Path Planning and Real-Time Collision Avoidance Based on the Essential Visibility Graph

This paper deals with a novel procedure to generate optimum flight paths for multiple unmanned aircraft in the presence of obstacles and/or no-fly zones. A real-time collision avoidance algorithm solving the optimization problem as a minimum cost piecewise linear path search within the so-called Essential Visibility Graph (EVG) is first developed. Then, a re-planning procedure updating the EVG over a selected prediction time interval is proposed, accounting for the presence of multiple flying vehicles or movable obstacles. The use of Dubins curves allows obtaining smooth paths, compliant with flight mechanics constraints. In view of possible future applications in hybrid scenarios where both manned and unmanned aircraft share the airspace, visual flight rules compliant with International Civil Aviation Organization (ICAO) Annex II Right of Way were implemented. An extensive campaign of numerical simulations was carried out to test the effectiveness of the proposed technique by setting different operational scenarios of increasing complexity. Results show that the algorithm is always able to identify trajectories compliant with ICAO rules for avoiding collisions and assuring a minimum safety distance as well. Furthermore, the low computational burden suggests that the proposed procedure can be considered a promising approach for real-time applications

Experimental Performance Evaluation of Passive UHF RFID Tags in Electromagnetically Critical Supply Chains

Radio Frequency Identification is going to play a veryimportant role as auto-identification solution for manyapplication scenarios, where item-level tagging and highperformance are crucial. In such a context, the use of passive Ultra High Frequency (UHF) tags is strongly suggested but, unfortunately, general-purpose commercial tags could not meet all the requirements in presence of critical operating conditions, including the presence of metals and liquids, the misalignment between tag and reader antennas, and the need of multiple reading of tags. In this paper, the main features that a UHF tag should own to work properly in the whole supply chain are presented. A tag, named below Enhanced tag, satisfying all theindividuated requirements has been also realized and validated in a controlled test environment simulating the pharmaceutical supply chain. Tests have been focused on the above-mentioned critical conditions. The performance of the Enhanced tag, in terms of successful read rate, has been compared with that of some commercial Far Field and Near Field UHF tags. The experimental results are impressive and clearly demonstrate that ad hoc Far Field UHF tags are able to effectively solve many of the performance degradation problems affecting generalpurpose tags. Finally, the proposed tag has been also tested in extreme conditions, applying it directly on Tetra Pak packages containing liquid, with interesting results in terms of platformtolerant features

The synthetic killer peptide KP impairs Candida albicans biofilm in vitro

Candida albicans is a commensal organism, commonly inhabiting mucosal surfaces of healthy individuals, as a part of the resident microbiota. However, in susceptible hosts, especially hospitalized and/or immunocompromised patients, it may cause a wide range of infections. The presence of abiotic substrates, such as central venous or urinary catheters, provides an additional niche for Candida attachment and persistence, particularly via biofilm development. Furthermore, Candida biofilm is poorly susceptible to most antifungals, including azoles. Here we investigated the effects of a synthetic killer peptide (KP), known to be active in vitro, ex vivo and/or in vivo against different pathogens, on C. albicans biofilm. Together with a scrambled peptide used as a negative control, KP was tested against Candida biofilm at different stages of development. A reference strain, two fluconazole-resistant and two fluconazole-susceptible C. albicans clinical isolates were used. KP-induced C. albicans oxidative stress response and membrane permeability were also analysed. Moreover, the effect of KP on transcriptional profiles of C. albicans genes involved in different stages of biofilm development, such as cell adhesion, hyphal development and extracellular matrix production, was evaluated. Our results clearly show that the treatment with KP strongly affected the capacity of C. albicans to form biofilm and significantly impairs preformed mature biofilm. KP treatment resulted in an increase in C. albicans oxidative stress response and membrane permeability; also, biofilm-related genes expression was significantly reduced. Comparable inhibitory effects were observed in all the strains employed, irrespective of their resistance or susceptibility to fluconazole. Finally, KP-mediated inhibitory effects were observed also against a catheter-associated C. albicans biofilm. This study provides the first evidence on the KP effectiveness against C. albicans biofilm, suggesting that KP may be considered as a potential novel tool for treatment and prevention of biofilm-related C. albicans infections

Comparative in vitro and ex vivo studies on the bactericidal activity of Tetraclean, a new generation endodontic irrigant, and sodium hypochlorite

The aim of this study was to compare the efficacy of a new generation endodontic irrigant, Tetraclean, to the widely used sodium hypochlorite. Tetraclean combines a powerful detergent effect with a strong antimicrobial efficacy, whereas sodium hypochlorite has several drawbacks and is sometimes ineffective in preventing microbial-mediated endodontic failure. The bactericidal activity of both irrigants against Enterococcus faecalis, the most commonly isolated species from root canals of teeth with post-treatment disease, was assessed i) in vitro, according to the European Standard lines for the evaluation of the bactericidal activity of chemical disinfectants, and ii) with an ex vivo model of extracted and decoronated human teeth, infected with E. faecalis and subsequently irrigated with either of the irrigants. Both irrigants display very similar bactericidal activity against E. faecalis in vitro. However, the ex vivo model shows that only in the teeth irrigated with Tetraclean did the bacterial burden gradually drop until no bacteria were detectable a few days post-irrigation. Vice versa, in the teeth irrigated with sodium hypochlorite, the drop in the bacterial burden was rapid but temporary and most of the teeth were colonized again by 48 hours post-irrigation

Development of an application for quick comparison of pigments from their colorimetric coordinates

Pigments production for use in different kinds of industries (paints, cement, fertilizer, glass, etc.) is a booming sector that invoice million worldwide. So, all those applications that increase efficiency and effectiveness in daily work within the industry agree to be undertaken. Within this line, in this research, the development of an application is presented for comparing a fast and simple way of pigments based on its colour information. This application was developed for the company PROMINDSA SA and allows the user to perform a visual comparison considering the three spatial dimensions, and perform further analysis in two dimensions and one dimension for each of the components of the CIELAB colour space

X-ray tomography of large wooden artworks: The case study of "Doppio corpo" by Pietro Piffetti

n/

XIPE: the X-ray Imaging Polarimetry Explorer

X-ray polarimetry, sometimes alone, and sometimes coupled to spectral and temporal variability measurements and to imaging, allows a wealth of physical phenomena in astrophysics to be studied. X-ray polarimetry investigates the acceleration process, for example, including those typical of magnetic reconnection in solar flares, but also emission in the strong magnetic fields of neutron stars and white dwarfs. It detects scattering in asymmetric structures such as accretion disks and columns, and in the so-called molecular torus and ionization cones. In addition, it allows fundamental physics in regimes of gravity and of magnetic field intensity not accessible to experiments on the Earth to be probed. Finally, models that describe fundamental interactions (e.g. quantum gravity and the extension of the Standard Model) can be tested. We describe in this paper the X-ray Imaging Polarimetry Explorer (XIPE), proposed in June 2012 to the first ESA call for a small mission with a launch in 2017 but not selected. XIPE is composed of two out of the three existing JET-X telescopes with two Gas Pixel Detectors (GPD) filled with a He-DME mixture at their focus and two additional GPDs filled with pressurized Ar-DME facing the sun. The Minimum Detectable Polarization is 14 % at 1 mCrab in 10E5 s (2-10 keV) and 0.6 % for an X10 class flare. The Half Energy Width, measured at PANTER X-ray test facility (MPE, Germany) with JET-X optics is 24 arcsec. XIPE takes advantage of a low-earth equatorial orbit with Malindi as down-link station and of a Mission Operation Center (MOC) at INPE (Brazil).Comment: 49 pages, 14 figures, 6 tables. Paper published in Experimental Astronomy http://link.springer.com/journal/1068

Activation of MEK1 or MEK2 isoform is sufficient to fully transform intestinal epithelial cells and induce the formation of metastatic tumors

<p>Abstract</p> <p>Background</p> <p>The Ras-dependent ERK1/2 MAP kinase signaling pathway plays a central role in cell proliferation control and is frequently activated in human colorectal cancer. Small-molecule inhibitors of MEK1/MEK2 are therefore viewed as attractive drug candidates for the targeted therapy of this malignancy. However, the exact contribution of MEK1 and MEK2 to the pathogenesis of colorectal cancer remains to be established.</p> <p>Methods</p> <p>Wild type and constitutively active forms of MEK1 and MEK2 were ectopically expressed by retroviral gene transfer in the normal intestinal epithelial cell line IEC-6. We studied the impact of MEK1 and MEK2 activation on cellular morphology, cell proliferation, survival, migration, invasiveness, and tumorigenesis in mice. RNA interference was used to test the requirement for MEK1 and MEK2 function in maintaining the proliferation of human colorectal cancer cells.</p> <p>Results</p> <p>We found that expression of activated MEK1 or MEK2 is sufficient to morphologically transform intestinal epithelial cells, dysregulate cell proliferation and induce the formation of high-grade adenocarcinomas after orthotopic transplantation in mice. A large proportion of these intestinal tumors metastasize to the liver and lung. Mechanistically, activation of MEK1 or MEK2 up-regulates the expression of matrix metalloproteinases, promotes invasiveness and protects cells from undergoing anoikis. Importantly, we show that silencing of MEK2 expression completely suppresses the proliferation of human colon carcinoma cell lines, whereas inactivation of MEK1 has a much weaker effect.</p> <p>Conclusion</p> <p>MEK1 and MEK2 isoforms have similar transforming properties and are able to induce the formation of metastatic intestinal tumors in mice. Our results suggest that MEK2 plays a more important role than MEK1 in sustaining the proliferation of human colorectal cancer cells.</p