Decentralized Triangular Guidance Algorithms for Formations of UAVs

This paper deals with the design of a guidance control system for a swarm of unmanned aerial systems flying at a given altitude, addressing flight formation requirements that can be formulated constraining the swarm to be on the nodes of a triangular mesh. Three decentralized guidance algorithms are presented. A classical fixed leader–follower scheme is compared with two alternative schemes: the former is based on the self-identification of one or more time-varying leaders; the latter is an algorithm without leaders. Several operational scenarios have been simulated involving swarms with obstacles and an increasing number of aircraft in order to prove the effectiveness of the proposed guidance schem

Modeling and control of a modular iron bird

This paper describes the control architecture and the control laws of a new concept of Modular Iron Bird aimed at reproducing flight loads to test mobile aerodynamic control surface actuators for small and medium size aircraft and Unmanned Aerial Vehicles. The iron bird control system must guarantee the actuation of counteracting forces. On one side, a hydraulic actuator simulates the hinge moments acting on the mobile surface due to aerodynamic and inertial effects during flight; on the other side, the actuator to be tested applies an active hinge moment to control the angular position of the same surface. Reference aerodynamic and inertial loads are generated by a flight simulation module to reproduce more realistic conditions arising during operations. The design of the control action is based on a dynamic model of the hydraulic plant used to generate loads. This system is controlled using a Proportional Integral Derivative control algorithm tuned with an optimization algorithm taking into account the closed loop dynamics of the actuator under testing, uncertainties and disturbances in the controlled plant. Numerical simulations are presented to show the effectiveness of the proposed architecture and control laws

Gravity, Geodesy and Fundamental Physics with BepiColombo’s MORE Investigation

open40siThe Mercury Orbiter Radio Science Experiment (MORE) of the ESA mission BepiColombo will provide an accurate estimation of Mercury’s gravity field and rotational state, improved tests of general relativity, and a novel deep space navigation system. The key experimental setup entails a highly stable, multi-frequency radio link in X and Ka band, enabling two-way range rate measurements of 3 micron/s at nearly all solar elongation angles. In addition, a high chip rate, pseudo-noise ranging system has already been tested at 1-2 cm accuracy. The tracking data will be used together with the measurements of the Italian Spring Accelerometer to provide a pseudo drag free environment for the data analysis. We summarize the existing literature published over the past years and report on the overall configuration of the experiment, its operations in cruise and at Mercury, and the expected scientific results.openIess L.; Asmar S.W.; Cappuccio P.; Cascioli G.; De Marchi F.; di Stefano I.; Genova A.; Ashby N.; Barriot J.P.; Bender P.; Benedetto C.; Border J.S.; Budnik F.; Ciarcia S.; Damour T.; Dehant V.; Di Achille G.; Di Ruscio A.; Fienga A.; Formaro R.; Klioner S.; Konopliv A.; Lemaitre A.; Longo F.; Mercolino M.; Mitri G.; Notaro V.; Olivieri A.; Paik M.; Palli A.; Schettino G.; Serra D.; Simone L.; Tommei G.; Tortora P.; Van Hoolst T.; Vokrouhlicky D.; Watkins M.; Wu X.; Zannoni M.Iess L.; Asmar S.W.; Cappuccio P.; Cascioli G.; De Marchi F.; di Stefano I.; Genova A.; Ashby N.; Barriot J.P.; Bender P.; Benedetto C.; Border J.S.; Budnik F.; Ciarcia S.; Damour T.; Dehant V.; Di Achille G.; Di Ruscio A.; Fienga A.; Formaro R.; Klioner S.; Konopliv A.; Lemaitre A.; Longo F.; Mercolino M.; Mitri G.; Notaro V.; Olivieri A.; Paik M.; Palli A.; Schettino G.; Serra D.; Simone L.; Tommei G.; Tortora P.; Van Hoolst T.; Vokrouhlicky D.; Watkins M.; Wu X.; Zannoni M

Musical Ratios in Sounds from the Human Cochlea

The physiological roots of music perception are a matter of long-lasting debate. Recently light on this problem has been shed by the study of otoacoustic emissions (OAEs), which are weak sounds generated by the inner ear following acoustic stimulation and, sometimes, even spontaneously. In the present study, a high-resolution time–frequency method called matching pursuit was applied to the OAEs recorded from the ears of 45 normal volunteers so that the component frequencies, amplitudes, latencies, and time-spans could be accurately determined. The method allowed us to find that, for each ear, the OAEs consisted of characteristic frequency patterns that we call resonant modes. Here we demonstrate that, on average, the frequency ratios of the resonant modes from all the cochleas studied possessed small integer ratios. The ratios are the same as those found by Pythagoras as being most musically pleasant and which form the basis of the Just tuning system. The statistical significance of the results was verified against a random distribution of ratios. As an explanatory model, there are attractive features in a recent theory that represents the cochlea as a surface acoustic wave resonator; in this situation the spacing between the rows of hearing receptors can create resonant cavities of defined lengths. By adjusting the geometry and the lengths of the resonant cavities, it is possible to generate the preferred frequency ratios we have found here. We conclude that musical perception might be related to specific geometrical and physiological properties of the cochlea

The CAFA challenge reports improved protein function prediction and new functional annotations for hundreds of genes through experimental screens

Background: The Critical Assessment of Functional Annotation (CAFA) is an ongoing, global, community-driven effort to evaluate and improve the computational annotation of protein function. Results: Here, we report on the results of the third CAFA challenge, CAFA3, that featured an expanded analysis over the previous CAFA rounds, both in terms of volume of data analyzed and the types of analysis performed. In a novel and major new development, computational predictions and assessment goals drove some of the experimental assays, resulting in new functional annotations for more than 1000 genes. Specifically, we performed experimental whole genome mutation screening in Candida albicans and aeruginosa genomes, which provided us with genome-wide experimental data for genes associated with biofilm formation and motility. We further performed targeted assays on selected genes in Drosophila melanogaster, which we suspected of being involved in long-term memory. Conclusion: We conclude that while predictions of the molecular function and biological process annotations have slightly improved over time, those of the cellular component have not. Term-centric prediction of experimental annotations remains equally challenging; although the performance of the top methods is significantly better than the expectations set by baseline methods in C. albicans and D. melanogaster, it leaves considerable room and need for improvement. Finally, we report that the CAFA community now involves a broad range of participants with expertise in bioinformatics, biological experimentation, biocuration, and bio-ontologies, working together to improve functional annotation, computational function prediction, and our ability to manage big data in the era of large experimental screens

Communication and visiting policies in Italian intensive care units during the first COVID-19 pandemic wave and lockdown: a nationwide survey

Background: During the first coronavirus disease 2019 (COVID-19) pandemic wave, an unprecedented number of patients with respiratory failure due to a new, highly contagious virus needed hospitalization and intensive care unit (ICU) admission. The aim of the present study was to describe the communication and visiting policies of Italian intensive care units (ICUs) during the first COVID-19 pandemic wave and national lockdown and compare these data with prepandemic conditions. Methods: A national web-based survey was conducted among 290 Italian hospitals. Each ICU (active between February 24 and May 31, 2020) was encouraged to complete an individual questionnaire inquiring the hospital/ICU structure/organization, communication/visiting habits and the role of clinical psychology prior to, and during the first COVID-19 pandemic wave. Results: Two hundred and nine ICUs from 154 hospitals (53% of the contacted hospitals) completed the survey (202 adult and 7 pediatric ICUs). Among adult ICUs, 60% were dedicated to COVID-19 patients, 21% were dedicated to patients without COVID-19 and 19% were dedicated to both categories (Mixed). A total of 11,102 adult patients were admitted to the participating ICUs during the study period and only approximately 6% of patients received at least one visit. Communication with family members was guaranteed daily through an increased use of electronic devices and was preferentially addressed to the same family member. Compared to the prepandemic period, clinical psychologists supported physicians more often regarding communication with family members. Fewer patients received at least one visit from family members in COVID and mixed-ICUs than in non-COVID ICUs, l (0 [0–6]%, 0 [0–4]% and 11 [2–25]%, respectively, p < 0.001). Habits of pediatric ICUs were less affected by the pandemic. Conclusions: Visiting policies of Italian ICUs dedicated to adult patients were markedly altered during the first COVID-19 wave. Remote communication was widely adopted as a surrogate for family meetings. New strategies to favor a family-centered approach during the current and future pandemics are warranted