Decoupled Sampling-Based Motion Planning for Multiple Autonomous Marine Vehicles

There is increasing interest in the deployment and operation of multiple autonomous marine vehicles (AMVs) for a number of challenging scientific and commercial operational mission scenarios. Some of the missions, such as geotechnical surveying and 3D marine habitat mapping, require that a number of heterogeneous vehicles operate simultaneously in small areas, often in close proximity of each other. In these circumstances safety, reliability, and efficient multiple vehicle operation are key ingredients for mission success. Additionally, the deployment and operation of multiple AMVs at sea are extremely costly in terms of the logistics and human resources required for mission supervision, often during extended periods of time. These costs can be greatly minimized by automating the deployment and initial steering of a vehicle fleet to a predetermined configuration, in preparation for the ensuing mission, taking into account operational constraints. This is one of the core issues addressed in the scope of the Widely Scalable Mobile Underwater Sonar Technology project (WiMUST), an EU Horizon 2020 initiative for underwater robotics research. WiMUST uses a team of cooperative autonomous ma- rine robots, some of which towing streamers equipped with hydrophones, acting as intelligent sensing and communicat- ing nodes of a reconfigurable moving acoustic network. In WiMUST, the AMVs maintain a fixed geometric formation through cooperative navigation and motion control. Formation initialization requires that all the AMVs start from scattered positions in the water and maneuver so as to arrive at required target configuration points at the same time in a completely au- tomatic manner. This paper describes the decoupled prioritized vehicle motion planner developed in the scope of WiMUST that, together with an existing system for trajectory tracking, affords a fleet of vehicles the above capabilities, while ensuring inter- vehicle collision and streamer entanglement avoidance. Tests with a fleet of seven marine vehicles show the efficacy of the system planner developed.Peer reviewe

Dipyridylmethane ethers as ligands for luminescent Ir complexes

This work reports two new cationic heteroleptic cyclometalated iridium complexes, containing ether derivatives of di(pyridin-2-yl)methanol. The new ligands are based on dipyridin-2-ylmethane and are designed to obtain ether-based intermediates with extended electronic conjugation by insertion of π system such as phenyl, allyl and ethynyl. Different synthetic strategies were employed to introduce these units, as molecular wires, between the dipyridin-2-ylmethane chelating portion and the terminal N-containing functional group, such as amine and carbamide. The corresponding complexes show luminescence in the blue region of the spectrum, lifetimes between 0.6 and 2.1 μs, high quantum yield and good electrochemical behavior. The computational description (DFT) of the electronic structure highlights the key role of the conjugated π systems on optical and electrochemical properties of the final products

Simulated synchrotron and Inverse Compton emission from Pulsar Wind Nebulae

We present a complete set of diagnostic tools aimed at reproducing synthetic non-thermal (synchrotron and/or Inverse Compton, IC) emissivity, integrated flux energy, polarization and spectral index simulated maps in comparison to observations. The time dependent relativistic magnetohydrodynamic (RMHD) equations are solved with a shock capturing code together with the evolution of the maximum particles energy. Applications to Pulsar Wind Nebulae (PWNe) are shown.Comment: 3 pages, 7 figures, proceeding of the conference "40 Years of Pulsars ", 12-17 August 2007, Montreal, Canada, submitted to AI

The pgip family in soybean and three other legume species: evidence for a birth-and-death model of evolution

Polygalacturonase-inhibiting proteins (PGIPs) are leucine-rich repeat (LRR) plant cell wall glycoproteins involved in plant immunity. They are typically encoded by gene families with a small number of gene copies whose evolutionary origin has been poorly investigated. Here we report the complete characterization of the full complement of the pgip family in soybean (Glycine max [L.] Merr.) and the characterization of the genomic region surrounding the pgip family in four legume species. Results: BAC clone and genome sequence analyses showed that the soybean genome contains two pgip loci. Each locus is composed of three clustered genes that are induced following infection with the fungal pathogen Sclerotinia sclerotiorum (Lib.) de Bary, and remnant sequences of pgip genes. The analyzed homeologous soybean genomic regions (about 126 Kb) that include the pgip loci are strongly conserved and this conservation extends also to the genomes of the legume species Phaseolus vulgaris L., Medicago truncatula Gaertn. and Cicer arietinum L., each containing a single pgip locus. Maximum likelihood-based gene trees suggest that the genes within the pgip clusters have independently undergone tandem duplication in each species. Conclusions: The paleopolyploid soybean genome contains two pgip loci comprised in large and highly conserved duplicated regions, which are also conserved in bean, M. truncatula and C. arietinum. The genomic features of these legume pgip families suggest that the forces driving the evolution of pgip genes follow the birth-and-death model, similar to that proposed for the evolution of resistance (R) genes of NBS-LRR-type

Influence of the salinity adjustment methods, salts and brine, on the toxicity of wastewater samples to mussels embryos

One of the main problems of the Whole Effluent Toxicity is related to the use of bioindicator species representative of the target environment. Most wastewater discharges are of fresh water, so their salinity has to be adjusted when they are discharged to transitional and marine coastal waters, in order to perform toxicity bioassays with reliable organisms. At the moment, there is no optimum technique to allow sample salinity to be adjusted and no specific information regarding salinity adjustment when bivalves are being considered for toxicity test performance. This paper provides information on the potential use of different methods to adjust the salinity of hotel/domestic wastewater samples with different brands of natural and synthetic Dry Salts (DS) and HyperSaline Brine (HSB) for use in the embryo larval development bioassay with the mussel Mytilus galloprovincialis. HyperSaline Brine derived from reconstructed artificial seawater proved to be more viable for wastewater salinity adjustment than DS

Review of the Current State of Pyrolysis and Biochar Utilization in Europe:A Scientific Perspective

This scientific paper provides an overview of the current state of pyrolysis in Europe, with a focus on mapping the key research areas and technologies employed. This research relied on search equations that centered on the utilization of biomass and plastics as primary feedstocks in pyrolysis, with a particular emphasis on biochar generation and different technologies applied. The results showed that both plastic and biomass pyrolysis can contribute to reducing waste and mitigating greenhouse gas emissions. However, plastic pyrolysis can release harmful pollutants due to the presence of chlorine and other additives in plastics, which requires sophisticated emission control systems to be implemented. The production of biochar from sewage sludge is identified as a promising approach for phosphorus recovery, which can subsequently be utilized as a valuable fertilizer in agricultural applications. The data from this study contribute to exploring future applications at pilot and industrial scales for pyrolysis, with a critical assessment of the use of feedstocks. Moreover, this work provides information about current companies that are already operating on a large scale with pyrolysis and a map of the principal countries in Europe engaged in pyrolysis research, correlating the characteristics of the pyrolysis processes investigated

Preclinical discovery and development of fingolimod for the treatment of multiple sclerosis

ABSTRACTIntroduction: Fingolimod, the first oral disease-modifying treatment (DMT) in multiple sclerosis (MS), is a sphingosine 1-phosphate receptor (S1PR) ligand. Approved in 2010, fingolimod has ..

Synthesis and crystal structure of Bis(2-phenylpyridine-C,N’)-bis(acetonitrile) iridium(III)hexafluorophosphate showing three anion/cation couples in the asymmetric unit

The title compound bis(2-phenylpyridine-C,N’)-bis(acetonitrile)iridium(III)hexafluorophosphate, a six-coordinate iridium(III) complex, crystallizes in the P-1 space group. Iridium is in a distorted octahedral (n = 6) coordination with the N,C’ atoms of two phenylpyridine and the N atoms of two acetonitrile ligands. The peculiarity of this structure is that three independent moieties of the title compound and three PF6− anions, to counterbalance the charge, are observed in the asymmetric unit and this is a rather uncommon fact among the Cambridge Crystallographic Database (CSD) entries. The three couples are almost identical conformers with very similar torsional angles. The packing, symmetry, and space group were accurately analyzed and described also by means of Hirshfeld surface analysis, which is able to underline subtle differences among the three anion/cation couples in the asymmetric unit. The driving force of the packing is the clustering of the aromatic rings and the maximization of acetonitrile:PF6− interactions. The asymmetry of the cluster is the cause of the unusual number of moieties in the asymmetric unit

Greenhouse gas emissions from soil cultivated with vegetables in crop rotation under integrated, organic and organic conservation management in a Mediterranean environment

A combination of organic and conservation approaches have not been widely tested, neither considering agronomic implications nor the impacts on the environment. Focussing on the effect of agricultural practices on greenhouse gas (GHG) emissions from soil, the hypothesis of this research is that the organic conservation system (ORG+) may reduce emissions of N2O, CH4 and CO2 from soil, compared to an integrated farming system (INT) and an organic (ORG) system in a two-year irrigated vegetable crop rotation set up in 2014, in a Mediterranean environment. The crop rotation included: Savoy cabbage (Brassica oleracea var. sabauda L. cv. Famosa), spring lettuce (Lactuca sativa L. cv. Justine), fennel (Foeniculum vulgare Mill. cv. Montebianco) and summer lettuce (L. sativa cv. Ballerina). Fluxes from soil of N2O, CH4 and CO2 were measured from October 2014 to July 2016 with the flow-through non-steady state chamber technique using a mobile instrument equipped with high precision analysers. Both cumulative and daily N2O emissions were mainly lower in ORG+ than in INT and ORG. All the cropping systems acted as a sink of CH4, with no significant differences among treatments. The ORG and ORG+ systems accounted for higher cumulative and daily CO2 emissions than INT, maybe due to the stimulating effect on soil respiration of organic material (fertilizers/plant biomass) supplied in ORG and ORG+. Overall, the integration of conservation and organic agriculture showed a tendency for higher CO2 emissions and lower N2O emissions than the other treatments, without any clear results on its potential for mitigating GHG emissions from soil