DANAE: A denoising autoencoder for underwater attitude estimation

One of the main issues for underwater robots navigation is their accurate positioning, which heavily depends on the orientation estimation phase. The systems employed to this scope are affected by different noise typologies, mainly related to the sensors and to the irregular noise of the underwater environment. Filtering algorithms can reduce their effect if opportunely configured, but this process usually requires fine techniques and time. In this paper we propose DANAE, a deep Denoising AutoeNcoder for Attitude Estimation which works on Kalman filter IMU/AHRS data integration with the aim of reducing any kind of noise, independently of its nature. This deep learningbased architecture showed to be robust and reliable, significantly improving the Kalman filter results. Further tests could make this method suitable for real-time applications on navigation tasks

Ropivacaine vs tetracaine in topical anesthesia for intravitreal injection

Aim: The object of the study was to evaluate the long term efficacy and safety of ropivacaine 0,5% vs tetracaine 0,5% for topical anesthesia in intravitreal injection of dexamethasone in patients with diabetic macular edema (DME) and anti-vascular endothelial growth factor (VEGF) therapy. Methods: Thirty-seven patients were enrolled in the study. Intravitreal anti-vascular endothelial growth factor (VEGF) and Dexamethasone were placed in DME patients. Intravitreal administration determines appropriate and long-lasting drug's concentration without systemic side effects. Topical anesthesia under ropivacaine 0,5% vs tetracaine 0,5% was performed. Results: Intravitreal injection without any supplemental anesthesia and sedation was realized. Patients reported mild pain (recorded by a 0 to 10 scale) during the procedure with optimal operative result. Conclusions: Topical anesthesia with ropivacaine and tetracaine is safe and effective in intravitreal injection. The long-lasting anesthesia secured low pain during this limited but unpleasant procedure

From traumatic childhood to cocaine abuse: the critical function of the immune system

Background: Experiencing traumatic childhood is a risk factor for developing substance use disorder (SUD), but the mechanisms that underlie this relationship have not been determined. Adverse childhood experiences affect the immune system and the immune system mediates the effects of psychostimulants. However, whether this system is involved in the etiology of SUD in individuals who have experience early life stress is unknown. Methods:In this study, we performed a series of ex vivo and in vivo experiments in mice and humans to define the function of the immune system in the early-life stress-induced susceptibility to the neurobehavioral effects of cocaine. Results: We provide evidence that exposure to social-stress (S-S) at an early age permanently sensitizes the peripheral (splenocytes) and brain (microglia) immune responses to cocaine in mice. In the brain, microglial activation in the ventral tegmental area (VTA) of S-S mice was associated with functional alterations in dopaminergic neurotransmission, as measured by whole-cell voltage clamp recordings in dopamine (DA) neurons. Notably, preventing immune activation during the S-S exposure reverted the effects of DA in the VTA and the cocaine-induced behavioral phenotype to control levels. In humans, cocaine modulated Toll-like receptor 4-mediated innate immunity, an effect that was enhanced in cocaine addicts who had experienced a difficult childhood. Conclusions Collectively, our findings demonstrate that sensitization to cocaine in early-life-stressed individuals involves brain and peripheral immune responses and that this mechanism is shared between mice and humans

PI(18:1/18:1) is a SCD1-derived lipokine that limits stress signaling

Cytotoxic stress activates stress-activated kinases, initiates adaptive mechanisms, including the unfolded protein response (UPR) and autophagy, and induces programmed cell death. Fatty acid unsaturation, controlled by stearoyl-CoA desaturase (SCD)1, prevents cytotoxic stress but the mechanisms are diffuse. Here, we show that 1,2-dioleoyl-sn-glycero-3-phospho-(1’-myo-inositol) [PI(18:1/18:1)] is a SCD1-derived signaling lipid, which inhibits p38 mitogen-activated protein kinase activation, counteracts UPR, endoplasmic reticulum-associated protein degradation, and apoptosis, regulates autophagy, and maintains cell morphology and proliferation. SCD1 expression and the cellular PI(18:1/18:1) proportion decrease during the onset of cell death, thereby repressing protein phosphatase 2 A and enhancing stress signaling. This counter-regulation applies to mechanistically diverse death-inducing conditions and is found in multiple human and mouse cell lines and tissues of Scd1-defective mice. PI(18:1/18:1) ratios reflect stress tolerance in tumorigenesis, chemoresistance, infection, high-fat diet, and immune aging. Together, PI(18:1/18:1) is a lipokine that links fatty acid unsaturation with stress responses, and its depletion evokes stress signaling

Optimization of the maritime signaling in the Venetian Lagoon

Aids to Navigation (AtoN) are supporting devices to nautical operations. They include both electronic and traditional signaling systems (e.g. buoys and lights), for which international organizations together with local authorities define operative and technical standards. Work still being finalized in the Venetian Lagoon made it necessary an assessment of the existing signals, with the aim of optimizing their position to guarantee the maximum level of safety in the waterways.This paper presents the procedures followed to reach a solution in line with the safety and efficiency standards given for the AtoN systems in terms of position and luminous characteristics. Moreover, to ensure the continuity of port operations even in poor visibility conditions, an alternative aid system has been studied and formalized for the first time in Italy. It is based on electronic and identification devices which show Virtual AtoN, AtoN that are not physically at sea

Optimization of the Maritime Signaling System in the Lagoon of Venice

Aids to Navigation (AtoN) are auxiliary devices intended to support maritime navigation. They include both traditional signals (e.g., buoys and lights) and electronic aids, as for example those transmitted to ships through automatic tracking systems. In both cases, international organizations together with local authorities define technical specifications and standards on their use. Work still being finalized in the Venetian Lagoon made it necessary an assessment of the existing signaling system to guarantee the maximum level of safety in the waterways. Considering the severe atmospheric conditions to which the Lagoon is frequently subjected and the bathymetry restrictions affecting the navigation, an alternative aid system has been formalized for the first time in Italy. It is based on electronic and identification devices employed to virtualize the AtoN that will not be located at sea but only remotely identified by their coded messages, thus guaranteeing the continuity of port operations in any visibility conditions. This paper presents the procedures followed to reach a solution in line with the safety and efficiency standards given for the AtoN systems, considering position and luminous characteristics of physical signals in the first case, theoretical and statistical studies on Virtual AIS AtoN placement in the second case

An Enhanced Photogrammetric Approach for the Underwater Surveying of the Posidonia Meadow Structure in the Spiaggia Nera Area of Maratea

The Posidonia oceanica meadows represent a fundamental biological indicator for the assessment of the marine ecosystem’s state of health. They also play an essential role in the conservation of coastal morphology. The composition, extent, and structure of the meadows are conditioned by the biological characteristics of the plant itself and by the environmental setting, considering the type and nature of the substrate, the geomorphology of the seabed, the hydrodynamics, the depth, the light availability, the sedimentation speed, etc. In this work, we present a methodology for the effective monitoring and mapping of the Posidonia oceanica meadows by means of underwater photogrammetry. To reduce the effect of environmental factors on the underwater images (e.g., the bluish or greenish effects), the workflow is enhanced through the application of two different algorithms. The 3D point cloud obtained using the restored images allowed for a better categorization of a wider area than the one made using the original image elaboration. Therefore, this work aims at presenting a photogrammetric approach for the rapid and reliable characterization of the seabed, with particular reference to the Posidonia coverage