude coordinates. The aim of this thesis is to demonstrate that complete autonomy for UAVs can be achieved only with a performing control, reliable and flexible planning platforms and strong perception capabilities; these topics are introduced and discussed by presenting the results of the main research activities performed by the candidate in the last three years which have resulted in 1) the design, integration and control of a test bed for validating and benchmarking visual-based algorithm for space applications; 2) the implementation of a cloud-based platform for multi-agent mission planning; 3) the on-board use of a multi-sensor fusion framework based on an Extended Kalman Filter architecture

Data acquisition system for volcano monitoring with real-time transmission, low cost and low power consumption

Postprint (published version

A cloud robotics architecture for an emergency management and monitoring service in a smart cityenvironment

Cloud robotics is revolutionizing not only the robotics industry but also the ICT world, giving robots more storage and computing capacity, opening new scenarios that blend the physical to the digital world. In this vision new IT architectures are required to manage robots, retrieve data from them and create services to interact with users. In this paper a possible implementation of a cloud robotics architecture for the interaction between users and UAVs is described. Using the latter as monitoring agents, a service for fighting crime in urban environment is proposed, making one step forward towards the idea of smart cit

Energy-efficient communication protocol in linear wireless sensor networks

Wireless sensor networks (WSNs) have been widely recognized as a promising technology that can enhance various aspects of structure monitoring and border surveillance. Typical applications, such as sensors embedded in the outer surface of a pipeline or mounted along the supporting structure of a bridge, feature a linear sensor arrangement. Economical power use of sensor nodes is essential for long-lasting operation. In this paper, we present wireless High-Level Data Link Control (HDLC) a novel approach to energy-efficient data routing to a single control center in a linear sensor topology. Applying a standard data layer along with a time division multiple access (TDMA)-based Medium Access Control (MAC) and time synchronization technique specifically designed for the linear topology, we address the interoperability problem with guaranteed energy efficiency and data link performance in linear sensor topology.Peer Reviewe

Wireless sensor network for smart grid transmission system

Peer Reviewe

Precision timing in TDMA-based Wireless Sensor Network through IEEE 1588 standard

Peer Reviewe

A rare case report of hypertrophic cardiomyopathy induced by catecholamine-producing tumor

RATIONALE: Catecholamine-producing tumors are rare, occurring in less than 0.2% of patients with hypertension, but can have relevant cardiovascular morbidity and mortality. PATIENT CONCERNS: A 37-year-old woman presented with a history of dyspnea, chest pain, palpitations, and paroxysmal hypertension. Electrocardiogram, echocardiogram, and cardiac magnetic resonance showed severe LVH with a prevalent involvement of the anterior portion of interventricular septum. Endomyocardial biopsy found severe hypertrophy with disarray of cardiomyocytes and ultrastructural evidence of contraction and necrosis of myocytes. Hormone investigations revealed high values of 24-hours urinary metanephrines. Abdominal computed tomography (CT) showed an enlarged left adrenal gland with a strong uptake of I-metaiodobenzylguanidine at scintigraphy scan. INTERVENTIONS:Thus, the adrenal tumor was surgically removed. OUTCOMES: At follow-up examination, the patient's metanephrines levels were normalized and the transthoracic echocardiogram showed a reduction of LVH. DIAGNOSIS AND LESSONS: We report a rare case of catecholamine-induced cardiomyopathy due to an adrenal adenoma mixed with nodules enriched in epinephrine-types secreting granules

Resistant arterial hypertension in a patient with adrenal incidentaloma multiple steno-obstructive vascular lesions and antiphospholipid syndrome

Resistant hypertension is defined as above of blood pressure (≤ 140/90 mmHg) despite therapy with three or more antihypertensive drugs of different classes at maximum tolerable doses with one bling a diuretic. An important consideration in defining a patient with resistant hypertension is the mislabeling of secondary hypertension as resistant hypertension. Here, we report a patients with resistant hypertension caused by multiple stenoocclusive arteries due to antiphospholipid syndrome and coexisting with subclinical Cushing’s syndrome